CN117348501B - Linkage control method and linkage control system for multiple motion control cards - Google Patents
Linkage control method and linkage control system for multiple motion control cards Download PDFInfo
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Abstract
The application belongs to the technical field of automatic control, and relates to a linkage control method and a linkage control system of a multi-motion control card, wherein the linkage control method is applied to the linkage control system. The linkage control system comprises an upper computer and a plurality of motion control cards which are in communication connection, wherein the motion control cards comprise a first memory and a second memory; the first memory is configured with an inter-board synchronous signal area, the second memory stores operation control instructions related to the inter-board synchronous signals, the upper computer is configured with an inter-board synchronous signal mirror area, the upper computer is configured to create an inter-board synchronous mirror thread, and when the inter-board synchronous mirror thread executes a mirror task, the inter-board synchronous signals of the inter-board synchronous signal area of any motion control card can be synchronously distributed to any motion control card through the inter-board synchronous signal mirror area. The technical scheme provided by the application can realize the linkage of the motion axes controlled by different motion control cards, and has the advantages of quick linkage reaction, good universality and high reliability.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a linkage control method and a linkage control system of a multi-motion control card.
Background
The multi-axis linkage motion control system is widely applied to automation equipment, such as light industry packaging machinery, printing machinery, special numerical control processing equipment, laser processing equipment, semiconductor packaging equipment and the like, and the motion axes of the automation equipment are controlled by adopting a field bus-based distributed control technology or a motion control card-based centralized control technology. The field bus-based distributed control technology realizes the linkage motion control of multiple motion axes by a multi-axis motion controller, and is widely applied to the field of medium and large industrial control networks due to good expansibility; the centralized control technology based on the motion control card is directly connected with an upper computer through a high-speed communication bus by the motion control card, and the motion control card realizes the linkage motion control of multiple motion axes, so that the centralized control technology is widely applied to special small-sized automatic equipment with high speed and high precision, such as wire bonding machines, die bonders, PCBA (Printed Circuit Board Assembly, printed circuit board) patch welding equipment and the like in the semiconductor field.
For a multi-axis linkage motion control system of a wire bonding machine and a die bonder in the semiconductor field, in order to meet the motion complexity and real-time requirements of high-speed high-precision equipment, a motion control card adopts a linkage control mode which is not more than four axes, each axis is in high-speed linkage and is realized by the motion control card, the mode can meet the requirements of most application scenes, for the scenes of linkage control of more than four axes, the existing mode is to expand the system by adding the existing motion control card due to development cost and period, and the mode is to carry out system expansion by adding the existing motion control card. The linkage mechanism can realize linkage of shafts among different motion control cards, but the linkage mode increases query operation of an upper computer and idle waiting of the motion shafts, so that linkage reaction is slower, high-speed system productivity is influenced, meanwhile, workload of the upper computer is increased, and portability is poor. Therefore, further improvements are needed in the high-speed linkage technology based on such multiple motion control cards.
Disclosure of Invention
The technical problem to be solved by the embodiment of the application is that when the existing high-speed high-precision small-sized automation equipment adopts a multi-motion control card to carry out multi-axis linkage control, the problem of slow linkage reaction is caused by the process of inquiring operation of an upper computer and idle waiting of a motion axis. Therefore, the embodiment of the application provides a linkage control method and a linkage control system for a multi-motion control card.
In order to solve the above technical problems, the embodiments of the present application provide a coordinated control system of a multi-motion control card, which adopts the following technical scheme:
the linkage control system of the multiple motion control cards comprises an upper computer and a plurality of motion control cards, wherein the motion control cards are in communication connection with the upper computer, and each motion control card comprises a first memory and a second memory;
wherein, the first memory is configured with an inter-board synchronous signal area, and the second memory stores the operation control instruction of the related inter-board synchronous signal;
the upper computer is configured with an inter-board synchronous signal mirror area, and the upper computer is configured to create an inter-board synchronous mirror thread, when the inter-board synchronous mirror thread executes a mirror task, an inter-board synchronous signal of an inter-board synchronous signal area of any motion control card can be mapped to the inter-board synchronous signal mirror area, and an inter-board synchronous signal mapped to the inter-board synchronous signal mirror area can be synchronously distributed to any motion control card.
Further, the inter-board synchronization signal region is configured as a segment of contiguous physical address space in the first memory.
Further, the inter-board synchronization signal mirror region is configured as a cache of the upper computer, and the cache has a fixed memory address space.
Further, the coordinated control system further comprises an input-output and driving module, wherein the input-output and driving module is used for collecting state signals outside the motion control card, and the state signals can be updated in the corresponding inter-board synchronous signal areas of the motion control card to form inter-board synchronous signals.
