CN113741247A - Motion controller, motion control method and automation equipment - Google Patents
Motion controller, motion control method and automation equipment Download PDFInfo
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- CN113741247A CN113741247A CN202110926219.4A CN202110926219A CN113741247A CN 113741247 A CN113741247 A CN 113741247A CN 202110926219 A CN202110926219 A CN 202110926219A CN 113741247 A CN113741247 A CN 113741247A
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- 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
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- G05B2219/24215—Scada supervisory control and data acquisition
Abstract
The application is suitable for the technical field of automation control, and provides a motion controller, a motion control method and automation equipment, wherein the motion controller comprises: the device comprises a processing module, an input control module, an output control module and a data detection module, wherein the processing module is respectively connected with the input control module, the output control module and the data detection module; and the processing module is used for generating a control instruction, sending the control instruction to the corresponding module so as to enable the module to execute the corresponding motion control operation based on the control instruction, and receiving response data returned by the module. The processing module is used as the core control module, the control instruction is generated and sent to other modules connected with the processing module, so that the modules execute corresponding motion control operation according to the control instruction, corresponding response data are obtained, the motion control function of the motion controller is improved, various tests are supported, the flexibility is high, and the test efficiency is improved.
Description
Technical Field
The application belongs to the technical field of automation control, and particularly relates to a motion controller, a motion control method and automation equipment.
Background
With the development of industrial automation, automation equipment gradually becomes mainstream equipment of factories in the mobile communication industry, the automobile industry and the like, and the automation equipment can replace most of manual operation, so that the production efficiency and the product quality are improved.
The heart of an automation device is a motion controller. The related controllers at present have the characteristics of high price, single function and low flexibility, so that the function test of diversified products cannot be completed.
Disclosure of Invention
The embodiment of the application provides a motion controller, a motion control method and automation equipment, and can solve the problems that controllers on the market are expensive, single in function, low in flexibility and incapable of completing diversified product function tests.
In a first aspect, an embodiment of the present application provides a motion controller, including:
the device comprises a processing module, an input control module, an output control module and a data detection module, wherein the processing module is respectively connected with the input control module, the output control module and the data detection module;
the processing module is used for generating a control instruction, sending the control instruction to a corresponding module, enabling the module to execute corresponding motion control operation based on the control instruction, and receiving response data returned by the module; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data comprises at least one of input data, data updating results and collected data;
the input control module is used for acquiring corresponding input data based on the input control instruction and returning the input data to the processing module when the input control instruction is received;
the output control module is used for analyzing the output control instruction to obtain output control data carried by the output control instruction when receiving the output control instruction, updating the output data based on the output control data and sending a data updating result to the processing module;
and the data detection module is used for acquiring corresponding acquired data based on the data detection instruction and returning the acquired data to the processing module when the data detection instruction is received.
In one embodiment, the input control module comprises an input detection unit, the input detection unit is connected with the general interface of the processing module; the input control instruction comprises an input detection instruction;
and the input detection unit is used for acquiring the input data of the universal interface and returning the input data to the processing module when receiving the input detection instruction.
In one embodiment, the input control module further comprises an input extension unit, the input extension unit being connected with an external input module; the input control instruction further comprises an external input detection instruction;
and the input expansion unit is used for detecting and obtaining the input data of the external input module when receiving an external input detection instruction, and returning the input data to the processing module.
In one embodiment, the output control module includes a motor control unit and an output control unit; the output control instruction comprises one or more of a driving control instruction and an output data updating instruction;
the motor control unit is connected with a pulse width modulation interface of the processing module, and is used for analyzing the drive control instruction to obtain drive control data carried by the drive control instruction when receiving the drive control instruction, adjusting the drive data of the motor based on the drive control data, and returning a drive control result to the processing module;
the output control unit is connected with the general interface of the processing module, and is used for analyzing the output data updating instruction to obtain control data carried by the output data updating instruction when receiving the output data updating instruction, updating the output data of the load equipment based on the control data, and returning the corresponding output control result to the processing module.
