This project presents high performance distributed motion control system at extremely low cost. Rapid prototyping of multi-axis designs is often required during the development of automation equipment. One can use centralized controls with PC motion control cards, external amplifiers, and a tangle of wires, or utilize existing high cost distributed motion control system with RS485, Ethernet, or one of the fieldbuses (DeviceNet, CANOpen, Profibus, etc.). With the use of highly integrated microcontrollers, such as the PIC18FXX8, and power devices like the Allegro A3977/A3959, a very small and inexpensive system was developed.
document and schematic