In order to solve the above technical problems, the embodiments of the present application further provide a coordinated control method of a multi-motion control card, which adopts the following technical scheme:
the linkage control method of the multi-motion control card is applied to the linkage control system of the multi-motion control card, and comprises the following steps:
enabling the upper computer to run the synchronous mirror thread between the boards and execute the mirror task;
when any motion control card executes a real-time task, analyzing and executing a currently-listed operation control instruction in an instruction set queue of the real-time task, and judging whether the currently-listed operation control instruction is related to an inter-board synchronous signal or not;
If the association is performed, when the currently-listed operation control instruction is executed and the association condition is met, setting a first inter-board synchronous signal in an inter-board synchronous signal area of the motion control card, mapping the first inter-board synchronous signal to an inter-board synchronous signal mirror area of the upper computer through an upper computer, and distributing the first inter-board synchronous signal to the inter-board synchronous signal areas of a plurality of motion control cards through the inter-board synchronous signal mirror area;
and at least one of the plurality of motion control cards executes a new instruction according to the first inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link.
Further, the step of at least one of the plurality of motion control cards executing new instructions according to the first inter-board synchronization signal includes:
and executing a search instruction in at least one of the plurality of motion control cards, wherein the search instruction is started before the execution of the currently-listed operation control instruction is finished, and is used for searching and confirming the first inter-board synchronous signal in a local inter-board synchronous signal area when the execution of the currently-listed operation control instruction is finished, and executing a new instruction according to a search result.
Further, before the step of executing the real-time task by the any motion control card, the coordinated control method further includes:
sharing address information of an inter-board synchronous signal area of each motion control card to the upper computer, wherein the address information at least comprises a motion control card base address, an inter-board synchronous signal area base address and a synchronous signal offset address;
the step of mapping the first inter-board synchronization signal to the inter-board synchronization signal mirror area of the upper computer by the upper computer includes:
the ID of any one motion control card is obtained through an upper computer, and address information of a corresponding inter-board synchronous signal area is obtained according to the ID of any one motion control card;
and the inter-board synchronous signal mirror area of the upper computer accesses the inter-board synchronous signal area of any one motion control card according to the address information, reads the first inter-board synchronous signal and maps the first inter-board synchronous signal to the inter-board synchronous signal mirror area of the upper computer.
Further, before the step of executing the real-time task by the any motion control card, the coordinated control method further includes:
according to the linkage requirement of the controlled motion axis, determining a plurality of inter-board synchronous signals to be distributed through the upper computer, correspondingly configuring a plurality of inter-board synchronous signal IDs, associating and binding each inter-board synchronous signal ID with the ID of the corresponding motion control card, and writing each inter-board synchronous signal ID into the operation control instruction of the corresponding motion control card as an instruction parameter;
And creating a plurality of synchronous signal mirror image spaces in the upper computer according to the inter-board synchronous signal IDs which are associated and bound by the IDs of the motion control cards, wherein the plurality of synchronous signal mirror image spaces integrally form the inter-board synchronous signal mirror image area.
Further, the step of reading the first inter-board synchronization signal includes:
acquiring at least one inter-board synchronous signal ID bound with the ID of any motion control card, acquiring an inter-board synchronous signal ID corresponding to the first inter-board synchronous signal, and reading the first inter-board synchronous signal when the inter-board synchronous signal ID corresponding to the first inter-board synchronous signal is matched with one of the bound inter-board synchronous signal IDs;
the step of distributing the first inter-board synchronization signal to an inter-board synchronization signal area of a plurality of motion control cards through the inter-board synchronization signal mirroring area includes:
and acquiring an inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal, taking a motion control card which is not bound with the inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal as a distribution target, and distributing the inter-plate synchronous signal to an inter-plate synchronous signal area of each distribution target by the inter-plate synchronous signal mirror area.
Further, when any one of the motion control cards executes the real-time task, the linkage control method further includes:
the method comprises the steps that external state signals are collected through the motion control card before the operation control instruction is executed or after the operation control instruction is executed, and when the external state signals are collected, second inter-board synchronous signals are set in an inter-board synchronous signal area of the motion control card according to the external state signals;
mapping the second inter-board synchronizing signals to an inter-board synchronizing signal mirror area of an upper computer through the upper computer, and distributing the second inter-board synchronizing signals to inter-board synchronizing signal areas of a plurality of motion control cards through the inter-board synchronizing signal mirror area;
and at least one of the plurality of motion control cards executes a new instruction according to the second inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
according to the method, through the inter-board synchronous signal area on the motion control card and the inter-board synchronous signal mirror area of the upper computer, when the inter-board synchronous mirror thread of the upper computer executes mirror tasks, the motion control card executes operation control instructions of the associated inter-board synchronous signals, the non-differential mapping of the inter-board synchronous signals of the inter-board synchronous signal area of any motion control card to other motion control cards can be realized through the inter-board synchronous signal mirror area, linkage of motion axes controlled by different motion control cards is realized, linkage reaction is fast, expansion of the motion control cards can be performed quickly, universality is good, and the method can be realized based on the existing motion control cards and hardware resources of the upper computer, cost is low, and reliability is high.
