TW202230057A - Motor command output module with debugging function and motor command debugging method including a central processing unit and a field programmable gate array unit - Google Patents

Abstract

The present invention provides a motor command output module with a debugging function, which includes a central processing unit and a field programmable gate array (FPGA) unit. The central processing unit calculates a motor position command and a motor speed command according to a motion command. The field programmable gate array unit is electrically connected to the central processing unit and can generate a motor pulse command according to the motor position command and the motor speed command, and decode the motor pulse command into motor actual position data so as to compare with the predetermined passing position data, and the system time is used to calculate whether the motor pulse command is correct or not. The present invention also provides a motor command debugging method.

Description

Motor command output module with error detection function and motor command error detection method

The present invention provides a motor command output module with error detection function and a motor command error detection method, especially a motor command output module and a motor command error detection method for generating motor pulse command by digital difference method.

Precision motor motion positioning control is a very basic and important core technology in many industrial machinery and industrial applications. A common open-loop motion control architecture consists of an industrial computer, a motion controller, a driver, a motor, and a machine. Industrial computers are used to issue different motion commands such as linear or circular motion to the motion controller. The motion controller calculates the position command and time period according to the motion commands and constraints given by the computer, and then uses the Digital Differential Analyzer (DDA) to generate a series of uniform pulse commands to the driver to enable the motor to drive the machine at a specific time. Move to a specific location. The pulse command output provided by the DDA algorithm is a common motor control signal in industrial applications. Users can set the DDA cycle time by themselves, and convert the pulse number required in a DDA cycle with the motor speed. , the motion controller can evenly send the planned pulse wave amount to the driver in this DDA cycle, so that the motor can move at a constant speed in each DDA cycle.

Inaccurate machine positioning is a common problem in the technical field. In addition to safety concerns, it also reduces machine processing quality and production efficiency. In the past, the common method of confirming the positioning was to receive the actual position signal returned by the driver to confirm that the machine was shifted to the target position, and then investigate the possible causes from the mechanism design or control loop adjustment. However, the problem of inaccurate positioning of the machine may be caused by the wrong command given by the motion controller or the adjustment of the mechanism design and control loop. It takes more time to check to confirm the real cause.

The inventors have exhausted their minds to study carefully, and then developed a motor command output module with error detection function and a motor command error detection method, which can first confirm whether the motor command given by the motor command output module is correct when there is an error in positioning. If there is an error, it can save the time spent on checking the machine when the positioning of the machine is not punctual.

A first aspect of the present invention provides a motor command output module with a debug function. The motor command output module includes a central processing unit and a field programmable logic gate array unit. The central processing unit includes a motion control circuit and an error detection circuit electrically connected to the motion control circuit. The motion control circuit is configured to calculate a motor position command and a motor speed command according to a motion command. The field programmable logic gate array unit is electrically connected to the central processing unit and includes a digital differential pulse generation circuit, a pulse command decoding circuit, a first buffer circuit, a second buffer circuit, and a high-speed comparator circuit, a latch circuit, a position command counting circuit and a time counting circuit. The digital differential method pulse wave generating circuit is configured to generate a motor pulse wave command through a digital differential algorithm according to the motor position command and the motor speed command. The motion control circuit is further configured to convert the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit. The error detection circuit is configured to calculate a plurality of predetermined passing position data according to each of the pulse numbers, and sequentially set the predetermined passing position data into the first buffer circuit. The pulse command decoding circuit is configured to decode the motor pulse command, and the position command counting circuit is configured to generate a plurality of motor current position data according to the decoded motor pulse command. The high-speed comparison circuit is configured to sequentially compare the predetermined passing position data and the current position data of the motors, and trigger the latch circuit when the current position data of each motor reaches each predetermined passing position. The time counting circuit is configured to continuously update the system time value. After the latch circuit is triggered, it is configured to sequentially write the current position data of the motor reaching the predetermined passing positions and the system time value of the time counting circuit into the second buffer circuit. The error detection circuit is further configured to sequentially read the current position data of the motors and the corresponding system time values in the second buffer circuit and calculate them, thereby judging the motors generated by the digital differential method pulse generating circuit Whether the pulse command is correct.

