CN110832410B - Motion controller and motion control method - Google Patents
Motion controller and motion control method Download PDFInfo
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- CN110832410B CN110832410B CN201780092647.3A CN201780092647A CN110832410B CN 110832410 B CN110832410 B CN 110832410B CN 201780092647 A CN201780092647 A CN 201780092647A CN 110832410 B CN110832410 B CN 110832410B
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- G05B19/00—Programme-control systems
Abstract
A motion controller (100) and a motion control method aim to solve the problems of small number of connected shafts and low integration level of the motion controller (100). The motion controller (100) includes: the device comprises a main control chip (101), a power circuit (102), a real-time expression RTEX communication circuit (103) and a serial port communication circuit (104); the power supply circuit (102), the RTEX communication circuit (103) and the serial port communication circuit (104) are connected with different interfaces of the main control chip (101); the RTEX communication circuit (103) is used for receiving an operation instruction of a user; the RTEX communication circuit (103) is also used for sending an operation instruction to the serial port communication circuit (104); the RTEX communication circuit (103) is also used for sending a motion control signal to the controlled equipment; the serial port communication circuit (104) is used for establishing communication connection with an external circuit by adopting a target protocol, receiving an operation instruction sent by the RTEX communication circuit (103), and sending the operation instruction to the external circuit so as to enable the external circuit to process the operation instruction and obtain a motion control signal; the serial port communication circuit (104) is used for receiving the motion control signal and sending the motion control signal to the RTEX communication circuit (103).
Description
Technical Field
The present application relates to the field of automatic control, and in particular, to a motion controller and a motion control method.
Background
The motion control is a control management of the position, speed, and the like of a mechanical moving part in real time so as to move the mechanical moving part according to an expected motion trajectory and predetermined motion parameters. In the field of automatic control, particularly in the field of robot control, a motion controller is used as a core device of a control system, and not only needs to realize the management of a human-computer interaction interface and the real-time monitoring of the control system, but also needs to complete the functions of motion trajectory planning, pulse signal output and the like.
Currently, a commonly used motion controller includes a Personal Computer (PC) and motion control card based control system. Generally, the Peripheral Component Interconnect (PCI) bus is embedded in a PC, and the PC is responsible for running robot control software and the PCI board card handles a real-time interpolation function. For a motion control system, the control of joint motion is generally realized by controlling a motor, so as to realize a specific control function. The motion controller not only needs to realize the real-time monitoring of a man-machine interaction interface management and control system, but also needs to complete the functions of motion trajectory planning, pulse signal output and the like.
However, the current non-bus type motion controller can be connected to the servo drives of 4-6 axes due to the limitation of hardware interface, and the number of connected axes is small and has no expansibility. The general motion controller does not support the input/output module, when the robot system is integrated, when the robot system needs to communicate with peripheral equipment such as a welding machine, a board card with a special function interface needs to be specially added in the whole control system, so that the control system is low in integration level and high in cost.
Disclosure of Invention
The embodiment of the application provides a motion controller and a motion control method, which are used for increasing the number of shafts connected with the motion control, enabling the shafts to have expansibility, increasing the integration level of a control system of the motion controller and reducing the cost.
A first aspect of an embodiment of the present application provides a motion controller, including:
the device comprises a main empty chip, a power circuit, a real-time expression RTEX communication circuit and a serial communication circuit;
the power supply circuit, the RTEX communication circuit and the serial port communication circuit are connected with different interfaces of the main control chip;
the power supply circuit is used for supplying power to the motion controller;
the RTEX communication circuit is used for receiving an operation instruction of a user;
the RTEX communication circuit is also used for sending the operation instruction to the serial port communication circuit;
the RTEX communication circuit is also used for sending a motion control signal to the controlled equipment, and the motion control signal is used for controlling the motion of the controlled equipment;
the serial port communication circuit is used for establishing communication connection with an external circuit by adopting a target protocol, receiving the operation instruction sent by the RTEX communication circuit and sending the operation instruction to the external circuit so that the external circuit processes the operation instruction and obtains the motion control signal;
the serial port communication circuit is also used for receiving the motion control signal and sending the motion control signal to the RTEX communication circuit.
