WO2018223253A1 - 一种运动控制卡、运动控制系统、机器人系统及数控机床 - Google Patents

一种运动控制卡、运动控制系统、机器人系统及数控机床 Download PDF

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Publication number
WO2018223253A1
WO2018223253A1 PCT/CN2017/087133 CN2017087133W WO2018223253A1 WO 2018223253 A1 WO2018223253 A1 WO 2018223253A1 CN 2017087133 W CN2017087133 W CN 2017087133W WO 2018223253 A1 WO2018223253 A1 WO 2018223253A1
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Prior art keywords
module
motion control
control card
host computer
upper computer
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PCT/CN2017/087133
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English (en)
French (fr)
Inventor
姚守强
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深圳配天智能技术研究院有限公司
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Application filed by 深圳配天智能技术研究院有限公司 filed Critical 深圳配天智能技术研究院有限公司
Priority to CN201780091087.XA priority Critical patent/CN111213099B/zh
Priority to PCT/CN2017/087133 priority patent/WO2018223253A1/zh
Publication of WO2018223253A1 publication Critical patent/WO2018223253A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller

Definitions

  • the embodiments of the present application relate to the field of mechanical automation technologies, and in particular, to a motion control card, a motion control system, a robot system, and a numerical control machine tool.
  • the open CNC system adopts the structure of inserting the motion control board in the slot of the motherboard of the industrial computer, which has the advantages of flexible architecture, strong portability and strong scalability, and has been greatly developed in recent years.
  • a matching transmission bus is required, so that the real-time nature of the control system is not limited by the transmission part.
  • Ethernet has begun to be used in more and more industrial fields.
  • the RTEX high-speed real-time Ethernet communication protocol released by Panasonic Corporation of Japan has become the control bus of the new generation CNC system, with flexible topology, excellent anti-interference ability and matching.
  • the advantages of low line cost Supporting the RTEX bus type servo drive makes the bus connection of the multi-axis control system easy to implement and low in cost.
  • the existing motion control card is usually a motion control card supporting the MIII bus (parallel bus) or the CAN bus (controller LAN bus), and the control of the RTEX bus type servo driver cannot be realized, which is disadvantageous for reducing the cost of the numerical control system.
  • the invention provides a motion control card, a motion control system, a robot system and a numerical control machine tool, which are used for solving the problem that the existing motion control card cannot realize the control of supporting the RTEX bus type servo driver.
  • An aspect of an embodiment of the present invention provides a motion control card, including:
  • Digital signal processor host computer connection module, RTEX bus module, reset module and power module;
  • the digital signal processor is respectively connected to the upper computer connection module, the RTEX bus module, the reset module, and the power module;
  • the power module is configured to supply power to the motion control card
  • the reset module is configured to reset the motion control card
  • the upper computer connection module is used for communication connection with the upper computer
  • the RTEX bus module is used for communication connection with a servo driver
  • the digital signal processor obtains the parsed motion control command from the host computer through the upper computer connection module, and passes the motion control command according to different states of the servo driver acquired by the RTEX bus module Sending the RTEX bus module to the servo driver; or the digital signal processor receives operating state information from the servo driver through the RTEX bus module and sends the operating state information to the host computer through the host computer connection module .
  • the upper computer connection module includes a USB function module and/or a PCI function module; and the USB (Universal Serial Bus) function module is used for connecting A teach pendant; the PCI (Peripheral Component Interconnect) function module is used to connect to the industrial computer.
  • USB Universal Serial Bus
  • PCI Peripheral Component Interconnect
  • the digital signal processor includes:
  • Host computer communication module state machine control module and RTEX bus communication module
  • the upper computer communication module is respectively connected to the upper computer connection module and the state machine control module, the state machine control module is connected to the RTEX bus communication module, the RTEX bus communication module and the RTEX bus module Connected
  • the upper computer communication module is configured to receive a control command after the upper computer resolves, and send the control command to the state machine control module;
  • the state machine control module is configured to receive, in a polling manner, the parsed control command sent by the host computer through the host computer communication module, and pass the control command through the RTEX bus in an interrupted manner according to different states of the servo driver.
  • a communication module is sent to the servo drive;
  • the RTEX bus communication module is configured to receive a control command sent by the state machine control module, and encapsulate the control command and send the control command to the RTEX bus module.
