KR20190101541A - Motion control apparatus - Google Patents

Abstract

The present invention provides an apparatus for controlling motion of a target device, including at least one servo motor, which comprises: a program execution unit executing a user program corresponding to motion of the target device during an execution period of each control cycle and generating a motion control command based on an execution result of the user program; a driving control unit generating first driving control data corresponding to driving of each servo motor at each communication cycle based on the motion control command during a driving control period of each control cycle, and second driving control data corresponding to driving of each servo motor at a communication cycle next to each communication cycle; and a communication processing unit transferring the first driving control data to a servo driver driving each servo motor during a data transceiving period of each communication cycle. The present invention can prevent wrong operation of a motor and prevent accidents caused by motion errors of the target device.

Description

Motion Control Device {MOTION CONTROL APPARATUS}

The present invention relates to an apparatus for controlling the motion of a target device including at least one servomotor.

The motion control device is a device for controlling the motion of a target device including at least one motor. That is, the motion of the target device such as movement or deformation may be derived by driving each motor. Accordingly, the motion control apparatus may generate drive control data related to the speed and position value of each motor, and the like, and periodically transmit the generated drive control data to each motor based on a user program corresponding to the motion of the target device.

Such a motion control device is generally applied to a PLC system or the like. The PLC system is equipment that controls the sequential driving of the control target devices according to the process sequence set by the user. Implementing an automated facility using such a PLC system, there is an advantage that it is easy to change the order of the process, add and delete. Accordingly, in order to implement an automated facility, relays and counters that sequentially connect the control target devices that perform each process in the order of processes are being replaced by PLC systems.

On the other hand, the motion control apparatus can execute the user program every predetermined control period, update the drive control data based on the execution result of the user program, and transmit the drive control data every predetermined communication period.

At this time, in order for the drive control of the motor to be normally executed by the drive control data of each communication cycle, it is necessary to transmit the drive control data after the drive control data is updated.

However, since the execution of the user program is excessively delayed in any one of the control periods, the update of the drive control data may not be performed until the time point at which each communication period is started. In this case, there is a problem that each motor may be malfunctioned by the drive control data of the non-updated state, that is, the drive control data of the previous communication cycle. In addition, since the motion of the target device is different from the user program, the target device cannot be controlled according to the user's intention, so that an accident or the like can be easily caused.

In particular, as the unit for executing the user program and the unit for communicating with each other are driven separately from each other, it is virtually impossible to verify whether the drive control data of each communication period is in an updated state. Therefore, there is a problem that it is difficult to prevent the motor from malfunctioning due to the drive control data in an unupdated state.

The present invention provides a motion control apparatus capable of preventing transmission of drive control data in an incomplete update state.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention, which are not mentioned above, can be understood by the following description, and more clearly by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

In order to solve this problem, an example of the present invention is a device for controlling the motion of a target device including at least one servomotor, the user program corresponding to the motion of the target device during the execution period of each control period A program execution unit for generating a motion control command based on the execution result of the user program, and driving the servomotor in each communication period based on the motion control command during the drive control period of each control period. A drive control unit for generating first drive control data corresponding to the second drive control data and a second drive control data corresponding to the drive of each servo motor in a next communication period of each communication period, and during a data transmission / reception period of each communication period. And a communication processor configured to transfer the first driving control data to a servo driver for driving the servo motors. Provide a motion control device.

The drive control unit is a profile providing unit for providing a speed profile corresponding to the driving of each servo motor based on the motion control command, and generates at least one of the first and second drive control data based on the speed profile. An update corresponding to whether a control data generation unit, a first control buffer unit holding the first drive control data, a second control buffer unit holding the second drive control data, and whether the first and second control buffer units are updated A completion flag buffer portion holding a completion flag, and a state flag buffer portion holding a state flag corresponding to whether or not the update completion flag is a completion level at the start of the data transmission / reception period of each communication period.

