CN103294009A - Multi-shaft controller application architecture capable of being elastically applied - Google Patents
Multi-shaft controller application architecture capable of being elastically applied Download PDFInfo
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- CN103294009A CN103294009A CN2012100554357A CN201210055435A CN103294009A CN 103294009 A CN103294009 A CN 103294009A CN 2012100554357 A CN2012100554357 A CN 2012100554357A CN 201210055435 A CN201210055435 A CN 201210055435A CN 103294009 A CN103294009 A CN 103294009A
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Abstract
The invention discloses a multi-shaft controller application architecture capable of being elastically applied. The multi-shaft controller application architecture comprises a personal computer, a control unit, a communication network module, a single-shaft motion control module and a multi-shaft motion control module. A user can directly give an order to the single-shaft motion control module on the personal computer through the communication network module so as to enable the single-shaft motion control module to conduct single-shaft motion control, the user can also combine a motion path with control parameters by writing a macroprogram, the macroprogram is handed to the multi-shaft motion control module by the communication network module, and the multi-shaft motion control module executes the macroprogram and conducts motion control according to the control parameters.
Description
Technical field
The present invention relates to automation field, but refer to the multi-axis controller application architecture that a kind of elasticity is used especially.
Background technology
Automation control system is to integrate the knowledge of every professional domains such as motor, electronics, sensing, information, control and the mechanical system of the constructed composition of technology, and industrial control unit (ICU) then is in the automation control system as if indispensable key core spare and accessory parts as the human brain.Because the fast development of information industry and software and hardware open architecture and the open environment that PC has, holding the advantage of high market popularization and the flourishing hot network of various application under the arm, make with PC (PC) to be control center, be attached to manufacturing system or mechanically, use its numerical evaluation ability, carry out monitoring and control general or special industry system (or machinery), with the part of reaching industrial system or fully the PC-Based industrial control unit (ICU) of function in whole robotization industry, become the trend of world market.
Add different mechanical classifications on the basis of multiaxial motion control technology in the professional domain knowledge of application surface and integrate multinomial software and hardware technology, just can construct mechanical control device miscellaneous, as CNC machine tool controller, ejaculator controller, wire-cut electric discharge machine controller, engraving machine controller, point gum machine controller, robotic arm controller, winder controller etc.
But, desire to reach the control multiaxial motion and can adopt integrated motion controller, but available group number may be not enough, if use general motion control axle card difficult the smoothly smooth and easy of motion path of accomplishing again.This shows, desire to still have many deficiencies with existing integrated motion controller or motion control axle card, real non-one kindhearted design, and demand urgently being improved.
Summary of the invention
But fundamental purpose of the present invention is to provide a kind of multiaxis that is applicable to count the equipment of the robotization industry that the applies to elasticity configuration movement control mode of demand.
Of the present invention time but a purpose is to provide a kind of method that disposes movement control mode with the robotization industry that the applies to elasticity of intelligent control.
For reaching the foregoing invention purpose, technical scheme disclosed by the invention is: but the multi-axis controller application architecture that a kind of elasticity is used includes:
PC, the control of responsible programming system flow process, transmission parameter command and condition monitoring;
Control module provides the driver of industrial machine to make electrokinetic energy and kinematic parameter control driver is provided, and controls the movement locus of industrial machine for driver;
Communication network module, being arranged at provides PC end letter formula storehouse and control module to carry out communication in the control module, be used for Control Shaft is assigned motion command, control module is carried out the file transfer operation, carry out parameter and set, order the multiaxial motion control module to start the macroprogram operation;
The single shaft motion-control module is used for arbitrary single shaft to system and returns the basic single shaft motion control that initial point, adjusting microinching, location, handwheel move;
The multiaxial motion control module is used for automatically macroprogram being carried out decipher, and according to the content that it is characterized in that describing, and carries out that parameter reads, flow process judgement, cycle control, carries out the intelligentized operation of the motion control of multiaxis.
But the multi-axis controller application architecture that described elasticity is used, wherein, the user can plan function mode in advance, and edits macroprogram on PC, be aided with some parameters and set, again by the communication network module transmitting moving parameter on the control module to control module; Directly the single shaft motion-control module is issued orders, ordered the multiaxial motion control module to carry out macroprogram, obtains the use of method of the running status of control module by communication network module by PC.
