JP2004173141A - Method for tracing multiple-axis data - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a period and cost for developing a controller, display data traced in detail, and maintain the reliability and high accuracy of communication. <P>SOLUTION: A plurality of servo drives 12 update data traced for each tracing cycle synchronized with a communication cycle of a communication means A. The updated data are stored in a trace data storage means. When a trigger is established, a trigger notification is sent to a personal computer 13. When the personal computer 13 receives the trigger notification, an external trigger is sent to the plurality of servo drives 12 simultaneously. When those drives 12 receive the external triggers, the measurement of a post trigger time is started. The operation of storing data traced in the trace data storage means for each tracing cycle is continued until the post trigger time elapses. When the post trigger time has elapsed, all of the processings are completed. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method for storing and displaying internal information of a servo drive at the same time between multi-axis servo drives in a system including a controller, a multi-axis servo drive, and a personal computer.
[0002]
[Prior art]
A conventional multi-axis data tracing method will be described with reference to the drawings. FIG. 15 is a block diagram showing a configuration of a communication system to which a conventional multi-axis data trace method is applied. In the figure, a controller 11 and an n-axis servo drive 12 are connected by a communication means A14, and a controller 11 and a personal computer 13 are connected by a communication means B15. The communication unit A14 is a unit that periodically transmits and receives data, and the period of transmission and reception is called a communication period. The processing cycle of the n-axis servo drive 12 is synchronized with the communication cycle of the communication unit A14. That is, the servo drive 12 matches the start point of its own processing cycle with the start point of the communication cycle of the communication unit A14 for each communication cycle of the communication unit A14. The communication means B15 is a means for transmitting and receiving data irregularly at any time.
[0003]
FIG. 16, FIG. 17, and FIG. 18 are block diagrams each showing a means that the controller 11, the servo drive 12, and the personal computer 13 need to have in order to realize multi-axis data tracing. The controller 11 includes a trace data storage unit 17 and a trigger detection unit 18 (FIG. 16). The servo drive 12 does not need to have any special means to realize multi-axis data tracing (FIG. 17). The personal computer 13 does not need to have any special means to realize multi-axis data tracing (FIG. 18).
FIG. 19 is a flowchart showing the procedure of a conventional multi-axis data trace method. The user operates the personal computer 13 to start multi-axis data trace. In response to this, the personal computer 13 issues an instruction to start a multi-axis data trace operation to the controller 11 using the communication means B15. The personal computer 13 uses the communication means B15 to know that the controller 11 has completed the multi-axis data trace operation. When the controller 11 completes the multi-axis data tracing operation, the personal computer 13 uses the communication means B15 to send the stored data of the tracing target and information of the tracing target, the trace cycle, the pre-trigger time, and the post-trigger time from the controller 11 Is uploaded, the information is converted into a user-friendly expression, and then displayed on the screen.
[0004]
FIG. 20 is a flowchart showing a multi-axis data trace operation of the controller 11. When receiving an instruction to start a multi-axis data trace operation from the personal computer, the controller 11 starts the multi-axis data trace operation. First, the pre-trigger time measurement value and post-trigger time measurement value are cleared to zero. Thereafter, the following processing is performed for each trace cycle.
The trace cycle is a cycle in which data to be traced is acquired and stored, and a trigger establishment determination is made, and the user specifies this. This designation is stored in the controller 11 in advance by another method. The controller 11 acquires data to be traced from the n-axis servo drive 12 using the communication unit A14, and stores the data in the trace data storage unit 17. The trace target is internal information of the servo drive 12, such as motor speed and motor torque, and the user selects which information is to be traced. This selection is stored in the controller 11 in advance by another method. The data to be traced is updated by the servo drive 12 in each communication cycle of the communication means A14.
[0005]
The time required for the controller 11 to acquire the data to be traced from the n-axis servo drive 12 is within one communication cycle of the communication means A14. The trace data storage unit 17 is a storage unit having a FIFO structure. The trace data storage means 17 has a capacity sufficient to store the data to be traced for the n-axis for each trace cycle, which is the sum of the pre-trigger time and the post-trigger time. The pre-trigger time is a time from the start of the multi-axis data trace to the start of the trigger establishment determination by the trigger detection means 18. The post-trigger time is the time from when the trigger is established to when the multi-axis data trace ends. The designation of the pre-trigger time and the post-trigger time is stored in the controller 11 in advance by another method.
[0006]
Next, the controller 11 determines whether the pre-trigger time measurement value has reached the pre-trigger time. If the pre-trigger time has not been reached, the pre-trigger time measurement value is updated, and the process returns to the beginning of each trace cycle. Updating the pre-trigger time measurement value means adding one trace cycle time to the current value of the pre-trigger time measurement value. If the pre-trigger time has been reached, the controller 11 uses the trigger detecting means 18 to determine whether or not a trigger has been established. The trigger is an event that the value of the data to be traced on the designated axis satisfies the designated condition, and is called a trigger condition by combining the designation of the axis and the condition to be satisfied.
The trigger condition is stored in the controller 11 in advance by another method. Once the trigger has been established, the trigger has already been established until the multi-axis data trace operation is completed, and the trigger establishment determination by the trigger detecting means 17 is no longer performed. If the trigger has not been established, the controller 11 returns to the beginning of the processing performed for each trace cycle. If the trigger has been established, the post-trigger time measurement value is updated. Updating the post-trigger time measurement value means adding one trace cycle time to the current post-trigger time measurement value.
[0007]
Next, the controller 11 determines whether the post-trigger time measurement value has reached the post-trigger time. When the post-trigger time has not been reached, the process returns to the beginning of the process performed for each trace cycle. When the post-trigger time has been reached, the multi-axis data trace operation ends.
According to the above method, the trace target data is data updated in each communication cycle of the communication unit A14, and the controller 11 requests the n-axis servo drive 12 to acquire the trace target data. Since the communication is performed within one communication cycle of the communication unit A14, the data to be traced for the n axes at the same time can be acquired and displayed.
As described above, according to this method, it is possible to acquire and display multi-axis trace target data at the same time.
[0008]
However, in this method, the controller 11 needs to include the trace data storage unit 17 and the trigger detection unit 18. This has a demerit that, in the product development of the controller, the development period of the controller is lengthened only by a period necessary for providing the trace data storage unit 17 and the trigger detection unit 18. Further, since the trace data storage unit 17 needs to have a capacity sufficient to store the data to be traced for the n-axis for each trace cycle for the time obtained by adding the pre-trigger time and the post-trigger time. There is a disadvantage that it leads to an increase in the product cost of the controller.
Further, in this method, the controller 11 uses the communication means A as a means for acquiring the data to be traced from the servo drive. Therefore, the trace cycle cannot be set faster than the communication cycle of the communication means A. The trace cycle is the fastest and is the same as the communication cycle of the communication means A. In general, the communication cycle of the communication means A is often a cycle several times slower than the fastest cycle in which the servo drive can update the data to be traced internally. For this reason, the data to be traced can be acquired only in a cycle several times slower than the fastest cycle in which the servo drive can internally update the data to be traced. For this reason, even if the trigger is established, if the state is less than one communication cycle, the establishment of the trigger may not be detected. In addition, there is a demerit that displayed data becomes coarse (for example, see Non-Patent Document 1).
[0009]
[Non-patent document 1]
Technical report "Yaskawa Electric" Vol. 2, '94, Vol. 223, page 113
[0010]
[Problems to be solved by the invention]
As described above, in the related art, it is possible to acquire and display multi-axis trace target data at the same time, but since the controller needs to include the trace data storage unit and the trigger detection unit, the development period of the controller is long. In addition, there is a problem that the product cost of the controller increases. Furthermore, if the communication cycle of the communication means used as a means for the controller to acquire the data to be traced from the servo drive is slower than the fastest cycle at which the servo drive can internally update the data to be traced, it is not possible to detect the establishment of the trigger. In addition to the possibility, there is a problem that displayed data is coarse.
[0011]
The present invention solves these problems by reducing the controller development period and controller cost, enabling acquisition and display of multi-axis trace target data at the same time, and communication during the time when the trigger is established. Even if the time is less than one cycle, it is possible to detect the establishment of the trigger, to be able to display the trace target data in detail up to the cycle of updating, and to eliminate the need for broadcast communication, It is an object of the present invention to reduce the cost, maintain the reliability of communication, and keep the accuracy of the pre-trigger time and the post-trigger time high.
[0012]
[Means for Solving the Problems]
Therefore, the present invention provides a plurality of servo drives including a trace data storage unit and a trigger detection unit, a controller, a personal computer, a communication unit A for connecting the plurality of servo drives to the controller, and the plurality of servo drives. And the communication means B connecting the personal computer and the personal computer, the plurality of servo drives update the data to be traced at a cycle synchronized with the communication cycle of the communication means A. Is stored in the trace data storage means, and when a trigger is established, a trigger notification is transmitted to the personal computer.When the personal computer receives the trigger notification, an external trigger is simultaneously transmitted to the plurality of servo drives, and the plurality of servo drives are transmitted. When the servo drive receives the external trigger, it starts measuring the post-trigger time. The operation of storing the data to be traced in the trace data storage means is continued until the post-trigger time elapses, and when the post-trigger time elapses, the procedure is completed.
By the above means, the multi-axis trace target data at the same time can be acquired and displayed without increasing the development period of the controller and without increasing the product cost of the controller. In addition, the storage of the trace target data and the determination of the trigger establishment can be performed in the fastest cycle at which the data of the trace target can be updated, and even if the time when the trigger is established is less than one communication cycle. , It is possible to detect the establishment of the trigger. Then, the data to be traced can be displayed finely up to the fastest cycle that can be updated.
The present invention also provides a plurality of servo drives each including a trace data storage means and a trigger detection means, a controller, a personal computer, a communication means A for connecting the plurality of servo drives and the controller, and a plurality of servo drives. And a communication means B connecting the personal computer and the personal computer, wherein the plurality of servo drives update the data to be traced at a cycle synchronized with the communication cycle of the communication means A. The post-trigger time is stored in the trace data storage means, and when the trigger is established, a post-trigger time elapsed time based on the network time is calculated. Receives the external trigger, the post-trigger time received The external trigger in which the elapsed time is set is transmitted to the servo drives other than the transmission source one by one in order, and the plurality of servo drives store the data to be traced in the trace data storage means. The present invention is characterized in that it has a procedure in which the process is continued until the post-trigger time elapsed time set in the received external trigger is reached, and when that time is reached, all the processes are completed.
According to the above means, the transmission of the external trigger does not need to be simultaneous, and it is sequentially transmitted to the servo drives other than the transmission source one by one, so that the broadcast communication is unnecessary. Therefore, general communication means can be adopted as the communication means, and the cost does not increase. In addition, since it is possible to confirm whether or not the transmitted data has been received without fail, the reliability of communication does not decrease. Further, the time delay between the trigger establishment time and the external trigger reception time does not affect the post-trigger time elapsed time, and the accuracy of the pre-trigger time and post-trigger time does not deteriorate.
Further, since the communication means A and the communication means B are logical communication means, they can be logically distinguished and multiplexed to realize a physical communication means with a single communication cable. it can. By combining the communication cables into one, the number of wirings can be reduced, so that effects such as cost reduction and quality improvement can be obtained.
Further, the device for calculating the post-trigger time elapsed time based on the network time need not be limited to the servo drive in which the trigger has been established, but may be performed by any of the components of the communication system. That is, the time information that the servo drive in which the trigger is established is set to the external trigger is not limited to the post-trigger time elapsed time, and is time information based on the network time relating to the time in which the trigger is established. The post-trigger time elapsed time can be calculated by any device that has received the time information set in the external trigger. That is, the content of the time information based on the network time relating to the time when the trigger is set to the external trigger and the device for calculating the post-trigger time elapsed time may be selected according to the convenience of the communication system.
[0013]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the multi-axis data trace method of the present invention. The controller 11 and the n-axis servo drive 12 are connected by communication means A14. The personal computer 13 and the n-axis servo drive 12 are connected by the communication means B15. The communication means A14 is a means for periodically transmitting and receiving data, and the transmission and reception cycle is called a communication cycle. The processing cycle of the n-axis servo drive 12 is synchronized with the communication cycle of the communication unit A14. That is, the servo drive 12 matches the start point of its own processing cycle with the start point of the communication cycle of the communication unit A14 for each communication cycle of the communication unit A14. The communication means B15 is a means for transmitting and receiving data irregularly at any time.
FIGS. 2, 3, and 4 are block diagrams each showing a means that the controller 11, the servo drive 12, and the personal computer 13 need to have in order to realize multi-axis data tracing. The controller 11 does not need to have any special means to realize multi-axis data tracing (FIG. 2). The servo drive 12 includes a trace data storage unit 16 and a trigger detection unit 17 (FIG. 3). The personal computer 13 does not need to have any special means to realize multi-axis data tracing (FIG. 4).
[0014]
FIG. 5 is a flowchart showing the procedure of the multi-axis data trace method of the present invention. The user operates the personal computer 13 to start multi-axis data trace. Upon receiving the instruction, the personal computer 13 simultaneously issues a data trace start instruction to the n-axis servo drive 12 by broadcast communication using the communication means B15. In response, servo drive 12 starts a data trace operation. When the servo drive 12 starts the data tracing operation, the personal computer 13 waits until the communication unit B15 receives a trigger notification from the servo drive 12. The trigger notification means that the servo drive 12 transmits the fact that the trigger has been established by the trigger detection unit 17 to the personal computer 13 by the communication unit B15. Upon receiving the trigger notification, the personal computer 13 simultaneously transmits an external trigger to the n-axis servo drive 12 by broadcast communication using the communication unit B15. Thereafter, when the servo drive 12 completes the data trace operation, the personal computer 13 uploads the stored data of the trace target and the information of the trace target, the trace cycle, the pre-trigger time, and the post-trigger time from the n-axis servo drive 12. Then, after converting the information into an expression that is easy for the user to understand, the information is displayed on the screen.
[0015]
FIG. 6 is a flowchart showing the data trace operation of the servo drive 12. First, the pre-trigger time measurement value and post-trigger time measurement value are cleared to zero. Thereafter, the following processing is performed for each trace cycle. The trace cycle is a cycle in which data to be traced is acquired and stored, and a trigger establishment determination is made, and the user specifies this. This designation is stored in the servo drive 12 by another method in advance. The trace cycle is synchronized with the processing cycle of the servo drive 12. The servo drive 12 acquires the data to be traced and stores it in the trace data storage unit 17. The trace target is internal information of the servo drive 12 itself such as a motor speed and a motor torque, and the user selects which information is to be traced. This selection is previously stored in the servo drive 2 by another method. The data to be traced is updated by the servo drive 12 every trace cycle. The acquired data to be traced is internal information of the servo drive 12 itself, and therefore, only data movement within the servo drive 12 is required for acquisition, and there is no need to use communication means. Therefore, the storage of the acquired trace target data in the trace data storage unit 17 and the determination of the trigger establishment by the trigger detection unit 18 can be performed at the fastest cycle at which the trace target data can be updated. The trace data storage unit 17 is a storage unit having a FIFO structure. The trace data storage means 17 has a capacity sufficient to store the data to be traced for one axis for each trace cycle, which is the sum of the pre-trigger time and the post-trigger time.
[0016]
The pre-trigger time is a time from the start of the data trace to the start of the trigger establishment determination by the trigger detection unit 18. The post-trigger time is the time from when the trigger is established to when the data trace ends. The designation of the pre-trigger time and the post-trigger time is stored in advance in the servo drive 12 by another method.
Next, the servo drive 12 determines whether the pre-trigger time measurement value has reached the pre-trigger time. If the pre-trigger time has not been reached, the pre-trigger time measurement value is updated, and the process returns to the beginning of each trace cycle. Updating the pre-trigger time measurement value means adding one trace cycle time to the current value of the pre-trigger time measurement value. If the pre-trigger time has been reached, the servo drive 12 uses the trigger detection means 18 to determine whether a trigger has been established. The trigger is an event that the value of the data to be traced on the specified axis satisfies the specified condition, and instructs the self-axis of the n-axis servo drive 12 to perform the trigger detection. The information as to whether the condition is satisfied and the condition to be satisfied are called a trigger condition.
[0017]
The trigger condition is stored in the servo drive 12 by another method in advance. The trigger detection is performed only on the axis whose own axis is instructed to perform the trigger detection according to the trigger condition, and not performed on the axis whose own axis is instructed not to perform the trigger detection. When the trigger is established, a trigger notification is transmitted to the personal computer 13 using the communication means B15. The trigger notification is transmitted only for the first time when the trigger is established, and is not transmitted after that until the data trace operation is completed, even if the trigger is established.
Next, the servo drive 12 determines whether or not an external trigger has been received from the personal computer 13 by the communication means B15. Once the external trigger is received, the external trigger is received after that until the data trace operation is completed. If the external trigger has not been received, the process returns to the beginning of the process performed for each trace cycle. If received, the post-trigger time measurement value is updated. Updating the post-trigger time measurement value means adding one trace cycle time to the current post-trigger time measurement value. Next, the servo drive 12 determines whether the post-trigger time measurement value has reached the post-trigger time. When the post-trigger time has not been reached, the process returns to the beginning of the process performed for each trace cycle. When the post-trigger time has been reached, the data trace operation ends. The external trigger is simultaneously received by the n-axis servo drive 12, and the same value is set for the post-trigger time for the n-axis servo drive 12. Therefore, the n-axis servo drive 12 ends the data trace operation at the same time after the post-trigger time has elapsed after receiving the external trigger.
[0018]
According to the above method, the data to be traced is data updated in each trace cycle synchronized with the communication cycle of the communication means A14, and when the servo drive 12 has a trigger, a trigger notification is sent to the personal computer 13. The personal computer 13 transmits the external trigger to the n-axis servo drive 12 at the same time, and the n-axis servo drive 12 receives the external trigger at the same time. , N-axis servo drives 12 at the same time, so that it is possible to acquire and display n-axis trace target data at the same time.
[0019]
Next, a second embodiment of the present invention will be described. FIG. 7 is a block diagram showing the configuration of the multi-axis data trace method of the present invention. The controller 21 and the n-axis servo drive 22 are connected by communication means A24. The personal computer 23 and the n-axis servo drive 22 are connected by the communication means B25. The communication means A 24 is a means for periodically transmitting and receiving data, and the transmission and reception cycle is called a communication cycle. The processing cycle of the n-axis servo drive 22 is synchronized with the communication cycle of the communication unit A24. That is, the servo drive 22 matches the start point of its own processing cycle with the start point of the communication cycle of the communication unit A24 for each communication cycle of the communication unit A24. The communication means B25 is a communication means for transmitting and receiving data irregularly at any time.
[0020]
FIGS. 8, 9, and 10 are block diagrams each showing a means that the controller 21, the servo drive 22, and the personal computer 23 need to have in order to realize the multi-axis data trace. The controller 21 has a network time 26. (FIG. 8). The network time 26 is a time shared by the devices connected to the communication unit A24, updated by the controller 21, and distributed to other devices using the communication unit A24. The servo drive 22 includes a network time 26 distributed from the controller 21, a trace data storage unit 27, and a trigger detection unit 28 (FIG. 9). The personal computer 23 does not need to have any special means for realizing the multi-axis data trace (FIG. 10).
[0021]
Hereinafter, embodiments of the present invention will be described with reference to flowcharts. Here, it is assumed that the trace cycle, the trace target, the trigger condition, the pre-trigger time, and the post-trigger time are already set in the n-axis servo drive 22 by another method. The trace cycle is a cycle in which data to be traced is stored and trigger detection is performed. The trace cycle is synchronized with the processing cycle of the servo drive 22. The trace target is a target to be stored and displayed in the multi-axis data trace, and is internal information of the servo drive 22, such as a motor speed and a motor torque. The data to be traced is updated by the servo drive 22 every trace cycle. The trigger is an event that a trace target satisfies a specified condition, and the trigger condition is a condition to be satisfied. When the trace target satisfies the designated condition, it is said that the trigger has been established, and when it is determined whether the trigger has been established, the trigger is detected. The pre-trigger is before the trigger is established, and the pre-trigger time is a time from when the servo drive 22 starts storing the data to be traced until when the trigger detection starts. The post-trigger is a time after the trigger is established, and the post-trigger time is a time from when the trigger is established to when the servo drive 22 finishes storing the data to be traced. The unit of the pre-trigger time and the post-trigger time is a unit representing a difference between two points of the network time.
