JPH0895618A - Motor drive control device and method therefor - Google Patents

Abstract

PURPOSE: To provide a motor drive control device which is not required to always monitor the driving state of a motor under its drive control and therefore can use its surplus processing capability for other processing jobs, and a motor drive control method. CONSTITUTION: A parameter seting means of a management control part 1' sets the control parameter to a parameter storage means of a motor control part 2' for the drive control of motor based on the task to be processed. Then, a task management means sets the task on a table and puts the task into a pause state. When the task management means receives an interruption signal from an interruption signal generation means of the part 2' to show the end of the motor drive control, the management means retrieves the table and cancels the pause state of the corresponding task.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor drive controller for controlling rotation of a plurality of motors.

[0002]

2. Description of the Related Art FIG. 3 is a diagram illustrating a configuration of a motor drive control device. In this figure, 1 is a plurality of motors M
It is a CPU board that controls the rotation of 1, M2 ... Mj, and is equipped with a CPU and various memories. Reference numeral 2 denotes a motor controller board, which actually drives the motors M1 to Mj based on a motor control command output from the CPU board 1. The CPU board 1 and the motor controller board 2 exchange control data via the bus 3.

FIG. 4 is a flow chart showing the main part of the operation procedure of the CPU board 1 and the motor controller board 2. The operation of the conventional motor drive control device will be described below with reference to this figure.

First, a rotation command for rotating any of the motors M1 to Mj is output from the CPU board 1 to the motor controller board 2 (step Sa1). The motor controller board 2 receiving this command generates a movement signal based on the command and outputs it to the corresponding motor in step Sb1. This causes the motor to start rotating.

Then, the CPU board 1 executes the step Sa.
At 2, the motor controller board 2 outputs a read request for the motor movement status. Upon receiving this request, the motor controller board 2 proceeds to step Sb.
At 2, the rotation information such as the speed and rotation speed of the corresponding motor is detected, and the detection result is transmitted to the CPU board 1 as status data.

In step Sa3, the CPU board 1 detects whether or not the drive control of the motor is completed based on the received status data. If not completed, the CPU board 1 returns to step Sa2 and again requests to read the motor movement status. Is output. In this way, steps Sa2 and Sa3 of the CPU board 1 are repeatedly executed, and when the end of motor control is detected in step Sa3, the process proceeds to another process.

[0007]

By the way, in the CPU board 1 of the above-described motor drive control device, a request for the motor movement status is output to the motor controller board 2, and the control of the motor is terminated based on the status data obtained as a result. For detecting (FIG. 4, steps Sa2, S
a3) is repeatedly executed until the end is detected. Therefore, to monitor the drive status of the motor,
There is a problem that the processing capacity of the CPU is wasted.

The present invention eliminates the need for the CPU board 1 to constantly monitor the drive state of the motor during drive control.
It is an object of the present invention to provide a motor drive control device and method that can utilize surplus processing capacity for other processing.

[0009]

In order to solve the above-mentioned problems, the invention according to claim 1 is to control the drive of a plurality of motors based on the management control section for outputting the control parameters and the control parameters. In the motor drive control device including a motor control unit, the management control unit manages a state of the task and a parameter setting unit that sets a control parameter of the corresponding motor based on a plurality of preset tasks. And a table storing at least one table in which the task managing unit stores the state of each task. The motor control unit stores the control parameters in the parameter storing unit and the parameter storing unit. Drive signal generating means for outputting a drive signal to the corresponding motor based on the control parameter, and an interrupt signal. Interrupt signal generating means for notifying the management control unit that the output of the drive signal generating means has ended, and the task management means responds when the setting of the control parameter of the parameter setting means is completed. It is characterized in that the task is registered in the table, the task is put in a dormant state, and when the interrupt signal is received from the interrupt signal generating means, the dormant state of the corresponding task is released.

According to a second aspect of the present invention, in the first aspect of the invention, the management control unit operates on a multitasking OS, and the parameter setting means, the task management means, and the table are stored. It is characterized in that a portion directly related to the motor controller is constituted by a device driver.