  • the RTEX bus communication module is further configured to receive the operation of the servo driver sent by the RTEX bus module Status information, and parsing the running status information, and sending the status information to the state machine control module;
  • the state machine control module is further configured to acquire operation state information of the servo driver from the RTEX bus communication module in an interrupted manner, and send the operation state information to the upper computer communication module;
  • the upper computer communication module is further configured to receive the servo drive sent by the state machine control module Operation status information of the actuator, and transmitting the operation status information to the upper computer.
  • the motion control card further includes a serial port module, the serial port module is connected to the digital signal processor, and is in communication with the digital input and output module.
  • the digital signal processor further includes a serial communication module, and the serial communication module and the state machine respectively The control module and the serial port module are connected.
  • the digital signal processor further includes a security logic processing module, where the security is implemented.
  • the logic processing module is connected to the state machine control module, and is configured to perform security processing on the fault when the servo driver or the digital input/output module fails or the communication fault occurs.
  • the communication module includes an external application programming interface API interface function unit, and the external API interface function unit is configured to externally provide an API function for calling, the API interface function includes a function for acquiring a state of the servo driver, and is used for selecting A function of the servo drive running state and a function for writing servo drive position data.
  • the digital signal processor further includes a remote communication module, and the remote communication module is connected to the external API interface function unit, and is configured to receive a remote upgrade program through the Ethernet port, and according to the The upgrade program upgrades the firmware program.
  • the remote communication module is further configured to acquire a log file in the firmware program, and send the log file to the host computer through the host computer communication module.
  • a second aspect of the embodiments of the present invention provides a motion control system, including:
  • a motion control card according to any one of the preceding aspects of the present invention, the host computer connected to the host computer connection module of the motion control card, and the servo driver connected to the RTEX bus module of the motion control card.
  • the host computer includes a computer and/or a teach pendant.
  • the motion control system further includes a number connected to the serial port module of the motion control card Input and output modules.
  • the digital input and output module is a digital input and output module of the programmable logic controller.
  • a third aspect of the embodiments of the present invention provides a robot system, including:
  • the robot body any one of the above-mentioned motion control cards provided by the first aspect of the embodiment of the present invention, a teaching device connected to the host computer connection module of the motion control card, and the RTEX bus module connected to the motion control card Servo drive.
  • a fourth aspect of the embodiments of the present invention provides a numerical control machine tool, including:
  • the machine body any one of the above-mentioned motion control cards provided by the first aspect of the present invention, the industrial computer connected to the upper computer connection module of the motion control card, and the RTEX bus module connected to the motion control card server Driver.
  • the motion control card provided by the embodiment of the present application includes a digital signal processor, a host computer connection module, a RTEX bus module, a reset module, and a power module.
  • the digital signal processor of the motion control card is connected from the upper computer through the upper computer connection module. Acquiring the parsed motion control command and transmitting the motion control command to the servo driver through the RTEX bus module according to different states of the servo driver acquired by the RTEX bus module; or the digital signal
  • the processor receives the operating state information from the servo driver through the RTEX bus module and sends the operating state information to the host computer through the upper computer connection module, so that control of the RTEX bus type servo driver can be realized to reduce the cost.
  • FIG. 1 is a schematic view of an embodiment of a motion control card of the present invention
  • Figure 2 is a schematic view showing another embodiment of the motion control card of the present invention.
  • Figure 3 is a schematic view showing another embodiment of the motion control card of the present invention.
  • FIG. 4 is a schematic diagram of an embodiment of a digital signal processor in a motion control card of the present invention.
  • Figure 5 is a schematic diagram of another embodiment of a digital signal processor in the motion control card of the present invention.
  • Figure 6 is a logic block diagram of a digital signal processor in the motion control card of the present invention.
  • Figure 7 is a schematic view showing an embodiment of the motion control system of the present invention.
  • Figure 8 is a schematic view showing another embodiment of the motion control system of the present invention.
  • Figure 9 is a schematic view of an embodiment of the robot system of the present invention.
  • Fig. 10 is a schematic view showing an embodiment of the numerical control machine tool of the present invention.
  • Embodiments of the present invention provide a motion control card, a motion control system, a robot system, and a numerical control machine tool for implementing control of a RTEX bus type servo driver to reduce cost.
