JPH08221119A - Control system for plural servocontrol parts - Google Patents

Abstract

PURPOSE: To provide a control system which can speedily informs a main control part of an abnormal state and investigate the cause of a fault if a servocontrol part becomes abnormal. CONSTITUTION: This control system has its main control part 1 connected to plural servocontrol parts 21 , 22 -2n through a communication bus and controls servomotors 31 , 32 -3n by supplying commands to the respective servocontrol parts 2 by the main control part 1. A CPU state storage device 24 is arranged at each servocontrol part 2, and stores the operation state of the servocontrol part 2, informs the main control part 1 that the servocontrol part 2 becomes abnormal in such a case, and sends the stored operation state of the servocontrol part 2 to the main control part 1 at a request from the main control part 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller, and more particularly to a control system for controlling a plurality of servo control units via a communication bus.

[0002]

2. Description of the Related Art FIG. 2 is a block diagram showing a conventional control system for controlling a plurality of servo control units. The main control unit 1 includes a CPU 11 and a communication control circuit 10. The communication control circuit 10 includes a communication control unit 12 that controls data communication of the main control unit 1 and a transfer memory that sets data to be transferred by the CPU 11. It consists of 13. Also,
Each of the servo control units 102 ₁ , 102 ₂ , ..., 102 _n has a C
PU121 and made from the communication control circuit 120. Each servomotor 3 _1, 3 _2, - to control the 3 _n. The communication control circuit 120 includes servo control units 102 ₁ , 102 ₂ , ..., 1
A communication control unit 122 for controlling the data communication of 02 _n ;
It comprises a transfer memory 123 for setting data to be transferred by the PU 121. That is, in this control system, the CPUs 11 and 121 are the communication control circuit 10,
Data is set in the transfer memories 13 and 123 of 120,
The communication control units 12 and 122 control data communication.

[0003]

In the conventional control system described above, if the servo control unit is normal, correct data is set in the transfer memory 123 and communication is normally executed. However, if software runaway or data destruction occurs in the servo controller,
Normal data communication will not be possible. Therefore, this abnormal state cannot be notified to the main control unit 1, making it difficult to investigate the cause of the failure.

In view of the above problems, the present invention provides a control system that enables data communication even when an abnormality occurs in the servo control unit, notifies the main control unit of the abnormal state, and promptly investigates the cause of the failure. To do.

[0005]

In the control system of the present invention, a main control unit is connected to a plurality of servo control units via a communication bus, and the main control unit gives a command to each servo control unit to be controlled. Is a control system for controlling each of the above-mentioned servo control units, stores the operating state of the servo control units provided, and when an abnormality occurs in the provided servo control units, CPU for transmitting a message to the main control unit and transmitting the stored operation state of the servo control unit to the main control unit when the main control unit makes a request.
It has a state storage device. Further, it is preferable that the CPU state storage device be independently operable without being affected by the operation of the provided servo control unit.

[0006]

When an abnormality occurs in the servo control unit, the CPU state storage device notifies the main control unit of that fact. Upon receiving the notification, the main control unit instructs the CPU state storage device to send data related to the abnormality. The CPU state storage device sends the instructed data to the main controller, and the main controller determines the cause of the abnormality occurrence based on this data.

[0007]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a control system for a plurality of servo control units of the present invention. In this embodiment, the main control unit 1 is connected to a plurality of servo control units 2 via a communication bus.

The main control unit 1 comprises a CPU 11 and a communication control circuit 10. The communication control circuit 10 controls the data communication of the main control unit 1 and a CPU.
11 comprises a transfer memory 13 for setting the data to be transferred. In addition, each servo control unit 2 ₁ , 2 ₂ , ...,
2 _n is made from the communication control circuit 20. the CPU 21, respectively servomotor 3 _1, 3 _2, - to control the 3 _n. The communication control circuit 20 includes a communication control unit 22 that controls the data communication of the servo control units 2 ₁ , 2 ₂ , ..., 2 _n , and a transfer memory 23 that sets the data to be transferred by the CPU 21.
And a CPU state storage device 24 for sampling and storing the operating state of the CPU 21 and the operating states of the other servo control units 2 ₁ , 2 ₂ , ..., 2 _n . Furthermore, CP
The U state storage device 24 includes servo control units 2 ₁ , 2 ₂ , ..., 2
_If an error occurs in _n , the communication control unit 22
To the main control unit 1, and when the main control unit 1 makes a request, the corresponding storage contents are transferred to the communication control unit 22.
It is transmitted to the main control unit 1 via.

Therefore, when the main controller 1 receives the notification of the occurrence of the abnormality, the main controller 1 can quickly find out the cause of the abnormality by acquiring the stored contents of the CPU state storage device 24 of the corresponding servo controller. .

[0010]

As described above, according to the present invention, when an abnormality occurs in the servo control unit, the CPU state storage device informs the main control unit of the fact, and the main control unit which has received the notification notifies the CPU state. Since the data relating to the abnormality can be obtained from the storage device, the main control section has the effect of promptly determining the cause of the abnormality occurrence based on this data.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a control system for a plurality of servo control units of the present invention.

FIG. 2 is a block diagram showing a conventional example.

[Explanation of symbols]

1 Main control unit 2 ₁ , 2 ₂ , ~, 2 _n Servo control unit 3 ₁ , 3 ₂ , ~, 3 _n Servo motor 10, 20 Communication control circuit 11, 21 CPU 12, 22 Communication control unit 13, 23 Transfer memory 24 CPU state storage device

Claims (2)

[Claims] 1. A control system in which a main control unit is connected to a plurality of servo control units via a communication bus, and the main control unit gives a command to each servo control unit to control an object to be controlled. When the servo control section provided is memorized, the operation state of the provided servo control section is stored, and when an abnormality occurs in the provided servo control section, the fact is transmitted to the main control section,
When a request is issued from the main control unit, the CP for transmitting the stored operation state of the servo control unit to the main control unit
A control system having a U state storage device. 2. The control system according to claim 1, wherein the CPU state storage device is independently operable without being affected by the operation of a servo control unit provided therein.