CN103365253A - Automation controller capable of being applied elastically and flexibly - Google Patents
Automation controller capable of being applied elastically and flexibly Download PDFInfo
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- CN103365253A CN103365253A CN2012101023891A CN201210102389A CN103365253A CN 103365253 A CN103365253 A CN 103365253A CN 2012101023891 A CN2012101023891 A CN 2012101023891A CN 201210102389 A CN201210102389 A CN 201210102389A CN 103365253 A CN103365253 A CN 103365253A
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Abstract
Disclosed is an automation controller capable of being applied elastically and flexibly. The automation controller is based on an industrial computer. In the automation controller, shaft control and an IO control hardwares are integrated and a CNC core module, which becomes a core of the automation controller with powerful functions is developed; to facilitate a secondary development, based on the CNC core module, a macroblock, a PLC module, a man-machine module and a communication service module are developed and a communication module at an industrial-computer end is provided to be operated in cooperation with the industrial computer so that the automation controller becomes an automation controller which is provided with man-machine, PLC and CNC level shaft control functions and capable of being applied elastically and flexibly.
Description
Technical field
The present invention relates to automation field, refer to especially a kind of in conjunction with numerical tool machine (CNC), industrial computer (IPC) but and logic control control module (PLC module) but the elasticity automation controller of applying in a flexible way.
Background technology
Press, 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 such as indispensable key core spare part as the human brain in the automation control system.
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, such 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, want to reach the control multiaxial motion and can adopt integrated motion controller, generally speaking reach above-mentioned purpose with following means:
1, be in conjunction with " personal computer, motion control axle card, IO expansion board " its shortcoming:
(1) axle control insufficiency of function is difficult to accomplish accurately trajectory path planning of complexity.
(2) PC operating system and non real-time, the variability of increase motion control.
(3) IO control is non real-time because of operating system, also can't accomplish real-time control.
2, be in conjunction with " PLC, axle control card, communication adapter, man-machine interface " its shortcoming:
(1) PLC of some axle control card function is expensive.
(2) axle control card insufficiency of function is difficult to accomplish accurately trajectory path planning of complexity.
(3) need to buy in addition man-machine product with the programming man-machine interface.
This shows, want to still have many deficiencies with integrated motion controller commonly used or motion control axle card, be not complete design, and remain to be improved.
Summary of the invention
The object of the present invention is to provide a kind of with the industrial computer core as the basis, axle control and IO control hardware are integrated in controller, and develop thereon the CNC nucleus module and become the automation controller that can integrate man-machine, axle control, IO control.
But the exploitation framework that provides a kind of elasticity to apply in a flexible way is provided another object of the present invention, to meet the demand of various secondary development (namely developing robotization special plane program).
But the automation controller that the elasticity that can reach the foregoing invention purpose is applied in a flexible way comprises:
The CNC nucleus module, for the processing of movement instruction possess preview forward, simultaneously start arrive, function and the IO access facility of path smooth;
Macroblock is resolved the designed macro document of secondary development, and orders about the action of CNC nucleus module according to content instruction, and aforementioned instruction can include flow process control, condition judgment, function setting, data access and motion control instruction;
The PLC module was responsible in the cycle of operation of operating system, and the PLC command file in the system is write, left in the execution secondary development, and the PLC function file can be done signal processing, logic judgement, arithmetical operation, IO control, the motion control of real-time;
Embedded man-machine module is resolved the designed embedded man-machine file of secondary development, makes it and reach the control system purpose according to the design content display page;
The Communications service module, have data access and file transfer two large functions, file transmitting function can be used for the embedded man-machine file that file transfers between personal computer and control system comprises the macro document of macroblock, the PLC function file of PLC module, embedded man-machine module, data access function then can allow data in the direct access control system of personal computer to reach the purpose of control system, and secondary development person can use communication module development in the man-machine program of industrial computer operation;
So, axle control and IO control hardware are integrated in the industrial computer, and develop thereon CNC nucleus module, macroblock, PLC module, embedded man-machine module, Communications service module, but become the automation controller that an elasticity that possesses man-machine, PLC, CNC axle control grade is applied in a flexible way.
Description of drawings
The hardware configuration synoptic diagram of the automation controller that but Fig. 1 is the present invention's elasticity to apply in a flexible way.
The configuration diagram of the automation controller that but Fig. 2 is described elasticity to apply in a flexible way.