Optionally, the RTEX communication circuit comprises:
the device comprises an RTEX protocol chip, a physical layer PHY chip and an isolation transformer;
the RTEX protocol chip is connected with a GPMC1 interface of a main control chip of the motion controller, and is connected with the PHY chip through an MII interface and used for realizing the MAC layer function of the RTEX communication circuit;
the PHY chip is used for receiving the operation instruction or the motion control signal sent by the RTEX protocol chip through a first RJ45 interface of the isolation transformer;
the PHY chip is further configured to send the operation command or the motion control signal through a second RJ45 interface of the isolation transformer.
Optionally, the serial port communication circuit is specifically configured to establish communication connection with the external circuit by using a Modbus standard communication protocol.
Optionally, the serial port communication circuit includes:
an isolation transceiver;
the isolation transceiver is connected with a UART1 interface of the main control chip and is used for receiving the operation instruction sent by the RTEX communication circuit;
the isolation transceiver pass through DP9 interface with external circuit connects, still be used for with the operation instruction that RTEX communication circuit sent sends to external circuit, and, receive that external circuit sends the motion control signal, and will the motion control signal sends to RTEX communication circuit.
Optionally, the power supply circuit comprises:
the power supply and the BUCK conversion BUCK circuit;
the power supply is used for providing a first voltage;
the BUCK circuit is used for carrying out voltage reduction processing on the first voltage and outputting a second voltage, the first voltage and the second voltage are voltages with different voltage values, and the voltage value of the second voltage is smaller than that of the first voltage.
Optionally, the motion controller further comprises:
a digital quantity input-output circuit;
and the digital quantity input and output circuit is connected with a GPIO interface of the main control chip and is used for detecting alarm information in the running process of the controlled equipment.
Optionally, the motion controller further comprises:
a clock circuit;
the CLOCK circuit is connected with a CLOCK interface of the main control chip and used for generating a CLOCK signal for the motion controller.
Optionally, the motion controller further comprises:
a reset circuit;
the RESET circuit is connected with a RESET interface of the main control chip and is used for resetting the main control chip, the RTEX protocol chip and the PHY chip.
Optionally, the reset circuit comprises:
and the reset chip is used for controlling the power-on time sequence of the core power supply of the main control chip and the peripheral power supply of the main control chip.
A second aspect of the embodiments of the present application provides a method for motion control, which specifically includes:
the motion controller receives an operation instruction of a user;
the motion controller sends the operation instruction to an external circuit, so that the external circuit processes the operation instruction to obtain a motion control signal and sends the motion control signal to the motion controller;
the motion controller receives the motion control signal;
and the motion controller controls the controlled equipment to move according to the motion control signal.
Optionally, before the motion controller sends the operation instruction to the external circuit, the method further includes:
and the motion controller establishes communication connection with the external circuit by adopting a target protocol.
Optionally, the method further comprises:
the motion controller monitors the running state of the controlled equipment;
and when the running state of the controlled equipment is abnormal, the motion controller determines a target safety logic control corresponding to the abnormal running state and executes corresponding control on the controlled equipment through the target safety logic control.
Optionally, the method further comprises:
the motion controller receives an upgrade instruction of the user;
and the motion controller updates a target program according to the upgrading instruction, wherein the target program is a program to be updated in the motion controller.
Optionally, the motion controller controlling the controlled device to move according to the motion control signal includes:
the motion controller sends the motion control signal to a driving device of the controlled equipment so that the driving device drives the controlled equipment to move.
A third aspect of embodiments of the present invention provides a processor for executing a computer program, where the computer program is executed to perform the steps of the method for motion control according to the above aspects.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having a computer program stored thereon, characterized in that: the computer program is executed by a processor for the steps of the method of motion control according to the above aspects.
