JP2005332336A - Motion controller and method of defining equipment configuration of motion controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motion controller capable of automatically creating module configuration definition data of option modules loaded on the motion controller. <P>SOLUTION: In the motion controller 13 in which a CPU module 1 and a plurality of option modules 11a to 11c are loaded in a slot and equipped with module configuration definition data 8, module detail definition data 9, an application file 10, a memory management part 6, a module initialization part 3, an input/output processing part 4 and an application execution part 5, each of the option modules 11a to 11c is equipped with option tags 12a to 12c and the CPU module is equipped with a module configuration processing part 2 which creates the option module configuration definition data 8 and the module detail definition data 9. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a motion controller composed of a CPU module and a plurality of option modules, and a device configuration definition method for the motion controller.

In a motion controller in which a CPU module and a plurality of option modules are mounted in the slot, basic functions are processed by the CPU module, and the option module is configured to process application functions necessary for the controller. Since necessary application functions differ depending on the object to be controlled using the motion controller, the configuration of the option module differs for each motion controller. For this reason, the device configuration for each controller that defines what type of option module is installed in which slot and what functions are defined in the CPU module, stored as module device configuration data, and operates based on the definition It is like that. Some option modules also operate by connecting a slave device. In this case, it is necessary to define the slave device. In the conventional motion controller, the configuration definition of the installed option module and the slave device connected to the option module is manually set. In other words, while viewing the screen of the CRT etc. from the keyboard attached to the motion controller, manually select the information necessary for the configuration definition such as the module ID of the optional module installed in each slot and the address of the shared memory for each slot. I was working to define it. Furthermore, it is necessary to define detailed data such as parameters and definitions of slave devices as well as input / output sizes of slave devices as detailed module definition data in the 1-slot option module.
There is also a motion controller that automatically detects slave devices. In this case as well, after confirming the slave devices, the procedure is to define manually. (For example, see Patent Document 1)
JP-A-11-259105 (pages 6-8, FIG. 1)

In the conventional motion controller device configuration definition method, it is necessary to manually set the configuration definition of the option module installed in each slot and the slave device connected to the option module. There was a problem that it took a very long time to put on and start up to an operable state. In addition, there is a problem that the motion controller and the roller may not operate normally due to the definition of a module different from the actual configuration for manual setting or incorrect input / output size.
The present invention has been made in view of such a problem, and automatically creates module configuration definition data of an option module mounted on a motion controller, and further sets a slave device connected to the option module. It is an object of the present invention to provide a motion controller and a device configuration definition method for a motion controller that can automatically create detailed module definition data and can be reliably started up in a short time.

In order to solve the above problem, the present invention is as follows.
According to the first aspect of the present invention, a CPU module that processes a basic function of a motion controller and a plurality of option modules that process an application function of the motion controller are mounted in a slot, and the configuration of the plurality of option modules is installed in the CPU module. Module configuration definition data defining module parameters, input / output sizes, module detailed definition data defining slave devices connected to the option modules, and application files for storing applications such as ladder programs A memory including the module configuration definition data, the module detailed definition data, and the application file, a memory management unit for reading / writing data from / to the memory, and the option modules. In a motion controller comprising a module initialization unit for initializing, an input / output processing unit for transferring input / output data to / from each option module, and an application execution unit for executing the application, each option module includes the option module. An option tag having unique information is provided, and the module configuration processing unit for creating the option module configuration definition data and the module detailed definition data based on the contents of the option tag is provided in the CPU module.
According to a second aspect of the present invention, the option tag includes a function module ID for identifying a function of the option module, and the module configuration processing unit defines the module to be defined for each function of the option module. A profile that is information of detailed definition data and an ID list that is a list for searching the profile from the functional module ID are provided, and each option module is searched for a slave device connected to the option module, and parameters and input / output A detailed configuration processing unit that sends information such as size to the module configuration processing unit is provided.
According to a third aspect of the present invention, the profile includes a motion profile related to a motion control function, a communication profile related to a communication function, and an IO profile related to an IO control function.

