JP4584045B2 - Motion controller, communication control module, control device, and control method - Google Patents

Description

  The present invention relates to a motion controller, a communication control module, a control device, and a control method, and more particularly, to a motion controller, a communication control module, a control device, and a control method for reducing a control load.

  Conventionally, in an industrial multi-axis controller, a processing machine controller, etc., in order to easily control and monitor a plurality of motors, a man-machine controller for a user to input a command value or monitor a state value; There is a technique using a control device including a motion controller for controlling the actual movement of a motor or the like (see, for example, Patent Document 1).

  Note that due to differences in functions and performance required for these controllers, the above-described controllers are usually configured separately from the processing machine main body. Therefore, a means for communicating the command value, current value, state information, etc. between the controllers is required. Conventionally, general serial communication such as RS232C or parallel communication with a limited data width is used.

Here, the configuration and operation of the control device having the above-described controller will be described with reference to the drawings. FIG. 1 is a diagram illustrating an example of a schematic configuration of an entire control apparatus having a controller.
The control device 10 shown in FIG. 1 includes a man-machine controller 11, a motion controller 12, servo controllers 13-1 to 13-n, and motors 14-1 to 14-n.

  A man-machine controller 11 shown in FIG. 1 controls an interface with the user such as input of a command value from the user and monitoring of the state of each component. In addition, the motion controller 12 generates a trajectory for the motors 14-1 to 14-n based on input information such as command values sent from the man-machine controller 11, and performs control calculations for the entire motor of each axis. In addition, the motion controller 12 receives a signal indicating a state (normal, abnormal, etc.) from each servo controller 13-1 to 13-n and outputs the signal to the man-machine controller 11.

  In addition, the servo controller 13 performs control calculations such as current control and torque control for operating an actually controlled device (control target) based on control data from the motion controller. In FIG. 1, the control calculation of the motors 14-1 to 14-n of each axis corresponding to each of the servo controllers 13-1 to 13-n is performed. The servo controller 13 outputs the calculated control data to the motor 14. The motor 14 drives each axis based on control data from the corresponding servo controllers 13-1 to 13-n. Further, the motor 14 outputs the state information to the servo controller 13 every predetermined time period or using a predetermined operation as a trigger.

  Next, communication interfaces in the man-machine controller 11 and the motion controller 12 will be described with reference to the drawings. FIG. 2 is a diagram illustrating an example for explaining a communication interface in a conventional man-machine controller and motion controller. In FIG. 2, the man-machine controller 11 is configured to include an application 21 and an I / F (interface) controller 22. The motion controller 12 includes an I / F controller 23, a CPU 24, and a RAM (Random Access Memory) 25 as a storage unit.

  In FIG. 2, an application 21 has an interface function for the user to perform control and the like for controlling the device, and transmits a command value and the like input from the user to the I / F controller 22 as a control signal (control data). To do. The I / F controller 22 controls communication with the I / F controller 23 in the motion controller 12. Further, when receiving data, a communication command, or the like from the application 21, the I / F controller 22 outputs the data to the motion controller 12 via the serial communication 26 such as RS-232C. Further, the I / F controller 22 outputs the data received from the motion controller 12 via the serial communication 26 to the application 21.

  The I / F controller 23 in the motion controller 12 receives a control signal from the man-machine controller 11. The CPU 24 generates control data such as current control and torque control for each of the servo controllers 13-1 to 13-n based on the control signal from the man-machine controller 11. The RAM 25 stores control data that is transmitted and received by the I / F controller 23 and that is signal-processed by the CPU 24. The RAM 25 can also store the state of the motion controller, the processing results, their history, and the like.

  Here, FIG. 3 is a diagram illustrating an example of a detailed functional configuration of the man-machine controller. The man-machine controller 11 illustrated in FIG. 3 includes a main processing unit 31 and a communication control unit 32 as the application 21. The I / F controller 22 includes a general-purpose I / F 33, an input / output device driver 34, a LAN (Local Area Network) driver 35, a serial communication driver 36, an input / output device 37, a LAN controller 38, and a USB. A (Universal Serial Bus) controller 39 and a serial communication controller 40 are included.

  Here, the general-purpose I / F 33, the input / output device driver 34, the LAN driver 35, and the serial communication driver 36 are provided as software by, for example, an OS (Operating System) such as Windows (registered trademark). The input / output device 37, the LAN controller 38, the USB controller 39, and the serial communication controller 40 are configured as hardware.

