KR102159698B1 - Linear motor system and driving method thereof - Google Patents

Abstract

A linear motor system and a driving method thereof are disclosed. In the driving method of the linear motor system, the host controller uses CAN communication to the plurality of motor drivers with a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field. And broadcasting, the plurality of motor drivers receiving the broadcasted node setting message determining whether their driver identifier and the specific driver identifier are the same, and the first motor driver determines whether the specific driver identifier is the same. When it is determined that the driver identifier of the first motor driver is the same, the first motor driver setting the specific node number as its own node number, and the first motor driver including the set node number in the message ID And transmitting a response message to the host controller.

Description

Linear motor system and driving method thereof TECHNICAL FIELD

The present invention relates to a linear motor system and a driving method thereof.

When driving a linear motor system, a dozen to dozens of motors are driven depending on the configuration. For each motor, a motor driver for driving it is connected, and a host controller for controlling these motor drivers as a whole must be linked.

Communication between the host controller and the motor driver can be configured in various ways, and the host controller allocates node numbers to each of the motor drivers in order to distinguish between several motor drivers.

Conventionally, a method of connecting a dip switch or a rotary switch to a motor driver and assigning a node number to each switch has been used. This method is a simple method, but there is a problem in that the same node number may be assigned due to an operator's mistake when performing such work on dozens of motor drivers. In addition, when some motor drivers are replaced during equipment operation, there is a problem that equipment maintenance becomes difficult if the node number is not properly set due to an operator's mistake.

The present invention is to solve the above problems, and a linear motor system for performing CAN communication by assigning a node number to each motor driver based on a value uniquely assigned to each motor driver and managing a message ID accordingly, and It aims to provide a driving method.

In the driving method of a linear motor system according to an embodiment of the present invention, in the driving method of a linear motor system including a host controller and a plurality of motor drivers, the host controller is mapped to a specific driver identifier and the specific driver identifier. Broadcasting a node setting message including information on a specific node number in a data field to the plurality of motor drivers using CAN communication, and the plurality of motor drivers receiving the broadcasted node setting message are their drivers Determining whether the identifier and the specific driver identifier are the same, when the first motor driver determines that the specific driver identifier is the same as the driver identifier of the first motor driver, the first motor driver selects the specific node number And setting a node number of the first motor driver, and transmitting, by the first motor driver, a response message including the set node number in a message ID to the host controller.

In the driving method of a linear motor system according to an embodiment of the present invention, in the driving method of a linear motor system including a host controller and a plurality of motor drivers, the host controller is mapped to a specific driver identifier and the specific driver identifier. Broadcasting a node setting message including information on a specific node number in a data field to the plurality of motor drivers using CAN communication, and a specific driver identifier included in the broadcasted node setting message by the host controller And receiving a response message including the specific node number in the message ID from the first motor driver which is the same as its driver identifier.

In the driving method of a linear motor system according to an embodiment of the present invention, in the driving method of a linear motor system including a host controller and a plurality of motor drivers, the motor driver broadcasts from the host controller using CAN communication. Receiving a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field, wherein the motor driver determines whether its own driver identifier and the specific driver identifier are the same. Determining, when it is determined that the specific driver identifier is the same as the driver identifier of the motor driver, the motor driver setting the specific node number as its own node number, and the motor driver setting the set node number And transmitting a response message included in the message ID to the host controller.

In one embodiment, the broadcasted node configuration message includes information indicating transmission from a master to a slave and information indicating a broadcast message in a message ID.

In one embodiment, the information indicating transmission from the master to the slave is characterized in that it indicates a higher message priority than information indicating the transmission from the slave to the master.

In one embodiment, the response message is characterized in that the message ID includes information indicating transmission from the slave to the master.

In one embodiment, the driver identifier of the plurality of motor drivers is a value obtained by applying a hash function to a unique identifier of a microcontroller included in each of the plurality of drivers, and a data length is shorter than that of the microcontroller. It is characterized.

