CN116610069A - Motion controller and control method - Google Patents

Motion controller and control method Download PDF

Info

Publication number
CN116610069A
CN116610069A CN202310673003.0A CN202310673003A CN116610069A CN 116610069 A CN116610069 A CN 116610069A CN 202310673003 A CN202310673003 A CN 202310673003A CN 116610069 A CN116610069 A CN 116610069A
Authority
CN
China
Prior art keywords
motion controller
communication module
control instruction
control
module
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310673003.0A
Other languages
Chinese (zh)
Inventor
杨照辉
欧超光
聂强
钟龙华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Gao Chuan Automation Technology Co ltd
Original Assignee
Shenzhen Gao Chuan Automation Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Gao Chuan Automation Technology Co ltd filed Critical Shenzhen Gao Chuan Automation Technology Co ltd
Priority to CN202310673003.0A priority Critical patent/CN116610069A/en
Publication of CN116610069A publication Critical patent/CN116610069A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a motion controller and a control method, wherein the motion controller comprises the following components: the control module is respectively connected with the communication module and the storage module; the control module is used for acquiring an output signal from the storage module and outputting the output signal to the external equipment through the communication module, or receiving an input signal of the external equipment through the communication module and storing the input signal to the storage module; the communication module is used for receiving the output control instruction sent by the control module and establishing connection with the external equipment, or is used for receiving the input control instruction sent by the control module and establishing connection with the external equipment; the storage module is used for receiving an input signal of the external equipment through the communication module or outputting an output signal to the external equipment through the communication module. According to the invention, by designing the motion controller, the PC end programming control and the independent program control of external equipment can be simultaneously supported, and the control effect of the operation controller is greatly improved.