Drawings
For a clearer description of the present application or of the solutions of the prior art, a brief introduction will be given below to the drawings used in the description of the embodiments or of the prior art, it being apparent that the drawings in the description below are some embodiments of the present application, from which other drawings can be obtained, without the inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a coordinated control system of multiple motion control cards according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a coordinated control method of a multiple motion control card according to an embodiment of the present application;
fig. 3 is an overall control flow chart of the upper computer provided in the embodiment of the present application;
FIG. 4 is a flowchart of a process for periodically executing a mirroring task by a host computer according to an embodiment of the present application;
fig. 5 is a schematic diagram of mapping synchronous signals between boards by the coordinated control system of the multiple motion control cards according to the embodiment of the present application;
FIG. 6 is a schematic illustration of linkage of two axes of motion provided in an embodiment of the present application;
fig. 7 is a flowchart of a process for setting an inter-board synchronization signal by a single motion control card according to an embodiment of the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, the embodiment of the present application provides a coordinated control system with multiple motion control cards, where the coordinated control system includes an upper computer 10 and multiple motion control cards 20, where the motion control cards 20 are in communication connection with the upper computer 10, for example, through a communication bus (PCI/PCIE) to implement communication connection, the upper computer 10 may be configured to generate a control instruction set, send control instructions to each motion control card 20 in a queue form through the communication bus, and each motion control card 20 sequentially executes the control instructions in a local control instruction queue, so as to perform motion control on each controlled motion axis; wherein the motion control card 20 includes a first memory and a second memory, the first memory of the motion control card 20 is configured with an inter-board synchronization signal area 21, and the second memory stores operation control instructions related to the inter-board synchronization signal, in this embodiment, the first memory may be a DPRAM (Dual-Port Random Access Memory ), and may be an IRAM (Integrated Random Access Memory, integrated random access memory) in the microprocessor 22 of the motion control card 20, where the upper computer 10 and the motion control card 20 can synchronously read and write; the upper computer 10 is configured with an inter-board synchronization signal mirroring area 11, and the upper computer 10 is configured to create an inter-board synchronization mirroring thread, when the inter-board synchronization mirroring thread performs a mirroring task, an inter-board synchronization signal of an inter-board synchronization signal area 21 of any of the motion control cards 20 may be mapped to the inter-board synchronization signal mirroring area 11, an inter-board synchronization signal mapped to the inter-board synchronization signal mirroring area 11 may be synchronously distributed to any of the motion control cards 20, and the inter-board synchronization signal may be used for linkage of motion axes controlled by different motion control cards 20. Based on this, the inter-board synchronization signals in the inter-board synchronization signal area 21 in this embodiment are divided into two types, one is a real signal locally generated by the motion control card 20, which may be set when the motion control card 20 executes the motion control command or set when the status signal is acquired from the outside, and the other is a virtual signal mapped from the other motion control card 20 through the inter-board synchronization signal mirror area 11, and the signal synchronization of all the motion control cards 20 may be achieved through the combination of the real signal and the virtual signal.
In this embodiment, the inter-board synchronization signal mirror area 11 of the host computer 10 accesses the inter-board synchronization signal area 21 through an intermediate interface, specifically, the intermediate interface is a software interface, and can share address information of the inter-board synchronization signal area 21 of the motion control card 20 to the host computer 10, where the address information at least includes motion control card base address information, inter-board synchronization signal area base address information, and synchronization signal offset address information, and the inter-board synchronization signal mirror area 11 accesses each inter-board synchronization signal area 21 through the received address information.
In this embodiment, the inter-board synchronization signal area 21 is configured as a continuous physical address space in the first memory of the motion control card 20, where the microprocessor 22 of the motion control card 20 and the host computer 10 can read and write simultaneously, that is, the inter-board synchronization signal mirror area 11 of the host computer 10 can access the inter-board synchronization signal area 21 simultaneously during the process of setting the inter-board synchronization signal in the inter-board synchronization signal area 21 by the motion control card 20, read the inter-board synchronization signal therefrom and create a mirror image in the inter-board synchronization signal mirror area 11. The continuous physical address space is allocated by the microprocessor 22 in the motion control card 20 on the first memory of the motion control card 20, for example, 16 x 32bits of the continuous physical address space on the first memory is allocated as the inter-board synchronization signal area 21, which can store 16 inter-board synchronization signals, and of course, the number of the inter-board synchronization signals stored specifically can be implemented by configuring the continuous physical address space according to specific needs. In some embodiments, the aforementioned synchronization signal offset address may correspond to an inter-plate synchronization signal ID, for example, when the inter-plate synchronization signal area 21 may store 16 inter-plate synchronization signals, the inter-plate synchronization signal IDs of the 16 inter-plate synchronization signals are respectively 0 to 15, and then the synchronization signal offset address may be 0 to 15 corresponding to different inter-plate synchronization signal IDs.
In this embodiment, the inter-board synchronization signal mirror area 11 is configured as a cache of the host computer 10, where the cache has a fixed memory address space. The mapping of the inter-board synchronization signal from the motion control card 20 to the inter-board synchronization signal mirror region 11 and the distribution from the inter-board synchronization signal mirror region 11 to the motion control card 20 can be realized by the buffering.
