1. Introduction At present, the secondary development of various motion control cards is relatively complicated. At present, many domestic engineers are familiar with the G code of the CNC system. Based on the ARM 32-bit single-chip microcomputer and the domestic motion control chip AFD-X05, the five-axis linkage motion controller that can execute the G code has been developed, which makes secondary development It became simple. Using this high-speed and high-precision motion controller that supports five-axis linear interpolation, and then developing various special numerical control systems, engineers only need to focus on the development of large and complex software, without having to understand the hardware.
2. Hardware system of G code five-axis linkage motion controller
2.1 AFDX05 motion control chip The AFDX05 motion control chip developed by Yunshan CNC supports any 2 ~ 5 axis linear interpolation, any 2 axis circular interpolation, up to 6 levels of motion command buffer, especially suitable for high-speed multi-line segments or circles Motion control of arc continuous interpolation, in addition, backlash compensation, speed control, acceleration and deceleration control, position control, general input and output ports, 8 / 16-bit data bus, interrupt occurrence, hardware limit, software limit, Emergency stop, pause, encoder signal input and other functions, drive pulse frequency up to 8MPPS, interpolation accuracy ± 5LSB. It is used to control the servo motor and stepper motor input in pulse sequence mode.
"Chinese core" AFDX05, more in line with the Chinese people's habits. Can control up to 5 axes of point motion, continuous trajectory motion, synchronized motion and other applications.
2.2 ARM 32-bit microcontroller
The CPU is S3C44B0X. 32M Flash. Differential output drive in pulse direction. 60 optocoupler isolated inputs, 42 open collector optocoupler isolated outputs or 36 optocoupler isolated inputs, 20 open collector optocoupler isolated outputs. 5-step stepper / servo motor pulse optocoupler isolated output, the highest frequency is 4MHz. 32-bit logical position and actual position counter. RS232 communication. The hardware part has been modularized and can be developed without any hardware knowledge.
3. Software system of G code five-axis linkage motion controller
3.1 Supported G codes
G code grouping function
* G00 1 positioning (fast moving)
* G01 1 Linear interpolation (feed rate)
G02 1 Clockwise circular interpolation
G03 1 Counterclockwise circular interpolation
G04 0 pause, precise stop
* G17 2 Select X plane
G18 2 Select Z plane
G19 2 Select Y plane
G27 0 Return and check the reference point
G28 0 Return to reference point
G29 0 Return from reference point
G30 0 Return to the second reference point
* G40 7 Cancel tool radius compensation
G41 7 Left tool radius compensation
G42 7 Right tool radius compensation
G43 8 Tool length compensation ＋
G44 8 Tool length compensationï¼
* G49 8 Cancel tool length compensation
G52 0 Set local coordinate system
G53 0 select machine coordinate system
* G54 14 selects No. 1 workpiece coordinate system
G55 14 selects No. 2 workpiece coordinate system
G56 14 selects No. 3 workpiece coordinate system
G57 14 choose workpiece coordinate system No. 4
G58 14 choose workpiece coordinate system No. 5
G59 14 selects No. 6 workpiece coordinate system
G60 0 Single direction positioning
* G64 15 cutting method
G65 0 Macro program call
G66 12 modal macro program call
* G67 12 modal macro program call cancel
* G90 3 Absolute value command method
* G91 3 incremental value command mode
G92 0 Workpiece zero setting
* G98 10 Canned cycle returns to the initial point
G99 10 Canned cycle return to point R
3.2 Supported M codes
M code function
M00 program stop
M01 Conditional program stop
M02 End of program
M03 Spindle forward
M04 Spindle reverse
M05 Spindle stop
M06 Tool exchange
M08 cooling on
M09 cooling off
M18 Spindle orientation cancel
M19 spindle orientation
M30 program ends and returns to program header
M50 standby output 1 on
M51 Standby output 1 off
M52 Spare output 2 open
M53 standby output 2 open
M54 standby output 3 open
M55 standby output 3 open
M56 standby output 4 open
M57 standby output 4 on ...
M98 call subroutine
M99 Subprogram end return / repeat execution
3.3 Macro programming variable number variable type function
# 0 "Empty" This variable is always empty and cannot be assigned.
# 1 ~ # 33 Local variables Local variables can only be used in macros to maintain the results of operations. Local variables are initialized to "empty" when the power is turned off. When the macro is called, the independent variable is assigned to the local variable.
# 100 ~ # 149
# 500 ~ # 531 Public variables Public variables can be shared among different macro programs. Variables at power off
# 100 ~ # 149 is initialized to "empty", and the variables # 500 ~ # 531 hold the data. The public variables # 150 ~ # 199 and # 532 ~ # 999 can be selected, but when these variables are used, the length of the paper tape is reduced by 8.5 meters.
# 1000 ~ System variables System variables are used to read and write various NC data items, such as current position and tool compensation value
# 2000 ~ # 2059 IO input 60-channel optocoupler isolated input signal
Four, three-axis milling machine CNC numerical control system development example
4.1 Parameter initialization.
The following parameters, five axes, each axis has.
