CN1996187A - AC servo system with distribution type motion controller - Google Patents
AC servo system with distribution type motion controller Download PDFInfo
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- CN1996187A CN1996187A CNA2006100004262A CN200610000426A CN1996187A CN 1996187 A CN1996187 A CN 1996187A CN A2006100004262 A CNA2006100004262 A CN A2006100004262A CN 200610000426 A CN200610000426 A CN 200610000426A CN 1996187 A CN1996187 A CN 1996187A
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Abstract
The alternating current servomechanism with distributional movement control comprises programmable movement controller of each drive to execute customized program to control the motor action of the shaft or the other shafts and input and output signal, downloading and executing movement program through telecommunication network, compiling parameters of each shaft, monitoring the status of each shaft, deciding master or slave shaft based on requirements of the drive, with the main drive executing multi shafts synchronic action program, sending orders to slave shaft through telecommunication network, with the master drive calculates the compensatory order coordinate of each shafts based on the path order and the slave shaft drive and the received path order to make the moving track of the master and slave shafts conforming to the path orders.
Description
Technical field
The present invention relates to a kind of AC servo, described system comprises a plurality of motor drivers, except traditional function (driving servo motor), also sets up motion control unit in motor driver, is particularly suitable for being used for forming distributed multi-shaft motion control system.
Background technology
The system architecture of multiaxial motion control at present all belongs to centralized control, just all comprises level controller, and via modes such as traditional type distribution described as follows or high speed communications, the control servo-driver carries out multiaxis such as straight line/circular arc and moves between mending.
Fig. 1 is the Organization Chart of Centralized Control System of the multiaxial motion control of prior art, in described framework, order planning between the multiaxis of servo-driver 12 is mended is concentrated by last level controller 16 with the control of I/O (I/O) 14 and is handled, and the signal utilization tradition wiring mode of each is connected to servo-driver 12.The shortcoming of this framework is as follows:
(1) cost is too high: the number of axle that goes up level controller 16 correspondences the more, the computing that carry out is just heavier, the class requirement of the CPU (not illustrating) in the last level controller 16 height of just healing.
(2) number of axle is limited: the number of axle of servo-driver 12 is subject to the grade of CPU and the channel of hardware (channel) number.
(3) distribution complexity: go up level controller 16 and 12 of servo-drivers A/D (analog/digital), D/A (digital-to-analog), order pulse wave, feedback very complexity of distribution that pulse wave, numeral output go into etc.
(4) lack of resolution: command signal is subject to physical signalling, as A/D conversion resolution or pulse wave frequency.
(5) be subjected to environmental interference easily: under factory's rugged environment, what simulating signal was disturbed has a good chance.
(6) safeguard to be difficult for: the number of axle of servo-driver 12 the more, relative distribution quantity is just huger, if when system goes wrong, the inspection of line is very difficult.
Fig. 2 is the Organization Chart of high speed communication type control system of the multiaxial motion control of prior art, described framework makes high speed communication networking 18 among Fig. 2 into going up order distribution between level controller 16 and servo-driver 12 among Fig. 1, the wiring mode at this high speed communication networking 18 is very simple, and has avoided disturbing and having improved resolution.But because servo controller 12 itself does not have ability between the benefit of path command, therefore go up level controller 16 and must send between the benefit of very intensive (more than the 1KHz) order and give each axle, sophistication that could realizing route.On the network except wanting real-time delivering position and speed command, also need to transmit position, electric current and the I/O state of back coupling, when the number of axle the more and must monitor each Spindle Status simultaneously the time, it is very big that the data volume of network becomes, therefore need network at a high speed to realize, generally more than 10MHz, such characteristic has:
(1) cost is higher: high speed communication means and is easier to be subjected to noise, often must adopt the communication hardware of high standard under the rugged surroundings of factory, as optical fiber, makes that so cost more improves.
(2) specification is special: this type of real-time communication network 18 at a high speed is generally special commercial size, and for example SSC-Net or Sercos. system must whole set procurement, to development system voluntarily or there is the client of special applications demand to satisfy.