In one embodiment, the output control module further comprises an output expansion unit, the output expansion unit being connected with an external output module; the control instruction further comprises an external output control instruction;
the output expansion unit is used for analyzing the external output control instruction when receiving the external output control instruction, obtaining external output control data carried by the external output control instruction, updating the external output data of the external output module based on the external output control data, and returning a corresponding external output control result to the processing module.
In one embodiment, the data detection module comprises a pressure detection unit and an analog quantity acquisition unit; the data detection instruction comprises one or more of a pressure detection instruction and an analog quantity acquisition instruction;
the pressure detection unit is connected with an SPI bus interface of the processing module and is used for collecting sensing data of the pressure sensor and returning the sensing data to the processing module when receiving a pressure detection instruction;
the analog quantity acquisition unit is connected with the analog-to-digital conversion interface of the processing module and is used for acquiring analog quantity data and performing analog-to-digital conversion through the analog-to-digital conversion interface when receiving the analog quantity acquisition instruction and returning the converted analog quantity data to the processing module.
In one embodiment, the motion controller further comprises a communication module connected with the communication interface of the processing module; the control instructions further comprise communication connection instructions;
the communication module is used for analyzing the communication connection instruction when receiving the communication connection instruction, obtaining a target device IP carried by the communication connection instruction, establishing a communication connection relation with the target device and returning a communication result to the processing module.
In one embodiment, the motion controller further comprises a processor cascade module connected with the communication interface of the processing module; the control instructions further comprise cascade instructions;
and the processor cascade module is used for analyzing the cascade instruction to obtain a target processor cascade module carried by the cascade instruction when receiving the cascade instruction, establishing a communication connection relation with the target processor cascade module, obtaining communication data of the target motion controller based on the target processor cascade module and returning the communication data to the processing module.
In a second aspect, an embodiment of the present application provides a motion control method, applied to a motion controller, including:
generating a control instruction; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data corresponding to the control instruction comprises at least one of input data, a data updating result and collected data;
acquiring corresponding input data based on the input control instruction;
analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result;
and acquiring corresponding acquisition data based on the data detection instruction.
In one embodiment, the input control instruction comprises an input detection instruction; the obtaining of the corresponding input data based on the input control instruction includes:
and acquiring input data of the universal interface based on the input detection instruction.
In one embodiment, the input control instruction further includes an external input detection instruction to obtain corresponding input data based on the input control instruction, further including:
and detecting to obtain the input data of the external input module based on the external input detection instruction.
In one embodiment, the output control instructions include one or more of drive control instructions and output data update instructions;
the analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result, including:
analyzing the drive control instruction to obtain drive control data carried by the drive control instruction, and adjusting the drive data of a motor based on the drive control data to obtain a drive control result;
and analyzing the output data updating instruction to obtain control data carried by the output data updating instruction, and updating the output data of the load equipment based on the control data to obtain an output control result.
In one embodiment, the control instructions further comprise external output control instructions;
the analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result, including:
and analyzing the external output control instruction to obtain external output control data carried by the external output control instruction, and updating the external output data based on the external output control data to obtain a corresponding external output control result.
In one embodiment, the data detection instructions include one or more of pressure detection instructions and analog acquisition instructions;
the acquiring of the corresponding acquisition data based on the data detection instruction comprises:
acquiring sensing data of the pressure sensor based on the pressure detection instruction;
and when the analog quantity acquisition instruction is based, acquiring analog quantity data and performing analog-to-digital conversion through the analog-to-digital conversion interface to obtain converted analog quantity data.
In one embodiment; the control instructions further comprise communication connection instructions;
the method further comprises the following steps:
and analyzing the communication connection instruction to obtain a target equipment IP carried by the communication connection instruction, and establishing a communication connection relation with the target equipment to obtain a communication result.
In one embodiment, the control instructions further comprise a cascade instruction;
the method further comprises the following steps:
analyzing the cascade instruction to obtain a target processor cascade module carried by the cascade instruction, establishing a communication connection relation with the target processor cascade module, and obtaining communication data of the target motion controller based on the target processor cascade module.
