JP2009009409A - Host controller, motion controller, motion control device, and synchronous method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To dispense with the necessity of indicating operation start timing from a host controller to a motion controller, and to drive a motor with no synchronous error by the plurality of motion controllers, based on a command given from the host controller. <P>SOLUTION: The host controller 100 is provided with a synchronous command generating part 115 for generating a synchronous command, and the motion controller 2001 is provided with an ID storage part 2701 for storing a motion controller ID that is a univalent value on a high order network 300, a host command analysis part 2201 for analyzing the synchronous command to generate a synchronous motion command, and a synchronous motion processing part 2601 for executing the synchronous motion command generated by the host command analysis part 2201, while synchronized with other motion controller. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motion control apparatus in which a plurality of motion controllers connected to a host controller operate synchronously and a synchronization method thereof.

First, a conventional motion control apparatus will be described with reference to the drawings.
FIG. 9 shows a block diagram of a conventional motion control apparatus.
In the figure, 9 is a conventional motion control device, 100 is a host controller, 200i (i is a positive integer) is a plurality of motion controllers, 300 is a host network, 400 is a synchronous network, and 500j is a plurality of motors 500j. (J is a positive integer).
The host controller 100 is connected to a plurality of motion controllers 200i via the host network 300, and the host network 300 transmits and receives communication packets by asynchronous communication. The motion controller 200i is connected to a plurality of motors 500j via a synchronous network 400, and communication packets are transmitted and received by the synchronous network 400 through synchronous communication.
The host controller 100 includes a command generation unit 110 and a communication processing unit 120. The command generation unit 110 generates, for example, a host command as shown in FIG. 10 and gives it to each motion controller 200i.
FIG. 10 shows an example of the higher order command.
The host command 600 stores “type of trajectory” and “parameter of trajectory”.
For example, in the case of linear interpolation, the target position of each motor and the speed in the vector direction are stored in the higher order command 600.
The host command 600 generated by the command generator 110 in this way is transmitted by the communication processing unit 120 to the motion controller 200i through the host network 300.
The motion controller 200i that has received the host command 600 from the host controller 100 drives the motor 500j connected to the synchronous network 400 as described below according to the contents of the received host command 600.

Therefore, next, the motion controller 200i will be described.
The motion controller 200i includes a host communication processing unit 210i, a host command analysis unit 220i, a motion command FIFO 230i, a motion command processing unit 240i, and a synchronous communication processing unit 250i.
First, the host communication processing unit 210i communicates with the host controller 100 via the host network 300 and receives the host command 600 (FIG. 10) from the host controller 100. The upper command 600 received by the upper communication processing unit 210i is sent to the upper command analysis unit 220i.
The higher order command analysis unit 220i generates a motion command (FIG. 11) from the higher order command 600.
FIG. 11 shows an example of a motion command.
The motion command 700 includes “type of trajectory” and “parameter of trajectory”.
For example, in the case of linear interpolation, the start position and end position of each motor and the speed of each motor are included in the motion command.
The motion command 700 generated by the upper command analysis unit 220i in this way is stored in the next motion command FIFO 230i. In the motion command FIFO 230i, the motion command is managed by a first-in first-out method.
The motion command processing unit 240i is activated from the synchronous communication processing unit 250i at regular intervals.

The processing flow of the motion command processing unit 240i is shown in FIG.
When the motion command processing unit 240i (FIG. 9) is activated, it is first checked whether or not the motion command FIFO 230i is empty (S100).
When the motion command FIFO 230i is empty, the motion command processing unit 240i ends without performing any processing. If the motion command FIFO 230i is not empty, S110 is executed.
In S110, referring to the motion command 700 (FIG. 11) stored at the head of the motion command FIFO 230i, the command value for the motor 500j is calculated every moment.
The calculated command value for the motor 500j is transmitted to the synchronous network via the synchronous communication processing unit 250i (S120).
Next, it is confirmed whether the motion command stored at the head of the motion command FIFO 230i has been executed to the end (S130).
When the motion command is executed to the end, the motion command stored at the head of the motion command FIFO 230i is deleted from the motion command FIFO 230i (S140).
When the motion command is deleted from the motion command FIFO 230i, the next motion command is set at the head of the motion command FIFO 230i.
When the motion command processing unit 240i is activated next time, the motion command 700 newly set at the head of the motion command FIFO 230i is executed.

FIG. 13 is a functional block diagram of the synchronous communication processing unit 250i.
13, the synchronous communication processing unit 250i (FIG. 9) includes an interrupt handler 251i, a transmission double buffer 252i, a reception double buffer 253i, and a communication chip 255i.
FIG. 14 is a diagram illustrating a synchronization frame and a communication cycle of the synchronization network.
When the synchronization frame Sf flows on the synchronization network 400 (FIG. 9), one communication cycle of the synchronization network 400 starts. Communication is performed at a fixed period T on the synchronous network 400, with a fixed time as one communication period T starting from the synchronization frame Sf. The interrupt handler 251i (FIG. 13) is activated when a synchronization frame flows through the synchronization network 400.

FIG. 15 is a flowchart showing a processing procedure of a conventional interrupt handler.
When the interrupt handler 251i is activated, first, the transmission double buffer 252i is switched (S500).
Next, a transmission request is made to the communication chip 255i (S510), and the reception double buffer 253i is switched (S520).
Finally, the motion command processing unit 240i is activated (S530).

FIG. 16 is a diagram illustrating transmission processing of the synchronous communication processing unit.
The transmission double buffer 252i (FIG. 13) in the synchronous communication processing unit 250i (FIG. 9) has two buffers for writing and reading.
In FIG. 16, the write buffer of the transmission double buffer 252i is accessed when the motion command processing unit 240i (FIG. 9) writes a command value for the motor 500i (FIG. 9).
The read buffer of the transmission double buffer 252i is accessed when the communication chip 255i (FIG. 13) sends a communication packet to the synchronous network 400 (FIG. 9). Since the interrupt handler 251i (FIG. 13) switches the transmission double buffer 252i, the buffer that has been the write buffer in the cycle t becomes the read buffer in the next cycle t + 1. For this reason, the data written in the write buffer at the cycle t moves to the read buffer at the cycle t + 1. In period t + 1, the communication chip 255i reads data from the read buffer and sends it as a communication packet on the synchronous network 400.

FIG. 17 is a diagram illustrating a reception process of the synchronous communication processing unit.
The reception double buffer 253i (FIG. 13) in the synchronous communication processing unit 250i (FIG. 9) has two buffers for writing and reading.
In FIG. 17, the write buffer of the reception double buffer 253i is accessed when the communication chip 255i (FIG. 13) receives a communication packet on the synchronous network 400 (FIG. 9).
The read buffer of the reception double buffer 253i (FIG. 13) is accessed when the motion command processing unit 240i (FIG. 9) reads the response value from the motor 500i (FIG. 9). Since the interrupt handler 251i switches the reception double buffer 253i, the buffer that has been the writing buffer in the cycle t becomes the reading buffer in the next cycle t + 1. For this reason, the communication packet received from the synchronous network 400 (FIG. 9) at the period t is moved to the read buffer at the period t + 1. The motion command processing unit 240i can read the communication packet at the cycle t + 1.

In the conventional motion control apparatus shown in FIG. 9, considering the case where the host controller 100 operates a plurality of motion controllers 200i in synchronization, in this case, the host controller 100 wants to operate a plurality of motions to be operated in synchronization. A higher order command is simultaneously transmitted to a plurality of motion controllers 200i via the higher order network 300 to the controller 200i. Here, the upper network 300 is asynchronous communication, and there is a possibility that a difference occurs in the arrival time of the packet transmitted depending on the communication load.
Moreover, there is a possibility that the execution of the upper command analysis unit 220i may be awaited depending on the load status of the CPU mounted on the motion controller 200i. For this reason, even if the host controller 100 simultaneously transmits a host command to a plurality of motion controllers 200i, it cannot be guaranteed that the respective motion controllers 200i start commands to the motor 500i at the same time.
On the other hand, in the prior art 1, there is a method in which the host controller instructs each motion controller to drive a motion command at a certain time. However, in this method, the time of the motion controller is shifted. In such a case, the timing for driving the motor has shifted.
Further, in the prior art 2, there is a technique for adjusting the time of the motion controller. If the time of the motion controller coincides with this, and if it is prepared to drive the motion command when the specific time comes, the timing at which each motion controller drives the motor coincides. However, due to the processing load of the motion controller and performance differences, it was not possible to guarantee that the command received from the host controller by the motion controller in a certain time. In other words, one motion controller can immediately process a higher order command, but another motion controller may take time to process a higher order command. For this reason, it is necessary to take a sufficiently long time from the time when the host controller transmits the host command to each motion controller to the time when the motion command is processed.

In the prior art 3, there is a method in which an instruction is given to the slave in advance, the master broadcasts the synchronization signal all at once, and the slave starts processing simultaneously when the broadcast synchronization signal is received. The motion controller cannot guarantee the time until the operation is started after receiving the command from the host controller, so when this method is applied, the master sends the command to the slave and then sends the synchronization signal all at once. It was necessary to take a long enough time. As in the prior art 2, there is no guarantee that the motion controller can process the command received from the host controller in a certain time.
In the conventional technique 4, there is a technique of having a shared memory shared by a plurality of CPUs and synchronizing a plurality of servos using a timing signal path or an address bus.
In the prior art 5, a synchronization pulse is shared between the host device and a plurality of servo drivers, and the internal clock of the servo driver is synchronized. Although these techniques can synchronize the start timing of each control cycle of a plurality of devices, it is not possible to guarantee that the processing start is simultaneous when a command is given to a plurality of devices.

In the prior art 6, a mechanism in which a plurality of robots operate synchronously is disclosed (see Patent Document 1). For example, when two robots, that is, the robot 1 and the robot 2 are synchronized, the following procedure is performed.
1) The robot 1 raises the robot 2 flag.
2) The robot 1 waits until its flag is set.
3) Since the robot 2 has set its own flag, the robot 2 clears the flag, sets the flag of the robot 1, and starts processing.
4) Since the robot 1 has its own flag, the robot 1 clears the flag and starts processing.
According to this method, it is possible for a plurality of robots to operate in synchronization to some extent. However, there is a possibility that a synchronization error corresponding to the processing cycle of the robot 1 and the robot 2 occurs.
JP-A-9-244731 (FIG. 1)

  The present invention has been made in view of such problems, and it is not necessary for the host controller to instruct the operation start timing to a plurality of motion controllers, and a plurality of commands are based on commands given from the host controller. It is an object of the present invention to provide a motion control device in which a motion controller can drive a motor without synchronization error.

In order to solve the above-described problem, the host controller according to claim 1 includes a command generation unit that generates, for a plurality of motion controllers, a higher level command including a type of trajectory and parameters of the trajectory, and the command generation unit. In a host controller provided with a communication processing unit that transmits a command generated by the motion controller,
A synchronization command generation unit that generates a synchronization command including a command ID that uniquely indicates a command and motion controller IDs of all the motion controllers that operate in synchronization is provided.
The motion controller invention according to claim 2 provides a means for receiving from the host controller a command ID that uniquely indicates the command and a synchronization command including the motion controller IDs of all the motion controllers that operate synchronously. A high-order command analysis unit that receives and analyzes the high-order command issued by the high-order controller via the communication processing unit and the high-order communication processing unit, and generates a motion command including a type of locus and a parameter of the locus; A motion command FIFO that holds the motion command generated by the host command analysis unit, and a motion command processing unit that calculates a command value for each motor connected in accordance with the motion command held at the head of the motion command FIFO; For the motor generated by the motion command processing unit That the command value for every moment transmitted to the motor, the motion controller having a synchronous communication processing unit for receiving a response value from the motor,
An ID storage unit that stores a motion controller ID that is a unique value in the host network; a synchronous motion processing unit that executes the synchronous motion command generated by the host command analysis unit in synchronization with the other motion controllers; With
The higher order command analysis unit further analyzes the synchronization command, and a command ID that uniquely indicates the command and a motion controller ID of all the motion controllers that operate synchronously, and all of the motion controllers that operate synchronously A synchronous motion command including a ready flag indicating a ready state of the motion controller is generated.
The invention of the motion control device according to claim 3 includes: the host controller according to claim 1; the motion controller according to claim 2; a motor that receives a command value transmitted from the motion controller and transmits a response; It is characterized by comprising a host network connecting the host controller and the plurality of motion controllers, and a synchronous network connecting the plurality of motion controllers and the plurality of motors.
The invention of the synchronization method of the motion control device according to claim 4 includes: a command generation unit that generates a command for a plurality of motion controllers; and a communication processing unit that transmits the command generated by the command generation unit to the motion controller And a host communication processing unit that provides means for communicating with the host controller, and receives and analyzes a host command issued by the host controller via the host communication processing unit, Connected according to the upper command analysis unit that generates the motion command to be represented, the motion command FIFO that holds the motion commands generated by the higher command analysis unit in the order in which they were generated, and the motion command held at the head of the motion command FIFO Motion command to calculate the command value every moment for a given motor A motion controller comprising: a management unit; and a synchronous communication processing unit that transmits a command value for the motor generated by the motion command processing unit every moment to the motor and receives a response value from the motor; A motor that receives a command value transmitted from a motion controller and transmits a response, a host network that connects the host controller and the plurality of motion controllers, and a synchronization network that connects the plurality of motion controllers and the plurality of motors In the synchronization method of the motion control device composed of
When a synchronization command is detected at the head of the motion command FIFO, a ready packet is sent out on the synchronous network, and a wait is received until another motion controller receives a ready packet, and the motion controller operating in synchronization is ready. When all the preparation completion flags indicating the state become true, processing is performed by a procedure for calculating a command value for the motor every moment.

  According to the present invention, the host controller includes the synchronization command generation unit that generates the synchronization command including the command ID that uniquely indicates the command and the motion controller IDs of all the motion controllers that operate in synchronization, and the motion controller However, the ID storage unit for storing the motion controller ID, the synchronization command is analyzed, the command ID that uniquely indicates the command, and the motion controller ID of all the motion controllers that operate synchronously, and all the motions that operate synchronously A high-order command analysis unit that generates a synchronous motion command including a ready flag that indicates the ready state of the controller, and a synchronization that executes the synchronous motion command generated by the high-level command analysis unit in synchronization with other motion controllers Because it has a motion processing unit, Controller is not required to instruct the operation start timing with respect to the motion controller, a plurality of motion controllers to drive the synchronization error without motor based on the command given from the host controller.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a motion control apparatus of the present invention.
In the figure, 1 is a motion control apparatus of the present invention, 100 is a host controller, 200i (i is a positive integer) is a plurality of motion controllers, 300 is a host network, 400 is a synchronous network, and 500j is a plurality of motors. 500j (j is a positive integer).
In the host controller 100, the command generator 110 generates a host command to each motion controller 200i. An example of the higher order command is as already described with reference to FIG.
Therefore, when the plurality of motion controllers 200i are operated in synchronization, the synchronization command generation unit 115 provided according to the present invention generates a synchronization command for operating the plurality of motion controllers 200i in synchronization.
FIG. 2 is a diagram illustrating an example of a synchronization command. In the synchronous command, a command ID that uniquely indicates the command and motion controller IDs of all motion controllers that operate in synchronization are provided according to the present invention, and the others are the same as in the conventional high-order command (see FIG. 10). Type and trajectory parameters are included.
The host command 600 or the sync command 610 generated in this way by the sync command generating unit 115 (FIG. 1) is transmitted to the motion controller 200i by the communication processing unit 120 through the host network 300.

Next, the motion controller 200i according to the present invention will be described.
The motion command 700 handled by the host communication processing unit 210i and the host command analysis unit 220i has been described with reference to FIG.
The upper command analysis unit generates a synchronous motion command (FIG. 3) from the synchronous command 610 (FIG. 2).
FIG. 3 shows an example of a synchronous motion command.
In addition to the “type of trajectory” and “parameter of trajectory” in the conventional motion command 700, the synchronous motion command 710 includes all of the command ID uniquely indicating the command and all of the commands that operate in synchronization with the present invention. It includes a motion controller ID of the motion controller and a ready flag representing the ready status of all the motion controllers operating in synchronism. The command ID and motion controller ID are copied from the synchronization command. The ready flag is initialized to false. The generated motion command 700 (FIG. 11) or synchronous motion command 710 (FIG. 3) is stored in the next motion command FIFO 230i. In the motion command FIFO 230i, the motion command is managed by a first-in first-out method.

The motion command processing unit 240i is activated from the synchronous motion processing unit 260i. The processing flow of the motion command processing unit 240i has been described with reference to FIG. Therefore, FIG. 4 shows a processing flow of the synchronous motion processing unit 260i.
The processing flow of FIG. 4 shows a flow of processing executed by the synchronous motion processing unit 260i within one communication cycle. That is, the processing flow of FIG. 4 is repeated every communication cycle. In the figure, the synchronous motion processing unit 260i is activated from the synchronous communication processing unit 250i at regular intervals. The synchronous motion processing unit 260i activated from the synchronous communication processing unit 250i confirms whether the reception completion buffer (FIG. 5) is included in the reception double buffer 253i (S200).
FIG. 5 shows a preparation completion packet. In the figure, reference numeral 800 denotes a preparation completion packet. The preparation completion packet 800 includes a command ID and a motion controller ID.
Therefore, returning to the flow of FIG. 4, if the reception double buffer 253 i includes a ready packet, the motion command FIFO 230 i is searched for a synchronous motion command that matches the command ID included in the ready packet, A motion controller ready flag that matches the motion controller (abbreviated as MC in the figure) ID in the detected synchronous motion command is set to true (S210).
Next, it is checked whether or not the head of the motion command FIFO 230i is a synchronous motion command (S220). If the head of the motion command FIFO 230i is not a synchronous motion command, the motion command processing unit 240i is activated in S400, and the processing of the synchronous motion processing unit 260i is completed. If the head of the motion command FIFO 230i is a synchronous motion command, the process proceeds to S230.
In S230, the value of the waiting counter is checked. The wait counter is a counter that is cleared to 0 when the motion controller 200i is activated. If the value of the wait counter is not 0, the value of the wait counter is decreased by 1 (S240), and the process of the synchronous motion processing unit 260i is completed. If the value of the wait counter is 0, it is checked whether all the synchronous motion command ready flags at the head of the motion command FIFO 230i are true (S250).
If all the preparation completion flags are true, the motion command processing unit 240i is activated in S400, and the processing of the synchronous motion processing unit 260i is completed. If all the preparation completion flags are not true, the own motion controller ID is read from the ID storage unit 270i, and the preparation completion flag with the matching motion controller ID in the synchronous motion command is checked (S260).
When the ready flag with the matching motion controller ID is true, the process of the synchronous motion processing unit 260i is completed.
When the preparation completion flag is false, S270, S280, and S290 are executed.
In S270, a ready flag whose motion controller ID matches the own motion controller ID in the synchronous motion command is set to true. In S280, a preparation completion packet is created using the command ID included in the synchronous motion command and the own motion controller ID read from the ID storage unit 270i, and the created preparation completion packet is sent to the synchronous communication processing unit 250i. Are written in the transmission double buffer 252i. In S290, the value of the wait counter is set to 1.
The above is the flow of processing executed by the synchronous motion processing unit 260i in one communication cycle. In the next communication cycle, the flow of FIG. 4 is repeated again.

The processing procedure of the interrupt handler according to the present invention in the synchronous communication processing unit 250i will be described with reference to FIG. In the figure, when the interrupt handler 251i is activated, first, the transmission double buffer 252i (FIG. 13) is switched (S500).
Next, a transmission request is made to the communication chip 255i (FIG. 13) (S510), and the reception double buffer 253i (FIG. 13) is switched (S520).
Finally, the synchronous motion processing unit 260i (FIG. 1) is activated (S535).

  The transmission double buffer 252i has two buffers for writing and reading (FIG. 16). The writing buffer of the transmission double buffer 252i is accessed when the motion command processing unit 240i writes a command value for the motor. The write buffer of the transmission double buffer 252i is also accessed when the synchronous motion processing unit 260i writes a ready packet. The read buffer of the transmission double buffer 252 i is accessed when the communication chip 255 i sends a communication packet to the synchronous network 400. Since the interrupt handler 251i switches the transmission double buffer 252i, the buffer that has been the write buffer in the cycle t becomes the read buffer in the next cycle t + 1. For this reason, the data written in the write buffer at the cycle t moves to the read buffer at the cycle t + 1. In period t + 1, the communication chip 255i reads data from the read buffer and sends it as a communication packet on the synchronous network 400.

The reception double buffer 253i has two buffers for writing and reading (FIG. 17). The write buffer of the reception double buffer 253 i is accessed when the communication chip 255 i receives a communication packet on the synchronous network 400. The read buffer of the reception double buffer 253i is accessed when the motion command processing unit 240i reads a response value from the motor. The access is also performed when the synchronous motion processing unit 260i reads a preparation completion packet transmitted from another motion controller. Since the interrupt handler 251i switches the reception double buffer 253i, the buffer that has been the writing buffer in the cycle t becomes the reading buffer in the next cycle t + 1. For this reason, the communication packet received from the synchronous network 400 at the period t is moved to the reading buffer at the period t + 1. In the period t + 1, the motion command processing unit 240i and the synchronous motion processing unit 260i can read the communication packet.

FIG. 7 shows an operation example of two motion controllers (motion controller 1 and motion controller 2 in FIG. 1). However, communication packets transmitted and received between the motion controllers 1 and 2 and the motor 500i (FIG. 1) are omitted.
The motion command FIFO (2301 in FIG. 1) of the motion controller 1 stores a motion command A and a synchronous motion command X.
In the period t, the motion command A is set at the head (in the direction of the arrow) of the motion command FIFO of the motion controller 1.
The command ID of the synchronous motion command X is 123, which indicates that the motion controller 1 and the motion controller 2 operate in synchronization. In the synchronous motion command X in the period t, the preparation completion flag (MC1) of the motion controller 1 and the preparation completion flag (MC2) of the motion controller 2 are both set to false.
On the other hand, motion command B and synchronous motion command Y are stored in the motion command FIFO (2302 in FIG. 1) of the motion controller 2.
In the period t, the motion command B is set at the head (in the direction of the arrow) of the motion command FIFO of the motion controller 2.
The command ID of the synchronous motion command Y is 123, which indicates that the motion controller 1 and the motion controller 2 operate in synchronization. In the synchronous motion command Y in the period t, the preparation completion flag (MC1) of the motion controller 1 and the preparation completion flag (MC2) of the motion controller 2 are both set to false.

Next, the operation of the motion controller 1 in FIG. 7 will be described.
Assume that the motion command A of the motion controller 1 is completed in a cycle t. In step S220 of the processing flow of FIG. 4, since the first FIFO command is the motion command A and not the synchronous motion command in the period t, the process proceeds to step S400, and the synchronous motion processing unit 2601 (FIG. 1) of the motion controller 1 executes the motion command. The processing unit 2401 (FIG. 1) is activated.
The activated motion command processing unit writes the last command value of the motion command A in the transmission double buffer in step S130 and deletes the motion command A from the motion command FIFO in step S140 according to the processing flow of FIG. Thereby, in the cycle t + 1, the synchronous motion command X is set at the head of the motion command FIFO of the motion controller 1.
In the period t + 1, the synchronous motion processing unit 2601 of the motion controller 1 reads the own motion controller ID 1 from the ID storage unit 2701 (FIG. 1), and sets the ready flag MC1 that matches the own motion controller ID of the synchronous motion command X to true. Set to.
Further, a ready packet 800 (FIG. 5) including the command ID 123 of the synchronous motion command X and the motion controller ID 1 is written into the write buffer of the transmission double buffer (this is indicated by hatching in the figure). ). The ready packet 800 written to the write buffer of the transmission double buffer at period t + 1 is sent out on the synchronous network at period t + 2 (this is indicated by hatching in the figure).
Also, the wait counter of the motion controller 1 is set to 1 in the cycle t + 1, and the wait counter is decremented to 0 in the cycle t + 2.
In the subsequent cycle t + 3 and thereafter, all the ready flags included in the synchronous motion command X are checked, but since the ready flag MC2 of the motion controller 2 is false, the synchronous motion command unit 2601 sets the motion command processing unit 2401. It does not start.

Next, the operation of the motion controller 2 in FIG. 7 will be described.
In the period t + 2, the preparation completion packet 800 transmitted from the motion controller 1 is received in the write buffer of the reception double buffer of the motion controller 2. This preparation completion packet 800 includes a command ID 123 and a motion controller ID 1. In a cycle t + 3, the synchronous motion processing unit 2602 (FIG. 1) of the motion controller 2 refers to the preparation completion packet 800, and sets the preparation completion flag of the motion controller 1 included in the synchronous motion instruction Y having the same instruction ID to true. Set. In the subsequent cycle, the synchronous motion command unit 2602 activates the motion command processing unit 2402 until the command B is completed.

FIG. 8 shows an operation example of two motion controllers (motion controller 1 and motion controller 2) in a cycle t ′ after N cycles from FIG. In FIG. 8, as in FIG. 7, communication packets transmitted and received between the motion controller and the motor are omitted.
The operation of the motion controller 2 in FIG. 8 will be described.
It is assumed that the motion command B of the motion controller 2 is completed with a period t ′. In step S220 of the processing flow of FIG. 4, since the top of the FIFO is the motion command B and not the synchronous motion command in the cycle t ′, the process proceeds to step S400, and the synchronous motion processing unit 2602 (FIG. 1) of the motion controller 2 moves to the motion command processing unit. 2402 (FIG. 1) is activated.
The activated motion command processing unit 2402 writes the last command value of the motion command B in the transmission double buffer in step S130 and deletes the motion command B from the motion command FIFO in step S140 according to the processing flow of FIG. Thereby, in the cycle t ′ + 1, the synchronous motion command Y is set at the head of the motion command FIFO of the motion controller 2.
In the period t ′ + 1, the synchronous motion processing unit 2602 of the motion controller 2 reads the own motion controller ID 2 from the ID storage unit, and sets the ready flag MC1 that matches the own motion controller ID of the synchronous motion command Y to true. .
In addition, the preparation completion packet 800 (FIG. 5) including the command ID 123 of the synchronous motion command Y and the motion controller ID 2 is written in the transmission double buffer. The ready packet 800 written in the transmission double buffer in the period t ′ + 1 is sent out on the synchronous network in the period t ′ + 2. Further, the wait counter of the motion controller 2 is set to 1 in the cycle t ′ + 1, and the wait counter is decremented to 0 in the cycle t ′ + 2.
In the cycle t ′ + 3, since all the preparation completion flags MC1 and MC2 included in the synchronous motion command Y are true, the motion command processing unit 2402 is started from the cycle t ′ + 3. After the cycle t ′ + 3, the motion command processing unit 2402 writes the command value of the motion command Y in the transmission double buffer according to the processing flow of FIG.

The operation of the motion controller 1 in FIG. 8 will be described.
In the period t ′ + 2, the ready packet 800 transmitted from the motion controller 2 is received by the reception double buffer of the motion controller 1. This preparation completion packet 800 includes a command ID 123 and a motion controller ID 2. In period t ′ + 3, the synchronous motion processing unit 2602 of the motion controller 2 refers to the preparation completion packet 800 and sets the preparation completion flag MC2 of the motion controller 2 included in the synchronous motion instruction X having the same instruction ID to true. To do. Here, since all the preparation completion flags MC1 and MC2 included in the synchronous motion command X are true, the synchronous motion processing unit 2601 activates the motion command processing unit 2401 from the cycle t ′ + 3. After the cycle t ′ + 3, the motion command processing unit 2401 writes the command value of the motion command X in the transmission double buffer according to the processing flow of FIG.

Although only two motion controllers have been described above, it is possible to synchronize with two or more motion controllers in the same procedure.
As described above, according to the present invention, it is not necessary for the host controller to instruct the operation start timing to the motion controller, and a plurality of motion controllers can perform motors without synchronization error based on commands given from the host controller. Can be driven.

It is a block diagram of the motion control apparatus which shows 1st Example of this invention. It is a figure which shows the example of a synchronous command. It is a figure which shows the example of a synchronous motion command. It is a flowchart which shows the process sequence of a synchronous motion process part. It is a figure which shows a preparation completion packet. It is a flowchart which shows the process sequence of the interrupt handler of the synchronous communication process part in this invention. It is a figure which shows the 1st operation example of two motion controllers. It is a figure which shows the 2nd operation example of two motion controllers. It is a block diagram of the conventional motion control apparatus. It is a figure which shows the example of a high-order command. It is a figure which shows the example of a motion command. It is a flowchart which shows the process sequence of a motion command process part. It is a block diagram of a synchronous communication process part. It is a figure which shows the synchronous frame and communication period of a synchronous network. It is a flowchart which shows the process sequence of the conventional interrupt handler. It is a figure which shows the transmission process of a synchronous communication process part. It is a figure which shows the reception process of a synchronous communication process part.

Explanation of symbols

1 Motion Control Device 100 of the Present Invention Host Controller 110 Command Generation Unit 115 Synchronization Command Generation Unit 120 Communication Processing Unit 200i Motion Controller 210i Host Communication Processing Unit 220i Host Command Analysis Unit 230i Motion Command FIFO
240i Motion command processing unit 250i Synchronous communication processing unit 251i Interrupt handler 252i Transmission double buffer 253i Reception double buffer 255i Communication chip 260i Synchronous motion processing unit 270i ID storage unit 300 Host network 400 Synchronization network 500j Motor 600 Example of host command 610 Synchronization Command Example 700 Motion Command Example 710 Synchronous Motion Command Example 800 Ready Packet

Claims (4)

A command generation unit that generates a higher order command including a type of trajectory and parameters of the trajectory for a plurality of motion controllers;
In a host controller including a communication processing unit that transmits a command generated by the command generation unit to the motion controller,
A host controller comprising a synchronization command generation unit that generates a synchronization command including a command ID that uniquely indicates a command and motion controller IDs of all the motion controllers that operate synchronously. A host communication processing unit that provides means for receiving from the host controller a command ID that uniquely indicates the command and a motion command ID of all motion controllers that operate in synchronism;
A host command analysis unit that receives and analyzes the host command issued by the host controller via the host communication processing unit, and generates a motion command including a track type and a track parameter;
A motion command FIFO that holds a motion command generated by the host command analysis unit, and a motion command processing unit that calculates a command value for each motor connected according to the motion command held at the head of the motion command FIFO. In the motion controller including the synchronous communication processing unit that transmits the command value for the motor generated by the motion command processing unit every moment to the motor and receives the response value from the motor.
Furthermore, an ID storage unit that stores a motion controller ID that is a unique value in the host network;
A synchronous motion processing unit that executes the synchronous motion command generated by the host command analysis unit in synchronization with the other motion controller;
The higher order command analysis unit further analyzes the synchronization command, and a command ID that uniquely indicates the command and a motion controller ID of all the motion controllers that operate synchronously, and all of the motion controllers that operate synchronously A motion controller characterized by generating a synchronous motion command including a ready flag indicating a ready state of the motion controller. A host controller according to claim 1;
A motion controller according to claim 2;
A motor that receives a command value transmitted from the motion controller and transmits a response;
A host network connecting the host controller and the plurality of motion controllers;
A motion control device comprising a plurality of the motion controllers and a synchronous network connecting the plurality of motors. A host controller including a command generation unit that generates a command for a plurality of motion controllers, and a communication processing unit that transmits the command generated by the command generation unit to the motion controller;
A host communication processing unit that provides means for communicating with the host controller, and a host command that receives and analyzes the host command issued by the host controller via the host communication processing unit, and generates a motion command that represents an operation trajectory An analysis unit, a motion command FIFO that holds the motion commands generated by the higher-level command analysis unit in the order in which they were generated, and a command for each motor connected according to the motion command held at the head of the motion command FIFO A motion command processing unit that calculates a value, and a synchronous communication processing unit that transmits a command value for the motor generated by the motion command processing unit to the motor and receives a response value from the motor. Motion controller
A motor that receives a command value transmitted from the motion controller and transmits a response;
A host network connecting the host controller and the plurality of motion controllers;
A synchronization network connecting the plurality of motion controllers and the plurality of motors;
In the synchronization method of the motion control device composed of
When a synchronization command is detected at the head of the motion command FIFO, a ready packet is sent out on the synchronous network, and a wait is received until another motion controller receives a ready packet, and the motion controller operating in synchronization is ready. A synchronization method for a motion control apparatus, characterized in that processing is performed in accordance with a procedure for calculating a command value for each motor when the preparation completion flags representing the state are all true.

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