Summary of the invention
The object of the present invention is to provide a kind of servo-drive system with distribution type motion controller, described system comprises a plurality of servo-drivers, and motion path is calculated voluntarily between mending by each, has reduced network load, can use the standard industry network to reduce cost.And having improved the system stability height, the number of axle that increases system also becomes easy.
The invention reside in provides a kind of AC servo with distributed motion control, and in order to distributed multiaxial motion control, described system comprises: communication network; Be coupled to main shaft (master) driver (containing motor) in the communication network; Be coupled to a plurality of of communication network from axle (slave) driver (containing motor); Be coupled to the personal computer or the man-machine interface of arbitrary driver through transmission line; Wherein, described spindle driver reaches all can write motion control program from the axle driver, carry out the action of motor of described program controlled system this or multiaxis and the signal of output/input, spindle driver is carried out motor program and is sent routing instruction in described communication network, described spindle driver is according to described routing instruction, and describedly order according to calculating between each benefit by the routing instruction that communication network received from the axle driver, the parameter value by described order and each driver comes drive shaft motor respectively and from the start of axle motor.
The present invention realizes that the method for distributed motion control comprises the following step: at first, write spindle driver and from the motion control program of axle driver; Then, set the operating parameter of each driver; Moreover, carry out motor program to send routing instruction by spindle driver in communication network; Then, receive instruction from axle from network and calculate separately routing instruction; Then, each reference operating parameter difference drive shaft motor and moving separately from the axle motor; At last, the action of each actuating logic programmed control this or other spool, and the signal of output/input.
The invention reside in provides a kind of AC servo with distributed motion control, system controls in order to distributed multiaxial motion, described system comprises communication network, be coupled to the spindle driver of described communication network and a plurality of from the axle driver, be coupled to the Spindle Motor of described spindle driver, be coupled to described a plurality of from the axle driver from the axle motor, be coupled to the personal computer or the man-machine interface of arbitrary driver, described spindle driver and more describedly comprise servo-driver combination respectively from the axle driver, described servo-driver combination comprises: communication unit, be coupled to described communication network, and can connect described personal computer or man-machine interface and carry out the communication transmission; Systematic parameter and variable unit, storage is used for linking up the parameter value of each unit in the described servo-driver combination, described personal computer or man-machine interface are set/are edited this systematic parameter and the described parameter value of variable unit via transmission line and described communication unit, or via communication network other the systematic parameter and the parameter value of variable unit are set/edited again; Output/input unit by writing setting the state of output/input of described programmable logic control program, and leaves its state in described systematic parameter and variable unit; Motion control unit, the actuating logic control program, to set the output/input of described output/input unit, carry out the action of motion control program with the motor of controlling this or multiaxis, download motor program via described communication network and described communication unit, main shaft is carried out described motor program to produce the order of motion path, calculate point between the benefit of each sample time according to the described parameter value that described systematic parameter and variable unit is read by described motion control unit, and it is stored to the motion command district of described systematic parameter and variable unit; And the driver control circuit units, drive each motor according to the point and the setting value in described systematic parameter district between the described motion command district benefit of each stored sample time.
Description of drawings
Fig. 1 is the Organization Chart of Centralized Control System of the multiaxial motion control of prior art;
Fig. 2 is the Organization Chart of high speed communication type control system of the multiaxial motion control of prior art;
Fig. 3 is the Organization Chart with AC servo of distributed motion control of the present invention; And
Fig. 4 is the calcspar of driver of the present invention.
The primary clustering symbol description
12 servo-driver 14I/O
30 distributed multi-shaft motion control system 32 communication networks
34 personal computers or human-machine interface 35 transmission lines 36 spindle driver
38 Spindle Motors 40 are from the axle driver
42 make up from axle motor 52 servo-drivers
54I/O unit 56 communication units
58 motion control units, 60 systematic parameters and variable unit
62 driver control circuit units 64RAM
66CPU 68 path generators
70 motion command districts, 72 servo motors
Embodiment
Following with reference to description of drawings preferred embodiment of the present invention.