To sum up, it can be seen that the motion controller that this application embodiment provided can connect 32 axles at most owing to provide the RTEX communication circuit, can control the operation of 4 6 degrees of freedom robots of platform simultaneously, and every robot can expand two outer axles, and owing to still include serial communication circuit, serial communication circuit adopts the target protocol to establish communication connection with external circuit, and system integration is convenient.
Drawings
Fig. 1 is a schematic hardware structure diagram of an operation controller according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of another hardware structure of a motion controller according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of an embodiment of a method for motion control provided by an embodiment of the present application;
fig. 4 is a schematic hardware structure diagram of an embodiment of a motion controller according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
The terms "first," "second," "third," and "fourth," if any, in the description and claims of this application and the above-described figures are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a motion controller according to an embodiment of the present application, including:
a main control chip 101, a power circuit 102, a real-time Express (RTEX) communication circuit 103, and a serial communication circuit 104;
the power circuit 102, the RTEX communication circuit 103 and the serial port communication circuit 104 are connected with different interfaces of the main control chip 101;
the power circuit 102 is used for supplying power to the motion controller;
the RTEX communication circuit 103 is used for receiving an operation instruction of a user;
the RTEX communication circuit 103 is also used for sending an operation instruction to the serial port communication circuit 104;
the RTEX communication circuit 103 is further configured to send a motion control signal to the controlled device, where the motion control signal is used to control the motion of the controlled device;
the serial communication circuit 104 is used for establishing communication connection with an external circuit by adopting a target protocol, receiving an operation instruction sent by the RTEX communication circuit 103, and sending the operation instruction to the external circuit so that the external circuit processes the operation instruction and obtains a motion control signal;
the serial communication circuit 104 is also used for receiving the motion control signal and sending the motion control signal to the RTEX communication circuit 103.
It should be noted that, in this embodiment, the different interfaces of the main control chip are different pins on the main control chip or different ports on the main control chip, and the circuit connected to each pin is different.
To sum up, it can be seen that the motion controller that this application embodiment provided can connect 32 axles at most owing to provide the RTEX communication circuit, can control the operation of 4 6 degrees of freedom robots of platform simultaneously, and every robot can expand two outer axles, and owing to still include serial communication circuit, serial communication circuit adopts the target protocol to establish communication connection with external circuit, and system integration is convenient.
For ease of understanding, the motion controller provided in the embodiment of the present application is described in detail below with reference to fig. 2.
Referring to fig. 2, fig. 2 is a schematic diagram of another hardware structure of a motion controller according to an embodiment of the present application, including:
the main control chip 201, the power circuit 202, the RTEX communication circuit 203, the serial communication circuit 204, the reset circuit 205, the digital input/output circuit 206, the external storage circuit 207 and the clock circuit 208;
the power circuit 202, the RTEX communication circuit 203, the serial communication circuit 204, the reset circuit 205, the digital input/output circuit 206, the external storage circuit 207, and the clock circuit 208 are respectively connected to different interfaces of the main control chip.
The main control chip 201 in the motion controller 200 provided in the embodiment of the present application may adopt a TMS320DM8148 chip, or may adopt other chips, as long as the function of the motion controller can be realized, and the main control chip may be connected to other circuits in the motion controller 200 to realize the purpose of the present application, which is not specifically limited.
The power supply circuit 202 in the motion controller 200 provided in the present embodiment includes:
the power supply and the BUCK conversion BUCK circuit; the power circuit 301 is connected to a PWR interface of a main control chip of the motion controller, wherein the power supply is configured to provide a first voltage, and the BUCK circuit is configured to step down the first voltage and output a second voltage, wherein the first voltage and the second voltage are different voltages, and the voltage of the second voltage is smaller than the voltage of the first voltage. In this embodiment, the power supply for motion control is 24V, and the power supplies of +5V, +3.3V, +2.5V, +1.8V, +1.5V and +1.2V are provided for the motion controller through the BUCK circuit.
It should be noted that the voltage may have other voltage values, and the above values are described as examples, as long as the voltage value can realize the function of the motion controller.
