CN101667033A - Compound service control system - Google Patents
Compound service control system Download PDFInfo
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- CN101667033A CN101667033A CN200810215303A CN200810215303A CN101667033A CN 101667033 A CN101667033 A CN 101667033A CN 200810215303 A CN200810215303 A CN 200810215303A CN 200810215303 A CN200810215303 A CN 200810215303A CN 101667033 A CN101667033 A CN 101667033A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a compound service control system. In the system, a master control terminal sends a control command, and a service master controller receives the control command and generatesa corresponding control signal, wherein the control signal comprises identification information and an action setting value. A plurality of service serials are connected with the service master control terminal in parallel; each service serial is provided with a plurality of servers respectively, wherein each server is given the identification information. The service master controller transmits the control signal to a specified service serial according to the identification information; the control signal is received by the servers of the service serial and transmitted backwards orderly; andwhen the control signal accords with the specified identification information, the server executes the action setting value. The compound service control system has the following advantages that the compound service control system combines a parallel structure and a serial structure, increases the number of the servers in the situation of limited connection number of the service master control terminals, does not extensively increases the length of a path for transmitting the control signal at the same time, and simultaneously avoids problems aroused in sever increase by the parallel and the serial control structures.
Description
Technical field
The present invention relates to the control of server, relate in particular to the load control system that is used for server and the method for a kind of in-line configuration and parallel construction combination.
Background technology
Server is used for drive member according to moving on the actuating quantity and the opportunity of demand, and makes member reach predetermined actions in robot or automated machine.Move complicated more robot or automated machine, its needed number of servers is also many more.In prior art, the control structure of server is different with the connection mode of controller according to server, can divide into block form control structure and tandem control structure.
See also shown in Figure 1ly, be the system block diagram of block form control structure.The block form control structure is the pin with server 1, is directly connected to the pin of service master controller 2.Service master controller 2 control command that main control end 3 is sent is encoded to control signal, and the pin by correspondence sends specified server 1 to, moves to control this server 1, and receives the feedback signal of this server 1, is sent to main control end 3.
In the block form control structure, the pin of server 1 is directly connected to the pin of service master controller 2, so each server 1 can be directly and receive the control signal of service master controller 2 output simultaneously and produce action simultaneously.Yet, in the block form control structure, each server 1 takies the pin of one group of service master controller 2, therefore could allow each controlled server 1 can receive control signal, serve the pin number that server 1 quantity that 2 of master controllers can connect is subjected to serving master controller 2 and limit.When needed server 1 quantity of server device people or automated machine increases, just must adopt the service master controller that possesses more output pins position, the more service device 1 of just controlling the size.
Consult shown in Figure 2ly, be the system block diagram of tandem control structure.In the tandem control structure, except first server 1 ' direct Connection Service master controller 2, remaining server 1 is connected in previous server 1 in order, and constitutes the tandem path of transmitting for control signal.Each server 1 possesses identifying information.Can comprise identifying information in the control command that main control end 3 is sent, move to specify specific server 1.Service master controller 2 sends control signal with control command and sends with packet form, and each bag all has identifying information and action setting value.Control signal is transmitted along the tandem path, in regular turn by each server 1.Each server can judge whether identifying information is consistent with the identifying information of itself after receiving bag, then carry out action setting value in this bag if be consistent.If server 1 finds that after comparing identifying information does not meet the identifying information of self, then bag is sent to next server 1.Service master controller 2 can't be subjected to serving the pin number quantitative limitation of master controller 2 as long as connect first server 1` with one group of pin position under this kind structure when therefore increasing number of servers.Be required that each server 1 that moves time point that receives control command and the time point that service master controller 2 sends control command have the mistiming, under this tandem control structure, be positioned at the tandem path and get over the server 1 of rear end, its mistiming that receives control command is also big more, if cause molar behavior not accurate easily when the mistiming is excessive.In addition, when server is too much, can make that also the tandem path is long, the signal intensity that causes being delivered to the tandem path ends fails below the maximum safe limit value that can correctly drive server 1, and can't correctly drive the server 1 of tandem path ends.