In a third aspect, an embodiment of the present application provides an automation device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor, when executing the computer program, implements the motion control method according to the second aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the motion control method according to the second aspect.
In a fifth aspect, the present application provides a computer program product, which when run on a terminal device, causes the terminal device to execute the motion control method according to the second aspect.
Compared with the prior art, the embodiment of the application has the advantages that: the processing module is used as a core control module, generates a control instruction and sends the control instruction to other modules connected with the processing module, so that the modules execute corresponding motion control operation according to the control instruction, corresponding response data are obtained, the motion control function of the motion controller is improved, various tests are supported, the flexibility is high, and the test efficiency is improved.
It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a motion controller provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of another structure of a motion controller provided in the embodiments of the present application;
FIG. 3 is a schematic flow chart of a motion control method provided by an embodiment of the present application;
fig. 4 is a schematic structural diagram of an automation device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
The motion controller provided by the embodiment of the application can be applied to terminal equipment such as automation equipment, and the specific type of the terminal equipment is not limited at all.
Fig. 1 shows a block diagram of a motion controller provided in an embodiment of the present application, and only a part related to the embodiment of the present application is shown for convenience of description.
Referring to fig. 1, the motion controller 1 includes:
the device comprises a processing module 101, an input control module 102, an output control module 103 and a data detection module 104, wherein the processing module 101 is respectively connected with the input control module 102, the output control module 103 and the data detection module 104;
the processing module 101 is configured to generate a control instruction, send the control instruction to a corresponding module, so that the module executes a corresponding motion control operation based on the control instruction, and receive response data returned by the module; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data includes at least one of input data, data update results, and collected data.
Specifically, the processing module 101 is composed of a 32-bit high-speed single chip microcomputer, a crystal oscillator circuit, a starting circuit, and a reset circuit, and is mainly used for generating various control instructions and sending the control instructions to corresponding modules, so that the modules execute corresponding motion control operations according to the control instructions to obtain response data returned by the modules, and the control instructions can be continuously generated based on the response data. Motion Control operation (Motion Control) generally refers to a Control operation for converting a predetermined Control scheme and a planning command into a desired mechanical Motion under a complex condition, and realizing accurate position Control, speed Control, acceleration Control and torque or force Control of the mechanical Motion.
Wherein the control instruction includes but is not limited to at least one of an input control instruction, an output control instruction and a data detection instruction; the response data includes, but is not limited to, at least one of input data, data update results, and acquisition data.
For example, the data detection instruction includes a pressure detection instruction, and the pressure detection instruction is sent to the data detection module 104, so that the data detection module 104 collects sensing data of the pressure sensor based on the pressure detection instruction and obtains the pressure sensing data. And then generating an output control instruction based on the pressure sensing data, and sending the output control instruction to the output control module 103, so that the output control module 103 correspondingly adjusts the output data according to the output control instruction, thereby achieving the purpose of automatic control.
The input control module 102 is configured to, when receiving the input control instruction, obtain corresponding input data based on the input control instruction, and return the input data to the processing module 101.
Specifically, the input control module 102 is a module for detecting various input data, and when receiving an input control instruction sent by the processing module 101, the input control module analyzes the input control instruction to obtain a target input data acquisition device, and acquires input data of the target input data acquisition device according to the input control instruction. The input data is typically an input level signal, which includes but is not limited to sensing data of a proximity sensor and sensing data of a correlation photosensor.
For example, when the target input data acquiring device in the input control instruction is a proximity sensor, the input control module 102 acquires sensing data of the proximity sensor according to the input control instruction and returns the sensing data to the processing module 101 when receiving the input control instruction sent by the processing module 101.
The output control module 103 is configured to, when receiving the output control instruction, parse the output control instruction to obtain output control data carried by the output control instruction, update the output data based on the output control data, and send a data update result to the processing module 101.