Description

Motion controller and control method
Technical Field
The invention relates to the technical field of controller architecture, in particular to a motion controller and a control method.
Background
Motion Control (Motion Control) generally refers to converting a predetermined Control scheme, a planning instruction, into a desired mechanical Motion under complex conditions, and implementing precise position Control, speed Control, acceleration Control, torque or force Control of the mechanical Motion; the motion controller is a special controller for controlling the operation mode of the motor: for example, the motor is controlled by a travel switch to realize that the motor drags an object to move upwards to reach a designated position and then move downwards, or a time relay is used for controlling the motor to rotate forwards and backwards or stop for a while and then stop for a while. The application of motion control in dedicated machines is commonly referred to as Generalized Motion Control (GMC).
In industrial control applications, motion controllers typically have the form of a PC-based motion control card, a PLC operating independently, or a high-end motion controller incorporating various visual display controls. The existing motion controllers are generally used by being connected with a PC or used as independent controllers, but cannot be used based on the PC and a program independently running inside the motion controllers.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
The invention mainly aims to provide a motion controller and a control method, and aims to solve the problem that the motion controller in the prior art can only be used based on a PC alone or used as an independent controller and cannot meet the demands of users.
To achieve the above object, the present invention provides a motion controller, wherein the motion controller includes: the device comprises a control module, a communication module and a storage module, wherein the control module is respectively connected with the communication module and the storage module;
the control module is used for sending out an output control instruction to acquire an output signal from the storage module, outputting the output signal to EtherCAT slave station equipment externally connected with the motion controller through the communication module, or sending out an input control instruction to receive an input signal of a high-speed signal control board externally connected with the motion controller through the communication module, and storing the input signal to the storage module;
the communication module is used for receiving an output control instruction sent by the control module, establishing connection with the EtherCAT slave station equipment according to the output control instruction, or receiving an input control instruction sent by the control module, and establishing connection with the high-speed signal control board according to the input control instruction;
the storage module is used for receiving the input signal of the high-speed signal control board through the communication module or outputting the output signal to the EtherCAT slave station equipment through the communication module.
The motion controller, wherein the motion controller further comprises: a fixing hole and a power interface;
the communication module comprises: a PCle bus interface and an Ethernet RJ45 interface;
when the motion controller is used as a PC end plug-in card, the communication module is connected with the PC end through the PCle bus interface;
when the motion controller is used as an independent controller, the motion controller is fixed on the high-speed signal control board or the shell of the EtherCAT slave station equipment through the fixing hole, is powered through the power interface, and is connected with the PC end through the Ethernet RJ45 interface.
The motion controller, wherein the communication module further comprises: a local high-speed signal RJ45 interface and an EtherCATRJ45 interface;
the control module includes: a multi-core CPU and an FPGA;
the communication module establishes connection with the high-speed signal control board through the local high-speed signal RJ45 interface or establishes connection with the EtherCAT slave station equipment through the EtherCATRJ45 interface;
the Ethernet RJ45 interface is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU;
the EtherCATRJ45 interface is used for connecting an EtherCAT master station physical link constructed by an FPGA with the FPGA;
the local high-speed signal RJ45 interface is used for connecting an internal high-speed bus constructed by an FPGA with the FPGA;
the PCle bus interface is used for connecting a PCle core constructed by an FPGA with the FPGA;
the FPGA is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU and a high-speed bus constructed by the FPGA.
The motion controller, wherein the motion controller further comprises: a Jailhouse processing unit;
the Jailhouse processing unit is used for identifying hardware resources when the Jailhouse processing unit is started, and reallocating the hardware resources according to the identification;
the Jailhouse processing unit is also used for carrying out real-time allocation or non-real-time allocation of hardware resources on the multi-core CPU in the motion controller.
In addition, the invention also provides a control method of the motion controller, wherein the control method of the motion controller comprises the following steps:
when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes connection with a PC end through the input control instruction so as to control the PC end to complete data configuration of the motion controller and software development of the PC end;
when the motion controller is used as an independent controller, the communication module acquires a downloading program of the PC end through an Ethernet communication link, receives an output control instruction of the control module, establishes connection with the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the output control instruction and the downloading program.
The motion controller and the control method, wherein when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes connection with a PC end through the input control instruction so as to control the PC end to complete data configuration of the motion controller and software development of the PC end, and the method specifically comprises the following steps:
when the motion controller is used as a PC card, the communication module receives a first input control instruction of the control module;
the communication module calls a motion database of the PC end according to the first input control instruction, and establishes communication connection with the PC end;
the communication module analyzes the first input control instruction to obtain a second input control instruction;
the communication module outputs the second input control instruction to the PC end so as to control the PC end to configure the motion controller and develop software of the PC end according to the second input control instruction.
The communication module outputs the second input control instruction to the PC end to control the PC end to configure the motion controller and develop software of the PC end according to the second input control instruction, and specifically includes:
