Four-axis winding machine control system design based on the embedded motion controller

A four-axis winding machine control system based on embedded motion controller is designed in this paper. The mathematical model of the axisymmetric body is established, the law of geodesic winding is analysed by the theory of differential geometry, the motion trail of eye and the corner of mandrel is attained by specific constraint condition and the control way of electronic cam is adopted to solve the trajectory of the wire tip and the rotation angle of the mandrel. The host and slave structure of “industrial computer + embedded motion controller” is adopted to realize longitudinal and circumferential winding of the four-axis winding machine. The host and slave computer software system is developed by the VC and Trio Basic language respectively. The practical operation shows: embedded motion controller runs without the host computer, which improves the system´s reliability and openness.