JPH0535670A - Multiaxis control system - Google Patents

Abstract

PURPOSE:To transmit and receive the data between axis boards with easy constitution and to shorten the time necessary for transmitting and receiving by inputting and outputting the data based on the state of a signal imparted in parallel from all strobing signal lines by respective shaft boards. CONSTITUTION:To axis boards 21-23, a signal is inputted in parallel from all strobe signal lines, the shaft boards 21-23 recognize the data of which axis boards 21-23 are strobed, the data are outputted from the self board and the necessary data are fetched out of the data outputted by other axis board. The data can be transmitted and received between the axis boards 21-23 without passing through a signal host board 1. Thus, without making hardware expensive, the data can be transmitted and received between the axis boards 21-23 with easy constitution, the reception of the data can be performed at a high speed without interrupting the processing of the host board 1 and the real time characteristic of the data is increased.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis control system for controlling an apparatus having a plurality of drive shafts such as a multi-axis motor.

[0002]

2. Description of the Related Art Conventionally, as a multi-axis control system, for example, as shown in FIG. 4, one host board 1 and a plurality of axis boards 2 1, 2 2, ... There was one connected only. Here, the host board 1 controls each axis board centrally. The axis boards 2 1, 2 2 ... Drive the drive shafts 3 1, 3 2 provided for each axis board.
As a result of driving the drive shafts 4 1, 4 2, ..., The shaft boards 2 1, 2
In 2 ..., detection data (position data) of the rotational position of the drive shaft
Is obtained.

In such a control system, the following problems occur when exchanging position data between the axis boards. If all axis cards have a hardware configuration that allows access to the system bus, it is necessary to have hardware for each axis card to manage the right to use the bus. The hardware becomes expensive. If all axis cards are in a hardware configuration in which the system bus is inaccessible, the host board sends a read command to the axis board via the system bus to exchange position data. ，
You have to write. Therefore, the system bus cannot perform other processing while reading or writing to the axis board. Also, since data is exchanged via the host board, the transmission time is long.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has a simple structure without increasing the cost of the hardware and the data between the shaft boards. The purpose of the present invention is to realize a multi-axis control system in which data can be exchanged and data can be exchanged at high speed without hindering the processing of the host board.

[0005]

SUMMARY OF THE INVENTION According to the present invention, one host board and a plurality of axis boards are connected to a system bus, and each host board is controlled by the host board. The axis board is a multi-axis control system that drives the drive axis provided for each axis board.
A calbus and an interface board connected to this local bus are provided. The local bus is a data bus for transmitting data to and received from the axial boards, and an axial board. The same number of strobe signal lines are provided, and each strobe signal line is connected to all axis boards and interface boards. There is a strobe signal output means for outputting a strobe signal to the signal line at different timings for each strobe signal line, and the axis board is parallel to all strobe signal lines. Depending on the state of the input signal, it outputs data from its own board to the data bus, and it also inputs the necessary data from the data output by other axis boards. Multi-axis control system having output control means It is.

[0006]

In the present invention as described above, signals are input in parallel from all the strobe signal lines to the axis board, and the axis board
Depending on the state of this parallel input, the board recognizes which axis board data has been strobed and outputs the data from its own board or other axis board data. It takes in necessary data from the data output by. As a result, data is exchanged between the axis boards without passing through the host board.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. Figure 1
FIG. 1 is a configuration diagram of an embodiment of the present invention. In FIG.
The same symbols as those of are attached. In FIG. 1, reference numeral 5 is a local bus, which is a separate axis bus from the system bus 4.
The terminals 2 1, 2 2 ... Are connected to each other. Local Bus 5
In order to distinguish it from the system bus 4, the local bus 5 is shaded in the figure. An interface board 6 is connected to the local bus 5 and controls the local bus and manages position data.