when the PC receives the second input control instruction, controlling the motion control instruction sent by the PC to be consistent with the second input control instruction;
the communication module controls the PC end to configure the motion controller according to the second input control instruction and controls the PC end to acquire a motion control program of the motion controller so as to control the PC end to develop software according to the motion control program.
The motion controller and the control method, wherein when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes connection with a PC end through the input control instruction so as to control the PC end to complete data configuration of the motion controller and software development of the PC end, and then the method further comprises the following steps:
and the communication module controls the PC end to configure an EtherCAT bus driver and an expansion IO module externally connected with the motion controller through the second input control instruction.
The motion controller and the control method, wherein when the motion controller is used as an independent controller, the communication module obtains the downloading program of the PC end through an Ethernet communication link and receives an output control instruction of the control module, the communication module establishes connection with the EtherCAT slave station equipment and controls the EtherCAT slave station equipment to operate according to the output control instruction and the downloading program, and the method specifically comprises the following steps:
when the motion controller is used as an independent controller, the communication module acquires a downloading program of the PC end through an Ethernet communication link, acquires a monitoring instruction and a first output control instruction of the control module through the Ethernet communication link, and analyzes the first output control instruction to obtain a second output control instruction;
the communication module detects the hardware configuration of the motion controller through the monitoring instruction, and when the hardware configuration detection passes, the EtherCAT slave station equipment externally connected with the motion controller is obtained;
based on the second output control instruction, the communication module completes parameter configuration of the EtherCAT slave station equipment by establishing communication connection between the motion controller and the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the second output control instruction and the downloading program.
The motion controller and the control method, wherein the motion database of the PC side comprises a Windows-dll database and a Linux-so database.
The invention can be used based on the programming control of the PC end and can also be used as independent program control, simultaneously can also support the PC programming control and the independent program operation control, marks various resources at the bottom layer of the motion controller, effectively prevents the condition that the same resource is simultaneously controlled by the PC programming and the independent execution program due to the allocation mechanism, ensures the safety of the system, and greatly improves the control effect of the operation controller.
Drawings
FIG. 1 is a schematic diagram of the hardware architecture of a motion controller of the present invention;
FIG. 2 is a schematic diagram of a hardware architecture of a motion controller according to the present invention;
FIG. 3 is a flow chart of a preferred embodiment of a method of controlling a motion controller of the present invention;
FIG. 4 is a software design schematic of a preferred embodiment of the control method of the motion controller of the present invention;
fig. 5 is a schematic diagram of the jaliouse design of the motion controller of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear and clear, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the motion controller according to the preferred embodiment of the present invention, as shown in fig. 1, the motion controller includes a control module, a communication module, and a storage module, where the control module is connected to the communication module and the storage module respectively.
The control module is used for sending out an output control instruction to acquire an output signal from the storage module, outputting the output signal to EtherCAT slave station equipment externally connected with the motion controller through the communication module, or sending out an input control instruction to receive an input signal of a high-speed signal control board externally connected with the motion controller through the communication module, and storing the input signal to the storage module.
The communication module is used for receiving an output control instruction sent by the control module, establishing connection with the EtherCAT slave station equipment according to the output control instruction, or receiving an input control instruction sent by the control module, and establishing connection with the high-speed signal control board according to the input control instruction.
The storage module is used for receiving the input signal of the high-speed signal control board through the communication module or outputting the output signal to the EtherCAT slave station equipment through the communication module.
Specifically, the motion controller further includes: a fixing hole and a power interface; the communication module comprises: a PCle bus interface and an Ethernet RJ45 interface.
When the motion controller is used as a PC end plug-in card, the communication module is connected with the PC end through the PCle bus interface.
When the motion controller is used as an independent controller, the motion controller is fixed on the high-speed signal control board or the shell of the EtherCAT slave station equipment through the fixing hole, is powered through the power interface, and is connected with the PC end through the Ethernet RJ45 interface.
Specifically, as shown in fig. 2, in the present invention, the interface 1 is an ethernet RJ45 interface, the interface 2 is a local high-speed signal RJ45 interface, the interface 3 is an EtherCATRJ45 interface, the interface 4 is a PCle interface, the interface 5 is a power interface, and the interface names are simply expressed by the interfaces 1-5.
As shown in fig. 2, when the motion controller of the present invention is used as a PC-based card, the motion controller can be combined with a PC through the interface 4, and programmed on the PC; when the controller is used as an independent controller, the controller can be fixed on the shell of the target control equipment through surrounding fixing holes, the interface 5 is used for independently supplying power to the motion controller, and meanwhile, the interface 1 is used for communicating with the outside (the target control equipment).