The RTEX communication circuit 203 of the motion controller 200 provided in this embodiment is used to implement an RTEX communication bus, and includes:
the system comprises an RTEX protocol chip, a physical layer chip and an isolation transformer;
wherein, the RTEX protocol chip is connected to a GPMC1(General Purpose memory controller) interface of a main Control chip of the motion controller 300, and the RTEX protocol chip is connected to a PHY (physical layer) chip through an MII (Media independent interface) interface, for implementing a MAC (Media Access Control) layer function of the RTEX communication circuit;
the PHY chip is used for receiving an operation instruction or a motion control signal sent by the RTEX protocol chip through a first RJ45 interface of the isolation transformer and is also used for sending the operation instruction or the motion control signal through a second RJ45 interface of the isolation transformer. Therefore, the embodiment of the application can support a cascade connection mode to connect the servo drivers by adopting an RJ45 interface through adopting an RTEX communication circuit, can be expanded, and can support a plurality of 32 axes.
The serial port communication circuit 204 of the motion controller 200 provided by the embodiment of the present application specifically adopts the Modbus standard communication protocol to establish communication connection with an external circuit, the serial port communication circuit 204 provides an RS485 hardware circuit, the Modbus standard communication protocol is realized on an application layer, and the serial port communication circuit can directly communicate with a PLC (Programmable logic controller) I/O (Input/Output ) device supporting the Modbus standard communication protocol and other devices during integration, and specifically includes:
an isolation transceiver; the isolation transceiver is connected to a UART1(universal asynchronous Receiver/Transmitter) interface of the main control chip 201 of the motion control 200, and is configured to receive an operation instruction sent by the RTEX communication circuit 203, and the isolation transceiver is connected to an external circuit through a DP9 interface, and is configured to send the operation instruction sent by the RTEX communication circuit 203 to the external circuit, and receive a motion control signal obtained by processing the operation instruction by the external circuit, and send the motion control signal to the RTEX communication circuit 203.
Therefore, the serial port communication circuit in the application provides an RJ485 interface, supports a standard Modbus protocol, can communicate with a peripheral circuit supporting the Modbus protocol, and is more convenient to integrate the system.
The chip that needs to be reset of the motion controller 200 provided by the embodiment of the present application includes: the motion controller 200 provided in the embodiment of the present application further includes a reset circuit 205, in order to reset the main control chip 201, the RTEX protocol chip, and the PHY chip;
the RESET circuit 205 is connected to a RESET interface of the main control chip 201 of the motion controller 200, and is configured to RESET the main control chip 201, the RTEX protocol chip, and the PHY chip.
For the start of the main control chip 201, a power-on timing problem that reset is taken into consideration is related to whether the motion controller can be started normally, and in order to solve the problem, the reset circuit 205 of the motion controller 200 provided in the embodiment of the present application includes:
and the reset chip is used for controlling the power-on time sequence of the core power supply of the main control chip 201 and the peripheral power supply of the main control chip 201 of the motion controller 200.
The digital Input/Output circuit 206 of the motion controller 200 provided in this embodiment of the application is connected to a GPIO (General Purpose Input/Output) interface of the main control chip, wherein the digital Input/Output circuit 205 externally implements 16-way digital Input and 16-way digital Output, and optical couplers are designed on the digital Input/Output interface to isolate the digital Input/Output interface, so as to enhance the anti-interference capability of the circuit, and the digital Input/Output circuit 205 monitors the alarm information in the controlled device, when an abnormality occurs in the robot control system, an alarm is given or an abnormality occurs in the robot operation region, that is, the alarm information is sent to the main control chip 201, and the main control chip 201 drives the digital Input/Output according to the operation result of the safety logic control, and triggers a safety device in the control system, thereby controlling the robot to stop.