  • an embodiment of the motion control card 1 in the embodiment of the present invention includes:
  • Digital signal processor 101 host computer connection module 102, RTEX (high-speed real-time Ethernet communication Protocol) bus module 103, reset module 104 and power module 105;
  • RTEX high-speed real-time Ethernet communication Protocol
  • the digital signal processor 101 is respectively connected to the upper computer connection module 102, the RTEX bus module 103, the reset module 104, and the power module 105;
  • the power module 105 is used to supply power to the motion control card 1;
  • the reset module 104 is configured to reset the motion control card 1;
  • the upper computer connection module 102 is used for communication connection with the upper computer
  • the RTEX bus module 103 is used for communication connection with the servo driver
  • the digital signal processor 101 obtains the parsed motion control command from the host computer through the host computer connection module 102, and sends the motion control command to the servo driver through the RTEX bus module 103 according to different states of the servo driver acquired through the RTEX bus module 103; Alternatively, the digital signal processor 101 receives the operating state information from the servo driver through the RTEX bus module 103 and transmits it to the host computer through the host computer connection module 102, so that control of the RTEX bus type servo driver can be realized to reduce the cost.
  • the motion control card in the embodiment of the present invention has a digital signal processor 101 as a core.
  • a TMS320C6205 chip may be selected, and other types of chips may also be selected in actual use, which is not limited herein.
  • the upper computer connection module 102 can be a USB (Universal Serial Bus) function module (not shown), or a PCI (Peripheral Component Interconnect) function module, or a USB function module and a PCI function module.
  • the USB function module is used to connect the teach pendant; the PCI function module is used to connect to the industrial computer.
  • the upper computer connection module 102 is an example of the PCI function module 1021.
  • the PCI function module 1021 is configured to be responsible for connection with the industrial computer, and complete command transmission from the industrial computer and transmission of operation status information of the servo drive.
  • the selected TMS320C6205 chip has its own PCI (Peripheral Component Interconnect) circuit, so the circuit of the digital signal processor 101 can be directly used for the design of the PCI function module 1021.
  • adding BUFFER (buffer) to the periphery can enhance its driving capability, and at the same time add EEPROM (Electrically Erasable Read Only Memory) for storing information such as PID (product identification code) and VID (vendor number) for PCI. Information such as PCI's PID and VID is used to write the driver for the board.
  • the RTEX bus module 103 is used for communication connection with the servo driver, and the RTEX bus module 103 can select the RTEX protocol chip MNM1221 to implement the physical layer function of the bus, and then pass the MII.
  • the interface (media independent interface) is connected to the PHY (physical layer) chip RTL8201, and finally provides two RJ45 interfaces (standard 8-bit modular interface) through the isolation transformer, which are responsible for transmitting data and receiving data respectively.
  • the reset module 104 is configured to reset the circuit in the motion control card. Specifically, the reset module 104 can reset the digital signal processor 101 (TMS320C6205), the RTEX protocol chip (MNM1221), and the PHY chip (RTL8201), as an example. In the embodiment of the present invention, the reset module 104 can select the TPS3808G01 chip.
  • the power module 105 is used to power the motion control card.
  • the TPS54325 chip can be selected.
  • the circuit of the entire motion control card can adopt PCI-based power supply mode, obtain 5V board-level power supply from PCI, and then convert the 5V power supply to the required core voltage of 1.5V and the peripheral voltage of 3.3V through the TPS54325 chip.
  • the power-up sequence for the 1.5V and 3.3V voltages is controlled by the reset circuit, which first generates 1.5V and then generates 3.3V.
  • the motion control card 1 in this embodiment may further include a peripheral storage module 106, which may include SDRAM (Synchronous Dynamic Random Access Memory) and Flash (Flash Memory). Flash can be used to store firmware programs, and the entire system is booted from Flash.
  • SDRAM Serial Dynamic Random Access Memory
  • Flash Flash Memory
  • the ST39VF1601 chip can be used.
  • SDRAM is used to store the program and data during the running of the program, including the command and running status information of the digital signal processor 101 and the host computer.
  • the MT48LC4M32B is used in this circuit.
  • the upper computer connection module 102 is an industrial computer.
