CN106444535B - Motion controller and control method - Google Patents
Motion controller and control method Download PDFInfo
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- motion controller
- timer
- expansion module
- data
- expansion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 4
- 230000006854 communication Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 14
- 230000000630 rising effect Effects 0.000 claims description 6
- 238000005070 sampling Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Programmable Controllers (AREA)
- Selective Calling Equipment (AREA)
Abstract
Description
技术领域technical field
本发明涉及运动控制器扩展领域，具体地，涉及一种运动控制器及控制方法。The present invention relates to the field of motion controller expansion, in particular to a motion controller and a control method.
背景技术Background technique
随着工业自动化的不断推进，越来越多的设备需要用到运动控制器来规划复杂的运动控制。但由于运动控制器本身所带的资源有限，在很多的应用场合需要借助一些额外的模块才能完成系统的应用。这其中就产生了很多的问题，比如外接模块与运动控制器匹配性不好，价格昂贵，系统复杂不稳定等。With the continuous advancement of industrial automation, more and more devices need to use motion controllers to plan complex motion control. However, due to the limited resources of the motion controller itself, in many applications, some additional modules are needed to complete the system application. There are many problems, such as poor matching between external modules and motion controllers, high prices, complex and unstable systems, etc.
目前市场上的运动控制器使用的扩展总线通过运动控制器连接第一个扩展，第一个扩展连接第二个扩展这种级联的连线方式进行扩展。运动控制器和每个扩展模块都有一个可编程逻辑器件如FPGA或CPLD作为扩展总线的载体，使他们之间进行数据的交换。The expansion bus currently used by the motion controllers on the market is extended through the cascading connection of the motion controller to the first expansion, and the first expansion to the second expansion. The motion controller and each expansion module have a programmable logic device such as FPGA or CPLD as the carrier of the expansion bus to exchange data between them.
但是上述实现方法中由于各个模块间级联的原因，运动控制器与后面扩展模块通信的数据都要经过其前面的扩展模块，造成了通讯时间的有很大延时；且这种扩展总线都不支持扩展模块自动识别，支持的扩展模块类型也都较少，不能满足运动控制系统的要求。However, due to the cascade connection between the various modules in the above-mentioned implementation method, the data communicated between the motion controller and the expansion module in the back must pass through the expansion module in front of it, causing a large delay in the communication time; and this expansion bus is all It does not support the automatic identification of expansion modules, and the supported types of expansion modules are also less, which cannot meet the requirements of the motion control system.
针对现有技术的不足，急需设计一种通信高速、灵活、简便的运动控制器。Aiming at the deficiencies of the existing technology, it is urgent to design a high-speed communication, flexible and simple motion controller.
发明内容Contents of the invention
为了克服现有技术中存在的缺点和不足，本发明的目的在于提供一种运动控制器及控制方法，数据交换时不需经过除本身模块之外的扩展模块，极大的缩短了扩展时间，极大地增加了系统的灵活性，方便了运动控制系统的应用。In order to overcome the shortcomings and deficiencies in the prior art, the object of the present invention is to provide a motion controller and a control method, which does not need to pass through expansion modules other than the own module during data exchange, greatly shortening the expansion time, It greatly increases the flexibility of the system and facilitates the application of the motion control system.
本发明的技术方案如下：Technical scheme of the present invention is as follows:
一种运动控制器，包括运动控制器本体、1-8个扩展模块和扩展连线，所述的扩展连线包括数据读写连线、数据传递连线和使能连线，运动控制器本体设置有主机FPGA，各扩展模块均设置有从机FPGA。A motion controller, comprising a motion controller body, 1-8 expansion modules and expansion connections, the expansion connections include data read and write connections, data transfer connections and enabling connections, the motion controller body A host FPGA is provided, and each expansion module is provided with a slave FPGA.
