CN102354192B - Control method for digital integrated bus type numerical control system - Google Patents
Control method for digital integrated bus type numerical control system Download PDFInfo
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- CN102354192B CN102354192B CN2011102650778A CN201110265077A CN102354192B CN 102354192 B CN102354192 B CN 102354192B CN 2011102650778 A CN2011102650778 A CN 2011102650778A CN 201110265077 A CN201110265077 A CN 201110265077A CN 102354192 B CN102354192 B CN 102354192B
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Abstract
The invention discloses a control method for a digital integrated bus type numerical control system. The digital integrated bus type numerical control system comprises a numerical control central unit, a plurality of frequency converters connected with the numerical control central unit through a bus, a main shaft, a servo unit and a programmable logic controller (PCL) unit. The control method comprises the following steps that: (1) the numerical control central unit sends an action instruction packet; (2) the frequency converters, the main shaft, the servo unit and the PLC unit respectively verify receiving party information in the action instruction packet, receive and store corresponding information and filter other information; (3) the numerical control central unit sends a synchronous execution instruction; and (4) the frequency converters, the main shaft, the servo unit and the PLC unit respectively verify a synchronous instruction feature code and sending party information in the synchronous execution instruction, and execute the action instruction of the step (1). By the control method, the defect of the prior art is overcome; and the control method for the digital integrated bus type numerical control system can realize accurate synchronization, is reliable in performance, and is applicable to numerical control systems.
Description
Technical field
The present invention relates to a kind of control method of digital integrated bus type numerical control system.
Background technology
Existing digital control system adopts separate type, modular design.For digital control system, the method is simple in structure, convenient buying.But some fatal shortcomings are arranged: conformity of system is not high, and between system module and module, the interface signal redundancy is too much, very easily causes system reliability and hydraulic performance decline because of interface problem.Traditional industry is controlled a lot of bus mastering modes, as CAN, the agreements such as DEVICENET, these bus mastering modes are used in traditional industries, such as automotive electronics, distributing system control, output bas line control etc., these agreements can not be applied directly to digital control processing.Main cause is exactly that namely their mode of motion of all kinematic axiss is to need collaborative work all the time, needs synchronously because in digital control system, all servo units controls are to need interlock to control.
Summary of the invention
The deficiency that exists in order to overcome prior art the object of the present invention is to provide a kind of control method of carrying out accurate synchronization, dependable performance, being applicable to the digital integrated bus type numerical control system of digital control system.
For reaching above purpose, the invention provides a kind of control method of digital integrated bus type numerical control system, a plurality of frequency converters that this digital integrated bus type numerical control system comprises the numerical control central location, be connected with described numerical control central location by bus, main shaft, servo unit and PLC unit comprise the following steps:
(1) described numerical control central location sending action instruction bag;
(2) described frequency converter, main shaft, servo unit and PLC unit are verified respectively take over party's information in the action command bag, are accepted the storage corresponding informance and filter out of Memory;
(3) described numerical control central location sends the synchronous instruction of carrying out;
(4) action command in synchronic command condition code in synchronous execution instruction and caller information, execution in step (1) is verified respectively in described frequency converter, main shaft, servo unit and PLC unit.
Further improvement of the present invention is, described action command bag comprises transmit leg machine mac address information and reciever mac address information.
Further improvement of the present invention is, the mac address information that described synchronic command condition code shares for each parts.
Further improvement of the present invention is, it is " FF-FF-FF-FF-FF-FF " that described each parts share mac address information.
Further improvement of the present invention is, described caller information is numerical control central location mac address information.
Further improvement of the present invention is, described synchronous execution instruction also comprises at least a in protocol type, type of hardware, last time protocol type, MAC Address length, IP address size, operational code, padding data, CRC check information.
Further improvement of the present invention is, comprises also after described step (4) that described frequency converter, main shaft, servo unit and PLC unit will carry out respectively the step that information after instruction is sent to the numerical control central location
The invention has the beneficial effects as follows: (1) the present invention proposes a kind of a kind of improved protocol that proposes on the IP of conventional TCP IP layer basis, be ESP(Ethernet Synchronous Protocol) agreement, completed the synchronous operation work of each axle and control assembly by this agreement; Solving in digital control system that all servo units control is to need interlock to control, and namely their mode of motion of all kinematic axiss is to need collaborative work all the time, needs synchronous and prior art is difficult to synchronous problem; (2) synchronizing signal is broadcasted physical devices all in whole network, only needs disposable broadcasting, need not to respond from equipment, moves more quick, rapid; (3) adopt bus structure, solve the prior art systems degree of integration not high, between system module and module, the interface signal redundancy is too much, very easily causes the problem of system reliability and hydraulic performance decline because of interface problem, make system reliability higher, operational efficiency is better.
Description of drawings
Accompanying drawing 1 is the structural representation according to digital integrated bus type numerical control system of the present invention.
Embodiment
The below is described in detail preferred embodiment of the present invention, thereby so that advantages and features of the invention can be easier to be it will be appreciated by those skilled in the art that, protection scope of the present invention is made more explicit defining.
Referring to accompanying drawing 1, a plurality of frequency converters that this digital integrated bus type numerical control system comprises the numerical control central location, be connected with the numerical control central location by bus, main shaft, servo unit and PLC unit.A plurality of frequency converters, main shaft, servo unit and these unit, PLC unit are the mutual relation each other, and the traditional wired mode is many, and the complexity of wiring is higher.By the bus digital communication, all unit of digital control system can be coupled together by a kind of interface, can complete the expansion of unrestricted physical location by the cooperation of software.These bus structure are most simplified system's line, facilitate like this system integration, increase the reliability of system.Numerical control central location and its connection device are in master slave relation, by the high speed serialization bus, all subsystems are coupled together.By these bus structure, can increase to the full extent and the update system function under change hardware interface precondition, so the expandability of system obtains maximum performance.