The external memory circuit 207 of the motion controller 200 according to the embodiment of the present application includes:
the memory comprises a Nand-Flash memory and a DDR3, wherein the NAND Flash memory is connected with a GPMC2 interface of a main control chip of the motion controller 300, the DDR3 is connected with an EMIF interface of the motion controller 300, the NAND Flash is used for storing an operating system of the motion controller 300, the operating system is supported to be started from the NAND Flash, a MicroMT29F32G08CBABAWP device can be selected, the memory has a 4GB space, and the width of a data bus is 8 bit. The motion controller 300 accesses the memory using the GPMC asynchronous 8bit multiplexed data/address bus through the GPMC2 interface.
It should be noted that the NAND Flash may also be another memory device, and here, only the micro 29F32G08CBABAWP device is taken as an example for description, which is not limited specifically.
Taking the TMS320DM8148 as an example for explanation, the TMS320DM8148 is provided with two dedicated 32-bit DDR3-800 SDRAM (Synchronous Dynamic Random Access Memory) interfaces DDR0(double data Rate, double-Rate Synchronous Dynamic Random Access Memory) and DDR1, and most supports an external address space of 2 GB.
The CLOCK circuit 208 of the motion controller 200 provided in the embodiment of the present application is connected to the CLOCK interface of the main control chip 201 of the motion controller 200, and is configured to generate a CLOCK signal for the motion controller 200. In this embodiment, the system clock scheme adopts 3 clock sources, which are respectively a 24MHz passive crystal oscillator, a 32.768KHz active crystal oscillator, and a 25M passive crystal oscillator. The main control chip 201 of the operation controller 200 adopts a 24MHz passive crystal oscillator and a 32.768KHz active crystal oscillator, and PHY chips of RTEX and Ethernet (Ethernet) adopt a 25MHz passive crystal oscillator.
The main control chip 201 of the motion controller 200 provided in this embodiment of the application further includes a JTAG debug interface, where the JTAG debug interface is used to test the inside of the main control chip 201.
It should be noted that the motion controller 200 may further include a network interface (not shown in the figure) for connecting to a general network remote from the outside of the two networks through IP, and receiving an operation instruction from a user to perform network remote control on the motion controller.
The embodiments of the present application are described above in terms of a motion controller and an external circuit, and are described below in terms of a motion control method.
Referring to fig. 3, fig. 3 is a schematic diagram of an embodiment of a method for controlling motion provided by an embodiment of the present application, including:
301. the motion controller receives an operation instruction of a user.
In this embodiment, when the user operates the motion controller, the motion controller may receive an operation instruction of the user, where the operation instruction is an operation of the controlled device by the user, for example, instructing the controlled device to move in the X-axis direction.
The operation command may be an operation performed by the user on the motion controller, or may be an operation command remotely performed by the user through a network, and the operation command is transmitted to the motion controller through the network.
302. The motion controller sends the operation instruction to the external circuit.
In this embodiment, before the motion controller sends the operation command to the external circuit, a communication connection may be established with the external circuit through a target protocol (e.g., Modbus standard communication protocol), and then the operation command may be sent to the external circuit.
303. The external circuit processes the operation command to obtain a motion control signal, and sends the motion control signal to the motion controller.
In this embodiment, the operation instruction is an instruction input by a user, for example, the operation instruction input by the user, and the operation instruction may include coordinates indicating a movement start point and coordinates indicating a movement end point of the controlled device, for example, coordinates (0, 0) of the movement start point, coordinates (0, 5) of the movement end point, for example, coordinates (0, 0) of the movement start point, coordinates (3, 4) of the movement end point, for example, coordinates (0, 0, 0) of the movement start point, and coordinates (3, 6, 8) of the movement end point; the operation instruction may further include a position indicating a starting point of the movement of the controlled device, an angle of the movement, and a distance of the movement, for example, the position of the starting point of the movement is (0, 0), the angle of the movement is 45 degrees at a middle position of the X axis and the Y axis, and the distance of the movement is 50 CM. That is, the operation command may instruct the controlled device to move along the X-axis, Y-axis or Z-axis, or may instruct the controlled device to move along other directions, for example, move along an angle of 45 degrees with the X-axis, or move along an angle of 45 degrees with the X-axis, Y-axis and Z-axis, when the operation command instructs the controlled device to move along a single axial direction of the X-axis, Y-axis or Z-axis, the external circuit processes the operation command to obtain a motion control signal, that is, a movement distance indicating an axial direction of the controlled device along the X-axis, Y-axis or Z-axis, and sends the motion control signal to the motion controller.