Fig. 3 is the Organization Chart with AC servo of distributed multiaxial motion control of the present invention.In Fig. 3, distributed multi-shaft motion control system 30 is used for multiaxis control, described system has communication network 32, spindle driver 36 is coupled to communication network 32, Spindle Motor 38 is coupled to spindle driver 36, a plurality ofly be coupled to communication network 32 from axle driver 40, a plurality ofly be coupled to from axle driver 40 from axle motor 42, personal computer or man-machine interface 34 are coupled to arbitrary driver through transmission line 35.Wherein, communication network 32 is made up of the CAN bus, and it is AC servomotor that Spindle Motor 38 reaches from axle motor 42.
Spindle driver 36 reaches can store the software control procedure of writing and each driver operating parameter of setting from axle driver 40.Spindle driver 36 and carry out its programs with the action of the motor (as Spindle Motor 38 and from axle motor 42) of controlling this or multiaxis and the signal of output/input from axle driver 40.Spindle driver 36 reaches from axle driver 40 and downloads motor programs and setting/editor's multiple parameter values through transmission line 35 by personal computer or man-machine interface 34.Spindle driver 36 is carried out motor program to send routing instruction to communication network 32, spindle driver 36 is according to routing instruction and calculate according to the routing instruction that is received by communication network 32 from axle driver 40 between the benefit of each driver and order, like this according to the parameter value of order and each driver drive shaft motor 38 and from the action of axle motor 40 respectively.Can monitor the state of each through communication network 32 by personal computer or man-machine interface 34.
I/O unit 54 comprises that numeral exports/go into and simulate and export/go into, these outputs/go into by motion control unit 58 to set, the signal of exporting/going into is responsible for processing by motion control unit 58, and the state that will export/go into leaves in systematic parameter and the variable unit 60 for other unit use.
Communication unit 56 comprises and is respectively USB/RS-232 (485)/three buses (not illustrating) such as CAN, wherein USB and RS-232 (485) can connect personal computer or human-computer interface device 34 by transmission line 35, carry out parameter setting/editor and download the motor program use for servo-driver combination 52, but and the state of each servo running of real time monitoring; CAN then is used for transmitting master/slave axle routing instruction and the exchanges data between each.
In the operation of carrying out between the multiaxis benefit, a station number can be set in each station (being each), and as the identification id of communication, setting means is as follows:
| Title | Station number (8 bit) | |
| Group's group number (4 bit) | Axle number (4 bit) | |
| Scope | 0～F | 0～F |
Station number is 8 (bit) altogether, divides into 16 groups (4), and each group comprises 16 (4), and the axle of each group's axis number=0 is as main shaft, and other then is from axle.Yet above-mentioned concrete example only illustrates the operation between multiaxis benefit of the present invention, is not to be used for limiting the number of axle of the present invention.In the same group each can be carried out motion between the multiaxis benefit, and order is unified between benefit is assigned by main shaft, between then mending from axle; Also can carry out the motion command of single shaft from axle for not carrying out between benefit.Move simultaneously if need to carry out N group multiaxis in a system, as N platform X-Y worktable (Table), it can be distributed in N group and get final product, the CAN bus of each group can be connected together, and also can be independently.
Motion control unit 58 is used for carrying out motor program, and produces motion path, as the order input of driver control circuit units 62.Via communication unit 56 motor program is downloaded among the RAM64 in the motion control unit 58, described routine package contains program code (code) and data (data).The instruction that CPU66 in the motion control unit 58 provides except computing, but programmed logic control (Programmable Logic Control, PLC) instruction (as LD/AND/OR/OUT etc.) also are provided.Because motion control unit 58 provides multitask (multi-tasking) processing power, therefore but can write the programmed logic control program is used for some operation, be used for other operation and write motor program, and carry out multitasking simultaneously, so that can take into account the demand of motion control and sequential control.Path generator in the motion control unit 58 (path generator) the 68th calculates point between the benefit of each sample time according to operator scheme (location/velocity/torsion) and motion path (speed/point-to-point/straight line/circular motion), be stored into then in the motion command district 70 of systematic parameter and variable unit 60, the actual act of servo motor 72 is controlled in 62 orders (as position command P-Cmd, speed command V-Cmd, current order I-Cmd etc.) relevant from load motion command district 70 of driver control circuit units.In main shaft, the order of path generator 68 is specified by the routing instruction in the motor program of spindle driver 36, then obtains the order that spindle driver 36 is sent by the CAN bus from axle.
