JP5202271B2 - Slave device and program - Google Patents

Description

  The present invention relates to a technology in which a slave device controls a control object in a system in which a master device and a slave device that controls the control object are connected. For example, a servo amplifier that controls a motion controller and a motor is a communication line. The present invention relates to a technique for controlling a motor with a position command in a motion control system connected by.

  Hereinafter, as an example of a system in which a master device and a slave device that controls an object to be controlled are connected, a motion controller (hereinafter referred to as a master device or a master) and a servo amplifier that controls a motor (hereinafter referred to as a slave device, A motion control system in which a slave is connected by a communication line will be described.

  In motion control systems, it is desirable to match the master operation cycle with the slave operation cycle in order to perform synchronous communication. There are cases where a system with a non-matching period is constructed.

Here, the operation cycle of the master refers to the time required for a series of operations until the master gives a command to the slave, receives a response from each slave, and completes the processing after reception.
The operation cycle of the slave indicates a time required for a series of operations until the slave receives a command from the master, drives the motor, and conversely transmits response information to the master.

In this specification, a command given to the slave by the master is a position command (command about the amount of rotation of the motor), and information that the slave responds to the master is current position information of the motor.
In the following description, only the operation at the time of position command is basically described, and the operation at the time of responding the current position is the same as that at the time of position command except that the direction of data transmission / reception is different, so the description is omitted. To do.

In a system in which the operation periods of the master and slave do not match, it is common for each slave to control the motor using the latest position command received from the master.
In explaining the operation at that time, a general configuration of the slave is shown in FIG.

The slave 500 is connected to the master 200 via the network 400.
The slave 500 is connected to a motor 300 that is a controlled object.
In the slave 500, a cycle control unit 502 controls the operation cycle of the slave.
Reference numeral 503 denotes a timer unit.
Reference numeral 504 denotes a periodic reset unit that monitors a periodic signal coming from the network 400 side and appropriately resets the operation period of the slave.
Reference numeral 505 denotes a cycle detection unit that detects the cycle of the slave from the timer value received from the timer unit 503 and transmits it to other processing units.
A network communication unit 507 receives a periodic signal coming from the network side and transmits / receives data between the slave and the network.
Reference numeral 509 denotes a motor control unit that drives the motor 300 based on data received from the network communication unit 6.

  Next, the operation of the slave 500 shown in FIG. 4 will be described.

The network communication unit 507 inside the slave 500 receives a position command from the network 400 in synchronization with the operation cycle of the master 200.
The network communication unit 507 sends the received position command to the motor control unit 509 in synchronization with the operation cycle of the slave, and the motor control unit 509 that has received this drives the motor 300 based on the information.

The cycle reset unit 504 controls the operation cycle of the slave.
In addition, the timer unit 503 transmits the timer value to the cycle detection unit 505, and the cycle detection unit 505 refers to the timer value and indicates the start timing of the cycle every time that is set as a slave operation cycle in advance. A periodic signal is sent to the motor control unit 509.
On the other hand, the network communication unit 507 receives a cycle reset signal from the master 200 every time the master operation cycle elapses for a certain time, and sends this to the cycle reset unit 504 inside the cycle control unit 502.
When the cycle reset unit 504 receives the cycle reset signal, the cycle reset unit 504 gives an instruction to reset the cycle detection unit 505, and the cycle detection unit 505 that has received the command resets the start of the operation cycle of the slave 500 that has been managed by itself. Reset timing.
However, in the system in which the operation cycles of the master 200 and the slave 500 do not coincide with each other, this cycle reset may be reset only at a timing at which the operation cycle of the master 200 and the operation cycle of the slave coincide.

  As described above, the network communication unit 507 communicates with the network 400 in synchronization with the operation cycle of the master in order to synchronize with the master 200, and the network communication unit 507 and the motor control unit 509 synchronize with the operation cycle of the slave. Communicate.