Fig. 3 is the hardware configuration synoptic diagram of the present invention's the second preferred embodiment, expression macroblock, PLC module, simultaneously access of man-machine module CNC nucleus module.
Fig. 4 is the actual operation schematic flow sheet of the first preferred embodiment.
The action synoptic diagram of associated treatment is carried out in Fig. 5～7 for each intermodule.
Description of reference numerals
1 CNC nucleus module
2 macroblocks
3 PLC modules
4 embedded man-machine modules
5 Communications service modules
6 personal computers
61 communication modules
62 computer terminal instruction databases
63 macro editors
64 PLC editing machines
65 man-machine editing machines
7 controllers
Embodiment
But be the automation controller that elasticity provided by the present invention is applied in a flexible way such as Fig. 1, mainly include: CNC nucleus module 1, macroblock 2, PLC module 3, embedded man-machine module 4, Communications service module 5 structure of organizing form.
Described CNC nucleus module 1, for the processing of movement instruction possess preview forward, simultaneously start arrive, function and the IO access facility of path smooth.
Described macroblock 2 is resolved the designed macro document of secondary development, and orders about 1 action of CNC nucleus module according to content instruction, and aforementioned instruction can include flow process control, condition judgment, function setting, data access and motion control instruction.
Described PLC module 3 was responsible in the cycle of operation of operating system, and the PLC command file in the system is write, left in the execution secondary development, and the PLC command file can be done signal processing, logic judgement, arithmetical operation, IO control, the motion control of real-time.
Described embedded man-machine module 4 is resolved the designed embedded man-machine file of secondary development, makes it and reach the control system purpose according to the design content display page;
Described Communications service module 5, have data access and file transfer two large functions, file transmitting function can be used for the file transfers between personal computer 6 (PC) and control system, comprise macro document, PLC command file, the embedded file such as man-machine, data access function then can allow data in the personal computer 6 direct access control systems to reach the purpose of control system, and secondary development person can use communication module 61 to develop in the man-machine program of personal computer 6 operations; And about operation and the related description of personal computer 6, please hold the aftermentioned explanation.
As shown in Figure 2, axle control and IO control hardware are integrated in the industrial computer, and develop thereon CNC nucleus module 1, macroblock 2, PLC module 3, embedded man-machine module 4, Communications service module 5, but become the automation controller that an elasticity that possesses man-machine, PLC, CNC axle control grade is applied in a flexible way.
Be that the present invention further can select to arrange a personal computer 6 (PC) such as Fig. 3, described personal computer 6 has communication module 61 and a computer terminal instruction database 62 that is connected with Communications service module 5, reaches and data, the file transfer of 7 of controllers; In addition, described personal computer is connected with more that the macro editor of writing and sorting 63, that can carry out the edit instruction macro document can carry out that PLC editing machine 64 and that the instruction of PLC command file writes, sorts can be edited the man-machine editing machine 65 of the designed operation pages of secondary development (being man-machine file) and aforesaid macro editor 63, PLC editing machine 64 and man-machine editing machine 65 please hold aftermentioned preferred embodiment explanation.
So, but above-mentioned each member and the assembling mode introduction thereof that is the first preferred embodiment of the automation controller that elasticity provided by the present invention applies in a flexible way then is described below its handling characteristics again:
Step 1: the user sets in CNC nucleus module 1, for example:
(1) kinematic parameter is set: each axle electronic gear proportion, drive command pattern, scrambler pattern, motion kenel (linear axes or turning axle) etc.
(2) IO sets: the IO integrated circuit board that uses and IO link position thereof.
(3) path position inspection.
(4) acceleration and deceleration are set.
Step 2: the user controls embedded man-machine module 4 according to demand, according to giving tacit consent in the content display page of controller 7 and reaching the control system purpose, for example as: the flow process control of macroblock 2, the signal processing of PLC module 3 etc., thus, but reach the goal of the invention of the automation controller that the present invention's elasticity applies in a flexible way.
Such as Fig. 3, be the present invention's the second preferred embodiment, be that with the first preferred embodiment difference described controller 7 is connected with a personal computer 6 (PC), its operation steps is as follows:
Step 1: as the step 1 of the first preferred embodiment.
Step 2: the user sees through macro editor 63, the macro document instructions such as editing process control, condition judgment, function setting, data access and motion control instruction also see through communication module 61 and upload macro document to the Communications service module 5 of controller 7, provide macroblock 2 to resolve macro document flow process and command content, and ask CNC nucleus module 1 to carry out relevant treatment, reach the flow process control of device.
Step 3: the user writes the functions such as the signal processing, logic judgement, arithmetical operation, IO control, motion control of real-time by PLC editing machine 64, after compiling, transfer in the controller 7 Communications service modules 5 by communication module 61, provide and carry out the PLC command file in the PLC module 3, by access CNC nucleus module 1 resource, reach the function of its demand.
Step 4: the user is by the designed operation pages of man-machine editing machine 65 editor's secondary development, be uploaded to the Communications service module 5 of controller 7 by communication module 61, provide embedded man-machine module 4 to go access CNC core resource in order to the display operation page and according to the operation behavior that picture sets, reach the purpose of system's operation.
Can be learnt that by above-mentioned explanation communication module 61 and Communications service module 5 are the line of communication of personal computer 6 (PC) and control system, further reach the man-machine program use that communication module 61 also includes implementing procedure and personal computer 6.Thus, communication module 61 upload file instructions are integrated in controller 7 with axle control and IO control hardware again, process respectively the flow process of being responsible for separately by macroblock 2, PLC module 3, man-machine module, and will provide CNC nucleus module 1 to process according to writing instruction, effectively alleviate CNC nucleus module 1 computational burden, increase the path of motion smoothness, increase the board intelligent automation; In addition, the built-in software sections of controller 7 carry in real time (real-time) core technology of high-performance Linux, and outstanding expressive ability can be widely used in every aut.eq., mainly take the CNC nucleus module 1 of man-machine Module Links as hinge.
Such as Fig. 3, being provided with a computer terminal instruction database 62 in the personal computer 6 of the present invention provides high speed communication control and the file transfer of 7 of computer software and controllers through communication module 61 and communication service module, the instruction that described PLC module 3 is carried out in the designed file of secondary development, and according to command content the CNC core is moved, and the instruction that described macroblock 2 is resolved in the designed file of secondary development, and according to command content the CNC core is moved, the flexible software application framework of arranging in pairs or groups provides flexibly operational mode for secondary development person, and above-mentioned complete aid allows develops become more convenient.
Can bring into operation when finishing above-mentioned setting, below be introduced respectively:
Be the process flow diagram of the present invention's the first preferred embodiment such as Fig. 4, in the embedded man-machine module 4 of described controller 7 the acquiescence picture is arranged, the user can be according to machining functions such as requirements set path mode, startup processing, time-out, replacement, setting translational speeds, described embedded man-machine module 4 is sent to respective modules with setting value by Communications service module 5 carries out that control command is resolved or drives, but so reaches the goal of the invention of the automation controller that this case elasticity applies in a flexible way.
Be the practice example of the present invention's the second preferred embodiment such as Fig. 5, associated treatment between each module is described, the user in advance writes macro document or PLC command file order Control Shaft to about target location in personal computer 6, by communication module 61 and Communications service module 5 with macroblock 2 or the PLC module 3 of aforesaid file transfer to the controller 7, described macroblock 2 is resolved the described PCL module of macro document and is then carried out the PLC command file, then controller 7 sort command Control Shafts are first toward the tram move, behind the Control Shaft positive stop, then automatically produce bit data, by communication module 61 feedback data to personal computer 6.So, no matter how high user's macro document or PLC command file complexity have, and the regulation and control by controller 7 distribute the lower correct location point of arrival that all can be correct, and the user can monitor the aut.eq. state at any time by industrial computer.As shown in Figure 6, further the user also can be according to requirements set macro document or the circulation of PLC command file and each flow process parameter, determine board motion path and production control quantity, perhaps as shown in Figure 7, when needs changes flow process such as when other Control Shafts of needs or path, then CNC nucleus module 11 is according to the next action parameter of command determination, but makes flexible scheduling aut.eq. on producing, and reaches the effect of multiple control.
But the automation controller that elasticity provided by the present invention is applied in a flexible way when mutually comparing with common technology, has more following advantages:
1, axle control and IO control hardware are incorporated into wherein to reduce hardware, the collocation real time operating system, and develop thereon CNC Core Feature, PLC Real-time Logic control function, but become that integration is man-machine, automation controller that the elasticity of axle control, IO control is applied in a flexible way.