Further, the coordinated control system further includes an input-output and driving module 30, where the input-output and driving module 30 is configured to collect a status signal outside the motion control card 20, and the status signal may be updated in the corresponding inter-board synchronization signal area 21 of the motion control card 20 to form an inter-board synchronization real signal, where the inter-board synchronization signal is a real signal. In this embodiment, the inter-board synchronization signal may be a status signal triggered locally by the motion control card 20 executing the operation control command, or may be other status signals collected by the input/output module and the driving module at the back end, where the microprocessor 22 of the motion control card 20 only updates the status signal locally generated or captured by the input/output and driving module 30 to the inter-board synchronization signal area 21 to form an inter-board synchronization signal, i.e. a real signal, for example, the synchronization signal S0 is triggered or captured by the motion control card 20, and is written into the local inter-board synchronization signal area 21 only by the microprocessor 22 locally of the motion control card 20.
According to the method, through the inter-board synchronous signal area on the motion control card and the inter-board synchronous signal mirror area of the upper computer, when the inter-board synchronous mirror thread of the upper computer executes mirror tasks, the motion control card executes operation control instructions of the associated inter-board synchronous signals, the non-differential mapping of the inter-board synchronous signals of the inter-board synchronous signal area of any motion control card to other motion control cards can be realized through the inter-board synchronous signal mirror area, linkage of motion axes controlled by different motion control cards is realized, linkage reaction is fast, expansion of the motion control cards can be performed quickly, universality is good, and the method can be realized based on the existing motion control cards and hardware resources of the upper computer, cost is low, and reliability is high.
The embodiment of the application also provides a linkage control method of the multi-motion control card, which is applied to the linkage control system of the multi-motion control card, as shown in fig. 2, and the linkage control method of the multi-motion control card comprises the following steps:
s201, enabling an upper computer to run an inter-board synchronous mirror thread and executing a mirror task;
s202, when any motion control card executes a real-time task, analyzing and executing a currently-dequeued operation control instruction in an instruction set queue of the real-time task, and judging whether the currently-dequeued operation control instruction is related to an inter-board synchronous signal or not;
S203, if the association is performed, when the currently-listed operation control instruction is executed and the association condition is met, setting a first inter-board synchronous signal in an inter-board synchronous signal area of the motion control card, mapping the first inter-board synchronous signal to an inter-board synchronous signal mirror area of the upper computer through the upper computer, and distributing the first inter-board synchronous signal to inter-board synchronous signal areas of a plurality of motion control cards through the inter-board synchronous signal mirror area; the plurality of motion control cards in the step S203 do not include motion control cards provided with the first inter-board synchronization signals, and this step realizes indifferent mapping distribution of the inter-board synchronization signals on the motion control cards on other motion control cards, so that a unified inter-board synchronization signal area combining the inter-board synchronization real signals and the inter-board synchronization virtual signals is formed on a single motion control card, and linkage between axes controlled by different motion control cards is realized by associating operation control instructions with the inter-board synchronization signals.
S204, at least one of the plurality of motion control cards executes a new instruction according to the first inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link. In step S204, the first inter-board synchronization signals received by the motion control cards trigger the motion axes on the motion control card, but the first inter-board synchronization signals are generated by other motion control cards.
In this example, before step S201, the upper computer performs operations of motion setting and instruction set generation, the upper computer performs operation control instruction planning and forms an operation control instruction set, the complete instruction set is queued according to a required action flow and downloaded to each motion control card to form an instruction queue of each motion control card, and then the upper computer starts a synchronous mirror thread between boards to periodically perform mirror tasks until all operation control instructions are executed, as shown in fig. 3, the overall control flow executed by the upper computer provided by the present application includes the following steps:
s301, performing motion setting and planning on each motion control card;
s302, generating a motion instruction set according to the motion setting and planning;
s303, starting a synchronous mirror thread between boards;
s304, issuing operation control instructions and related data to each motion control card in a queue form according to the motion instruction set;
s305, waiting for the execution of the operation control instruction queue of each motion control card to finish, and resetting the inter-board synchronous signal area of each motion control card after finishing;
s306, stopping the inter-board synchronous mirror thread. And then waits for re-entry to step S301 to re-execute steps S301-S306.
In this example, for step S302, when the host computer generates the instruction set, it correlates the control instruction and the inter-board synchronization signal, and uses the inter-board synchronization signal as a parameter of the control instruction, for example, ID n and Sn are used as synchronization signal parameters of the control instruction MZn [0], and the successful execution of the control instruction sets the inter-board synchronization signal Sn in the inter-board synchronization signal area offset address ID n of the motion control card n, otherwise, the position signal is 0. Meanwhile, the synchronous signals ID [0]. S0 between boards are used as synchronous signal parameters of the operation control command MX0[3], the successful execution of the operation control command sets the synchronous signal S0 between boards in the synchronous signal area ID [0] offset address of the motion control card 0, otherwise, the position signal is 0, and the synchronous signal between boards is triggered when the operation control command is executed, so that the linkage control of different motion control cards is realized.