In one embodiment, the host controller is characterized in that it stores a correspondence table including a driver identifier of each of the plurality of motor drivers and a node number mapped to each driver identifier.

In one embodiment, the host controller, when the same among the plurality of driver identifiers included in the correspondence table, applies a new hash function to the unique identifier, converts it to the driver identifier, and changes the correspondence table. Characterized in that.

In one embodiment, when the hash function is changed to a new hash function, the host controller broadcasts information on the new hash function to the plurality of motor drivers as CAN messages.

In one embodiment, the host controller includes information on a hash function applied to a corresponding driver identifier in a data field of the node configuration message.

In one embodiment, the host controller, when receiving the response message from the first motor driver, changes the specific driver identifier to another driver identifier and converts the specific node number to a node number mapped to the changed driver identifier. After the change, a node configuration message including information on the changed specific driver identifier and the changed specific node number in a data field is broadcast to the plurality of motor drivers using CAN communication.

In an embodiment, the host controller outputs an error message when the response message is not received within a predetermined time after broadcasting the node setting message to the plurality of motor drivers.

In the linear motor system according to an embodiment of the present invention, in a linear motor system including a host controller and a plurality of motor drivers, the host controller includes: a first CAN communication unit performing CAN communication with the plurality of motor drivers, A storage unit for storing a correspondence table including a driver identifier of each of the plurality of motor drivers and a node number mapped to the driver identifier, and information on a specific driver identifier and a specific node number mapped to the specific driver identifier. The node setting message included in the data field is broadcast to the plurality of motor drivers through the first CAN communication unit, and the specific driver identifier included in the broadcasted node setting message is the same as the driver ID from the motor driver. When receiving a response message including a specific node number in the message ID, a control unit for re-broadcasting the node setting message by changing the specific driver identifier to another driver identifier, each of the plurality of motor drivers , A second CAN communication unit performing CAN communication with the host controller, and receiving the broadcasted node setting message from the host controller through the second CAN communication unit, and the own driver identifier and the specific driver identifier are the same. When it is determined, the specific node number is set as its own node number, and a microcontroller for transmitting a response message including the set node number in a message ID to the host controller through the second CAN communication unit. To do.

The present invention includes a computer-readable recording medium in which a program for executing a method according to an embodiment of the present invention on a computer is recorded.

The present invention includes a computer-readable recording medium recording the data format of a message used in the present invention.

In the linear motor system and its driving method according to the present invention as described above, a node number is assigned to each motor driver based on a value uniquely assigned to each motor driver, and accordingly, a message ID is managed to perform CAN communication. It works.

1 is a view schematically showing the configuration of a linear motor system according to an embodiment of the present invention.
2 is a diagram illustrating a format of a CAN message used in a linear motor system according to an embodiment of the present invention.
3 is a flowchart illustrating a flow of a method of driving a linear motor system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings in order to clarify the technical idea of the present invention. In describing the present invention, when it is determined that a detailed description of a related known function or component may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. Constituent elements having substantially the same functional configuration among the drawings are assigned the same reference numerals and reference numerals as possible even though they are indicated on different drawings. If necessary for convenience of explanation, the device and the method will be described together.

1 is a diagram schematically showing the configuration of a linear motor system according to an embodiment of the present invention. Referring to FIG. 1, a linear motor system 1000 according to an embodiment of the present invention may include a host controller 100 and a plurality of motor drivers 200. The plurality of motor drivers 200 may be composed of K motor drivers 200_1, 200_2, ??, 200_K, respectively, a first motor driver 200_1, a second motor driver 200_2, and a Kth motor driver 200_K. ), etc. The linear motor system 1000 according to the exemplary embodiment of the present invention may be applied to a multi-axis driving system that must drive a plurality of motors.

