Programmable controller for stepping motor control

摘要

An improved stepping motor controller is comprised of a programmable controller provided with a pair of input/output circuits for controlling the stepping motor in accordance with move data blocks from the programmable controller's central processing unit (CPU) containing user-programmed stepping motor move profile parameters including a user-programmed stepping motor acceleration interval for stepping motor acceleration, user-programmed stepping motor deceleration interval for stepping motor deceleration and a user-programmed stepping motor final position. The pair of input/output circuits includes a master controller module and at least one and up to three satellite output modules. The master controller module is coupled to the programmable controller CPU to read and process the move data blocks to generate satellite move set data blocks for each satellite output module. Each satellite move set data block contains data elements specifying the stepping motor acceleration rate for accelerating the stepping motor to a steady state rate and a stepping motor deceleration rate to decelerate the stepping motor from the steady state rate to a rate to reach the user-programmed final position within the user programmed acceleration and deceleration interval within the user-programmed intervals. Each satellite output module is coupled to the master controller module to read the satellite move set data block therefrom and in response to process the satellite move set data block and generate the pulses which are coupled to the stepping motor to achieve stepping motor acceleration and deceleration over the user-programmed intervals to achieve the user-programmed final position.