Parameter name Parameter setting parameter unit Pulse equivalent P01 = XXX.XXXXXX mm
G00 command speed P02 = XXXX mm / min
G01 command speed P03 = XXXX mm / min
G02 command speed P04 = XXXX mm / min
G03 command speed P05 = XXXX mm / min start speed P06 = XXXX mm / min acceleration time P07 = XXXX ms positive software limit P08 = XXXX mm negative software limit P09 = XXXX mm backlash compensation P10 = XXXX mm Zero return speed P11 = XXXX mm / min manual speed P12 = XXXX mm / min maximum feed speed P13 = XXXX mm / min total system tool number P14 = XX
M code waiting time P15 = XXXX milliseconds back to reference point coordinate P16 = XXX.XXXXXX mm spindle encoder line number P17 = XXXX (/ R)
Return to zero direction P18 = X
Tool change reference position P19 = XXX.XXXXXX mm tool change safety height P20 = XXX.XXXXXX mm tool change interval P21 = XXX.XXXXXX mm tool change speed P22 = XXX.XXXXXX mm / min maximum stroke P23 = XXX.XXXXXX mm set workpiece Coordinate system P25 = XXX.XXXXXX mm
4.2 Send G code to control the machine tool work. Such as:
G54
M03 X8
G0 G90 G17
G28
G00X-2.046Y59.111Z10.000
Z4.000
G01Z-1.000F300
G17
G02X1.245Y54.864I-54.422J-45.566K0.000F800
X2.203Y53.318I-15.407J-10.613K0.000
G00Z10.000
G91 G28 M09
5. Summary.
Based on the open five-axis five-link CNC system platform for development, only need to transfer the G code to this platform, you can quickly develop a special CNC system based on international standard G code processing. Application developers do not need to know the hardware at all, and concentrate on making a special industry-specific CNC system. Reduce the development cost of CNC system and promote the popularization and application of CNC machine tools.
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LTE CAT4/CAT6 Definition
The full name of LTE CAT is LTE UE-category, which is broken down to explain :LTE refers to 4G LTE network, UE refers to user equipment, and Category is translated as level. Smooth interpretation is the level of 4G LTE network transmission rate that user devices can support, which can also be said to be a technical standard for 4G network speed. Therefore, LTE CAT4/CAT6 means that the user device LTE network access capability level is 4 or 6.
Since the level is different, then its capabilities are certainly not the same, let's take a look at LTE CAT4/CAT6 affect what performance, respectively, what level. Simply put, LTE CAT affects the upper limit of 4G LTE uplink and downlink network speed, which is generally referred to as the maximum upload and download speed that a user device can achieve.
There are not only 4 and 6 levels in LTE CAT, but the table above is our list of currently known LTE CAT levels and the corresponding maximum transmission speed. Among them, LTE CAT4/CAT6 is also the current network transmission technology level of 4G mobile phones, while the faster CAT7 and CAT8 are still in the laboratory stage and have not been commercially developed.
Phones and chips that support LTE CAT4/CAT6
As far as the current 4G mobile phone market is concerned, most mobile phone products are CAT4 technology, and only a small number of new mobile phones use CAT6 technology, such as Huawei Honor 6, Samsung Galaxy S5 advanced version and LG G3 Cat6, and the concept of LTE CAT6 is proposed by Huawei Honor 6.
For the mobile phone LTE CAT4/CAT6 standard, it is directly linked to the mobile phone chip, or, if you know the processor of the mobile phone, you know which technology the mobile phone uses. For the current 4G mobile phone chips, only Huawei Kirin 920 and Qualcomm Snapdragon 805 processors for LTE CAT6, before this 4G chips are LTE CAT4, the future and Kirin 930, Qualcomm Snapdragon 808/810 will support LTE CAT6. Mediatek won't have LTE CAT6 chips until the second half of next year.
Qualcomm Snapdragon 805, 808, and 810 also support LTE CAT6
It is worth mentioning here that Qualcomm Snapdragon 805 and Kirin 920 are not the same in chip design, the LTE CAT6 baseband of Snapdragon 805 is an external Gobi MDM9x35, while Kirin 920 is a direct SoC integration, and the chip is integrated, this point Kirin 920 has ultra-high integration. It has certain advantages in power consumption and cost. As a leading international communications company, Huawei's strength can not be underestimated, but also the pride of our people.
The actual use value of LTE CAT6
Upload, download speed is our use of mobile Internet access the most concerned performance, but it should be clear that the LTECAT standard is the 4G transmission speed limit, and can not improve the transmission speed, in the operator's 4G network speed has not reached the next standard, simply raising the limit is meaningless. At present, the 4G networks of domestic operators are all LTE CAT4 standards, and the peak download speed is 150Mbps, but it is difficult to reach the upper limit of LTE CAT4 in practical applications, and even to reach 100Mbps is very difficult, so at this stage LTE CAT6 has no use value.
In terms of real life applications, LTE CAT6 is not as beautiful as we think. We can do a calculation, according to the formula 1MB/s=8Mbps, the maximum download speed of LTE CAT4 is 18.75MB/s, such a download speed, for 1080P video online playback has no pressure, even 4K online film source still can not occupy such a large bandwidth, So LTE CAT6 has no use either.
To sum up, LTE CAT6 does not have much use value at this stage, and the term is only a gimmick of manufacturers, until the operator 4G standard reaches LTE CAT6, I believe that LTE CAT6 equipment has long been popular. So as for whether the phone is LTE CAT4 or LTE CAT6, you don't have to care.
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Shenzhen MovingComm Technology Co., Ltd. , https://www.movingcommiot.com