TW514769B - Four-axis motion control method and apparatus thereof - Google Patents

Abstract

The present invention relates to a four-axis motion control apparatus consisting of a motion control card, an industrial personal computer (IPC) and an input device. The IPC includes a motion control card and a digital input/output (I/O) card and the input device may either be a keyboard or an instruction box. Firstly, before inserting the motion control card into the IPC, the procedure to copy the driver of the motion control card into the index of one of the operation systems of the IPC should be carried out. Then, the driver and the default value of each hardware-related parameter should be set into the log-in file of the operation system for others, such as the driver and the application program, to use the parameters directly and complete the procedure to make hardware setting of two parameters, position and interrupt, of the motion control card on the IPC. After setting the hardware parameters and ensuring each required parameter has been loaded into the system log-in file, the motion control card should be inserted into the IPC and the IPC should be restarted. Then, the procedure to install the user interface under an index in the hard disc of the IPC should be carried out. The user interface is used for connecting the driver layer and the application program layer written by the user so that the user needs only to call the interface program bank to drive the motion control card. After completing the hardware parameter setting, the driver installation, the hardware installation, and the user interface installation of the motion control card and in cooperation with the IPC, the user may use the provided commands and the input device (either a keyboard or an instruction box) to develop the required application software. Since commands are provided, the user does not need to write any long low-level program language. Each program is written in steps and whether a step should be run is decided by the external input contact point. After a step is run, an output contact point may be selected as ""ON"". So, the user has the flexibility in planning the interaction between the machine itself and other external equipment (e.g. a conveyer belt). Through the digital I/O card of the IPC, signals generated by the operation of the motion control card are output to the peripherals of the next level for four-axis motion control. Since the user does not need to write any complicated low-level program language when commands and user interface are provided, not only the program writing time may be shortened but maintenance of the developed programs also becomes easier. Besides, program input, correction, and writing can be made in accordance with the requirements so that application software suitable for the machine can be developed quickly and four-axis motion control can be carried out easily.

Description

514769

V. Description of the Invention (1) [Field of the Invention] The present invention relates to a four-axis motion control method and device, and more specifically, it relates to a computer-based (PC-Based) A four-axis motion control method and device for controlling four-axis motion. [Background of the Invention] In terms of factory automation, since the solenoid valve control of the 1950s, and derived from the programmable controller (pLC) control of the 1970s, progress has been made, both in terms of control complexity and speed. Have made no small improvements. In general, traditional PLC configuration, as shown in Figure i, usually a pLC21 1 host is surrounded by three terminal units. These three terminals are program input machines 22: used to input user programs, such as Ladder Diagram; monitoring host 23: used for MMI (Human Machine Interface) to monitor the status of the machine at that time; And, data access (central control) to 24 · For storing various work data. The PLC host is connected to an input / output control module 25 to transmit control signals to the workstation 26 through the input / output control module 25 to control the work flow of the workstation 26. But in the 1980's, the rise of pc personal computers changed the situation. Σ Gong Yue Dang ’s more powerful PC ’such as Intel Pentium, Pentiinn

Pr0 'or even today's Pentium π, in personal computers can replace the three terminal units and plc hosts in the traditional PLC configuration into a single control unit. As shown in Fig. 2, a personal computer control host 31 and a central control room 34 constitute a single control unit, while the personal computer control host 31 is connected to an input / output control module 32 to control the signal through (please read first Note on the back, please fill in this page again) ▼ Package -------- Order --------- One printed by the Intellectual Property Bureau of the Ministry of Economic Affairs, Consumer Cooperatives This paper is printed in accordance with Chinese National Standards (CNS) A4 specification (210 x 297 mm) 1 15858 M4769 V. Description of the invention (2) The input / output control module 32 is transmitted to the workstation 33 to control the work flow of the workstation 33. The industry found that the benefits of PC-based control (pc_Based) are as follows: the programming time is shortened, the program is not prone to errors and easy to maintain, and the master-slave network technology (the so-called cHent / server) concept is used. It can improve the integrity of the entire production line or the entire plant, and the primary / secondary system (Redundancy), which cannot be easily achieved by PLC control for four-axis motion control. Taking 1998 as an example, the development potential of 10 trillion US dollars in output value of pc_Based-related industries is far beyond that of the PLC industry. However, most of the current PC-Based control systems are two-axis or three-axis motion control, and even with four-axis motion control, the current pc_Bawd control system still cannot provide a simple instruction set, allowing users to use simple and fast methods. To operate the PC-Based control system, users can not omit the complicated work of writing low-level programming languages. So how to provide a Based control system that can perform four-axis motion control simply and quickly will be a problem to be solved. For this reason, for PC-Based control systems, how to provide instruction sets in a simple and fast way, and rapidly develop application software suitable for their machines, eliminating the need for lengthy steps of writing low-level programming languages to allow users The instruction set provided by the PC-Based control system and an input device can be used to rapidly develop application software suitable for its machine for four-axis motion control. The present invention provides an effective solution. [Objective and Summary of the Invention] The main purpose of the present invention is to provide a four-axis motion control paper with a paper size applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 15858 B7 B7 3 V. Description of the invention ( 3) ^ and device 'allows users to operate the input device connected to the host computer without the need to write lengthy low-level programming languages, and can use the instruction set provided by the motion control card to easily perform four-axis sport control. Another object of the present invention is to provide a four-axis motion control method and device that allows a user to develop a four-axis motion control program of the system by using a computer host including a motion control card on a keyboard connected to the computer host. Development can avoid the tedious steps of writing low-level programming language, and the moon dagger uses the instruction set provided by the motion control card to easily perform four-axis motion control. Another object of the present invention is to provide a four-axis motion control method and device, which allows a user to use a teaching box connected to a computer host, and use a computer host containing a motion control card to input an instruction set, and perform The operation can avoid the tedious steps of writing low-level programming language, and can use the instruction set provided by the motion control card to perform simple four-axis motion control. According to the above-mentioned object, the present invention provides a novel four-axis motion control method and device. The four-axis motion control device includes an industrial personal computer (lpc) including a motion control card, a digital input / output card, and Input device. The input device can be a keyboard or a teaching box. You can use the keyboard and use the driver program provided by the motion control card and the four-axis motion control instruction set to cooperate with the programming language design environment provided by the window system (such as Visual C ++ and Visual Basic) to develop the control system program, or use it together. Teach the box, and use the driver program and four-axis motion control instruction set provided by the motion control card to complete the motion control by using the teaching box to input operation I programs, instructions, and parameters. When the motion control card is driven, the paper size is applicable to the Chinese country Standard (CNS) A4 Specification (210 X 297 mm 15858 PLEASE READ THE > i MATTERS ON THE BACK AND PLEASE COMPLETE THIS PAGE} ORDER 514769 A7 B7 Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs X-Consumer Printing Company V. Invention Explanation (4) When operating with a digital input / output card, the digital input / output card outputs the control signal from the motion control card to the peripheral device to be controlled by the next level connected to it, thereby achieving the four-axis motion control. [Brief description of the drawings] In order to make the above and other objects, features, and advantages of the present invention more obvious and easier to understand, it will be better. The embodiments are described in detail in conjunction with the accompanying drawings. The contents of the drawings are briefly described as follows: Figure 1 is a block diagram of a conventional PLC configuration system for explaining the PLC host and peripheral equipment Fig. 2 is a block diagram of a control system including a personal computer of a conventional technology, which is used to explain the connection relationship of a control system based on a personal computer; Fig. 3 is a system block diagram of the present invention, showing an application The basic hardware configuration framework of the four-axis motion control device of the present invention; FIG. 4 is a connection operation situation between the four-axis motion control device of the present invention and the controlled peripheral equipment; FIG. 5 is a diagram showing the system of FIG. The operation flow chart of an embodiment is shown in which a keyboard is used as an input device to perform a four-axis motion control process. FIG. 6 is a flow chart showing how to use the programming provided by the computer system in FIG. 5 Steps for developing an application program of the motion control system based on the environment; FIG. 7 is a flowchart showing the operation of another embodiment of the system of FIG. Use the teaching box as an input device, and execute the four-axis paper size applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 15858 -------------- installed --- (Please read the precautions on the back before filling this page). --Line. 514769 A7 B7 V. Description of the invention (5), the flow control procedure of the motion; Figure 8 is a flowchart, which is shown in Figure 7 Steps of how to use a teaching box to input designed programs, instructions, and parameters to develop a program of an application program of a motion control system; FIG. 9 is a flowchart showing the operation of another embodiment of the system of FIG. Use the keyboard as an input device to execute the four-axis motion control process. Figure 10 is a flowchart showing how to use the programming environment provided by the computer system to develop applications for the motion control system in Figure 9. Steps of the program; FIG. 11 is a flowchart showing the operation of another embodiment of the system of FIG. 3, which shows a flow program for performing four-axis motion control by using a teaching box as an input device; FIG. 12 A flow chart showing the steps of how to use the teaching box to input the designed programs, instructions, and parameters to develop the application program of the motion control system in Figure j1; and the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs Figure 13 is a schematic diagram of the modes and sub modes provided by the teaching box. [Detailed description of the embodiment] Please refer to FIG. 3, the basic hardware configuration framework of the four-axis motion device of the present invention is not applied to the Zhongyun Qianye Tianye 8T display. As shown in the figure—Gong Dian ”“ People Girl ”* This is a four-axis motion control device 2 including a motion control card, a digital input / output card 42, a memory device 43, and a host & μ ^ Industrial personal input device 3 of switch 44, among which motion control +4 ... computer 4 U and ___ 衩 card 41 contains a control process

This paper scales the secret of Guan Jiaxian (CNS) A4 Q 5 (Please read the precautions on the back before filling this page) 15858 Printed by the employee of the Intellectual Property Bureau of the Ministry of Economic Affairs