Block form and tandem control structure respectively have its advantage, but in server 1 quantity for a long time, can cause different problems respectively, but existing robots or automated machine are all emphasized the action of a plurality of degree of freedom, and server 1 quantity that is adopted is more and more.Therefore, how to possess the advantage of each structure and reduce the influence that foregoing problems causes, become the technical task of being badly in need of solution.
Summary of the invention
Block form in the known technology and tandem control structure cause different problems respectively, cause to be difficult for increasing the number of servers result.In view of the above problems, the object of the present invention is to provide a kind of compound service control system, can efficient increase number of servers.
In order to reach above-mentioned purpose, the invention provides a kind of compound service control system, comprise main control end, service master controller, reach a plurality of service tandems.Main control end is connected in main control end in order to send control command and serve master controller, to receive control command, produces corresponding control signal, and wherein control signal comprises identifying information and action setting value.A plurality of service tandems are connected in the service main control end side by side, and respectively serve tandem and have a plurality of servers respectively, wherein the given identifying information of each server.The service master controller transmits a control signal to the service specified tandem according to identifying information, and control signal is received and transmits rearward by the server of this service tandem in regular turn, when control signal meet given identifying information, server is carried out and is moved setting value.
In described compound service control system, also comprising tandem changes parallel interface, with so that this main control end and this service master controller are connected in main frame.
In described compound service control system, identifying information comprises the code name of service tandem at server place and the code name of server.
In described compound service control system, respectively this server transmits the next server that the control signal that does not meet given identifying information arrives the service tandem at its place.
In described compound service control system, the action setting value comprises the pattern and the desired value of server.
In described compound service control system, control signal is the control command bag, the control command bag comprises start byte, intermediary bytes, and final byte, wherein start byte for bag header, intermediary bytes for action setting value and identifying information, and final byte be check code.
In described compound service control system, server sends at least one status information bag to control device, wherein respectively comprises the current status data of this server and the given identifying information of this server in this status information bag.
In described compound service control system, the status information bag comprises start byte, intermediary bytes, reaches final byte, and wherein start byte is for bag header, intermediary bytes are identifying information and status data value, finally byte is a check code.
The present invention also provides another kind of compound service control system, comprises main control end, service master controller, at least one service tandem, at least one branch's tandem.Main control end is connected in main control end in order to send control command and serve master controller, to receive control command, produces corresponding control signal, and wherein control signal comprises identifying information and action setting value.Service tandem and branch service tandem has a plurality of servers respectively, and the given identifying information of each server is wherein served tandem and is connected in the service master controller, and branch's service tandem be connected in the service tandem server one of them.The service master controller transmits a control signal to service tandem or branch service tandem according to identifying information, and control signal serviced device in regular turn receives and transmits rearward, when control signal meet given identifying information, server is carried out and is moved setting value.
Effect of the present invention is, compound service control system combines block form structure and inline configuration, under the situation of limited service main control end linking number, increase number of servers, excessively do not increase simultaneously the path that control signal is transmitted, the problem that has been faced when having avoided block form and tandem control structure to increase number of servers simultaneously.
Description of drawings
The 1st figure is in the known technology, the system block diagram of block form control structure.
The 2nd figure is in the known technology, the system block diagram of tandem control structure.
The 3rd figure is the system block diagram of the embodiment of the invention.
The 4th figure is in the embodiment of the invention, the system block diagram of control device.
The 5th figure is the system block diagram that embodiment simplifies.
Wherein, description of reference numerals is as follows:
" known technology "
1, the 1` server
2 service master controllers
3 main control end
" the present invention "
100 compound service control systems
110 first service tandems
111,112,113,114 servers
120 second service tandems
121,122,123,124 servers
130 the 3rd service tandems
131,132,133,134 servers
140 service tandems
181 main control end
182 service master controllers
183 translation interfaces
184 potential transferring devices
200 main frames
S1, S2, S3, S4, S5 tandem path
Embodiment
See also shown in Figure 3ly, a kind of compound service control system 100 for the embodiment of the invention disclosed is applied to robot/mechanical arm, or in the automated machine.Compound service control system 100 comprises control device 180 and a plurality of service tandem 110,120,130,140,150, each is served tandem 110,120,130,140,150 and is connected in series by a plurality of servers respectively, constitute the tandem path S 1, S2, S3, S4, the S5 that transmit for control signal, and respectively serve tandem 110,120,130,140,150 and be connected in control device 180 side by side, the control signal of sending with receiving control device 180 individually.
