XY Table Part 2: Overall Architecture
What are the major components and how do they fit together?
Let’s start at the top and work our way down:
- Motion commands are generated by the joystick; the joystick reports values separately for the X and Y axis.
- The PC reads the joystick X and Y values, translates them into velocity commands and sends them out over the USB to CAN interface.
- The CANOpen drives receive the motion commands, and send the appropriate voltage and current to the X and Y motors.Â (I use the drive to refer to an integrated motion controller and amplifier.Â I will be using one servo drive and one stepper drive.)
- The motors are connected to XY table ballscrews through a coupling and cause the XY table to move.
- Limit sensors on the XY table stop the motors if you try to move too far, preventing damage to the XY table.
- The E-Stop switch is there to turn off power to the motors (with no software involved) in cause of an emergency.
- The Power Supply drives DC power to the motors through the drives.
So the basic idea isn’t too complicated, but there will be a lot to learn along the way to sucess.