Whether based on PC-end plug-in card use or independently operated as independent controller, the input and output of motion control signals are connected through interface 2 and interface 3. Through the interface 2 (the interface 2 is an input interface of the motion controller), the motion controller can be connected with a high-speed signal control board externally connected with the motion controller, such as pulse shaft signals, external encoder signals, PWM (pulse width modulation) signals, high-speed DIO (direct I/O, namely direct I/O,)/AIO (Asynchronous I/O) signals and the like; the motion controller is used as a master station of the EtherCAT bus through an interface 3 (the interface 3 is an output interface of the motion controller), and can be connected with different external EtherCAT slave station devices, such as a bus servo, a bus IO module and the like.
Wherein, the communication module still includes: a local high-speed signal RJ45 interface and an EtherCATRJ45 interface; the control module includes: a multi-core CPU and an FPGA; the communication module establishes connection with the high-speed signal control board through the local high-speed signal RJ45 interface or establishes connection with the EtherCAT slave station equipment through the EtherCATRJ45 interface; the Ethernet RJ45 interface is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU; the EtherCATRJ45 interface is used for connecting with the FPGA through an EtherCAT master station physical link constructed by the FPGA.
The local high-speed signal RJ45 interface is used for connecting an internal high-speed bus constructed by an FPGA with the FPGA; the PCle bus interface is used for connecting a PCle core constructed by an FPGA with the FPGA; the FPGA is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU and a high-speed bus constructed by the FPGA.
As shown in fig. 2, in the internal design of hardware, an interface 1 is connected to a multi-core ARM chip through a, and is directly controlled by a main control CPU; the interface 2 is connected with the FPGA through the B; the interface 3 is connected with the FPGA through C, and then is connected with the main control CPU through E; the PCIe interface is connected with the FPGA through D, and then the E opens the signal interaction between the PC section and the main control CPU.
Wherein, the connection A is realized by a high-speed data address bus constructed by a main control CPU; b is connected with an internal high-speed bus constructed by the FPGA; c, connecting an EtherCAT master station physical link constructed by an FPGA; d, connecting PCIe cores constructed by the FPGA; e, connecting the high-speed bus constructed by the FPGA through a high-speed data address bus of the main CPU.
Wherein the motion controller further comprises: the Jailhouse processing unit is used for identifying hardware resources when the Jailhouse processing unit is started and reallocating the hardware resources according to the identification;
the Jailhouse processing unit is also used for carrying out real-time allocation or non-real-time allocation of hardware resources on the multi-core CPU in the motion controller.
As shown in fig. 3, the design of the motion controller of the present invention needs to adopt an ARM processor capable of supporting multiple cores, and the ARM multiple cores are allocated for real-time and non-real-time allocation and use through an asymmetric multi-processing (AMP) system. The invention adopts Jailhouse to design the dispatching architecture. Jailhouse is a Linux-based industrial level hardware partition solution that can run on bare metal to configure the virtualization characteristics of the CPU and hardware. The Jailhouse is very simple in design, runs on the motion controller once activated, completely controls hardware and does not need external support, and compared with other bare device managers, the Jailhouse can be loaded and configured through a Linux system, and the management interface is based on a Linux architecture, so that only Linux is required to be started first, then Jailhouse is started to divide system resources into additional units, and the requirements of real-time performance, industrial safety and authentication can be ensured on the basis of not giving up using Linux-rich functions.
The Jailhouse is guided by the started Linux system, the Linux system is a root unit system, all hardware devices are controlled before the Jailhouse is started, and after the Jailhouse is started, the Jailhouse is responsible for reassigning hardware resources to the root unit Linux system and other non-root unit systems.
The Linux system and the RTOS system in the non-root unit respectively realize the following functions:
the Linux system can be realized: 1. executing a downloading program of the motion controller; 2. as EtherCAT master station; 3. communication management with external equipment is realized; 4. a motion control trajectory preprocessing command is generated.
The RTOS system may implement: 1. as a real-time axis (ensuring real-time performance of RTOS); 2. and realizing real-time data interaction with the EtherCAT master station.
Meanwhile, jailhouse only supports direct hardware access, jailhouse does not use complex and time-consuming (quasi) virtualization methods to emulate device drivers and share physical hardware resources. Therefore, the ARM processing is a good choice for designing the multipurpose motion controller on the real-time and non-real-time isolation.
Further, based on the motion controller shown in fig. 1, the control method of the motion controller according to the preferred embodiment of the present invention, as shown in fig. 4, includes the following steps:
and step S10, when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes connection with a PC end through the input control instruction so as to control the PC end to complete data configuration of the motion controller and software development of the PC end.
As shown in fig. 5, the motion controller in the present invention can be used as an auxiliary debugging tool based on PC development: as in the direction B in fig. 5, the configuration of the motion controller and the preliminary debugging of the axes (motion minimum unit, such as motor) and IO signals (control switches, such as switches, lamps, relays, etc.) are completed by the PCIe channel interacting with the master CPU by calling the motion control library dll or so of the API (application programming interface).
Specifically, when the motion controller is used as a PC card, the communication module receives a first input control instruction of the control module.
The communication module calls a motion database of the PC end according to the first input control instruction, and establishes communication connection with the PC end; the motion database of the PC end comprises a Windows-dll database and a Linux-so database; and the communication module analyzes the first input control instruction to obtain a second input control instruction.
The communication module outputs the second input control instruction to the PC end so as to control the PC end to configure the motion controller and develop software of the PC end according to the second input control instruction.
Specifically, when the PC receives the second input control instruction, the motion control instruction sent by the PC is controlled to be consistent with the second input control instruction.