514769 A7 ---------------- 5. Description of the Invention (6) The motherboard 44 contains a central processing unit and the memory device 43 contains a hard disk. In the personal computer 4 of the four-axis motion control device 2, the motion control card 41 and the digital input / output card 42 communicate with the motherboard 44 including a central processing unit and the memory device 43 including a hard disk through the ISA bus interface for two-way communication. . The input device 3 can use the RS232 serial port of the personal computer 4 or use the PS2 type keyboard connector to communicate with the personal computer 4 to communicate to input data, instructions, programs, and parameters. The digital input / output card 42 is an ISA bus n-contact 1/0 interface card. It can use several volts of voltage to drive internal circuits, and its external power can be input by 12_24V DC power. This digital input / output card 42 has different pins connected to a motherboard 44 containing a central processing unit of an industrial personal computer 4 as an input terminal of the digital input / output card 42, and the digital input / output card 42 has a different The pin is connected to a peripheral device below it for four-axis motion control, so as to be an output terminal of the digital input / output card 42. The motion control card 41 is a high-performance motion control card with two to three-axis linear and two-axis arc tweening ASIC-Based. It is very suitable for PC-based motion control under the personal computer architecture. 5 | control core. At the same time, if it can be used with Windows-based applications to develop motion control programs and related human-machine interfaces, the application level can be even greater. After the motion control card 41 completes the hardware parameter setting, driver installation, hardware installation and user interface installation, the user can use the input device 3 to perform four-axis motion control. Available motion control -------------- M ---- (Please read the precautions on the back before filling in this page) Order · · — Line-This paper size applies to Chinese national standards ( CNS) A4 specification (210 X 297 mm) 6 15858 514769 Consumer A7 V. Description of invention (7) The driver and motion control instruction set provided by card 41, in conjunction with the programming language design environment provided by the window system of personal computer 4 (Such as Dvisuai C + + and Visua 丨 Basic), use the input device 3 to develop the motion control system program, or use the driver program and motion control instruction set provided by the motion control card 41, and cooperate with the input device 3 to self-input the device 3 Input operation instructions and parameters to complete motion control. When the motion control card 41 is driven to operate with the digital input / output card 42 and the industrial personal computer 4, the digital input / output card 42 will output the control instructions and parameters input from the motion control card 41 and output it to the following The peripheral device that the first-level wants to control 'achieves the purpose of four-axis motion control. The greatest advantage of this four-axis motion control device 2 is an industrial personal computer 4 which incorporates a motion control card 41, a digital input / output card 42, and an input device 3. Users can use the provided instruction set to quickly develop application software suitable for their machine, eliminating the tedious steps of writing low-level programming languages. In addition to extending the characteristics commonly known in the past, such as 2-axis, 3-axis linear tween, arc tween, and continuous tween, it also provides 32 digital input / output (I / O) contacts. In terms of control software, More than 70 instructions cover motion control (position, speed, acceleration, etc.), 1 / 〇 control, logic operation, trigonometric function calculation, comparison instruction, subroutine call, etc. 500 preset coordinate points can be set by the user Set the content by yourself, so that you can quickly read the application later. The program is written in steps. The execution of each step can be determined by external input contacts. After the steps are completed, an output contact can be selected to be ON. , Users can flexibly plan the interaction between their own machine and external equipment (such as conveyor belt). " This paper size applies to China National Standard (CNS) A4 specifications ⑵Q x 297 public love) 7 15858 (Please read the precautions on the back before filling this page) ^ -------- tT ----- ---- · 514769 A7 __B7 V. Description of the invention (8) When the field input device 3 is a keyboard, the driver of the motion control card 41 announces the communication mode between the user application layer and the underlying hardware of the computer. Prepare the user to write an application program to drive the motion control card. When performing motion control, you must follow all the parameters declared in the driver to pass all the parameters, but in order to avoid the complicated format declaration in the driver, the application design is like Therefore, the motion control axis control card has a special user interface on the program architecture, which is used to connect the driver program layer with the application program layer written by the user, and this group of users The function name and format are very similar to the original architecture used in the DOS environment, so that the original DOS version of the application can be easily converted into an application that can be run in the Windows operating system environment. At the same time, after loading the user interface, the programmer only needs to call the interface library to drive the motion control card 41. The contained library provided by the user interface includes four categories: 1. For the motion driver card 41 S-style library with hardware startup and shutdown, 2. data-containing library for reading and writing specified input / output ports in Byte format; 3, data for specified input / Included library for reading and writing data on the output port; and 4 • Set the interrupted effective sub-simultaneous connection interrupt service program, and cancel the interrupted effective set of the included library. After installing the motion control card 41 on the computer operating system, use Users can use the programming environment provided by the system (such as Visual C + and Visual Basic 0) to develop front-end programs of the motion control system, such as data input, control system parameter settings, human Machine interface part, and the other part of the motion control program at the back end can directly use the unique motion provided on the motion control card 4 1 National Standard (CNS) A4 specification (21〇χ 297 mm) 15858 514769 V. Description of the invention (Control instruction set to complete, so that in the programming of motion control, and the graphics of the man-machine interface, it will be very Fast and effective. Because the Windows operating system is used as the development platform, the degree of openness of software and hardware is very high. Therefore, any Windows-based application and its related software and hardware technologies can be used. Integrate directly with the motion controller 'For example, a sample program written with Visual C ++ as a development tool' Some of the graphics are directly referenced to window system controls (windows common controls) to complete, while the motion control part is Directly constructed on the motion control card 41, in addition to showing the unique linear arc tweened motion instructions, it also reads back the current position setting from the theoretical and actual counters to verify the pulse number of the control card 41 to drive the motor It is the same as the pulse wave number designed by the designer. When the input device 3 is a teaching box, combined with a personal computer 4 including a motion control card 41 and a digital input / output card 42, users can use the provided instruction set to quickly develop application software suitable for their machine, eliminating the need for tediousness. Steps to write a low-level programming language. In terms of control software, more than 70 instructions cover motion control (position, speed, acceleration, etc.), I / O control, C series operation, corner function calculations, comparison instructions, subroutine calls, etc., _ preset coordinate points can The content is set by the user, which is convenient for quickly coughing the application later. The programming of the teaching box adopts the step-by-step method. Each step t can be performed by external input contacts ^, and after the step is performed 70, select a round of contact to be ON, the user can follow this Flexible planning of interaction between the machine itself and external equipment (such as conveyor belts). And use the teaching box with the program 'users can prepare _____ J to easily enter the designed program by round, and the paper size of the paper is used to save the wealth ^^ △ House 9 15858 514769 A7 V. Description of the invention (1 ()) The LCD display screen can learn the program execution and the status of various systems, and can display error messages when an error occurs on the machine, which is convenient for users to understand and deal with such situations. Fig. 4 is a connection operation situation of the four-axis motion control device 2 of the present invention and the peripheral equipment being controlled. As shown in the figure, the four-axis motion control device 2 may be connected to a driver 5 and may be connected to other driving devices. The four-axis motion control device 2 can output a position command as a digital signal to a driver 5, and the driver 5 feeds back a signal to the four-axis motion control device 2. The four-axis motion control device 2 can be connected to other drivers 6, and 32 input pin signals can be input from the driver 6, and from this four-axis motion control device 2 can output 32 output pin signals to The driver 6 is used for four-axis motion control operation. The driver 5 and the driver 6 are connected to the peripheral mechanical equipment 7 and the peripheral mechanical equipment 8 respectively. Fig. 5 is a diagram showing an embodiment of the system of Fig. 3. The input device 3 of t is a keyboard, that is, the process program of the four-axis motion control executed by the input device 3. As shown in the figure, f precedes step 101, copying the Chinese version of the magnetic disk to the personal snow " History Motion Control Card 41 driver program to the personal electric Teng 4's ide device 43 system directory. in. J m is followed by step 102, and then the driver settings are logged in to you. ^ ^ Hardware-related parameter settings are entered into the operating system's registry file, so that or applications can directly use these parameters. . Eight drivers * _103 'The paper size of the paper on the hardware should be interrupted 15858 (please read the precautions on the back before filling this page) Install t --------- Μ, 10 Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs A7--~~ —_I__ 5. Description of the Invention (u) A parameter is set in hardware. / At step 104, 'After completing the hardware parameter setting of the motion control card 41', and have determined to sigh the driver of the motion control card 41 and the hardware-related parameters [Login to the operating system, log in to the motion control card. 4,1 is connected to the motherboard 44 of the personal computer 4 through the ιαα bus interface, and the personal computer 4 is restarted. In step 105, the user interface in the magnetic disk is installed to a directory in the hard disk of the memory device 43 of the personal computer 4. The user interface is installed to connect the driver layer and the application program layer written by the user. After the user interface is loaded, the user only needs to call the interface library to drive the motion control card 41. In step 106, the programming environment provided by the system of the personal computer 4 (such as Visual 0+ and visual Basic) is used to develop the front-end programs of the motion control system, such as data input, control system parameter settings, and human-machine interface part; And the other part of the motion control program at the rear end can be directly completed by the unique motion control instruction set provided on the motion control card 41. In this way, in the design of the motion control and the graphics of the man-machine interface Will be very fast and effective. At step 107, when the motion control program to be executed by the four-axis motion control device 2 is completed, the motion control program is started to drive the motion control axis control card 41, and the motion control card 41 is under the structure of the personal computer 4. As the control core of PC_Based motion controller. In step 108, the signal generated by the motion control card 41 is processed.