Consult " Fig. 3 and shown in Figure 4, control device 180 comprise main control end 181 and the service master controller 182.Main control end 181 preloads control program, send control command according to the instruction of preset instructions or user input with sequential.Service master controller 182 is electrically connected on main control end 181 with serial device interface, to reach two-way communication.The serial device interface of main control end 181 and service master controller 182, can be connected in translation interface 183 simultaneously, for example tandem is changeed parallel interface (UART, Universal Asynchronous Receiver/Transmitter), make main control end 181 and service master controller 182 be connected in main frame 200, rewrite the control program or the preset instructions of main control end 181 for main frame 200, or directly send control command to service master controller 182 by main frame 200.Simultaneous computer main frame 200 also can be obtained the information of server feedback by main control end 181 or service master controller 182.Between main frame 200 and the translation interface 183, take potential transferring devices 184 (voltage level shifter) to connect, to solve the interface and the different problem of translation interface 183 operating voltage of main frame 200.
Consult Fig. 3 and shown in Figure 4, service master controller 182 receives the control command that main control end 181 are sent, and produces corresponding control signal, sends to the tandem path of appointment by serial device interface, moves with one or more servers of control appointment.
Consult shown in Figure 5ly, be the system block diagram that the embodiment of the invention is simplified, only take three service tandems 110,120,130 to describe among Fig. 5, in fact serve of the pin number decision of the permissible quantity of tandem by service master controller 182.Each is served tandem 110,120,130 and is connected in service master controller 182 side by side, and each service tandem 110,120,130 is connected to one group of pin.In this, each is served tandem 110,120,130 and is defined as the first service tandem 110, the second service tandem 120 respectively, reaches the 3rd service tandem 130.The first service tandem 110, second is served tandem 120, is reached the different tandem port pinouts that the 3rd service tandem 130 is connected to service master controller 182, so as to carrying out transmitted in both directions.
Each service tandem all has the server of a plurality of polyphones, and all given identifying information of each server.For example in present embodiment, the first service tandem 110 has the server 111,112,113,114 of four polyphones, then the given identifying information form of each server can be (the first service tandem, the first/two/three/four servers), but do not exceed with aforementioned form, the server 121,122,123,124,131,132,133,134 of the second service tandem 120 and the 3rd service tandem 130 by that analogy.When one of them assigns control command when the server 111,112,113,114 of 181 pairs first of main control end service tandem 110, can specify which server to move in the control command simultaneously.That is to say, except the action setting value of Control Server, also comprised the identifying information of controlled server in the control command, as previously mentioned, this identifying information comprises the service tandem at server place and the code name of itself.After the serviced master controller of this control command 182 received, service master controller 182 can be encoded to the control command bag with it, and by and according to identifying information service specified tandem, by the tandem port pinout output of appointment.Whether the control command bag is admitted to after the service tandem, and server can receive the control command bag in regular turn, and resolves its inner identifying information, be consistent with given identifying information itself to confirm identifying information.If do not meet, then server does not move and allows this control command bag arrive next server by (Pass).If when meeting, then server is further resolved the action setting value, carry out the action of master controller 181 appointments.
For example, the 3rd server 113 controlling the first service tandem 110 is when moving, will comprise the identifying information of representing the first service tandem 110 and the 3rd server 113 in the control command, comprise the 3rd the action setting value (output quantity and outbound course) that server 113 needs are carried out in addition.Control command is sent to by main control end 181 after the service master controller 182, and service master controller 182 can send the control command bag by the tandem port that connects the first service tandem 110.Control command Bao Huixian is received and the comparison identifying information by first server 111, and after the result of the comparison result and first server 111 did not meet, the control command bag can transmit toward second server 112 by first server 111.Similarly, the control command bag can pass through second server 112, and is sent to the 3rd server 113.After the 3rd server 113 comparison identifying informations meet the identifying information of himself, then further carry out the action setting value in the control command bag.Same, each server also can the regenerating condition packets of information, arrive main control end 181 by service master controller 182, to allow main control end 181 monitor the state of current each server, in the status information bag except the server current status data, the identifying information that has also comprised simultaneously server is to allow main control end 181 can confirm the source of identifying information.