According to a fourth aspect of the present invention, a CPU module for processing a basic function of the motion controller and a plurality of option modules for processing an application function of the motion controller are mounted in a slot, and the plurality of option modules are installed in the CPU module. Module configuration definition data that defines the configuration of each module, module detailed definition data that defines the parameters of each option module, input / output sizes, slave devices connected to the option module, and applications such as ladder programs A file, a memory including the module configuration definition data, the module detailed definition data, and the application file, a memory management unit for reading and writing data to and from the memory, and each option module In a device configuration definition method for a motion controller, comprising: a module initialization unit that initializes a module; an input / output processing unit that exchanges input / output data with each option module; and an application execution unit that executes the application. Each option module includes an option tag having information unique to the option module, and the module configuration processing unit of the CPU module searches for the option tag, and the module configuration definition data and the module are searched based on the contents of the option tag. It is characterized by creating detailed definition data.
In the invention according to claim 5, the module configuration processing unit is connected to the option module via a detailed configuration processing unit included in each option module based on a profile selected by the function module ID. The module detailed definition data including parameters, input / output sizes, and the like is created by searching for slave devices to be searched.
The module configuration processing unit may initialize the option module based on the module detailed definition data if the module configuration definition has already been performed when the power is turned on. It is checked whether there is a request to create a module configuration definition from the option module. If there is a request, the module configuration definition data and module detailed definition data of the corresponding option module are created, and the option module is reinitialized. It is characterized by performing.
The module configuration processing unit has a request for creating a module configuration definition for each slot, and creates module configuration definition data and module detailed definition data for only a specific slot. It is said.

  According to the present invention, the module configuration definition of the option module installed in the motion controller is automatically created from the option tag provided in each option module, and the module detailed definition such as setting of the slave device connected to the option module Data can be created automatically, and the motion controller can be started up reliably in a short time.

  Hereinafter, specific examples of the method of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing the configuration of the motion controller of the present invention. In the figure, the motion controller 13 comprises a CPU module 1 and a plurality of option modules 11a to 11c. Each option module 11a-11c has option tags 12a-12c. The CPU module 1 uses the module configuration processing unit 2, the memory management unit 6 that manages the memory 7, the module configuration definition data 8, and the module detailed definition data 9 to execute initialization of the option modules 11a to 11c. The initialization unit 3 includes an input / output processing unit 4 that executes transmission / reception of input / output data between the option modules 11 a to 11 c, and an application execution unit 5 that executes an application using the application file 10.

  FIG. 2 shows the configuration of the option tags 12a to 12c. The six pieces of data at the head of the option tags 12a to 12c are common information common to each option module, and refer to a module ID indicating an option module name, a shared memory type indicating the presence or absence of a shared memory, and a shared memory. It consists of a shared memory offset indicating the start address, the number of function modules indicating the number of functions of the option module, and the hardware version and software version of the option module. Subsequently, a plurality of function information items indicating functions unique to each option module are configured from function 1 to function n. The function information includes a function module ID for identifying a function, a memory type indicating the presence or absence of a shared memory, and a shared memory offset indicating an address at which the function is stored. By recognizing the option tags 12a to 12c, the CPU module 1 can detect the types of option modules and all the functions of the modules. The option tags 12a to 12c are written in advance when the option module is manufactured.

  FIG. 3 is a flowchart when the module configuration processing unit 2 creates the module configuration definition data 8 and the module detailed definition data 9. The module configuration definition data 8 and the module detailed data 9 are created when the motion controller 13 is turned on. In step ST31, the counter i for indexing the option module is reset to 0, and in step ST32, the counter i is incremented by one. In step ST33, it is checked whether there is a configuration definition request for creating a configuration definition for the option module i. Here, a configuration definition request is designated by a worker using a dip switch (not shown) provided in the CPU module 1 or connected to the CPU module 1 to be a programming tool (not shown) for managing a motion controller, programming, and the like. )). When there is a configuration definition request, the option tags 12a to 12c of the option module i are searched in step ST34, and the module configuration definition data 8 of the option module i is created from the information in step ST35. Next, module detail data 9 of the option module i is created in step ST36. In step 37, it is checked whether or not all the option modules have been checked, and the processing from step ST32 is repeated until i reaches the number n of option modules.

  FIG. 4 shows the configuration of the module configuration definition data 8 created in FIG. As shown in FIG. 4A, the configuration definition of option modules installed corresponding to the slots from slot 1 to slot n is defined. Each definition includes an option module name, function, input / output data size of the entire module, and the like, as shown in FIG. 4B.

