| The paper is focused, mainly, on the timing design for the simultaneous digital control of several electrical motors using a very high level programming language (under an Integrated Development Environment – IDE) and a single microcontroller. The initial problem that had led to this work was the control of a tool trajectory in a multi-axis system with minimal control equipment and by means of a very friendly software support. The results are included in two papers. This first one contains the software support. The main contribution refers to a programming solution for obtaining independent / parallel control of the time delays for several channels. The author gives also original formulas for the timing calibration. The application implements a simultaneous control of two different steppers and two different DC motors, each of them with different adjustable speed and its own motion direction. The program is designed in a modular manner using several user macros. The paper presents also the simulation results by the graphical interface. The validity of the solution is proved by some experimental results, included in the paper. The application fields concern both the academic area and the industry, the best known examples being robotics, machine-tools, electrical vehicles, drones and many others. |
 |