FIG. 2 is a block diagram of the essential parts of the system of FIG. The local bus 5 comprises a data bus 51 and a strobe signal line 52. The data bus 51 is connected to the interface board 6 and the respective axis boards 2 1, 2 2, ... And transmits position data. As many strobe signal lines 52 as the number of axis boards are provided, and all axis boards and interface boards are connected. In the interface board 6, 61 is a strobe signal output means for outputting strobe signals at different timings for each strobe signal line. The interface board 6 is a simple active circuit having such a strobe signal output means 61. In the axis board 2 1, 211 is a strobe signal input means for inputting signals in parallel from all the strobe signal lines, and 212 is from its own board depending on the state of the signals input in parallel. It is an input / output control means for outputting the position data to the data bus 51 and fetching necessary ones from the position data output by the other axis boards.
An input / output data storage means 213 serves as a buffer for the position data output by the axis board 2 1 and a latch for the position data input to the axis board 2 1. .. Axis
The terminal 2 1 outputs position data from its own board or takes in position data of other axis boards according to the state of signals input in parallel from the strobe signal line. It is a passive circuit. The other shaft boards 2 2, 2 3 ... Have the same structure.

The operation of the control system thus configured will be described. FIG. 3 is a time chart of signals in the system of FIG. As shown in FIG. 3, the strobe signal output means 61 gives a strobe signal which falls at different timings for each strobe signal line. The signals of all strobe signal lines are input in parallel to each axis board. The axis board outputs position data from its own board according to the state of signals input in parallel. For example,
The axis board 2 1 outputs position data according to the timing of the strobe signal 1, and the axis board 2 1 according to the timing of the strobe signal 2.
Mode 2 2 outputs the position data. By shifting the falling timing of each strobe signal by a fixed period, the position data output to the data bus 51 is strobed.
It is updated for each signal. The exchange of position data between axis boards is performed by reading the position data from the data bus by another axis board when the strobe signal of the axis board to be read is generated. To do. That is, the input / output control means 212 on the axis board is used for the position data output by another axis board.
When the strobe signal of the axis board you want to read is input based on the state of the signals input in parallel by all the strobe signal lines, while recognizing what you need in the , Each axis board arbitrarily takes in the position data of other axis boards.

It should be noted that the axial board may be provided in a number other than that shown in the embodiment. Further, the data transmitted / received between the axis boards is not limited to the position data, but may be other data.

[0011]

According to the present invention, since each axis board inputs / outputs data based on the state of signals applied in parallel from all the strobe signal lines, the purpose of managing the bus use right is bothered. Data can be sent and received between axis boards with a simple configuration without the need for hardware to perform such operations. Further, since the data transfer between the axis boards does not pass through the host board, the host board can perform other processing during the data transfer. Since it does not go through the host board, the time required for data transfer is shortened and the real-time property of data is improved.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an embodiment of the present invention.

FIG. 2 is a configuration diagram of main parts of the system of FIG.

FIG. 3 is an operation explanatory diagram of the system of FIG.

FIG. 4 is a diagram showing a configuration example of a conventional multi-axis control system.

[Explanation of symbols]

 1 Host board 2 1-23 Axis board 212 Input / output control means 3 1-33 Drive axis 4 System bus 5 Local bus 51 Data bus 52 Strobe signal line 6 Interface board 61 Stroke -Bu signal output means

Claims (1)

Claims: 1. A single host board and a plurality of shaft boards are connected to a system bus, and each host board is centrally controlled by the host board. A board is a multi-axis control system that drives a drive axis provided for each axis board. In this system, a local bus to which each axis board is connected and an interface board connected to this local bus are connected. -The local bus comprises a data bus for transmitting and receiving data between the axis boards,
It is composed of strobe signal lines provided by the number of axis boards, each strobe signal line is connected to all axis boards and interface boards, and the interface boards are For each strobe signal line, there is a strobe signal output means for outputting a strobe signal at a different timing for each strobe signal line, and the axis board has all strobe signal lines. Depending on the state of the signals input in parallel from the lines, the data is output from the own board to the data bus and the data output from other axis boards is required. A multi-axis control system having an input / output control means for taking in things.