(Please read the precautions on the back before filling this page) ------- Order --------- This paper size applies to China National Standard (CNS) A4 (210 X 297 public love) — 11 15858 514769 A7 B7 V. Description of the invention (12) The digital input / output card 42 is provided by the main board 44 of the personal computer 4 including the central processing unit, and the digital input / output card 42 is used to output to this four-axis motion The control device 2 is connected to the peripheral drive device of the next stage, and the four-axis motion control device 4 outputs a control signal to the peripheral drive device of the next stage connected thereto. Fig. 6 is a flowchart showing the steps of how to use the programming environment provided by the computer system to develop the application program of the motion control system in Fig. 5. First, in step 1061, a layer of user interface is designed to connect the driver layer with the application layer written by the user ^ When the input device 3 is a keyboard, the user is announced by the driver of the motion control card 41 The communication method between the application layer and the underlying hardware of the computer 'so when the user writes an application to drive the motion control card 4] to perform motion control, all parameters must be passed in accordance with the format declared in the driver, but In order to avoid the complicated format declaration in the driver, which causes problems for general application programmers, the motion control axis control card has a special user interface on the program architecture to connect the driver layer and user-written applications. Program layer, and the function name and format of this set of user interface are very similar to the original structure used in DOS environment, so that the original DOS version applications can be easily converted into applications that can be executed in the Windows operating system environment. Program. In step 1062, after loading the user interface, the programmer only needs to drive the motion control card 41 by calling the interface library. The contained library provided by the user interface includes four major categories: 1. For the motion driven + 4 1 & body startup and shutdown of the contained library, 2 · The data is in Byte format (CNS) 'Specification ⑵G χ 12 15858

II--I «--- f Please read the notes on the back before filling out this page)-丨 ·· A7 V. Description of the invention (13) An implicit library for reading and writing data from designated input / output ports; 3 The data library reads and writes data from the specified input / output port in the format of w0rd; and 4. The interrupt library that sets the interrupt to take effect and connects to the interrupt service program at the same time, and cancels the effective setting of the interrupt. 'Binding At step 1063, develop an application for the motion control system. After the motion control card 41 is installed on the operating system of the computer, the user can use the programming environment provided by the system (such as Visual C ++ and Visual Basic) to develop in the window system environment of the personal computer 4. The front-end programs of the motion control system, such as data input, control system parameter settings, human | I machine interface part, and the other back-end motion control program parts, can directly use the unique motion control provided on the motion control card 41 Instruction set to complete 'In this way, it is very fast and effective in the design of motion control programming and the graphics of the man-machine interface. And because the Windows operating system is used as a development platform, the degree of openness of software and hardware is very high, so any Windows-based application and its related peripheral software and hardware technologies can directly interact with sports. Controllers are combined, for example, a sample program written with Visual C ++ as a development tool. Some of the graphics are directly referenced from windows common controls to complete, while the motion control part is directly based on motion control. On the card 41, in addition to showing the unique linear arc tweening motion instruction, it also reads the current position from the theoretical and actual counter% I to verify the pulse number of the control card 41 to drive the motor and the designer ’s design. The number of pulse waves is the same. Figure 7 shows the operation flow of another embodiment of the system shown in Figure 3. The paper size applies to China National Fresh (CNS) A4 specifications (2) GX 297 sacrifice. "Color} 13 15858 A7 A7 Member of the Intellectual Property Bureau, Ministry of Economic Affairs The consumer cooperative prints a description of the invention (14). The input device 3 is a use teaching box, that is, a flow program for performing four-draw motion control using the use teaching box as the input device 3. As shown in the figure As shown in step green 2 (n), the driver of the motion control card 41 in the magnetic disk is copied to the directory of an operating system of the hard disk of the memory device of the personal computer 4. 〃 '—Next in step 202, Then set the parameter settings of the driver and the hardware to the registry of the operating system, so that other parameters such as the driver or application can directly reference these parameters. In step 203, the hardware on the computer is first The two parameters of position and interrupt value are set in hardware. First, in step 204, after setting the hardware parameters of the motion control card 41, it has been determined that the driver of the motion control card 41 is set to After the hardware-related parameter settings are logged into the operating system's log file, the motion control card 41 is connected to the motherboard 44 of the personal computer 4 via the ISA bus interface, and the personal computer 4 is restarted. At step 205 , The user interface in the magnetic disk is installed to a directory in the hard disk of the memory device 43 of the personal computer 4, and the user interface is installed to connect the driver layer and the application program layer written by the user. After entering the user interface, the user only needs to drive the motion control card 41 by calling the interface library. In step 206, the driver and the motion control instruction set of the motion control card 41 have been loaded into the computer operating system. Therefore, the user can use the teaching box to input the designed programs, instructions, and parameters, and the LCD display on the teaching box can be used to know the program execution and all the paper standards are applicable to the Chinese National Standard (CNS) A4 specifications (210 X 297 mm) 14 15858 · Μ -------- ^ -------- line (please read the precautions on the back before filling this page) 5. Description of the invention (15 ) Status, and can display error messages when the machine has an error, which is convenient for users to understand and process the materials. When the input device 3 is a teaching box, it is combined with a person including a motion control card 41 and a digital input / output card 42 Computer 4, users can use the provided instruction set to quickly develop an application suitable for their machine. The system eliminates the long steps of writing low-level programming languages. This teaching box has a set of deductions and control software. The remaining instructions cover motion control (position, speed, acceleration, etc.), 1 / 〇 control, logic operation, triangle, number operation, comparison instruction, subroutine call #, 5GG preset coordinate points can be set by the user. Alas, it is convenient to quickly read the application later. The programming of the teaching box adopts a step-by-step method. The execution of each step and sentence TΓ are determined by external input contacts. After the steps are completed, the round-out contact can be selected to be ON, and the user can flexibly plan according to this. The interaction between the machine σ and external equipment (such as a conveyor belt). And use the program to teach

Orphaned users can easily enter the designed program, and the LCD display on it can know the program execution and the status of various systems, and can display error messages when an error occurs on the machine, which is convenient for users to understand and handle this. Class status. At step 207 ', when the motion control program to be executed by the four-axis motion control device 2 is completed, the motion control program is started to drive the motion control axis control card 41, and the motion control card 41 is under the structure of the personal computer 4. As the control core of PC-based motion controller. At step 208 ', the signal generated by the motion control card 41 is supplied to the digital computer 514769 via the main board 44 containing the central processing unit of the personal computer 4. It is printed by the Intellectual Property Bureau of the Ministry of Economic Affairs and the Consumer Cooperative Society. / Wheel-out card 42 and output by digital wheel-in / out card 42 to the peripheral drive device f connected to the four-axis motion control device 2 at a lower level, that is, the four-axis motion control device 4 outputs a control signal to it. Connect peripheral drives of the next stage. Fig. 8 is a flowchart showing the steps of how to use the teaching box to input the designed programs, instructions, and parameters to develop the application program of the motion control system in Fig. 7. The process of using the teaching box to input programs, instructions, and parameters as shown in Figure 8 is first performed in step 2061. Among the five operation modes provided by the teaching box, any one can be selected for operation. The five operation modes provided here are: (1) Home: This mode is used to return to the origin. This type can be set in the system parameters. At the same time, the order and speed of each axis to return to the origin are also It can be set by using system parameters. This return to the origin can be abandoned or canceled by using the [Esc] key. (2) Run: This mode is used to execute a user program. The last program number of the user will be kept below before shutting down. Appears when power on once; (3) Pr〇gram Edit: This mode is used for program editing, including step edit, 5 〖60 』(^ Manual step by step teaching (this sub mode is manual teaching function, use You can manually fine-tune the operation of the main axis), step ins (insert a step in a user program), step del (delete a step in a user program), prg del Program delete (this sub-mode is used to delete a user program), prg copy program copy (this sub-mode is used to copy a user program to another program), program backup program backup (this The sub-mode is to prepare the user program or cut the road control to the floppy disk), pr0gram download This paper size is applicable to China National Standard (CNS) A4 specification (210 χ 297 public) 16 15858 t ------ --Order --------- Line f, please read the phonetic on the back? Matters, then fill out this page} 514769 Cancel A7 V. Invention Description (17), Program Download (This sub-mode is on the download floppy disk User program or cutting path to the system) and sub-modes such as point set (this sub-mode can set 500 preset coordinate points); (4) Test: This mode is to test a user program and motion control axis Y0 contact in the control card; (5) set up Chinese system mode 'includes system parameter setting (this sub-mode is the setting for planning the entire system), axis paraineter setting (this sub-mode is the setting for planning each axis parameter) , C〇minand display on / off (system engineers can use this sub-mode to control the display of each instruction, users will not be able to use some of the hidden instructions), mode display on / off (system engineers can use this sub-mode to Control the display of each mode No, the user will not be able to use some of the hidden modes) and change password (this sub-right is to change the password in step mode). At step 2062, the order of operation mode selection is available, or or to cycle through The same level of control mode is displayed. After confirming, press the 〇κ " key to enter the next-level operation mode, or press the ESC_ key to return to the previous-level mode, and the relationship between them is shown in Figure 13. Users can switch between various modes, for example, use the ^ or or key to cycle through and switch from pr0gramedit mode to test mode for operation ', and then use the V < Ύ key to cycle through the test mode. Enter the mode. For entering the next-level operation mode, you can press the 'OK' key to enter the next-level operation mode. For example, in