But the multi-axis controller application architecture that described elasticity is used, wherein, further include some industrial machines, and the control module of industrial machine is connected in PC in the standard network mode, the user only can monitor the information of full factory industrial machine by a PC.
But the multi-axis controller application architecture that described elasticity is used, wherein, the user sets macroprogram circulation and each flow process parameter, decision board motion path and the control production quantity of multiaxial motion control module by PC.
But the multi-axis controller application architecture that described elasticity is used, wherein, described multiaxial motion control module is according to the next action parameter of command determination.
Thus, beneficial effect of the present invention is: the user can plan function mode in advance, and edits macroprogram on PC, be aided with some parameters and set, again by the communication network module transmitting moving parameter on the control module to control module; Directly the single shaft motion-control module is issued orders, ordered the multiaxial motion control module to carry out macroprogram, obtains the use of method of the running status of control module by communication network module by PC, can allow system obtain maximum elasticity.
Description of drawings
But Fig. 1 is the hardware configuration synoptic diagram of the multi-axis controller application architecture of the present invention's elasticity utilization;
Fig. 2 illustrates that for the synoptic diagram of data transmission of the present invention PC transfers data to control module by communication network module;
Fig. 3 is the synoptic diagram of first embodiment of the invention;
Fig. 4 is the synoptic diagram of second embodiment of the invention;
Fig. 5 and Fig. 6 are the synoptic diagram of macroprogram module editor production procedure, illustrate according to needs to set board motion path and flow process parameter.
Description of reference numerals: 1-PC; The 2-control module; The 3-communication network module; 4-single shaft motion-control module; 5-multiaxial motion control module; The 6-industrial machine.
Embodiment
Below in conjunction with accompanying drawing, be described in more detail with other technical characterictic and advantage the present invention is above-mentioned.
See also Fig. 1, but the multi-axis controller application architecture that elasticity provided by the present invention is used, and mainly include: PC 1, control module 2, communication network module 3, single shaft motion- control module 4,5 fabrics of multiaxial motion control module form.
PC 1, the control of responsible programming system flow process, transmission parameter command and condition monitoring; Furthermore, described user assigns the position control order at PC 1 editor's industrial machine 6 machining paths or to industrial machine 6 Control Shafts, and transfers to control module 2 according to possible kinematic parameter, instruction classification and by communication network module 3; When procedure operation, then by the situations such as action of communication network module 3 passback industrial machines 6 to PC 1, provide the user to monitor industrial machine 6.
Single shaft motion-control module 4, be arranged in the control module 2, and be connected with communication network module 3, can return initial point, adjusting microinching, location, handwheel to the arbitrary single shaft in the system and basic single shaft motion control such as move, furthermore, by single shaft motion-control module 4, can provide the user directly the Control Shaft of industrial machine 6 to be assigned the effect of position control order.
Multiaxial motion control module 5, being arranged in the control module 2, also with being connected with communication network module 3, is one automatically macroprogram to be carried out decipher, and according to the content of its description, carry out that parameter reads, flow process judgement, cycle control, carry out the intelligentized operations such as motion control of multiaxis; Furthermore, the user in the control of PC 1 edit routine system flow, transmit macroprogram such as parameter command, transfer to multiaxial motion control module 5 by network communication unit, carry out the motion flow process control of industrial machine 6 according to macroprogram content multiaxial motion control module 5.
Thus, the user can plan function mode in advance, and on PC 1, edit macroprogram, being aided with some parameters sets, again by the communication network module 3 on the control module 2 with standard network mode transmitting moving parameter to control module 2, and then single shaft motion-control module 4 is assigned position control order or order multiaxial motion control module 5 carry out macroprograms, obtain the use of the methods such as running status of control module 2 by communication network module 3, can allow system obtain maximum elasticity.
Thus, but above-mentioned each member and the assembling mode introduction thereof that is multi-axis controller application architecture one preferred embodiment that elasticity provided by the present invention uses then is described below its handling characteristics again:
As shown in Figure 1, the user for example edits and processes the path or industrial machine 6 is assigned motion control commands or parameter etc. in the macroprogram that PC 11 editors can carry out corresponding industrial machine 6 actions according to kinematic parameter.Perhaps industrial machine 6 being assigned arbitrary single shaft returns initial point, adjusting microinching, location, handwheel and basic single shaft motion control such as moves.