数据读写连线一方面连接至运动控制器本体，另一方面分别连接至各个扩展模块；On the one hand, the data read-write connection is connected to the motion controller body, and on the other hand, it is connected to each expansion module;
数据传递连线包括数据0-数据7传递连线，数据传递连线为双向信号线，一方面连接至运动控制器本体，另一方面分别连接至各个扩展模块；The data transmission connection includes data 0-data 7 transmission connection, and the data transmission connection is a bidirectional signal line, which is connected to the motion controller body on the one hand, and connected to each expansion module on the other hand;
使能连线用于串联运动控制器本体和各个扩展模块。使能连线连接至上一个扩展模块和下一个扩展模块。The enable connection is used to connect the motion controller body and each expansion module in series. The enable wire is connected to the previous expansion module and the next expansion module.
其中：所述运动控制器本体包括定时器T1和定时器T3，定时器T1用于运动控制器本体识别各扩展模块的类型，定时器T3用于运动控制器本体和扩展模块交换数据；所述各扩展模块均包括定时器T2、定时器T4和定时器T6，定时器T2用于扩展模块向运动控制器本体发送模块类型，定时器T4和T6用于扩展模块和运动控制器本体交换数据。Wherein: the motion controller body includes a timer T1 and a timer T3, the timer T1 is used for the motion controller body to identify the types of each expansion module, and the timer T3 is used for the motion controller body and the expansion module to exchange data; Each expansion module includes timer T2, timer T4 and timer T6. Timer T2 is used for the expansion module to send the module type to the motion controller body. Timers T4 and T6 are used for exchanging data between the expansion module and the motion controller body.
一种运动控制器的控制方法，包括以下步骤：模块识别步骤和数据通信步骤，所述的模块识别步骤包括：A control method for a motion controller, comprising the following steps: a module identification step and a data communication step, and the module identification step includes:
S1：运动控制器本体向第1个扩展模块发送使能信号和读信号，同时启动定时器T1，定时时间设置为N1；S1: The motion controller body sends the enable signal and the read signal to the first expansion module, and starts the timer T1 at the same time, and sets the timing time to N1;
S2：第1个扩展模块收到使能信号和读信号后，在使能信号的上升沿启动定时器T2，定时时间设置为N2，并向数据传递连线发送本扩展模块的扩展类型；此时，其他扩展模块虽然也收到了读信号，但由于未收到使能信号，所以除第1个扩展模块外，其他扩展模块向数据传递连线和数据读写连线输出高阻态，不会发送自己的模块类型。S2: After the first expansion module receives the enable signal and the read signal, it starts the timer T2 on the rising edge of the enable signal, sets the timing time to N2, and sends the expansion type of the expansion module to the data transmission line; At this time, although the other expansion modules also received the read signal, they did not receive the enable signal, so except for the first expansion module, the other expansion modules output a high-impedance state to the data transfer connection and the data read-write connection. will send its own module type.
S3：当T2计时到N2/2时，定时器T1采集第1个扩展模块的模块类型；即运定时器T1在扩展模块发送数据的中间时间点进行数据采样，保证了采样数据的稳定性。S3: When T2 counts to N2/2, timer T1 collects the module type of the first expansion module; that is, timer T1 performs data sampling at the middle time point when the expansion module sends data, ensuring the stability of the sampling data.
S4：当T2计时到N2时，清零T2，第1个扩展模块向数据传递连线输出高阻，同时向第2个扩展模块发送使能信号；S4: When T2 counts to N2, clear T2, the first expansion module outputs high impedance to the data transmission connection, and at the same time sends an enable signal to the second expansion module;
S5：按照上述步骤依次进行第1-第8个扩展模块类型的识别，当N1＝8xN2时，代表各扩展模块的类型识别完毕，此时清零T1；然后按照扩展模块的类型自动分配地址，完成各扩展模块的识别功能。S5: Follow the above steps to identify the types of the 1st-8th expansion modules in turn. When N1=8xN2, it means that the types of each expansion module have been identified. At this time, T1 is cleared; then the address is automatically assigned according to the type of the expansion module. Complete the identification function of each expansion module.
所述的数据通信步骤包括：Described data communication step comprises:
S1：运动控制器本体向第1个扩展模块发送使能信号和读信号，同时启动定时器T3，定时时间设为N3；其中N3＝16xN4。S1: The motion controller body sends the enable signal and the read signal to the first expansion module, and starts the timer T3 at the same time, and the timing time is set to N3; where N3=16xN4.