In the Program edit mode, press and 捃 to enter the nine sub-modes of the next layer, and in the sub-mode p〇int ... to enter the lower sub-mode; press the '〇K key to enter * 7 ---- In St mode, press, 0Κ " to push 15858 (please read the precautions on the back before filling this page) Order ---- 17 514769 __B7 V. Description of the invention (18 into the next five sub-layers Mode; in setup mode, press, οκ, to enter the lower five sub-modes. No matter in each mode or sub-mode, you can use-or * key to cycle through the same order control mode to select the desired mode Or the sub mode. For example, in the five main modes, you can use V or Ύ key to cycle to change the mode from program edit mode to test mode, and in pr0gram edit mode, you can use the '-, or key. To cycle to the setup mode. As for the system parameters, you can change them in the ~ mode. The LCD display on the teaching box can be used to know the program execution and various system states, and can be displayed when an error occurs on the machine. Error message 'for users to understand Handle this kind of situation. At step 2063, complete the program written by using the instructions entered by the teaching box. The programming of the teaching box adopts the step program method, + the execution of the step can be decided by the external input contact. Based on 'After the execution of the steps, the H contact can be selected as the user, and the user ^ follows this spirit' to plan the interaction between the machine and the external equipment (such as a conveyor belt). Figure 9 shows one of the systems shown in Figure 3. The operation flowchart of the embodiment 'where the input device 3 is a keyboard', that is, a flow program for performing four-axis motion control by using the keyboard as the input device 3, as shown in the figure, first in step 301, The two parameters of the position of the motion control card 4] hung on the electric nozzle and the interruption value are set by hardware. At step 302 ', the driver program of the motion control card of the disk order is copied to the personal electric Teng 4 A unified directory of the hard disk of the memory device 43. Caier ._ ^^ 3〇3, and then set the parameters related to the driver and hard Zhao This paper size applies 7 specifications ⑵0 X 297 public £ 7 18 Order 15858 A7 V. Description of the invention (19) Threshold login In the login wall of the operating system, you can record other parameters, such as drivers or applications, to directly reference these parameters. At step 304, after completing the hardware parameter setting of the motion control card 41, it has been determined. After registering the driver of the motion control card 41 and the hardware-related parameters a to the registration file of the operating system, connect the motion control card 41 and the motherboard 44 of the personal computer 4 through the ISA bus interface, and restart The personal computer 4 is restarted. In step 305, the user interface in the magnetic disk is installed in a directory in the hard disk of the memory device 43 of the personal computer 4. The user interface is installed to connect to the driver layer. With the application program layer written by the user, after loading the user interface, the user only needs to drive the motion control card 41 by calling the interface library. In step 306, the programming environment provided by the system of the personal computer 4 (such as Visual C ++ and Visual Basic) is used to develop the front-end programs of the motion control system, such as data input, control system parameter setting, and human-machine interface part; and In addition, the rear part of the motion control program part can be directly completed by the unique motion control instruction set provided on the motion control card 41. In this way, in the design of the motion control and the graphics of the man-machine interface, Will be very fast and effective. At step 3 07, when the motion control program to be executed by the four-axis motion control device 2 is completed, the motion control program is started to drive the motion control axis control card 41, and the structure of the motion control card 41 on the personal computer 4 The following is used as the control core of a PC-based motion controller. This paper size applies to China National Standard (CNS) A4 specification (21 × 297 mm (please read the precautions on the back before filling this page) -------- ^ --------- Printed by the Employee Consumption Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 15858 514769

At step 308 ', the signals generated by the motion control card 41 work are supplied to the digital input / output card 42 through the motherboard 44 containing the central processing unit of the personal computer 4, and the digital input / output card 42 rotates to and from The four-axis motion control device 2 is connected to the peripheral drive device of the next stage, and the four-axis motion control device 4 outputs a control signal to the peripheral drive device of the next stage connected thereto. Fig. 10 is a flowchart showing the steps of how to use the programming environment provided by the computer system to develop the application program of the motion control system in Fig. 9. First, in step 3061, a layer of user interface is designed to connect the driver layer with the application layer written by the user. When the turn-in device 3 is a keyboard, since the driver of the motion control card 41 reports the communication method between the user application layer and the underlying hardware of the computer, when the user writes an application to drive the motion control card 41 When performing motion control, all parameters must be passed in accordance with the format declared in the driver, but in order to avoid the complicated format in the driver, which is a problem for ordinary application programmers, the motion control axis control card is used in the program. In terms of architecture, a layer of user interface is specially designed to connect the driver layer and the application layer written by the user, and the function names and format of this set of user interfaces are very similar to those used in the DOS environment version. Similarly, this makes it easier for the original Dos version of the application to be converted to an application that can be run in a Windows operating system environment. In step 3062, after the user interface is loaded, the programmer can simply call the interface library to drive the motion control card. There are four main types of contained libraries provided by User 7: 1. For motion-driven & Zhang scales applicable to China

I I --- (Please read the precautions on the back before filling out this page) --Line · 、-一 D · · 20 15858 (Please read the precautions on the back before filling out this page)

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The η @ is the operation flowchart of another embodiment of the system shown in FIG. 3 ', wherein the input device 3 is a use teaching box, that is, using the use teaching box as the input device 3 to perform four-axis motion control Process procedures. As shown in the figure, first at step 401, the two parameters of the position of the hardware of the motion control card 41 in the electric company and the median value are set in hardware. Step 402 'Copy the driver of the motion control card 41 in the magnetic disk to the employee of the Intellectual Property Bureau of the Ministry of Economic Affairs-Consumer Cooperation. Printed by the agency 22 and copy it to the directory of an operating system on the hard disk of the memory device 43 of the personal computer 4 . Then in step 403, the driver and hardware-related parameter settings are registered in the operating system's registry file so that other parameters, such as the driver or application, can directly reference these parameters. At step 404, after the hardware parameter setting of the motion control card 41 is completed, it has been determined that the driver of the motion control card 41 and the parameters of the hardware related parameters are registered in the registration building of the operating system, and the motion control card and the After the motherboard 44 of the personal computer 4 is connected through the ISA bus interface, the personal computer 4 is restarted. In step 405, the user interface in the magnetic disk is installed in a directory in the hard disk of the memory device 43 of the personal computer 4. The user interface is installed to connect the driver layer and the application program layer written by the user. After loading the user interface, the user only needs to drive the motion control card 41 by calling the interface library. In step 406, since the driver program of the motion control card 41 and the motion control instruction set have been loaded into the computer operating system, the user can use the teaching box to input the designed programs, instructions, and parameters. Applicable to China National Standard (CNS) A4 specification (210 x 297 mm) 15858 ------------- ^ -------- t ---------- (Please read the precautions on the back before filling out this page) Printed by the Employees' Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 514769 A7 ______ B7 V. Description of the invention (23) Use the LCD display on the teaching box to know the program execution and various System status, and when an error occurs on the machine, an error message is displayed to facilitate users to understand and handle such situations. In step 407, when the motion control program to be executed by the four-axis motion control device 2 is completed, the motion control program is started to drive the motion control axis control card 41, and the motion control card 41 is under the structure of the personal computer 4. , As the control core of PC-Based motion controller. At step 408 ', the signal generated by the motion control card 41 is supplied to the digital input / output card 42 via the motherboard 44 containing the central processing unit of the personal computer 4, and is output to the digital input / output card 42 by the digital input / output card 42. The axis motion control device 2 is connected to the peripheral drive device of the next stage, that is, the four-axis motion control device 4 outputs a control signal to the peripheral drive device of the next stage connected thereto. Fig. 12 is a flowchart showing the steps of how to use the teaching box to input the designed programs, instructions, and parameters to develop the application program of the motion control system in Fig. U. As shown in FIG. 12, the process of using the teaching box to input programs, instructions, and parameters is first performed in step 4061. Of the five operation modes provided by the teaching box, any one can be selected for operation. The five operation modes provided are: (l) Home. This weight is used to return to the origin. This type can be set in the system parameters. At the same time, the order and speed of each axis to return to the origin are also It can be set using system parameters, and this return to the origin can be used to give up and cancel. (2) Run: This mode is used to execute a user program. ^ This paper size applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) '-------___ 23 15858 (Please read the notes on the back before filling this page)

514769 A7 V. Description of the invention (24) (Please read the precautions on the back before filling in this page) The user's last program number will be kept at the next boot before shutdown; (3) Program Edit: This mode is used to For program editing, it includes step edit, step jog manual step by step teaching (this sub mode is a manual teaching function, the user can manually fine-tune the operation of the main shaft), step ins step insertion (this sub mode is a user program Insert a step), step del delete (this submode deletes a step in a user program), prg del program delete (this submode is used to delete a user program), prg copy program copy (this Sub mode is used to copy one user program to another program, program backup program backup (this sub mode is to backup user programs or cut paths to a floppy disk), Pr0gram download program download (this sub mode is download User program on the floppy disk or cutting path to the system) and point set coordinates (this sub-mode can set 500 preset coordinates Equal sub mode; (4) Test: This mode is to test a user program and 1/0 contact in the motion control axis control card; (5) set up Set the system mode, including system parameter setting (this sub mode is planning The setting of the entire system), axis parameter setting (this sub-mode is to plan the setting of the parameters of each axis), command display on / off (system engineers can use this sub-mode to control the display of each instruction or not. The user will not be able to use and be hidden Part of the instructions), mode display on / off (system engineers can use this sub-mode to control the display of each mode 'users will not be able to use some of the hidden modes) and change password (this sub-mode is in step mode Change password). In step 4062, the selection order of the operation modes is available. — “Or key to cycle through the display of the same level of control mode. After confirming, press and OK. The paper size applies the Chinese National Standard (CNS) A4 specification (2) 〇X 297 (Mm) 24 15858 514769 A7 V. Description of the invention (25) key to enter the next-level operation mode, or press the 'Esc〃 key to return to the previous-level mode, and the relationship between them is shown in Figure 13. The user can switch between various modes, for example, use the-,-, or keys to cycle through and switch from pr0gram edit mode to "" mode for operation, and then use the '< or Ύ keys to cycle through ⑽Switch the mode to setup mode. For entering the next-level operation mode, you can press the '0K' key to enter the next-level operation mode. For example, in the program edit mode, press the and 0ir keys to enter the nine sub-modes of the next level. ' In the sub mode point set, you can press the and keys again to enter the lower sub mode. In the test mode, press the 〇κ々 key to enter the next five sub modes. In the setUp mode, press the Press to enter the next five sub-modes. Regardless of each mode or sub mode, you can use the " or Α key to cycle through the same level of control mode to select the desired mode or sub mode. For example, in the five main modes, you can use, or,- " key to cyclically switch and change the mode from pr0gram edit mode to test mode, and in program edit mode, cycle through a-or or key to cycle to setup mode. As for the system parameters, they can be changed in A setup " mode. And the LCD display on the teaching box can be used to know the program execution and the status of various systems, and to 'display an error message' when the machine has an error, which is convenient for users to understand and deal with such situations. In step 4063, the program written by using the instruction input by the teaching box is completed. The programming of the teaching box adopts the step-by-step method. The execution of each step can be determined by external input contacts. After the steps are completed, an output contact can be selected to be ON. The user can follow this flexibility. 15858 (Please read the precautions on the back before filling out this page) ^ -------- ^ --------- ^ _ wi. Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 514769