  FIG. 5 is a conceptual diagram and flowchart when the module configuration processing unit 2 creates the detailed module definition data 9 in step 36 of FIG. As shown in FIG. 5A, the module configuration processing unit 2 is provided with a profile, which is information of module detailed definition data to be defined for each function, and an ID list 16 which is a list for retrieving it from the function module ID 15. Has been. Here, as an example of the profile, a motion profile 17 related to the motion control function, a communication profile 18 related to the communication function, and an IO profile 19 related to the IO control function are listed. The module configuration processing unit 2 selects a profile for each function from the function module ID 15 of the option tags 12a to 12c using the ID list 16, and creates detailed module definition data 9 from the data. FIG. 5B is a flowchart showing the creation process. In step ST51, the function is determined from the function module ID 15. For example, if the function is motion control, the module detailed definition data 9 of the motion function is created by the motion profile 17 in step ST52. In this case, since the definition related to motion control is performed in the detailed module definition data 9, this part is named the detailed motion module definition data 23. The option module having the main motion control function is called a motion module 11d. Similarly, if the function is communication, the communication module detailed definition data 26 is created by the communication profile 18 in step ST53. If the function is IO control, the IO module detailed definition data 28 is created by the IO profile 19 in step ST54. An option module having a main communication function is called a communication module, and an option module having a main IO control function is called an IO module. Here, for simplification, the case where one option module has one function has been described, but the case where one option module has a plurality of functions can be dealt with by the same procedure. Examples where one option module has a plurality of functions include a communication module having serial communication and Ethernet (registered trademark) communication functions, and an IO module having an IO control function and a counter function.

FIG. 6 shows an example in which the motion module 11 d uses the motion profile 17 to create the motion module detailed definition data 23. The module configuration processing unit 2 requests each definition content from the motion module 11d according to the definition content shown in the motion profile 17. The detailed configuration processing unit 21a provided in the motion module 11d returns the default transmission parameter 14a to the module configuration processing unit 2 in the case of transmission parameter definition according to the request, and the station 1 connected by communication in the case of station assignment definition. Searches and returns IDs 20a to 20c of the servo amplifier of station n, and returns a default parameter that matches the ID in the case of motion parameter definition. For example, since the ID of the servo amplifier of the station 1 is A, the A default parameter 22a is returned. The module configuration processing unit 2 creates the motion module detailed definition data 23 using the returned contents.
FIG. 7 shows an example of a file structure of the motion module detailed definition data 23, which includes a transmission parameter definition, a station assignment definition, and a motion parameter definition.

FIG. 8 shows an example in which the communication module 11 e creates the communication module detailed data 26 using the communication profile 18. The module configuration processing unit 2 requests each definition content from the communication module 11e according to the definition content shown in the communication profile 18. The detailed configuration processing unit 21b provided in the communication module 11e returns the default transmission parameter 14b to the module configuration processing unit 2 in the case of transmission parameter definition according to the request, and the station 1 connected by communication in the case of station assignment definition. Searches and returns IDs 24a to 24c of slave devices at station n, and returns the input / output size according to the ID. For example, since the slave device of the station 1 has an ID of A, the A input / output size 25a is returned. The module configuration processing unit 2 creates the communication module detailed definition file 26 using the returned contents.
FIG. 9 shows a configuration example of a communication module detailed definition data file, which includes a transmission parameter definition and a station assignment definition.

  FIG. 10 shows an example in which the IO module 11 f creates the IO module detailed definition data 28 using the IO profile 19. The module configuration processing unit 2 requests each definition content from the IO module 11 f according to the definition content shown in the IO profile 19. The module configuration processing unit 2 creates IO module detailed definition data 28 based on the default input / output definition 27 of the CPU module 1. In this example, the IO module 11f is a type that does not have a shared memory, and since the CPU is not mounted on the IO module 11f, the default input / output definition 27 is provided on the CPU module 1 side. Some are equipped with a CPU, in which case the IO module side can have a default input / output definition.

FIG. 11 is a flowchart showing a processing procedure at the time of power-on regarding the creation of the module configuration definition data 8 and the module detailed definition data 9 of the motion controller 13.
In step ST111, it is checked whether the module configuration definition has already been performed at least once. If implemented once, each option module is initialized in step ST112. As a result, each option module is initialized using parameters, input / output sizes, etc. in the module detailed definition data 9. Next, in step ST113, it is checked whether or not there is a configuration definition request for creating a module configuration definition in any of the option modules. If there is a request, module configuration definition data 8 for the requested option module in step ST114, Module detailed definition data 9 is created, and the option module is reinitialized in step ST115. Information on whether or not the module configuration definition has already been performed is determined by whether or not the module configuration definition data 8 exists. (The module configuration definition data 8 does not exist in the initial state). These have information for each option module, but may have information as a whole. Since the option module returns the definition contents based on the once initialized data, it is possible to create the module configuration definition data 8 and the module detailed definition data 9 to which only the newly detected slave device is added. Thereafter, each option module is reinitialized according to the newly created module configuration definition data 8 and module detailed definition data 9.
It is also possible to have a request for creating a module configuration definition for each slot, and to execute creation processing of module configuration definition data and module detailed definition data for only a specific slot.
In this way, the module configuration definition of the option module installed in the motion controller is automatically created from the option tag provided in each option module, and the module detailed definition data such as setting of the slave device connected to the option module is also provided. It can be created automatically and the motion controller can be started up reliably in a short time.