According to a third aspect of the present invention, the management control unit outputs a control parameter of the motor to be controlled to the motor control unit according to the selected task, and a table of the selected task. A second step of registering the task with the task and putting the task in a dormant state, a third step of sequentially performing the first and second steps for other tasks, and a third step thereof. When an interrupt signal indicating the end of driving of the motor is output from the motor control unit, the fourth step of searching the table for the task that controlled the motor in the table and the sleep state of the task determined by the search A fifth step of releasing and returning to the first step.

[0012]

According to the present invention, after the parameter setting means sets the control parameter in the parameter storage means based on the task to be processed, the task management means sets the above task in the table and puts the task in the dormant state. To Then, when the task managing means receives the interrupt signal from the interrupt signal generating means, the task managing means searches the table and cancels the sleep state of the corresponding task. This eliminates the need for the management control unit to constantly monitor the driving state of the motor to be controlled.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a functional configuration of a motor drive control device according to this embodiment, and parts corresponding to those in FIG.
In addition, broken lines (1) to (15) shown in FIG. 1 indicate the flow of processing.

In FIG. 1, a CPU board 1'is provided with an application program and a multitasking OS (Op
erating system), and a device driver that creates control data by mediating between the OS, programs, and the motor controller board. With this configuration, the motors M1 to Mj can be controlled in real time with a simple user program.

Here, the application program is
Multiple tasks T1 executed at any time or order
It can be decomposed into ~ Tk, and several tasks can be processed simultaneously.

The OS has a system initialization routine R1 for initializing various settings and an interrupt processing routine table TB1 for storing a start address of interrupt processing as a table.
And an interrupt registration / acceptance routine R2 for registering and accepting an interrupt.

Further, the device driver stores an interrupt processing routine R3 for performing processing corresponding to various interrupts, an end waiting place TB2 for registering a task in a sleep state, a drive control & end waiting routine R4, and a motor control parameter. And a parameter setting routine R5 for setting. In this device driver, parts that depend on the motor controller board 2'which will be described later are collected.
For example, even if the motor controller board 2'is a different model, only this device driver needs to be changed.

On the other hand, on the motor controller board 2 ', motor drive pulse generating mechanisms 2b1, 2b2 ... 2bj for outputting drive signals to the respective motors, and interrupt signal generating mechanisms 2a1, 2a2 for notifying the end of control of the respective motors.・ ・ 2
aj are provided corresponding to each of the motors M1 to Mj. In addition, the motor drive pulse generation mechanism 2b1 to
Each of 2bj has a parameter storage location for storing the control parameters output by the CPU board 1 '.

FIG. 2 is a flow chart showing the main part of the operation procedure performed by the apparatus of this embodiment. In the following, when task T3 controls the motor M2 (second axis) with reference to FIG. 1 and FIG. The operation will be described.

First, the OS system initialization routine R1
Thus, the table TB1 and the like are initialized, and a request for registration of the interrupt processing routine R3 of the device driver is made to the interrupt registration routine R2 (broken line (1) in FIG. 1, step Sc1 in FIG. 2).

As a result, the interrupt registration routine R2
The start address of the interrupt processing routine R3 of the device driver is written in the interrupt processing routine table TB1.
(FIG. 1 dashed line (2), FIG. 2 step Sc2).

Then, for example, the task T3 outputs a command to the device driver parameter setting routine R5 so as to output the motor control parameters such as the drive speed and the number of drive pulses in the motor M2 (broken line (3) in FIG. 1,
(4), step Sc3 in FIG. 2).

Upon receiving this command, the parameter setting routine R5 writes the motor control parameter to the parameter storage location (in the motor drive pulse generation mechanism 2b2) corresponding to the motor M2 in the motor controller board 2 '(broken line in FIG. 5), Steps Sd1 and Se1) in FIG.

Next, a motor drive start command is output to the device driver (broken lines (6) and (7) in FIG. 1 and step Sc in FIG. 2).
4) Upon receipt of this command, the device driver outputs a drive pulse generation command to the motor controller board 2 '(broken line (8) in FIG. 1, step Sd2 in FIG. 2). As a result, the motor drive pulse generation mechanism 2b2 outputs a drive pulse to the motor M2 based on the control parameter stored in the corresponding parameter storage location (step S2 in FIG. 2).
e2), the motor M2 rotates.

On the other hand, the drive control routine R4 registers the task T3 at the position corresponding to the motor M2 at the end waiting place TB2 and sets the task T3 in the sleep state (FIG. 1).
Dashed line (9), step Sd3 in FIG. 2). As a result, the processing of the task T3 is temporarily suspended, and during this time, the CPU board 1'can process other tasks that are not in the sleep state.

