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针对焊接机器人无线信息传输的控制系统,提出了一种以dsPIC30F5015数字信号控制器(DSC)为核心,并借助于步进电机集成驱动芯片TB6560的步进减速电机控制器的设计方法,给出了该系统设计的硬件电路图和软件流程图,同时对步进电机的运行精度进行了测试。测试结果显示,运行精度的绝对误差小于2%,相对误差小于0.1%,且焊接机器人运行平稳、噪声小,能够满足焊接机器人的焊接要求,实现了对焊接机器人焊接速度和方向的控制。
Aiming at the control system of wireless information transmission of welding robot, a design method of stepper motor controller based on dsPIC30F5015 digital signal controller (DSC) and integrated with stepper motor integrated driver chip TB6560 is proposed. The hardware circuit diagram and software flow chart of this system are designed, and the running precision of the stepper motor is tested at the same time. The test results show that the absolute error of the running accuracy is less than 2% and the relative error is less than 0.1%. And the welding robot runs smoothly and has low noise, which can meet the welding requirements of the welding robot and control the welding robot’s welding speed and direction.