As shown in fig. 5, part 12 is a dynamic library at the PC end, which is used for developing application software APP and invoking user PC application software development. In order to facilitate the use of a user, all motion control instructions (instructions called by a user application program) are consistent with control instructions called by an independent controller programming, such as servo enabling (i.e. powering on a driver) instructions (motion controller basic configuration instructions) of an NMC_MtSetSvOn (wherein, instructions adopted as a PC end plug-in card and as an independent controller are consistent), and when the motion controller is used as a PC end plug-in card, the motion controller can be matched with a PC section to indirectly realize the control of external equipment through the PC end.
The communication module controls the PC end to configure the motion controller according to the second input control instruction and controls the PC end to acquire a motion control program of the motion controller so as to control the PC end to develop software according to the motion control program.
Specifically, the communication module controls the PC end to configure the EtherCAT bus driver and the expansion IO module externally connected with the motion controller through the second input control instruction.
And step S20, when the motion controller is used as an independent controller, the communication module acquires a downloading program of the PC end through an Ethernet communication link, receives an output control instruction of the control module, establishes connection with the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the output control instruction and the downloading program.
As shown in fig. 5, the following functions can be implemented as a development environment of an independent controller:
(1) Completing configuration of the hardware peripheral of the motion controller;
(2) Completing the protocol parameter configuration of data interaction between the motion controller and the display HMI (display screen) of the external device;
(3) And completing writing, developing, debugging and downloading of the motion control program.
The interaction of the data stream is completed by Ethernet communication in the A direction, and the interaction of the motion control software APP and the motion controller is completed, wherein the programming language can be a script language such as IEC61131 standard language (defining the software structure, programming language and program execution mode of PLC) or Lua (Lua is written by standard C and can be compiled on almost all operating systems and platforms).
Specifically, when the motion controller is used as an independent controller, the communication module obtains the downloading program of the PC end through an Ethernet communication link, and obtains the monitoring instruction and the first output control instruction of the control module through the Ethernet communication link, and the communication module analyzes the first output control instruction to obtain a second output control instruction.
And the communication module detects the hardware configuration of the motion controller through the monitoring instruction, and when the hardware configuration detection passes, acquires the EtherCAT slave station equipment externally connected with the motion controller.
Based on the second output control instruction, the communication module completes parameter configuration of the EtherCAT slave station equipment by establishing communication connection between the motion controller and the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the second output control instruction and the downloading program.
The invention adopts mutual exclusion design when the axis resource and IO resource are simultaneously controlled by PC programming and independent program control on the distribution of the motion control resource. The invention can effectively prevent the same resource from being programmed by the PC and being controlled by the independent execution program simultaneously through the preregistration (namely identification) of various resources at the bottom layer of the controller and the preregistration distribution mechanism, thereby effectively ensuring the design safety of the system.
Through the architecture design of the hardware and the software, the invention finally achieves the aim of simultaneously supporting PC programming control and independent program operation control.
In summary, the present invention provides a motion controller and a control method, where the motion controller includes: the device comprises a control module, a communication module and a storage module, wherein the control module is respectively connected with the communication module and the storage module; the control module is used for sending out an output control instruction to acquire an output signal from the storage module, outputting the output signal to EtherCAT slave station equipment externally connected with the motion controller through the communication module, or sending out an input control instruction to receive an input signal of a high-speed signal control board externally connected with the motion controller through the communication module, and storing the input signal to the storage module; the communication module is used for receiving an output control instruction sent by the control module, establishing connection with the EtherCAT slave station equipment according to the output control instruction, or receiving an input control instruction sent by the control module, and establishing connection with the high-speed signal control board according to the input control instruction; the storage module is used for receiving the input signal of the high-speed signal control board through the communication module or outputting the output signal to the EtherCAT slave station equipment through the communication module. The invention can be used based on the programming control of the PC end and can also be used as independent program control, simultaneously can also support the PC programming control and the independent program operation control, marks various resources at the bottom layer of the motion controller, effectively prevents the condition that the same resource is simultaneously controlled by the PC programming and the independent execution program due to the allocation mechanism, ensures the safety of the system, and greatly improves the control effect of the operation controller.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal comprising the element.
Of course, those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by a computer program for instructing relevant hardware (e.g., processor, controller, etc.), the program may be stored on a computer readable storage medium, and the program may include the above described methods when executed. The computer readable storage medium may be a memory, a magnetic disk, an optical disk, etc.
It is to be understood that the invention is not limited in its application to the examples described above, but is capable of modification and variation in light of the above teachings by those skilled in the art, and that all such modifications and variations are intended to be included within the scope of the appended claims.

