CN111381552A - Driving and control integrated technical framework - Google Patents
Driving and control integrated technical framework Download PDFInfo
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- CN111381552A CN111381552A CN201811632525.1A CN201811632525A CN111381552A CN 111381552 A CN111381552 A CN 111381552A CN 201811632525 A CN201811632525 A CN 201811632525A CN 111381552 A CN111381552 A CN 111381552A
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
Abstract
The invention discloses a driving and controlling integrated technical framework, which comprises controller hardware, a bus, a servo driver and an execution motor, wherein the controller hardware is connected with the servo driver, an IO module and the execution motor through the bus; the system also comprises real-time motion control software constructed based on a soft PLC platform, an API interface library and a control program developed by a user; the control program interacts with the real-time motion control software by calling a function in an API (application program interface) library; the real-time motion control software constructed based on the soft PLC platform comprises: the system comprises an EtherCAT bus master station program, a motion control algorithm program, a PLC logic control program and an upper computer instruction interface program; the EtherCAT bus master station program is responsible for establishing communication with each device connected to the bus; the PLC logic control program is written by a user on site and used for receiving sensor instructions; and the upper computer instruction interface program is responsible for finishing communication with the API interface library and transmitting the instruction sent by the API interface library to other programs.
Description
Technical Field
The invention relates to the field of automation control systems, in particular to a driving and controlling integrated technical framework.
Background
The current high-end special motion controller is expensive and has higher cost, while the motion control card has low cost but poor control performance and poor expandability. In order to meet the requirements of the current high-speed development automation industry, the patent provides a controller architecture design scheme which is based on a soft PLC, and has the advantages of low cost, strong expansibility and convenient use.
Disclosure of Invention
The technical scheme of the invention is as follows: the driving and controlling integrated technical framework comprises controller hardware, a bus, a servo driver and an executing motor, wherein the controller hardware is connected with the servo driver, an IO module and the executing motor through the bus; the method is characterized in that: the system also comprises real-time motion control software constructed based on a soft PLC platform, an API interface library and a control program developed by a user; the control program interacts with the real-time motion control software by calling a function in an API (application program interface) library; the real-time motion control software constructed based on the soft PLC platform comprises: the system comprises an EtherCAT bus master station program, a motion control algorithm program, a PLC logic control program and an upper computer instruction interface program; the EtherCAT bus master station program is responsible for establishing communication with each device connected to the bus; the PLC logic control program is written by a user on site and used for receiving sensor instructions; the upper computer instruction interface program is responsible for completing communication with the API interface library and transmitting instructions sent by the API interface library to other programs
Preferably, the API interface library includes a parameter setting function, a state obtaining function, and an instruction function; the parameter setting function is mainly used for parameter setting; and the state acquisition function is used for reading the driver running state data acquired by the soft PLC platform at present.
Preferably, the control program, the API interface library and the real-time motion control software are run on a platform on which the controller hardware is located.
Preferably, the real-time motion control software runs on a platform where controller hardware is located, and the control program and the API interface library run on another independent platform.
Preferably, the API interface library and the real-time motion control software perform data interaction in a system socket interface or a shared memory manner.
Preferably, the real-time motion control software and the API interface library perform data interaction in a TCP/IP mode.
The invention has the advantages that:
1. the motion controller constructed based on the scheme has strong performance and rich resources, can simultaneously control a plurality of servo motors, IO modules and other devices through the bus, can realize complex and high-precision motion control by means of the strong operational capability of the X86-CPU, and can effectively reduce the system cost.
2. By inserting the API library function, the secondary development difficulty of a user can be reduced, the controller is easier to use, and the development is more flexible.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a schematic diagram of a type A control system;
FIG. 2 is a schematic diagram of a type B control system;
Detailed Description
Example (b):
the control system described in the scheme mainly comprises controller hardware, real-time motion control software constructed based on a soft PLC platform, an API interface library, a control program or a control interface developed by a user, a bus, various bus type servo drivers, a bus type stepping motor driver, a bus type IO module and various execution motors.
The controller hardware is connected with various types of equipment such as a plurality of servo drivers, IO modules, stepping motor drivers and the like through buses.
A control program or a control interface developed by a user interacts with real-time motion control software constructed based on a soft PLC platform by calling functions in an API interface library to control the real-time motion control software to execute various motion algorithms. Real-time motion control software constructed based on a soft PLC platform calculates process data of servo equipment, stepping motors, IO (input/output) equipment and other equipment in real time according to a designed motion control algorithm, and sends the process data to the servo driver, the stepping motor driver, the IO module and other equipment through a bus, so that control over the servo motor, the stepping motors, the IO and other execution equipment is realized.