The data layout of control command, comprise in each control command bag header (header), action set plant, identifying information (Servo ID), and check code information such as (Check Sum).For the basic format of order bag, be made up of a plurality of bytes (Bytes) as shown in Table 1, packet size (byte number) does not have specific restriction, and mainly action setting value and the identifying information by required transmission determined.
Table one
In the packet format shown in the table one, the initial one or more start bytes of each bag mainly are the bag headers, use the starting point that in continuous tandem information, finds each bag for the server that receives, final one or more final byte is then in order to insert check code (Check SUM), to confirm the correctness of bag content.Check code can be obtained by the information via simple calculations formula of intermediary bytes.
A plurality of intermediary bytes then for the main entrained information of each bag, comprise action setting value and identifying information.The byte number of action setting value and identifying information is also unrestricted, as long as intactly transmission information.In addition, the putting in order also without limits of action setting value and identifying information, even can adopt and can allow the field of action setting value and identifying information in bag, arrange alternately.
| High nibble | Low nibble |
| Service tandem numbering | The server numbering |
Table two
Consult table two and be depicted as identifying information, identifying information can be cut into two parts, when representing by a byte (Byte) as identifying information, then this two part can be respectively high nibble (High Nibble) and low nibble (Low Nibble), high nibble can be inserted service tandem numbering, and low nibble can be inserted server numbering (order of server in the service tandem), and for example the 3rd server 113 of the first service tandem 110 can be labeled as (1,3).The order of entry value is not as limit, and identifying information also is not limited to a byte representation.In addition, can specify identifying information, the identifying information with any server does not repeat, and is used for specifying all servers to move simultaneously yet.
Comparatively variation of the form that the action setting value presents is because the manner of execution that requires server to carry out will have influence on the form that the action setting value presents.But on the whole the action setting value has mainly comprised two numerical value such as pattern and desired value.Pattern comprises keying pattern, required movement amount pattern, perseveration pattern, parameter setting pattern or the like, as long as the pattern difference, the desired value form of input also can be different.Server switches to the pattern of appointment earlier, carries out required movement according to desired value again.As mentioned above, the complete form of control command bag will be as the form of table three:
Table three
The desired value of aforementioned table three does not limit single, can be a plurality of desired values yet.In addition, the field of intermediary bytes is arranged, and is not limited to the form of table three, also can be for putting in order arbitrarily.
Only single server is not assigned control command because each bag order is inevitable, the control command of part possesses the same identification information server and controls a plurality of simultaneously, under this kind system, the intermediary bytes of control command bag just needs to increase the field of number of servers, as shown in the following Table IV:
Table four
Similarly, after each server also can regularly or be received control command, the transferring status data bag was sent to service master controller 182 along the tandem path, be sent to main control end.Status information packet format such as following table five:
Table five
In the packet format shown in the table one, the initial one or more start bytes of each bag mainly are the bag headers, use the starting point that in continuous tandem information, finds each bag for the server that receives, final one or more final byte is then in order to insert check code (Check SUM), to confirm the correctness of bag content.Check code can be obtained by the information via simple calculations formula of intermediary bytes.In addition, the bag header that the status information bag is given is different from the bag header of control command bag, to allow this bag of server identification be the status information bag, transmits and will wrap toward the direction of service master controller 182.A plurality of intermediary bytes then for the main entrained information of each bag, comprise one or more state information value and identifying information.The byte number of state information value and identifying information is also unrestricted, as long as transmit mode information intactly.In addition, the putting in order also without limits of state information value and identifying information, even can adopt and can allow the field of state information value and identifying information in bag, arrange alternately.Main control end 181 obtains after the status information via service master controller 182, can separate the state of reading server by state information value, for example parameters setting, current location, current rotating speed, Current Temperatures etc., identifying information is the source of recognizable state information value then.
