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Design and Implementation of Multi-Axis Programmable Stage Controller with Geared Servo Motor using Embedded Controller
1. Design and Implementation
of Multi-Axis Programmable
stage controller with Geared
Servo Motor Using
Embedded Controller
Vijayakumar.K
2. 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.
3. 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.
4. 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.
5. 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
6. 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.
8. 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
9. 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?
10. 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?
12. 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.