In the A-type control system, a control program developed by a user, an API (application programming interface) interface library and real-time motion control software constructed based on a soft PLC (programmable logic controller) platform run on a controller hardware platform, and the API interface library and the real-time motion control software constructed based on the soft PLC platform perform data interaction in a system socket interface or shared memory mode. In the type B control system, real-time motion control software constructed based on a soft PLC platform runs on a controller hardware platform, and a control program and an API (application program interface) library developed by a user run on a PC (personal computer) independent of a controller. And the API interface library and real-time motion control software constructed based on the soft PLC platform perform data interaction in a TCPIP mode.
The soft PLC platform mainly comprises an EtherCAT bus master station program, a motion control algorithm program, a PLC logic control program and an upper computer instruction interface program. The EtherCAT master program is primarily responsible for establishing communications with the slave devices on the bus. When the controller enters a normal working state, the master station program periodically sends the process data output by the motion control algorithm program to the bus, so that the control of the slave equipment is realized. The motion control algorithm program contains various motion algorithm function blocks such as PTP motion, electronic cam motion, interpolation motion, and the like. The motion control algorithm program can obtain the instruction sent by the upper computer instruction interface program, and the corresponding algorithm function block is called according to the instruction to complete the designated motion control. The PLC logic control program includes a plurality of PLC logic control units, which are usually written by users according to actual field requirements, for receiving sensor commands and controlling the actuators through output IO. The upper computer instruction interface program is mainly responsible for completing the communication with the API interface library and transmitting the instructions sent by the API interface library to other programs.
The API interface library consists of three types of functions, namely a parameter setting function, a state acquiring function and an instruction function. The parameter setting function is mainly used for parameter setting, and for example, the parameter setting function can be used for setting parameters such as the movement speed, the acceleration and the target position of the PTP point location movement. The parameter setting function checks the input parameters and sends the parameters to the soft PLC platform program after the input parameters are checked to be correct. The state obtaining function can read the current state data of the soft PLC platform program and is used for obtaining the value of the set parameter or the motion state, position, speed and the like of the current shaft. And when the instruction function is called, a command instruction is sent to the soft PLC platform program. For example, calling a command function for starting PTP movement, a command is sent to the soft PLC platform program, and PTP point location movement is started according to the previously set movement parameters.
Taking PTP moves as an example, the functions in the API interface library are illustrated:
1. the LDC _ SetPtPosition function belongs to a parameter setting function and is used for setting the target position of PTP movement. The specific descriptions and parameters are shown in the following table.
2. The LDC _ PtpStart function belongs to a command function and is used for starting PTP point positioning movement. The specific descriptions and parameters are shown in the following table.
3. The LDC _ GetCurrentPosition function belongs to a state acquisition function, and is used to acquire the current position of the axis. The specific descriptions and parameters are shown in the following table.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed herein be covered by the appended claims.
Claims (6)
1. The driving and controlling integrated technical framework comprises controller hardware, a bus, a servo driver and an executing motor, wherein the controller hardware is connected with the servo driver, an IO module and the executing motor through the bus; the method is characterized in that: the system also comprises real-time motion control software constructed based on a soft PLC platform, an API interface library and a control program developed by a user; the control program interacts with the real-time motion control software by calling a function in an API (application program interface) library; the real-time motion control software constructed based on the soft PLC platform comprises: the system comprises an EtherCAT bus master station program, a motion control algorithm program, a PLC logic control program and an upper computer instruction interface program; the EtherCAT bus master station program is responsible for establishing communication with each device connected to the bus; the PLC logic control program is written by a user on site and used for receiving sensor instructions; and the upper computer instruction interface program is responsible for finishing communication with the API interface library and transmitting the instruction sent by the API interface library to other programs.
2. The drive-control integrated technical architecture of claim 1, wherein: the API interface library comprises a parameter setting function, a state acquiring function and an instruction function; the parameter setting function is mainly used for parameter setting; the state acquisition function is used for reading the driver motion state data acquired by the soft PLC platform at present.
3. The drive-control integrated technical architecture of claim 2, wherein: the control program, the API interface library and the real-time motion control software run on a platform where controller hardware is located.
4. The drive-control integrated technical architecture of claim 2, wherein: the real-time motion control software runs on a platform where controller hardware is located, and the control program and the API interface library run on another independent platform.
5. The drive-control integrated technical architecture of claim 3, wherein: and the API interface library and the real-time motion control software perform data interaction in a system socket interface or memory sharing mode.
6. The drive-control integrated technical architecture of claim 4, wherein: and the real-time motion control software and the API interface library carry out data interaction in a TCP/IP mode.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115378761A (en) * | 2022-09-27 | 2022-11-22 | 傲拓科技股份有限公司 | EtherCAT master station system rapid implementation method based on PLC |
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