[0022]
FIG. 11 is a flowchart showing the multi-axis data trace processing of the personal computer. First, the personal computer 23 transmits a data trace start instruction to the n-axis servo drive 22 one by one in order by the communication means B25. Next, the personal computer 23 waits until an external trigger is received from any of the servo drives 22 by the communication unit B25. The external trigger is received only once and those received after that reception are ignored. The data content of the external trigger includes the post-trigger time elapsed time calculated by the servo drive 22. Upon receiving the external trigger, the personal computer 23 transmits the received external trigger one by one to the servo drives 22 other than the transmission source of the external trigger among the n-axis servo drives 22.
Next, the personal computer 23 waits until the n-axis servo drive 22 ends the data trace processing. Whether or not the n-axis servo drive 22 has completed the data trace processing can be known by the communication means B25. When the n-axis servo drive 22 completes the data trace processing, the personal computer 23 uploads the data to be traced stored in the trace data storage means 28 from the n-axis servo drive 22 by the communication means B25, After converting it into a user-friendly expression, it is displayed on the screen.
[0023]
FIG. 14 is a flowchart showing the data trace processing of the servo drive 22. The servo drive 22 starts this processing when receiving a data trace start instruction from the personal computer 23. The servo drive 22 performs the following processing for each trace cycle. First, the data to be traced is stored in the trace data storage unit 28. The trace data storage unit 28 is a storage unit having a FIFO structure. The trace data storage means 28 has a capacity sufficient to store the data to be traced for one axis for each trace cycle, which is the sum of the pre-trigger time and the post-trigger time. Next, the servo drive 22 determines whether an external trigger has been received from the personal computer 23. Once the external trigger is received, the external trigger is received until the data trace processing is completed thereafter. If the external trigger has been received, the process proceeds to the determination of the post-trigger time elapsed time. If the external trigger has not been received, the process proceeds to the determination of the elapse of the pre-trigger time. When proceeding to the determination of the elapse of the pre-trigger time, it is determined whether or not the time has elapsed by the pre-trigger time from the start of this processing. The pre-trigger time is set to a value equal to or longer than the time required for the personal computer 23 to transmit the data trace start instruction to the n-axis servo drive 22 one by one in order by the communication means B25. . If the pre-trigger time has not elapsed, the process returns to the beginning. If the pre-trigger time has elapsed, the trigger detecting means 28 determines whether the trigger has been established. Once the trigger is established, the trigger is established until the data trace processing is completed. If the trigger has not been established, the process returns to the beginning of this processing. If the trigger has been established, it is determined whether or not the trigger has been established is the first time since the start of this processing. If it is not the first time, the process proceeds to the determination of the post-trigger time elapsed time. If it is the first time, the post-trigger time elapsed time is calculated. The post-trigger time elapsed time is a time obtained by adding the post-trigger time to the time when the trigger is established, and is calculated by the equation (1).
Post-trigger time elapsed time = Trigger establishment time + Post-trigger time (1)
The unit of the post-trigger time elapsed time and the trigger establishment time is the network time. The trigger establishment time is the current value of the network time.
[0024]
Next, an external trigger in which the calculated post-trigger time elapsed time is set is transmitted to the personal computer 23. When receiving the external trigger, the personal computer 23 transmits the received external trigger to the servo drive 22 other than the transmission source. As a result, all the n-axis servo drives 22 share the same post-trigger time elapsed time. The post-trigger time is set to a value equal to or longer than the time required for the source servo drive 22 to transmit the external trigger to the personal computer 23 and for the personal computer 23 to finish transmitting the external trigger to the non-source servo drive 22. Next, the servo drive 22 determines whether the current value of the network time is a post-trigger time elapsed time. If the post-trigger time has not elapsed, the process returns to the beginning. If the post-trigger time has elapsed, the process ends. Since the n-axis servo drive 22 shares the same network time and the same post-trigger time elapsed time, the n-axis servo drive 22 ends the data trace processing at the same time.
