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that, the owners would either purchase a new machine or upgrade the old model。 that amounts to 400 machines in total that need retrofitting after 10 years of usage. Most of these machines require new industrial motion control cards which had been long discontinued. Hence, an industrial grade CNC motion control prototype system based on open architecture and modular technologies has been developed as a pioneer research project for retrofitting old milling machines for Vocational Technical Colleges. 2. SYSTEM OVERVIEW The design objectives focus on userfriendliness, costeffectiveness and availability of local technologies to support continuous open architecture technology development domestically. The developed system consists of four major ponents: (1)ManMachine Interface (MMI): the overall system has been developed using Windows Embedded CE where the user can input Gcodes for control, monitor the machine status, or simulate the Gcode before the actual execution. The hardware ponents are designed using industrial grade with 500 MHz CPU and pact Flash memory for durability and cost. (2) Motion control card: oversee all realtime tasks including Programmable Logic Controller (PLC), Numerical Control (NC), PID Controller and Trajectory Planning module. A 24bit DSP processor is chosen to support future development for 8axis motion control, Field Programmable Gate Array (FPGA) for Inputoutput munication with PCI and dual port RAM. (3) Inputoutput (I/O) Module is capable of receiving via 64input ports and sending via 64output ports for munication and control with external devices. (4) Keyboard Panel for directly control the machine via I/O Module such as switching between modes, turning spindle or coolant on/off, municating with the motion control card in hand wheel and emergency switch. All above ponents have been customarily designed for retrofitting old milling machines. The designed system consists of the following seven modes of operations: (i) Zero Return Mode – for initializing the system, (ii) Rapid Mode – for manual continuous speed control using keyboard (iii) Jog Mode – manual incremental speed control, (iv) 第 5 頁(yè) 共 7 頁(yè) Handle Mode – manual motion control using hand wheel, (v) Edit Mode – for editing Gcode onsite, set parameters or simulate the Gcode, (vi) Auto Mode – for executing Gcode mand automatically and (