Next, when the output of the drive pulse in the motor drive pulse generating mechanism 2b2 is completed (step S in FIG. 2).
e10, Yes), the interrupt signal from the interrupt signal generation mechanism 2a2 notifying the end is sent to the CPU via the bus 3.
It is output to the board 1 '(broken lines (10) and (11) in FIG. 1, step Se11 in FIG. 2). The interrupt acceptance routine R2 that receives this interrupt signal is an interrupt processing routine R for the motor M2.
The start address of 3 is searched in the interrupt processing routine table TB1, and the jump is made to the position indicated by the result (broken line (12) in FIG. 1, step Sc10 in FIG. 2).

Then, the end waiting place TB2 is searched by the interrupt processing routine R3 of the jump destination, and as a result,
The target task T3 is reset to the wakeup state (broken lines (13) and (14) in FIG. 1, steps Sd10 and Sd1 in FIG. 2).
1). As a result, the task T3 becomes active in the device driver, and the process returns to the user application layer (broken line (15) in FIG. 1). Then, the tasks including the task T3 that are not in the sleep state are processed.

As described above, according to the present embodiment, the CPU board 1'does not have to perform the processing relating to the task T3 after the task T3 is put into the sleep state until the corresponding interrupt signal is received, and during that time, another processing is performed. Can be processed.

Although the above description of the operation has been made only when the task T3 controls the motor M2, the selected tasks T1 to Tk and the tasks T1 to Tk thereof are selected.
The motors M1 to Mj controlled by can be selected in all combinations.

Further, in this embodiment described above,
CPU board 1'by separating OS and device driver
However, it is also possible to incorporate the function of the device driver into the OS.

[0031]

As described above, according to the present invention, the supervisory control unit does not need to constantly monitor the drive state of the motor to be controlled, so that the surplus processing capacity can be directed to another process. The effect of being able to be obtained is obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a functional configuration of a motor drive control device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing a main part of an operation procedure in the apparatus of FIG.

FIG. 3 is a diagram illustrating a configuration of a conventional motor drive control device.

4 is a flowchart showing a main part of an operation procedure in the apparatus of FIG.

[Explanation of symbols]

 1'CPU board T1 to Tk task TB1 interrupt processing routine table TB2 end standby place 3 bus 2'motor controller board 2a1 to 2aj interrupt signal generation mechanism 2b1 to 2bj motor drive pulse generation mechanism M1 to Mj motor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location G05B 19/02 W G06F 9/46 340 B 7737-5B H02P 5/00 T

Claims (3)

[Claims] 1. A motor drive control device comprising a management control unit for outputting control parameters and a motor control unit for actually controlling drive of a plurality of motors based on the control parameters, wherein the management control unit is preset. Parameter setting means for setting a corresponding control parameter of the motor based on a plurality of tasks, task management means for managing the status of the task, and at least one of the task management means for storing the status of each task. A table, wherein the motor control unit includes a parameter storage unit that stores the control parameter, and a drive signal generation unit that outputs a drive signal to the corresponding motor based on the control parameter stored in the parameter storage unit. The management control unit is informed that the output of the drive signal generation means has ended by the interrupt signal. The task management means, when the setting of the control parameter of the parameter setting means is finished, registers the corresponding task in the table and puts the task in a dormant state, and the interrupt signal is generated. A motor drive control device, which releases a suspended state of a corresponding task when an interrupt signal is received from the generating means. 2. The management control unit is a multitasking OS.
2. The motor drive control device according to claim 1, wherein the motor driver control device operates on the above, and the portion of the table that directly relates to the motor control unit of the task management unit and the table is configured by a device driver. 3. A first step in which the management control unit outputs the control parameter of the motor to be controlled to the motor control unit according to the selected task, and the selected task is registered in a table and the task is suspended. A second step of setting the state, a third step of sequentially performing the first and second steps for other tasks as necessary, and a motor control unit in the third step ending driving of the motor. When an interrupt signal indicating is output, a fourth step of searching the table for the task that controlled the motor, and canceling the dormant state of the task determined by the search, and going to the first step A fifth step of returning, and a motor control method.