But 2, provide automation controller that a kind of elasticity applies in a flexible way for making things convenient for secondary development (namely developing robotization special plane program)
3, the built-in software section of controller carries in real time (real-time) core technology of high-performance Linux, and outstanding expressive ability can be widely used in every aut.eq., mainly take the CNC nucleus module of embedded man-machine Module Links as hinge.
The above embodiment only is used for technological thought of the present invention and characteristics are described, its objective is to make those skilled in the art can understand content of the present invention and according to this enforcement, but should not limit with this scope of patent of the present invention.One of ordinary skill in the art are not breaking away within the spirit and scope of the present invention, and above-described embodiment carries out equivalent variations and improvement relatively, all should belong to the technical scope that the present invention protects.
Claims (6)
1. but the automation controller that elasticity is applied in a flexible way is characterized in that, comprising:
The CNC nucleus module, for the processing of movement instruction possess preview forward, simultaneously start arrive, function and the IO access facility of path smooth;
Macroblock is resolved the designed macro document of secondary development, and orders about the action of CNC nucleus module according to content instruction, and aforementioned instruction can include flow process control, condition judgment, function setting, data access and motion control instruction;
The PLC module was responsible in the cycle of operation of operating system, and the PLC command file in the system is write, left in the execution secondary development; The PLC instruction can be done signal processing, logic judgement, arithmetical operation, IO control, the motion control of real-time;
Embedded man-machine module is resolved the designed embedded man-machine file of secondary development, makes it and reach the control system purpose according to the design content display page;
The Communications service module, have data access and file transfer two large functions, file transmitting function can be used for the embedded man-machine file that file transfers between industrial computer and control system comprises the macro document of macroblock, the PLC command file of PLC module, embedded man-machine module, data access function then can allow data in the direct access control system of personal computer to reach the purpose of control system, and secondary development person can use communication module development in the man-machine program of industrial computer operation;
Axle control and IO control hardware are integrated in the industrial computer middle controller, and develop thereon CNC nucleus module, macroblock, PLC module, embedded man-machine module, Communications service module, but become the automation controller that an elasticity that possesses man-machine, PLC, CNC axle control grade is applied in a flexible way.
2. but the elasticity as claimed in claim 1 automation controller of applying in a flexible way, it is characterized in that, more include personal computer, described personal computer is provided with communication module and computer terminal instruction database that is connected with the Communications service module, reach and controller between data, file transfer.
3. but the elasticity as claimed in claim 2 automation controller of applying in a flexible way is characterized in that described personal computer more connects a macro editor of writing and sorting that can carry out the edit instruction macro document.
4. but the elasticity as claimed in claim 2 automation controller of applying in a flexible way is characterized in that described personal computer more is connected with man-machine editing machine, in order to edit the designed operation pages of secondary development.
5. but the elasticity as claimed in claim 2 automation controller of applying in a flexible way, it is characterized in that being provided with a computer terminal instruction database in the described personal computer provides the high speed communication between computer software and controller to control and file transfer through communication module and communication service module.
6. but the elasticity as claimed in claim 2 automation controller of applying in a flexible way, it is characterized in that, described communication module main with macro editor, PLC editing machine, the electric connection of man-machine editing machine, with editor's macro document, PLC command file, the man-machine file transfer Communications service module to the controller, and be sent to corresponding modular unit according to file type and carry out file and carry out or interpretation.
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| CN2012101023891A CN103365253A (en) | 2012-04-10 | 2012-04-10 | Automation controller capable of being applied elastically and flexibly |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106707965A (en) * | 2015-11-18 | 2017-05-24 | 宁波弘讯科技股份有限公司 | Robot control system and robot control method |
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| CN1580998A (en) * | 2004-05-20 | 2005-02-16 | 上海交通大学 | Reconstituted digital control module |
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Patent Citations (5)
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| US5565854A (en) * | 1993-05-07 | 1996-10-15 | Fanuc Ltd. | MMC unit |
| EP0909999A1 (en) * | 1997-03-10 | 1999-04-21 | Fanuc Ltd | Communication method for machine controller |
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| CN106707965A (en) * | 2015-11-18 | 2017-05-24 | 宁波弘讯科技股份有限公司 | Robot control system and robot control method |
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Application publication date: 20131023 |