# Implementation Method of Five-Axis CNC RTOS Kernel Based on gLink-II Bus

## TL;DR

This paper presents a new five-axis CNC system using a gLink-II bus protocol to improve real-time performance and reliability.

## Contribution

The novel contribution is the implementation of a layered architecture combining Windows and an RTOS kernel with a circular buffer for real-time data transmission.

## Key findings

- The system achieves a maximum response error of less than 0.2 milliseconds.
- The interpolation period is less than 0.5 milliseconds in five-axis coordinated control.
- The system ensures stability in CNC machining through efficient data processing and task scheduling.

## Abstract

With the rapid development of Computerized Numerical Control (CNC) systems, traditional industrial communication protocols fail to meet the requirements for high real-time performance and reliability. To address these challenges, an open five-axis CNC system is designed and implemented based on the gLink-II bus protocol. This system features a layered architecture that integrates the Windows operating system with a Real-Time Operating System (RTOS) kernel, along with a multithreaded data interaction structure based on a circular buffer to enhance real-time data transmission performance and improve system responsiveness. In the direct linear interpolation control for five-axis machining, an acceleration and deceleration planning method is introduced, taking into account the kinematic constraints of the rotary axes. This method optimizes velocity and acceleration control. The experimental results show that the system achieves a maximum response error of less than 0.2 milliseconds and an interpolation period of less than 0.5 milliseconds in five-axis coordinated control. The system is capable of efficiently performing data processing and task scheduling, ensuring the stability of the CNC machining process.