S2：第1个扩展模块收到使能信号的上升沿时，启动定时器T4，定时时间设为N4，将所述时间N4平均分成16各时间段：N4_1-N4_16；S2: When the first expansion module receives the rising edge of the enable signal, start the timer T4, set the timing time to N4, and divide the time N4 into 16 time periods: N4_1-N4_16;
S3：第1扩展模块分别在N4等于N4_1至N4_16时，发送本扩展的第1字节至第16字节到数据传递连线上；具体地，在T4为N4_1时，第1扩展模块将本模块的第1字节数据放到数据传递连线上，在T4为N4_2时，第1扩展模块将本模块的第2字节数据放到数据传递连线上，直到T4为N4_16时，将本模块的第2字节数据放到数据传递连线上。S3: When N4 is equal to N4_1 to N4_16, the first expansion module sends the first byte to the 16th byte of this extension to the data transmission line; specifically, when T4 is N4_1, the first expansion module sends this extension The first byte data of the module is placed on the data transmission line. When T4 is N4_2, the first expansion module puts the second byte data of this module on the data transmission line until T4 is N4_16. The second byte data of the module is placed on the data transfer connection.
S4：当T4等于N4_1至N4_16的中间时间点时，定时器T3采集第1个扩展模块发送的数据；S4: When T4 is equal to the intermediate time point from N4_1 to N4_16, the timer T3 collects the data sent by the first expansion module;
S5：当T4到达计时N4_16时，清零T4；此时T3计数达到N3/16，S5: When T4 reaches the timing N4_16, clear T4; at this time, the count of T3 reaches N3/16,
S6：运动控制器向第1个扩展模块发送使能信号和写信号，并将N3/16-N3/8这个时间段均分为N5_1至N5_16，同时第一个扩展模块启动定时器T6，定时时间设为N6；其中N6＝N4。S6: The motion controller sends the enable signal and the write signal to the first expansion module, and divides the time period N3/16-N3/8 into N5_1 to N5_16, and the first expansion module starts the timer T6 at the same time. The time is set to N6; where N6=N4.
S7：运动控制器本体分别在T3等于N5_1至N5_16时发送第1字节至第16字节到数据传递连线上；具体地，T3为N5_1时，运动控制器本体将第1字节数据放到数据传递连线上，在T3为N5_2时，运动控制器本体将第2字节数据放到数据传递连线上，直到T3为N5_16时，运动控制器本体将第16字节数据放到数据传递连线上。S7: The motion controller body sends the first byte to the 16th byte to the data transmission connection when T3 is equal to N5_1 to N5_16; specifically, when T3 is N5_1, the motion controller body puts the first byte data To the data transmission line, when T3 is N5_2, the motion controller body puts the 2nd byte data on the data transmission line, until T3 is N5_16, the motion controller body puts the 16th byte data into the data Pass on the connection.
S8：当计时到N5_1-N5_16的中间时间点时，第1扩展模块采样运动控制器本体发送的数据；S8: When the timing reaches the middle time point of N5_1-N5_16, the first expansion module samples the data sent by the motion controller body;
S9：当T6计时到达时，清零T6，此时，T3计数到达N3/8，运动控制器本体拉低写信号，发送读信号，同时第一个扩展模块向第二个扩展模块发送使能信号。S9: When the timing of T6 is reached, clear T6, at this time, the count of T3 reaches N3/8, the motion controller body pulls down the write signal, sends the read signal, and at the same time the first expansion module sends enable to the second expansion module Signal.
S10：按照上述步骤依次进行第1-第8个扩展模块的数据通信。S10: Carry out the data communication of the 1st to the 8th expansion modules sequentially according to the above steps.
运动控制器本体按照上述步骤依次完成与各扩展模块之间的数据通信，循环一次，运动控制器本体与扩展模块共交换256字节的数据。The motion controller body completes the data communication with each expansion module in sequence according to the above steps, and the motion controller body and the expansion modules exchange a total of 256 bytes of data in one cycle.