When a new speed profile is provided from the profile providing unit, the control data generation unit generates the first drive control data based on the speed profile, and the first control buffer unit based on the generated first drive control data. Update and generate the second drive control data based on the speed profile, and update the second control buffer unit based on the generated second drive control data.

When the speed profile of the profile providing unit is maintained and the status flag is at the normal level, the control data generation unit is based on the second driving control data of the second control buffer unit at the time point at which each control period is started. 1 Update the control buffer section.

If the speed profile of the profile providing unit is maintained and the status flag is at a normal level, the control data generation unit generates second speed data corresponding to the speed of the servomotor in the next communication period based on the speed profile. Detect and generate the second drive control data based on the second speed data, and update the second control buffer unit based on the generated second drive control data.

If the state flag is at an abnormal level, the control data generation unit generates the first drive control data based on the speed profile, updates the first control buffer unit based on the generated first drive control data, and The second drive control data is generated based on the speed profile, and the second control buffer unit is updated based on the generated second drive control data.

When the data transmission / reception period of each communication period ends, the update completion flag is initialized to the incomplete level, and when the first and second control buffer parts are updated, the update completion flag is changed to the completion level, and the second If the control buffer portion is not updated, the update completion flag is maintained at the incomplete level.

If the update completion flag is at the completion level at the start of the data transmission / reception period of each communication period, the status flag is maintained at the normal level, and if the update completion flag is at the incomplete level at the start of each control period, The state flag is changed to the abnormal level, and the state flag is maintained at the abnormal level until the update completion flag is changed from the incomplete level to the completion level.

Each of the first and second drive control data includes information on at least one of a target position, a target speed, a target torque, and an acceleration / deceleration period of each servomotor.

According to the motion control apparatus as described above, the drive control unit is the first drive control data for controlling the drive of each servomotor in each communication cycle, and for controlling the drive of each servomotor in the next communication period of each communication cycle Generate second drive control data. The communication processor transfers the first driving control data to the servo driver in each communication cycle. That is, not only the first drive control data corresponding to each communication period but also the second drive control data corresponding to the next communication period of each communication period are generated together.

Accordingly, the first control buffer portion holding the first drive control data can be updated based on the first drive control data or the second drive control data generated by the control data generation portion.

Then, the first and second control buffer units are used due to an excessively delayed execution period of the user program by using an update completion flag corresponding to whether the first and second control buffer units having the first and second drive control data are updated. It may be detected whether at least one of them is not updated.

Therefore, due to the excessively delayed execution period of the user program, the first drive control data corresponding to each communication period can be prevented from being transmitted to the servo driver without being updated.

As a result, a malfunction of the motor can be prevented and the motion of the target device can be controlled in the same manner as the user program, thereby preventing an accident due to a motion error of the target device.

1 is a diagram illustrating an example of a connection between a motion control device and at least one servomotor according to an embodiment of the present invention.
2 is a diagram illustrating an example of a connection between a motion control device and at least one servomotor according to an embodiment of the present invention.
3 is a view showing a motion control apparatus according to an embodiment of the present invention.
4 and 5 are views illustrating a process in which the motion control apparatus of FIG. 3 provides drive control data.
6 is an example for describing the process of FIGS. 4 and 5.

The above objects, features, and advantages will be described in detail with reference to the accompanying drawings, whereby those skilled in the art to which the present invention pertains may easily implement the technical idea of the present invention. In describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

Hereinafter, a motion control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

1 is a diagram illustrating an example of a connection between a motion control device and at least one servomotor according to an embodiment of the present invention. 2 is a diagram illustrating an example of a connection between a motion control device and at least one servomotor according to an embodiment of the present invention.

As shown in Figure 1 and 2, the motion control apparatus 100 according to an embodiment of the present invention is a device for controlling the motion of a target device (not shown) including at least one servomotor 10. .

Each servomotor 10 is driven by the servo driver 11.

The servo driver 11 is connected to the motion control apparatus 100 through the communication line 12.

For example, as illustrated in FIG. 1, at least one servo driver 11 corresponding to at least one servomotor 10 is daisy-chained with the motion control apparatus 100 through a network communication line 12. Can be connected.