V. Description of Invention (26) Consumption of Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs " Printed by Zuosha Co., Ltd. Planning the interaction between the machine itself and external equipment (such as conveyor belts). Fig. 13 is a schematic diagram of the modes and sub modes provided by the teaching box. The mode and sub-mode provided by the teaching box can be clearly known from the figure. The five operation modes provided are: (1) Home: This mode is used to return to the origin. This type can be found at It can be set in the system parameters. At the same time, the order and speed of returning to the origin of each axis can also be set by the system parameters. This return to the origin can be abandoned or canceled by using the [Esc] key; (2) Run: This mode is used To run a user program, the last program number of the user will be kept at the next boot before shutting down; (3) Pr0gram Edit: This mode is used for program editing, including step edit, step jog manual step-by-step teaching (this sub-mode is manual teaching of the month b 'users can manually fine-tune the operation of the main shaft), stepins # step insertion (this sub-mode is to insert a step in a user program), step del step delete ( This sub-mode deletes a step in a user program), prg del program delete (this sub-mode 疋 is used to delete a user program), prg⑶py program copy (this sub-mode is used to copy a User program to another program), program backup program backup (this submode is to backup the user program or cutting path to a floppy disk), program download program download (this submode is to download the user program on the floppy disk or cut (Path to the system) and point set coordinate point setting (this sub mode can set 500 preset coordinate points) and other sub modes; (4) Test: This mode is to test a user program and I in the motion control axis control card. / O contact; (5) set up to set the system mode, including system parameter setting (this sub-mode is the setting for planning the entire system), axis parameter setting (this sub-mode is for planning each axis parameter ^ ------- -^ --------- line (please read the precautions on the back before filling this page) This paper size is applicable to China National Standard (CNS) A4 (210 X 297 mm) 26 15858 514769 Ministry of Economy Wisdom Printed by the Consumer Cooperative of the Property Bureau A7 B7 V. Description of invention (27) Number setting), cominand display on / off (System engineers can use this sub-mode to control the display of each instruction, users will not be able to use the hiddenHidden instructions), mode display on / off (system engineers can use this sub-mode to control the display of each mode, users will not be able to use some of the hidden modes) and change password (this sub-mode is in step Password in mode). Based on the above embodiments and methods, we can obtain the four-axis motion control method and device, which is to provide users with four-axis motion control using computer architecture control. The four-axis motion control device includes a motion control card. A personal computer with a digital input / output card and an input device. When using this four-axis motion control device for motion control, first copy the driver of the motion control card to a directory of an operating system of an industrial personal computer, and log in the parameter settings of the driver and hardware. The procedure to the registry file of the operating system, so that other parameters such as drivers or applications can directly reference these parameters and instruction sets, and after the motion control card is placed in the personal computer and successfully driven, then the user interface is then carried out. Programs installed in a certain directory on the hard disk of the personal computer from the magnetic disk, and the installation user interface is used to connect the driver layer and the application program layer written by the user, and 'use after loading the user interface The user only needs to drive the motion control axis control card by calling the interface library. The user can use an input device (keyboard or use a teaching box) to write an application to drive the motion control card to perform motion control, or an application read in a disk to drive the motion control card to perform motion control. Windows operating system is used as the development platform, and the software and hardware are opened (please read the precautions on the back before filling this page). ---- The size of the paper is applicable to the Chinese National Standard (CNS) A4 (210 X 297). %) 27 15858

514 / W A7

V. Description of the invention (28) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs, the level of printing is very high, so any window system is used as the basis ^ dows-

Baseci) application and its related hardware and software technology can be directly combined with the motion controller. The advantages of this four-axis motion control method and device are: L allows users to perform on the input device connected to the host computer During operation, the steps of writing low-level programming language can be avoided, and the four-axis motion control can be easily performed by using the instruction set provided by the motion control card; 2. Provide a four-axis motion control method and device, which can Let users use the keyboard connected with the electric host to 'use the electric host with motion control card to develop the system's fourth, motion program', and can avoid the long steps of writing low-level programming words when operating. Use the instruction set provided by the motion control card to conveniently perform four-axis motion control; 3. Provide a four-axis motion control method and device that allow users to use the teaching box connected to the electric host and use motion control The host computer of the card is used to input the instruction set, and when performing the operation, the step of writing the low-level formula f can be avoided. The motion control card can be used. The instruction set provided is used for simple four-axis motion control; 4. The driver provided by the motion control axis control card and the motion control deduction set can be used in conjunction with the programming language design environment provided by the window system (such as Visual C ++ and Visual Basic), using the keyboard as an input device to develop the motion control system program, and when performing the operation, it can easily perform the four-axis motion control without the steps of writing a low-level programming language; and 5. Can use the motion control axis control card The provided driver program and motion control instruction set use the teaching box as a turn-in device, and the paper size of the self-teaching box applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm) ------- -------------- t --------- line (please read the notes on the back before filling this page) 28 15858 514769

V. Description of the invention (29) Input operation instructions and parameters ’When performing operations, you can write steps in a low-level programming language, and perform simple four-axis motion control. The above are merely preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Any equivalent changes or modifications made without departing from the spirit disclosed by the present invention shall be included in the following patents Within range. [Component symbol] (Please read the precautions on the back before filling this page)

2 Four-axis motion control device 3 Input device 4 Personal computer 41 Motion control card 42 Digital input / output card 43 Memory device 44 Motherboard 5, 6 Drive 7 > 8 Peripheral machinery and equipment Ministry of Economic Affairs Intellectual Property Bureau Employees Consumer Cooperative printed Paper size applies to China National Standard (CNS) A4 (210 X 297 mm) 29 15858

Claims (1)