Systematic parameter and variable unit 60 are used for the public information in the stocking system, with as the bridge of linking up between each unit.Information comprises operator scheme (location/velocity/torsion), axle parameter (encoder resolution), Spindle Status (current position/speed), path parameter (acceleration time/target velocity), motion (Motion) order (location/velocity/torsion), DI/O pattern (AB contact/this machine/Long-distance Control of electric post (relay)), communications parameter (baud rate/station number) etc.Described information also can be read and write by personal computer 34 by transmission line 35 via communication unit 56.
Driver control circuit units 62 as well known to those skilled in the art is the part of working control servo motor 72 performances, driver control circuit units 62 comprises location/velocity/torsion (electric current) loop, the order smoothing filter, antidetonation suppresses, PWM output or the like, the gain parameter in each loop all is defined in systematic parameter and variable unit 60.
As mentioned above, the function mode of motion driver of the present invention is described as follows:
(A) programmable: in order to save level controller, motion driver of the present invention must possess the ability of motion carried out and logic control program:
(1) motor program is write and is compiled on the PC of the outside of motion driver, is downloaded among the RAM64 of motion control unit 58 via the communication unit of motion driver.
(2) execution of motor program/stop to set via systematic parameter and variable, described parameter and variable can be set by guidance panel, also can be set by personal computer or man-machine interface 34 through communication unit.
(3) correct after tested motor program can be burned onto among the EEPROM of motion control 58, so that independent operation (stand alone).
(4) state carried out of motion can be via the communication unit 56 outside PC that reads back, so that debug.
(B) between multiaxis was mended: there was a main shaft and a plurality of from axle in a group.Same group can carry out between benefit and move, and comprises instruction between straight line/circular arc benefit, and each beam warp is realized time synchronized by communication network.Flow process was as follows between multiaxis was mended:
(1) set parameter between benefit: the motor program execution parameter instruction of main shaft, is sent to respectively from axle through communication unit at target velocity/acceleration and deceleration time between selection benefit countershaft/setting is mended.
(2) set order between benefit: instruction between the motor program of main shaft is carried out and mended, setting straight line (multiaxis position) or circular arc order (radius/angle) are sent to respectively from axle through communication unit 56.
(3) flow process between each is mended: each (main shaft/from axle) obtained between oneself benefit and ordered, and the parameter of reference (1) calculates via the path generator between the benefit of each sample time and orders, and leaves in the motion command district of systematic parameter and variable unit.
(4) the driver control circuit units 62 of each reads the order in motion command district 70, the state of working control servo motor.
(C) this with he the axle the remote I/O motion flow:
(1) at first, it is this output that DO in systematic parameter and variable (numeral output) selects the DO of this shaft portion of setting in the source, this other part DO provides the long-range output to other, and this all DI (numeral input) can be simultaneously by this axle or other long-range reading.
(2) be DO choice of location in systematic parameter and variable unit 60 then, setting remaining DO of this axle will by long-range which spool output.
(3) this and the output flow process of other long-range DO: carry out motor program (PLC program), and this DO state of writing system parameter and variable unit 60.
(4) other long-range DO input flow processs: this axle reads DO information by communication unit 56, and the long-range DO state of writing system parameter and variable unit 60.
(5) the final DO output of this axle flow process: this I/O unit 54 is selected according to the DO source, removes the DO that does not want in (3), (4), merges other DO in (3), (4), to obtain this final DO output.
(6) long-range DO output flow process: this I/O unit 54 is according to this DO state in DO choice of location reading system parameter and the variable unit 60, finds out to be sent to long-range other this DO, and transmitted by communication unit.
Technical characterictic of the present invention from the above has following:
(1) have distributed control, the CPU computational burden alleviates: in the occasion of multiaxis control, order is to calculate generation voluntarily by each between benefit, and user's program also can be subdivided into some small routines, writes in the respective shaft, handles at motion flow separately.Such program is smaller and more exquisite, safeguards easily, also can be used as module and uses.Therefore, the program of bulky complex can be dispersed to each, and the program space just can be sufficient, also can alleviate the CPU burden of driver, makes the execution motion quicker.