In this case, the motion control apparatus 100 and the at least one servo driver 11 may form a ring or line network. In addition, data transmission and reception between the motion control apparatus 100 and the at least one servo driver 11 may be performed in the form of a data frame according to a predetermined communication protocol.

Alternatively, as shown in FIG. 2, each servo driver 11 may be connected to the motion control apparatus 100 through a separate communication line 13. In this case, data transmission and reception between the motion control device 100 and each servo driver 11 may be performed through a pulse signal.

3 is a view showing a motion control apparatus according to an embodiment of the present invention.

As shown in FIG. 3, the motion control apparatus 100 according to an embodiment of the present invention includes a program execution unit 110, a drive control unit 120, and a communication processing unit 130.

The program execution unit 110 periodically executes a predetermined user program corresponding to the motion of the target device. For example, the program execution unit 110 may execute the user program during the execution period of each control period.

The program execution unit 110 generates a sequence control command and a motion control command based on the execution result of the user program.

The motion control command is command data for motion control of the target device including at least one servomotor (10 of FIGS. 1 and 2).

The sequence control command is command data for the rest except motion control. In exemplary embodiments, the sequence control command may include data collection and storage, power detection, and the like.

The driving controller 120 generates first and second driving control data DCD1 and DCD2 (Driving Control Data) based on the motion control command during the driving control period of each control period.

The first drive control data DCD1 corresponds to the drive of each servomotor 10 in each communication period.

The second drive control data DCD2 corresponds to the driving of each servomotor 10 in the next communication period of each communication period.

Here, each of the first and second driving control data DCD1 and DCD2 includes information on at least one of a target position, a target speed, a target torque, and an acceleration / deceleration period of each servomotor 10.

As described above, according to one embodiment of the present invention, the drive control unit 120 provides two drive control data DCD1 and DCD2 corresponding to each control period and the next control period during the drive control period of each control period. .

In detail, the driving controller 120 includes a profile providing unit 121, a control data generating unit 122, a first control buffer unit 123, a second control buffer unit 124, a complete flag buffer unit 125, and the like. The state flag buffer unit 126 is included.

The profile providing unit 121 provides a speed profile corresponding to the driving of each servomotor 10 based on the motion control command of the program executing unit 110.

For example, when the motion control command includes a motion execution instruction for a predetermined driving period, the profile providing unit 121 speeds up the positional variation of each servomotor 10 during the predetermined driving period based on the motion control command. You can create a profile. Here, the speed profile indicates the position of each servomotor 10 corresponding to each time point in the driving period in which the motion of the target device is executed in order to execute the motion of the target device. Thus, the speed and the shift period for the position change of each motor can be derived based on the speed profile.

The control data generation unit 122 generates at least one of the first and second driving control data DCD1 and DCD2 based on the speed profile of the profile providing unit 121.

In exemplary embodiments, the control data generator 122 may detect a position value of the servo motor 10 corresponding to each communication cycle based on the speed profile. The control data generation unit 122 may generate an acceleration / deceleration profile including at least one of a target speed, a target torque, and an acceleration / deceleration period for moving from the position value of the previous communication cycle of each communication cycle to the position value of each communication cycle. Can be. Then, the control data generation unit 122 of the first drive control data DCD1 corresponding to each communication cycle and the second drive control data DCD2 corresponding to the next communication cycle of each communication cycle based on the acceleration / deceleration profile. At least one can be generated.

Here, the control data generation unit 122 may generate at least one of the first and second drive control data DCD1 and DCD2 by executing a pre-generated acceleration / deceleration profile for each control period while the speed profile is maintained. . That is, if the control data generation unit 122 does not generate the acceleration / deceleration profile for each control cycle, but instead generates the acceleration / deceleration profile corresponding to the speed profile, the control data generation unit 122 generates the acceleration / deceleration previously generated for each control cycle until a new speed profile is provided. At least one of the first and second driving control data DCD1 and DCD2 may be generated based on the quick profile.