Specifically, the output control module 103 is a module for detecting each item of output data, and when receiving an output control instruction sent by the processing module 101, the output control module analyzes the output control instruction to obtain an output control device and an output control target carried by the output control instruction, updates output data of the output control target based on the output control data, and sends a data update result to the processing module 101. The output control target mainly refers to each load device, such as a drive relay, an electromagnetic valve, and the like, and the output data includes, but is not limited to, a drive current and a drive voltage.
The data detection module 104 is configured to, when receiving the data detection instruction, obtain corresponding acquired data based on the data detection instruction and return the acquired data to the processing module 101.
The data detection module 104 is a module for acquiring data and controlling the data to perform preliminary processing, and is configured to, when receiving a data detection instruction sent by the processing module 101, analyze the data detection instruction to obtain a type of the acquired data carried by the data detection instruction, acquire corresponding acquired data based on the type, and return the acquired data to the processing module 101.
In one embodiment, the input control module 102 includes an input detection unit 1021, and the input detection unit 1021 is connected with a general interface of the processing module 101; the input control instruction comprises an input detection instruction;
the input detection unit 1021 is configured to, when receiving the input detection instruction, acquire input data of the universal interface, and return the input data to the processing module 101.
Specifically, the input control instruction includes, but is not limited to, an input detection instruction; the input control module 102 includes but is not limited to an input detection unit 1021, the input detection unit 1021 is composed of a photoelectric coupler and a status indicator light, and has a power isolation function, and is connected with a general interface of the processing module 101; the input detection unit 1021 is configured to, upon receiving an input detection instruction sent by the processing module 101, acquire input data of the general-purpose interface of the processing module 101, and return the input data to the processing module 101.
In one embodiment, the input control module 102 further comprises an input extension unit 1022, wherein the input extension unit 1022 is connected with an external input module; the input control instruction further comprises an external input detection instruction;
the input extension unit 1022 is configured to, when receiving an external input detection instruction, detect and obtain input data of the external input module, and return the input data to the processing module 101.
Specifically, the input control module 102 includes, but is not limited to, an input extension unit 1022, and the input control instruction further includes an external input detection instruction; the input expansion unit 1022 is composed of a general IIC bus of the processing module 101 and a current limiting protection circuit, and is connected to an external input module; the external input module refers to an external device having an input function, such as a charging device, connected to the motion controller.
Specifically, the input extension unit 1022 is configured to, when receiving an external input detection instruction, determine a target external input module corresponding to the external input detection instruction, detect input data of the external input module, and return the input data to the processing module 101.
In one embodiment, the output control module 103 includes a motor control unit 1031 and an output control unit 1032; the output control instruction comprises one or more of a driving control instruction and an output data updating instruction;
the motor control unit 1031 is connected to the pulse width modulation interface of the processing module 101, and the motor control unit 1031 is configured to, when receiving a drive control instruction, parse the drive control instruction to obtain drive control data carried by the drive control instruction, adjust drive data of a motor based on the drive control data, and return a drive control result to the processing module 101;
the output control unit 1032 is connected to the general interface of the processing module 101, and the output control unit 1032 is configured to, when receiving an output data update instruction, parse the output data update instruction to obtain control data carried by the output data update instruction, update output data of a load device based on the control data, and return a corresponding output control result to the processing module 101.
Specifically, the output control module 103 includes a motor control unit 1031 and an output control unit 1032; the output control instruction comprises one or more of a drive control instruction and an output data update instruction.
Specifically, the motor control unit 1031 is composed of a photo coupler, an inverter, and a power amplifier, and is connected to the pulse width modulation interface of the processing module 101. The motor control unit 1031 is configured to, when receiving the driving control instruction, analyze the driving control instruction to obtain driving control data (including, but not limited to, a pulse number, a duty ratio, a period, and the like) carried by the driving control instruction, adjust driving data of the motor based on the driving control data, implement acceleration, deceleration, and acceleration control over accurate positioning and driving speeds of the stepping motor and the servo motor, and return a driving control result to the processing module 101.