304. The motion controller receives the motion control signal.
305. The motion controller controls the controlled equipment to move according to the motion control signal.
In this embodiment, after receiving the motion control signal, the motion controller may send the motion control signal to the driving device of the controlled device, so that the driving device of the controlled device (for example, a motor of the controlled device) drives the controlled device to move. The motion controller may control the motion of the controlled device according to the received motion control signal. For example, when the operation command is two coordinates, a start point coordinate (0, 5, 8) and an end point coordinate (3, 6, 9), the external circuit processes the operation command, generates a motion control signal, and sends the motion control signal to the motion controller, and the motion controller controls the controlled device to move from the start point coordinate (0, 5, 8) to the end point coordinate (0, 5, 8) according to the motion operation command.
306. The motion controller monitors the operational state of the controlled device.
In this embodiment, in the control system of the motion controller, in order to achieve functional safety, the operation state of the controlled device needs to be monitored in real time, and the motion controller may detect the operation state of the controlled device in real time.
307. When the operation state of the controlled equipment is abnormal, the motion controller determines the target safety logic control corresponding to the abnormal motion state and executes corresponding control on the controlled equipment through the target safety logic control.
In this embodiment, the motion controller may set, in advance, safety logic control corresponding to a situation where an abnormality occurs in the controlled device, an alarm occurs, or an abnormality occurs in a motion area of the controlled device, and when it is monitored that the operation state of the controlled device is abnormal, target safety logic control corresponding to the abnormality in the operation state may be determined, and corresponding control may be performed on the controlled device through the target safety logic control.
It should be noted that the motion controller may also be provided with a network interface, and the network interface is connected to an external remote general-purpose network, so as to receive an upgrade instruction of a user, update a target program to be updated according to the upgrade instruction of the user, and also receive a remote operation instruction of the user through the network.
In summary, it can be seen that, in the running process, the motion controller receives an operation instruction of a user, where the operation instruction may be sent remotely by the user through a network or an operation instruction directly performed on a display interface of the motion controller by the user, and through monitoring the running state of the controlled device in real time and according to the preset safety logic control, timely handles various abnormal situations occurring in the controlled device, so as to provide the motion reliability of the whole control system. And the operation instruction sent remotely through the network can be received, which is beneficial to providing convenience in the use of the intelligent factory.
Referring to fig. 4, an embodiment of the present invention further provides a motion controller 400, where the motion controller 400 includes a processor 401 and a memory 402, the RTEX communication circuit, the serial communication circuit, the clock circuit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor 401 includes a kernel, and the kernel calls a corresponding program unit from a memory. The kernel can be set to one or more, and the user data is updated by adjusting the kernel parameters.
The memory 402 may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium on which a program is stored, the program implementing the method of motion control when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the motion control method during running.
The embodiment of the invention provides a motion controller, which comprises a processor, a memory and a program which is stored on the memory and can be operated on the processor, wherein the processor executes the program and realizes the following steps:
receiving an operation instruction of a user;
and establishing communication connection with the external circuit by adopting a target protocol.
Sending the operation instruction to an external circuit, so that the external circuit processes the operation instruction and obtains a motion control signal, and sending the motion control signal to the motion controller;
receiving the motion control signal;
and controlling the controlled equipment to move according to the motion control signal.
Monitoring the running state of the controlled equipment;
and when the running state of the controlled equipment is abnormal, the motion controller determines a target safety logic control corresponding to the abnormal running state and executes corresponding control on the controlled equipment through the target safety logic control.
Receiving an upgrading instruction of the user;
updating a target program according to the upgrading instruction, wherein the target program is a program to be updated in the motion controller;
optionally, the controlling the controlled device to move according to the movement control signal comprises:
and sending the motion control signal to a driving device of the controlled equipment so that the driving device drives the controlled equipment to move.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device:
receiving an operation instruction of a user;
and establishing communication connection with the external circuit by adopting a target protocol.