514769 A8 B8 C8 D8 Printed by the staff of the Intellectual Property Bureau of the Ministry of Economic Affairs and Economic Cooperation V. This paper is printed in accordance with the Chinese National Standard (CNS) A4 specification (210X 297 mm). Patent application scope. (1) Copy the driver of the motion control card in the magnetic disk to the directory of an operating system of the memory device of the personal computer; (2) Register the parameter settings of the driver and the hardware to the operating system registration File, so that other parameters, such as drivers or applications, can directly reference these parameters; (3) Set the two parameters of the hardware of the motion control card on the computer and the interrupt value as hardware settings; (4) On completion After setting the hardware parameters of the motion control card, and determined that the driver and hardware-related parameter setting values of the motion control card are logged into the operating system's registration file, connect the motion control card to the personal computer, and then re-set the Restart the personal computer; (5) Install the user interface in the magnetic disk to a directory on the personal computer's memory device and install it The user interface is used to connect the driver layer with the application program layer written by the user. After loading the user interface, the user only needs to call the interface library to drive the motion control card; (6) Use personal computer臈 The programming environment provided by the system is used to develop the front-end programs of the motion control system, such as data input, control system parameter setting, and man-machine interface part; while the later motion control program parts can be directly controlled by the motion control card. Provide the unique motion control instruction set to complete; (7) When the motion control program to be executed is completed, the motion control program is started to drive the motion control axis control card, and the movement is performed by 15858 (please read first Note on the back, please fill out this page again) 514769 A8 B8 C8 D8 6. The patent application scope control card is under the structure of the personal computer as the control core of the personal computer-based motion controller; and (please read the first (Please fill in this page again for attention) (8) Pass the signal generated by the motion control card through the personal computer The motherboard processor supplied digital input / output card, and outputs it to a peripheral device via the digital input / output card. 2 · — A four-axis motion control method, including the following procedures: (1) Set the two parameters of the hardware of the motion control card on the computer and the interrupt value as hardware settings; (2) Set the motion in the magnetic disk The driver of the control card is copied to a directory of an operating system of the memory device of the personal computer; (3) The parameter settings of the driver and hardware are registered in the registration slot of the operating system so that other drivers such as the driver or the Application programs can directly reference these parameters; (4) After completing the hardware parameter setting of the motion control card, and have determined to log in the driver of the motion control card and hardware-related parameter setting values to the registration file of the operating system , Connect the motion control card to the personal computer, and then restart the personal computer; printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs (5) Install the user interface in the magnetic disk to one of the personal computer memory devices Under the directory, the installation user interface is used to connect the driver layer and the application layer written by the user. After loading the user interface, Users only need to drive the motion control card by calling the interface library; (6) Use the programming environment provided by the personal computer system to develop the front-end program of the motion control system. China National Standard (CNS) A4 specification (210X297 mm) 31 15858 514769 Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs can print the parameter settings and human-machine interface parts; the other part of the motion control program part can be completed directly by the unique motion control instruction set provided by the motion control card. ; (7) When the motion control program to be executed is completed, the motion control program is started to drive the motion control axis control card. The motion control card is based on the personal computer structure and is based on the personal computer. The control core of the motion controller; and (8) The signal generated by the motion control card is supplied to the digital input / output card via the motherboard of the personal computer containing the central processing unit, and is output to the following through the digital input / output card. Peripheral devices of first class. 3. The four-axis motion control method as described in item i or item 2 of the scope of patent application, wherein the program for developing a motion control system using a programming environment provided by a personal computer system includes the following steps: (1) Designed a layer of user interface to connect the driver layer with the application program layer written by the user; (2) After loading the user interface, the programmer only needs to call the interface library to drive the motion control card. Yes; and (3) develop applications for motion control systems. 4. The four-axis motion control method as described in item 1 or 2 of the scope of patent application, wherein the program for developing a motion control system using a programming environment provided by a personal computer system includes the following steps ... (1 ) Designed a layer of user interface to connect the driver layer with the application program layer written by the user; because the driver of the motion control card announced the user application layer and the underlying hardware of the computer ^ ---- --Order ------ line (please read the notes on the back before filling this page) This paper size is applicable to Chinese National Standard (CNS) A4 specification (210X297 mm) 32 15858 514769 ABCD Patent application scope Ministry of Economy Wisdom The property bureau employee consumer cooperative prints the communication method, so when the user writes an application to drive the motion control card to perform motion control, he must follow the format declared in the driver to pass all parameters, but in order to avoid complexity in the driver The format declaration has caused troubles for general application programmers, so the motion control axis control card is on the program architecture , Specially designed a layer of user interface to connect the driver layer with the application program layer written by the user; (2) After loading the user interface, the programmer only needs to call the interface library to drive the motion control Card; and (3) develop applications for the motion control system; after installing the motion control card on the operating system of the computer, the user can use the programming environment provided by the system in the window system environment of the personal computer To develop the front-end program of the motion control system including data input, control system parameter settings, and human-machine interface, while the back-end motion control program part can directly use the unique motion control instruction set provided by the motion control card To be done. 5. The four-axis motion control method as described in item 1 or 2 of the scope of patent application, wherein the program for developing a motion control system using a programming environment provided by a personal computer system includes the following steps; (1) A user interface is set up to connect the driver layer with the application program layer written by the user. Because the driver of the motion control card announces the communication mode between the user application layer and the underlying hardware of the computer, it should be When the user writes an application program to drive a motion control card to perform motion control, he must abide by the declaration in the driver. Please read the back page again. This page applies the Chinese National Standard (CNS) A4 specification (210X297 mm) 33 15858 514769 6.34 Patented format to pass all parameters, but in order to avoid the complicated format declaration caused by the driver, which will cause trouble for general application programmers, the motion control axis control card has a special layer on the program structure. User interface to connect the driver layer with user-written applications Layer; (2) After loading the user interface, the programmer only needs to call the interface library to drive the motion control card; the included library provided by the user interface includes hardware activation for the motion driver card. And closed include library, the data library reads and writes the specified input / output port in Byte format, the include library, the data reads and writes the specified input / output port in Word format, and the setting Interruption is effective and the interruption service program is connected at the same time, and the contained library that cancels the effective setting of interruption; and (3) develops the application program of the motion control system; after installing the motion control card on the operating system of the computer, the user can Under the window system environment of the computer, the programming environment provided by the system can be used to develop the front-end program of the motion control system including data input, control system parameter settings, and human-machine interface part, and the back-end motion control program part , It can be done directly through the unique motion control instruction set provided by the motion control card. A four-axis motion control method includes the following procedures: (1) Copy the driver of the motion control card in the magnetic disk to a directory of an operating system of the memory device of the personal computer;-(2) Program and hardware Relevant parameter settings are logged into the paper size financial account (21_ 15858 gutter (please read the precautions on the back before filling this page) D14 / 69 Printed by the Intellectual Property Bureau Staff Consumer Cooperatives of the Ministry of Economic Affairs 35 A8 B8 C8 D8 In the registration file of the patent application system, so that other parameters such as drivers or applications can directly reference these parameters; (3) Use the two parameters of the hardware of the motion control card on the computer and the interrupt value as hardware Set; (4) After completing the hardware parameter setting of the motion control card, and have determined to log the driver of the motion control card and hardware-related parameter setting values to the registration file of the operating system, the motion control card and personal After the computer is connected, restart the personal computer; (5) Install the user interface in the magnetic disk to a certain memory device of the personal computer Under the directory, the user interface is installed to connect the driver layer with the application program layer written by the user. After loading the user interface, the user only needs to call the interface library to drive the motion control card; ( 6) The user can use the teaching box to input the designed programs, instructions and parameters, and the LCD display on the teaching box can be used to know the program execution and various system states, and can be used when an error occurs on the machine. Display error messages for users to understand and deal with such situations; (7) When the motion control program to be executed is completed, the motion control program is started to drive the motion control axis control card, and the motion control card is used in the personal Under the framework of the computer, as the control core of the personal computer-based motion controller; and (8) ^ The signals generated by the work of the motion control card are provided with digital input via the motherboard of the personal computer containing the _ central processor / Rotary Card, _Standard Appropriate Financial Standards (CNS) (21Gx297 15858 (Please read the precautions on the back before filling this page) 514769 8 8 8 8 ABCD Printed by the staff of the Intellectual Property Bureau of the Ministry of Economic Affairs, printed by the cooperative. 6. Scope of patent application and output to the next-level peripheral device via digital input / output card. 7. — A four-axis motion control method, including the following procedures: (1) Set the two parameters of the hardware of the motion control card on the computer and the interrupt value as hardware settings; (2) Set the motion in the magnetic disk The driver of the control card is copied to the directory of an operating system of the memory device of the personal computer; (3) The parameter settings of the driver and the hardware are registered in the registry of the operating system so that other drivers such as the driver or the Application programs can directly reference these parameters; (4) After completing the hardware parameter setting of the motion control card, and have determined to log in the driver of the motion control card and hardware-related parameter setting values to the registration file of the operating system , Connect the motion control card to the personal computer, and then restart the personal computer; (5) Install the user interface in the magnetic disk to a directory on the personal computer memory device. The installation user interface is used to Connect the driver layer with the user-written application layer. After loading the user interface, the user only needs to call the interface library to drive the movement (6) The user can use the teaching box to input the designed programs, instructions, and parameters, and the LCD display on the teaching box can be used to know the program execution and various system states. When an error occurs on the machine, an error message is displayed to facilitate users to understand and deal with such situations; (7) When the desired motion control program is completed, it will start to execute (please read the precautions on the back before filling this page) -Installation ·-• Φ The size of the paper is applicable to the Chinese National Standard (CNS) A4 (210X297 mm) 36 15858 6. The scope of the patent application This motion control program is used to drive the motion control axis control card and the motion control card to the individual Under the framework of the computer, as the control core of the personal computer-based motion controller; and to supply the digital input / output card with the signals generated by the motion control card via the personal computer's mainboard containing the central processor , And output to the peripheral device of the next level via the digital input / output card. 8. The four-axis motion control as described in item 6 or item 7 of the scope of patent application. The method of using the teaching box to turn in the designed programs, instructions, and parameters includes the following steps: (1) Among the operating modes provided by the teaching box, one of the modes can be selected for operation. Or enter the sub-mode of the operation mode. The parent mode contains its own sub-modes; (2) The selection order of the operation mode is to use the keys on the teaching box to cycle through the control modes of the same layer. Switch the selection. After confirming, press the key on the teaching box to go to the next layer of operation mode, or press the key on the teaching box to return to the previous layer mode; and use the LCD display on the teaching box to know the program execution and The status of each system can display error messages when the machine is in error, which is convenient for users to understand and deal with the situation; and (3) complete the program written by using the instructions entered in the teaching box. 9. The four-axis motion control method described in item 6 or item 7 of the scope of patent application, wherein the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: This paper scale applies Chinese National Standard (CNS) A4 specification (210X297 mm) 37 15858 g14769 6. Scope of patent application: The operation provided in the teaching box :: =! Works, or enter the sub mode of the operation mode. Its respective sub-modes; 顺序 The order of selecting the operation mode is to use the key 2 on the teaching box for the same layer control mode. 