A second aspect of the present invention provides a motor command error detection method, applied to the above motor command output module, comprising the following steps: a. Provide a motion command to the motion control circuit, and the motion control circuit calculates a motor position command and a motor speed command according to the motion command; b. The digital differential method pulse wave generating circuit generates a motor pulse wave command through a digital differential algorithm according to the motor position command and the motor speed command; c. The motion control circuit converts the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit; d. The error detection circuit calculates a plurality of predetermined passing position data according to each of the pulse numbers, and sequentially sets the predetermined passing position data into the first buffer circuit; e. The pulse command decoding circuit decodes the motor pulse command; f. The position command counting circuit generates a plurality of motor current position data according to the decoded motor pulse command; g. The high-speed comparison circuit sequentially compares the predetermined passing position data and the current position data of the motors, and triggers the latch circuit when the current position data of each motor reaches each predetermined passing position; h. The latch circuit sequentially writes the current position data of the motor reaching the predetermined passing positions and the system time value of the time counting circuit into the second buffer circuit; and i. The error detection circuit sequentially reads the current position data of the motors and the corresponding system time values in the second buffer circuit and calculates them, thereby judging the motor pulse generated by the digital differential pulse generation circuit Whether the wave command is correct.

In one embodiment, the field programmable logic gate array unit further includes an interrupt control circuit, and the error detection circuit is configured to cause the digital differential method pulse generation circuit to issue an incorrect motor pulse command The interrupt control circuit sends out an interrupt signal.

In one embodiment, the motor command error detection method further includes a step: the error detection circuit makes the interrupt control circuit turn off when the motor pulse command digital differential method pulse generation circuit sends out an incorrect motor pulse command. A command to issue an interrupt signal.

In one embodiment, the motor command output module with a debug function further includes a substrate, and the central processing unit and the field programmable logic gate array unit are respectively integrated circuits disposed on the substrate.

In one embodiment, the central processing unit is a digital signal processor.

In one embodiment, the substrate includes an electrical connection.

In one embodiment, the first buffer circuit and the second buffer circuit are respectively a first-in, first-out storage.

In one embodiment, the high-speed comparison circuit transmits an edge-triggered signal to the latch circuit to trigger the latch circuit.

Thereby, the motor command output module and the motor command error detection method with error detection function of the present invention can confirm whether the given motor pulse command is correct before confirming whether the position of the machine is correct, so as to save the occurrence of incorrect positioning of the machine. Time spent on checking.

In order to fully understand the purpose, features and effects of the present invention, hereby, the present invention is described in detail by the following specific embodiments and in conjunction with the accompanying drawings, and the description is as follows:

Please refer to FIG. 1 and FIG. 2 , a first aspect of the present invention provides a motor command output module 1 with a debug function, which is configured in a computer (not shown), and the motor command output module 1 includes a The central processing unit 10 and a field programmable gate array unit (FPGA) 11 . The central processing unit can be a digital signal processor, which includes a motion control circuit 101 and an error detection circuit 102 electrically connected to the motion control circuit 101. The motion control circuit 101 is configured to respond to a motion provided by the computer. The command calculates a motor position command and a motor speed command. The motor position in the motor position command refers to the rotational position of the motor rotor, and the motor speed in the motor speed command refers to the rotational speed of the motor rotor. The field programmable logic gate array unit 11 is electrically connected to the central processing unit 10 and includes a digital differential pulse generation circuit 111 , a pulse command decoding circuit 113 , a first buffer circuit 114 , and a second buffer Circuit 115 , a high-speed comparison circuit 116 , a latch circuit 117 , a position command counting circuit 118 and a time counting circuit 119 .

As shown in FIG. 1 and FIG. 2 , the digital differential method pulse wave generating circuit 111 is configured to generate a motor pulse wave command through digital differential algorithm according to the motor position command and the motor speed command. The motion control circuit 101 is further configured to convert the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit 102 . The error detection circuit 102 is configured to calculate a plurality of predetermined passing position data according to each of the pulse numbers, and set the predetermined passing position data to the first buffer circuit 114 in sequence. The pulse command decoding circuit 113 is configured to decode the motor pulse command, and the position command counting circuit 118 is configured to generate a plurality of motor current position data according to the decoded motor pulse command. The high-speed comparison circuit 116 is configured to sequentially compare the predetermined passing position data and the motor current position data, and trigger the latch circuit 117 when each motor current position data reaches each predetermined passing position. The time counting circuit 119 is configured to continuously update the system time value. After the latch circuit 117 is triggered, it is configured to sequentially write the current position data of the motor reaching the predetermined passing positions and the system time value of the time counting circuit 119 into the second buffer circuit 115 . The error detection circuit 102 is further configured to sequentially read the current position data of the motors and the corresponding system time values in the second buffer circuit 115 and calculate them, so as to determine whether the digital differential method pulse generation circuit 111 Whether the generated motor pulse command is correct.