In this embodiment, after executing step S303, the inter-board synchronous mirror thread will periodically execute a mirror task, where the execution period is in microsecond level, for example, the mirror task is executed once every 200 microseconds, and each time the mirror task is executed, the mirror distributing operation of the inter-board synchronous signal is executed once for each motion control card in turn, that is, each time the mirror task is executed, the steps will be sequentially executed, and for the process of executing in turn, please refer to the flow of the operation executed by the upper computer once for the mirror task for multiple motion control cards shown in fig. 4:
S401, executing an inter-board synchronous mirror task;
s402, determining a motion control card queue according to the ID of the motion control card;
s403, accessing an inter-board synchronous signal area of one motion control card in the motion control card queue, acquiring an inter-board synchronous signal in the inter-board synchronous signal area and mapping the inter-board synchronous signal area to other motion control cards;
s404, judging whether all the motion control cards in the motion control card queue are synchronous, if yes, executing step S405, otherwise, returning to execute step S402;
s405, finishing the synchronous mirror image task among the boards. And then will wait for the execution of the next inter-board synchronous mirror task.
For the steps S401 to S405, the inter-board synchronous mirror thread is created by the upper computer, and after the creation, the inter-board synchronous mirror thread as shown in fig. 5 is started before the upper computer issues the operation control command queue to the motion control card, and when the subsequent motion control card executes the real-time task, the inter-board synchronous mirror area periodically triggers the real-time inter-board synchronous mirror task, such as T1, T2 … and Tn in fig. 5, and based on the real-time inter-board synchronous mirror task, the inter-board synchronous mirror area performs acquisition and distribution of the inter-board synchronous signals to each motion control card, for example, for the real-time inter-board synchronous mirror task T1, the inter-board synchronous mirror area sequentially performs acquisition and distribution of the inter-board synchronous signals to the motion control cards 0 to n, specifically, firstly mirrors the inter-board synchronous signal S0 of the motion control card 0 to the MO of the inter-board synchronous signal mirror area, and then synchronizes to the inter-board synchronous signal areas of the motion control cards 1 to n in turn; then mirror-imaging the inter-board synchronizing signal S1 of the motion control card 1 to M1 of the inter-board synchronizing signal mirror-imaging area, and synchronizing to the inter-board synchronizing signal areas of the motion control cards 0, 2 to n; and the like, finally, mirroring the inter-board synchronous signal Sn of the motion control card n to Mn of an inter-board synchronous signal mirroring area, and synchronizing the inter-board synchronous signal Sn of the motion control cards 1 to n-1.
In this example, for step S305, after the instruction queue is formed in the motion control card, the instruction queue is sequentially dequeued, parsed, calculated and executed in a strict fifo manner one by one to complete the whole set of flow actions.
In some embodiments, the step of at least one of the plurality of motion control cards executing new instructions according to the inter-board synchronization signal comprises: and executing a search instruction in at least one of the plurality of motion control cards, wherein the search instruction is started before the execution of the currently-listed operation control instruction is finished, and is used for searching and confirming the first inter-board synchronous signal in a local inter-board synchronous signal area when the execution of the currently-listed operation control instruction is finished, and executing a new instruction according to a search result. In this step, the received first inter-board synchronization signal is used as a search command target or other trigger conditions in the operation command set of the motion control card, for example, szn.s0 and sx0.sn shown in fig. 6 are respectively the synchronization signal search commands on the motion control card n and the motion control card 0, when the inter-board synchronization signals S0 and Sn are valid, the execution of the search command is completed, and the next command in the command queue is dequeued for execution.
In this embodiment, the association condition in step S203 is preset, specifically, the association condition is that the inter-board synchronization signal is set at the end of the operation control instruction, or the association condition is that a certain beat before the end of the operation control instruction sets the inter-board synchronization signal, for example, the inter-board synchronization signal is set before the end of the operation control instruction. By setting the synchronizing signal at the end or before the end of the operation control instruction, the inter-board synchronizing signal can be mapped and distributed to other motion control cards in extremely short time, so that quick linkage is realized. Correspondingly, the command queue of each motion axis meets the timing requirement of linkage between certain motion control cards, namely, a certain motion control card can set up the operation control command of an inter-board synchronous signal to be executed first, before the command is finished, the search command of searching the inter-board synchronous signal on the motion control card linked with the command is required to be executed, and after the search command is finished, the linkage motion command queue on the linked motion control card is executed immediately, for example, referring to fig. 6, the motion control card n firstly queues the command queue and analyzes and executes the command according to first in first out, wherein MZn [0] operation control command is related to the inter-board synchronous signal Sn, MZn [0] sets up the inter-board synchronous signal Sn when the command execution is finished, the inter-board mirror task maps Sn from the motion control card n to the position of the motion control card 0, the motion control card 0 is executed at the moment, the Sn of the motion control card is captured immediately, the search command SX0.Sn is finished, the next command MX0[2] is executed, and the next command [2] is executed, and the motion control card [ 62 ] is executed, and [2] motion control card [1] is executed at the same time; similarly, the MX0[3] operation control instruction in the instruction pair column of the motion control card 0 is associated with an inter-board synchronous signal S0, the MX0[3] sets the inter-board synchronous signal S0 when the instruction execution is finished, the next instruction MX0[4] of the motion control card 0 is dequeued for execution, the inter-board mirroring task maps S0 from the motion control card 0 to the position of S0 of the motion control card n, the motion control card n has executed a search instruction SZn.S0 at the moment, S0 on the motion control card n is immediately captured, the search instruction SZn.S0 is finished, the next instruction MZn [2] is dequeued for execution, and the MX0[4] of the motion control card 0 and the motion control card MZn [2] realize linkage; the motion control card continues the subsequent instruction action until the instruction queue is empty, and the upper computer resets the synchronous signal area between boards, and the motion control cards wait for the next group of operation control instruction queues.
