CN106444535A - Motion controller and control method - Google Patents
Motion controller and control method Download PDFInfo
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- CN106444535A CN106444535A CN201611015806.3A CN201611015806A CN106444535A CN 106444535 A CN106444535 A CN 106444535A CN 201611015806 A CN201611015806 A CN 201611015806A CN 106444535 A CN106444535 A CN 106444535A
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- motion controller
- intervalometer
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to the extension field of a motion controller, in particular to a motion controller and a control method. The motion controller comprises a motion controller body, 1-8 extension modules and extension cables. The extension cables comprise a data reading-writing cable, data transmission cables and an enabling cable. The data reading-writing cable is connected to the motion controller body on one hand, and is respectively connected to each extension module on the other hand. The data transmission cables comprise data transmission cables 0-7. Each data transmission cable is a bidirectional signal line. One end is connected to the motion controller body, and the other end is respectively connected to each extension module. The enabling cable is used for serially connecting the motion controller body and each extension module. The motion controller and the control method are capable of greatly shortening the extension time, and increasing the flexibility of the system. Other extension modules except the own module are not needed during the data exchange, so the application of the motion control system is convenient.
Description
Technical field
The present invention relates to motion controller extension field, in particular it relates to a kind of motion controller and control method.
Background technology
With the continuous propulsion of industrial automation, increasing equipment needs to use motion controller to plan complexity
Motor control.But the resource-constrained being carried by motion controller itself, needs extra by some in a lot application scenarios
Module could completion system application.Just create a lot of problems, such as external connection module and motion controller among these
Joining property is bad, expensive, and system complex is unstable etc..
The expansion bus that motion controller in the market uses connect first by motion controller and extend, and first
The connection mode that individual extension connects second this cascade of extension is extended.Motion controller and each expansion module have one
Individual PLD such as FPGA or CPLD, as the carrier of expansion bus, makes to carry out the exchange of data between them.
But due to cascade due between the modules in above-mentioned implementation method, motion controller leads to expanding behind module
The data of letter will pass through the expansion module before it, and cause communication time has very big time delay；And this expansion bus are all
Do not support expansion module automatic identification, the expansion module type of support also all less it is impossible to meet the requirement of kinetic control system.
For the deficiencies in the prior art, it is badly in need of a kind of design communication high speed, flexible, easy motion controller.
Content of the invention
In order to overcome shortcoming and defect present in prior art, it is an object of the invention to provide a kind of motion controller
And control method, it is not required to during data exchange, through the expansion module in addition to module itself, greatly shorten expansion time, pole
The earth increased the motility of system, facilitates the application of kinetic control system.
Technical scheme is as follows：
A kind of motion controller, including motion controller body, 1-8 expansion module and extension line, described extension line
Including reading and writing data line, data transfer line and enable line, motion controller body is provided with main frame FPGA, each expanded mode
Block is provided with slave FPGA.
Reading and writing data line one side connects to motion controller body, is on the other hand respectively connecting to each expanded mode
Block；
Data transfer line includes data 0-data 7 transmission line, and data transfer line is bidirectional signal line, on the one hand connects
To motion controller body, on the other hand it is respectively connecting to each expansion module；
Enable line and be used for serial kinematic controller body and each expansion module.Enable line and connect a supreme expansion module
With next expansion module.
Wherein：Described motion controller body includes intervalometer T1 and intervalometer T3, and intervalometer T1 is used for motion controller
Body identifies the type of each expansion module, and intervalometer T3 is used for motion controller body and expansion module exchange data；Described each
Expansion module all includes intervalometer T2, intervalometer T4 and intervalometer T6, and intervalometer T2 is used for expansion module to motion controller originally
Body sending module type, intervalometer T4 and T6 is used for expansion module and motion controller body exchange data.
A kind of control method of motion controller, comprises the following steps：Module identification step data communication steps, described
Module identification step include：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T1 simultaneously, fixed
When the time be set to N1；
S2：After 1st expansion module receives enable signal and read signal, start intervalometer T2 in the rising edge enabling signal, fixed
When the time be set to N2, and send the expansion type of this expansion module to data transfer line；Now, although other expansion modules
Also have received read signal, but due to not receiving enable signal, so in addition to the 1st expansion module, other expansion modules are to data
Transmission line data read-write line output high-impedance state, will not send the module type of oneself.
