KR100225873B1 - Communication method and apparatus between robot controller and processor - Google Patents

Abstract

The present invention relates to a synchronous communication method and apparatus for transmitting data between a host processor and a slave processor of a robot controller. The present invention generates an interrupt as necessary by the interval clock generation circuit 40 which generates an interval clock for generating a periodic interrupt, and between the host processor 10 and the slave processor 30, the dual port RAM 20 ) To allow data transmission and interrupts to both the host processor 10 and the slave processor 30.

Description

Synchronous communication method and apparatus between processors of robot controller

The present invention relates to a communication system of a robot controller, and more particularly, to a synchronous communication method and apparatus for transmitting data between a host processor and a slave processor of a robot controller.

Typically, the robot controller is composed of a host processor for system operation and path generation, and a slave processor for controlling the servo motor. In order for the slave processor to digitally control the servomotor, a periodic interrupt is required, and the host processor also needs an interrupt to generate a path and communicate with the slave processor in synchronization with the slave processor.

However, at present, no communication method or communication device for data transmission between the host processor and the slave processor of the robot controller has been proposed at all.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and an object thereof is to provide a synchronous communication method and apparatus for transmitting data between a host processor and a slave processor of a robot controller.

1 is an overall system block diagram for synchronous communication between a host processor and a slave processor of the robot controller according to the present invention;

2 is a timing diagram for explaining the operation of FIG.

FIG. 3 is a view illustrating a time-use state of the dual port RAM illustrated in FIG. 1.

*** Explanation of symbols for main parts of drawing ***

1: write data to dual port RAM,

2: interrupt request to slave processor,

3: periodic interrupt request,

4: Interrupt request periodically for dual port RAM,

5: Interrupt request periodically to the host processor.

10: host processor, 20: dual port RAM,

30: slave processor, 40: interval clock generation circuit

In order to achieve the above object, the synchronous communication device between the host processor and the slave processor of the robot controller according to the present invention includes a slave processor 30 for controlling the host processor 10 and the servomotor for system operation and path generation. In the equipped robot controller, the memory means 20 which is installed between the host processor 10 and the slave processor 30 to interrupt data transmission and both of these processors, and an interval clock for generating periodic interrupts. It characterized in that it comprises an interval clock generation circuit 40 for generating the output to the slave processor (30).

In addition, the synchronous communication method for data transmission between the host processor and the slave processor of the robot controller according to the present invention, the host processor 10 and the slave processor 30 for controlling the servo motor for system operation and path generation. In the synchronous communication method for data transmission between a host processor and a slave processor of the equipped robot controller, the host processor 10 writes data to the dual port RAM 20 and interrupts the slave processor 30. Transmitting the interrupt generation request data, receiving the periodic interrupt from the interval clock generation circuit 40, and accessing the dual port RAM 20 to the host processor 10 while the slave processor 30 accesses the dual port RAM 20. Generating an interrupt, and after the host processor 10 receives the interrupt, Accessing the dual port RAM 20 to transmit / receive necessary route data and the like to maintain synchronization between the host processor 10 and the slave processor 30.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

1 is an overall system block diagram for synchronous communication between a host processor and a slave processor of the robot controller according to the present invention. In the meantime, reference numeral 10 denotes a host processor of the robot controller, 30 denotes a slave processor of the robot controller, 20 denotes a dual port RAM installed between these processors 10 and 30 to interrupt data transmission and interruption to both sides, 40 is an interval clock generation circuit that generates an interval clock for generating periodic interrupts.

The entire system for synchronous communication between the host and the slave processor of the robot controller according to the present invention having such a configuration generates an interrupt as necessary by the interval clock generation circuit 40 which generates an interval clock for generating a periodic interrupt. In addition, a dual port RAM 20 is provided between the host processor 10 and the slave processor 30 so as to interrupt data transmission and interrupt both the host processor 10 and the slave processor 30.

Next, a synchronous communication method between a host and a slave processor of the robot controller according to the present invention will be described with reference to FIGS. 2 and 3.

FIG. 2 is a timing diagram illustrating the operation of FIG. 1, and FIG. 3 is a diagram illustrating a time-use state of the dual port RAM illustrated in FIG. 1.

First, in the initial stage of the system, the host processor 10 interrupts the slave processor 30 via paths 1 and 2 to transmit periodic interrupt generation request data (see FIG. 2 (b)). The slave processor 30 receives the periodic interrupt from the interval clock generation circuit 40 to access the dual port RAM 20, generates an interrupt to the host processor 10 (see FIG. 2C), and the servo Run the motor control routine.

After receiving the interrupt, the host processor 10 accesses the dual port RAM 20 to transmit and receive necessary path data and the like to maintain synchronization between the host processor 10 and the slave processor 30. The path is generated in synchronization with this interrupt or transfers the data generated in advance to the slave processor 30. The access authority for the hourly dual port RAM according to this process is shown in FIG. 3.

In system initial state, do 1 at 6 times and generate 2 times. The slave processor 30 which received the interrupt by 2 accesses data at the 7th time. In order to generate a periodic interrupt, the host processor 10 transmits data to the slave processor 30 at the 8th and 9th time points. Thereafter, the dual port RAM 20 is accessed in the same order as 3, 4, and 5. In this case, the third time is a time point at which the slave processor 30 receives and accesses an interrupt from the interval clock generation circuit (interval timer) 40, and the fourth time is received by the slave processor 30 and accessed by the host processor 10. It's time. For periodic processing, the host processor 10 should terminate the access at time 5. Through this operation, communication between the host processor 10 and the slave processor 30 is made.

The communication system of the robot controller of the present invention is not limited to the above-described embodiments, and may be variously modified and implemented within the range permitted by the technical idea of the present invention.

It is noted that reference numerals denoted together with the components of the claims of the present application are for the purpose of facilitating the understanding of the present invention and are not intended to limit the technical scope of the present invention to the embodiments shown in the drawings.

According to the communication system of the robot controller of the present invention as described above, there is an effect to provide a synchronous communication method and apparatus for data transmission between the host processor and the slave processor of the robot controller.

Claims (2)

In the robot controller having a host processor 10 for system operation and path generation, and a slave processor 30 for controlling the servo motor, A memory means (20) installed between the host processor (10) and the slave processor (30) for interrupting data transfer and both of these processors; and And an interval clock generation circuit 40 for generating an interval clock for generating a periodic interrupt and outputting the interval clock to the slave processor 30. Synchronous communication for data transmission between the host processor and the slave processor of the robot controller Device. In the synchronous communication method for data transmission between the host processor and the slave processor of the robot controller having a host processor 10 for system operation and path generation, and a slave processor 30 for controlling the servo motor, The host processor 10 writing data to the dual port RAM 20 and interrupting the slave processor 30 to transmit periodic interrupt generation request data; Receiving a periodic interrupt from the interval clock generation circuit 40, the slave processor 30 accesses the dual port RAM 20 and generates an interrupt to the host processor 10 and And after the host processor 10 receives the interrupt, accessing the dual port RAM 20 to transmit and receive necessary route data and the like to maintain synchronization between the host processor 10 and the slave processor 30. A synchronous communication method for data transmission between a host processor and a slave processor of the robot controller.