Design and Implementation
of Multi-Axis Programmable
stage controller with Geared
Servo Motor Using
Embedded Controller
Vijayakumar.K

Introduction
 Multi axis stage controllers are used for the
purpose of programmable stages , where the
user can develop a system by sending ASCII
commands to control the movement of a linear
stage in mm level.
 In this project a dual axis stage controller drive is
attempted for linear stage positioning in
horizontal and vertical axis.
 This project will drive the stage motors on an
equatorial mount for the purpose of linear stage
positioning .
 The main complications in the circuit come from
having two driven motors and from the necessity
of having slow motion control on both axes.

Introduction
 A low level device driver is also developed to
make the system general purpose
programmable.
 The system receives ASCII commands from
serial emulation software in PC and control its
position accordingly.
 An embedded microcontroller is used for the
purpose of transmitting and receiving commands
from PC and to drive the dual axis stage drive
according to the user commands.
 Low level drivers would interact with the
hardware to achieve the desired functionality.

Objective
 To design a dual axis Stage controller
driver for linear stage control
 To develop a device driver for the
hardware
 To develop low level instruction set to
make it general purpose programmable
 To provide an application software in PC
for motion control using the driver.
 To Integrate , Test and Validate the System.

System Block Diagram
Stage X Stage Y
Driver & Isolator Driver & Isolator
For Stage X For Stage Y
RS232
PC Power
Reset
PC Microcontroller
Interface AT89C51
Crystal
Application Software Window

Block Diagram Explanation
 Reset Hardware – to initialize the processor
 Oscillator Hardware – to provide a clock source
to the processor – (Frequency = 11.0592MHz)
 PC interface – to interface the hardware with
personal computer
 Driver & Isolator stage – Provides the current
boosting for respective stages and provides
isolation.
 Stages – Horizontal stage and vertical stages
respectively.
 Embedded Microcontroller – AT89C51 – 8 bit
processor /4KB Flash/128B RAM.

Geared Servo Motor Interface
using H-Bridge

Features of Target Microcontroller
(AT89C51)
 On board Flash ROM size – 4KB
 Onboard RAM – 128 Bytes
 16Bit timers – 2
 Interrupt sources – 6
 Onboard UART – 1
 Parallel Ports - 4

Command Set
1.Identification Query :
Function : To query the Name of the Controller
*IDN?
2.Version Information :
Function : To know the hardware and software
version of the controller
:VER?
3.Maximum X-Axis Stage Limit
Function : To query the maximum limit of X-axis
stage.
:MAXX?
4.Maximum Y- Axis Stage Limit
Function : To query the maximum limit of Y-axis
stage.
:MAXY?

Command Set
5.Set Position of X-Axis Stage.
Function : To position the X-Axis Stage at a given
Location.
:SETX=XXX
6.Set Position of Y-Axis Stage.
Function : To position the Y-Axis Stage at a given
Location.
:SETY=YYY
7.Query Position of X-Axis Stage.
:X?
8. Query Position of Y-Axis Stage.
:Y?

Application Software
X

Phase Wise Implementation of the
Project
 Phase – 1 : Hardware design for the Embedded
Processor and Firmware Development.
 Phase – 2 : Hardware design for the Motor
Driver & Testing.
 Phase – 3: Development of Device Driver and
Command Set.
 Phase – 4 : Application Software Development
 Phase – 5 : System Integration and Testing.

Thank You !