As shown in FIG. 1 to FIG. 3 , a second aspect of the present invention provides a motor command error detection method, which is applied to the above-mentioned motor command output module 1 and includes the following steps: Step S101: providing a motion command to the motion control circuit 101, and the motion control circuit 101 calculates a motor position command and a motor speed command according to the motion command; Step S102 : the digital differential method pulse wave generating circuit 111 generates a motor pulse wave command through the digital differential algorithm according to the motor position command and the motor speed command; Step S103: the motion control circuit 101 converts the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit 102; Step S104 : the error detection circuit 102 calculates a plurality of predetermined passing position data according to each of the pulse numbers, and sequentially sets the predetermined passing position data into the first buffer circuit 114 ; Step S105: the pulse command decoding circuit 113 decodes the motor pulse command; Step S106: the position command counting circuit 118 generates a plurality of motor current position data according to the decoded motor pulse command; Step S107 : the high-speed comparison circuit 116 compares the predetermined passing position data and the motor current position data in sequence, and triggers the latch circuit 117 when each motor current position data reaches each predetermined passing position; Step S108 : the latch circuit 117 sequentially writes the current position data of the motor reaching the predetermined passing positions and the system time value of the time counting circuit 119 into the second buffer circuit 115 ; and Step S109 : The error detection circuit 102 sequentially reads the current position data of the motors and the corresponding system time values in the second buffer circuit and calculates them, thereby judging the error generated by the digital differential method pulse generation circuit. Whether the motor pulse command is correct.

Thereby, the motor command output module 1 and the motor command error detection method with error detection function of the present invention can confirm whether the given motor pulse command is correct before confirming whether the machine position is correct, so as to shorten the occurrence of machine positioning Time spent in investigations that are not punctual.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the field programmable logic gate array unit 11 may further include an interrupt control circuit 112 . The error detection circuit 102 is configured to cause the interruption control circuit 112 to issue an interruption signal to the computer when the digital differential method pulse generation circuit 111 issues an incorrect motor pulse command.

As shown in FIG. 1 to FIG. 3 , in one embodiment, the motor command error detection method of the present invention may further include a step: S110: The error detection circuit 102 makes the interruption control circuit 112 issue an interruption signal when the digital differential pulse generation circuit 111 issues an incorrect motor pulse command.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the motor command output module 1 with a debug function of the present invention may further include a substrate 13 , the central processing unit 10 and the field programmable logic gate array unit 11 are integrated circuits disposed on the substrate 13, respectively. The field programmable logic gate array unit 11 has characteristics that can be modified and edited. The digital differential pulse generation circuit 111, the interrupt control circuit 112, the pulse command decoding circuit 113, the first buffer circuit 114, the The second buffer circuit 115 , the high-speed comparison circuit 116 , the latch circuit 117 , the position command counting circuit 118 and the time counting circuit 119 may be complex logic blocks connected in the field programmable logic gate array unit 11 . The substrate 13 includes an electrical connection portion 131 to be electrically connected to the motherboard of the computer (not shown). The electrical connection portion 131 may be a peripheral component interconnect bus (PCI BUS), but is not limited thereto.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the motion control circuit 101 can set the digital differential pulse number and period to the digital differential pulse generating circuit 111 to generate the motor pulse command.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the error detection circuit 102 can determine whether the pulse number and pulse frequency of the motor pulse command in each differential cycle are correct. In the event of an error, the motion control circuit 101 can urgently stop the digital differential pulse generating circuit 111 from issuing a motor pulse command, and the interruption control circuit 112 can notify the software in the computer through the electrical connection 131 . For example, when the error detection circuit 102 confirms that the speed data or position data in a digital differential cycle is incorrect, it can issue a command to the interrupt control circuit 112 by writing a temporary memory circuit (not shown) to issue an interrupt signal (interrupt signal) A driver installed on the computer through the electrical connection portion 131 . After receiving the interrupt signal, the driver will automatically enter an interrupt service routine (ISR) to execute a pre-specified program, such as notifying the upper-layer software in the computer. However, the present invention is not limited to this.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the pulse command decoding circuit 113 can support multiple modes of high-speed signal decoding, whereby the position command counting circuit 118 can generate the current position data of the motor according to the decoding result. The present invention is not limited to this.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the time counting circuit 119 may have a high-resolution time counting function for the error detection circuit 102 to calculate the speed data of each differential period, but the present invention does not Not limited to this.