本发明的有益效果：Beneficial effects of the present invention:
本发明的一种运动控制器及控制方法根据定时读写，中间采样的方式，使用了数据传递连线和数据读写连线及使能连线的通讯方法，数据交换时不需经过除本身模块之外的扩展模块，稳定传输256字节的数据，只需1.28ms，相比目前市场上传输几十字节就需要10ms以上的通信，极大的缩短了扩展时间；并且运动控制器本体可以自动识别扩展模块的类型，用户只需将扩展模块接入系统，不需要手动输入接入扩展模块的类型系统就可以自动识别，极大地增加了系统的灵活性，方便了运动控制系统的应用。A kind of motion controller and the control method of the present invention are based on timing reading and writing, the mode of sampling in the middle, has used the communication method of data transmission connection and data reading and writing connection and enabling connection, does not need to pass through when exchanging data The expansion module other than the module can stably transmit 256 bytes of data in only 1.28ms. Compared with the current market, it takes more than 10ms to transmit tens of bytes of data, which greatly shortens the expansion time; and the motion controller body The type of the expansion module can be automatically identified, the user only needs to connect the expansion module to the system, and the system can automatically identify the type of the expansion module without manual input, which greatly increases the flexibility of the system and facilitates the application of the motion control system .
附图说明Description of drawings
图1是本发明一种运动控制器的原理框图。Fig. 1 is a functional block diagram of a motion controller of the present invention.
图2是本发明运动控制器本体和扩展模块的结构示意图。Fig. 2 is a schematic structural diagram of the motion controller body and expansion modules of the present invention.
图3是本发明一种运动控制器的控制方法的扩展模块识别过程的时序图。Fig. 3 is a sequence diagram of an extension module identification process of a control method of a motion controller according to the present invention.
图4是本发明一种运动控制器的控制方法的数据通信过程的时序图。Fig. 4 is a sequence diagram of a data communication process of a control method of a motion controller according to the present invention.
具体实施方式Detailed ways
为了便于本领域技术人员的理解，下面结合实施例及附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the implementation modes are not intended to limit the present invention.
如图1所示，一种运动控制器，包括运动控制器本体、1-8个扩展模块和扩展连线，所述的扩展连线包括数据读写连线、数据传递连线和使能连线，运动控制器本体设置有主机FPGA，各扩展模块均设置有从机FPGA。As shown in Figure 1, a motion controller includes a motion controller body, 1-8 expansion modules, and an expansion connection. The expansion connection includes a data read and write connection, a data transmission connection and an enabling connection. The main body of the motion controller is equipped with a host FPGA, and each expansion module is equipped with a slave FPGA.
数据读写连线一方面连接至运动控制器本体，另一方面分别连接至各个扩展模块；On the one hand, the data read-write connection is connected to the motion controller body, and on the other hand, it is connected to each expansion module;
数据传递连线包括数据0-数据7传递连线，数据传递连线为双向信号线，一方面连接至运动控制器本体，另一方面分别连接至各个扩展模块；The data transmission connection includes data 0-data 7 transmission connection, and the data transmission connection is a bidirectional signal line, which is connected to the motion controller body on the one hand, and connected to each expansion module on the other hand;
使能连线用于串联运动控制器本体和各个扩展模块。使能连线连接至上一个扩展模块和下一个扩展模块。The enable connection is used to connect the motion controller body and each expansion module in series. The enable wire is connected to the previous expansion module and the next expansion module.
如图2所示，所述运动控制器本体包括定时器T1和定时器T3，定时器T1用于运动控制器本体识别各扩展模块的类型，定时器T3用于运动控制器本体和扩展模块交换数据；所述各扩展模块均包括定时器T2、定时器T4和定时器T6，定时器T2用于扩展模块向运动控制器本体发送模块类型，定时器T4和T6用于扩展模块和运动控制器本体交换数据。As shown in Figure 2, the motion controller body includes a timer T1 and a timer T3, the timer T1 is used for the motion controller body to identify the type of each expansion module, and the timer T3 is used for exchanging between the motion controller body and the expansion module Data; each of the expansion modules includes timer T2, timer T4 and timer T6, timer T2 is used for the expansion module to send the module type to the motion controller body, and timers T4 and T6 are used for the expansion module and the motion controller Ontologies exchange data.