In addition, when a new speed profile is provided from the profile providing unit 121, and when the second driving control data is not updated during the previous control period, the control data generating unit 122 performs the motion of the program executing unit 110. The first and second driving control data DCD1 and DCD2 are generated based on the control command and the speed profile of the profile providing unit 121.

On the other hand, when the speed profile of the profile providing unit 121 is maintained and when both the first and second driving control data are updated during the previous control period, the control data generating unit 122 is the program execution unit 110. Only the second driving control data DCD2 is generated based on the motion control command and the speed profile of the profile providing unit 121.

The first control buffer unit 123 holds the first drive control data DCD1. Here, the first control buffer unit 123 is updated by data provided from either the control data generation unit 122 or the second control buffer unit 124.

The second control buffer unit 124 holds the second drive control data DCD2. Here, the second control buffer unit 124 is updated by the second drive control data provided from the control data generation unit 122.

The completion flag buffer unit 125 holds an update completion flag corresponding to whether the first and second control buffer units 123 and 124 are updated during each control period.

Here, the update completion flag is initialized to an incomplete level when the data transmission / reception period of each communication period ends. When the first and second control buffer units 123 and 124 are updated during each control period, the update completion flag is changed to the completion level. However, if the first and second control buffer units 123 and 124 are not updated during each control period, the update completion flag is maintained at the incomplete level.

The state flag buffer unit 126 holds a state flag corresponding to whether or not the update completion flag is at the completion level at the start of the data transmission / reception period of each communication cycle.

Here, if the update completion flag is at the completion level at the start of the data transmission / reception period of each communication period, the status flag is maintained at the normal level.

However, if the update completion flag is at the incomplete level at the beginning of the data transmission / reception period of each communication period, the status flag is changed to the abnormal level. Then, the status flag is maintained at the abnormal level until the update completion flag is changed from the incomplete level to the complete level.

The communication processor 130 transfers the first driving control data DCD1 of the first control buffer unit 123 to the servo driver 11 driving the servo motor 10 during the data transmission / reception period of each communication cycle.

Here, as shown in FIG. 1, when the motion control apparatus 100 and the at least one servo driver 11 are connected through a network communication line 12, the communication processor 130 may be configured according to a predetermined communication protocol. A data frame into which one driving control data DCD1 is inserted can be transmitted to each servo driver 11.

Alternatively, as shown in FIG. 2, when the motion control apparatus 100 is connected to each of the servo drivers 11 through individual communication lines 13, the communication processor 130 may correspond to the first driving control data DCD1. One pulse signal can be transmitted to each servo driver 11.

On the other hand, the control data generation unit 122 according to an embodiment of the present invention to the motion control command of the program execution unit 110, the speed profile of the profile generation unit 121 and the state flag of the status flag buffer unit 126 Based on this, the first and second control buffer units 123 and 124 are updated.

In detail, the control data generation unit 122 generates the driving control data for updating at least one of the first and second control buffer units 123 and 124 when receiving the motion control command from the program execution unit 110. Conduct.

In this case, when a new speed profile is provided from the profile providing unit 121, the control data generation unit 122 generates the first and second driving control data, respectively, based on the speed profile. The first control buffer unit 123 is updated based on the generated first drive control data DCD1, and the second control buffer unit 124 is updated based on the generated second drive control data DCD2. do.

Alternatively, if the speed profile of the profile providing unit 121 is maintained and the state flag of the state flag buffer unit 126 is at the normal level, the control data generation unit 122 controls the second control at the start of each control period. The first control buffer unit 123 is updated based on the second drive control data DCD2 of the buffer unit 124.

The control data generation unit 122 generates the second drive control data DCD2 based on the speed profile during the drive control period of each control period, and generates the second drive control data DCD2 based on the generated second drive control data DCD2. The control buffer unit 124 is updated.