'The user presses the key on the teaching box to perform the lower-level operation mode after doing between the modes. ^ The key on the teaching box can be used to press m to teach by use. The LCD display screen can learn the program execution and various system states. When an error occurs on the machine, an error message is displayed, which is convenient for users to understand and Handle the situation; and (3) complete the program written by using the instructions entered by the teaching box, the programming of the teaching box adopts the step-by-step procedure, and each step can be performed externally. Input contact decision, and (iv) upon completion of execution, optional - output contacts ⑽, so the user can interact with the machine itself flexible planning and external equipment. 10. The four-axis motion control method as described in item 6 or item 7 of the scope of patent application, wherein the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: (1) in Among the operation modes provided by the teaching box, you can select one of the modes for operation, or enter the sub-modes of the mode for operation. Each mode contains its own sub-mode; (2) The order of operation mode selection is available ^ Use the or button to cycle through the control modes of the same layer. The user selects between the modes and presses the OK " button to enter the next layer of operation. / This paper size applies to China National Standard (CNS) A4 specifications ( (210X297 mm), re-order line for unintended matters 15858 38 Apply for a patent or press ESC " key to return to the previous mode; and use the LCD display on the teaching box to know the program execution and the status of various systems, and When an error occurs on the machine, an error message is displayed to facilitate the user's understanding and handling of the situation; and (3) completed using the instructions entered in the teaching box and Process 11 · The four-axis motion control method as described in item 6 or item 7 of the declared patent scope, wherein the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: (1 ) In the operation mode provided by the teaching box, you can choose one mode for operation, or enter the sub-mode of the operation mode, each mode contains its own sub-mode; (2) the order of selection of the operation mode You can use the or button to cycle through the control modes of the same layer. The user can switch between the modes. After confirming, press the 〇κ〃 button to enter the next layer operation mode, or press the AESC " button to return to the previous layer. Mode; and the LCD display screen on the teaching box can be used to know the program execution and various system states, and when an error occurs on the machine, an error message is displayed for the user to understand and deal with the situation; and (3) complete the use The program written by the instruction input by the teaching box, the programming of the teaching box adopts the step program method. Each step can be performed by external input contacts. It is decided, and after the step is completed, an output contact can be selected as 0N, and the user can flexibly plan the interaction between the machine and the external device according to this. This paper is compliant with Chinese National Standard (CNS) A4 specifications (210X297 mm) 39 Order 15858 514769 Printed by the Intellectual Property Bureau of the Ministry of Economic Affairs Consumer Cooperatives A8 B8 C8 D8 6. Scope of patent application12. If the scope of patent application is item 6 or The four-axis motion control method described in item 7 where the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: (1) Five operation modes provided in the teaching box You can select any one for operation. The five operation modes provided are: 1. Home · This mode is used to return to the origin. This type can be set in the system parameter _ and at the same time, each axis returns to The order and speed of the origins can also be set using system parameters. This return to origin can be abandoned or canceled by using the [Esc] key. 2. Run: This mode is used to execute a user program. The program number will remain on the next boot; 3 prograin Edit: This mode is used for program editing; 4.Test: This mode is for testing a user Programs and I / O contacts in the motion control axis control card; and 5 set Up to set the system mode; (2) The selection order of the operation mode can be cycled through the same layer control mode with 〃 or, key. Switch between selections. After confirming, press the 〇Κ〃 key to enter the next layer of operation mode, or press the ESC ^ key to return to the previous layer mode. The LCD display on the teaching box can be used to know the program execution. And various system states, and when an error occurs on the machine, an error message is displayed to facilitate the user to understand and handle the situation; and (3) complete the program written using the instructions entered by the teaching box. 13 · Four-axis motion control 15858 as described in item 6 or 7 of the scope of patent application (please read the precautions on the back before filling this page) 514769 A8 B8 C8 -— -— _ D8_______ VI. Application Patent scope method, which makes use of the teaching box to input the designed program, * ?, and the parameters of the program include the following steps: (1) Of the five operation modes provided by the teaching box, you can choose any one To operate; the five operation modes provided here are: 1. Home: This mode is used to return to the origin. This type can be set in the system parameters. At the same time, the order and speed of each axis to return to the origin. It can also be set by using system parameters. This return to the origin can be abandoned or canceled by using the [Esc] key. 2. Run: This mode is used to execute a user program. The user's last program number will remain below before the shutdown. Appears when power on once; 3.Pr0gram Edit: This mode is used for program editing; 4.Test: This mode is used to test a user program and 1/0 contact in the motion control axis control card; And 5 set up Set the system mode; (2) The order of selecting the operation mode can be cycled through the same layer control mode with 〃 or or key. The user selects between the various modes. After confirming, press and press the OK " key to enter the next layer of operation. Mode, or press the 'ESC〃 key to return to the previous level mode; and the LCD display screen on the teaching platform can be used to learn the program execution and various system states'. When an error occurs on the machine, an error message is displayed. Convenient for users to understand and deal with the situation; and (3) Complete the program written using the instructions entered by the teaching box. The programming of the teaching box adopts the step-by-step method. The execution of each step can be entered by external inputs. The contact point is determined, and after the execution of the step is completed, 'an output contact point can be selected as 0N, and the user can apply the Chinese National Standard (CNS) A4 specification (210X297 mm) 15858 I according to this paper size. --- f (Please read the notes on the back before filling out this page} Order f Printed by the Intellectual Property Bureau Staff Consumer Cooperative of the Ministry of Economic Affairs 41 M4769 8 8 8 8 ABCD VI. Patent Application Regulations Plan the interaction between the machine itself and the external equipment. ---------- M1 · (Please read the notes on the back before writing this page) 14. · If you apply for the 6th or 7th in the scope of patent application The four-axis motion control method described in the above, wherein the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: (1) Among the five operation modes provided by the teaching box, Select one of them to operate. The five operation modes provided are: ···· Customer's consumer cooperation of the Intellectual Property Bureau of the Ministry of Economic Affairs. 衽 Print 1. Home: This mode is used to return to the origin. This type can be used at It can be set in the system parameters. At the same time, the order and speed of returning to the origin of each axis can also be set by the system parameters. This return to the origin can be abandoned or canceled by using the [Esc] key. 2. Run: This mode is used to Run a user program, the last program number of the user will be kept at the next boot before shutting down; 3. Program Edit ·· This mode is used for program editing, including step edit, step jog manual Teach step by step The sub mode is a manual teaching function so that the user can manually fine-tune the operation of the spindle, step ins step insertion, and this sub mode inserts a step in a user program, step del step deletes, and this sub mode is in a user program. Delete a step, delete prg del program and this sub mode is used to delete a user program, prg copy program is copied and this sub mode is used to copy a user program to another program, program backup program is backed up and this sub mode In order to backup user programs or cutting paths to a floppy disk, program download program download and this sub mode is to download user programs or cutting paths on a floppy disk to the system and point set coordinates, and this sub mode can be set to 500 Preset coordinate point; 4.Test: This mode is used for testing. This paper makes the paper size applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) 42 15858 514769 A8 B8 C8 D8. Read the notes on the back and fill in this page) User program and 1/0 contact in the motion control axis control card; 5.set up Set the system mode, Contains system parameter setting This sub-mode is for planning the entire system setting, axis parameter setting This sub-mode is for planning the setting of each axis parameter, command display on / off This sub-mode can be used to control the display of each instruction and the user will not be able to Use the hidden part command, mode display on / off. This sub-mode can be used to control the display of each mode. The user will not be able to use the hidden part mode and change password. This sub-mode is to change the password in step mode. ; (2) The selection order of the operation modes can be cycled through the same layer control mode with 〃 or, key. The user selects between the modes. After confirming, press, 0K 〃 key to enter the next layer operation mode, or press , ES (T key to return to the previous level mode; the LCD display on the teaching box can be used to know the program execution and various system states, and when an error occurs on the machine, an error message is displayed for easy use Understand and deal with the situation; and (3) complete the process of using the instructions entered by the teaching box to write the employees of the Intellectual Property Bureau of the Ministry of Economic Affairs Fee cooperatives printed type. 15. The four-axis motion control method as described in item 6 or 7 of the scope of patent application, wherein the program using the teaching box to input the designed programs, instructions, and parameters includes the following steps: (1) in Among the five operation modes provided by the teaching box, you can select any one for operation. The five operation modes provided are: 1. Home ·· This mode is used to return to the origin. This type can be used in the system. This paper size applies to Chinese National Standard (CNS) A4 specification (210X297 mm) 43 15858 514769 A8 B8 C8 D8 VI. Application scope of patents ---------- installation-(Please read the notes on the back first (Fill in this page again) Set it in the parameters. At the same time, the order and speed of each axis returning to the origin can also be set using system parameters. This return to origin can be abandoned or cancelled by using the [Esc] key; 2 Run: This mode It is used to run a user program. The user's last program number will be retained at the next boot before shutdown. 3. Program Edit: This mode is used for program editing, including step edit, step j〇g manual step-by-step teaching and this sub mode is a manual teaching function to allow the user to manually fine-tune the operation of the main shaft, step ins step insertion and this sub mode: insert a step in a user program, step del step delete and this Sub mode is to delete a step in a user program, prg dei program is deleted and this sub mode is used to delete a user program, prg copy program is copied and this sub mode is used to copy a user program to another program , Program backup program backup and this sub-mode is to back up user programs or cut the path to the floppy disk and go online. Printed by the staff member cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, program download program download and this sub-mode is to download the user program on the floppy disk. Or cut the road control to the system and point set coordinate point setting and this sub mode can set 500 preset coordinate points; 4 Test two This mode is to test a user program and 1 / 〇 in the motion control axis control card Contacts; 5 set up δ again system mode 'contains system parameter setting This sub-mode is for planning the entire system settings, axis paraineter setting This sub-mode is for planning the setting of the parameters of each axis. You can use this sub-mode to control the display of each command. The user will not be able to use some hidden commands. Mode display on / off is available. This sub-mode is used to control the display of each mode and the user will not be able to apply the Chinese national standard (CNS) A4 specification (210X297 public envy) to this paper standard 44 15858 514769 A8 B8 C8 D8 6. The scope of the patent application uses the hidden part mode and change password. This sub-mode is to change the password in step mode. (2) The selection order of the operation mode can be cycled by using the or key to cycle through the control modes at the same level. Switch between modes. Select 'OK' and press the 0K〃 key to enter the next-level operation mode, or press the "ESC" key to return to the previous-level mode; the program can be learned by using the LCD display on the teaching box. Execution and various system states', and when an error occurs on the machine, an error message is displayed to facilitate the user's understanding and processing status; and (3) Completing the program written by the instruction input from the teaching box. The programming of the teaching box adopts the step-by-step method. The execution of each step can be determined by the external input contact, and after the execution of the step is completed After that, an output contact can be selected to be ON, and the user can flexibly plan the interaction between the machine and the external device according to this. 16 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, and after the motion control card completes the hardware installation, driver installation, and user interface installation, the user can use the motion control The driver provided by the card, the motion control instruction set and the included library provided by the user interface 'cooperate with the programming language design environment provided by the window system of the personal computer to develop the motion control system program, or enter the designed program' And this motion control card is used as the control core of the four-axis motion controller based on personal computer; and — Ί 2 ^ input device, this input device cooperates with the ⑧iiSiT ^ TA Na (210 & gt) provided by the personal computer system ; < 297 mm) --- 45 15858 (Please read the notes on the back before filling in this page), va Scope of patent application ·-The consumer cooperation of the Intellectual Property Bureau of the Ministry of Economic Affairs, and the 46 printed program design ring feed, w 丄 @I, and the unique motion control instruction set provided by the motion control card to complete the four-axis motion control The program is provided to a personal computer to execute for four-axis motion control. 17. The four-axis motion control device according to item 16 of the scope of patent application, wherein the input device is a keyboard. Eighteen eighteen—A four-axis motion control device includes a personal computer, the personal computer contains a motion control card, the motion control card is a two-performance motion with two to three-axis linear and two-axis circular fox tweens ASIC-Based The control card is used as the control core of the personal computer-based motion controller under the personal computer architecture. When the control card is used to complete the hardware parameter setting, driver installation, hardware installation and user interface installation, the user You can use the driver provided by the motion control card, the motion control instruction set, and the included library provided by the user interface to cooperate with the programming language design environment provided by the window system of the personal computer to develop the motion control system program, or enter Design a program, and use this motion control card as the control core of a four-axis motion controller based on a personal computer; and an input device that cooperates with the programming environment provided by the personal computer system and is controlled by the motion The card provides a unique set of motion control instructions, and completes the four-axis motion control program and provides To the PC to perform for four-axis motion control. 