(2) utilize communication network to do the real time data intercommunication: between different axles, to utilize communication network to be connected to each other,, also can realize the function of multiaxis with moving (between straight line/circular arc benefit) except can the realization data exchanging.Because this network has right of priority and real-time, each axis data exchange frequently can not influence multiaxis with moving function yet, is reliable communication network.In the present invention, the I/O signal of each can read by communication network, realizes the purpose of remote I/O, so, the number of axle the more, available I/O just counts the more, can make full use of existing resource and save cost.
(3) motion controller of built-in complete function and PLC: will be contained in the driver, mean the distribution that does not need external pulse wave or simulation command in the motion controller, except saving installation time, bigger benefit is to have taken into account high precision and the demand that runs up.In traditional system, in order to realize high precision (or high resolve), the parsing of scrambler must be attenuated (17～23), but if the pulse wave frequency of controller is fast inadequately, the order rotating speed of sending is just very slow.Set the multiplying power of electronic gear in order to improve rotating speed, but sacrifice the resolution of location.Use high scrambler of resolving just to lose meaning like this.Aspect simulation command, the A/D of general driver changes about about 12, but the problem of noise and skew is arranged, if motion controller is included in the driver then can avoid these problems, also can promote order resolution to 32.
(4) customized/programmable: the user can write program voluntarily, and the use-pattern of driver is defined according to the demand of oneself fully, comprises the function of DI/DO signal, the function of Simulation with I/O, the meaning of operating parameter, purposes of pulse wave order or the like all can be given new meaning.For example, analog input 1 (being speed command originally) can be modified to the rigidity of controller, or pulse wave input was modified to hand the wheel or the input of optics chi or the like.So, can make full use of existing resource, save extra conversion of signals interface, allow system more simplify.
(5) Wang Luohua development environment: in the exploitation of multiple axes system, must be on-the-spot online during at each setup parameter and the machine of accent in the past, rather inconvenience.The present invention is owing to use existing communication network to connect each, therefore only need with wherein one online, just can carry out parameter setting, program editing, execution, debug and monitoring at arbitrary, make use more humane.
The present invention has following advantage:
(1) distributed arithmetic: because the work of calculating path disperses to handle to each, so the number of the number of axle does not influence the burden of the CPU of each.
(2) number of axle easily increases: only need increase servo-driver under the distributed structure/architecture and get final product.
(3) programmable: driver includes motion controller and PLC, and the user can write motor program and logic control program.
(4) can be customized: function that can free planning and design interface, the demand of integrating with compliance with system.
(5) modularization: motor program is carried out separately at each, and similarly function can be used as the module use.
(6) degree of accuracy height: go up level controller and unite two into one, therefore do not need the entity circuit to transmit order, improved the degree of accuracy and the fiduciary level of order, also save cost (save time, laborsaving, save space, province's distribution, economical) with driver.
(7) save distribution: traditional distribution is replaced by communication network, and distribution is significantly simplified.
(8) save I/O: the ditch messenger of going up between level controller and driver (as SrvOn, Ready, Alarm, PosOK, ClrCnt) no longer needs, additional I/O can be used as the PLC process control and uses, and the number of axle the more I/O the more utilizes (7) can realize the function of remote I/O.
(9) the noise opposing is good: do not had the traditional analog order, communication network adopts the standard industry network, and noise resisting ability is strong.
(10) fiduciary level height: can be designed to back-up system, another can do emergency treatment or protection fault.
(11) network development environment: but one-to-many is online, is beneficial to the entire system Planning and Development, promotes efficient.
Though the present invention is described with reference to preferred embodiment and exemplary accompanying drawing, they should the described limitation of the present invention of regarding as.Those skilled in the art can make various modifications, deletion and conversion to of the present invention, all within covering scope of the present invention.
Claims (15)
1. the AC servo with distributed motion control is controlled in order to distributed multiaxial motion, and described system comprises:
Communication network;
Spindle driver is coupled to described communication network;
Spindle Motor is coupled to described spindle driver;
A plurality of from the axle driver, be coupled to described communication network; And
A plurality of from the axle motor, be coupled to described from the axle driver;
Personal computer or man-machine interface are coupled to arbitrary driver;
Wherein, described spindle driver reaches can write motion control/logic control program from the axle driver, and set the operating parameter of each driver, carry out its program with the motor action of controlling this or multiaxis and the signal of output/input, described spindle driver is carried out described motor program and is sent routing instruction in described communication network, described spindle driver is according to described routing instruction, and order between the described benefit that calculates each driver from the axle driver according to the described routing instruction that receives by described communication network respectively, use thus that the multiple parameter values of order and each driver drive described Spindle Motor and described start from the axle motor respectively between described benefit.