Control structure of the present invention is the compound of block form and tandem, it is with single long service tandem, be divided into a plurality of relatively short service tandems, adopt mode arranged side by side to connect, can't keep enough intensity when avoiding control signal to be delivered to the tandem path ends.Simultaneously, the mistiming when the present invention has also reduced different control signals and transmits in the tandem path, allow the mistiming maintain in the permissible scope, the action of a plurality of service motors can be regarded as moving simultaneously.A plurality of service tandems are connected in the service master controller side by side, the tandem port pinout number deficiency that can solve the service master controller to be to connect simultaneously side by side the problem of Servers-all, the distribution problem that is faced when also reducing fully server Connection Service master controller arranged side by side.
Claims (8)
1. compound service control system comprises:
Main control end is in order to send control command;
The service master controller is connected in main control end, and this service main control end receives control command, produces corresponding control signal, and control signal comprises identifying information and action setting value;
A plurality of service tandems are connected in this service main control end side by side, and respectively this service tandem has a plurality of servers respectively, wherein the given identifying information of each server;
Wherein this service master controller transmits a control signal to the service specified tandem according to identifying information, control signal is received and transmits rearward by the server of this service tandem in regular turn, when control signal meet given identifying information, server is carried out the action setting value.
2. compound service control system as claimed in claim 1, wherein also comprising tandem changes parallel interface, with so that this main control end and this service master controller are connected in main frame.
3. compound service control system as claimed in claim 1, wherein identifying information comprises the code name of service tandem at server place and the code name of server.
4. compound service control system as claimed in claim 1, wherein respectively this server transmits the next server that the control signal that does not meet given identifying information arrives the service tandem at its place.
5. compound service control system as claimed in claim 1, the setting value of wherein moving comprises the pattern and the desired value of server.
6. compound service control system as claimed in claim 1, wherein control signal is the control command bag, the control command bag comprises start byte, intermediary bytes, and final byte, wherein start byte for bag header, intermediary bytes for action setting value and identifying information, and final byte be check code.
7. compound service control system as claimed in claim 1, wherein server sends at least one status information bag to control device, wherein respectively comprises the current status data of this server and the given identifying information of this server in this status information bag.
8. compound service control system as claimed in claim 7, wherein the status information bag comprises start byte, intermediary bytes, reaches final byte, and wherein start byte is for bag header, intermediary bytes are identifying information and status data value, finally byte is a check code.
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| CN200810215303A CN101667033A (en) | 2008-09-01 | 2008-09-01 | Compound service control system |
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| CN200810215303A CN101667033A (en) | 2008-09-01 | 2008-09-01 | Compound service control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527403A (en) * | 2017-03-02 | 2018-09-14 | 发那科株式会社 | The data setting system and method for robot, computer-readable recording medium |
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| US4639653A (en) * | 1985-04-15 | 1987-01-27 | Applied Microbotics Corporation | Method and apparatus for performing work in a three dimensional space |
| CN1839357A (en) * | 2003-10-10 | 2006-09-27 | 三菱电机株式会社 | Control system using serial communication |
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- 2008-09-01 CN CN200810215303A patent/CN101667033A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4639653A (en) * | 1985-04-15 | 1987-01-27 | Applied Microbotics Corporation | Method and apparatus for performing work in a three dimensional space |
| CN1839357A (en) * | 2003-10-10 | 2006-09-27 | 三菱电机株式会社 | Control system using serial communication |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527403A (en) * | 2017-03-02 | 2018-09-14 | 发那科株式会社 | The data setting system and method for robot, computer-readable recording medium |
| US10613520B2 (en) | 2017-03-02 | 2020-04-07 | Fanuc Corporation | Data setting system for robot, data setting method and program |
| CN108527403B (en) * | 2017-03-02 | 2020-08-25 | 发那科株式会社 | Data setting system and method for robot, computer readable recording medium |
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Application publication date: 20100310 |