[0025]
FIG. 13 is a memory map showing data contents stored in the trace data storage unit 28 at the end of the data trace processing. The pre-trigger data 29 is data to be traced which is stored from a point in time when the pre-trigger time is earlier than when the trigger is established until immediately before the trigger is established. The post-trigger data 30 is data to be traced stored between the time when the trigger is established and the time when the data tracing process ends. The trace data storage means 28 has a FIFO structure, and stores the data from old data to new data in ascending order of the addresses. Therefore, the last address corresponds to the last address of the post-trigger data 30. Further, an address which is traced back from the last address by the amount of the post-trigger data 30 corresponds to the last of the pre-trigger data 29, and the head of the post-trigger data 30 follows the last of the pre-trigger data 29. Further, an address which is traced back from the head of the post-trigger data 30 by the capacity of the pre-trigger data 29 corresponds to the head of the pre-trigger data 29. In the memory map, at least the data stored in the range of the pre-trigger data 29 and the post-trigger data 30 starting from the last address is updated between the n-axis servo drives 22 at the same time. Data. When uploading the data to be traced, the personal computer 23 uploads data in this range.
[0026]
Hereinafter, a case where the servo drive 22 has three axes, axis 1, axis 2, and axis 3 and a trigger is established on axis 1, will be described as an example along a time chart. FIG. 14 is a time chart of the present example. First, the personal computer 23 transmits the data trace start instruction 31 to the three-axis servo drive 22 one by one in order to the three-axis servo drive 22 by the communication means B25. Next, the personal computer 23 waits until an external trigger 32 is received from any of the servo drives 22 by the communication unit B25. Upon receiving the data trace start instruction from the personal computer 23, the three-axis servo drive 22 starts data trace processing. In the data trace processing, the data to be traced is stored in the trace data storage unit 28 for each trace cycle. Next, in the three-axis servo drive 22, when the pre-trigger time has elapsed, the trigger detection unit 28 starts determining whether or not a trigger has been established. When a trigger is established in the servo drive 22 of the axis 1, the servo drive 22 calculates a post-trigger time elapsed time 33. The post-trigger time elapsed time 33 is a time obtained by adding the post-trigger time to the time when the trigger is established.
[0027]
Next, the servo drive 22 of the axis 1 transmits the external trigger 32 in which the post-trigger time elapsed time 33 is set to the personal computer 23 by the communication means B25. When receiving the external trigger 32, the personal computer 23 transmits the received external trigger 32 to the servo drives 22 of the axes 2 and 3 one by one in order. Thus, the three-axis servo drives 22 share the same post-trigger time elapsed time.
Next, when the network time reaches the post-trigger time elapsed time, the servo drive 22 ends the data trace processing. Since the three-axis servo drives 22 share the same network time and the same post-trigger time elapsed time, the three-axis servo drives 22 end the data trace processing at the same time.
Next, when the servo drive 22 ends the data trace processing, the personal computer 23 uploads the trace target data 34 stored in the trace data storage means 28 from the three-axis servo drive 22 by the communication means B25, After converting it into a user-friendly expression, it is displayed on the screen.
[0028]
【The invention's effect】
As described above, according to the first aspect of the present invention, it is possible to acquire and display multi-axis trace target data at the same time without providing a trace data storage unit and a trigger detection unit in the controller. Therefore, there is an effect that the multi-axis trace target data at the same time can be acquired and displayed without increasing the development period of the controller and without increasing the product cost of the controller.
Further, since the servo drive includes the trace data storage means and the trigger detection means, the storage of the data to be traced and the determination of the establishment of the trigger can be performed at the fastest cycle at which the data to be traced can be updated, and the trigger is established. Even if the performed time is less than one communication cycle, the establishment of the trigger can be detected. In addition, the data to be traced can be displayed finely up to the fastest renewable cycle.
According to the second aspect of the present invention, when a trigger is established in the servo drive, the servo drive calculates the post-trigger time elapsed time based on the network time, and sets the calculated post-trigger time elapsed time to the external time. Send the trigger to the personal computer. The personal computer transmits the external trigger in which the post-trigger time elapsed time is set to each servo drive other than the transmission source one by one in order. For this reason, since the transmission of the external trigger does not need to be simultaneous, the broadcast communication is not performed.
Thus, the communication means does not need to be a communication means capable of performing broadcast communication, and there is an effect that a general communication means can be employed as the communication means and the cost of the system can be suppressed.
Further, since the broadcast communication is not performed, it is possible to confirm whether or not the transmitted data has been received without fail, and the reliability of the communication does not decrease.