Claims (10)

1. A motion controller, the motion controller comprising: the device comprises a control module, a communication module and a storage module, wherein the control module is respectively connected with the communication module and the storage module;
the control module is used for sending out an output control instruction to acquire an output signal from the storage module, outputting the output signal to EtherCAT slave station equipment externally connected with the motion controller through the communication module, or sending out an input control instruction to receive an input signal of a high-speed signal control board externally connected with the motion controller through the communication module, and storing the input signal to the storage module;
the communication module is used for receiving an output control instruction sent by the control module, establishing connection with the EtherCAT slave station equipment according to the output control instruction, or receiving an input control instruction sent by the control module, and establishing connection with the high-speed signal control board according to the input control instruction;
the storage module is used for receiving the input signal of the high-speed signal control board through the communication module or outputting the output signal to the EtherCAT slave station equipment through the communication module.
2. The motion controller of claim 1, further comprising: a fixing hole and a power interface;
the communication module comprises: a PCle bus interface and an Ethernet RJ45 interface;
when the motion controller is used as a PC end plug-in card, the communication module is connected with the PC end through the PCle bus interface;
when the motion controller is used as an independent controller, the motion controller is fixed on the high-speed signal control board or the shell of the EtherCAT slave station equipment through the fixing hole, is powered through the power interface, and is connected with the PC end through the Ethernet RJ45 interface.
3. The motion controller of claim 2, wherein the communication module further comprises: a local high-speed signal RJ45 interface and an EtherCATRJ45 interface;
the control module includes: a multi-core CPU and an FPGA;
the communication module establishes connection with the high-speed signal control board through the local high-speed signal RJ45 interface or establishes connection with the EtherCAT slave station equipment through the EtherCATRJ45 interface;
the Ethernet RJ45 interface is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU;
the EtherCATRJ45 interface is used for connecting an EtherCAT master station physical link constructed by an FPGA with the FPGA;
the local high-speed signal RJ45 interface is used for connecting an internal high-speed bus constructed by an FPGA with the FPGA;
the PCle bus interface is used for connecting a PCle core constructed by an FPGA with the FPGA;
the FPGA is used for connecting with the multi-core CPU through a high-speed data address bus of the multi-core CPU and a high-speed bus constructed by the FPGA.
4. The motion controller of claim 1, further comprising: a Jailhouse processing unit;
the Jailhouse processing unit is used for identifying hardware resources when the Jailhouse processing unit is started, and reallocating the hardware resources according to the identification;
the Jailhouse processing unit is also used for carrying out real-time allocation or non-real-time allocation of hardware resources on the multi-core CPU in the motion controller.
5. A control method based on the motion controller according to any one of claims 1 to 4, characterized in that the control method of the motion controller comprises:
when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes connection with a PC end through the input control instruction so as to control the PC end to complete data configuration of the motion controller and software development of the PC end;
when the motion controller is used as an independent controller, the communication module acquires a downloading program of the PC end through an Ethernet communication link, receives an output control instruction of the control module, establishes connection with the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the output control instruction and the downloading program.
6. The method according to claim 5, wherein when the motion controller is used as a PC card, the communication module receives an input control command of the control module, and the communication module establishes a connection with a PC terminal through the input control command to control the PC terminal to complete data configuration of the motion controller and software development of the PC terminal, and specifically includes:
when the motion controller is used as a PC card, the communication module receives a first input control instruction of the control module;
the communication module calls a motion database of the PC end according to the first input control instruction, and establishes communication connection with the PC end;
the communication module analyzes the first input control instruction to obtain a second input control instruction;
the communication module outputs the second input control instruction to the PC end so as to control the PC end to configure the motion controller and develop software of the PC end according to the second input control instruction.
7. The method according to claim 6, wherein the communication module outputs the second input control command to the PC terminal, so as to control the PC terminal to configure the motion controller according to the second input control command and develop software of the PC terminal, and specifically includes:
when the PC receives the second input control instruction, controlling the motion control instruction sent by the PC to be consistent with the second input control instruction;
the communication module controls the PC end to configure the motion controller according to the second input control instruction and controls the PC end to acquire a motion control program of the motion controller so as to control the PC end to develop software according to the motion control program.
8. The method according to claim 7, wherein when the motion controller is used as a PC card, the communication module receives an input control instruction of the control module, and the communication module establishes a connection with a PC terminal through the input control instruction to control the PC terminal to complete data configuration of the motion controller and software development of the PC terminal, and further comprising:
and the communication module controls the PC end to configure an EtherCAT bus driver and an expansion IO module externally connected with the motion controller through the second input control instruction.
9. The method according to claim 5, wherein when the motion controller is used as an independent controller, the communication module obtains the download program of the PC end through an Ethernet communication link and receives an output control instruction of the control module, and the communication module establishes a connection with the EtherCAT slave station device and controls the EtherCAT slave station device to operate according to the output control instruction and the download program, and specifically includes:
when the motion controller is used as an independent controller, the communication module acquires a downloading program of the PC end through an Ethernet communication link, acquires a monitoring instruction and a first output control instruction of the control module through the Ethernet communication link, and analyzes the first output control instruction to obtain a second output control instruction;
the communication module detects the hardware configuration of the motion controller through the monitoring instruction, and when the hardware configuration detection passes, the EtherCAT slave station equipment externally connected with the motion controller is obtained;
based on the second output control instruction, the communication module completes parameter configuration of the EtherCAT slave station equipment by establishing communication connection between the motion controller and the EtherCAT slave station equipment, and controls the EtherCAT slave station equipment to operate according to the second output control instruction and the downloading program.
10. The method according to claim 6, wherein the motion database at the PC side includes a Windows-dll database and a Linux-so database.
CN202310673003.0A 2023-06-07 2023-06-07 Motion controller and control method Pending CN116610069A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310673003.0A CN116610069A (en) 2023-06-07 2023-06-07 Motion controller and control method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310673003.0A CN116610069A (en) 2023-06-07 2023-06-07 Motion controller and control method