如图3-图4所示，一种运动控制器的控制方法，包括以下步骤：模块识别步骤和数据通信步骤，所述的模块识别步骤包括：As shown in Figures 3-4, a control method of a motion controller includes the following steps: a module identification step and a data communication step, and the module identification step includes:
S1：运动控制器本体向第1个扩展模块发送使能信号和读信号，同时启动定时器T1，定时时间设置为N1；S1: The motion controller body sends the enable signal and the read signal to the first expansion module, and starts the timer T1 at the same time, and sets the timing time to N1;
S2：第1个扩展模块收到使能信号和读信号后，在使能信号的上升沿启动定时器T2，定时时间设置为N2，并向数据传递连线发送本扩展模块的扩展类型；此时，其他扩展模块虽然也收到了读信号，但由于未收到使能信号，所以除第1个扩展模块外，其他扩展模块向数据传递连线和数据读写连线输出高阻态，不会发送自己的模块类型。S2: After the first expansion module receives the enable signal and the read signal, it starts the timer T2 on the rising edge of the enable signal, sets the timing time to N2, and sends the expansion type of the expansion module to the data transmission line; At this time, although the other expansion modules also received the read signal, they did not receive the enable signal, so except for the first expansion module, the other expansion modules output a high-impedance state to the data transfer connection and the data read-write connection. will send its own module type.
S3：当T2计时到N2/2时，定时器T1采集第1个扩展模块的模块类型；即运定时器T1在扩展模块发送数据的中间时间点进行数据采样，保证了采样数据的稳定性。S3: When T2 counts to N2/2, timer T1 collects the module type of the first expansion module; that is, timer T1 performs data sampling at the middle time point when the expansion module sends data, ensuring the stability of the sampling data.
S4：当T2计时到N2时，清零T2，第1个扩展模块向数据传递连线输出高阻，同时向第2个扩展模块发送使能信号；S4: When T2 counts to N2, clear T2, the first expansion module outputs high impedance to the data transmission connection, and at the same time sends an enable signal to the second expansion module;
S5：按照上述步骤依次进行第1-第8个扩展模块类型的识别，当N1＝8xN2时，代表各扩展模块的类型识别完毕，此时清零T1；然后按照扩展模块的类型自动分配地址，完成各扩展模块的识别功能。S5: Follow the above steps to identify the types of the 1st-8th expansion modules in turn. When N1=8xN2, it means that the types of each expansion module have been identified. At this time, T1 is cleared; then the address is automatically assigned according to the type of the expansion module. Complete the identification function of each expansion module.
所述的数据通信步骤包括：Described data communication step comprises:
S1：运动控制器本体向第1个扩展模块发送使能信号和读信号，同时启动定时器T3，定时时间设为N3；其中N3＝16xN4。S1: The motion controller body sends the enable signal and the read signal to the first expansion module, and starts the timer T3 at the same time, and the timing time is set to N3; where N3=16xN4.
S2：第1个扩展模块收到使能信号的上升沿时，启动定时器T4，定时时间设为N4，将所述时间N4平均分成16各时间段：N4_1-N4_16；S2: When the first expansion module receives the rising edge of the enable signal, start the timer T4, set the timing time to N4, and divide the time N4 into 16 time periods: N4_1-N4_16;
S3：第1扩展模块分别在N4等于N4_1至N4_16时，发送本扩展的第1字节至第16字节到数据传递连线上；具体地，在T4为N4_1时，第1扩展模块将本模块的第1字节数据放到数据传递连线上，在T4为N4_2时，第1扩展模块将本模块的第2字节数据放到数据传递连线上，直到T4为N4_16时，将本模块的第2字节数据放到数据传递连线上。S3: When N4 is equal to N4_1 to N4_16, the first expansion module sends the first byte to the 16th byte of this extension to the data transmission line; specifically, when T4 is N4_1, the first expansion module sends this extension The first byte data of the module is placed on the data transmission line. When T4 is N4_2, the first expansion module puts the second byte data of this module on the data transmission line until T4 is N4_16. The second byte data of the module is placed on the data transfer connection.