19. The four-axis motion control device as described in item 8 of the scope of patent application, wherein the wheel-in device is a keyboard. 20 · —A kind of four-axis motion control device includes: The full paper size is applicable to China National Standard (CNS) A4 specification (21 × 297 mm) 15858 ¾ ------ Order ------ ^ (please first Read the notes on the back and fill in this page) 514769 A8 B8 C8 D8 VI. Patent Application ^ ^ ~ ^ 'A personal computer, this personal computer contains a motion control card, and when this motion control card completes the hardware installation and driver After installation and user interface installation, the user can use the driver provided by the motion control card, the motion control command set, and the included library provided by the user interface to cooperate with the programming language design environment provided by the window system of the personal computer. To develop a motion control system program, or to enter a design program, and use this motion control card as the control core of a four-axis motion controller based on a personal computer; and a teaching box, which uses the teaching box to cooperate with a personal computer The programming environment provided by the system and the unique motion control instruction set provided by the motion control card complete the four-axis motion control program; the user You can use the teaching box to enter the designed programs, instructions, and parameters. The LCD display on the teaching box can be used to know the program execution and various system states. When an error occurs on the machine, an error message is displayed. It is convenient for users to understand and handle such situations for four-axis motion control. 21 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, and the motion control card is a high-performance motion control card with two to three-axis linear and two-axis arc tweening ASIC_Base. Personal computer architecture as the control core of the personal computer-based motion controller; after the motion control card completes the hardware parameter setting, driver installation, hardware installation and user interface installation, the user can use the motion control card All drivers provided by _jL, motion control instruction set, and user interface products% This paper is from the application of Zhongguanjia Standard (CNS) Hazaki (210X297 mm) ---------- 15858- --------- (Please read the notes on the back before filling this page) Order f Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 47 Printed by the Employee Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 48 514769 A8 B8 C8 I ---_ ---.-_____ VI. Patent application scope '~ k Inclusive library provided with the programming language design environment provided by the personal computer window system to develop motion control system programs Or input the designed program, and use this motion control card as the control core of the four-axis motion controller based on personal computer; and a teaching box, which uses the teaching box to cooperate with the programming environment provided by the personal computer system , And the unique motion control instruction set provided by the motion control card to complete the four-axis motion control program; the user can use the teaching box to input the designed programs, instructions, and parameters' and use the LCD on the teaching box The display screen can learn the program execution and the status of various systems, and can display error messages when an error occurs on the machine, which is convenient for users to understand and deal with such conditions for four-axis motion control. 22 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, and after the motion control card completes the hardware installation, driver installation, and user interface installation, the user can use the motion control The driver provided by the card, the motion control instruction set and the included library provided by the user interface are used to develop the motion control system program in conjunction with the programming language design environment provided by the window system of the personal computer, or enter the designed program. This motion control card is used as the control core of a four-axis motion controller based on a personal computer; and this personal computer contains a digital input / wheel-out card. This digital input / output card has input pins and a personal computer. The motherboard is connected to be used as the input terminal of this digital input / output card, and this digital input / output card has different output pins that conform to the Zhongguanjia standard (〇 叫 八 4 «^ (2 献 297) (Mm) " " " " 15858 1111 n I " Order (please read the precautions on the back before filling this page) Economy Printed by the Intellectual Property Bureau's Consumer Cooperatives 49 514769 A8 B8 C8 -----------___ D8 VI. Application scope of patents ~ --- ~-~~ Class peripheral device connection, as the output end of this digital input / output card To perform four-axis motion control; and an input device, this turn-in device cooperates with the programming environment provided by the personal computer system and the unique motion control instruction set provided by the motion control card to complete the four-axis motion control program And provided to the personal computer for execution to perform four-axis motion control. 8:23. The four-axis motion control device described in item 22 of the scope, wherein the input device is a keyboard. The four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, the motion control card is a South-performance motion control card with two to three axis straight lines and two axis arc tweens Asic_Base, under the personal computer architecture As the control core of the motion controller based on the personal electricity exemption, when the motion control card completes the hardware parameter setting, driver installation, and hardware installation, After the user interface is installed, the user can use the driver provided by the motion control card, the motion control instruction set, and the included library provided by the user interface to develop with the programming language design environment provided by the window system of the personal computer. Motion control system program, or input design program, and use this motion control card as the control core of the four-axis motion controller based on personal computer; and this personal computer contains a digital input / output card, this digital input The I / O card has input pins that are connected to the motherboard of the personal computer to serve as the input of this digital I / O card, and this digital I / O card has a different output pin that is connected to the next peripheral device. The paper size of the digital input / output card is applicable to the Chinese National Standard (CNS) A4 specification (210X297 mm) 15858 (Please read the precautions on the back before filling this page) 514769 Patent application scope A8 B8 C8 D8 Employees of the Intellectual Property Bureau of the Ministry of Economic Affairs # fee cooperation, the company prints output terminals for four-axis motion control, and input devices' This round-in device works in conjunction with the programming provided by the personal computer system. U a 丄 乂 and a unique motion control instruction set provided by the motion control card, and 6 ^^, and a four-axis motion control program is formed and provided to a personal computer for execution to perform four-axis motion control. 25. The four-axis motion control device as described in item 24 of the scope of patent application, the input device in the basin is a keyboard. Eight 26 · —A four-axis motion control device includes: A personal computer, the personal computer contains a motion control card, the motion control card is eight batches with two to three-axis linear and two-axis circular tween interpolation · Based 咼 performance motion control Card, which is the control core of the personal computer-based motion controller under the personal computer architecture; after the motion control card completes the hardware parameter setting, driver installation, hardware installation and user interface installation, the user can use The driver program provided by the motion control card, the motion control instruction set, and the included library provided by the user interface are used to develop the motion control system program in conjunction with the programming language design environment provided by the window system of the personal computer. In addition to the program, this motion control card is used as the control core of a four-axis motion controller based on a personal computer; and the personal computer contains a digital input / output card, which is an ISA bus The 32-point input / output interface card can drive internal circuits with a voltage of several volts, and its external The source can be powered by a DC power supply of i2_ 24 V. This digital input / output card has input pins that are connected to the motherboard of the personal computer to serve as the digital input / output card. The M-scale standard is applicable to China National Standard (CNS) A4 specifications ( 210X297 mm) -------_ (Please read the notes on the back before filling in this page) • Binding 15858 々, the input range of the patent application, and this number is connected to the lower-level peripheral device.出 踹 ， 以 谁 # Α Field attack the output terminal of this digital input / output card to perform four-axis motion control; and 'device, this round-in device cooperates with the programming loop provided by the personal computer system, LV R 丄Only by the unique working group provided by the operation card, the four-axis motion control program is completed and executed by the personal computer to perform the four-axis motion control. 27. The four-axis motion control device described in item 26 of the scope of patent application, wherein the input device is a keyboard. 28 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, and after the motion control card completes the hardware installation, driver installation, and user interface installation, the user can use the motion control The driver provided by the card, the motion control instruction set, and the included library provided by the user interface are used to develop the motion control system program in conjunction with the programming language design environment provided by the window system of the personal computer, or enter the designed program. This motion control card is used as the control core of a four-axis motion controller based on a personal computer; and this personal computer contains a digital input / wheel-out card. This digital input / output card has input pins and a personal computer. The motherboard is connected as the input terminal of this digital input / output card, and the digital input / output card has a different output pin connected to the next-level peripheral device. It is used as the output terminal of this digital input / output card to perform four Axis motion control; and a teaching box, which uses the teaching box in conjunction with a personal computer system National Standard of National Finance (CNS) Μ threat (210 > < 297 mm) 514769 The programming environment provided by the scope of patent application, and the motion control instruction set provided by the motion control card, completes four axes Programs for motion control; users can use the teaching box to input designed programs, instructions, and parameters, and the LCD display on the teaching box can be used to learn the program execution and various system states, which can occur on the machine When an error occurs, an error message is displayed, which is convenient for users to understand and handle such situations for four-axis motion control. 29 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, the motion control card is a high-performance motion control card with two to three axis linear and two axis arc tweening ASIC_Base. Personal computer architecture as the control core of the personal computer-based motion controller; after the motion control card completes the hardware parameter setting, driver installation, hardware installation and user interface installation, the user can use the motion control card The provided driver program, motion control instruction set, and the included library provided by the user interface, together with the programming language design environment provided by the personal computer's window system, develop motion control system programs, or turn-designed programs. And this motion control card is used as the control core of the four-axis motion controller based on personal computer; and this personal computer contains a digital input / output card, which has input pins and The motherboard is connected as the input of this digital I / O card, and this digital I / O card has another The same output pin is connected to the peripheral device of the next level, which is used as the _output knowledge of this digital input / output card for four-axis motion control; and this paper ΛΜ 财 关 家 觯 (21Qx297n 52 binding line 15858 514769 A8 B8 C8 D8 Sixth, the scope of patent application 1. Use teaching box, this teaching box cooperates with the programming environment provided by the personal computer system, and the unique motion control instruction set provided by the motion control card to complete the four-axis motion control program; user You can use the teaching box to input the designed programs, instructions, and parameters. The LCD display on the teaching box can be used to know the program execution and various system states. When an error occurs on the machine, an error message is displayed. It is convenient for users to understand and deal with such situations for four-axis motion control. 3 0 · —A four-axis motion control device includes: a personal computer, the personal computer contains a motion control card, and the motion control card has two to three axes ASIC-Based high-performance motion control card for linear and two-axis circular tween Control core of motion controller based on personal computer; after the motion control card completes hardware parameter setting, driver installation, hardware installation and user interface installation, users can use the driver program provided by the motion control card, The motion control instruction set and the included library provided by the user interface, in conjunction with the programming language design environment provided by the personal computer's window system, develop a motion control system program, or enter the designed program, and use this motion control card as It is the control core of a four-axis motion controller based on a personal computer, and this personal computer contains a digital input / output card. This digital input / output card is an input / output interface card with ISA bus and 32 contacts. It can use several volts of voltage to drive the internal circuit, and its external power can be turned on by 12-24V DC power. This digital input / output card has input connection. The paper size is applicable to the ten countries. (€ yang) 8 4 specifications (21〇 father 297 mm) ----- 15858 Bu -------- k ^ i (Please read the precautions on the back before filling this page ) Order Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs 53 514769 A8 B8 C8 D8 The pin is connected to the motherboard of the personal computer to be regarded as the input terminal of the digital input / output card, and the digital input / output card has a different output pin connected to the peripheral device of the next level. Output terminal for four-axis motion control; and a teaching box that cooperates with the programming environment provided by the personal computer system and the unique motion control instruction set provided by the motion control card to complete the four-axis motion Control programs; users can use the teaching box to input designed programs, instructions, and parameters, and the LCD display on the teaching box can be used to know the program execution and various system states, and errors can occur on the machine. When the error message is displayed, it is convenient for users to understand and deal with such situations for four-axis motion control. (Please read the precautions on the back before filling in this page}-Installed · 1T line Printed by the employee's co-operative cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs This paper size applies to China National Standard (CNS) A4 (210X297 mm) 54 15858