The block diagram which shows the structure of the motion controller of this invention The figure which shows the structure of the option tag of this invention Flowchart when the module configuration processing unit of the present invention creates module configuration definition data and module detailed definition data The figure which shows the structure of the module structure definition data of this invention Conceptual diagram and flowchart when the module configuration processing unit of the present invention creates detailed module definition data The figure which shows the example which the motion module of this invention produces motion module detailed definition data using a motion profile The figure which shows the structural example of the file of the motion module detailed definition data of this invention The figure which shows the example which the communication module of this invention produces communication module detailed data using a communication profile The figure which shows the structural example of the file of the communication module detailed definition data of this invention An example in which the IO module of the present invention creates IO module detailed definition data using an IO profile The flowchart which shows the process sequence at the time of power-on regarding module structure definition data and module detailed definition data preparation of the motion controller of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 CPU module 2 Module structure definition process part 3 Module initialization part 4 Input / output process part 5 Application execution part 6 Memory management part 7 Memory 8 Module structure definition data 9 Module detailed definition data 10 Application file 11a, 11b, 11c Option module 11d Motion module 11e Communication module 11f IO module 12a, 12b, 12c Option tag 13 Motion controller 14a, 14b Default transmission parameter 15 Function module ID
16 ID list 17 Motion profile 18 Communication profile 19 IO profiles 20a, 20b, 20c ID (servo amplifier)
21a, 21b Detailed configuration processing units 22a, 22b Default parameter 23 Motion module detailed definition data 24a, 24b, 24c ID (slave device)
25a, 25b Input / output size 26 Communication module detailed definition data 27 Default input / output definition 28 IO module detailed definition data

Claims (7)

A CPU module that processes the basic functions of the motion controller;
Multiple optional modules that handle the motion controller application functions are installed in the slots.
Module configuration definition data that defines the configuration of the plurality of option modules in the CPU module;
Module detailed definition data that defines parameters, input / output sizes, slave devices connected to the option module, etc.
An application file for storing an application such as a ladder program;
A memory including the module configuration definition data, the module detailed definition data, and the application file;
A memory management unit for reading and writing data to and from the memory;
A module initialization unit that initializes each of the option modules;
An input / output processing unit for transferring input / output data to / from each option module;
In a motion controller including an application execution unit that executes the application,
Each option module includes an option tag having information unique to the option module;
A motion controller comprising: a module configuration processing unit that creates the option module configuration definition data and the module detailed definition data based on the contents of the option tag in the CPU module. The option tag includes a function module ID for identifying a function of the option module,
A profile which is information of the module detailed definition data to be defined for each function of the option module in the module configuration processing unit;
An ID list that is a list for searching the profile from the functional module ID;
2. The detailed configuration processing unit that searches each option module for a slave device connected to the option module and sends information such as parameters and input / output sizes to the module configuration processing unit. The motion controller described. The profile is a motion profile related to a motion control function,
A communication profile for communication functions;
The motion controller according to claim 1, comprising an IO profile related to an IO control function. A CPU module that processes the basic functions of the motion controller;
Multiple optional modules that handle the motion controller application functions are installed in the slots.
Module configuration definition data that defines the configuration of the plurality of option modules in the CPU module;
Module detailed definition data that defines parameters, input / output sizes, slave devices connected to the option module, etc.
An application file for storing an application such as a ladder program;
A memory including the module configuration definition data, the module detailed definition data, and the application file;
A memory management unit for reading and writing data to and from the memory;
A module initialization unit that initializes each of the option modules;
An input / output processing unit for transferring input / output data to / from each option module;
In a device configuration definition method for a motion controller including an application execution unit that executes the application,
Each option module includes an option tag having information unique to the option module;
The module configuration processing unit of the CPU module searches for the option tag,
A device configuration definition method for a motion controller, wherein the module configuration definition data and the module detailed definition data are created based on the contents of the option tag.   The module configuration processing unit searches for a slave device connected to the option module via a detailed configuration processing unit included in each option module, based on a profile selected by the function module ID, parameters, input / output 5. The motion controller device configuration definition method according to claim 4, wherein the module detailed definition data configured by size or the like is created.   The module configuration processing unit initializes the option module based on the module detailed definition data if the module configuration definition has already been performed when power is turned on, and then creates a module configuration definition from the option module 5. The module configuration definition data and module detailed definition data of the corresponding option module are created by checking whether there is a request, and the option module is reinitialized. To define the device configuration of a motion controller.   5. The motion controller according to claim 4, wherein the module configuration processing unit has a request for creating a module configuration definition for each slot, and creates module configuration definition data and module detailed definition data only for a specific slot. Device configuration definition method.

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