In some embodiments, before the step of executing the real-time task by the any one motion control card, the coordinated control method further includes: and sharing address information of the inter-board synchronous signal area of each motion control card to the upper computer, wherein the address information at least comprises a motion control card base address, an inter-board synchronous signal area base address and a synchronous signal offset address.
Correspondingly, the step of mapping the first inter-board synchronization signal to the inter-board synchronization signal mirror area of the upper computer through the upper computer comprises the following steps: the ID of any one motion control card is obtained through an upper computer, and address information of a corresponding inter-board synchronous signal area is obtained according to the ID of any one motion control card; and the inter-board synchronous signal mirror area of the upper computer accesses the inter-board synchronous signal area of any one motion control card according to the address information, reads the first inter-board synchronous signal and maps the first inter-board synchronous signal to the inter-board synchronous signal mirror area of the upper computer.
The upper computer can acquire the ID of the different motion control cards and the base address information of the motion control cards during initialization, so that interactive access between the upper computer and each motion control card can be realized; wherein, the synchronization signal offset address may correspond to an inter-board synchronization signal ID.
In some embodiments, before the step of executing the real-time task by the any one motion control card, the coordinated control method includes: according to the linkage requirement of the controlled motion axis, determining a plurality of inter-board synchronous signals to be distributed through the upper computer, correspondingly configuring a plurality of inter-board synchronous signal IDs, associating and binding each inter-board synchronous signal ID with the ID of the corresponding motion control card, and writing each inter-board synchronous signal ID into the operation control instruction of the corresponding motion control card as an instruction parameter; and creating a plurality of synchronous signal mirror spaces 111 on the upper computer according to the inter-board synchronous signal IDs which are associated and bound by the IDs of the motion control cards, wherein the plurality of synchronous signal mirror spaces 111 integrally form the inter-board synchronous signal mirror area. The inter-board synchronization signal to be allocated may be a status signal obtained by the motion control card from the outside, or may be a status signal generated by the motion control card itself, and for the configuration of the inter-board synchronization signal ID, for example, the inter-board synchronization signal S0 of the inter-board synchronization signal area of the motion control card 0 shown in fig. 5 is an in-place status signal from the X0 axis of the motion control card, the ID thereof is configured as 0, the inter-board synchronization signal Sn, and the status signal generated by the motion control card n is configured as n. In this embodiment, the number of the synchronization signal mirror spaces 111 is consistent with the number of the motion control cards, as shown in fig. 1 and 5, for example, the inter-board synchronization signal S0 is ID-bound with the motion control card 0, the inter-board synchronization signal S0 is obtained or generated by the motion control card 0, the inter-board synchronization signal Sn is ID-bound with the motion control card n, the inter-board synchronization signal Sn is obtained or generated by the motion control card n, and further, the mirror images M0 … Mn of the motion control inter-board synchronization signals S0 to Sn form a unified inter-board synchronization signal mirror area.
In some embodiments, the step of reading the first inter-board synchronization signal includes: acquiring at least one inter-board synchronous signal ID bound with the ID of any motion control card, acquiring an inter-board synchronous signal ID corresponding to the first inter-board synchronous signal, and reading the first inter-board synchronous signal when the inter-board synchronous signal ID corresponding to the first inter-board synchronous signal is matched with one of the bound inter-board synchronous signal IDs; that is, only the inter-board synchronization signal bound to the current motion control card is acquired, but the inter-board synchronization signal synchronized from other motion control cards is not acquired, for example, the mirror image of the inter-board synchronization signal mirror image area mapped to the motion control card 0 is M0, the mirror image of the inter-board synchronization signal mirror image area mapped to the inter-board synchronization card 0 is M0, the inter-board synchronization signal Sn only associated to the motion control card n is acquired from the motion control card n, and the mirror image of the inter-board synchronization signal mirror image area mapped to the inter-board synchronization card is Mn.
Accordingly, the step of distributing the first inter-board synchronization signal to the inter-board synchronization signal areas of the plurality of motion control cards through the inter-board synchronization signal mirroring area includes: and acquiring an inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal, taking a motion control card which is not bound with the inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal as a distribution target, and distributing the first inter-plate synchronous signal to an inter-plate synchronous signal area of each distribution target by the inter-plate synchronous signal mirror area. The inter-board synchronous signals generated by the current motion control card are not mapped in the motion control card, and are only mapped to the inter-board synchronous signal areas of other motion control cards to form inter-board synchronous virtual signals. For example, mirror image M0 does not map to its associated motion control card 0, but to the inter-board sync signal areas of the other motion control cards, mn does not map to its associated motion control card n, but to the inter-board sync signal areas of the other motion control cards.
In some embodiments, when any one of the motion control cards performs a real-time task, the coordinated control method further includes: the method comprises the steps that external state signals are collected through the motion control card before the operation control instruction is executed or after the operation control instruction is executed, and when the external state signals are collected, second inter-board synchronous signals are set in an inter-board synchronous signal area of the motion control card according to the external state signals; mapping the second inter-board synchronizing signals to an inter-board synchronizing signal mirror area of an upper computer through the upper computer, and distributing the second inter-board synchronizing signals to inter-board synchronizing signal areas of a plurality of motion control cards through the inter-board synchronizing signal mirror area; and at least one of the plurality of motion control cards executes a new instruction according to the second inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link. In this embodiment, the inter-board synchronization signal is set by collecting the status signal outside the motion control card, so that the inter-board synchronization control is more flexible and the application range is wider.
The above embodiments describe a process of setting an inter-board synchronization signal in an inter-board synchronization signal area in one motion control card and mapping the inter-board synchronization signal to other motion control cards, and the following describes an overall process of setting the inter-board synchronization signal in the process of collecting an external status signal and executing an operation control instruction for a single motion control card. As shown in fig. 7, in conjunction with fig. 1, the step of setting the inter-board synchronization signal by the single motion control card in this embodiment includes:
S701, a motion control card enters an instruction to process a real-time task, and the step S702 is entered;
s702, collecting an external state signal through an input/output and driving module, and entering step S703;
s703, judging whether to set an inter-board synchronous signal based on an external state signal, if so, executing a step S704, otherwise, executing a step S705;
s704, setting a second inter-plate synchronous signal, updating the second inter-plate synchronous signal to an inter-plate synchronous signal area, and entering step 705;
s705, judging whether the currently listed operation control instruction is in operation, if so, executing the step S706, otherwise, executing the step S711;
s706, executing the current beat of the currently listed operation control instruction, and entering step S707;
s707, judging whether the current beat of the currently listed operation control instruction meets the association condition, if so, executing step S708, otherwise, executing step S709;
s708, setting a first inter-plate synchronous signal, updating the first inter-plate synchronous signal to an inter-plate synchronous signal area, and entering step S709;
s709, judging whether the execution of the currently listed operation control instruction is completed, if yes, executing a step S710, otherwise, executing a step S713;
s710, updating the completion state of the operation control instruction, and entering step S713;
S711, judging whether the instruction queue of the motion control card is empty, if yes, executing step S712, otherwise, executing step S713;
s712, acquiring an operation control instruction in the instruction queue, analyzing and executing the operation control instruction, and entering step S706;
s713, the motion control card exits the instruction processing real-time task.
The steps S701-S713 illustrate the process of setting two inter-board synchronization signals of the motion control card, by which the motion control card in this embodiment can set the inter-board synchronization signals in the process of executing the operation control command, or can set the inter-board synchronization signals by collecting the external status signals, and the two inter-board synchronization signals can be indiscriminately synchronized to other motion control cards through the inter-board synchronization signal mirror area of the upper computer.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
when the motion control card executes the operation control instruction of the synchronous signal between the associated boards, the indiscriminate mapping of the synchronous signal between the boards can be used for other motion control cards, linkage of motion axes controlled by different motion control cards can be realized, and because the motion control card does not need to stop waiting for the synchronous signal of other motion control cards after the operation control instruction is executed, the execution of one operation control instruction can be immediately executed after the execution of the next operation control instruction, so that the inquiry waiting time of the upper computer is saved, the linkage reaction is quick, expansion of the motion control card can be quickly carried out, the universality is good, and the application can be realized based on the existing motion control card and hardware resources of the upper computer, the cost is low, and the reliability is high.
It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.
Claims (10)
1. The linkage control system of the multiple motion control cards is characterized by comprising an upper computer and a plurality of motion control cards, wherein the motion control cards are in communication connection with the upper computer and comprise a first memory and a second memory;
wherein, the first memory is configured with an inter-board synchronous signal area, and the second memory stores the operation control instruction of the related inter-board synchronous signal;
The upper computer is configured with an inter-board synchronous signal mirror area, and the upper computer is configured to create an inter-board synchronous mirror thread, when the inter-board synchronous mirror thread executes a mirror task, an inter-board synchronous signal of an inter-board synchronous signal area of any motion control card can be mapped to the inter-board synchronous signal mirror area, and an inter-board synchronous signal mapped to the inter-board synchronous signal mirror area can be synchronously distributed to any motion control card.
2. The multiple motion control card coordinated control system of claim 1, wherein the inter-board synchronization signal region is configured as a continuous segment of physical address space in the first memory.
3. The multiple motion control card coordinated control system of claim 2, wherein said inter-board synchronization signal mirror is configured as a cache of said host computer, said cache having a fixed memory address space.
