Control Software

For this project We have 6 modules. Each module is made up of 3 stages.

These stages are (1) an x-y stage, (2) a tilt goniometric stage, and (3) rotational stage. The links to these stages and the control box can be seen in the attached supporting document.

The difference between our stages and the COTS stages is that each stage has a different motor to the COTS item (integrated 485 bus-type closed-loop stepper driver, IRS42E-K02, manual available). All modules are controlled via a single controller box.

The controller box has power and user instructions from control software (via RS232 to USB cable) as inputs and has six output cables, each connected to one of the modules (RS232 to RS232). Each output cable is limited to 2m length.

The cable from the controller connects to the bottom most stage of the module, that is the x-stage. The x-stage is then connected to the y-stage via a RS232 cable.

The y-stage is connected to the goniometric stage via a RS232 cable. Finally, the goniometric stage is connected to the rotational stage via a RS232 cable.

In this way, a controller with 6 outputs controls 6x4=24 motors. This setup is shown in the diagram and a picture of a single module is also provided on the attached supporting document.

The control signal is sent via the control box to the desired module. If the control signal is not for the x-stage, the control signal is passed up the chain, and so on.

We need the control software to interface with our existing hardware to control the 6 modules. The solution could interface with the existing control box, or alternatively provide a new controller to interface with the 6 modules. The requirements above are for the software/control of the 6 modules.