As shown in FIG. 1 , FIG. 2 , FIG. 4 and FIG. 5 , in one embodiment, the first buffer circuit 114 and the second buffer circuit 115 are respectively a first-in, first-out (FIFO) storage. Because the error detection circuit 102 converts the number of pulses in each differential cycle into complex predetermined passing position data P0, P1...Pn, and these predetermined passing position data P0, P1...Pn must be arranged in order before Compared with the current position of the motor, the position data needs to be written into the first buffer circuit 114 first. Similarly, the error detection circuit 102 must also sequentially read the current position data P10, P11, . 115 sorts the current position data P10, P11...P1n of the motor. The high-speed comparison circuit 116 performs the comparison between the position data and the current position data of the motors one by one in a table mode. If the value of the current position data P10 of the motor reaches the position data P0, it transmits an edge-triggered (edge-triggered) A signal is given to the latch circuit 117 to trigger the latch circuit 117 . After the latch circuit 117 receives the trigger signal, the time counting circuit 119 writes the current position data P10 of the motor in combination with the system time T0 into the second buffer circuit 115 . Similarly, the motor current position data P11, P12...P1n are sequentially written into the second buffer circuit 115 in combination with the system time values T1, T2...Tn.

As shown in FIG. 1 and FIG. 2 , in one embodiment, the digital differential pulse generation circuit 111 of the motor command output module 1 can be electrically connected to a wiring board 3 , and the wiring board 3 can be electrically connected to a driver device 4. The driving device 4 can be electrically connected to a machine 5 . The driving device 4 can receive the motor pulse command through the wiring board 3 to drive the machine 5 to operate. The driving device 4 includes a driving interface 41 , a control loop 42 and a motor 43 . The driving interface 41 can be an adapter circuit board electrically connected to the wiring board 3 to convert the motor pulse command into a command usable by the control circuit 42 to drive the motor 43 . The motor pulse command decoded by the pulse command decoding circuit 113 can come from the wiring board 3 , but is not limited to this, and can also come directly from the digital differential pulse generating circuit 111 . When the problem of inaccurate positioning of the machine 5 occurs, the motor command output module 1 with the error detection function and the motor command error detection method of the present invention can first confirm whether the motor pulse command is wrong, and then confirm that the motor pulse command has After the error, it can be checked whether the wiring board 3 or the driving interface 41 of the driving device 4 is faulty.

The present invention has been disclosed above with preferred embodiments, but those skilled in the art should understand that the embodiments are only used to describe the present invention, and should not be construed as limiting the scope of the present invention. It should be noted that all changes and substitutions equivalent to this embodiment should be considered to be included within the scope of the present invention. Therefore, the protection scope of the present invention should be defined by the scope of the patent application.

1: Motor command output module 10: Central Processing Unit 101: Motion Control Circuits 102: Error detection circuit 11: Field programmable logic gate array unit 111: Digital differential pulse generation circuit 112: Interrupt control circuit 113: Pulse command decoding circuit 114: first buffer circuit 115: Second buffer circuit 116: High-speed comparison circuit 117: Latch circuit 118: Position command counting circuit 119: Time counting circuit 13: Substrate 131: Electrical connection part 3: Terminal board 4: Drive 41: Driver interface 42: Control loop 43: Motor 5: Machine P0~Pn: Scheduled passing location data P10~P1n: Motor current position data T0~Tn: system time value S101: Steps S102: Steps S103: Steps S104: Steps S105: Steps S106: Steps S107: Steps S108: Steps S109: Steps S110: Steps

1 is a block diagram of a motor command output module with a debug function according to an embodiment of the present invention. [Fig. 2] is a block diagram of a motor command output module, a computer, a driver and a machine with a debug function according to a specific embodiment of the present invention. FIG. 3 is a schematic flowchart of a motor command error detection method according to a specific embodiment of the present invention. 4 is a block diagram of an error detection circuit, a first buffer circuit and a high-speed comparison circuit according to an embodiment of the present invention. 5 is a block diagram of a latch circuit, a second buffer circuit and an error detection circuit according to an embodiment of the present invention.

1: Motor command output module

10: Central Processing Unit

101: Motion Control Circuits

102: Error detection circuit

11: Field programmable logic gate array unit

111: Digital differential pulse generation circuit

112: Interrupt control circuit

113: Pulse command decoding circuit

114: first buffer circuit

115: Second buffer circuit

116: High-speed comparison circuit

117: Latch circuit

118: Position command counting circuit

119: Time counting circuit

13: Substrate

131: Electrical connection part

Claims (11)