Furthermore, since the post-trigger time elapsed time is calculated by adding the post-trigger time to the trigger established time, the time delay between the trigger established time and the external trigger reception time does not affect the post-trigger time elapsed time. There is an effect that the accuracy of the time and the post-trigger time can be kept high.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a communication system to which a method of the present invention is applied.
FIG. 2 is a controller of FIG. 1;
FIG. 3 is a servo drive of FIG. 1;
FIG. 4 is a personal computer of FIG.
FIG. 5 is a flowchart showing the procedure of the method of the present invention.
FIG. 6 is a flowchart showing a procedure of a data trace operation of the present invention.
FIG. 7 is a block diagram showing a configuration of a communication system to which the second method of the present invention is applied;
FIG. 8 is a controller of FIG. 7;
FIG. 9 is a servo drive of FIG. 7;
FIG. 10 is a personal computer of FIG.
FIG. 11 is a flowchart showing a procedure of a second method of the present invention.
FIG. 12 is a flowchart showing a procedure of a second data trace operation of the present invention.
FIG. 13 is a memory map for supplementary explanation of the second method.
FIG. 14 is an imchart for supplementary explanation of the second method.
FIG. 15 is a block diagram showing a configuration related to a first related art.
FIG. 16 shows the controller of FIG.
FIG. 17 shows the servo drive shown in FIG.
18 is a personal computer of FIG.
FIG. 19 is a flow chart showing the procedure of a prior art method.
FIG. 20 is a flowchart showing a multi-axis data trace operation of the related art.
[Explanation of symbols]
11, 21 Controller
12, 22 Servo drive
13,23 PC
14, 24 Communication means A
15, 25 Communication means B
26 Network time
17, 27 trace data storage means
18, 28 trigger detection means
29 Pre-trigger data
30 Post trigger data
31 Data trace start instruction
32 External trigger
33 Post trigger time elapsed time
34 Trace target data

Claims (4)

A plurality of servo drives each including a trace data storage unit and a trigger detection unit; a controller; a personal computer; a communication unit A for connecting the plurality of servo drives and the controller; and the plurality of servo drives and the personal computer. In a communication system comprising communication means B to be connected,
The plurality of servo drives update the data to be traced at a cycle synchronized with the communication cycle of the communication means A;
Storing the updated data of the trace target in the trace data storage means,
If the trigger is established, send a trigger notification to the personal computer,
When the personal computer receives the trigger notification, simultaneously transmits an external trigger to the plurality of servo drives,
If the plurality of servo drives receive the external trigger, start measuring the post-trigger time,
The operation of storing the data to be traced in the trace data storage means is continued until the post-trigger time elapses,
A multi-axis data tracing method having a procedure of terminating all processes when the post-trigger time has elapsed. A plurality of servo drives each including a trace data storage unit and a trigger detection unit; a controller; a personal computer; a communication unit A for connecting the plurality of servo drives and the controller; and the plurality of servo drives and the personal computer. In a communication system comprising communication means B to be connected,
The plurality of servo drives update the data to be traced at a cycle synchronized with the communication cycle of the communication means A;
Storing the updated trace target data in the trace data storage means,
If the trigger is established, calculate the post-trigger time elapsed time based on the network time,
Sending an external trigger to which the calculated post-trigger time elapsed time is set to the personal computer;
When the personal computer receives the external trigger, transmits the external trigger in which the received post-trigger time elapsed time is set to a servo drive other than the transmission source one axis at a time,
The plurality of servo drives continue the process of storing the data to be traced in the trace data storage means until the network time reaches the post-trigger time elapsed time,
A multi-axis data tracing method having a procedure of terminating all processes when the time is reached. 3. The multi-axis communication system according to claim 1, wherein said communication means A and said communication means B are communication means logically distinguished and multiplexed using one physical communication cable. Data trace method. The time information set by the servo drive in which the trigger is established to the external trigger is time information based on the network time related to the time in which the trigger is established, other than the post-trigger time elapsed time, and the post-trigger time elapsed time The multi-axis data tracing method according to claim 2, wherein is calculated by any one of the devices constituting the communication system other than the servo drive for which the trigger has been established.

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