Patent ID: 7194321

Claim:
A modular multi-axis motion control and driving system comprising: a control board comprising a DSP and Flash ROM connected to each other, for performing position control, velocity control and current control of said system; a plurality of driver boards, connected to the control board though a bus, each of which comprise an FPGA device and a plurality of MOSFET power amplifiers for driving a plurality of servo motors; a host computer, connected to said control board, the host computer configured to provide a graphic user interface, through which motor setting, current and position loop tuning and diagnostic can be performed; wherein, a DSP control program, system parameters and an FPGA configuration file are stored in said Flash ROM; wherein the DSP is configured to automatically execute loader firmware to transfer the control program from said Flash ROM to a memory of the DSP for execution; wherein the DSP is further configured to read the FPGA configuration file from the Flash ROM and configure each FPGA in the plurality of driver boards simultaneously; wherein the control program is configured to run in a circulation loop performing system diagnose, network service and check command queue, while the current and position controls are implemented in an interrupt service routine; and wherein each driver board further comprises a I/O connector for providing digital I/O, analog input, differential I/O connection for the FPGA device, a differential receiver/transmitter through which the differential I/O signal is connected to the FPGA device, an A/D converter for converting the analog input to digital signal, a connect port provided for connecting to external brake coils; and wherein each of said plurality of I/O connectors comprises an input/output port including 4 differential outputs, 2 differential inputs, 2 optically-isolated inputs, 4 optically-isolated outputs and 2 individual analog inputs with 12 bit true differential resolution.