Specifically, the output control unit 1032 is composed of a photocoupler and a power amplifier, and is connected to the general IO interface of the processing module 101, and the output control unit 1032 is configured to, when receiving the output data update instruction, analyze the output data update instruction to obtain control data carried by the output data update instruction, update the output data of the load device based on the control data, and return the corresponding output control result to the processing module 101. The load devices include, but are not limited to, drive relays, solenoid valves, and the like.
For example, the output control unit 1032 analyzes the output data update instruction, obtains the control data carried by the output data update instruction as the update value of the driving current, correspondingly updates the driving current of the driving relay, and returns the updated driving current to the processing module 101.
In one embodiment, the output control module 103 further comprises an output expansion unit 1033, the output expansion unit 1033 is connected with an external output module; the control instruction further comprises an external output control instruction;
the output expansion unit 1033 is configured to, when receiving the external output control instruction, parse the external output control instruction to obtain external output control data carried by the external output control instruction, update the external output data of the external output module based on the external output control data, and return a corresponding external output control result to the processing module 101.
Specifically, the output control module 103 further includes an output expansion unit 1033, and the output expansion unit 1033 is connected to the external output module; the external output module is connected with the motion controller and outputs data to the outside. The control instructions also include external output control instructions.
Specifically, the output expansion unit 1033 is configured to be the general IIC bus and the current limiting protection circuit of the processing module 101, and the output expansion unit 1033 is configured to, when receiving the external output control instruction, analyze the external output control instruction to obtain the external output control data carried by the external output control instruction and the target external output module, update the external output data of the target external output module based on the external output control data, and return the corresponding external output control result to the processing module 101.
For example, when the target external output module carried by the external output control command is analyzed as a robot arm externally connected to the motion controller, and the external output control data is a torque update value of the robot arm, the torque of the robot arm is updated based on the torque update value according to the external output control command, and the updated torque is returned to the processing module 101.
In one embodiment, the data detection module 104 includes a pressure detection unit 1041 and an analog quantity acquisition unit 1042; the data detection instruction comprises one or more of a pressure detection instruction and an analog quantity acquisition instruction;
the pressure detection unit 1041 is connected to the SPI bus interface of the processing module 101, and the pressure detection unit 1041 is configured to collect sensing data of the pressure sensor and return the sensing data to the processing module 101 when receiving a pressure detection instruction;
the analog quantity acquisition unit 1042 is connected to an analog-to-digital conversion interface of the processing module 101, and the analog quantity acquisition unit 1042 is configured to acquire analog quantity data and perform analog-to-digital conversion through the analog-to-digital conversion interface when receiving the analog quantity acquisition instruction, and return the converted analog quantity data to the processing module 101.
Specifically, the data detection module 104 includes a pressure detection unit 1041 and an analog quantity acquisition unit 1042; the data detection instruction comprises one or more of a pressure detection instruction and an analog quantity acquisition instruction; the pressure detection unit 1041 is composed of an independent isolation power supply, an amplifier, a reference voltage circuit, a filter, an analog-to-digital converter and an SPI communication interface, and the pressure detection unit 1041 is connected with the SPI bus interface of the processing module 101. The pressure detection unit 1041 is configured to collect pressure sensing data of the pressure sensor in a manner of collecting first and then communicating when receiving a pressure detection instruction, and return the pressure sensing data to the processing module 101, so that influence of level change on the collected sensing data due to communication and influence of loss of a transmission line on the collected sensing data can be effectively avoided.
Specifically, the analog acquisition unit 1042 is composed of an amplifier, a filter, and a reference voltage circuit, the analog acquisition unit 1042 is connected to an analog-to-digital conversion interface of the processing module 101, and the analog acquisition unit 1042 is configured to acquire analog data (for example, voltage and current are detected through programming and are digitally filtered) when receiving an analog acquisition instruction, perform analog-to-digital conversion on the acquired analog data through the analog-to-digital conversion interface of the processing module 101, and return the converted analog data to the processing module 101.
Fig. 2 schematically provides another structure of the motion controller.