A motor command output module with debug function, including: a central processing unit including a motion control circuit and an error detection circuit electrically connected to the motion control circuit, the motion control circuit is configured to calculate a motor position command and a motor speed command according to a motion command; and A field programmable logic gate array unit, which is electrically connected to the central processing unit and includes a digital differential pulse generation circuit, a pulse command decoding circuit, a first buffer circuit, a second buffer circuit, a high-speed a comparison circuit, a latch circuit, a position command counting circuit and a time counting circuit; Wherein, the digital differential method pulse wave generating circuit is configured to generate a motor pulse wave command through a digital differential algorithm according to the motor position command and the motor speed command; Wherein, the motion control circuit is further configured to convert the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit; Wherein, the error detection circuit is configured to calculate a plurality of predetermined passing position data according to each of the pulse numbers, and sequentially set the predetermined passing position data into the first buffer circuit; Wherein, the pulse command decoding circuit is configured to decode the motor pulse command, and the position command counting circuit is configured to generate a plurality of motor current position data according to the decoded motor pulse command; Wherein, the high-speed comparison circuit is configured to sequentially compare the predetermined passing position data and the current position data of the motors, and trigger the latch circuit when the current position data of each motor reaches each predetermined passing position; Wherein, the time counting circuit is configured to continuously update the system time value; Wherein, after the latch circuit is triggered, it is configured to sequentially write the current position data of the motor reaching the predetermined passing positions and the system time value of the time counting circuit into the second buffer circuit; Wherein, the error detection circuit is further configured to sequentially read the current position data of the motors and the corresponding system time values in the second buffer circuit and calculate them, thereby judging that the digital differential method pulse generation circuit generates Check whether the motor pulse command is correct. The motor command output module with error detection function as claimed in claim 1, wherein the field programmable logic gate array unit further comprises an interrupt control circuit, and the error detection circuit is configured to command the digital signal in the motor pulse. When the differential pulse generating circuit sends out an incorrect motor pulse command, the interrupt control circuit sends an interrupt signal. The motor command output module with debug function as claimed in claim 1, further comprising a substrate, and the central processing unit and the field programmable logic gate array unit are respectively integrated circuits disposed on the substrate. The motor command output module with a debug function as claimed in claim 3, wherein the substrate includes an electrical connection portion. The motor command output module with a debug function as claimed in claim 1, wherein the first buffer circuit and the second buffer circuit are respectively a first-in, first-out storage. The motor command output module with a debug function according to claim 1, wherein the central processing unit is a digital signal processor. A motor command error detection method is applied to a motor command output module. The motor command output module includes a central processing unit and a field programmable logic gate array unit. The central processing unit includes a motion control circuit and electrical connections. In an error detection circuit of the motion control circuit, the field programmable logic gate array unit is electrically connected to the central processing unit and includes a digital differential method pulse generation circuit, an interrupt control circuit, and a pulse command decoding Circuit, a first buffer circuit, a second buffer circuit, a high-speed comparison circuit, a latch circuit, a position command counting circuit, and a time counting circuit for continuously updating the system time value, the motor command error detection method includes the following steps : (1) provide a motion command to the motion control circuit, and the motion control circuit calculates a motor position command and a motor speed command according to the motion command; (2) The digital differential pulse generation circuit generates a motor pulse command according to the motor position command and the motor speed command; (3) The motion control circuit converts the motor position command and the motor speed command into a pulse number corresponding to each differential cycle of the motor pulse command to the error detection circuit; (4) The error detection circuit calculates a plurality of predetermined passing position data according to each of the pulse numbers, and sequentially sets the predetermined passing position data into the first buffer circuit; (5) The pulse command decoding circuit decodes the motor pulse command; (6) The position command counting circuit generates the current position data of a plurality of motors according to the decoded motor pulse command; (7) The high-speed comparison circuit sequentially compares the predetermined passing position data and the current position data of the motors, and triggers the latch circuit when the current position data of the motors reaches the predetermined passing positions; (8) The latch circuit sequentially writes the current position data of the motor and the system time value of the time counting circuit that reach the predetermined passing positions into the second buffer circuit; and (9) The error detection circuit sequentially reads the current position data of the motors and the corresponding system time values in the second buffer circuit and calculates them, thereby judging the motors generated by the digital differential method pulse generating circuit Whether the pulse command is correct. The motor command debug method of claim 7, wherein the field programmable logic gate array unit further comprises an interrupt control circuit, and the motor command debug method further comprises a step: The error detection circuit enables the interruption control circuit to issue an interruption signal when the digital differential method pulse generation circuit issues an incorrect motor pulse command. The motor command error detection method as claimed in claim 7, wherein the first buffer circuit and the second buffer circuit are respectively a first-in, first-out storage. The motor command error detection method as claimed in claim 7, wherein the high-speed comparison circuit sends an edge-triggered signal to the latch circuit to trigger the latch circuit. The motor command debugging method as claimed in claim 7, wherein the motor command output module further comprises a substrate, and the central processing unit and the field programmable logic gate array unit are respectively integrated circuits disposed on the substrate .

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