Alternatively, if the state flag of the state flag buffer unit 126 is at an abnormal level, the control data generation unit 122 generates the first and second drive control data based on the speed profile during the drive control period of each control period, respectively. . The first control buffer unit 123 is updated based on the generated first drive control data DCD1, and the second control buffer unit 124 is updated based on the generated second drive control data DCD2. do.

Next, a method of providing driving control data by the motion control apparatus will be described with reference to FIGS. 4 to 6.

4 and 5 are views illustrating a process in which the motion control apparatus of FIG. 3 provides drive control data. 6 is an example for explaining the process of FIGS. 4 and 5.

As shown in FIG. 4, when each communication cycle is started (S10), and the update completion flag is the completion level (S11), the control data generation unit 122 sets the state flag of the state flag buffer unit 126 to the normal level. To keep. (S12) However, if the update completion flag is incomplete level (S11), the control data generation unit 122 changes the state flag of the state flag buffer unit 126 to an abnormal level. (S13)

Thereafter, the communication processor 130 transmits the first driving control data of the first control buffer unit 123 to each servo driver 11 during the data transmission / reception period of each communication period. (S14)

The control data generation unit 122 initializes the update completion flag of the completion flag buffer unit 125 to an incomplete level at any one of the time point at which the data transmission / reception period of each communication cycle ends and the start of each control cycle. . (S15)

Then, when each control period is started, the control data generation unit 122 updates the first control buffer unit 123 based on the second drive control data of the second control buffer unit 124. (S16)

Here, each communication period and each control period may be made of the same period of a different phase. That is, each control period can be started at the end of the data transmission / reception period of each communication period. However, this is merely an example, and within the range in which the data transmission / reception period of the communication period is arranged after the execution period and the driving control period of each control period, the control period and the communication period may be modified according to the intention of the user. In exemplary embodiments, the communication period may be an integer multiple of the control period.

As shown in FIG. 5, when each control period is started (S20), the program execution unit 110 generates a motion control command by executing a user program during the execution period of each control period. (S21)

When the motion control command includes a motion execution instruction, when the execution period of each control period ends and the drive control period begins, the profile generation unit 121 provides a speed profile based on the motion control command.

At this time, when the profile generation unit 121 provides a new speed profile (S22), the control data generation unit 122 is based on the motion control command and the speed profile, the first and second drive control data (DCD1, DCD2) Is generated, and the first and second control buffer units 123 and 124 are updated based on the generated first and second drive control data DCD1 and DCD2. (S23)

That is, the control data generation unit 122 generates the acceleration / deceleration profile corresponding to the new speed profile, and generates the first and second drive control data DCD1 and DCD2 based on the acceleration / deceleration profile. The first and second control buffer units 123 and 124 are updated by transferring the generated first and second drive control data DCD1 and DCD2 to the first and second control buffer units 123 and 124. do.

Accordingly, since both the first and second control buffer units 123 and 124 are updated, the control data generation unit 122 changes the update completion flag of the completion flag buffer unit 125 to the completion level. (S24)

Alternatively, when the profile generation unit 121 maintains the speed profile as it is (S22), and if the state flag of the state flag buffer unit 126 is at a normal level (S25), the control data generation unit 122 is a motion control command and The second drive control data DCD2 is generated based on the speed profile, and the second control buffer unit 124 is updated based on the generated second drive control data DCD2. (S26)

That is, as the speed profile is maintained as it is, the control data generation unit 122 maintains the pre-generated acceleration / deceleration profile as it is and generates the second driving control data DCD2 based on the pre-generated acceleration / deceleration profile. The second control buffer unit 124 is updated by transferring the generated second drive control data DCD2 to the second control buffer unit 124.

As mentioned above in the description of FIG. 4, at the start of each control period, the control data generation unit 122 is configured based on the second driving control data of the second control buffer unit 124. Update 123. (S16)

Thus, when the second control buffer unit 124 is updated (S26), since both the first and second control buffer units 123 and 124 are updated, the control data generation unit 122 completes the flag buffer unit 125. Change the update completion flag to the completion level. (S24)

Alternatively, if the state flag of the state flag buffer unit 126 is at an abnormal level (S25), the control data generation unit 122 generates the first and second drive control data based on the motion control command and the speed profile, and generates the generated state flag. The first and second control buffer units 123 and 124 are updated based on the first and second drive control data. (S23)

That is, since the state flag of the abnormal level means that the second control buffer unit 124 has not been updated during the control period, the control data generation unit 122 is based on the previously generated acceleration / deceleration profiles. The drive control data DCD1 and DCD2 are generated. The first and second control buffer units 123 and 124 are updated by transferring the generated first and second drive control data DCD1 and DCD2 to the first and second control buffer units 123 and 124. do.

Accordingly, since both the first and second control buffer units 123 and 124 are updated, the control data generation unit 122 changes the update completion flag of the completion flag buffer unit 125 to the completion level. (S24)

Next, the example of FIG. 6 is demonstrated.

6 assumes five control cycles 201, 202, 203, 204, 205 and communication cycles 211, 212, 213, 214, 215. During each execution period (PE; Program Execution period) and driving control period (MC) of each control period (201, 202, 203, 204, 205), each communication period (211, 212, 213, 214, 215) It is assumed that the position values P1, P2, P3, P4, and P5 of any one servomotor 10 corresponding to) are calculated. When the data communication period (DC) of each communication period 211, 212, 213, 214, and 215 ends, it is assumed that each control period 201, 202, 203, 204, 205 is started. do.

According to the example of FIG. 6, during the execution period PE of the first control period 201, the program execution unit 110 executes a user program and generates a motion control command based on the execution result.

During the drive control period MC of the first control period 201, the drive control unit 120 updates the first and second control buffer units B1 and B2 (123 and 124 in FIG. 3) based on the motion control command. do.

That is, the motion control instruction of the program execution unit 110 includes a motion execution instruction for executing any one of the servo motor 10 of the target device to the motion to move to the first to fifth position values P1 to P5. In this case, the profile generator 121 of the driving controller 120 may perform the first to fifth position values P1 during the first to fifth communication periods 211, 212, 213, 214, and 215 based on the motion control command. Create a velocity profile that corresponds to the motion moving to ~ P5).

Then, the control data generation unit 122 of the drive control unit 120 generates an acceleration / deceleration profile for moving from the previous position value of each position value to each position value based on the velocity profile.

Subsequently, the control data generation unit 122 executes the acceleration / deceleration profile to generate first driving control data including the first position value P1 corresponding to the first communication period 211. Here, the first driving control data may further include at least one of a target speed, a target torque, and an acceleration / deceleration period for moving to the first position value P1.

In addition, the control data generation unit 122 further executes the acceleration / deceleration profile so as to include a second position value P2 corresponding to the second communication cycle 212 which is the next sequence of the first communication cycle 211. Create control data. Here, the second driving control data may further include at least one of a target speed, a target torque, and an acceleration / deceleration period for moving to the second position value P2.

The control data generation unit 122 transfers the generated first and second driving control data to the first and second control buffer units B1 and B2. As a result, the first control buffer unit B1 is updated to hold first drive control data corresponding to the first position value P1, and the second control buffer unit B2 corresponds to the second position value P2. It is updated to hold one second drive control data.

In this way, since both the first and second control buffer units B1 and B2 have been updated, the control data generation unit 122 does not complete the Refresh Finish Flag (RFF) at the end of the drive control period MC. Change from level to completion level.

Since the update completion flag is the completion level at the start of the first communication period 211, the status flag SF is maintained at the normal level.

The communication processor 130 transfers the first driving control data of the first control buffer unit B1 to the servo driver during the data transmission / reception period DC of the first communication period 211.

When the data transmission / reception period DC of the first communication period 211 ends, the control data generation unit 212 changes the update completion flag RFF to an incomplete level.

Then, at any one of the time point when the first control period 201 ends and the time point when the data transmission / reception period DC of the first communication period 211 ends, the control data generation unit 122 includes the second control buffer unit. The first control buffer section B1 is updated based on the second drive control data in (B2). As a result, the first control buffer unit B1 is updated to hold first drive control data corresponding to the second position value P2 of the second communication period 212.

Next, since the speed profile is maintained and the status flag SF is at the normal level, the control data generation unit 122 executes the previously generated acceleration / deceleration profile during the second control period 202 to perform the third communication period 203. Generates second drive control data including a third position value P3 corresponding to the second position control data. Here, the second driving control data may further include at least one of a target speed, a target torque, and an acceleration / deceleration period for moving to the third position value P3.

The control data generation unit 122 transfers the generated second driving control data to the second control buffer unit B2, whereby the second control buffer unit B2 receives the third position value of the third communication period 213 ( It is updated to hold second drive control data corresponding to P3).

In addition, since both the first and second control buffer units B1 and B2 have been updated during the drive control period MC of the second control period 202, the control data generation unit 122 generates an update completion flag RFF. Change to the completion level.

Accordingly, since the update completion flag RFF is at the completion level at the start of the second communication period 212, the state flag SF is maintained at the normal level.

During the data transmission / reception period DC of the second communication period 212, the communication processor 130 transmits the first driving control data of the first control buffer unit B1 to the servo driver.

When the data transmission / reception period DC of the second communication period 212 ends, the control data generation unit 122 changes the update completion flag RFF to an incomplete level.

Then, at the end of the second control period 203 or at the end of the data transmission / reception period DC of the second communication period 212, the control data generation unit 122 generates a second of the second control buffer unit B2. The first control buffer unit B1 is updated based on the drive control data. As a result, the first control buffer unit B1 is updated to hold first drive control data corresponding to the third position value P3 of the third communication cycle 213.

Subsequently, at least one of the execution period PE and the drive control period MC of the third control period 203 is delayed longer than the period allocated to the control period. Therefore, since the second control buffer section B2 has not been updated, the update completion flag RFF is maintained at the incomplete level.

Therefore, since the update completion flag RFF is incomplete level at the start of the third communication period 213, the state flag SF is changed to the abnormal level.

However, the first control buffer unit B1 corresponds to the third communication cycle 213 based on the second drive control data of the second control buffer unit B2 at the start of the third communication cycle 203. It is updated to hold first drive control data indicating the third position value P3.

Accordingly, during the data transmission / reception period DC of the third communication period 213, the communication processor 130 transmits the first driving control data indicating the third position value P3 to the servo driver.

In addition, since the state flag SF is at the abnormal level, the control data generation unit 122 executes the acceleration / deceleration profile twice during the driving control period MC of the fourth control period 204, whereby the fourth communication period 214 is performed. The first driving control data including the fourth position value P4 corresponding to) and the second driving control data including the fifth position value P5 corresponding to the fifth communication period 215 are generated.

Then, the first and second control buffer units B1 and B2 are updated based on the generated first and second drive control data. As a result, the first control buffer unit B1 holds the first driving control data including the fourth position value P4 of the fourth communication period 214, and the second control buffer unit B2 communicates with the fifth communication unit. The second drive control data including the fifth position value P5 of the period 215 is held.

In this way, since the update of the first and second control buffer units B1 and B2 has been completed, the update completion flag RFF is changed to the completion level.

During the data transmission / reception period DC of the fourth communication period 214, the communication processing unit 130 transmits the first driving control data of the fourth position value P4 held in the first control buffer unit B1 to the servo driver. do.

At the end of the data transmission / reception period DC of the fourth communication period 214, the update completion flag RFF is changed from the completion level to the incomplete level. Accordingly, the state flag SF is also changed from the abnormal level to the normal level.

As described above, according to an embodiment of the present invention, the first drive control data corresponding to each communication cycle and the second drive control data corresponding to the next communication cycle of each communication cycle, and the data transmission and reception period of the communication cycle After this termination, the first drive control data corresponding to each communication cycle is updated with second drive control data corresponding to the next communication cycle.

As a result, it is possible to prevent the first driving control data from being updated before the data transmission / reception period of the communication cycle arrives.

Further, the first and second driving are performed by using the update completion flag corresponding to the update of the first and second drive control data and the status flag corresponding to whether the update completion flag is the completion level at the start of each communication period. Whether the control data is in the updated state can be easily detected.

Therefore, since the reliability of the update of the drive control data of each communication period can be improved, malfunction of the target device by the motion control apparatus can be prevented.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by.

100: motion control device
10: servo motor
11: servo driver
12, 13: communication line
120: drive control unit
DCD1, DCD2: first and second drive control data
201, 202, 203, 204, and 205: first to fifth control periods
PE: Execution Period
MC: drive control period
211, 212, 213, 214, and 215: first to fifth communication cycles
DC: Data transmission and reception period
P1, P2, P3, P4, P5: first to fifth position values
B1 and B2: first and second control buffer sections
RFF: Renewal Completed Flag
SF: status flag

Claims (10)

In the device for controlling the motion of the target device including at least one servomotor,
A program execution unit executing a user program corresponding to a motion of the target device during an execution period of each control period, and generating a motion control command based on an execution result of the user program;
First drive control data corresponding to driving of each servo motor in each communication period based on the motion control command during the drive control period of each control period, and the respective servos in the next communication period of each communication period; A drive controller for generating second drive control data corresponding to the drive of the motor; And
And a communication processing unit for transferring the first driving control data to a servo driver for driving each servomotor during a data transmission / reception period of each communication period.
The method of claim 1,
The drive control unit
A profile providing unit providing a speed profile corresponding to the driving of each servo motor based on the motion control command;
A control data generation unit configured to generate at least one of the first and second drive control data based on the speed profile;
A first control buffer unit for holding the first drive control data;
A second control buffer unit for holding the second drive control data;
A completion flag buffer unit holding an update completion flag corresponding to whether the first and second control buffer units are updated; And
And a state flag buffer unit which holds a state flag corresponding to whether or not the update completion flag is a completion level at a time point at which the data transmission / reception period of each communication period starts.
The method of claim 2,
And the speed profile indicates a position of each servomotor corresponding to each time point of the period in which the motion is executed to execute the motion of the target device.
The method of claim 2,
When a new velocity profile is provided from the profile provider, the control data generation unit,
Generate the first drive control data based on the speed profile, update the first control buffer unit based on the generated first drive control data,
And generating the second drive control data based on the speed profile and updating the second control buffer part based on the generated second drive control data.
The method of claim 2,
When the speed profile of the profile provider is maintained and the status flag is at a normal level,
And the control data generation unit updates the first control buffer unit based on the second drive control data of the second control buffer unit at the start of each control period.
The method of claim 4, wherein
If the speed profile of the profile providing unit is maintained and the status flag is at a normal level, the control data generating unit
Detecting second speed data corresponding to the speed of the servomotor in the next communication period based on the speed profile, generating the second drive control data based on the second speed data, and generating the generated second drive; And a second control buffer unit based on control data.
The method of claim 2,
If the state flag is at an abnormal level, the control data generation unit,
Generate the first drive control data based on the speed profile, update the first control buffer unit based on the generated first drive control data,
And generating the second drive control data based on the speed profile and updating the second control buffer part based on the generated second drive control data.
The method of claim 2,
When the data transmission / reception period of each communication period ends, the update completion flag is initialized to the incomplete level,
When the first and second control buffer unit is updated, the update completion flag is changed to the completion level,
If the second control buffer unit is not updated, the update completion flag is maintained at the incomplete level.
The method of claim 2,
If the update completion flag is the completion level at the time when the data transmission / reception period of each communication period is started, the status flag is maintained at the normal level,
If the update completion flag is the incomplete level at the start of each control period, the status flag is changed to an abnormal level,
And the state flag is maintained at an abnormal level until the update completion flag is changed from the incomplete level to the complete level.
The method of claim 1,
Each of the first and second driving control data includes information on at least one of a target position, a target speed, a target torque, and an acceleration and deceleration period of each servomotor.

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