  The main processing unit 31 performs various data calculations, command generation, status display for the user, and the like on data input by the user. In addition, the communication control unit 32 performs data exchange with each communication driver, command transmission, communication state management, and the like. The communication control unit 32 outputs data, commands, and the like to the general-purpose I / F 33 and receives data sent from the general-purpose I / F 33.

  The general-purpose I / F 33 outputs a signal from the application 21 to the LAN driver 35, USB controller 39, and serial communication driver 36. Since the general-purpose I / F 33 uses standard communication set in advance, even if the communication means is changed, the application 21 side in the man-machine controller can cope with the change.

  The LAN driver 35 outputs a control signal to the motion controller 12 via the LAN controller 38. Further, the serial communication driver 36 outputs a control signal to the motion controller by serial communication via the serial communication controller 40. Further, the USB controller 39 outputs a control signal from the general-purpose I / F 33 to the motion controller 12.

  Further, the input / output driver 34 receives data input from an input / output device 37 such as a display, a keyboard, and a mouse provided in the man-machine controller 11 as hardware via the input / output device driver 34. Output to.

  Next, FIG. 4 is a diagram illustrating an example of a detailed functional configuration of a conventional motion controller. In the motion controller 13 shown in FIG. 4, the I / F controller 23 is configured to include a communication data conversion unit 51 and a buffer 52 as a recording unit. Further, the I / F controller 23, the CPU 24, and the RAM 25 are connected via a data bus 53 in a state where data can be transmitted and received.

  The communication data converter 51 receives data transmitted from the man-machine controller 11 via the serial communication 26 and converts the data into a data format for storing in the buffer (memory) 52 or the like. In addition, the communication data conversion unit 51 outputs the converted data to the buffer 52.

  The buffer 52 temporarily stores data from the communication data conversion unit 51. Further, the buffer 52 receives the control signal from the CPU 24 via the data bus 53 and outputs the stored data to the CPU 24. The CPU 24 requests data from the buffer 52 in accordance with the processing state such as processing speed and load. Here, the buffer 52 is required to be faster than a normal RAM or the like, but since its capacity is physically limited, it cannot store a large amount of data.

  The CPU 24 acquires control data from the buffer 53 and performs I / F processing, communication processing, interrupt processing, and the like with the lower servo controller 13. At this time, the CPU 24 saves the acquired control data, the status of each process, and the like in the RAM 25.

  In addition, when the CPU 24 receives emergency data such as a communication interrupt, an interrupt by an internal timer, or an external interrupt such as forcibly terminating the servo controller 13 from the communication data converter 51, the CPU 24 handles each interrupt process. Execute the communication process. Here, as the communication processing, for example, data stored in the buffer 52 is read from the I / F controller 23, and further processing such as storing the read data in the RAM 25 is performed.

  Note that control of the data bus 53 in the I / F controller 23, CPU 24, and RAM 25 is controlled by a control signal from the CPU 24 via the bus control line 55.

  Here, control processing at the time of data reception and transmission at the conventional motion controller will be described with reference to flowcharts. FIG. 5 is a flowchart showing an example of a conventional control processing procedure at the time of data reception. FIG. 6 is a flowchart showing an example of a conventional control processing procedure during data transmission.

  The control process at the time of reception in FIG. 5 first receives a control signal (data) from the man-machine controller 11 (S01), and then determines whether or not the buffer 52 is full of data (S02). Note that the data full state is not limited to the case where the data amount stored in the buffer is the same as the total recording data amount preset in the buffer, and the data amount received in S01 is stored in the buffer. This includes cases where there is only enough free space to save.

  If the buffer 52 is full of data (YES in S02), it is determined that reception has failed (S03), and the process ends. If the buffer 52 is not full of data (NO in S02), the communication data conversion unit 51 outputs an interrupt signal to the CPU 24 (S04), and the communication data conversion unit 51 performs data conversion (S05). Data is written and saved (S06). Further, the CPU 24 moves (saves) the data saved in the buffer 52 to the RAM 25 (S07), and ends the reception process. Note that when the data in the buffer 52 is normally stored in the RAM 25 by the processing of S07, the corresponding data in the buffer 52 is deleted.

  On the other hand, as shown in FIG. 6, in the control process at the time of transmission, the CPU 24 checks the buffer 52 (S11), and determines whether the buffer 52 is full of data (S12). Here, when the buffer 52 is full of data (YES in S12), the process returns to S11 and the confirmation is continued until the buffer 52 is not full. In this case, the CPU 24 reads data from the buffer 52 by an interrupt signal or the like, so that the buffer 52 has a free space.

If the buffer 52 is not data full (data is no longer full) (NO in S12), the CPU 24 reads data from the RAM 25 and writes data to the buffer 52 (S13). When data is written in the buffer 52, the communication data converter 51 immediately converts the data into a data format for communication (S14), transmits the converted data (S15), and ends the transmission process.
JP 2004-72870 A

  As described above, in the configuration of the conventional motion controller, the CPU directly performs data read / write, communication management, and control to the servo controller and the like. For this reason, when the frequency of communication is high, interrupts frequently occur accordingly. As a result, the load on the CPU of the motion controller is increased, and there is a problem in that the motion control performance is squeezed within the control cycle and stable motion control cannot be performed at high speed.

  Similarly, when a large amount of data communication occurs, there is a problem that the data communication monopolizes the CPU of the motion controller and affects the motion control. Conventionally, multi-bit parallel communication has been used for the purpose of speeding up, but in that case, special hardware and a driver (software) for that are required, and it also takes time to analyze communication errors and the like. It was over.

  Conventionally, since the CPU of the motion controller directly manages communication, software for managing communication may be embedded in the software in the motion controller. In this case, the motion controller is changed when the communication medium is changed. There was a problem that major changes were required in the software.

  The present invention has been made in view of the above-described problems, and provides a motion controller, a communication control module, a control device, and a control method for reducing a control load and transferring large-capacity data at high speed. The purpose is to do.

In order to achieve the above-described object, the present invention provides a man-machine controller that controls data input / output and a servo controller that controls the operation of a controlled object, and a motion controller that transmits / receives data to / from the man-machine controller. An I / F control unit for inputting control data; a signal processing unit for performing signal processing for controlling the servo controller based on control data from the I / F control unit; the I / F control unit; have a dual port memory for reading and writing data from the signal processing unit, wherein the I / F control unit without passing through the dual port memory, for outputting a predetermined control data directly to the signal processing unit The I / F control unit converts the control data from the man-machine controller into a predetermined data format. A communication data conversion unit for converting, a buffer for storing data from the communication data conversion unit, and a communication control unit for outputting the data stored in the buffer to the dual port memory. The communication control unit determines whether the data from the man-machine controller input to the communication data conversion unit is emergency data, and the data from the man-machine controller is the emergency data. , Outputting interrupt data to the signal processing unit via the interrupt line, and outputting the interrupt data, or when the data from the man-machine controller is not the emergency data, the man-machine controller is stored in the dual-port memory. The data from is written and saved . Thus, by having the dual port memory, large-capacity data can be exchanged at high speed without imposing an extra load on the control for the motion controller. In addition, since the communication control unit performs processing for data movement, the time is high in speed and the time when the buffer is full is almost eliminated, so the possibility of reception failure is drastically reduced. Therefore, large-capacity data can be exchanged at high speed without imposing extra load on the control for the motion controller. Furthermore, interrupt data can be quickly transmitted to the signal processing unit.

The present invention also provides a communication control module for a man-machine controller that controls data input / output and a servo controller that controls the operation of a controlled object, and a motion controller that transmits / receives data to / from the man-machine controller. A first connector unit that inputs the I / F, an I / F control unit that controls the interface based on the control data from the first connector unit, and the servo controller based on the control data from the I / F control unit A second connector for connecting to a signal processor for performing signal processing for controlling the I / F, and a dual port memory for reading and writing the control data from the I / F controller and the second connector Yes, and not via the dual-port memory from the I / F control unit, said second connector portion An interrupt line for directly outputting predetermined control data, and the I / F control unit includes a communication data conversion unit for converting control data from the man-machine controller into a predetermined data format, and the communication A buffer for storing data from the data conversion unit; and a communication control unit for outputting the data stored in the buffer to the dual port memory, wherein the communication control unit converts the communication data conversion It is determined whether the data from the man-machine controller input to the unit is emergency data. If the data from the man-machine controller is emergency data, the second connector unit is connected to the second connector unit via the interrupt line. After outputting interrupt data, after outputting the interrupt data, or when the data from the man-machine controller is not the emergency data , Characterized in that the data writing save from the man-machine controller to the dual port memory. Thereby, it can attach easily to the conventional apparatus using a connector. Therefore, large-capacity data can be exchanged at high speed without imposing an extra load on the control of the man-machine controller. Moreover, emergency data can be quickly transmitted to the signal processing unit. Furthermore, since the communication control unit performs processing for data movement, the time is high in speed and the time when the buffer is full is almost eliminated, so the possibility of reception failure is drastically reduced. Therefore, large-capacity data can be exchanged at high speed without imposing extra load on the control for the motion controller.

In addition, the present invention can provide a control device having the same effects as the motion controller or the communication control module according to claim 1 or claim 2 .

  Furthermore, it is preferable that the man-machine controller and the motion controller or the communication control module transmit and receive data by high-speed serial communication. Thereby, high-speed and large-capacity data can be transmitted and received. In addition, by using general high-speed serial communication, a driver that is normally prepared can be used.

Further, the present invention is a control method for a motion controller for transmitting and receiving the servo controllers and data for controlling the operation of the man-machine controller and the target object for controlling input and output of data, the man-machine controller by I / F control unit An I / F control step for inputting control data from a signal processing step; a signal processing step for performing signal processing for controlling the servo controller by a signal processing unit based on the control data obtained by the I / F control step; have a reading and writing step for reading and writing data obtained by the I / F control step and the signal processing step in the dual port memory, the I / F control step, the man-machine controller from the control data given in Communication data conversion step to convert to data format A storage step of storing the data obtained by the communication data conversion step, and a communication control step of outputting the data stored by the storage step to the dual port memory, wherein the communication control step includes the communication It is determined whether or not the data from the man-machine controller input in the data conversion step is emergency data. If the data from the man-machine controller is emergency data, the I / F control unit sends the dual-port memory. Without interrupting, outputting interrupt data via an interrupt line for outputting predetermined control data directly to the signal processing unit, and after outputting the interrupt data, or the data from the man-machine controller is the emergency If it is not data, the man-machine controller is stored in the dual port memory. Characterized by data write store from. As a result, large-capacity data can be exchanged at high speed without imposing an extra load on the control of the motion controller. In addition, since the communication control step performs processing for data movement, the time is high in speed and the time when the buffer is full is almost eliminated, so the possibility of reception failure is drastically reduced. Therefore, large-capacity data can be exchanged at high speed without imposing extra load on the control for the motion controller. Furthermore, interrupt data can be quickly transmitted to the signal processing step.

  Furthermore, it is preferable that the man-machine controller and the motion controller perform data transmission / reception by high-speed serial communication. Thereby, high-speed and large-capacity data can be transmitted and received. In addition, by using general high-speed serial communication, a driver that is normally prepared can be used.

  According to the present invention, the control load can be reduced.

  Next, embodiments in which a motion controller, a communication control module, a control device, and a control method according to the present invention are suitably implemented will be described with reference to the drawings. In addition, since the thing similar to FIG. 1 mentioned above can be used for the schematic structure of the whole control apparatus in this invention, description here is abbreviate | omitted.

  FIG. 7 is a diagram showing an example for explaining a communication interface in the man-machine controller and the motion controller of the present invention. The man machine controller 61 and the motion controller 62 shown in FIG. 7 correspond to FIG. 2 described above. In FIG. 7, the man machine controller 61 and the motion controller 62 are the man machine controller 11 in FIG. And the motion controller 12.

  The motion controller 61 shown in FIG. 7 is configured to have an application 71 and an I / F controller 72. The motion controller 62 includes an I / F controller (I / F control unit) 73, a dual port memory 74, and a CPU (signal processing unit) 75. In the present invention, a dual port memory 74 dedicated to communication I / F may be provided in the motion controller 62 instead of the RAM 25 described above.

  Here, the dual port memory 74 can control data by signals from both the I / F controller 73 and the CPU 75. Therefore, the burden on the CPU 75 of the motion controller 62 is reduced, and the communication medium can be easily changed.

  In FIG. 7, the man-machine controller 61 and the motion controller 62 are connected in a state where data can be transmitted and received via the high-speed serial communication 76. Here, the high-speed serial communication 76 indicates high-speed data transfer standardized by USB (Universal Serial Bus) 2.0, IEEE 1394, or the like. With USB 2.0, a maximum transfer speed of 480 Mbps is possible, and with IEEE 1394, high-speed data communication can be realized by selecting a data transfer mode of 400 Mbit / sec. Further, data transmission may be performed using optical communication, Gigabit Ethernet (registered trademark), or the like as the high-speed serial communication 76. Further, the communication form by the high-speed serial communication 76 may be wired or wireless.

  In the man-machine controller 61, as described above, the application 71 has an interface function for the user to perform control or the like for controlling the device, and the command value or the like input from the user is used as a control signal (control data). The data is transmitted to the I / F controller 72. Further, the I / F controller 72 performs communication control with the I / F controller 73 in the motion controller 62. Further, upon receiving data, a communication command, or the like from the application 71, the I / F controller 72 outputs the data to the motion controller 62 via the high-speed serial communication 76 such as USB 2.0. Further, the I / F controller 72 outputs the data received from the motion controller 62 via the high-speed serial communication 76 to the application 71.

  Further, the I / F controller 73 in the motion controller 62 performs communication control of the high-speed serial communication 76 and stores commands such as data and commands received via the high-speed serial communication 76 in the dual port memory 74 at high speed. Further, the I / F controller 73 can transmit the data in the dual port memory 74 via the high-speed serial communication 76. When the I / F controller 73 receives a signal that requires real-time performance such as emergency data, the I / F controller 73 generates an interrupt signal and outputs the generated interrupt signal directly to the CPU 75 via the interrupt line 77. . Thereby, an interrupt signal can be quickly transmitted to the CPU 75. Further, the CPU 75 can perform a corresponding process quickly.

  In addition, the CPU 75 generates a trajectory for each motor in accordance with the installed application, converts it into a position, speed, acceleration command, and the like, and transmits each of the above-described lower servo controllers 13-1 through the bus or the like. 13-n is output in the form of a data string. Depending on the configuration and application, the motion controller 62 can also form a position, speed, and acceleration feedback loop by receiving signals from the position, speed, and acceleration sensors of the encoder and laser interferometer.

  Here, since the detailed functional configuration of the man-machine controller 61 described above can be the same as that of the man-machine controller 11 shown in FIG. 3 described above, description thereof is omitted here. Note that the application 21 and the I / F controller 22 in FIG. 3 become the application 71 and the I / F controller 72 in FIG. 7, respectively.

  Next, a detailed functional configuration example of the motion controller 62 according to the present invention will be described with reference to the drawings. FIG. 8 is a diagram showing an example of a detailed functional configuration of the motion controller according to the present invention. The motion controller in FIG. 8 includes a communication data conversion unit 81, a buffer 82, and a communication control unit 83 as an I / F controller 73.

  The I / F controller 73 and the dual port memory 74 are connected via the I / F controller data bus 84 in a state where data can be transmitted and received. The dual port memory 74 and the CPU 75 are connected via a CPU data bus 85 in a state where data can be transmitted and received. Further, communication between the I / F controller data bus 84 and the CPU data bus 85 is controlled by bus control lines 86-1 and 86-2.

  In the I / F controller 73 shown in FIG. 8, the communication data conversion unit 81 receives data transmitted via the high-speed serial communication 76 and converts it into a data format for storing in the buffer 82. The communication control unit 83 generates an interrupt signal when the content of the data stored in the buffer 82 by the communication data conversion unit 81 is emergency data, for example, and the generated interrupt signal is directly sent to the CPU 75 via the interrupt line 77. Send to. The data stored in the buffer 82 is written into the dual port memory 74 by the communication control unit 83.

  As shown in FIG. 8, the dual port memory 74 is a memory having a data bus and an address bus in two directions. For example, even when one side is writing data, data in another region can be read from the other side. Or write to the area. Thereby, high-speed bidirectional data exchange can be realized.

  Next, a reception processing procedure and a transmission processing procedure in the motion controller 62 according to the present invention will be described with reference to the drawings. FIG. 9 is a flowchart showing an example of a control processing procedure at the time of data reception in the present invention. FIG. 10 is a flowchart showing an example of a control processing procedure during data transmission according to the present invention.

  In the control process at the time of reception in FIG. 9, first, a control signal (data) from the man-machine controller 61 is received (S21), and it is determined whether or not the buffer 82 is full of data (S22). Here, when the buffer 82 is full of data (YES in S22), it is determined that reception has failed (S23), and the process is terminated. If the buffer 82 is not full of data (NO in S22), data conversion is performed by the communication data converter 81 (S24), and the data is stored in the buffer 82 (S25).

  Further, it is determined whether or not the content of the data is emergency data (S26). If the data is emergency data (YES in S26), the communication control unit 83 outputs an interrupt signal to the CPU 75 (S27). After the process of S27 is completed or when the data is not emergency data (NO in S26), the communication control unit 83 writes and stores the data in the dual port memory 74 (S28), and the reception process ends. When the data in the buffer 82 is normally stored in the dual port memory 74 by the process of S28, the corresponding data in the buffer 82 is deleted.

  On the other hand, as shown in FIG. 10, in the control process at the time of transmission, first, the data transmitted by the CPU 75 is written in the dual port memory 74 and stored (S31). Next, the communication control unit 83 checks the capacity of the buffer 82 (S32), and determines whether or not the buffer 82 is full of data (S33).

  Here, if the buffer 82 is full of data (YES in S33), the process returns to S32 and the confirmation is continued until the data is not full. In this case, the communication control unit 83 writes the data stored in the buffer 82 to the dual port memory 74 and stores it, or the CPU 75 reads the data from the buffer 82 using interrupt data or the like, thereby 82 has free space.

  If the buffer 82 is not data full (data is no longer full) (NO in S33), the communication control unit 83 writes the data in the dual port memory 74 to the buffer 82 (S34), and the communication data conversion unit 81 Is converted (S35), data is transmitted (S36), and the transmission process is terminated.

  As described above, according to the above-described embodiment, by having the dual port memory 74, large-capacity data can be exchanged at high speed without imposing an extra load on the control of the motion controller. Specifically, as described above, by interposing the dual port memory 74 between the I / F controller 73 and the CPU 75, interrupts due to irregular communication can be reduced, and data is exchanged by an application. Timing can be controlled. As a result, the load on the CPU 75 can be reduced and the performance can be improved.

  Further, since the communication control unit 83 performs processing for data movement, the time is high in speed, and there is almost no time for the data stored in the buffer 82 to be full. That is, while the CPU of the motion controller has conventionally moved data by interruption, in the present invention, the communication control unit 83 performs processing for data movement. Therefore, in the conventional configuration, when the number of communications and the amount of data increase, the frequency of interrupts increases and the load on the CPU increases. However, according to the configuration of the above-described embodiment, no interrupts occur in communications except in an emergency. Therefore, the CPU load does not change even if the number of communications and the amount of data increase. For this reason, the time is high, and the time when the buffer is full is almost eliminated. Therefore, the possibility of reception failure is drastically reduced. As a result, the motion controller 62 can exchange high-capacity data at high speed without imposing an extra load on the control of the man-machine controller 61.

  In addition, by using a general high-speed serial interface, a normal PC or the like can be used for the man-machine controller 61, thereby eliminating the need for special hardware. In addition, a normally prepared driver can be used, and new driver development in the present invention is not required.

  Further, the CPU 75 in the present embodiment only needs to write data to the dual port memory 74 at the time of data transmission, and does not have to wait until the data in the buffer 82 becomes empty. As described above, by using the configuration and method of the present invention, the load on the CPU can be reduced and the communication speed can be increased.

<Other Embodiments of Motion Controller>
The embodiment in the present invention described above is configured to include an I / F controller, a dual memory, and a CPU as a motion controller. However, the present invention is not limited to this. For example, the I / F controller And a communication control module for a motion controller having only a dual port memory.

  Here, a configuration example of the above-described communication control module for the motion controller will be described with reference to the drawings. FIG. 11 is a diagram illustrating an example of a communication control module according to the present invention. The communication control module 90 in FIG. 11 includes connectors (first connector portion, second connector portion) 91-1 and 91-2, an I / F controller (I / F control portion) 92, and a dual port memory 93. It is comprised so that it may have. The connector (first connector portion) 91-1 is a connector for receiving data from the man-machine controller via high-speed serial communication. The connector 91-1 outputs the received data to the I / F controller 92.

  As shown in FIG. 8 described above, the I / F controller 92 is configured to include a communication data conversion unit, a buffer, and a communication control unit. Here, if the received data is emergency data, the communication control unit generates an interrupt signal, and the generated interrupt signal is connected to the CPU (signal processing unit) via the interrupt line 94 (first processing unit). 2 connector portion) 91-2. Thereby, data can be transmitted to the CPU connected to the connector 91-2 without going through the dual port memory 93.

  The dual port memory 93 is a memory having data buses 95-1 and 95-2 and address buses 96-1 and 96-2 in two directions of the I / F controller 92 and the connector 91-2. Can write data in another area while the other is reading data. Thereby, high-speed bidirectional data exchange can be realized.

  In this way, by connecting the communication control module 90 having the configuration shown in FIG. 11 to the connector corresponding to the data bus side connector arrangement, high-speed communication can be easily performed.

<Other Embodiments of Control Device>
Here, the motion controller or the communication control module in the present invention can be applied to the control device shown in FIG. 1, but as other control device configurations, for example, a man-machine controller, a motion controller or a communication control module, By providing a communication branching device such as a hub or a router between them, the relationship between the man-machine controller and the motion controller or the communication control module can be expressed as “N vs. M (N, M ≧ 1) without adding special software. ) ”.

  Here, the above-described configuration example will be described with reference to the drawings. FIG. 12 is a diagram illustrating an example of another embodiment of the control device. In the example shown in FIG. 12, the relationship between the man-machine controller and the motion controller is “one-to-many”. In FIG. 12, the control device 100 includes a central control device 101 as a man-machine interface, a hub 102, motion controllers 103-1 to 103-m, and servo controllers 104-1 to 104mn corresponding to the respective motion controllers. And motors 105-11 to 105-mn corresponding to the servo controller 104-mn.

  In the configuration shown in FIG. 12, by applying the above-described motion controller according to the present invention to the motion controllers 103-1 to 103-m, as described above, an extra load is applied to the control on the central controller 101. It is possible to exchange large volumes of data at high speed. As a result, a plurality of injection molding machines and processing machines can be quickly and simultaneously controlled from one central controller.

  As described above, according to the present invention, large-capacity data can be exchanged at high speed without imposing an extra load on the control of the man-machine controller. Specifically, by having a dual port memory, interrupts due to irregular communication can be reduced, and the timing of sending and receiving data by an application can be controlled. As a result, the load on the CPU of the motion controller can be reduced and the performance can be improved.

  In addition, since the communication control unit performs processing for interruption, the time is increased in speed, and there is almost no time for the data stored in the buffer to be full. That is, while the CPU of the motion controller conventionally moves data by interruption, in the present invention, the communication control unit performs processing for interruption. Therefore, in the conventional configuration, when the number of communications and the amount of data increase, the frequency of interrupts increases and the load on the CPU increases. However, according to the configuration of the above-described embodiment, no interrupts occur in communications except in an emergency. Therefore, the CPU load does not change even if the number of communications and the amount of data increase. For this reason, the time is high, and the time when the buffer is full is almost eliminated. Therefore, the possibility of reception failure is drastically reduced. As a result, the motion controller can exchange high-capacity data at high speed without imposing an extra load on the control of the man-machine controller.

  In addition, by using a general high-speed serial interface, a normal PC or the like can be used for the man-machine controller, thereby eliminating the need for special hardware. In addition, a normally prepared driver can be used, and new driver development in the present invention is not required.

  The motion controller described above can be applied to multi-axis motor controllers, positioning stage controllers, injection molding machine controllers, laser processing machine controllers, and other industrial machine controllers in general.

  The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to such specific embodiments, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed.

It is a figure which shows an example of schematic structure of the whole control apparatus which has a controller. It is a figure which shows an example of schematic structure of the whole control apparatus which has a controller. It is a figure which shows an example of a detailed functional structure of a man machine controller. It is a figure which shows an example of the detailed functional structure of the conventional motion controller. It is a flowchart which shows an example of the control processing procedure at the time of the data reception in the past. It is a flowchart which shows an example of the control processing procedure at the time of the data transmission in the past. It is a figure which shows an example for demonstrating the communication interface in the man machine controller and motion controller of this invention. It is a figure which shows an example of the detailed functional structure of the motion controller in this invention. It is a flowchart which shows an example of the control processing procedure at the time of the data reception in this invention. It is a flowchart which shows an example of the control processing procedure at the time of the data transmission in this invention. It is a figure which shows an example of the communication control module in this invention. It is a figure which shows an example of other embodiment of a control apparatus.

Explanation of symbols

10,100 Control device 11,61 Man-machine controller 12,62,103 Motion controller 13,104 Servo controller 14,105 Motor 21,71 Application 22,23,72,92 I / F controller 24,75 CPU
25 RAM
26 Serial communication 31 Main processing unit 32, 83 Communication control unit 33 General-purpose I / F
34 I / O device driver 35 LAN driver 36 Serial communication driver 37 I / O device 38 LAN controller 39 USB controller 40 Serial communication controller 51, 81 Communication data converter 52, 82 Buffer 53, 95 Data bus 54, 77, 94 Interrupt line 55 , 86 Bus control line 74, 93 Dual port memory 76 High-speed serial communication 84 I / F controller data bus 85 CPU data bus 90 Communication control module 91 Connector 96 Address bus 101 Central controller 102 Hub

Claims (6)

In the man-machine controller that controls the input and output of data and the servo controller that controls the operation of the controlled object and the motion controller that sends and receives data,
An I / F control unit for inputting control data from the man-machine controller;
A signal processing unit that performs signal processing for controlling the servo controller based on control data from the I / F control unit;
Have a dual port memory for reading and writing data from the I / F control section and the signal processing unit,
An interrupt line for outputting predetermined control data directly from the I / F control unit to the signal processing unit without going through the dual port memory;
The I / F control unit
A communication data converter for converting control data from the man-machine controller into a predetermined data format;
A buffer for storing data from the communication data converter;
A communication control unit for outputting the data stored in the buffer to the dual port memory;
The communication control unit
It is determined whether or not the data from the man-machine controller input to the communication data conversion unit is emergency data, and when the data from the man-machine controller is the emergency data, the data is transmitted via the interrupt line. Output interrupt data to the signal processor,
A motion controller , wherein after outputting the interrupt data or when the data from the man-machine controller is not the emergency data, the data from the man-machine controller is written and stored in the dual port memory . In a communication control module for a motion controller that transmits and receives data to and from a man-machine controller that controls the input and output of data and a servo controller that controls the operation of the controlled object.
A first connector for inputting control data from the man-machine controller;
An I / F control unit for controlling an interface based on control data from the first connector unit;
A second connector for connecting to a signal processor for performing signal processing for controlling the servo controller based on control data from the I / F controller;
Have a dual port memory for reading and writing the control data from the I / F control portion and the second connector portion,
An interrupt line for outputting predetermined control data directly from the I / F control unit to the second connector unit without going through the dual port memory;
The I / F control unit
A communication data converter for converting control data from the man-machine controller into a predetermined data format;
A buffer for storing data from the communication data converter;
A communication control unit for outputting the data stored in the buffer to the dual port memory;
The communication control unit
It is determined whether the data from the man-machine controller input to the communication data conversion unit is emergency data. If the data from the man-machine controller is emergency data, the first data is transmitted via the interrupt line. 2 Output interrupt data to the connector
A communication control module which writes and stores data from the man-machine controller in the dual port memory after outputting the interrupt data or when the data from the man-machine controller is not the emergency data . A control apparatus comprising the motion controller or the communication control module according to claim 1 . 4. The control device according to claim 3 , wherein the man-machine controller and the motion controller or the communication control module perform data transmission / reception by high-speed serial communication. In the control method of the motion controller that transmits and receives data with the man-machine controller that controls the input and output of data and the servo controller that controls the operation of the controlled object,
An I / F control step of inputting control data from the man-machine controller by an I / F control unit ;
A signal processing step for performing signal processing for controlling the servo controller by a signal processing unit based on the control data obtained by the I / F control step;
Have a reading and writing step for reading and writing data obtained by the I / F control step and the signal processing step in the dual port memory,
The I / F control step includes:
A communication data conversion step for converting control data from the man-machine controller into a predetermined data format;
A storage step of storing data obtained by the communication data conversion step;
A communication control step of outputting the data stored in the storage step to the dual port memory,
The communication control step includes
It is determined whether or not the data from the man-machine controller input in the communication data conversion step is emergency data. If the data from the man-machine controller is emergency data, the I / F control unit sends the dual data. Output interrupt data via an interrupt line for outputting predetermined control data directly to the signal processing unit without using a port memory,
A control method comprising: writing and storing data from the man-machine controller in the dual port memory after outputting the interrupt data or when the data from the man-machine controller is not the emergency data . The control method according to claim 5 , wherein the man-machine controller and the motion controller perform data transmission / reception by high-speed serial communication.

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