The present invention is exactly to add synchronous head agreement (being the synchronous execution instruction of mentioning in the present invention) in protocol suite to the expansion of TCP/IP maximum, its destination-mac address of ESP agreement is " FF-FF-FF-FF-FF-FF ", it is equivalent to physical devices all in whole network is broadcasted, this agreement only needs disposable broadcasting, need not to respond from machine equipment.
Principle of work of the present invention below is described in detail in detail.
A kind of control method of digital integrated bus type numerical control system comprises the following steps:
Numerical control central location sending action instruction bag; Frequency converter, main shaft, servo unit and PLC unit are verified respectively take over party's information in the action command bag, are accepted the storage corresponding informance and filter out of Memory.The action command bag comprises transmit leg machine mac address information and reciever mac address information.By take over party's MAC Address, judge this information by which unit is carried out.
After action command bag that the numerical control central location needs single operation was sent, the numerical control central location sent the synchronous instruction of carrying out; Synchronic command condition code and the caller information in synchronous execution instruction verified respectively in frequency converter, main shaft, servo unit and PLC unit.Wherein the synchronic command condition code is defined as the mac address information that each parts share.In the present embodiment, the shared mac address information of each parts is " FF-FF-FF-FF-FF-FF ".When reciever mac address information place's filling " FF-FF-FF-FF-FF-FF ", this is a synchronous execution instruction to get final product preliminary judgement.What need to mention especially is, can also define other synchronic command condition code, such as with the equal not identical mac address information of all each unit MAC Address.After having verified whether take over party's mac address information is " FF-FF-FF-FF-FF-FF ", also need to verify whether be the information that the numerical control central location sends out, if checking is the information that the numerical control central location sends, can judge that this is a synchronous execution instruction.
Certainly the synchronous information such as also comprising protocol type, type of hardware, last time protocol type, MAC Address length, IP address size, operational code, padding data, CRC check in instruction of carrying out.Various information and reciever mac address information and transmit leg MAC information combine and jointly form the ESP agreement.
After frequency converter, main shaft, servo unit and PLC unit etc. receive synchronous execution instruction, the action command in beginning execution in step (1).The numerical control central location is in polling status for total line traffic control, after finishing a synchronizing cycle, need the numerical control central location that a synchronous execution instruction occurs, this moment, each control module just can be processed packet that synchronizing cycle, (and two synchronous time durations of carrying out between instruction) received on this.
Carried out after the action command at each control module, each control module can be sent to the numerical control central location by the information that bus will be carried out after instruction, and the information that can send comprises each control module positional information, the instruction information such as whether run succeeded.
So far, the single control command circulation of the control method of this digital integrated bus type numerical control system is finished, and has jointly consisted of the numerical control program of complete and synchronous execution with this back and forth continuous execution.
This bus system adopts totally digitilized real-time protocol (RTP), coordinates by software and hardware, can overcome to the full extent the interference of industry spot, and it has overcome the not strong weak tendency of antijamming capability of traditional connected mode, thereby has strengthened to the full extent the reliability of system.
Above embodiment only is explanation technical conceive of the present invention and characteristics; its purpose is to allow the person skilled in the art understand content of the present invention and implemented; can not limit protection scope of the present invention with this, all equivalences that Spirit Essence is done according to the present invention change or modification all is encompassed in protection scope of the present invention.
Claims (5)
1. the control method of a digital integrated bus type numerical control system, a plurality of frequency converters that this digital integrated bus type numerical control system comprises the numerical control central location, be connected with described numerical control central location by bus, main shaft, servo unit and PLC unit, it is characterized in that, comprise the following steps:
(1) described numerical control central location sending action instruction bag;
(2) described frequency converter, main shaft, servo unit and PLC unit are verified respectively take over party's information in the action command bag, are accepted the storage corresponding informance and filter out of Memory;
(3) described numerical control central location sends the synchronous instruction of carrying out;
(4) action command in synchronic command condition code in synchronous execution instruction and caller information, execution in step (1) is verified respectively in described frequency converter, main shaft, servo unit and PLC unit, the mac address information that described synchronic command condition code shares for each parts, it is " FF-FF-FF-FF-FF-FF " that described each parts share mac address information.
2. the control method of digital integrated bus type numerical control system according to claim 1, it is characterized in that: described action command bag comprises transmit leg machine mac address information and reciever mac address information.
3. the control method of digital integrated bus type numerical control system according to claim 1, it is characterized in that: described caller information is numerical control central location mac address information.
4. the control method of digital integrated bus type numerical control system according to claim 1 is characterized in that: described synchronous execution instruction also comprises at least a in protocol type, type of hardware, last time protocol type, MAC Address length, IP address size, operational code, padding data, CRC check information.
According to claim 1 to 4 arbitrary described digital integrated bus type numerical control system control method, it is characterized in that: comprise also after described step (4) that described frequency converter, main shaft, servo unit and PLC unit will carry out respectively the step that information after instruction is sent to the numerical control central location.
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| CN103472767B (en) * | 2013-09-18 | 2016-05-18 | 大连大森数控技术发展中心有限公司 | Realize the device and method of rigid tapping with analog inverter |
| CN108681308A (en) * | 2018-04-25 | 2018-10-19 | 张建军 | A kind of digital control system and its control method based on data feedback |
| CN112558553B (en) * | 2020-11-26 | 2022-02-11 | 苏州谷夫道自动化科技有限公司 | Method and system for executing channel command of multi-channel numerical control system |
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