The host controller 100 and the plurality of motor drivers 200 may be connected to a CAN bus (CB) capable of CAN (Control Area Network) communication. CAN communication operates in such a way that all nodes can compete for the CAN bus (CB) and occupy the bus, and a message with a low message ID has priority and wins the contention to occupy the bus. The message ID can be assigned a lower value for messages of higher importance. A node that stops transmitting in the middle due to contention may attempt to retransmit the next time the CAN bus (CB) is empty.

The host controller 100 may control the operation of the plurality of motor drivers 200 through CAN communication. As shown in FIG. 1, the host controller 100 may include a first CAN communication unit 110, a storage unit 130, and a control unit 150.

The first CAN communication unit 110 may perform CAN communication with a plurality of motor drivers 200 through a CAN bus (CB). The first CAN communication unit 110 may include a CAN transceiver (not shown) and a CAN controller (not shown). The CAN transceiver is connected to the CAN bus (CB), converts the level of the electrical signal received from the CAN bus (CB) and transmits it to the CAN controller, and converts the level of the electrical signal received from the CAN controller to the CAN bus (CB). Can be transferred to. The CAN controller may store the CAN message transmitted from the CAN transceiver in a register and transmit it to the controller 150, and may convert the CAN message transmitted from the controller 150 and transmit it to the first CAN communication unit 110. Depending on the embodiment, the CAN controller may be integrated and provided in the control unit 150, and a CAN controller and a CAN transceiver may be integrated and provided in the control unit 150.

The storage unit 130 may store a correspondence table including driver identifiers of each of the plurality of motor drivers 200 and node numbers mapped to the respective driver identifiers.

The linear motor system 1000 according to an embodiment of the present invention assigns a node number to each motor driver 200 based on a value uniquely assigned to each motor driver 200, and manages a message ID accordingly. Communication can be performed.

The microcontroller 250 provided in each motor driver 200 may be assigned a unique ID therein. As an example, the microcontroller 250 may be implemented with the STM32F3 series of STMicroelectronics, and in this case, the microcontroller 250 may have a unique identifier of 96 bits. Depending on the embodiment, the microcontroller 250 is implemented as a single chip, such as a CPU core, a memory, an input/output module, etc., and may be changed to a different type of microcontroller unit (MCU). Accordingly, the microcontroller 250 The format and length of the unique identifier can also be changed.

In CAN communication, data can be transmitted up to 8 bytes using one data frame, so it may be difficult to transmit all 96-bit unique identifiers using CAN communication. In addition, the 96-bit unique identifier is data that is too long to be managed by the user, and the format and length of the unique identifier of the microcontroller 250 may vary for each manufacturer. Accordingly, the linear motor system 1000 according to an embodiment of the present invention may convert the unique identifier of the microcontroller 250 included in each of the plurality of drivers 200 into a driver identifier having a shorter data length and use it. . The host controller 100 can convert the unique identifier of the microcontroller 250, which is a long string of numbers, into a driver identifier, which is a short string of numbers, and can process the converted driver identifiers to have a very low probability of overlapping each other.

As an example, the controller 150 may obtain driver identifiers of each of the plurality of motor drivers 200 by applying a hash function to the unique identifier of the microcontroller 250. The hash function converts a long sequence of numbers into a short sequence of numbers and processes so that the probability of overlapping each other is very low. Various hash functions can be used. As an example, the controller 150 may convert a 96-bit unique identifier into a 32-bit driver identifier by using CRC32 as a hash function. The host controller 100 and the plurality of motor drivers 200 may communicate with each other by transmitting and receiving the driver identifier through a CAN message.

According to an embodiment, when the motor driver 200 is produced, a 32-bit driver identifier may be extracted from the unique identifier of the microcontroller 250. After attaching the driver identifier to each motor driver 200, check the location of the node number for each drawing when connecting the CAN bus (CB), and extract the driver identifier of the motor driver 200 corresponding to each node number to The driver 200 may store a correspondence table including each driver identifier and a node number mapped to each driver identifier.

Depending on the embodiment, the linear motor system 1000 according to the embodiment of the present invention, when the motor driver 200 is replaced during operation, the unique identifier of the microcontroller 250 of the replaced motor driver 200 again. Recognize and modify the corresponding table.

According to an embodiment, the host controller 100 obtains a new driver identifier and responds by applying a new hash function to the unique identifier of the motor driver 200 when the same among a plurality of driver identifiers included in the correspondence table exists. You can change the table. That is, although it has a low probability, since the driver identifiers converted according to the hash function may overlap each other, the control unit 150 compares a plurality of driver identifiers included in the correspondence table to determine whether there is the same one, and if the same one exists , You can recreate the corresponding table by changing the hash function. At this time, the control unit 150 may apply a new hash function to all drivers, or may apply a new hash function only to a specific driver with overlapping driver identifiers.

When the hash function is changed to a new hash function as described above, the host controller 100 may broadcast information on the new hash function to the plurality of motor drivers 200 as CAN messages. When the received CAN message relates to a new hash function, the microcontroller 250 of the plurality of motor drivers 200 may obtain its own driver identifier by applying a new hash function to its own unique identifier. The information on the new hash function may include at least one of a type of a hash function, a number of repetitions, a seed parameter, an arbitrary string, and a random number, and the microcontroller 250 includes information on the received hash function. As a result, you can change your own unique identifier to a driver identifier using a hash function.

The controller 150 sends a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field to the plurality of motor drivers 200 through the first CAN communication unit 110. You can broadcast. As an example, the broadcasted node configuration message may be received by all motor drivers 200 and processed by all microcontrollers 250. According to an embodiment, the control unit 150 may include information on a hash function applied to a corresponding driver identifier in the data field of the node configuration message.

When the controller 150 receives a response message including the specific node number in the message ID from a motor driver 200 having the same specific driver identifier included in the broadcasted node configuration message as its driver identifier , Broadcasting of the node configuration message may be performed again by changing the specific driver identifier to another driver identifier. That is, the control unit 150 can set the driver identifier of one motor driver 200 through one node setting message, and if there are K motor drivers 200, it will sequentially broadcast the K node setting message. I can.

Each of the plurality of motor drivers 200 may include a second CAN communication unit 210 and a microcontroller 250. Each of the plurality of motor drivers 200 may be connected to a linear motor (not shown), and each motor driver 200 may control the connected linear motor. Depending on the embodiment, the linear motor may be changed to another type of power device driven by the motor driver 200.

The second CAN communication unit 210 may perform CAN communication with the first CAN communication unit 110 of the host controller 100 through a CAN bus (CB). According to an embodiment, the second CAN communication unit 210 may also perform CAN communication with the second CAN communication unit 210 of the other motor driver 200 through the CAN bus CB. Similar to the first communication unit 110, the second CAN communication unit 210 may also include a CAN transceiver (not shown) and a CAN controller (not shown). Depending on the embodiment, the CAN controller may be integrated and provided in the microcontroller 250, and the CAN controller and the CAN transceiver may be integrated and provided in the microcontroller 250.

The microcontroller 250 may receive a node setting message broadcast from the host controller 100 through the second CAN communication unit 210. The microcontroller 250 may set the specific node number as its own node number when it is determined that the specific driver identifier included in the broadcasted node configuration message is the same as its own driver identifier. When the setting of its own node number is normally completed, the microcontroller 250 may transmit a response message including its set node number in the message ID to the host controller 100 through the second CAN communication unit 210.

The host controller 100 transmits the node setting message K times to complete the node number setting of the K motor drivers 200. Due to the nature of CAN communication, messages transmitted by the host controller 100 through the CAN bus (CB) are received by all motor drivers 200, and each motor driver 200 is a message received by the second CAN communication unit 210 If the message ID of corresponds to its own node number, the message can be transferred to the microcontroller 250 and processed. The microcontroller 250 may control the operation of the linear motor connected to the motor driver 200 according to a message received from the host controller 100. Each motor driver 200 may ignore the message if the message ID of the received message does not correspond to its own node number.

A reception filter (not shown) provided in the microcontroller 250 or the second CAN communication unit 210 may receive a predetermined ID or a specific group for a received CAN message or receive all of the received CAN messages. For example, the reception filter may receive only a CAN message with ID 10, or may receive a CAN message with an ID of 0x30 to 0x3F.

The microcontroller 250 may know its own unique identifier using a library function or the like, and may apply a hash function to the unique identifier to generate and store a driver identifier. As described above, when the hash function is changed, after receiving information on the new hash function from the host controller 100, a driver identifier may be newly generated and stored according to the changed hash function. Depending on the embodiment, the driver identifier may be externally calculated and input to the microcontroller 250.

Detailed operations of the host controller 100 and the motor driver 200 according to an embodiment of the present invention will be described later with reference to FIGS. 2 and 3.

2 is a diagram illustrating a format of a CAN message used in a linear motor system according to an embodiment of the present invention. The CAN message format shown in FIG. 2 shows a CAN 2.0A version with a message ID of 11 bits. According to an embodiment, the linear motor system 100 according to an embodiment of the present invention includes a CAN message ID of 29 bits. You can also use version 2.0B.

The linear motor system 1000 according to an embodiment of the present invention uses a CAN bus (CB), so the bus itself is not a master-slave structure, but in the upper layer of the CAN bus (CB), the upper controller 100 and each It can be seen that the motor driver 200 is a master-slave relationship. Accordingly, the linear motor system 1000 according to an embodiment of the present invention is designed to reflect the master-slave relationship and node number to the ID when assigning the message ID of the CAN message to increase the utilization of the CAN bus (CB). I can.

Referring to FIG. 2, the CAN message may be composed of various fields. The SOF (Start of Frame) field means the start of the CAN message, and the ID field is the ID of each message, which determines the priority of the message and whether to receive the message. The RTR (Remote Transmission Request) field is a bit indicating whether the corresponding CAN message is a data frame or a remote frame, and the DLC (Data Length Code) field indicates the number of bytes of the data field (DATA) and has a range of 0 to 8. The DATA field is actually transmitted data and can contain up to 8 bytes, and the CRC (Cyclic Redundancy Check) field is a field for error check. The ACK field indicates a response, and the End of Flame (EOF) field indicates the end of the CAN message. Since the contents of each field of these CAN messages are well known, additional descriptions are omitted.

Meanwhile, in the linear motor system 1000 according to an embodiment of the present invention, a message ID may be defined as shown in FIG. 2 and Table 1 below based on the CAN 2.0A version.

Master/Slave (b10:b9) Node Number(b8:b2) Reserved(b1:b0) 00: Master -> Slave
01: Slave -> Master 0: Master
1 ~ 126: Slave node
127: broadcast reserved

That is, the most significant 2 bits (b10:b9) of the message ID used in the linear motor system 1000 according to an embodiment of the present invention are bits representing the master-slave relationship, and when "00", the corresponding CAN message is Indicates that this message is transmitted from the master controller 100 to the slave motor driver 200, and if "01", the CAN message is transmitted from the slave motor driver 200 to the master controller 100 Can indicate that In CAN communication, since a message with a low ID wins contention, in the linear motor system 1000 according to an embodiment of the present invention, information indicating transmission from the master to the slave is higher than the information indicating transmission from the slave to the master. Priority can be indicated.

The next 7 bits (b8:b2) of the message ID used in the linear motor system 1000 according to an embodiment of the present invention are bits indicating the node number, and "0" may indicate the host controller 100 as the master. In addition, 1 to 126 may represent each motor driver 200 that is a slave. Reference numeral 127 may indicate that the corresponding CAN message is a broadcast message, and all motor drivers 200 may receive and process the broadcast message.

The least significant 2 bits of the message ID used in the linear motor system 1000 according to an embodiment of the present invention are reserved fields and may be fixed to "00" and not used.

As an example, the node configuration message broadcast by the host controller 100 to the motor driver 200 may include information indicating transmission from a master to a slave and information indicating a broadcast message in the message ID. That is, in this case, the message ID of the broadcasted node configuration message may be "00111111100".

Meanwhile, according to an embodiment, "0" of the node number may not indicate the host controller 100 as the master. Since the most significant 2 bits (b10:b9) of the message ID indicate the master-slave transmission direction, the host controller 100, which is a master, may control other motor drivers 200 without a separate node number.

3 is a flowchart illustrating a flow of a method of driving a linear motor system according to an embodiment of the present invention. The method 2000 of driving the linear motor system illustrated in FIG. 3 may be performed by the linear motor system 1000 described above with reference to FIG. 1.

Referring to FIG. 3, in the method 2000 of driving a linear motor system according to an embodiment of the present invention, the host controller 100 stores information on a specific driver identifier and a specific node number mapped to the specific driver identifier. Broadcasting the node setting message included in the field to the plurality of motor drivers 200 using CAN communication (S201).

When power is applied, each motor driver 200 may not have a node number. In order to set the node number of each motor driver 200, the host controller 100 may extract any one driver identifier and a node number corresponding to the corresponding driver identifier from the corresponding table stored in the storage unit 150. The host controller 100 may define the extracted driver identifier and node number as a specific driver identifier and a specific node number, include in a data field, and broadcast to a plurality of motor drivers 200 using CAN communication.

Next, the driving method 2000 of a linear motor system according to an embodiment of the present invention includes a specific driver identifier broadcast by a plurality of motor drivers 200 using CAN communication from the host controller 100 and the identification It may include the step (S202) of receiving a node configuration message including information on the specific node number mapped to the driver identifier in the data field.

Next, in the method 2000 of driving a linear motor system according to an embodiment of the present invention, a plurality of motor drivers 200 receiving the broadcast node setting message have the same driver identifier and a specific driver identifier. It may include a step (S203) of determining whether or not. As described above, since the broadcasted node setup message includes information indicating that it is a broadcast message in the message ID, all motor drivers 200 receive the broadcasted node setup message and process it in the microcontroller 250. I can. The microcontroller 250 may determine whether a specific driver identifier included in the data field of the received node configuration message is the same as its own driver identifier.

Next, in the driving method 2000 of a linear motor system according to an embodiment of the present invention, when the motor driver 200 determines that its driver identifier and a specific driver identifier are the same (S204 -> YES), the corresponding motor It may include a step (S205) of the driver setting the specific node number as its own node number. As an example, when the first motor driver 200_1 determines that its driver ID is the same as the received specific driver ID, a specific node number included in the data field of the received node configuration message may be set as its node number. .

Next, in the method 2000 of driving a linear motor system according to an embodiment of the present invention, the node number in which the first motor driver 200_1, which has set the received specific node number as its own node number, is set to the message ID. It may include a step (S206) of transmitting the included response message to the host controller 100. That is, the motor driver 200 having successfully set the node number may transmit a response message including the set node number in the message ID to the host controller 100 in order to inform the host controller 100 of this. The response message may include information indicating transmission from the slave to the master in the message ID. That is, in the response message, the most significant 2 bits of the message ID may be "01".

On the other hand, in the driving method 2000 of a linear motor system according to an embodiment of the present invention, when the motor driver 200 determines that its driver identifier and a specific driver identifier are not the same (S204 -> NO), the corresponding The node configuration message can be ignored (S207).

Next, in the driving method 2000 of a linear motor system according to an embodiment of the present invention, a specific driver identifier included in the broadcasted node setting message by the host controller 100 is the same as its driver identifier. It may include receiving a response message including the specific node number in the message ID from 200 (S208).

As an example, when the node number of the first motor driver 200_1 is set to 3 as a result of broadcasting the node setting message, the first motor driver 200_1 generates a response message with a message ID of "01000001100" to the host controller ( 100). The host controller 100 can receive all messages whose message ID starts with "01" as messages are transmitted from the slave to the master, and can confirm that the node number of the first motor driver 200_1 is set to 3 have.

Next, in the driving method 2000 of the linear motor system according to an embodiment of the present invention, when the host controller 100 receives a response message from the motor driver 200 (S208 -> YES), A node setup message that includes information about the changed specific driver identifier and the changed specific node number in the data field after changing a specific driver identifier to another driver identifier and changing the broadcasted specific node number to a node number mapped to the changed driver identifier It may include a step (S209) of re-broadcasting to the plurality of motor drivers 200 using CAN communication. That is, when the host controller 100 receives a response message from the motor driver 200, it is determined that the corresponding node number has been set normally, and the node setting message for the next node number is broadcast again. Thereafter, it may be repeatedly performed from step S202.

Meanwhile, in the method 2000 of driving a linear motor system according to an embodiment of the present invention, after the host controller 100 broadcasts a node setting message to a plurality of motor drivers 200, a response message is received within a predetermined time. If not (S208 -> NO), an error message may be output (S210). If the response message is not received, the host controller 100 may output an error message because the response table may be incorrect, there may be an error in the CAN bus (CB), or there may be a failure in the motor driver 200. Depending on the embodiment, the error message may be output through a separate display device or transmitted to an administrator terminal and displayed to the administrator. The error message may include the node setting number and driver identifier included in the data field of the node setting message that was broadcast, and through this, the administrator checks which node's motor driver 200 has failed the node setting operation and takes appropriate action. You can take it.

The linear motor system 1000 according to an embodiment of the present invention may complete the node number setting for all the motor drivers 200 by repeating the steps shown in FIG. 3. When node numbers are normally assigned to all motor drivers 200, all motor drivers 200 are normally driven and CAN bus (CB) also operates normally, so that the host controller 100 and each motor driver 200 can communicate normally. It may be in a state that can perform. Thereafter, the host controller 100 may control the operation of each motor driver 200 by setting various message IDs of the CAN message.

The present invention can also be implemented as computer-readable codes on a computer-readable recording medium. Computer-readable recording media include all storage media such as magnetic storage media and optical reading media. The present invention can be implemented in the form of a computer program stored in a medium in order to execute a method of driving a linear motor system.

So far, the present invention has been looked at in detail centering on the preferred embodiments shown in the drawings. These embodiments are not intended to limit the present invention, but are merely illustrative, and should be considered from an illustrative point of view rather than a restrictive point of view. The true technical protection scope of the present invention should be determined not by the above description but by the technical spirit of the appended claims. Although specific terms have been used in the present specification, they are used only for the purpose of describing the concept of the present invention, and not for limiting the meaning or limiting the scope of the present invention described in the claims. Each step of the present invention need not necessarily be performed in the order described, and may be performed in parallel, selectively or individually. Those of ordinary skill in the technical field to which the present invention pertains will understand that various modifications and other equivalent embodiments are possible without departing from the essential technical idea of the present invention claimed in the claims. It is to be understood that equivalents include not only currently known equivalents, but also equivalents to be developed in the future, that is, all components invented to perform the same function regardless of structure.

Claims (15)

In the driving method of a linear motor system comprising a host controller and a plurality of motor drivers,
Broadcasting, by the host controller, a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field to the plurality of motor drivers using CAN communication;
Determining whether a plurality of motor drivers receiving the broadcast node configuration message have the same driver identifier and the specific driver identifier;
When the first motor driver determines that the specific driver identifier is the same as the driver identifier of the first motor driver, setting the specific node number as its own node number by the first motor driver; And
And transmitting, by the first motor driver, a response message including the set node number in a message ID to the host controller. In the driving method of a linear motor system including a host controller and a plurality of motor drivers,
Broadcasting, by the host controller, a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field to the plurality of motor drivers using CAN communication; And
And receiving, by the host controller, a response message including the specific node number in a message ID from a first motor driver whose specific driver identifier included in the broadcasted node configuration message is the same as its driver identifier. Linear motor system drive method. In the driving method of a linear motor system comprising a host controller and a plurality of motor drivers,
Receiving, by the motor driver from the host controller, a node setting message including information on a specific driver identifier broadcasted using CAN communication and a specific node number mapped to the specific driver identifier in a data field;
Determining, by the motor driver, whether its own driver identifier and the specific driver identifier are the same;
When it is determined that the specific driver identifier is the same as the driver identifier of the motor driver, setting the specific node number as its own node number by the motor driver; And
And transmitting, by the motor driver, a response message including the set node number in a message ID to the host controller. The method according to any one of claims 1 to 3,
The broadcasted node configuration message includes information indicating transmission from a master to a slave and information indicating a broadcast message in a message ID. The method of claim 4,
The driving method of a linear motor system, wherein the information indicating transmission from the master to the slave indicates a higher message priority than the information indicating transmission from the slave to the master. The method according to any one of claims 1 to 3,
The response message includes information indicating transmission from the slave to the master in the message ID. The method according to any one of claims 1 to 3,
The driver identifier of each of the plurality of motor drivers is a value obtained by applying a hash function to a unique identifier of a microcontroller included in each of the plurality of drivers, and a data length is shorter than that of the microcontroller. How to drive the motor system. The method of claim 7, wherein the host controller,
And storing a corresponding table including a driver identifier of each of the plurality of motor drivers and a node number mapped to the respective driver identifier. The method of claim 8, wherein the host controller,
When the same among the plurality of driver identifiers included in the correspondence table exists, a new hash function is applied to the unique identifier, converted into the driver identifier, and the correspondence table is changed. Way. The method of claim 9, wherein the host controller,
When the hash function is changed to a new hash function, information on the new hash function is broadcast to the plurality of motor drivers as CAN messages. The method of claim 9, wherein the host controller,
And including information about a hash function applied to a corresponding driver identifier in a data field of the node setting message. The method according to any one of claims 1 to 2,
The host controller,
When the response message is received from the first motor driver, the specific driver identifier is changed to another driver identifier, the specific node number is changed to a node number mapped to the changed driver identifier, and the changed specific driver identifier and the A method of driving a linear motor system, comprising broadcasting a node setting message including information on a changed specific node number in a data field to the plurality of motor drivers using CAN communication. The method of claim 12, wherein the host controller,
And outputting an error message when the response message is not received within a predetermined time after broadcasting the node setting message to the plurality of motor drivers. A computer-readable recording medium on which a program for performing any one of claims 1 to 3 is recorded. In the linear motor system comprising a host controller and a plurality of motor drivers,
The host controller,
A first CAN communication unit performing CAN communication with the plurality of motor drivers;
A storage unit for storing a correspondence table including driver identifiers of each of the plurality of motor drivers and node numbers mapped to the respective driver identifiers; And
Broadcast a node setting message including information on a specific driver identifier and a specific node number mapped to the specific driver identifier in a data field to the plurality of motor drivers through the first CAN communication unit, and set the broadcast node When a response message including the specific node number in the message ID is received from a motor driver whose specific driver ID included in the message is the same as its driver ID, the node configuration message is changed by changing the specific driver ID to another driver ID. Including a control unit for performing the broadcast again,
Each of the plurality of motor drivers,
A second CAN communication unit performing CAN communication with the host controller; And
When the broadcasted node configuration message is received from the host controller through the second CAN communication unit, and it is determined that the own driver identifier and the specific driver identifier are the same, the specific node number is set as the own node number, and And a microcontroller for transmitting a response message including the set node number in a message ID to the host controller through the second CAN communication unit.

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