JP4953997B2 - Multi-axis drive driver - Google Patents

Description

  The present invention relates to a multi-axis driving driver for driving a plurality of axes with a plurality of stepping motors.

  Japanese Patent Laid-Open No. 11-299291 (Patent Document 1) discloses a multi-axis motor control device that transmits and receives signals using a host controller and serial communication. This apparatus is provided with one multi-drive control unit that performs control including position loop processing and speed loop processing for all axes based on a command from a host controller. Corresponding to the motors of the respective axes, there are provided a plurality of servo amplifier units for performing processing including current loop processing and motor driving based on current commands from the multi-drive control unit.

Conventionally, when a multi-axis drive driver is configured, a single-axis or 2-axis control unit or a stepping driver (slave station) is connected in parallel to one driver to control as a multi-axis.
JP 11-299291 A

  However, even if a multi-drive control unit is provided as in the former prior art, there is a problem that it takes time to process signals.

  Also, as in the latter prior art, when a control unit that operates individually for one or two axes is provided and these are used as slave stations, there is a problem that a large installation space is required. There is a problem that it is necessary to use an address number, and there is a problem that the operation start timing of each axis is shifted.

  An object of the present invention is to make a multi-axis drive driver as one slave station, and to simultaneously give an operation command to all control units and to check the state. Is to provide a driver.

  The multi-axis drive driver of the present invention individually controls n stepping motors that individually drive and control n (n is a positive integer of 4 or more) axes. The multi-axis drive driver according to the present invention includes m (n or less positive integer) control units and a slave station communication circuit. The m control units each have a communication function with one or more driver circuits among n drive circuits for individually controlling n stepping motors that individually drive and control n axes. And a central processing unit for supplying a drive signal to one or more drive circuits. The m central processing units of the m control units have the same determination routine for determining the input operation command. When the m central processing units receive an operation command transmitted by serial communication from a host controller serving as a master station, the m central processing units execute a state confirmation process and a drive process based on the operation command. A function of generating a success response signal for informing the success response. The communication circuit in the slave station connects m central processing units of m control units in parallel so that the m central processing units can be serially communicated with a bus to which an operation command is sent from the host controller. Connecting. The multi-axis drive driver of the present invention is a slave station for the master station (higher-order controller).

  In the multi-axis driving driver according to the present invention, the slave station communication circuit is configured to enable transmission / reception between the m central processing units connected in parallel and the host controller. Of the m central processing units, one of the predetermined central processing units is defined as a confirmation device that checks the presence or absence of an axis controlled by the other m−1 central processing units. In the present invention, when an operation command for only one axis is transmitted from the host controller, one central processing unit that controls one axis transmits a success response signal to the host controller. Further, when an operation command for a plurality of axes is transmitted from the host controller, one central processing unit functioning as a confirmation device transmits a success response signal to the host controller on behalf of the other central processing unit. This is because the m central processing units have the same determination routine for determining the input operation command, so that one central processing unit functioning as a confirmation device determines the operation command. This is because it can be presumed that the operation command is determined by another central processing unit.

  In the present invention, when an operation command for a plurality of axes is transmitted from the host controller, the operation command is simultaneously given to each control unit through the communication circuit in the slave station. In this case, each control unit does not individually send a success response signal to the host controller. In the present invention, in this case, when a central processing unit that functions as a confirmation device receives an operation command from a host controller, the host controller sends a success response signal on behalf of the other central processing unit. Reply to When an operation command for only one axis is transmitted from the host controller, one central processing unit that controls that one axis without sticking to a reply from one central processing unit functioning as a confirmation device. The device sends a success response signal to the host controller. When an operation command is simultaneously given to each control unit as described above, and one central processing unit functioning as a confirmation device returns a success response signal to the host controller on behalf of others, and further controls only one axis If a reply is sent from one central processing unit that controls that one axis, the control response time for each axis can be made shorter than before, and communication with the host controller is possible. You can speed up.

  In the present invention, for example, when an operation command for a plurality of axes includes a command to one central processing unit that functions as a confirmation device, the one central processing unit outputs a success response signal. Send to host controller. When the operation command for a plurality of axes does not include a command to one central processing unit that functions as a confirmation device, any one of the other central processing units controls or has an effective axis This can be confirmed by one central processing unit functioning as a confirmation device, and a success response signal can be transmitted to the host controller. In the specification of the present application, the fact that one central processing unit that functions as a confirmation device confirms that there is a controlled or effective shaft means that the shaft that is physically driven to the motor is connected. This means that the central processing unit that functions as a confirmation device determines whether or not there is a connection setting command or operation command (FIG. 3). If the operation command includes a connection command for an axis that is controlled by a central processing unit that does not exist (or has been added), the central processing unit that functions as a confirmation unit The processing device has a function of forcibly replacing the reply of the connection command with a command of “none”. In this way, even when a command to one central processing unit that functions as a confirmation device is not included in the operation command, this one central processing unit is an axis controlled by another central processing unit. Therefore, if one central processing unit functioning as a confirmation device returns a success response signal to the host controller as a representative based on the confirmation, The control response time can be made shorter than before, and the communication speed with the host controller can be increased.

  It is possible to arbitrarily determine how many driver circuits a single central processing unit provides a drive signal according to the arithmetic speed of the central processing unit. However, a configuration in which a single central processing unit supplies drive signals to two driver circuits, respectively, contributes to a reduction in overall signal processing time.

  Also, the slave station communication circuit is preferably configured so that one or more new control units can be connected later. By doing so, it is possible to easily add a control unit.

  According to the present invention, an operation command can be simultaneously given to each control unit, and one central processing unit functioning as a confirmation device returns a success response signal to the host controller on behalf of others, and When only the axis is controlled, a reply is sent from one central processing unit that controls the one axis. As a result, the control response time of each axis can be made shorter than before, and the communication speed with the host controller can be increased.

  Hereinafter, an example of an embodiment of a multi-axis driving driver of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram schematically showing the configuration of the multi-axis drive driver 1 of the present embodiment. FIG. 2 is a flowchart showing a software algorithm used when the embodiment of FIG. 1 is realized. Hereinafter, the flowchart shown in FIG. 2 will be described together with the description of FIG.

  The multi-axis driving driver 1 in FIG. 1 individually drives and controls 20 axes [conceptually, n (n is a positive integer of 4 or more)] axes (spindles for machine tools, etc.). The 20 stepping motors M1 to M20 are individually controlled. The multi-axis drive driver 1 is a slave station of the host controller 3 that is a master station. This multi-axis driving driver includes 1 to 10 control units CU1 to CU10 (conceptually, m (n or less positive integer)) control units CU1 to CU10, and a slave station communication circuit 2. The 10 control units CU1 to CU10 are respectively selected from 20 drive circuits (not shown) for individually controlling 20 stepping motors M1 to M20 that individually drive and control 20 axes. Two selected driver circuits and a central processing unit CPU1 to CPU10 having a communication function and supplying drive signals to the two drive circuits are provided. Although not shown, each of the two drive circuits arranged in the control units CU1 to CU10 includes a power element such as a power transistor and supplies an excitation current to the excitation winding of the stepping motor. have.

  When the ten control units CU1 to CU10 receive an operation command transmitted by serial communication from the host controller 3 serving as a master station via the bus 5 (steps ST1 to ST3 in FIG. 2), based on the operation command. To confirm the status confirmation processing (received packet processing and received command processing). Each of the control units CU1 to CU10 has a function of generating a success response signal for notifying that a process has been executed in response to an operation command, that is, a success response. The in-slave station communication circuit 2 of the present embodiment is connected to a bus 5 to which a host controller 3 is connected, and includes ten central processing units CPU1 to CPU10 and a host controller 3 of ten control units CU1 to CU10. Is configured to allow serial communication between the two.

  In the present embodiment, serial communication between the host controller 3 serving as a master station and the multi-axis driving driver 1 connected via the bus 5 is performed using RS-485 communication which is a standard. Therefore, the slave station communication circuit 2 includes a serial interface 4 for RS-485. This serial interface 4 converts the TxD and RxD signals of RS-485 communication transmitted by the bus 5 into TxD and RxD signals (operation commands) of start-stop synchronization signals that can be received by the central processing units CPU1 to CPU10, and transmits and receives them. I do.

  The slave station communication circuit 2 connects ten central processing units CPU1 to CPU10 in parallel. The slave station communication circuit 2 is configured to enable transmission and reception between the ten central processing units CPU1 to CPU10 connected in parallel with the host controller 3. In this embodiment, one central processing unit CPU1 determined in advance among the ten central processing units CPU1 to CPU10 has axes controlled by the other nine central processing units CPU2 to CPU10. It is defined as a confirmation device that confirms whether or not the axis is moving (confirmation is made to move the axis).

  FIG. 3 shows a relationship of information transmission paths between one central processing unit CPU1 in one controller unit CU1 and central processing units CPU2 to CPU10 in other controller units CU2 to CU10. . This information transmission path has a shaft controlled by each CPU to recognize the state of whether or not the additional boats D2 to D4 are added and connected to the base board D1 described later (normally operating) This is used for the controller unit CU1 to determine whether it is possible. That is, this information transmission path is provided as a signal line different from the host controller 3 connected via the slave station communication circuit 2 and the bus 5, and the central processing units CPU2 to CPU10 are operating normally. And the presence or absence of the shaft is transmitted. That is, the information of the central processing units CPU2 to CPU10 is transmitted from the central processing unit CPU1 to the host controller via the serial interface 4 when the motor connection state command is executed. The confirmation is actually performed by the central processing unit CPU1. In order to realize the information transmission path of FIG. 3, the central processing units CPU2 to CPU10 are connected to the central processing unit CPU1 of the controller unit CU1 through a line different from the slave station communication circuit 2 shown in FIG. In the present embodiment, using this information transmission path, information on whether or not each of the central processing units CPU2 to CPU10 has an axis to be controlled is transmitted to the central processing unit CPU1. Since there is also an operation command that designates only one axis, each central processing unit has a function for determining whether there is an axis to be controlled with respect to its own axis for each controlled axis, that is, the validity of the axis.・ Has a function to determine the invalid state. The central processing unit CPU1 confirms whether or not the central processing units CPU2 to CPU10 have axes to be controlled, and even when the central processing unit CPU1 is not designated by the operation command, When the central processing units CPU2 to CPU10 are designated and have axes controlled by the designated central processing unit, a success response signal is transmitted to the host controller 3 as a representative. That is, the central processing unit CPU1 confirms whether the operation states of the central processing units CPU2 to CPU10 are normal and confirms the connection state of the shafts. Then, the central processing unit CPU1 transmits a success response signal to the host controller 3 as a representative. Information for confirming that all the central processing units specified by the operation command have axes controlled by each central processing unit (the specified destination axis is valid) is the center. It is given to the arithmetic processing unit CPU1. In the present embodiment, when the central processing unit CPU1 itself makes a success determination, it has an axis controlled by at least one other central processing unit (the designated axis is valid). After the confirmation, the central processing unit CPU1 transmits a success response signal to the host controller 3. Even in this way, the actual control is based on the premise that the central processing unit CPU1 and all the CPUs pass through the same determination routine, so that there is no particular problem.

  That is, when the central processing unit CPU1 is designated by the operation command, the central processing unit CPU1 represents that the operation command has been determined by another central processing unit having the same determination routine. Then, a success response signal is transmitted to the host controller 3. In this way, even if the central processing unit CPU1 outputs a success response signal on behalf of the other central processing unit CPU1, all the central processing units CPU1 to CPU10 have the same determination routine. No big problem. When control for only one axis is designated by the operation command, the central processing unit that controls that one axis outputs a success response command. This is because when there is only one axis, the central processing unit CPU1 does not have a merit of transmitting a success response signal to the host controller 3 as a representative.

  In the present embodiment, the central processing units CPU1 to CPU4 are mounted on a single board to constitute one base driver D1. The eight stepping motors M1 to M8 are driven by the base driver D1. In this example, the central processing units CPU5 and CPU6 are mounted on different boards to form the first extension driver D2, and the central processing units CPU7 and CPU8 are mounted on different boards and the second extension is added. The driver D3 is configured, and the central processing units CPU9 and CPU10 are mounted on different boards to configure a third extension driver D4. In the present embodiment, the first to third extension drivers D2 to D4 can be used as the multi-axis driving driver 1 having a maximum of 20 axes. One slave address number of RS-485 communication is given to the multi-axis drive driver 1. Therefore, the slave address number can be saved. Further, in this embodiment, in order to issue a command to the central processing units CPU1 to CPU10 of the control units CU1 to CU10 that control 20 axes in one slave station (multi-axis driver 1), A drive signal applied to a drive circuit (not shown) for two axes is processed by one central processing unit. In addition, in the operation command transmitted from the host controller 3 by RS-485 communication, signals given to each of the central processing units CPU1 to CPU10 connected in parallel are connected in parallel by serial communication. That is, when an operation signal is input to the central processing units CPU1 to CPU10 connected in parallel, the operation command to each central processing unit is serially transmitted so that each central processing unit can receive the signal simultaneously. linked. Therefore, in this embodiment, the efficiency of signal processing is improved by performing parallel processing in this way.

  The central processing units CPU1 to CPU10 of the control units CU1 to CU10 operate independently of each other. Therefore, in addition to the slave station address of RS-485 communication, an address number is assigned to each of the central processing units CPU1 to CPU10 as an internal address.

  In this embodiment, as shown in step ST4 of FIG. 2, when an operation command is transmitted from the host controller 3, each central processing unit CPU1 determines whether only one axis is specified or all axes are specified in step ST4. ~ Determined by the CPU 10. When an operation command for only one axis (one motor) is transmitted, the process proceeds to step ST5 to determine whether there is an axis that the received central processing unit is in charge of (an axis controlled by the central processing unit). Is determined). If no assigned axis (motor in charge of control) is set in the central processing unit, the process proceeds to step ST9 and the received data is cleared. If there is an assigned axis (in charge motor) in the central processing unit in step ST5, the process proceeds to step ST6 to determine whether the axis (motor) designated by the operation command is valid (the axis to be controlled is If it is not valid, the process proceeds to step ST9. If it is valid, the process proceeds to step ST7 and the operation command (command) is executed. Then, the process proceeds to step ST8, where the central processing unit creates a success response signal and transmits the success response signal to the host controller 3. Finally, each central processing unit clears the received data in step ST9.

  Further, when an operation command for a plurality of axes is transmitted from the host controller 3 (an operation command for designating all axes in the example of FIG. 2), each central processing unit CPU1 to CPU10 designates all axes in the operation command. If it is determined in step ST4 whether it is contained, the process proceeds to step ST10. When the operation command includes the address number of the central processing unit CPU1, the process proceeds to step ST11 to determine whether the axis (motor M1 or M2) designated by the operation command is valid (can be operated). If operation is possible, an operation command is executed in step ST12. Thereafter, in step ST8, the central processing unit CPU1 creates a success response signal and transmits the success response signal to the host controller 3. In this case, in step ST8, even if the other central processing unit executes the operation command, a success response signal is not transmitted from the other central processing unit to the host controller 3.

  If the operation command does not include the address number of the central processing unit CPU1 in step ST10, the process proceeds to step ST14. In step ST14, the address number of the central processing unit included in the operation command is confirmed, and the axis designated by the operation command among the axes (motors) in charge of the central processing unit corresponding to the address number. The central processing units CPU2 to CPU10 confirm whether or not there is (valid or not). If a plurality of designated axes are valid, an operation command (command) is executed in step ST15. When the operation command is executed in step ST15, the process proceeds to step ST9, and the central processing unit other than the central processing unit CPU1 clears the received data (success response signal) without creating it. Even in this case, even if the central processing unit CPU1 receiving the operation command at the same time determines that the axis controlled by the central processing unit CPU1 is invalid in step ST11, other central processing units control in step ST13. When it is confirmed that there is one or more axes to be performed, the process proceeds to step ST8, and the central processing unit CPU1 outputs a success response signal. That is, the central processing unit CPU1 passes through the same execution routine as the other central processing units until immediately before, and there are axes controlled by the other central processing units, and confirms that the connection state and the operation state are normal. A success response is output assuming that other axis motions can be performed. As in the past, when an operation start command for all axes is given to each axis by RS-485 communication, communication is sequentially processed by each control unit, so the operation start timing of each axis is shifted depending on the communication speed. Occurs. However, when all control units are connected in parallel and operation commands are simultaneously given to all control units as in the present embodiment so that processing can be executed simultaneously by each control unit, within one control cycle (62 It is possible to start the operation of each axis with a delay within .5 μsec). In step ST8, the central processing unit CPU1 determines whether the other central processing units CPU2 to 10 are operating normally with the connection state of the other central processing units CPU2 to 10 with respect to the central processing unit CPU1. And a success response signal is transmitted to the host controller 3. That is, the success response signal is transmitted to the host controller 3 on behalf of the other central processing unit by one central processing unit CPU1 functioning as a confirmation device.

  In the above embodiment, even when a command for setting the connection state is transmitted, the central processing unit CPU1 that grasps the state of each axis returns a response. In the present embodiment, it is also possible to specify the axis “present” and “absent” (whether or not the axis driven by the motor is connected) for each axis by a command for setting the connection state. It is like that. Note that the central processing unit corresponding to the axis designated as “none” does not return a communication response in any case. Further, the extension drivers D2, D3 and D4 can be separated from the base driver D1 as described above. When the extension driver is disconnected, the extension driver naturally does not respond.

  Thus, in this embodiment, only one success response signal is returned to the host controller 3 in any case. In this way, the control response time of each axis can be made shorter than before, and the communication speed with the host controller can be increased. Further, the possibility of signal collision is reduced, and signal processing is accelerated. When the multi-axis drive driver according to the present embodiment is used, the host controller 3 is configured to execute the next process after determining that one success response signal has been returned. ing.

  In the above embodiment, the host controller 3 outputs an operation command so that one axis is designated or all axes are designated. This is to simplify the determination. However, it is needless to say that multiple axes may be specified instead of all axes. In that case, if a plurality of axes are designated in step ST4, the process may proceed to step ST10.

  4A to 4C are a plan view, a front view, and a right side view of an apparatus when the multi-axis drive driver of the present embodiment is implemented as hardware. In these drawings, a base driver D1 and additional drivers D2, D3, and D4 are mounted on the substrate SB. The extension drivers D2, D3, and D4 can be arbitrarily added (can be attached / detached), and basically have a configuration including a base driver D1. Thus, if the extension drivers D2, D3, and D4 are provided so as to be able to be added on one board SB, the degree of freedom in design is increased and the versatility is increased.

  In the above embodiment, two driver circuits (two stepping motors) are provided for one central processing unit. However, how many driver circuits are targeted by one central processing unit can be arbitrarily determined according to the processing speed of the central processing unit.

  According to the above embodiment, since the central processing unit CPU1 can determine the connection state of the other central processing units CPU2 to CPU8, the host controller 3 can determine the connection state in the multi-axis drive driver, Presence / absence (presence / absence of controller unit, motor) can be set or determined with one command.

It is a block diagram which shows roughly the structure of the driver for multi-axis drive of this Embodiment. It is a flowchart which shows the algorithm of the software used when implement | achieving embodiment of FIG. It is a figure which shows the relationship of the communication circuit which connects controller units mutually. (A) thru | or (C) are the top view, front view, and right view of an apparatus at the time of implementing the multi-axis drive driver of this Embodiment as hardware.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Driver for multi-axis drive 2 Communication circuit in slave station 3 Host controller 5 Bus CU1-CU10 Control unit CPU1-CPU10 Central processing unit

Claims (4)

one or more of the driver circuits among n drive circuits for individually controlling n stepping motors individually driving and controlling n (n is a positive integer of 4 or more) axes; A central processing unit that has a communication function and provides a drive signal to the one or more drive circuits, and receives an operation command transmitted by serial communication from a host controller serving as a master station. M (a positive integer less than or equal to n) control units that perform a status confirmation process and a drive process based on the result and generate a success response signal for notifying a success response according to the operation command;
Slaves that connect the m central processing units of the m control units in parallel and connect the m central processing units to a bus to which an operation command from the host controller is transmitted so that serial communication is possible. A multi-axis drive driver configured as a slave station with respect to the master station, comprising an intra-station communication circuit,
The m central processing units have the same determination routine for determining the input operation command.
The slave station communication circuit is configured to enable transmission and reception between the host controller and the m central processing units of the m control units.
Of the m central processing units, one of the predetermined central processing units is defined as a confirmation device that checks the presence or absence of an axis controlled by the other m-1 central processing units,
When the operation command for only one axis is transmitted from the host controller, one central processing unit that controls the one axis transmits the success response signal to the host controller,
When an operation command for a plurality of axes is transmitted from the host controller, the one central processing unit functioning as the checking device confirms that there is an axis controlled by another central processing unit. The multi-axis driver is characterized by transmitting the success response signal to the host controller on behalf of the other central processing unit. When the operation command for the plurality of axes includes a command to the single central processing unit that functions as the confirmation device, the single central processing unit sends the success response signal to the host controller. To
When the operation command for the plurality of axes does not include a command to the one central processing unit that functions as the confirmation device, there is an axis to be controlled by any one of the other central processing units The multi-axis driving driver according to claim 1, wherein the success response signal is transmitted to the host controller after the one central processing unit confirms this.   The multi-axis driving driver according to claim 1, wherein one central processing unit is configured to supply the driving signal to two driver circuits, respectively.   The multi-axis drive driver according to claim 1, wherein the slave station communication circuit is configured such that one or more new control units can be connected later.

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