Please refer to Fig. 2～3, when the user edits after macroprogram finishes, PC 1 is uploaded to control module 2 by communication network module 3 with macroprogram, the machining path that control module 2 is edited according to macroprogram or kinematic parameter etc. are issued an order, and the carrying out of control flow, be worth mentioning when finishing a step, described control module 2 namely produces a feedback data to PC 1, the user can watch the state of industrial machine 6 by PC 1, further factory is if having many industrial machines 6, the control module 2 of industrial machine 6 is connected in PC 1 in the mode of serial, and the user only can monitor the information of full factory industrial machine 6 by a PC 1.
Please refer to Fig. 4, embodiment for practice of the present invention, described PC 1 end further includes a vision device for identifying, write macroprogram order Control Shaft in PC 1 moves to about target location to the user in advance, by communication network module 3 with the multiaxial motion control module 5 of command transfer to the control module 2, then, PC 1 end judgement vision is distinguished to look and is finished, send correct target location, same pass through communication network module 3 with command transfer to the interior multiaxial motion control module 5 of control module 2, then start processing, control module 2 order Control Shafts are earlier toward the tram move, behind the Control Shaft positive stop, then produce bit data automatically, to PC 1, so, no matter how high user's macroprogram complexity have by communication network module 3 feedback data, by the correct location point of arrival that all can be correct under the regulation and control distribution of control module 2, and the user can monitor industrial machine 6 states at any time by PC 1.If the user need proofread and correct board and need return initial point, when perhaps only needing Control Shaft to move to the another location, by passing through man-computer interface, can order Control Shaft to return initial point, adjusting microinching, location, handwheel and basic single shaft motion control such as move, so, the user utilizes single shaft or multiaxial motion control module 5 respectively according to demand, and the burden that alleviates controller makes the smoothing of processing mobile route, increases the production yield.
Please refer to Fig. 5, be another embodiment of the present invention, it applies to control simultaneously the situation in a plurality of paths, the user edits two different macroprograms respectively in PC 1, macroprogram is transferred to the multiaxial motion control module 5 of control module 2 by communication network module 3, and startup processing, path or Control Shaft that multiaxial motion control module 5 will be controlled with the mode determining program of reading in advance, after starting processing, carry out processing action by path one earlier, path two was judged and need be machined in wait path one according to macroprogram this moment, then produce kinematic parameter and instruction automatically after after path one machines, finishing, inform by communication network module 3 that path two is carried out and get the thing action, same after getting thing and finish, path two also produces kinematic parameter and instruction, and inform that by communication network module 3 path one gets thing and finish and can carry out subsequent action, also second judge according to macroprogram with the path and carry out subsequent action, this division of labor mode can effectively be divided into system independently mini system, simplifies the complexity of system.
Please refer to Fig. 6, moreover, the user also can be according to the circulation of requirements set macroprogram and each flow process parameter, determine board motion path and control production quantity, perhaps as shown in Figure 7, when needs changes flow process such as when other Control Shafts of needs or path, then multiaxial motion control module 5 is according to the next action parameter of command determination, but make flexible scheduling industrial machine 6 or machine tool (not shown) on producing, reach the effect of multiple control.
But the multi-axis controller application architecture that elasticity provided by the present invention is used when comparing mutually with other prior aries, has more following advantage:
1. operate friendlinessization: the complexity that reduces industrial machine complicated operation degree and reduction distribution.
2. plant area is unmanned: by the communication network module 3 immediate feedback data of control module, collect machinery and the electrical system running signal (for example vibrations, temperature, the speed of mainshaft etc.) of industrial machine, provide production management, long distance to safeguard the needed information of diagnosis, board can be integrated with the software systems of unmanned factory.
3. board intelligent automation: alleviate the control module computational burden by the macroprogram module, increase the mobile route smoothness, and, send industrial machine or industrial machine is carried out kinematic parameter or instruction according to macroprogram elasticity.