Publications (1)

Publication Number Publication Date
CN116610069A true CN116610069A (en) 2023-08-18

Family

ID=87683491

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310673003.0A Pending CN116610069A (en) 2023-06-07 2023-06-07 Motion controller and control method

Country Status (1)

Country Link
CN (1) CN116610069A (en)

Similar Documents

Publication Publication Date Title
CN111745651B (en) Intelligent robot operating system structure and operating method thereof
Reinhart et al. Automatic configuration (plug & produce) of industrial ethernet networks
CN103559066B (en) Embedded software upgrade method based on CANOPEN agreement
CN109347884B (en) Method and device for converting real-time Ethernet to field bus and storage medium
US10890887B2 (en) Platform for continued use of existing software for the actuation of industrial field devices
WO2017177695A1 (en) Method and system for development and integration of application in numerical control system
US7805725B2 (en) System and method for synchronizing system modules
EP3557345B1 (en) Control apparatus, system program, and control method
US7565660B2 (en) System and method for universal extensibility that supports a plurality of programmable logic controllers
CN112276943A (en) Robot teaching control method, teaching control system, computer device, and medium
CN108508812B (en) AGV controller IO port multiplexing configuration system and method thereof
CN106945045B (en) communication method and system for robot control based on ROS and OROCOS
US11855907B2 (en) Robot control system and control method
CN116610069A (en) Motion controller and control method
US6668205B1 (en) Control method of factory automation system, recording medium recording a program therefor and central processor of factory automation system
JP2007221364A (en) Expansion method of controller, control system, and control device
CN114041121A (en) Runtime server for simultaneously executing multiple runtime systems of an automation device
US6009268A (en) Device for programming a stored program controller
CN112292643A (en) Programmable logic controller, operating method for a programmable logic controller and computer program product
CN112180808B (en) Servo control method, device, system, computer equipment and storage medium
CN109582379A (en) Programmable logic controller system, control method based on Mach
US11958511B2 (en) Train signal system and linkage method therefor
CN114416222A (en) Method and device for calling drive interface by application program
CN113806282A (en) Heterogeneous control system and loading method thereof
CN106965181B (en) Robot control method and system based on ROS and OROCOS

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination