CN106444535B - A kind of motion controller and control method - Google Patents
A kind of motion controller and control method Download PDFInfo
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- CN106444535B CN106444535B CN201611015806.3A CN201611015806A CN106444535B CN 106444535 B CN106444535 B CN 106444535B CN 201611015806 A CN201611015806 A CN 201611015806A CN 106444535 B CN106444535 B CN 106444535B
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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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- Programmable Controllers (AREA)
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Abstract
The present invention relates to motion controllers to extend field, specifically, it is related to a kind of motion controller and control method, including motion controller ontology, 1-8 expansion module and extension line, the extension line includes reading and writing data line, data transmitting line and enabled line, on the one hand reading and writing data line is connected to motion controller ontology, be on the other hand respectively connected to each expansion module；Data transmitting line includes that data 0- data 7 transmit line, and it is bidirectional signal line that data, which transmit line, is on the one hand connected to motion controller ontology, is on the other hand respectively connected to each expansion module；Enabled line is used for serial kinematic controller ontology and each expansion module.A kind of motion controller of the present invention and control method, when data exchange, are not required to greatly shorten expansion time by the expansion module in addition to module itself, substantially increase the flexibility of system, facilitate the application of kinetic control system.
Description
Technical field
The present invention relates to motion controllers to extend field, and in particular, to a kind of motion controller and control method.
Background technique
With the continuous propulsion of industrial automation, more and more equipment need to use motion controller to plan complexity
Motion control.But since the resource of motion controller institute band itself is limited, need in many applications by some additional
Module could complete systematic difference.Many problems, such as external connection module and motion controller are just produced among these
It is bad with property, it is expensive, system complex is unstable etc..
The expansion bus that motion controller currently on the market uses connects first by motion controller and extends, and first
A extension connects second this cascade connection mode of extension and is extended.Motion controller and each expansion module have one
The carrier of a programmable logic device such as FPGA or CPLD as expansion bus makes the exchange that data are carried out between them.
But in above-mentioned implementation method due to cascading between modules, motion controller is logical with expansion module below
The data of letter will expansion module Jing Guo the front, cause communication time has very big delay；And this expansion bus is all
Expansion module automatic identification is not supported, and the expansion module type of support is also all less, is not able to satisfy the requirement of kinetic control system.
In view of the deficiencies of the prior art, it is badly in need of designing a kind of motion controller communicated at a high speed, flexibly, easy.
Summary of the invention
In order to overcome shortcoming and defect existing in the prior art, the purpose of the present invention is to provide a kind of motion controllers
And control method, when data exchange, are not required to greatly shorten expansion time, pole by the expansion module in addition to module itself
The earth increases the flexibility of system, facilitates the application of kinetic control system.
Technical scheme is as follows:
A kind of motion controller, including motion controller ontology, 1-8 expansion module and extension line, the extension
Line includes that reading and writing data line, data transmitting line and enabled line, motion controller ontology are provided with host FPGA, each to expand
Exhibition module is provided with slave FPGA.
On the one hand reading and writing data line is connected to motion controller ontology, be on the other hand respectively connected to each expanded mode
Block；
Data transmitting line includes that data 0- data 7 transmit line, and it is bidirectional signal line that data, which transmit line, is on the one hand connected
It is connected to motion controller ontology, is on the other hand respectively connected to each expansion module；
Enabled line is used for serial kinematic controller ontology and each expansion module.Enabled line is connected to an extension
Module and next expansion module.
Wherein: the motion controller ontology includes timer T1 and timer T3, and timer T1 is used for motion controller
Ontology identifies the type of each expansion module, and timer T3 exchanges data for motion controller ontology and expansion module；It is described each
Expansion module includes timer T2, timer T4 and timer T6, and timer T2 is used for expansion module to motion controller sheet
Body sending module type, timer T4 and T6 exchange data for expansion module and motion controller ontology.
A kind of control method of motion controller, comprising the following steps: module identification step and data communication steps, it is described
Module identification step include:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer
T1, timing are set as N1；
After S2: the 1 expansion module receives enable signal and read signal, start timer in the rising edge of enable signal
T2, timing are set as N2, and the expansion type of this expansion module is sent to data transmitting line；At this point, other expanded modes
Although block also has received read signal, due to not receiving enable signal, so in addition to the 1st expansion module, other expansion modules
Line is transmitted to data and reading and writing data line exports high-impedance state, will not send the module type of oneself.
S3: when T2 timing is to N2/2, timer T1 acquires the module type of the 1st expansion module；Transport timer T1
Data sampling is carried out in the middle time point that expansion module sends data, ensure that the stability of sampled data.
S4: when T2 timing is to N2, resetting T2, and the 1st expansion module exports high resistant to data transmitting line, while to the
2 expansion modules send enable signal；
S5: successively carrying out the identification of the 8th expansion module type of 1- according to above-mentioned steps, as N1=8xN2, represents
The type identification of each expansion module finishes, and resets T1 at this time；Then address is distributed automatically according to the type of expansion module, complete each
The identification function of expansion module.
The data communication step includes:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer
T3, timing are set as N3；Wherein N3=16xN4.
When S2: the 1 expansion module receives the rising edge of enable signal, start timer T4, timing is set as N4, will
The time N4 is divided into 16 each periods: N4_1-N4_16；
S3: the 1 expansion module when N4 is equal to N4_1 to N4_16, sends the 1st byte to the 16th byte of this extension respectively
Onto data transmitting line；Specifically, when T4 is N4_1, the 1st byte data of this module is put into data by the 1st expansion module
It transmits on line, when T4 is N4_2, the 2nd byte data of this module is put on data transmitting line by the 1st expansion module, directly
To T4 be N4_16 when, by the 2nd byte data of this module be put into data transmitting line on.
S4: when T4 is equal to the middle time point of N4_1 to N4_16, timer T3 acquires what the 1st expansion module was sent
Data；
S5: when T4 reaches timing N4_16, T4 is reset；T3 counting at this time reaches N3/16,
S6: motion controller sends enable signal and write signal to the 1st expansion module, and by N3/16-N3/8 this when
Between section be divided into N5_1 to N5_16, while first expansion module starts timer T6, and timing is set as N6；Wherein N6=
N4。
S7: motion controller ontology sends the 1st byte to the 16th byte to data when T3 is equal to N5_1 to N5_16 respectively
It transmits on line；Specifically, when T3 is N5_1, the 1st byte data is put on data transmitting line by motion controller ontology, In
When T3 is N5_2, the 2nd byte data is put on data transmitting line by motion controller ontology, when T3 is N5_16, movement
16th byte data is put on data transmitting line by controller ontology.
S8: when the middle time point of timing to N5_1-N5_16, the 1st expansion module sample motion controller ontology is sent
Data；
S9: when T6 timing reaches, T6 is reset, at this point, T3, which is counted, reaches N3/8, motion controller ontology, which drags down, to write letter
Number, read signal is sent, while first expansion module sends enable signal to second expansion module.
S10: the data communication of the 8th expansion module of 1- is successively carried out according to above-mentioned steps.
Motion controller ontology is sequentially completed the data communication between each expansion module, circulation one according to above-mentioned steps
Secondary, motion controller ontology exchanges the data of 256 bytes with expansion module altogether.
Beneficial effects of the present invention:
A kind of motion controller of the invention and control method are read and write according to timing, and the mode of intermediate samples has used number
According to the means of communication of transmitting line and reading and writing data line and enabled line, when data exchange, is not required to by addition to module itself
Expansion module, stablize transmission 256 bytes data, only need 1.28ms, just needed compared to several crossed joints are transmitted currently on the market
The communication of 10ms or more, greatly shortens expansion time；And motion controller ontology can be with automatic identification expansion module
Type, user only need to be by expansion module access systems, and the type system for not needing to be manually entered access expansion module can be certainly
Dynamic identification, substantially increases the flexibility of system, facilitates the application of kinetic control system.
Detailed description of the invention
Fig. 1 is a kind of functional block diagram of motion controller of the present invention.
Fig. 2 is the structural schematic diagram of motion controller ontology and expansion module of the present invention.
Fig. 3 is a kind of timing diagram of the expansion module identification process of the control method of motion controller of the present invention.
Fig. 4 is a kind of timing diagram 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, the present invention is made further below with reference to examples and drawings
Bright, the content that embodiment refers to not is limitation of the invention.
As shown in Figure 1, a kind of motion controller, including motion controller ontology, 1-8 expansion module and extension line,
The extension line includes that reading and writing data line, data transmitting line and enabled line, motion controller ontology are provided with master
Machine FPGA, each expansion module are provided with slave FPGA.
On the one hand reading and writing data line is connected to motion controller ontology, be on the other hand respectively connected to each expanded mode
Block；
Data transmitting line includes that data 0- data 7 transmit line, and it is bidirectional signal line that data, which transmit line, is on the one hand connected
It is connected to motion controller ontology, is on the other hand respectively connected to each expansion module；
Enabled line is used for serial kinematic controller ontology and each expansion module.Enabled line is connected to an extension
Module and next expansion module.
As shown in Fig. 2, the motion controller ontology includes timer T1 and timer T3, timer T1 is for moving control
Device ontology processed identifies the type of each expansion module, and timer T3 exchanges data for motion controller ontology and expansion module；Institute
Stating each expansion module includes timer T2, timer T4 and timer T6, and timer T2 is used for expansion module to motion control
Device ontology sending module type, timer T4 and T6 exchange data for expansion module and motion controller ontology.
As Figure 3-Figure 4, a kind of control method of motion controller, comprising the following steps: module identification step sum number
According to communication steps, the module identification step includes:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer
T1, timing are set as N1；
After S2: the 1 expansion module receives enable signal and read signal, start timer in the rising edge of enable signal
T2, timing are set as N2, and the expansion type of this expansion module is sent to data transmitting line；At this point, other expanded modes
Although block also has received read signal, due to not receiving enable signal, so in addition to the 1st expansion module, other expansion modules
Line is transmitted to data and reading and writing data line exports high-impedance state, will not send the module type of oneself.
S3: when T2 timing is to N2/2, timer T1 acquires the module type of the 1st expansion module；Transport timer T1
Data sampling is carried out in the middle time point that expansion module sends data, ensure that the stability of sampled data.
S4: when T2 timing is to N2, resetting T2, and the 1st expansion module exports high resistant to data transmitting line, while to the
2 expansion modules send enable signal；
S5: successively carrying out the identification of the 8th expansion module type of 1- according to above-mentioned steps, as N1=8xN2, represents
The type identification of each expansion module finishes, and resets T1 at this time；Then address is distributed automatically according to the type of expansion module, complete each
The identification function of expansion module.
The data communication step includes:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer
T3, timing are set as N3；Wherein N3=16xN4.
When S2: the 1 expansion module receives the rising edge of enable signal, start timer T4, timing is set as N4, will
The time N4 is divided into 16 each periods: N4_1-N4_16；
S3: the 1 expansion module when N4 is equal to N4_1 to N4_16, sends the 1st byte to the 16th byte of this extension respectively
Onto data transmitting line；Specifically, when T4 is N4_1, the 1st byte data of this module is put into data by the 1st expansion module
It transmits on line, when T4 is N4_2, the 2nd byte data of this module is put on data transmitting line by the 1st expansion module, directly
To T4 be N4_16 when, by the 2nd byte data of this module be put into data transmitting line on.
S4: when T4 is equal to the middle time point of N4_1 to N4_16, timer T3 acquires what the 1st expansion module was sent
Data；
S5: when T4 reaches timing N4_16, T4 is reset；T3 counting at this time reaches N3/16,
S6: motion controller sends enable signal and write signal to the 1st expansion module, and by N3/16-N3/8 this when
Between section be divided into N5_1 to N5_16, while first expansion module starts timer T6, and timing is set as N6；Wherein N6=
N4。
S7: motion controller ontology sends the 1st byte to the 16th byte to data when T3 is equal to N5_1 to N5_16 respectively
It transmits on line；Specifically, when T3 is N5_1, the 1st byte data is put on data transmitting line by motion controller ontology, In
When T3 is N5_2, the 2nd byte data is put on data transmitting line by motion controller ontology, when T3 is N5_16, movement
16th byte data is put on data transmitting line by controller ontology.