More than explanation is just illustrative for the purpose of the present invention, and nonrestrictive, those of ordinary skills understand; under the situation that does not break away from the spirit and scope that following claims limit, can make many modifications, change; or equivalence, but all will fall within the scope of protection of the present invention.So the displacement of the variation of numerical value and equivalence element such as must be subordinate to category of the present invention.
Claims (5)
1. but the multi-axis controller application architecture that elasticity is used is characterized in that, comprising:
PC, the control of responsible programming system flow process, transmission parameter command and condition monitoring;
Control module provides the driver of industrial machine to make electrokinetic energy and kinematic parameter control driver is provided, and controls the movement locus of industrial machine for driver;
Communication network module, being arranged at provides PC and control module to carry out communication in the control module, be used for Control Shaft is assigned motion command, control module is carried out the file transfer operation, carry out parameter and set, order the multiaxial motion control module to start the macroprogram operation;
The single shaft motion-control module is used for arbitrary single shaft to system and returns the basic single shaft motion control that initial point, adjusting microinching, location, handwheel move;
The multiaxial motion control module is used for automatically macroprogram being carried out decipher, and according to the content of its description, carries out that parameter reads, flow process judgement, cycle control, carries out the intelligentized operation of the motion control of multiaxis.
2. but the multi-axis controller application architecture that uses of elasticity as claimed in claim 1, it is characterized in that, the user can plan function mode in advance, and on PC, edit macroprogram, be aided with some parameters and set, again by the communication network module transmitting moving parameter on the control module to control module; Directly the single shaft motion-control module is issued orders, ordered the multiaxial motion control module to carry out macroprogram, obtains the use of method of the running status of control module by communication network module by PC.
3. but the multi-axis controller application architecture that uses of elasticity as claimed in claim 1, it is characterized in that, further include some industrial machines, and the control module of industrial machine is connected in PC in the standard network mode, and the user only can monitor the information of full factory industrial machine by a PC.
4. but the multi-axis controller application architecture of elasticity utilization as claimed in claim 1 is characterized in that, the user sets macroprogram circulation and each flow process parameter, decision board motion path and the control production quantity of multiaxial motion control module by PC.
5. but the multi-axis controller application architecture of elasticity utilization as claimed in claim 4 is characterized in that, described multiaxial motion control module is according to the next action parameter of command determination.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103592892A (en) * | 2013-10-12 | 2014-02-19 | 欣旺达电子股份有限公司 | Method and system for controlling multi-axis motion |
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| US20020087232A1 (en) * | 2000-12-28 | 2002-07-04 | Lapham John R. | Versatile robot control system |
| CN1996187A (en) * | 2006-01-05 | 2007-07-11 | 台达电子工业股份有限公司 | AC servo system with distribution type motion controller |
| CN101093392A (en) * | 2006-06-20 | 2007-12-26 | 大连创亿科技发展有限公司 | Digital control system controlled based on computer online or off line method, and operation method |
| WO2009037065A1 (en) * | 2007-09-14 | 2009-03-26 | Index-Werke Gmbh & Co. Kg Hahn & Tessky | Method and virtual machine tool for representing operations of a real machine tool |
| CN102049777A (en) * | 2009-10-28 | 2011-05-11 | 苏州工业园区协诚精密五金有限公司 | Control device |
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- 2012-03-05 CN CN2012100554357A patent/CN103294009A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20020087232A1 (en) * | 2000-12-28 | 2002-07-04 | Lapham John R. | Versatile robot control system |
| CN1996187A (en) * | 2006-01-05 | 2007-07-11 | 台达电子工业股份有限公司 | AC servo system with distribution type motion controller |
| CN101093392A (en) * | 2006-06-20 | 2007-12-26 | 大连创亿科技发展有限公司 | Digital control system controlled based on computer online or off line method, and operation method |
| WO2009037065A1 (en) * | 2007-09-14 | 2009-03-26 | Index-Werke Gmbh & Co. Kg Hahn & Tessky | Method and virtual machine tool for representing operations of a real machine tool |
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| CN103592892A (en) * | 2013-10-12 | 2014-02-19 | 欣旺达电子股份有限公司 | Method and system for controlling multi-axis motion |
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Application publication date: 20130911 |