S4：当T4等于N4_1至N4_16的中间时间点时，定时器T3采集第1个扩展模块发送的数据；S4: When T4 is equal to the intermediate time point from N4_1 to N4_16, the timer T3 collects the data sent by the first expansion module;
S5：当T4到达计时N4_16时，清零T4；此时T3计数达到N3/16，S5: When T4 reaches the timing N4_16, clear T4; at this time, the count of T3 reaches N3/16,
S6：运动控制器向第1个扩展模块发送使能信号和写信号，并将N3/16-N3/8这个时间段均分为N5_1至N5_16，同时第一个扩展模块启动定时器T6，定时时间设为N6；其中N6＝N4。S6: The motion controller sends the enable signal and the write signal to the first expansion module, and divides the time period N3/16-N3/8 into N5_1 to N5_16, and the first expansion module starts the timer T6 at the same time. The time is set to N6; where N6=N4.
S7：运动控制器本体分别在T3等于N5_1至N5_16时发送第1字节至第16字节到数据传递连线上；具体地，T3为N5_1时，运动控制器本体将第1字节数据放到数据传递连线上，在T3为N5_2时，运动控制器本体将第2字节数据放到数据传递连线上，直到T3为N5_16时，运动控制器本体将第16字节数据放到数据传递连线上。S7: The motion controller body sends the first byte to the 16th byte to the data transmission connection when T3 is equal to N5_1 to N5_16; specifically, when T3 is N5_1, the motion controller body puts the first byte data To the data transmission line, when T3 is N5_2, the motion controller body puts the 2nd byte data on the data transmission line, until T3 is N5_16, the motion controller body puts the 16th byte data into the data Pass on the connection.
S8：当计时到N5_1-N5_16的中间时间点时，第1扩展模块采样运动控制器本体发送的数据；S8: When the timing reaches the middle time point of N5_1-N5_16, the first expansion module samples the data sent by the motion controller body;
S9：当T6计时到达时，清零T6，此时，T3计数到达N3/8，运动控制器本体拉低写信号，发送读信号，同时第一个扩展模块向第二个扩展模块发送使能信号。S9: When the timing of T6 is reached, clear T6, at this time, the count of T3 reaches N3/8, the motion controller body pulls down the write signal, sends the read signal, and at the same time the first expansion module sends enable to the second expansion module Signal.
S10：按照上述步骤依次进行第1-第8个扩展模块的数据通信。S10: Carry out the data communication of the 1st to the 8th expansion modules sequentially according to the above steps.
运动控制器本体按照上述步骤依次完成与各扩展模块之间的数据通信，循环一次，运动控制器本体与扩展模块共交换256字节的数据。The motion controller body completes the data communication with each expansion module in sequence according to the above steps, and the motion controller body and the expansion modules exchange a total of 256 bytes of data in one cycle.
最后应当说明的是，以上实施例仅用以说明本发明的技术方案，而非对本发明保护范围的限制，尽管参照较佳实施例对本发明作了详细地说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的实质和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand , the technical solution of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015806.3A CN106444535B (en) | 2016-11-18 | 2016-11-18 | Motion controller and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611015806.3A CN106444535B (en) | 2016-11-18 | 2016-11-18 | Motion controller and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106444535A CN106444535A (en) | 2017-02-22 |
| CN106444535B true CN106444535B (en) | 2019-12-03 |
Family
ID=58220482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611015806.3A Active CN106444535B (en) | 2016-11-18 | 2016-11-18 | Motion controller and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106444535B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107290993A (en) * | 2017-07-10 | 2017-10-24 | 上海铁路局上海动车段 | A kind of electric control system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2710264Y (en) * | 2004-03-09 | 2005-07-13 | 国电南京自动化股份有限公司 | Time-division multiple real-time communication bus |
| CN1719363A (en) * | 2005-07-27 | 2006-01-11 | 艾默生网络能源有限公司 | Hard ware extension method of programmable logic controller |
| CN101067804A (en) * | 2007-05-29 | 2007-11-07 | 山东大学 | A high-speed configurable extended SPI bus and its working method |
| CN102088386A (en) * | 2011-01-20 | 2011-06-08 | 中北大学 | Universal serial bus (USB) for master-slave interconnection module of circuit system |
| CN102868584A (en) * | 2012-10-11 | 2013-01-09 | 江苏西电南自智能电力设备有限公司 | Synchronization time-division multiplexing bus communication method adopting serial communication interface |
| CN202870808U (en) * | 2012-07-04 | 2013-04-10 | 四川九洲电器集团有限责任公司 | FPGA realization device of SPI serial port module |