FIG. 5 shows how position commands are transmitted in a motion control system in which the operation cycles of the master and slave do not match.
The right direction represents the lapse of time, and the row of master X indicates the position command in the operation cycle of the master 200, that is, the timing and value at which the network communication unit 507 in FIG. 4 receives the position command in the operation cycle of the master 200. An example of change is shown.
The row of the slave Y is a position command in the operation cycle of the slave 500, that is, an example of timing and value change when the motor control unit 509 in FIG. 4 receives the position command from the network communication unit 507 in the operation cycle of the slave 500. Is shown.
The value of the slave Y position command refers to the position command in the operation cycle of the master X at the start time of the slave operation cycle (the position of the vertical line on the left side of the square frame for each cycle). is there.
Further, ΔT represents a position command difference between the slave cycles.

In addition, there exists a thing of patent document 1 as another example of a motion controller system.
JP 2006-236243 A

As shown in FIG. 5, when the operation cycle of the master and the slave does not match, the increase in the position command data for each cycle is constant in order for the master side to rotate the motor at a constant speed. However, the increase amount (ΔT) of the position command value given to the motor by the slave is not constant.
Therefore, there is a problem that a difference occurs in the number of rotations of the motor for each period, and uneven rotation occurs.

  One of the main objects of the present invention is to solve such a problem, and even if the operation cycle of the master device and that of the slave device are different, the difference in control values between the slave operation cycles is constant. Thus, the main object is not to cause unevenness in the operation of the controlled object.

The slave device according to the present invention is
A slave device that is connected to a master device that operates at a predetermined master operation cycle and controls a predetermined control object at a slave operation cycle different from the master operation cycle,
A receiving unit that receives a control command value that is a numerical value for controlling the control object generated by the master device in units of a master operation cycle;
Command value correction for correcting the control command value in the master operation cycle unit to the value in the slave operation cycle unit for each slave operation cycle based on the elapsed time from the timing when the master operation cycle and the slave operation cycle match And
And a control unit that controls the control object using the correction value corrected by the command value correction unit for each slave operation cycle.

  According to the present invention, even if the operation cycle of the master device and that of the slave device are different, correction is performed so that the difference in the control value is constant between the slave operation cycles. The controlled object can be controlled smoothly.

Embodiment 1 FIG.
A configuration example of the slave device according to the present embodiment is shown in FIG.

In FIG. 1, a slave device 100 (hereinafter referred to as a slave) is connected to a master device 200 (hereinafter referred to as a master) via a network 400.
The master 200 and the slave 100 have different operation cycles. The operation cycle of the master 200 is called a master operation cycle, and the operation cycle of the slave 100 is called a slave operation cycle.
The slave 100 is connected to a motor 300 that is a control target.

In the slave 100, 102 is a cycle control unit that controls the operation cycle of the slave 100.
Reference numeral 103 denotes a timer unit.
Reference numeral 104 denotes a periodic reset unit that monitors a periodic signal coming from the network 400 side and appropriately resets the operation period of the slave 100.
Reference numeral 105 denotes a cycle detection unit that detects the cycle of the slave from the timer value received from the timer unit 103 and transmits it to other processing units.
Reference numeral 106 denotes a cycle counter unit that counts the number of cycle signals received from the cycle detection unit 105 and transmits it to other processing units.

A network communication unit 107 receives a periodic signal from the network and transmits / receives data between the slave and the network.
The network communication unit 107 receives a position command (control command value) that is a numerical value for controlling the motor 300 generated by the master 200 in units of master operation cycles. The network communication unit 107 is an example of a reception unit and a transmission unit.

A data correction unit 108 corrects the position command received from the network communication unit 107 by the cycle counter unit 106.
The data correction unit 108 corrects the position command in the master operation cycle unit to the position command in the slave operation cycle unit for each slave operation cycle based on the elapsed time from the timing when the master operation cycle and the slave operation cycle match. . The data correction unit 108 calculates a correction value for each slave operation cycle with a numerical value at which the difference between the correction values between the previous and next slave operation cycles is substantially constant.
Further, the data correction unit 108 corrects the current position (state value) of the motor, which is a numerical value indicating the current state of the motor 300, so as to match the master operation cycle. In other words, the data correction unit 108 uses the elapsed time from the timing at which the master operation cycle and the slave operation cycle coincide with each other as the master operation cycle for the current position of the motor acquired in units of slave operation cycles for each master operation cycle. Correct to the unit value. The data correction unit 108 calculates a correction value for each master operation cycle from the value of the current position where the difference between the previous and next slave operation cycles is substantially constant.
The correction value calculation procedure of the data correction unit 108 will be described later.
The data correction unit 108 is an example of a command value correction unit and a state value correction value.

Reference numeral 109 denotes a motor control unit that drives the servo motor based on the corrected data received from the data correction unit 108.
The motor control unit 109 controls the motor 300 that is a control target using the correction value corrected by the data correction unit 108 for each slave operation cycle.
The motor control unit 109 is an example of a control unit.

  Next, an operation in which the slave 100 according to the present embodiment calculates the correction value of the slave operation cycle from the value of the position command of the master operation cycle will be described.

The network communication unit 107 inside the slave 100 receives a position command from the network 400 in synchronization with the operation cycle of the master 200.
The network communication unit 107 sends the received position command to the data correction unit 108, and the data correction unit 108 corrects the position command to an optimal value in the current slave operation cycle, and sends this to the motor control unit 109.
Upon receiving the correction value from the data correction unit 108, the motor control unit 109 drives the motor 300 based on the correction value.
Communication among the network communication unit 107, the data correction unit 108, and the motor control unit 109 is performed in synchronization with the operation cycle of the slave.

The cycle reset unit 104 controls the operation cycle of the slave 100.
The timer unit 103 transmits a timer value to the cycle detection unit 105, and the cycle detection unit 105 refers to the timer value and indicates a cycle start timing every time a predetermined time as the operation cycle of the slave 100 elapses. The signal is sent to the period counter unit 106, the data correction unit 108, and the motor control unit 109.
The period counter unit 106 counts the number of periods.
Here, counting is repeated by setting the upper limit of the counter value to C_max and setting C_max to 0 next.
The value of C_max is obtained by subtracting 1 from the number of slave operation cycles required from the timing when the operation cycles of the master 200 and the slave 100 match to the next match. Details of the value of C_max will be described later with reference to FIG.

The data correction unit 108 corrects the position command value received from the network communication unit 107 based on the counter value.
This correction method will be described later with reference to FIG.
On the other hand, the network communication unit 107 receives a cycle reset signal from the master 200 every time the master operation cycle elapses, and sends this to the cycle reset unit 104 inside the cycle control unit 102.
The cycle reset unit 104 gives a command to the cycle detection unit 105 and the cycle counter unit only when the cycle reset signal is received at a timing when the operation cycles of the master 200 and the slave 100 coincide with each other. Then, the start timing of the operation cycle of the slave that has been managed by itself is reset, and the cycle counter unit 106 resets the counter value to 0.

  As described above, the network communication unit 107 communicates with the network 11 in synchronization with the master operation cycle in order to synchronize with the master 200, whereas the network communication unit 107, the data control unit 8, and the data control unit 8 The motor control unit 109 communicates in synchronization with the operation cycle of the slave.

Next, a method for correcting the position command for each slave operation cycle performed in the data correction unit 108 in FIG. 1 will be described.
The data correction unit 108 performs correction based on the time point at which the start times of the operation cycles of the master 200 and the slave 100 coincide. The image is shown in FIG.

First, the symbols shown in FIG. 2 will be described.
In FIG. 2, TM is the operation cycle of the master.
TS is the operation cycle of the slave.
T_LCM is a period in which TM and TS coincide, that is, a period that is the least common multiple of TM and TS.
Further, when TM and TS each have NM and NS as the number of periods required until T_LCM, the relationship of T_LCM = TM × NM = TS × NS is established.
FIG. 2 shows an example when NM = 4 and NS = 9.

In FIG. 2, T1 is the timing at which the start times of TM and TS match, and the next matching timing is T2.
The cycle numbers from T1 to T2 in the master 200 are set to X_k, X_k + 1, X_k + 2. . . X_k + m, and position command values in each cycle are represented by M_k, M_k + 1, M_k + 2. . . It represents with M_k + m.
As described above, since FIG. 2 shows an example when NM = 4, m = 3.
X_k-1 indicates the cycle number before X_k.

Similarly for the slaves, the cycle numbers from T1 to T2 are assigned Y_l, Y_l + 1, Y_l + 2,. . . Y_l + n, and position commands in each cycle are represented by S_l, S_l + 1, S_l + 2. . . It represents with S_l + n.
Since FIG. 2 shows an example when NS = 9, n = 8.
Note that the upper limit C_max of the counter in the period counter unit 106 described in FIG. 1 is equal to n.

Next, how to obtain the position command correction value S_j in a certain slave operation cycle Y_j (j = 1 to 1 + 8) will be described with reference to FIG.
The correction value S_j of the position command is obtained from the reference value BS_j and the adjustment value HS_j in the slave operation cycle Y_j, and the relational expression S_j = BS_j + HS_j is established.

The reference value BS_j of the position command correction value S_j is a value M_i−1 one cycle before the latest position command M_i (i = k to k + 3) received in the operation cycle of the master 200 by the start time of the slave operation cycle Y_j. be equivalent to.
For example, in FIG. 2, the reference value BS_l + 1 of the correction value S_l + 1 is the position command M_k−1 (the latest position command M_i is M_k, and the position command one cycle before is M_k−1).

Next, how to determine the adjustment value HS will be described.
The adjustment value HS_j of the position command in a certain slave operation cycle Y_j is the latest position command M_i (position command of the simultaneous progress master operation cycle X_i) received in the master operation cycle before the start time of the slave operation cycle Y_j, and 1 It is calculated from the position command value M_i-1 before the cycle and the correction variable PT_j.
The relational expression is HS_j = (M_i−M_i−1) × PT_j.

The correction variable PT_j is the start of X_i (simultaneous progress master operation cycle: the cycle of the latest position command M_i received in the master operation cycle before the start time of Y_j) from the start time (Ys_j) of the slave operation cycle Y_j. This is a value obtained by subtracting the time (Xs_i) and dividing it by TM.
Therefore, PT_j = (Ys_j−Xs_i) / TM.

  Based on the above, Y_l to Y_l + 8 in FIG. 2 are obtained as follows.

S_l = M_k-1 + (M_k-M_k-1) * (Ys_l-Xs_k) / TM
S_l + 1 = M_k−1 + (M_k−M_k−1) × (Ys_l + 1−Xs_k) / TM
S_l + 2 = M_k-1 + (M_k-M_k-1) * (Ys_l + 2-Xs_k) / TM
S_l + 3 = M_k + (M_k + 1−M_k) × (Ys_l + 3−Xs_k + 1) / TM
S_l + 4 = M_k + (M_k + 1−M_k) × (Ys_l + 4-Xs_k + 1) / TM
S_l + 5 = M_k + 1 + (M_k + 2-M_k + 1) × (Ys_l + 5-Xs_k + 2) / TM
S_l + 6 = M_k + 1 + (M_k + 2-M_k + 1) × (Ys_l + 6-Xs_k + 2) / TM
S_l + 7 = M_k + 2 + (M_k + 3-M_k + 2) × (Ys_l + 7−Xs_k + 3) / TM
S_l + 8 = M_k + 2 + (M_k + 3-M_k + 2) × (Ys_l + 8−Xs_k + 3) / TM

  In FIG. 2, since the relationship of T_LCM = TM × 4 = TS × 9 is established, PT_j can be expressed by the following fraction.