S8: when the middle time point of timing to N5_1-N5_16, the 1st expansion module sample motion controller ontology is sent
Data；
S9: when T6 timing reaches, T6 is reset, at this point, T3, which is counted, reaches N3/8, motion controller ontology, which drags down, to write letter
Number, read signal is sent, while first expansion module sends enable signal to second expansion module.
S10: the data communication of the 8th expansion module of 1- is successively carried out according to above-mentioned steps.
Motion controller ontology is sequentially completed the data communication between each expansion module, circulation one according to above-mentioned steps
Secondary, motion controller ontology exchanges the data of 256 bytes with expansion module altogether.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although explaining in detail referring to preferred embodiment to the present invention, those skilled in the art are answered
Work as understanding, it can be with modification or equivalent replacement of the technical solution of the present invention are made, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (4)
1. a kind of control method of motion controller, it is characterised in that: the motion controller includes motion controller ontology, 1-
8 expansion modules and extension line, the extension line include reading and writing data line, data transmitting line and enabled line,
On the one hand reading and writing data line is connected to motion controller ontology, be on the other hand respectively connected to each expansion module；
Data transmitting line includes that data 0- data 7 transmit line, and it is bidirectional signal line that data, which transmit line, is on the one hand connected to
On the other hand motion controller ontology is respectively connected to each expansion module；
Enabled line is used for serial kinematic controller ontology and each expansion module；
The motion controller ontology includes timer T1 and timer T3, and timer T1 is each for the identification of motion controller ontology
The type of expansion module, timer T3 exchange data for motion controller ontology and expansion module；
Each expansion module includes timer T2, timer T4 and timer T6, and timer T2 is used for expansion module to fortune
Movement controller ontology sending module type, timer T4 and T6 exchange data for expansion module and motion controller ontology；
The control method of the motion controller is the following steps are included: module identification step and data communication steps, the mould
Block identification step includes:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer T1, fixed
When the time be set as N1；
After S2: the 1 expansion module receives enable signal and read signal, start timer T2 in the rising edge of enable signal, it is fixed
When the time be set as N2, and the expansion type of this expansion module is sent to data transmitting line；
S3: when timer T2 timing is to N2/2, timer T1 acquires the module type of the 1st expansion module；
S4: when timer T2 timing is to N2, the 1st expansion module exports high resistant to data transmitting line, while expanding to the 2nd
It opens up module and sends enable signal；
S5: successively carrying out the identification of the 8th expansion module type of 1- according to above-mentioned steps, as N1=8xN2, resets T1；
The data communication step includes:
S1: motion controller ontology sends enable signal and read signal to the 1st expansion module, while starting timer T3, fixed
When the time be set as N3；
When S2: the 1 expansion module receives the rising edge of enable signal, start timer T4, timing is set as N4, when described
Between N4 be divided into N4_1-N4_16；
S3: the 1 expansion module sends the 1st byte to the 16th byte of this extension to counting respectively when N4 is equal to N4_1 to N4_16
According on transmitting line；
S4: when timer T4 is equal to the middle time point of N4_1 to N4_16, timer T3 acquires the 1st expansion module and sends
Data；
S5: when timer T4 reaches timing N4_16, timer T4 is reset；
S6: motion controller sends enable signal and write signal to the 1st expansion module, and by this period of N3/16-N3/8
It is divided into N5_1 to N5_16, while first expansion module starts timer T6, timing is set as N6；
S7: motion controller ontology sends the 1st byte to the 16th byte to number when timer T3 is equal to N5_1 to N5_16 respectively
According on transmitting line；
S8: when the middle time point of timing to N5_1-N5_16, the number of the 1st expansion module sample motion controller ontology transmission
According to；
S9: when timer T6 timing reaches, resetting timer T6, and motion controller ontology drags down write signal, sends read signal,
First expansion module sends enable signal to second expansion module simultaneously；
S10: the data communication of the 8th expansion module of 1- is successively carried out according to above-mentioned steps.
2. a kind of control method of motion controller according to claim 1, it is characterised in that: N3=16xN4.
3. a kind of control method of motion controller according to claim 1, it is characterised in that: motion controller ontology is set
It is equipped with host FPGA.
4. a kind of control method of motion controller according to claim 1, it is characterised in that: each expansion module is respectively provided with
There is slave FPGA.
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