2. the system as claimed in claim 1, wherein, described personal computer or man-machine interface can be to described spindle driver and described from axle driver download motor program and setting/editing parameter value via transmission line and described communication network, and monitor the operating condition of each motor.
3. the system as claimed in claim 1, wherein, described spindle driver and describedly comprise the servo-driver combination respectively from the axle driver, described servo-driver combination comprises:
Communication unit is coupled to described communication network, and can connect described personal computer or man-machine interface;
Systematic parameter and variable unit, be used to store in the described servo-driver combination and link up the described parameter value that uses between each unit, described personal computer or man-machine interface are set/are edited this systematic parameter and the described parameter value of variable unit via transmission line and described communication unit, or via described communication network other the systematic parameter and the parameter value of variable unit are set/edited again;
Output/input unit is set the state of output/input by writing the programmable logic control program, and described state is left in described systematic parameter and the variable unit;
Motion control unit, the actuating logic control program, to set the output/input of described output/input unit, carry out the action of motion control program with the motor of controlling this or multiaxis, download motor program via described communication network and described communication unit, main shaft is carried out the order that described motor program produces motion path, described motion control unit calculates point between the benefit of each sample time according to the described parameter value that reads from described systematic parameter and variable unit, and it is stored to the motion command district of described systematic parameter and variable unit; And
The driver control circuit units drives each motor according to the point and the setting value in described systematic parameter district between the described motion command district benefit of each stored sample time.
4. system as claimed in claim 3, wherein, the parameter value of described systematic parameter and variable unit is that operator scheme, axle parameter, Spindle Status, path parameter, numeral output are gone into data such as pattern, supervised path and communications parameter.
5. system as claimed in claim 3, wherein, described motion control unit has RAM, EEPROM, CPU and path generator, described RAM stores the described motor program of being downloaded, described CPU provides a group PLC instruction to write described logic control program, described CPU carries out the described motor program that is stored in described RAM and imports with the order as described path generator with the order that produces motion path, described path generator calculates point between the benefit of each sample time according to described parameter value, and it is stored to the described motion command district of described systematic parameter and variable unit.
6. the system as claimed in claim 1, wherein, described communication network is made up of USB, RS232 (485) and CAN bus.
7. the system as claimed in claim 1, wherein, described Spindle Motor and described be AC servomotor from the axle motor.
8. a control has the method for the AC servo of distributed motion, and described method is used for multiaxis control, and comprises the following steps:
A). write spindle driver and a plurality of motion control program from the axle driver;
B). set the operating parameter of each driver;
C). carry out described motor program to send routing instruction by described spindle driver in described communication network;
D). calculate the order of each driver according to described routing instruction;
E). by multiple parameter values drive shaft motor and a plurality of start respectively of described order and each driver from the axle motor; And
F). carry out described motion control program with the action of the motor of controlling this or multiaxis and the signal of output/input.
9. method as claimed in claim 8 also comprises:
A). download described spindle driver and described motor program and setting/editor's multiple parameter values via communication network from personal computer or man-machine interface from the axle driver; And
B). via the arbitrary driver that transmission line connected, monitor the operating condition of each motor by described personal computer or man-machine interface again via described communication network.