S_l = M_k−1 + (M_k−M_k−1) × 0/9
S_l + 1 = M_k−1 + (M_k−M_k−1) × 4/9
S_l + 2 = M_k−1 + (M_k−M_k−1) × 8/9
S_l + 3 = M_k + (M_k + 1−M_k) × 3/9
S_l + 4 = M_k + (M_k + 1−M_k) × 7/9
S_l + 5 = M_k + 1 + (M_k + 2-M_k + 1) × 2/9
S_l + 6 = M_k + 1 + (M_k + 2-M_k + 1) × 6/9
S_l + 7 = M_k + 2 + (M_k + 3-M_k + 2) × 1/9
S_l + 8 = M_k + 2 + (M_k + 3-M_k + 2) × 5/9

The method for obtaining PT_j will be described by taking S_l + 1 as an example.
When the time of T_LCM is represented by 1, Ys_l + 1 = 4/36, Xs_k = 0/36, and TM = 9/36, so (Ys_l + 1−Xs_k) / TM = (4 / 36-0 / 36) / 9 / 36 = 4/9.
The other PT_j can be obtained similarly.

  FIG. 3 shows how position commands are transmitted when the slave 100 according to the present embodiment is used in a motion control system in which the operation cycles of the master 200 and the slave 100 do not match.

The right direction represents the passage of time, and the row of master X indicates the position command in the operation cycle of the master 200, that is, the timing and value of the network communication unit 107 in FIG. 1 receiving the position command in the operation cycle of the master 200. An example of change is shown.
The row of slave Y is a position command in the operation cycle of the slave 100, that is, an example of timing and value change when the motor control unit 109 in FIG. 1 receives the position command from the data correction unit 108 in the operation cycle of the slave 100. Is shown.
Further, ΔT indicates a difference in position command between slave operation cycles.

As shown in FIG. 3, when the increase in the position command data for each cycle is made constant considering that the master side rotates the motor at a constant speed, the increase amount (ΔT) of the position command value that the slave 100 gives to the motor 300 is It becomes constant.
Therefore, there is no difference in the number of rotations of the motor for each cycle, and no rotation unevenness occurs.
In FIG. 3, since the value of slave Y is shown with the decimal part omitted, there are some portions where the slave Y and the value of ΔT do not completely match, but the value of ΔT is constant. It does not change.

As described above, according to the present embodiment, in an environment where the operation cycle of the master and the slave does not match, the slave receives each cycle based on the timing at which the communication cycle of the network matches its own operation cycle. By correcting the data based on the information on the elapsed time from the reference based on the position command to be performed, it is possible to drive the motor at a constant speed and without uneven rotation.
In addition, since uneven rotation of the motor can be avoided, the power consumption of the motor can be suppressed, and the motor can be driven smoothly, so that the life of the motor can be extended.

  Next, an operation when the slave 100 according to the present embodiment notifies the current position of the motor 300 of the master 200 will be described.

The operation in which the slave 100 notifies the master 200 of the current position is basically the reverse of the operation in which the slave 100 converts the position command based on the master operation cycle into a correction value for the slave operation cycle.
In other words, the data correction unit 108 uses the elapsed time from the timing at which the master operation cycle and the slave operation cycle coincide with each other as the master operation cycle for the current position of the motor acquired in units of slave operation cycles for each master operation cycle. Correct to the unit value.
A specific method of calculating the correction value in units of the master operation cycle is as follows.

The master-to-slave position commands M_i and S_j described in FIG. 2 are used as position information from the slave to the master. The calculation formula in that case is as follows.
M_k = S_l-1 + (S_l-S_l-1) * (Xs_k-Ys_l) / TM
M_k + 1 = S_l + 1 + (S_l + 2-S_l + 1) × (Xs_k + 1−Ys_l + 2) / TM
M_k + 2 = S_l + 3 + (S_l + 4-S_l + 3) × (Xs_k + 2-Ys_l + 4) / TM
M_k + 3 = S_l + 5 + (S_l + 6-S_l + 5) × (Xs_k + 3-Ys_l + 6) / TM

  In FIG. 2, since the relationship of T_LCM = TM × 4 = TS × 9 is established, PT_i can be represented by the following fraction.

M_k = S_l−1 + (S_l−S_l−1) × 0/4
M_k + 1 = S_l + 1 + (S_l + 2-S_l + 1) × 1/4
M_k + 2 = S_l + 3 + (S_l + 4-S_l + 3) × 2/4
M_k + 3 = S_l + 5 + (S_l + 6-S_l + 5) × 3/4

  As described above, according to the present embodiment, in an environment where the operation cycles of the master and slave do not match, the master operation cycle unit is changed to the correction value of the slave operation cycle unit to control the motor, and the slave operation cycle Since the current position of the motor controlled in units is converted into a value in units of master operation cycles, the accurate current position of the motor for each master operation cycle can be notified to the master.

  As described above, in the present embodiment, in the motion network system in which the motion controller gives a command to the servo amplifier via the network and the servo amplifier drives the servo motor, in the environment where the operation cycle of the motion controller and the operation cycle of the servo amplifier are different, The position command correction method for correcting the position command received from the motion controller by the servo amplifier by the elapsed time from the timing when the cycle of the motion controller and the cycle of the servo amplifier coincide with each other and the servo amplifier device have been described.

  In this embodiment, in a motion network system in which the motion cycle of the motion controller and the servo amplifier are different, the current position information of the servo motor that the servo amplifier sends to the motion controller is The correction method of the current position response that is corrected by the elapsed time from the timing at which the periods coincide with each other and the servo amplifier device have been described.

Finally, a hardware configuration example of the slave device 100 described in this embodiment will be described.
FIG. 6 is a diagram illustrating an example of hardware resources of the slave device 100 illustrated in the present embodiment.
Note that the configuration of FIG. 6 is merely an example of the hardware configuration of the slave device 100, and the hardware configuration of the slave device 100 is not limited to the configuration illustrated in FIG. .

In FIG. 6, the slave device 100 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, and a processor) that executes a program.
The CPU 911 is connected to, for example, a ROM (Read Only Memory) 913, a RAM (Random Access Memory) 914, a communication board 915, a display device 901, a keyboard 902, a mouse 903, and a magnetic disk device 920 via a bus 912. Control hardware devices.
Further, the CPU 911 may be connected to an FDD 904 (Flexible Disk Drive) or a compact disk device 905 (CDD). Further, instead of the magnetic disk device 920, a storage device such as an optical disk device or a memory card (registered trademark) read / write device may be used.
The RAM 914 is an example of a volatile memory. The storage media of the ROM 913, the FDD 904, the CDD 905, and the magnetic disk device 920 are an example of a nonvolatile memory. These are examples of the storage device.
The communication board 915, the keyboard 902, the mouse 903, the FDD 904, and the like are examples of input devices.
The communication board 915, the display device 901, and the like are examples of output devices.

  As shown in FIG. 1, the communication board 915 is connected to a network. For example, the communication board 915 may be connected to a LAN (local area network), the Internet, a WAN (wide area network), or the like.

The magnetic disk device 920 stores an operating system 921 (OS), a window system 922, a program group 923, and a file group 924.
The programs in the program group 923 are executed by the CPU 911 using the operating system 921 and the window system 922.

The RAM 914 temporarily stores at least part of the operating system 921 program and application programs to be executed by the CPU 911.
The RAM 914 stores various data necessary for processing by the CPU 911.

The ROM 913 stores a BIOS (Basic Input Output System) program, and the magnetic disk device 920 stores a boot program.
When the slave device 100 is activated, the BIOS program in the ROM 913 and the boot program in the magnetic disk device 920 are executed, and the operating system 921 is activated by the BIOS program and the boot program.

  The program group 923 stores programs for executing the functions described as “˜units” in the description of the present embodiment. The program is read and executed by the CPU 911.