Sending the operation instruction to an external circuit, so that the external circuit processes the operation instruction and obtains a motion control signal, and sending the motion control signal to the motion controller;
receiving the motion control signal;
and controlling the controlled equipment to move according to the motion control signal.
Monitoring the running state of the controlled equipment;
and when the running state of the controlled equipment is abnormal, the motion controller determines a target safety logic control corresponding to the abnormal running state and executes corresponding control on the controlled equipment through the target safety logic control.
Receiving an upgrading instruction of the user;
updating a target program according to the upgrading instruction, wherein the target program is a program to be updated in the motion controller;
optionally, the controlling the controlled device to move according to the movement control signal comprises:
and sending the motion control signal to a driving device of the controlled equipment so that the driving device drives the controlled equipment to move.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (14)
1. A motion controller, characterized in that the motion controller comprises:
the device comprises a main control chip, a power circuit, a real-time expression RTEX communication circuit and a serial communication circuit;
the power supply circuit, the RTEX communication circuit and the serial port communication circuit are connected with different interfaces of the main control chip;
the power supply circuit is used for supplying power to the motion controller;
the RTEX communication circuit is used for receiving an operation instruction of a user;
the RTEX communication circuit is also used for sending the operation instruction to the serial port communication circuit;
the RTEX communication circuit is also used for sending a motion control signal to the controlled equipment, and the motion control signal is used for controlling the motion of the controlled equipment;
the serial port communication circuit is used for establishing communication connection with an external circuit by adopting a target protocol, receiving the operation instruction sent by the RTEX communication circuit and sending the operation instruction to the external circuit so that the external circuit processes the operation instruction and obtains the motion control signal;
the serial port communication circuit is also used for receiving the motion control signal and sending the motion control signal to the RTEX communication circuit.
2. The motion controller of claim 1, wherein the RTEX communication circuit comprises:
the device comprises an RTEX protocol chip, a physical layer PHY chip and an isolation transformer;
the RTEX protocol chip is connected with a GPMC1 interface of a main control chip of the motion controller, and is connected with the PHY chip through an MII interface and used for realizing the MAC layer function of the RTEX communication circuit;
the PHY chip is used for receiving the operation instruction or the motion control signal sent by the RTEX protocol chip through a first RJ45 interface of the isolation transformer;
the PHY chip is further configured to send the operation command or the motion control signal through a second RJ45 interface of the isolation transformer.
3. The motion controller according to claim 1 or 2, wherein the serial communication circuit is configured to establish a communication connection with the external circuit using a Modbus standard communication protocol.
4. The motion controller according to claim 3, wherein the serial communication circuit comprises:
an isolation transceiver;
the isolation transceiver is connected with a UART1 interface of the main control chip and is used for receiving the operation instruction sent by the RTEX communication circuit;
the isolation transceiver pass through DP9 interface with external circuit connects, still be used for with the operation instruction that RTEX communication circuit sent sends to external circuit, and, receive that external circuit sends the motion control signal, and will the motion control signal sends to RTEX communication circuit.
5. The motion controller according to claim 1 or 2, wherein the power supply circuit includes:
the power supply and the BUCK conversion BUCK circuit;
the power supply is used for providing a first voltage;
the BUCK circuit is used for carrying out voltage reduction processing on the first voltage and outputting a second voltage, the first voltage and the second voltage are voltages with different voltage values, and the voltage value of the second voltage is smaller than that of the first voltage.
6. The motion controller according to claim 1 or 2, further comprising:
a digital quantity input-output circuit;
and the digital quantity input and output circuit is connected with a GPIO interface of the main control chip and is used for detecting alarm information in the running process of the controlled equipment.
7. The motion controller according to claim 1 or 2, further comprising:
a clock circuit;
the CLOCK circuit is connected with a CLOCK interface of the main control chip and used for generating a CLOCK signal for the motion controller.
