中文摘要：

通过对自行研制的GD102运动控制器特性的研究，将其驱动程序划分为内核支持层、寄存器读写层、基本命令层和应用层；分析了各层次的功能和实现原理及各层次间的通信机制。在分析Windows2000下内核模式驱动程序的构成和I／O请求处理流程的基础上，以DriverWorks为工具开发了运动控制器的驱动程序，并对驱动程序开发中的一些关键问题进行了论述。该驱动程序已被成功地应用到实际开放式数控系统项目，并取得了良好的效果。

英文摘要：

Based on modularization, this paper proposes the 4-layer model of GD102 motion controller＇s driver through research on its characteristics. The four layers are kernel layer, register layer, basic command layer, and application layer. This paper analyses the communications between layers are also referred to function and implementation method of each layer. The The driver of the motion controller is developed by the tool of DriverWorks through analyzing the composition of the kernel mode driver and the processing of the IRP in Windows2000. Some key problems during processing of program development are discussed in this paper. The driver has been applied in an open numerical control system successfully.