In the description of the present embodiment, in the file group 924, “determination of”, “calculation of”, “calculation of”, “correction of”, “comparison of”, “setting of”, Information, data, signal values, variable values, and parameters indicating the results of processing described as “control of”, “selection of”, etc. are stored as items of “˜file” and “˜database”. ing.
The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, and calculated. Used for CPU operations such as calculation, processing, editing, output, printing, and display.
Information, data, signal values, variable values, and parameters are stored in the main memory, registers, cache memory, and buffers during the CPU operations of extraction, search, reference, comparison, calculation, processing, editing, output, printing, and display. It is temporarily stored in a memory or the like.

  In addition, what is described as “˜unit” in the description of the present embodiment may be “˜circuit”, “˜device”, “˜device”, and “˜step”, “˜”. “Procedure” and “˜Process” may be used. That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs in a recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD. The program is read by the CPU 911 and executed by the CPU 911. In other words, the program causes the computer to function as “to part” of the present embodiment. Alternatively, the procedure or method of “˜unit” in the present embodiment is executed by a computer.

  As described above, the slave device 100 described in this embodiment includes a CPU that is a processing device, a memory that is a storage device, a magnetic disk, a keyboard that is an input device, a mouse, a communication board, and a display device that is an output device, a communication board, and the like. As described above, the computer includes the functions indicated as “to part” by using these processing devices, storage devices, input devices, and output devices.

3 is a diagram illustrating a configuration example of a slave device according to Embodiment 1. FIG. 6 is a diagram for explaining a method for calculating a correction value of a position command in the slave device according to Embodiment 1. FIG. It is a figure which shows how to transmit the position command in the motion control system to which the slave device of the first embodiment is applied. It is a block diagram of a general slave. It is a figure which shows how to transmit the position command in the motion control system to which a general slave is applied. FIG. 3 is a diagram illustrating a hardware configuration example of a slave device according to the first embodiment.

Explanation of symbols

  100 slave device, 102 cycle control unit, 103 timer unit, 104 cycle reset unit, 105 cycle detection unit, 106 cycle counter unit, 107 network communication unit, 108 data correction unit, 109 motor control unit, 200 master device, 300 motor, 400 network.

Claims (4)

A slave device that is connected to a master device that operates at a predetermined master operation cycle and controls a predetermined control object at a slave operation cycle different from the master operation cycle,
A receiving unit that receives a control command value that is a numerical value for controlling the control object generated by the master device in units of a master operation cycle;
Command value correction for correcting the control command value in the master operation cycle unit to the value in the slave operation cycle unit for each slave operation cycle based on the elapsed time from the timing when the master operation cycle and the slave operation cycle match And
Each slave operation cycle, have a control unit for controlling the controlled object by using the correction value corrected by the command value correcting portion,
The command value correction unit
For each slave operation cycle Y_j, the start time Ys_j of the slave operation cycle Y_j starts before the start time Ys_j of the slave operation cycle Y_j, and is simultaneously progressing at least partially simultaneously with the slave operation cycle Y_j The start time Xs_i of the master operation cycle X_i, the control command value M_i in the simultaneous progress master operation cycle X_i, the control command value M_i-1 in the master operation cycle immediately before the simultaneous progress master operation cycle X_i, and the master operation Based on the cycle time TM of the cycle,
For each slave operation cycle Y_j,
S_j = M_i−1 + {(M_i−M_i−1) × (Ys_j−Xs_i) / TM}
A slave device that calculates a correction value S_j for each slave operation cycle . The command value correction unit
The slave device according to claim 1, wherein the correction value of each slave operation cycle is calculated with a numerical value at which a difference in correction values between the preceding and following slave operation cycles is substantially constant. The slave device is
A servo amplifier that controls a motor as the object to be controlled;
The receiver is
A control command value indicating the position of the motor generated by the master device which is a motion controller is received,
The controller is
2. The slave device according to claim 1, wherein position control of the motor is performed using a correction value corrected by the command value correction unit for each slave operation cycle. A program causing a computer to function as the slave device according to claim 1.

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