4. A multiple motion control card coordinated control system according to any one of claims 1 to 3 further comprising an input output and drive module for collecting status signals external to the motion control card which may be updated in corresponding inter-board synchronization signal regions of the motion control card to form inter-board synchronization signals.
5. A coordinated control method of a multiple motion control card, applied to the coordinated control system of a multiple motion control card according to any one of claims 1 to 4, characterized in that the coordinated control method comprises:
enabling the upper computer to run the synchronous mirror thread between the boards and execute the mirror task;
when any motion control card executes a real-time task, analyzing and executing a currently-listed operation control instruction in an instruction set queue of the real-time task, and judging whether the currently-listed operation control instruction is related to an inter-board synchronous signal or not;
if the association is performed, when the currently-listed operation control instruction is executed and the association condition is met, setting a first inter-board synchronous signal in an inter-board synchronous signal area of the motion control card, mapping the first inter-board synchronous signal to an inter-board synchronous signal mirror area of the upper computer through an upper computer, and distributing the first inter-board synchronous signal to the inter-board synchronous signal areas of a plurality of motion control cards through the inter-board synchronous signal mirror area;
and at least one of the plurality of motion control cards executes a new instruction according to the first inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link.
6. The method of claim 5, wherein the step of at least one of the plurality of motion control cards executing new instructions according to the first inter-board synchronization signal comprises:
and executing a search instruction in at least one of the plurality of motion control cards, wherein the search instruction is started before the execution of the currently-listed operation control instruction is finished, and is used for searching and confirming the first inter-board synchronous signal in a local inter-board synchronous signal area when the execution of the currently-listed operation control instruction is finished, and executing a new instruction according to a search result.
7. The method of claim 6, wherein before the step of any one of the motion control cards performing real-time tasks, the method further comprises:
sharing address information of an inter-board synchronous signal area of each motion control card to the upper computer, wherein the address information at least comprises a motion control card base address, an inter-board synchronous signal area base address and a synchronous signal offset address;
the step of mapping the first inter-board synchronization signal to the inter-board synchronization signal mirror area of the upper computer by the upper computer includes:
The ID of any one motion control card is obtained through an upper computer, and address information of a corresponding inter-board synchronous signal area is obtained according to the ID of any one motion control card;
and the inter-board synchronous signal mirror area of the upper computer accesses the inter-board synchronous signal area of any one motion control card according to the address information, reads the first inter-board synchronous signal and maps the first inter-board synchronous signal to the inter-board synchronous signal mirror area of the upper computer.
8. The method of claim 7, wherein before the step of any one of the motion control cards performing real-time tasks, the method further comprises:
according to the linkage requirement of the controlled motion axis, determining a plurality of inter-board synchronous signals to be distributed through the upper computer, correspondingly configuring a plurality of inter-board synchronous signal IDs, associating and binding each inter-board synchronous signal ID with the ID of the corresponding motion control card, and writing each inter-board synchronous signal ID into the operation control instruction of the corresponding motion control card as an instruction parameter;
and creating a plurality of synchronous signal mirror image spaces in the upper computer according to the inter-board synchronous signal IDs which are associated and bound by the IDs of the motion control cards, wherein the plurality of synchronous signal mirror image spaces integrally form the inter-board synchronous signal mirror image area.
9. The method of claim 7, wherein the step of reading the first inter-board synchronization signal comprises:
acquiring at least one inter-board synchronous signal ID bound with the ID of any motion control card, acquiring an inter-board synchronous signal ID corresponding to the first inter-board synchronous signal, and reading the first inter-board synchronous signal when the inter-board synchronous signal ID corresponding to the first inter-board synchronous signal is matched with one of the bound inter-board synchronous signal IDs;
the step of distributing the first inter-board synchronization signal to an inter-board synchronization signal area of a plurality of motion control cards through the inter-board synchronization signal mirroring area includes:
and acquiring an inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal, taking a motion control card which is not bound with the inter-plate synchronous signal ID corresponding to the first inter-plate synchronous signal as a distribution target, and distributing the first inter-plate synchronous signal to an inter-plate synchronous signal area of each distribution target by the inter-plate synchronous signal mirror area.
10. The coordinated control method of a multiple motion control card according to any one of claims 5 to 9, wherein when any one of the motion control cards performs a real-time task, the coordinated control method further comprises:
The method comprises the steps that external state signals are collected through the motion control card before the operation control instruction is executed or after the operation control instruction is executed, and when the external state signals are collected, second inter-board synchronous signals are set in an inter-board synchronous signal area of the motion control card according to the external state signals;
mapping the second inter-board synchronizing signals to an inter-board synchronizing signal mirror area of an upper computer through the upper computer, and distributing the second inter-board synchronizing signals to inter-board synchronizing signal areas of a plurality of motion control cards through the inter-board synchronizing signal mirror area;
and at least one of the plurality of motion control cards executes a new instruction according to the second inter-board synchronous signal, and the new instruction is synchronously executed with the next instruction executed by any one motion control card so as to control at least two controlled motion axes to synchronously link.
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