10. method as claimed in claim 8, wherein, described spindle driver and describedly comprise servo-driver combination respectively from the axle driver, described method also comprises:
A). be used for described servo-driver by systematic parameter and the storage of variable unit and make up the described parameter value of linking up between interior each unit;
B). this systematic parameter and the more described parameter value of variable unit are set/edited via transmission line and described communication unit by described personal computer or man-machine interface, or, the parameter value of other axle system parameters and variable unit is set/edited again via communication network;
C). carry out described logic control program by motion control unit and export/go into the state of the output/input of unit, and leave its state in described systematic parameter and variable unit with setting;
D). carry out described motor program to produce the order of motion path by the described motion control unit of main shaft, described motion control unit is according to point between the benefit of described parameter value calculation each sample time of reading from described systematic parameter and variable unit, and it is stored to the motion command district of described systematic parameter and variable unit;
E). carry out motion control program with the action of the motor of controlling this or multiaxis and the signal of output/input by described motion control unit; And
F). according to the setting value of point between the described motion command district of described systematic parameter and the variable unit benefit of each stored sample time, drive the motor of each by the driver control circuit units with described systematic parameter district.
11. method as claimed in claim 10 also comprises:
A). the described motor program of being downloaded is stored in RAM;
B). provide a group PLC instruction to write logic control program by described CPU;
C). carry out by the described CPU of main shaft the described motor program that is stored in described RAM with the order that produces motion path with order input as described path generator; And
D). calculate point between the benefit of each sample time by described path generator according to more described parameter value, and it is stored to the described motion command district of described systematic parameter and variable unit.
12. method as claimed in claim 8, wherein, the step of the output/input of described each driver of setting also comprises;
A). this numeral output of part is set at this output, this numeral output of another part is set at the long-range output that offers other, setting this all numerals input can be simultaneously by this axle or other long-range reading;
B). set remaining the numeral output of this axle by long-range which spool output;
C). carry out described motor program, the state of the numeral output of this of writing system parameter;
D). read the information of numeral output by described communication network, the state of the digital remote output of other of writing system parameter;
E). remove the position of not wanting among (c), (d) according to (a), merge other position among (c), (d), obtain the output of final this number of axle word output; And
F). according to the selection of the position of numeral output, the state of this number of axle word output in the reading system parameter is found out and need be sent to long-range other this number of axle word output, and with its transmission.
13. AC servo with distributed motion control, in order to distributed multiaxial motion control, described system comprises communication network, be coupled to the spindle driver of described communication network and a plurality of from the axle driver, be coupled to the Spindle Motor of described spindle driver, be coupled to described a plurality of from the axle driver from the axle motor, be coupled to the personal computer or the man-machine interface of arbitrary driver, described spindle driver and describedly comprise servo-driver combination respectively from the axle driver, described servo-driver combination comprises:
Communication unit is coupled to described communication network, and can connect described personal computer or man-machine interface and carry out the communication transmission;
Systematic parameter and variable unit, storage is used for linking up the parameter value of each unit in the described servo-driver combination, described personal computer or man-machine interface are set/are edited this systematic parameter and the described parameter value of variable unit via transmission line and described communication unit, or via communication network other the systematic parameter and the parameter value of variable unit are set/edited again;
Output/input unit by writing setting the state of output/input of described programmable logic control program, and leaves its state in described systematic parameter and variable unit;
Motion control unit, the actuating logic control program, to set the output/input of described output/input unit, carry out motion control program to control the motor action of this or multiaxis, download motor program via described communication network and described communication unit, main shaft is carried out described motor program to produce the order of motion path, calculate point between the benefit of each sample time according to the more described parameter value that described systematic parameter and variable unit is read by described motion control unit, and it is stored to the motion command district of described systematic parameter and variable unit; And
The driver control circuit units drives each motor according to the point and the setting value in described systematic parameter district between the described motion command district benefit of each stored sample time.
14. system as claimed in claim 13, wherein, the parameter value of described systematic parameter and variable unit is that operator scheme, axle parameter, Spindle Status, path parameter, numeral output are gone into data such as pattern, supervised path and communications parameter.
15. system as claimed in claim 13, wherein, described motion control unit has RAM, EEPROM, CPU and path generator, described RAM stores the described motor program of being downloaded, described CPU provides a group PLC instruction to write described logic control program, described CPU carries out the described motor program that is stored in described RAM and imports with the order as described path generator with the order that produces motion path, described path generator calculates point between the benefit of each sample time according to described parameter value, and it is stored to the described motion command district of described systematic parameter and variable unit.
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| CN103294009A (en) * | 2012-03-05 | 2013-09-11 | 宝元数控精密股份有限公司 | Multi-shaft controller application architecture capable of being elastically applied |
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