As shown in fig. 2, in one embodiment, the motion controller further comprises a communication module 105, the communication module 105 being connected with the communication interface of the processing module 101; the control instructions further comprise communication connection instructions;
the communication module 105 is configured to, when receiving a communication connection instruction, parse the communication connection instruction to obtain a target device IP carried by the communication connection instruction, establish a communication connection relationship with the target device, and return a communication result to the processing module 101.
Specifically, the motion controller further includes a communication module 105, and the communication module 105 is composed of an RS232, an RS485, an IIC, and an SPI general-purpose bus circuit, and is connected to the communication interface of the processing module 101.
Specifically, the control instruction further includes a communication connection instruction, and the communication module 105 is configured to, when the communication connection instruction is received, analyze the communication connection instruction to obtain a target device IP carried by the communication connection instruction, establish a communication connection relationship with the target device based on the target device IP, and return a communication result to the processing module 101. The target device includes, but is not limited to, an external communication device such as a mobile phone or a PC.
As shown in fig. 2, in one embodiment, the motion controller further comprises a processor cascade module 106, the processor cascade module 106 interfacing with the communication interface of the processing module 101; the control instructions further comprise cascade instructions;
the processor cascade module 106 is configured to, when receiving the cascade instruction, analyze the cascade instruction to obtain a target processor cascade module 106 carried by the cascade instruction, establish a communication connection relationship with the target processor cascade module 106, obtain communication data of the target motion controller based on the target processor cascade module 106, and return the communication data to the processing module 101.
Specifically, the motion controller further includes a processor cascade module 106, and the control instructions further include cascade instructions.
Specifically, the processor cascade module 106 is composed of RS232 and RS485 circuits, and is connected to the communication interface of the processing module 101.
Specifically, the processor cascade module 106 is configured to, when receiving the cascade instruction, analyze the cascade instruction to obtain the target processing module 101 carried by the cascade instruction, establish a communication connection relationship with the processor cascade module 106 of the target processing module 101, obtain communication data of the target processing module 101, and return the communication data to the processing module 101. The cascade instruction refers to a control instruction generated when the current motion controller needs to establish connection with other motion controllers or control other motion controllers, and is used for controlling the processor cascade module 106 of the current motion controller, establishing a communication connection relationship with the target processor cascade module 106 in other motion controllers, and obtaining communication data of the target motion controller based on the target processor cascade module 106.
For example, when the ID of the current motion controller is 00001, the processor cascade module 106 analyzes the cascade command to obtain that the ID of the target processing module 101 carried by the cascade command is 002938, and then establishes a communication connection relationship with the processor cascade module 106 in the target processing module 101 with the ID 002938, so as to obtain communication data of the target processing module 101 with the ID 002938, and returns the communication data to the processing module 101.
The processing module is used as the core control module, the control instruction is generated and sent to other modules connected with the processing module, so that the modules execute corresponding motion control operation according to the control instruction, corresponding response data are obtained, the motion control function of the motion controller is improved, various tests are supported, the flexibility is high, and the test efficiency is improved.
FIG. 3 shows a schematic flow diagram of a motion control method provided herein, which may be applied to a motion controller by way of example and not limitation.
S101, generating a control instruction; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data corresponding to the control command includes at least one of input data, a data update result, and collected data.
In particular, the above-mentioned method step S101 may be performed by the processing module 101 of the motion controller.
S102, acquiring corresponding input data based on the input control instruction;
in particular, the above-described method step S102 may be performed by the input control module 102 of the motion controller.
S103, analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result;
specifically, the above-mentioned method step S103 may be performed by the output control module 103 of the motion controller.
And S104, acquiring corresponding acquired data based on the data detection instruction.
In particular, the above-mentioned method step S104 may be performed by the data detection module 104 of the motion controller.
In one embodiment, the input control instruction comprises an input detection instruction; the obtaining of the corresponding input data based on the input control instruction includes:
and acquiring input data of the universal interface based on the input detection instruction.
In one embodiment, the input control instruction further includes an external input detection instruction to obtain corresponding input data based on the input control instruction, further including:
and detecting to obtain the input data of the external input module based on the external input detection instruction.
In one embodiment, the output control instructions include one or more of drive control instructions and output data update instructions;
the analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result, including:
analyzing the drive control instruction to obtain drive control data carried by the drive control instruction, and adjusting the drive data of a motor based on the drive control data to obtain a drive control result;
and analyzing the output data updating instruction to obtain control data carried by the output data updating instruction, and updating the output data of the load equipment based on the control data to obtain an output control result.
In one embodiment, the control instructions further comprise external output control instructions;
the analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result, including:
and analyzing the external output control instruction to obtain external output control data carried by the external output control instruction, and updating the external output data based on the external output control data to obtain a corresponding external output control result.
In one embodiment, the data detection instructions include one or more of pressure detection instructions and analog acquisition instructions;
the acquiring of the corresponding acquisition data based on the data detection instruction comprises:
acquiring sensing data of the pressure sensor based on the pressure detection instruction;
and when the analog quantity acquisition instruction is based, acquiring analog quantity data and performing analog-to-digital conversion through the analog-to-digital conversion interface to obtain converted analog quantity data.
In one embodiment; the control instructions further comprise communication connection instructions;
the method further comprises the following steps:
s105, analyzing the communication connection instruction to obtain a target device IP carried by the communication connection instruction, and establishing a communication connection relation with the target device to obtain a communication result.
In particular, the above-mentioned method step S105 may be performed by the communication module 105 of the motion controller.
In one embodiment, the control instructions further comprise a cascade instruction;
the method further comprises the following steps:
s106, analyzing the cascade instruction to obtain a target processor cascade module carried by the cascade instruction, establishing a communication connection relation with the target processor cascade module, and obtaining communication data of the target motion controller based on the target processor cascade module.
In particular, the above-described method step S106 may be performed by the processor cascade module 106 of the motion controller.
The processing module is used as the core control module, the control instruction is generated and sent to other modules connected with the processing module, so that the modules execute corresponding motion control operation according to the control instruction, corresponding response data are obtained, the motion control function of the motion controller is improved, various tests are supported, the flexibility is high, and the test efficiency is improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
It should be noted that, for the information interaction, the execution process, and other contents between the above method steps, the specific functions and the technical effects brought by the method steps are based on the same concept as those of the device embodiment of the present application, and specific reference may be made to the device embodiment section, which is not described herein again.
Fig. 4 is a schematic structural diagram of the automation device provided in this embodiment. As shown in fig. 4, the automation device 4 of this embodiment includes: at least one processor 40 (only one shown in fig. 4), a memory 41, and a computer program 42 stored in the memory 41 and executable on the at least one processor 40, the processor 40 implementing the steps in any of the various motion control method embodiments described above when executing the computer program 42.
The automation device 4 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing device. The automation device may include, but is not limited to, a processor 40, a memory 41. Those skilled in the art will appreciate that fig. 4 is merely an example of the automation device 4, and does not constitute a limitation of the automation device 4, and may include more or less components than those shown, or combine some of the components, or different components, such as input output devices, network access devices, etc.
The Processor 40 may be a Central Processing Unit (CPU), and the Processor 40 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 41 may in some embodiments be an internal memory unit of the automation device 4, for example a hard disk or a memory of the automation device 4. In other exemplary embodiments, the memory 41 may also be an external memory device of the automation device 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card), etc., which are provided on the automation device 4. Furthermore, the memory 41 may also comprise both an internal memory unit and an external memory device of the automation device 4. The memory 41 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 41 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A motion controller, comprising: the device comprises a processing module, an input control module, an output control module and a data detection module, wherein the processing module is respectively connected with the input control module, the output control module and the data detection module;
the processing module is used for generating a control instruction, sending the control instruction to a corresponding module, enabling the module to execute corresponding motion control operation based on the control instruction, and receiving response data returned by the module; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data comprises at least one of input data, data updating results and collected data;
the input control module is used for acquiring corresponding input data based on the input control instruction and returning the input data to the processing module when the input control instruction is received;
the output control module is used for analyzing the output control instruction to obtain output control data carried by the output control instruction when receiving the output control instruction, updating the output data based on the output control data and sending a data updating result to the processing module;
and the data detection module is used for acquiring corresponding acquired data based on the data detection instruction and returning the acquired data to the processing module when the data detection instruction is received.
2. The motion controller of claim 1, wherein the input control module includes an input detection unit, the input detection unit interfacing with the general purpose interface of the processing module; the input control instruction comprises an input detection instruction;
and the input detection unit is used for acquiring the input data of the universal interface and returning the input data to the processing module when receiving the input detection instruction.
3. The motion controller according to claim 2, wherein the input control module further comprises an input extension unit, the input extension unit being connected with an external input module; the input control instruction further comprises an external input detection instruction;
and the input expansion unit is used for detecting and obtaining the input data of the external input module when receiving an external input detection instruction, and returning the input data to the processing module.
4. The motion controller of claim 1, wherein the output control module comprises a motor control unit and an output control unit; the output control instruction comprises one or more of a driving control instruction and an output data updating instruction;
the motor control unit is connected with a pulse width modulation interface of the processing module, and is used for analyzing the drive control instruction to obtain drive control data carried by the drive control instruction when receiving the drive control instruction, adjusting the drive data of the motor based on the drive control data, and returning a drive control result to the processing module;
the output control unit is connected with the general interface of the processing module, and is used for analyzing the output data updating instruction to obtain control data carried by the output data updating instruction when receiving the output data updating instruction, updating the output data of the load equipment based on the control data, and returning the corresponding output control result to the processing module.
5. The motion controller according to claim 4, wherein the output control module further comprises an output expansion unit connected with an external output module; the control instruction further comprises an external output control instruction;
the output expansion unit is used for analyzing the external output control instruction when receiving the external output control instruction, obtaining external output control data carried by the external output control instruction, updating the external output data of the external output module based on the external output control data, and returning a corresponding external output control result to the processing module.
6. The motion controller according to claim 1, wherein the data detection module includes a pressure detection unit and an analog quantity acquisition unit; the data detection instruction comprises one or more of a pressure detection instruction and an analog quantity acquisition instruction;
the pressure detection unit is connected with an SPI bus interface of the processing module and is used for collecting sensing data of the pressure sensor and returning the sensing data to the processing module when receiving a pressure detection instruction;
the analog quantity acquisition unit is connected with the analog-to-digital conversion interface of the processing module and is used for acquiring analog quantity data and performing analog-to-digital conversion through the analog-to-digital conversion interface when receiving the analog quantity acquisition instruction and returning the converted analog quantity data to the processing module.
7. The motion controller according to any one of claims 1 to 6, wherein the motion controller further comprises a communication module, the communication module being connected with the communication interface of the processing module; the control instructions further comprise communication connection instructions;
the communication module is used for analyzing the communication connection instruction when receiving the communication connection instruction, obtaining a target device IP carried by the communication connection instruction, establishing a communication connection relation with the target device and returning a communication result to the processing module.
8. The motion controller according to any one of claims 1 to 6, wherein the motion controller further comprises a processor cascade module connected to a communication interface of the processing module; the control instructions further comprise cascade instructions;
and the processor cascade module is used for analyzing the cascade instruction to obtain a target processor cascade module carried by the cascade instruction when receiving the cascade instruction, establishing a communication connection relation with the target processor cascade module, obtaining communication data of the target motion controller based on the target processor cascade module and returning the communication data to the processing module.
9. A motion control method is applied to a motion controller and comprises the following steps:
generating a control instruction; the control instruction comprises at least one of an input control instruction, an output control instruction and a data detection instruction; the response data corresponding to the control instruction comprises at least one of input data, a data updating result and collected data;
acquiring corresponding input data based on the input control instruction;
analyzing the output control instruction to obtain output control data carried by the output control instruction, and updating the output data based on the output control data to obtain a data updating result;
and acquiring corresponding acquisition data based on the data detection instruction.
10. An automation device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to claim 9 when executing the computer program.
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