S3：When T2 timing is to N2/2, intervalometer T1 gathers the module type of the 1st expansion module；Transport intervalometer T1
The middle time point sending data in expansion module carries out data sampling it is ensured that the stability of sampled data.
S4：When T2 timing is to N2, reset T2, the 1st expansion module exports high resistant to data transfer line, simultaneously to the
2 expansion modules send and enable signal；
S5：Carry out the identification of the 8th expansion module type of 1- according to above-mentioned steps successively, as N1=8xN2, represent each extension
The type identification of module finishes, and now resets T1；Then according to the type of expansion module distributes address automatically, complete each expanded mode
The identification function of block.
Described data communication step includes：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T3 simultaneously, fixed
When the time be set to N3；Wherein N3 is equal to 16XN4.
S2：When 1st expansion module receives the rising edge enabling signal, start intervalometer T4, timing is set to N4, will
Described time N4 was divided into for 16 each time periods：N4_1-N4_16；
S3：, respectively when N4 is equal to N4_1 to N4_16, the 1st byte to the 16th byte sending this extension is to number for 1st expansion module
According on transmission line；Specifically, when T4 is for N4_1, the 1st byte data of this module is put into data transfer by the 1st expansion module
On line, when T4 is for N4_2, the 2nd byte data of this module is put on data transfer line the 1st expansion module, until T4
During for N4_16, the 2nd byte data of this module is put on data transfer line.
S4：When T4 is equal to the middle time point of N4_1 to N4_16, timer T3 gathers what the 1st expansion module sent
Data；
S5：When T4 reaches timing N4_16, reset T4；Now T3 counts and reaches N3/16,
S6：Motion controller sends to the 1st expansion module and enables signal and write signal, and by this time period of N3/16-N3/8
It is divided into N5_1 to N5_16, first expansion module starts intervalometer T6 simultaneously, and timing is set to N6；Wherein N6=N4.
S7：Motion controller body sends the 1st byte respectively to the 16th byte to data when T3 is equal to N5_1 to N5_16
On transmission line；Specifically, when T3 is N5_1, the 1st byte data is put on data transfer line motion controller body,
When T3 is N5_2, the 2nd byte data is put on data transfer line motion controller body, when T3 is for N5_16, motion
16th byte data is put on data transfer line controller body.
S8：When the middle time point of timing to N5_1-N5_16, the 1st expansion module sample motion controller body sends
Data；
S9：When T6 timing reaches, reset T6, now, T3 counts and reaches N3/8, and motion controller body drags down write signal, sends out
Send read signal, first expansion module sends to second expansion module and enable signal simultaneously.
S10：Carry out the data communication of the 8th expansion module of 1- according to above-mentioned steps successively.
Motion controller body is sequentially completed the data communication and each expansion module between according to above-mentioned steps, circulates one
Secondary, motion controller body and expansion module exchange the data of 256 bytes altogether.
Beneficial effects of the present invention：
A kind of motion controller of the present invention and control method are read and write according to timing, the mode of intermediate samples, employ data and pass
Pass the means of communication that line data is read and write line and enabled line, be not required to during data exchange through the expansion in addition to module itself
Exhibition module, stably transmits the data of 256 bytes, only needs 1.28ms, compares and transmits several crossed joints in the market and be accomplished by 10ms
Above communication, greatly shortens expansion time；And motion controller body can with the type of automatic identification expansion module,
User only need to be by expansion module access system it is not necessary to the type system being manually entered access expansion module just can be known automatically
Not, substantially increase the motility of system, facilitate the application of kinetic control system.
Brief description
Fig. 1 is a kind of theory diagram of motion controller of the present invention.
Fig. 2 is the structural representation of motion controller body of the present invention and expansion module.
Fig. 3 is a kind of sequential chart of the expansion module identification process of the control method of motion controller of the present invention.
Fig. 4 is a kind of sequential chart of the data communication process of the control method of motion controller of the present invention.
Specific embodiment
For the ease of the understanding of those skilled in the art, with reference to embodiment and accompanying drawing, the present invention is made further
Bright, the content not limitation of the invention that embodiment refers to.
As shown in figure 1, a kind of motion controller, including motion controller body, 1-8 expansion module and extension line,
Described extension line includes reading and writing data line, data transfer line and enables line, and motion controller body is provided with master
Machine FPGA, each expansion module is provided with slave FPGA.
Reading and writing data line one side connects to motion controller body, is on the other hand respectively connecting to each expanded mode
Block；
Data transfer line includes data 0-data 7 transmission line, and data transfer line is bidirectional signal line, on the one hand connects
To motion controller body, on the other hand it is respectively connecting to each expansion module；
Enable line and be used for serial kinematic controller body and each expansion module.Enable line and connect a supreme expansion module
With next expansion module.
As shown in Fig. 2 described motion controller body includes intervalometer T1 and intervalometer T3, intervalometer T1 is used for motion control
Device body processed identifies the type of each expansion module, and intervalometer T3 is used for motion controller body and expansion module exchange data；Institute
State each expansion module and all include intervalometer T2, intervalometer T4 and intervalometer T6, intervalometer T2 is used for expansion module to motor control
Device body sending module type, intervalometer T4 and T6 is used for expansion module and motion controller body exchange data.
As Figure 3-Figure 4, a kind of control method of motion controller, comprises the following steps：Module identification step sum
According to communication steps, described module identification step includes：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T1 simultaneously, fixed
When the time be set to N1；
S2：After 1st expansion module receives enable signal and read signal, start intervalometer T2 in the rising edge enabling signal, fixed
When the time be set to N2, and send the expansion type of this expansion module to data transfer line；Now, although other expansion modules
Also have received read signal, but due to not receiving enable signal, so in addition to the 1st expansion module, other expansion modules are to data
Transmission line data read-write line output high-impedance state, will not send the module type of oneself.
S3：When T2 timing is to N2/2, intervalometer T1 gathers the module type of the 1st expansion module；Transport intervalometer T1
The middle time point sending data in expansion module carries out data sampling it is ensured that the stability of sampled data.
S4：When T2 timing is to N2, reset T2, the 1st expansion module exports high resistant to data transfer line, simultaneously to the
2 expansion modules send and enable signal；
S5：Carry out the identification of the 8th expansion module type of 1- according to above-mentioned steps successively, as N1=8xN2, represent each extension
The type identification of module finishes, and now resets T1；Then according to the type of expansion module distributes address automatically, complete each expanded mode
The identification function of block.
Described data communication step includes：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T3 simultaneously, fixed
When the time be set to N3；Wherein N3 is equal to 16XN4.
S2：When 1st expansion module receives the rising edge enabling signal, start intervalometer T4, timing is set to N4, will
Described time N4 was divided into for 16 each time periods：N4_1-N4_16；
S3：, respectively when N4 is equal to N4_1 to N4_16, the 1st byte to the 16th byte sending this extension is to number for 1st expansion module
According on transmission line；Specifically, when T4 is for N4_1, the 1st byte data of this module is put into data transfer by the 1st expansion module
On line, when T4 is for N4_2, the 2nd byte data of this module is put on data transfer line the 1st expansion module, until T4
During for N4_16, the 2nd byte data of this module is put on data transfer line.
S4：When T4 is equal to the middle time point of N4_1 to N4_16, timer T3 gathers what the 1st expansion module sent
Data；
S5：When T4 reaches timing N4_16, reset T4；Now T3 counts and reaches N3/16,
S6：Motion controller sends to the 1st expansion module and enables signal and write signal, and by this time period of N3/16-N3/8
It is divided into N5_1 to N5_16, first expansion module starts intervalometer T6 simultaneously, and timing is set to N6；Wherein N6=N4.
S7：Motion controller body sends the 1st byte respectively to the 16th byte to data when T3 is equal to N5_1 to N5_16
On transmission line；Specifically, when T3 is N5_1, the 1st byte data is put on data transfer line motion controller body,
When T3 is N5_2, the 2nd byte data is put on data transfer line motion controller body, when T3 is for N5_16, motion
16th byte data is put on data transfer line controller body.
S8：When the middle time point of timing to N5_1-N5_16, the 1st expansion module sample motion controller body sends
Data；
S9：When T6 timing reaches, reset T6, now, T3 counts and reaches N3/8, and motion controller body drags down write signal, sends out
Send read signal, first expansion module sends to second expansion module and enable signal simultaneously.
S10：Carry out the data communication of the 8th expansion module of 1- according to above-mentioned steps successively.
Motion controller body is sequentially completed the data communication and each expansion module between according to above-mentioned steps, circulates one
Secondary, motion controller body and expansion module exchange the data of 256 bytes altogether.
Finally it should be noted that above example is only in order to illustrating technical scheme, rather than the present invention is protected
The restriction of shield scope, although having made to explain to the present invention with reference to preferred embodiment, those of ordinary skill in the art should
Work as understanding, technical scheme can be modified or equivalent, without deviating from the reality of technical solution of the present invention
Matter and scope.
Claims (6)
1. a kind of motion controller it is characterised in that：Including motion controller body, 1-8 expansion module and extension line, institute
The extension line stated includes reading and writing data line, data transfer line and enables line,
Reading and writing data line one side connects to motion controller body, is on the other hand respectively connecting to each expansion module；
Data transfer line includes data 0-data 7 transmission line, and data transfer line is bidirectional signal line, on the one hand connects
To motion controller body, on the other hand it is respectively connecting to each expansion module；
Enable line and be used for serial kinematic controller body and each expansion module.
2. a kind of motion controller according to claim 1 it is characterised in that：Described motion controller body includes timing
Device T1 and intervalometer T3, intervalometer T1 are used for the type that motion controller body identifies each expansion module, and intervalometer T3 is used for transporting
Movement controller body and expansion module exchange data；
Described each expansion module all includes intervalometer T2, intervalometer T4 and intervalometer T6, and intervalometer T2 is used for expansion module to fortune
Movement controller body sending module type, intervalometer T4 and T6 is used for expansion module and motion controller body exchange data.
3. a kind of motion controller according to claim 1 it is characterised in that：Motion controller body is provided with main frame
FPGA.
4. a kind of motion controller according to claim 1 it is characterised in that：Each expansion module is provided with slave
FPGA.
5. a kind of control method of motion controller it is characterised in that：Comprise the following steps：Module identification step data communicates
Step, described module identification step includes：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T1 simultaneously, fixed
When the time be set to N1；
S2：After 1st expansion module receives enable signal and read signal, start intervalometer T2 in the rising edge enabling signal, fixed
When the time be set to N2, and send the expansion type of this expansion module to data transfer line；
S3：When T2 timing is to N2/2, intervalometer T1 gathers the module type of the 1st expansion module；
S4：When T2 timing is to N2, the 1st expansion module exports high resistant to data transfer line, simultaneously to the 2nd expansion module
Send and enable signal；
S5：Carry out the identification of the 8th expansion module type of 1- according to above-mentioned steps successively, as N1=8xN2, reset T1；
Described data communication step includes：
S1：Motion controller body sends to the 1st expansion module and enables signal and read signal, starts intervalometer T3 simultaneously, fixed
When the time be set to N3；
S2：When 1st expansion module receives the rising edge enabling signal, start intervalometer T4, timing is set to N4, when described
Between N4 be divided into N4_1-N4_16；
S3：, respectively when N4 is equal to N4_1 to N4_16, the 1st byte to the 16th byte sending this extension is to number for 1st expansion module
According on transmission line；
S4：When T4 is equal to the middle time point of N4_1 to N4_16, timer T3 gathers the data that the 1st expansion module sends；
S5：When T4 reaches timing N4_16, reset T4；
S6：Motion controller sends to the 1st expansion module and enables signal and write signal, and by this time period of N3/16-N3/8
It is divided into N5_1 to N5_16, first expansion module starts intervalometer T6 simultaneously, and timing is set to N6；
S7：Motion controller body sends the 1st byte respectively to the 16th byte to data transfer when T3 is equal to N5_1 to N5_16
On line；
S8：When the middle time point of timing to N5_1-N5_16, the number that the 1st expansion module sample motion controller body sends
According to；
S9：When T6 timing reaches, reset T6, motion controller body drags down write signal, send read signal, simultaneously first expansion
Exhibition module sends to second expansion module and enables signal；
S10：Carry out the data communication of the 8th expansion module of 1- according to above-mentioned steps successively.
6. a kind of motion controller according to claim 5 control method it is characterised in that：N3 is equal to 16XN4.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107290993A (en) * | 2017-07-10 | 2017-10-24 | 上海铁路局上海动车段 | A kind of electric control system |
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