| CN103454996A (en) * | 2013-08-23 | 2013-12-18 | 广州视睿电子科技有限公司 | Master-slave system and control method thereof |
| CN104407956A (en) * | 2014-12-03 | 2015-03-11 | 天津大学 | IIC bus experimental facility debugged by serial port |
-
2016
- 2016-11-18 CN CN201611015806.3A patent/CN106444535B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2710264Y (en) * | 2004-03-09 | 2005-07-13 | 国电南京自动化股份有限公司 | Time-division multiple real-time communication bus |
| CN1719363A (en) * | 2005-07-27 | 2006-01-11 | 艾默生网络能源有限公司 | Hard ware extension method of programmable logic controller |
| CN101067804A (en) * | 2007-05-29 | 2007-11-07 | 山东大学 | A high-speed configurable extended SPI bus and its working method |
| CN102088386A (en) * | 2011-01-20 | 2011-06-08 | 中北大学 | Universal serial bus (USB) for master-slave interconnection module of circuit system |
| CN202870808U (en) * | 2012-07-04 | 2013-04-10 | 四川九洲电器集团有限责任公司 | FPGA realization device of SPI serial port module |
| CN102868584A (en) * | 2012-10-11 | 2013-01-09 | 江苏西电南自智能电力设备有限公司 | Synchronization time-division multiplexing bus communication method adopting serial communication interface |
| CN103454996A (en) * | 2013-08-23 | 2013-12-18 | 广州视睿电子科技有限公司 | Master-slave system and control method thereof |
| CN104407956A (en) * | 2014-12-03 | 2015-03-11 | 天津大学 | IIC bus experimental facility debugged by serial port |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106444535A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105159860B (en) | IIC extends system and method | |
| CN104484306B (en) | Master-slave synchronisation serial communication bus and its implementation based on differential signal | |
| CN107015927A (en) | A kind of device based on the multiple SPI interface standard groups of SoC supports | |
| CN103248526A (en) | Communication equipment and method for achieving out-of-band monitoring and management, and master-slave switching method | |
| CN103838700A (en) | level multiplexing control serial communication device and communication method thereof | |
| CN103617138A (en) | Multi-mainframe arbitration method and multi-mainframe communication system | |
| CN104636301B (en) | A large-scale PLC high-speed backplane bus system based on PCI‑E interface | |
| CN105512084A (en) | Zynq platform data interaction device | |
| CN103092175A (en) | Controlling method and device for serial clock line (SCL) between inter-integrated circuit (I2C) master equipment and slave equipment | |
| CN104750644A (en) | DSP EMIF reading-writing time sequence and FPGA AVALON reading-writing time sequence conversion method | |
| CN104991880B (en) | A kind of FC AE ASM Communication Cards based on PCI E interfaces | |
| CN101196867A (en) | For connection to serial or USB architecture interface devices | |
| CN105373511A (en) | Device and method for simultaneous communication with multiple optical modules | |
| CN106444535B (en) | Motion controller and control method | |
| CN110659236B (en) | AXI bus transmission device capable of autonomously replying write response | |
| CN102929828B (en) | Support data transmission method and the device of standard and non-standard I 2C interface simultaneously | |
| CN104391818B (en) | A kind of bis- network data read-write systems of EtherCAT and its method | |
| CN206757602U (en) | A kind of device that multiple SPI interface standard groups are supported based on SoC | |
| CN204406134U (en) | A kind of PLC expanding element device based on novel universal serial bus | |
| CN105116807A (en) | System and method for automatically configuring module information of modular controller | |
| CN203838530U (en) | Apparatus for sharing addresses of multiple identical I2C devices | |
| CN202886893U (en) | I/O extended module based on IIC bus in PCB impedance tester | |
| CN202167017U (en) | A data receiving circuit based on Internet of Things management and control DSP | |
| CN107168923A (en) | A kind of device and method for configuring multiple FPGA | |
| CN204990283U (en) | A two store controllers for collector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |