KR101803936B1 - Integrated centralized and distributed network hybrid motion controller - Google Patents

Abstract

The present invention relates to an integrated motion controller (1100) with includes a centralized control module and a distributed network control module for selectively controlling a motion control signal outputted for motion control with a centralized method or a distributed network method set according to a control mode and is formed with a structure to attach or detach at least one or more centralized control modules or distributed network control modules. According to the present invention, a centralized motion control axis and a distributed network motion control axis can be configured by attaching or detecting an input and output unit (1140) with the selection of the centralized method and the distributed network method in the single integrated motion controller (1100).

Description

≪ Desc / Clms Page number 1 > Integrated centralized and distributed network hybrid motion controller &

The present invention relates to an integrated motion controller 1100 that integrates a centralized and distributed network approach in a motion controller, and more particularly, to an integrated motion controller 1100 that includes a centralized motion A network cable for providing a communication path with a controller and a distributed network motion controller function connected to the network cable and capable of controlling a plurality of slave modules divided by identification numbers assigned to each, And an integrated motion controller 1100 that controls the distributed network control functions to selectively configure each control module.

In general, motion controllers applied to medical, industrial, household, service and the like can be classified into a centralized motion controller and a distributed network motion controller.

A centralized motion controller can be easily disassembled and controlled over a few microseconds, with ease of maintenance and high speed motion control within the permissible range of electrical signaling speed and associated elements on the board. On the other hand, the distributed network motion controller is a method in which slave motion controllers are connected to each other by a communication method, load is dispersed, and gradual expansion is easy.

Conventionally, a classical centralized motion controller and a recently introduced fieldbus distributed network motion controller have been used separately in motion control systems in medical, industrial, and home service robots. Therefore, an increase in hardware, software, Consumption was very severe.

The centralized motion controller is capable of close-in high-speed control, which can not be compared with the distributed network, within the speed of signal transmission and the speed of electronic / electric devices, and has the merit of simultaneous control while measuring fine digital and analog data signals with no time delay .

On the other hand, the disadvantage of centralized motion controllers is that they require 1: 1 wiring on all motion axes individually, which leads to mass wiring problems in the overall system. Therefore, there is a problem that the complexity and cost of wiring increase in proportion.

For example, electrical wiring for many signals, such as encoder feedback, sensor output, command signal, etc., is required only for one-axis motion control. In general, at least 30 wires per axis control are connected to the centralized motion controller, which leads to an increase in the thickness of the cable and the resulting safety issues.

In particular, the increase in the length of the wiring is very limited due to the noise of the signal and the increase of the inductance and the cost of the line conductor. In order to forcibly extend the length of the wiring, the noise attenuator and the signal amplifier must be installed. Service costs continue to increase.

On the other hand, the advantage of distributed network motion controller is to reduce wiring and improve reliability compared to centralized motion controller. This is because the wiring is easier and simpler than the centralized motion controller, which reduces installation costs. In addition, maintenance and diagnosis are very easy because the length of wiring to be inspected is shortened in case of trouble. Another advantage is that motion control is possible for relatively long distances relative to centralized motion control, and the cost of adding control axes is relatively low.

On the other hand, the disadvantage of the distributed network motion controller is that the response time of the system due to the increase of the private or public network control traffic becomes long and inaccurate for the congestion network because of using the communication network, There is a risk that communication error and network management problems such as inaccuracy of control time or communication synchronization failure, data errors and failures due to communication noise, reduction of control reliability, degradation of real time response,

In the early days, only the centralized system was used for the motion controller. However, due to the increase of the motion control axis, the increase of the wiring cost, and the development of the communication network technology, the system developed into the distributed network motion controller in combination with the industrial field bus technology.

However, due to the problems listed above, it was expected that the emergence of a distributed network motion controller would replace all of the classical centralized motion control methods, but the need for quick response and high-speed control, which are advantages of the centralized motion controller, Needs to be applied to compensate for the disadvantages of distributed network motion controllers.

Therefore, it is urgent and urgent to develop an integrated motion controller for centralized and distributed networks, in which centralized and distributed network motion controllers complement each other.

Korean Patent Laid-Open No. 10-2007-32122 (Fast Dispersion Motion Control System and Control Method, published on March 31, 2007)

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to provide a motion control method, In order to solve the problems that the control system has used the centralized motion controller and the distributed network motion controller separately, and to selectively configure the centralized and distributed network method by the integrated motion control system, And it is an object of the present invention to provide an integrated motion controller 1100 in a detachable form.

The technical objects of the present invention are not limited to the above-mentioned technical objects and other technical objects which are not mentioned can be clearly understood by those skilled in the art and those skilled in the art from the following description. There will be.

Hereinafter, specific means for achieving the object of the present invention will be described.

According to another aspect of the present invention, there is provided an integrated motion controller comprising: a centralized control method for setting a motion control signal output for motion control according to a control mode; and a centralized control 0.0 > 1100 < / RTI > that includes both a module and a distributed network control module.

In one embodiment, the at least one centralized control module or the distributed network control module is detachable.

In one embodiment, the speed and torque control operation for the target position of the drive motor for motion control can be performed, the speed profile can be generated, and constant speed control can be performed at a speed specified by the drive motor. An operation unit 1110 for switching to a centralized or distributed network format and performing a control mode; Generates an output signal based on the speed and the torque value according to the position calculated by the operation unit 1110, physically determines the control mode, and stores and manages the data acquired through the logical position and the encoder at the time of command A motion controller 1120 for storing a positional deviation between a logical position and an actual position, and enabling a logical operation according to a positional deviation; A logic controller 1130 for managing motion control commands and external machine input / output signals prepared by the motion controller 1120, transmitting and receiving motion commands from an external microcontroller, a standard serial or parallel bus interface, and interpreting and processing commands or data; The final motion data processed by the operation unit 1110, the motion control unit 1120 and the logic control unit 1130 is converted into a digital or analog waveform for motion control and a digital or analog input waveform signal such as an external encoder signal is converted into a discrete Output section 1140 which can be converted into an input waveform and has a structure in which the distributed network control module 2100 or the centralized control module 2200 can be detachably attached thereto.

In one embodiment, the operation unit 1110 performs an operation for controlling a speed and a torque with respect to a target position of the motion controller, and decelerates while attaining the acceleration / deceleration for entering the constant velocity and the target position at the constant velocity An acceleration / deceleration generating section 1111 for calculating a deceleration rate; A linear velocity generator 1112 capable of constant velocity control at a speed specified by an external input; Speed profile generator (S-Curve), trapezoidal acceleration / deceleration pattern (trapezoidal), and asymmetric trapezoidal acceleration / deceleration pattern (Asymmetrical trapezoidal) for generating a speed profile using constant speed and acceleration / 1113); A control mode switching command / data calculating unit 1114 for switching the control mode according to the external input / output request in the calculation result of the acceleration / deceleration generating unit 1111 and switching it to the centralized or distributed network format do.

The input / output unit 1140 includes an input / output unit 1110, an output unit 1120, a logic unit 1120, and a logic controller 1130. The input / A conversion unit 1141; An input waveform converting section 1142 for converting a digital or analog input waveform signal such as an external encoder signal into a discrete input waveform; An insulation input / output unit 1143 configured to detachably attach at least one of the distributed network control module and the centralized control module; And a communication transmission / reception unit 1144 for distributed network control.

In one embodiment, in order to convert an analog signal continuously input and output to both a time axis and an amplitude axis into a digital signal, a sampling operation for expressing time as a discrete value and a quantization for representing a signal amplitude as a discrete value are performed, In network motion control, the network transmission speed can be automatically measured and sampled so that the line speed can be automatically measured according to congestion and communication delay conditions of the distributed network and the sampling rate can be specified.

In an exemplary embodiment, the input waveform transforming unit 1142 performs period detection using digital signal processing for a plurality of motion control signals including a noise component due to communication delay and noise generated in distributed network motion control , And a recovered signal can be obtained.

According to the present invention as described above, the motion control signal output from the motion control unit can be selectively controlled according to the centralized control method and the distributed network motion control method set by the control mode selecting unit, so that when centralized control is required, Can be output as a pulse signal and a direction signal and can be used for command and actual position reading through a line driver and a line receiver element through an insulation input / output unit, A network cable for inputting and outputting a motion control signal to be output to the communication transmission / reception unit, the communication packet inspection algorithm generating unit, the slave node control / management unit, and the slave node setting unit to provide a communication path, Cable, and a number of slave movers It is possible to connect the sub-controller for centralized control and the distributed network sub-controller in a detachable manner without adding any additional device in the single integrated motion controller 1100, There is an advantage that you do not have to replace or perform related maintenance and software modifications.

In addition, since the centralized and distributed network can be selectively attached to and detached from the input / output unit 1140 in a single integrated motion controller 1100, there is an advantage that a centralized motion control axis and a distributed network motion control axis can be freely configured.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, And shall not be interpreted.
FIG. 1 is a diagram illustrating a schematic overall configuration of an integrated motion controller 1100 according to a preferred embodiment of the present invention.
FIG. 2 is a diagram showing the detailed configuration of the integrated motion controller 1100 of FIG.
FIG. 3 is a diagram showing a circuit configuration of the integrated motion controller 1100 of FIG.
4 is a diagram for comparing a waveform including a noise and a reconstructed waveform to an input waveform of the integrated motion controller 1100. In FIG.

Hereinafter, a centralized and distributed network integrated motion controller according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The following drawings are provided by way of example so that those skilled in the art or those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the following drawings, but may be embodied in other forms. In addition, like reference numerals designate like elements throughout the specification.

In this case, unless otherwise defined, technical terms and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In the following description and the accompanying drawings, A description of known functions and configurations that may unnecessarily obscure the description of the present invention will be omitted.

Hereinafter, the structure and functions of the present invention will be described with reference to Figs.

The centralized and distributed network integrated motion controller 1100 according to the present invention may include an operation unit 1110, a motion control unit 1120, a logic control unit 1130, and an input / output unit 1140 as shown in FIG.

2, the computing unit 1110 includes an acceleration / deceleration generating unit 1111, a linear velocity generating unit 1112, a velocity profile generating unit 1113, and a control mode switching command / data calculating unit 1114 do.

The acceleration / deceleration generating unit 1111 performs an operation for controlling the speed and torque with respect to the target position of the driving motor for motion control, and decelerates while attaining the acceleration / deceleration for entering the constant velocity and the target position at the constant velocity And calculates the deceleration rate.

The linear velocity generator 1112 enables constant speed control of a drive motor for motion control at a specified speed.

The velocity profile generator 1113 generates a velocity profile of an S-curve acceleration / deceleration pattern (S-curve), a trapezoidal acceleration / deceleration pattern (trapezoidal), and an asymmetric trapezoidal acceleration / deceleration pattern (asymmetrical trapezoidal) .

The control mode switching command / data calculating unit 1114 enables switching of the control mode in the calculation result of the acceleration / deceleration generating unit 1111 by an external input / output request. Especially for centralized or distributed network formats.

The motion control unit 1120 may further include an output signal generation unit 1121, a control mode selection unit 1122, a logical position counter 1123, an actual position counter 1124, and a COMP +/- 1125.

The output signal generation unit 1121 performs a function of generating an output signal based on the speed and the torque value according to the position computed by the computation unit 1110.

The control mode selection unit 1122 determines a physical control mode path.

The logical position counter 1123 stores and manages the position data at the time of command.

The actual position counter 1124 can store data acquired through an actual incremental encoder or an absolute encoder of a drive motor for motion control.

The COMP +/- 1125 stores the positional deviation of the logical position counter 1122 and the actual position counter 1123 and enables logical operation according to the positional deviation.

The logic control unit 1130 further includes an operation management unit 1135, a sensor input / output unit 1136, a microcontroller connection unit 1131, a command analysis processing unit 1132, an external control unit 1133, and an interrupt generation unit 1134 .

The operation management unit 1135 manages the motion control commands prepared by the motion control unit 1120, and the sensor input / output unit 1136 can manage the external machine input / output signals.

The microcontroller connection 1131 can send and receive motion commands from an external microcontroller, a standard serial (e.g., I2C or SPI, RS232C, PCI Express, USB, etc.) or a parallel bus (e.g., parallel port, PCI, etc.) interface.

The instruction interpretation processing unit 1132 interprets and processes the command or data transmitted through the external interface connected to the microcontroller connection unit 1131.

The external operation unit 1133 performs synchronization of the start or end command of the motion control prepared in advance by a hardware command.

When the motion controller executes another instruction, the interrupt generator 1134 branches the process to an interrupt service routine designated when an input / output logic signal or an exceptional situation occurs and processing is required, and performs processing of the motion controller.

The input / output unit 1140 may further include an output waveform transformer 1141, an input waveform transformer 1142, an insulated input / output unit 1143, and a communication transceiver 1144.

 The output waveform transforming unit 1141 transforms the final motion data processed by the operation unit 1110, the motion control unit 1120, and the logic control unit 1130 into digital or analog waveforms for motion control.

The input waveform conversion unit 1142 converts a digital or analog input waveform signal such as an external encoder signal into a discrete input waveform.

The insulated input / output unit 1143 has a structure capable of attaching / detaching at least one of the distributed network control module and the centralized control module.

Further, if a digital output signal is required, a line driver may be included for a high-speed signal output, and a line receiver circuit may be formed on the opposite reception side.

Further, in the case of a digital input signal, a line receiver is configured for a high-speed signal input, and a line driver circuit is configured on the opposite transmission side so that a signal can be received at a high speed.

Particularly, the input / output unit 1140 may be configured such that the distributed network control module 2100 or the centralized control module 2200 illustrated in FIG. 3 in the control board 1101 provided in the integrated motion controller 1100 are selectively So that it can be easily replaced in the event of electrical / electronic burnout or other problems during interfacing with the lower controller, and it can be freely configured according to the centralized method and the number of distributed network motion control axes.

That is, each of the input / output module A through the input / output module C shown in FIG. 1 may be either the distributed network control module 2100 or the centralized control module 2200 of FIG.

Furthermore, the insulation input / output unit 1143 shown in FIG. 2 may be included in the input / output unit module A to the input / output unit module C in FIG. That is, the insulated input / output unit 1143 is located in at least one of the distributed network control module 2100 and the centralized control module 2200, and the module may be detachable.

The communication transmission / reception unit 1144 is provided for the distributed network control.

The communication transmission / reception unit 1144 further includes a communication packet inspection algorithm generation unit 1145, a slave node control / management unit 1146, a slave node setting unit 1147, and a communication stack 1148 can do.

The communication packet inspection algorithm generation unit 1145 generates the final motion data processed by the operation unit 1110, the motion control unit 1120 and the logic control unit 1130 as communication data and detects a data transmission error And to process an algorithm for correcting and correcting errors.

The slave node control / management unit 1146 can control and manage a plurality of slave modules, each of which is connected to the network cable and is divided into identification numbers assigned to the network cables, .

The slave node setting unit 1147 may set a network cable for providing a communication path and a plurality of slave modules connected to the network cable and divided into identification numbers assigned to the network cables.

The communication stack (Communication Stack) 1148 is a protocol communication set of a layered structure for communication data for generated motion control, and communicates with a slave module.

Here, the communication stack 1148 is compatible with data network communication and is not limited in its form, and can include all of industrial field buses such as Profibus, EtherCAT, and Device Net.

The external connector 1150 is a connector for external connection, and is used for communication with a sub-controller of a centralized motion or a distributed network.

The functions and advantages of the present invention will now be described in detail with reference to the drawings.

The centralized and distributed network integrated motion controller 1100 is connected to an external microcontroller or standard serial (for example, I2C or I2C) for the target position and the command / data of the microcontroller connection 1131 and the acceleration, deceleration, Via a command interpretation processor 1132 that sends and receives motion commands from a parallel bus interface (e.g., SPI, RS232C, PCI Express, USB, etc.) or a parallel bus interface And transfers the instruction to the control mode switching instruction / data calculation unit 1114 of the operation unit 1110 to start the calculation.

The external operation unit 1133 determines whether to start the motion operation by the designated instruction in the external electrical contact or the software task in the register in the motion controller, .

When an interrupt occurs when a motion operation is performed, the software interrupt routine 1134 registers a software service routine according to the interrupt type so that the motion operation can be resumed after completion of execution of the interrupt service routine after stopping the operation.

Based on the target position and the acceleration, deceleration, constant speed section travel distance, and speed data transmitted from the command / data analyzing / processing section 1132 to the control mode switching command / data calculating section 1114 in the calculating section 1110, An acceleration / deceleration generating section 1111 for calculating the respective minute position and velocity data required in the velocity section, a linear velocity generating section 1112 for generating velocity and minute position data in the constant velocity section, and an S-acceleration / deceleration pattern S-Curve, Trapezoidal, and Asymmetrical trapezoidal motions, which allow the motor to run smoothly, quickly and safely from the starting point to the constant speed during motion.

In the same manner, the speed profile generator 1113 instructs the speed profile of each micro section to be calculated so that the speed profile can be transferred smoothly, quickly, and safely to the deceleration section.

The final computed result is transmitted to the motion controller 1120. The motion controller 1120 counts the motion speed and position data currently commanded by the logical position counter 1122 based on the computation result and the actual position counter 1123 The current position of the motor is determined from an external position reading device such as an encoder and the speed data corresponding to each position calculated by the calculating section 1110 is output to the output signal generating section 1121 .

However, since the integrated motion controller 1100 of the present invention needs to input and output data through a network, it is necessary to sample and quantize an analog-based motion control signal. And it is necessary to designate the sampling rate by automatically measuring the line speed according to the congestion of the distributed network and the communication delay situation.

Accordingly, the integrated motion controller 1100 of the present invention performs a sampling operation for expressing time as a discrete value when converting an analog signal continuously input and output to a digital signal in both time (X axis) and amplitude (Y axis) Quantization that expresses the amplitude of a signal as a discrete value is performed and sampling can be performed by automatically measuring a network transmission rate in a distributed network motion control.

An output waveform converting unit 1141 performs periodic sampling in order to represent the motion control continuous signal generated by the output signal generating unit 1121 as a discrete signal, (NT) from the continuous motion control signal x (t) according to the following equation (1): " (1) " Get a sequence.

Here, T can be defined as a sampling period or sampling period of a motion control signal, and its reciprocal can be expressed by the following equation (2) and can be referred to as a sampling frequency.

Generally, it is not possible to recover the original signal x (t) even after knowing the sampling output x (nT) after sampling the analog type motion control data generated by the centralized motion control method. This is because many different motion control signals can be continuously displayed with the same output sequence.

However, in the present invention, this problem can be solved if the type of the input signal is limited - for example, if the input signal is limited by the band limitation signal.

When a continuous motion control signal is converted into a discrete signal, the processing becomes simple because the amount of data decreases when converting to a network motion control signal as the sampling interval becomes wider and wider. However, if the amount of data is reduced too much, You may lose important information. However, if the sampling interval is set too narrow, the amount of data is increased more than necessary, which increases hardware structure cost and network motion control processing time.

[㎐]일 때 아래 [수학식 3]처럼 표본화 주파수

를

의 2배 이상으로 설정한 다음 샘플링하여 본래의 연속 신호 x(t)를 복원할 수 있다.In the present invention, in order to judge whether sampling is performed at a certain interval, the highest frequency of a given motion-controlled continuous signal x (t)

When [Hz], the sampling frequency < RTI ID = 0.0 >

To

And then reconstructs the original continuous signal x (t) by sampling.

For example, if the maximum frequency of the motion control signal is 18 [kHz], the sampling frequency is sampled at a frequency of 36 [kHz] or more, and if the sampled data is centralized, the electrical time delay can be ignored. It is possible to perform motion control by outputting a motion control signal.

However, a network cable providing a communication path between the motion controller and the model, and a distributed network motion controller function connected to the network cable and capable of controlling a plurality of slave modules, In order to control the distributed network motion of the integrated motion controller 1100, it is necessary to measure the distributed network transmission rate every frame.

Therefore, the communication transceiver 1144 transmits a byte of a predetermined size, which is selectively repeated 0 and 1, to the slave controller before the network protocol used in the integrated motion controller 1100 of the present invention, The slave node control management unit 1146 can determine the processing time of the slave controller of the network transmission speed.

The slave node control unit 1146 adjusts the sampling rate according to the network delay that may occur in the distributed network by performing the frequency sampling rate determination in the slave node setting unit 1147 , Thereby preventing excessive use of the motion controller system resources of the present invention.

Also, in order to grasp the current position of the motor in the distributed network motion control, calculation of the motion input signal should be performed using digital signal processing.

More specifically, in the input waveform transforming unit 1142, a signal of an absolute encoder and an incremental encoder in which communication delay and noise occur in distributed network motion control, It is necessary to detect the periodicity of the original signal with respect to the noise in the signal components in the various motion control signals inputted into the input signal. At this time, it can be calculated using digital signal processing.

Referring to FIG. 4, FIG. 4 shows a sinusoidal waveform of 1 [MHz]. The waveform of FIG. 4A is a motion controller input waveform including a noise of 1 [MHz] sinusoidal wave.

Because of the noise, it is very difficult to grasp the cycle of the sinusoidal wave, which is the original signal. FIG. 4B shows that a signal containing noises is detected and restored using digital signal processing. As a result, a sinusoidal wave having a period of 1 [mu s] can be obtained.

In order to obtain the waveform of FIG. 4B, the following Equation (4) can be applied to the continuous signal in terms of time.

Where r represents the time difference between x (t) and x (t + r).

Since the A phase, B phase, and Z phase transmitted to the distributed network for the continuous signal and the digital signal processing of the motion control input signal are considered, the sampled discrete signal x (n) (n = 0,1,2,3, N -1) can be defined by the following equation (5).

를 곱하면 시간차가 된다.Where m is the number of sample points that represents how far x (n) deviates from x (n + m) and m is the sampling interval

The time difference becomes.

X (N + 1), x (N + 2), where x (n + m) is the interval between n + m and N-1 in Equation (5) , x (N + 3), ... Since there is no value in practice, a finite number of data is obtained using the following equation (6).

On the other hand, the spectrum Pxx (k) can be obtained by the following equation (7).

Therefore, Rxx (m) from Equation (7) can be obtained by performing discrete Fourier transform on the power spectrum.

In the present invention, the input waveform transforming unit 1142 may be configured such that an analog signal or a digital signal generated at a slave node has no real-time property, an abnormal operation of the network, a delay time occurrence, a noise component of a signal, When the A phase, the B phase, the Z phase signal, and the motion control input signal of the absolute encoder are present together with the noise, the detection of the period of the signal is performed so that the motion controller of the present invention can accurately determine the position at the time of motion control .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Therefore, it is to be understood that the subject matter of the present invention is not limited to the described embodiments, and all of the equivalents or equivalents of the claims are intended to fall within the scope of the present invention will be.

1100: integrated motion controller 1101: control board
1110: Operation unit 1111: Acceleration / deceleration generating unit
1112: Linear velocity generator 1113: Velocity profile generator
1114: Control mode switching command / data calculation unit 1120: Motion control unit
1121: output signal generation unit 1122: control mode selection unit
1123: logical position counter 1124: actual position counter
1125: COMP +/- 1130:
1131: Microcontroller input unit 1132: Command interpretation processing unit
1133: External operating unit 1134: Interrupt generating unit
1135: Operation management unit 1136: Sensor input / output unit
1140: Input / output unit 1141: Output waveform converting unit
1142: Input waveform converting unit 1143: Input /
1144: communication transmission /
1145: Communication packet inspection algorithm generation unit 1146: Slave node control / management unit
1147: slave node setting unit 1148: communication stack
1150: External connector 2100: Distributed network control module
2200: Centralized control module

Claims (7)

In a motion controller,
A centralized control module and a distributed network control module for selectively controlling the centralized mode and the distributed network mode in which the motion control signal outputted for the motion control is set according to the control mode,
An input / output unit (1140) capable of selectively attaching / detaching at least one of the centralized control module or the distributed network control module to / from the at least one centralized control module or the distributed network control module; And
And an external connector 1150 connected to the centralized control module and / or the distributed network control module coupled to the input / output unit 1140 and for connecting to a sub-controller of external centralized motion and / Including,
The input / output unit 1140,
An output waveform transforming unit 1141 for transforming final motion data for motion control into digital or analog waveforms;
An input waveform converting section 1142 for converting a digital or analog input waveform signal such as an external encoder signal into a discrete input waveform;
An insulation input / output unit 1143 configured to detachably attach at least one of the distributed network control module and the centralized control module; And
And a communication transmission / reception unit (1144) for distributed network control.
delete The method according to claim 1,
It can control the speed and torque to the target position of the drive motor for motion control, generate the speed profile, and control the speed constantly at the speed specified by the drive motor. It can be controlled by centralized or distributed network format To enable the control mode to be performed;
Generates an output signal on the basis of the speed and the torque value according to the position calculated by the operation unit 1110, determines the control mode, and stores and operates the data obtained through the logical position and the encoder at the time of command, A motion controller 1120 for storing a positional deviation between a logical position and an actual position, and enabling an operation according to a positional deviation; And
A logic controller 1130 for managing motion control commands and external machine input / output signals prepared by the motion controller 1120 and transmitting and receiving motion commands from an external microcontroller, a standard serial or parallel bus interface, and interpreting and processing commands or data Gt; 1100 < / RTI >
4. The apparatus of claim 3, wherein the operation unit (1110)
An acceleration / deceleration generating unit 1111 for calculating an acceleration / deceleration for entering a constant velocity and a deceleration rate for decelerating from a constant velocity to a target position by performing an operation for controlling a speed and a torque with respect to a target position of the motion controller, ;
A linear velocity generator 1112 capable of constant velocity control at a speed specified by an external input;
Speed profile generator (S-Curve), trapezoidal acceleration / deceleration pattern (trapezoidal), and asymmetric trapezoidal acceleration / deceleration pattern (Asymmetrical trapezoidal) for generating a speed profile using constant speed and acceleration / 1113); And
A control mode switching command / data calculating unit 1114 for switching the control mode according to the external input / output request in the calculation result of the acceleration / deceleration generating unit 1111 and switching it to the centralized or distributed network format Gt; 1100 < / RTI >
delete The method of claim 3,
In order to convert an analog signal continuously input and output to a time axis and an amplitude axis into a digital signal, a sampling operation for expressing time as a discrete value and a quantization for representing a signal amplitude as a discrete value are performed. In a distributed network motion control, The automatic motion controller 1100 can automatically measure the network transmission speed and can perform sampling so that the sampling rate can be specified by automatically measuring the line speed according to congestion and communication delay situation of the network.
The method of claim 3,
The input waveform transforming unit 1142 performs period detection using digital signal processing for a plurality of motion control signals including a noise component due to communication delay and noise in distributed network motion control, (1100). ≪ RTI ID = 0.0 > 11. < / RTI >

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