8. The motion controller according to claim 2, further comprising:
a reset circuit;
the RESET circuit is connected with a RESET interface of the main control chip and is used for resetting the main control chip, the RTEX protocol chip and the PHY chip.
9. The motion controller according to claim 8, wherein the reset circuit comprises:
and the reset chip is used for controlling the power-on time sequence of the core power supply of the main control chip and the peripheral power supply of the main control chip.
10. A method of motion control, applied to a motion controller according to claim 1, the method comprising:
the motion controller receives an operation instruction of a user;
the motion controller sends the operation instruction to an external circuit, so that the external circuit processes the operation instruction to obtain a motion control signal and sends the motion control signal to the motion controller;
the motion controller receives the motion control signal;
and the motion controller controls the controlled equipment to move according to the motion control signal.
11. The method of claim 10, wherein before the motion controller sends the operating instructions to an external circuit, the method further comprises:
and the motion controller establishes communication connection with the external circuit by adopting a target protocol.
12. The method according to claim 10 or 11, characterized in that the method further comprises:
the motion controller monitors the running state of the controlled equipment;
and when the running state of the controlled equipment is abnormal, the motion controller determines a target safety logic control corresponding to the abnormal running state and executes corresponding control on the controlled equipment through the target safety logic control.
13. The method according to claim 10 or 11, characterized in that the method further comprises:
the motion controller receives an upgrade instruction of the user;
and the motion controller updates a target program according to the upgrading instruction, wherein the target program is a program to be updated in the motion controller.
14. The method of claim 10 or 11, wherein the motion controller controlling the controlled device to move according to the motion control signal comprises:
the motion controller sends the motion control signal to a driving device of the controlled equipment so that the driving device drives the controlled equipment to move.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/115415 WO2019113726A1 (en) | 2017-12-11 | 2017-12-11 | Motion controller and motion control method |
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| Publication Number | Publication Date |
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| CN110832410A CN110832410A (en) | 2020-02-21 |
| CN110832410B true CN110832410B (en) | 2022-04-26 |
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| CN201780092647.3A Active CN110832410B (en) | 2017-12-11 | 2017-12-11 | Motion controller and motion control method |
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| CN113741247A (en) * | 2021-08-12 | 2021-12-03 | 深圳市鑫信腾科技股份有限公司 | Motion controller, motion control method and automation equipment |
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| US4531182A (en) * | 1969-11-24 | 1985-07-23 | Hyatt Gilbert P | Machine control system operating from remote commands |
| CN102621974B (en) * | 2012-04-24 | 2013-11-27 | 上海维宏电子科技股份有限公司 | Industrial automatic real-time control device and method based on communication bus |
| CN103728923B (en) * | 2013-12-24 | 2016-06-01 | 嘉兴学院 | A kind of efficient high digital control system Acceleration-deceleration Control Method stably |
| CN205179099U (en) * | 2015-12-16 | 2016-04-20 | 山东大学 | Realize serial ports agreement and change high -speed real -time network communication agreement circuit |
| KR101823847B1 (en) * | 2015-12-22 | 2018-01-30 | 파나소닉 아이피 매니지먼트 가부시키가이샤 | A method of customizing a motor control apparatus, and a motor control apparatus |
| CN205829667U (en) * | 2016-08-02 | 2016-12-21 | 哈尔滨博强机器人技术有限公司 | A kind of communication gate of RTEX Yu DeviceNET |
| CN106227097B (en) * | 2016-08-25 | 2018-11-30 | 常州市翔云智能控制系统有限公司 | Multibus multi-axis motion controller |
| CN206369959U (en) * | 2016-10-19 | 2017-08-01 | 深圳市朗宇芯科技有限公司 | A kind of puma manipulator servo control system of compatible multiplex roles |
| CN107127811A (en) * | 2017-06-20 | 2017-09-05 | 佛山世科智能技术有限公司 | Flexible material cutting robot intelligent digital controller and implementation method |
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| WO2019113726A1 (en) | 2019-06-20 |
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