【摘要】 针对目前高端的数控系统价格高昂，开放性差，难以满足中小客户群体的需求，而小型的嵌入式数控系统主要以脉冲控制为主，存在接线复杂、容易受到干扰、加工效率低等问题。该文基于GRBL对总线式嵌入式数控系统进行了研究，引入拐角圆弧过渡、动态速度前瞻等轨迹规划算法优化加工路径。采用FreeRTOS实时操作系统，提高软件执行效率。基于CIA301和CIA402协议，采用CANopen工业现场总线实现对多轴电机的协同控制。实验结果表明，基于CANopen总线的嵌入式数控系统能够精确的跟踪加工轨迹，且相比于传统脉冲控制方式，接线数量减少了50%，有效提高了嵌入式数控系统的加工效率和可靠性。更多还原

【Abstract】 The current high-end numerical control system is expensive and lacks openness,making it difficult to meet the needs of small and medium-sized customer groups. Additionally,small embedded numerical control systems mainly rely on pulse control,which involves complex wiring and is susceptible to interference,resulting in low processing efficiency. This paper focuses on studying a bus-embedded CNC system based on GRBL. Trajectory planning algorithms such as corner arc transition and dynamic velocity foresight are introduced to optimize the machining path. The FreeRTOS real-time operating system is adopted to improve software execution efficiency. By utilizing CIA301 and CIA402 protocols,the CANopen industrial fieldbus enables cooperative control of multi-axis motors. Experimental results demonstrate that the embedded CNC system based on CANopen bus can accurately track machining trajectories while reducing connections by 50% compared to traditional pulse control methods. This effectively enhances machining efficiency and reliability.更多还原