  • Another embodiment of the motion control card 1 in the embodiment of the present invention includes:
  • the digital signal processor 101 The digital signal processor 101, the PCI function module 1021, the RTEX bus module 103, the reset module 104, the power module 105, the peripheral storage module 106, and the serial port module 107.
  • the serial port module 107 is coupled to the digital signal processor 101 and is in communication with the digital input and output modules.
  • the serial port module can provide RS485 hardware circuit, implement Modbus standard communication protocol in the application layer, realize Modbus master station function, and can directly with the digital input and output module supporting Modbus protocol, preferably, with the PLC IO device supporting Modbus protocol. Communicate.
  • the MSBSP interface multi-channel buffer serial port
  • the serial port module 107 can also provide an external RS232 interface (asynchronous transmission standard interface) for debugging output use.
  • the overall circuit design of the motion control card corresponding to FIG. 2 can be as shown in FIG. 3.
  • the motion control card 1 is used to forward the control commands sent by the host computer to the respective servo drivers connected to the motion control card 1, so that the respective servo drivers can respond to the control commands from the upper computer in time.
  • the motion control card 1 is further configured to forward operating state information from each servo driver to the upper computer, so that the upper computer can display the status of each servo driver in time.
  • the above functions of the motion control card 1 are mainly realized by the digital signal processor 101. Referring to FIG. 4, an embodiment of the digital signal processor 101 of the present invention includes:
  • the upper computer communication module 1011 is connected to the upper computer connection module 102 and the state machine control module 1012, the state machine control module 1012 is connected to the RTEX bus communication module 1013, and the RTEX bus communication module 1013 is connected to the RTEX bus module 103;
  • the upper computer communication module 1011 is configured to receive the control command after the upper computer resolves, and send the control command to the state machine control module 1012;
  • the state machine control module 1012 is configured to receive, in a polling manner, the parsed control command sent by the host computer through the host computer communication module 1011, and send the control command through the RTEX bus communication module 1013 in an interrupted manner according to different states of the servo driver. To the servo drive;
  • the RTEX bus communication module 1013 is configured to receive the control command sent by the state machine control module 1012, and package the control command and send it to the RTEX bus module 103, so that the RTEX bus module 103 sends the control command to the servo driver connected thereto. In turn, the servo driver performs corresponding operations according to the received control command.
  • each module in the digital signal processor 101 also needs to have the following functions:
  • the RTEX bus communication module 1013 is further configured to receive the operating state information of the servo driver sent by the RTEX bus module 103, and parse the operating state information, and send it to the state machine control module 1012;
  • the state machine control module 1012 is further configured to acquire the running state information of the servo driver from the RTEX bus communication module 103 in an interrupted manner, and send the running state information to the upper computer communication module. 1011;
  • the upper computer communication module 1011 is further configured to receive the running state information of the servo driver sent by the state machine control module 1012, and send the running state information to the upper computer.
  • the digital signal processor 101 may further include a security logic processing module 1014, and the security logic processing module 1014 is connected to the state machine control module 1012, and is configured to be faulty when the servo driver or the digital input/output module fails or the communication fails. Perform safe handling. Specifically, when the servo driver fails, the safety logic processing module 1014 can actively send a stop instruction to the servo driver, so that the servo driver powers off the motor and stops the operation of the driver, waiting for further processing of the fault; when the communication is faulty, Actively reset and reconnect the internal chip. If the connection is not available, you can report the communication failure to the host computer and wait for further detection.
  • a security logic processing module 1014 is connected to the state machine control module 1012, and is configured to be faulty when the servo driver or the digital input/output module fails or the communication fails. Perform safe handling. Specifically, when the servo driver fails, the safety logic processing module 1014 can actively send a stop instruction to the servo driver, so that the serv
  • another embodiment of the digital signal processor 101 of the present invention includes:
  • the upper computer communication module 1011 the state machine control module 1012, the RTEX bus communication module 1013, the security logic processing module 1014, the serial communication module 1015, and the remote communication module 1016.
  • the serial communication module 1015 is respectively connected to the state machine control module 1012 and the serial port module 107 for implementing the standard Modbus communication protocol, and is responsible for the PLC IO device (programmable logic controller input) supporting the Modbus protocol together with the serial port module 107.
  • the output device communicates.
  • the upper computer communication module 1011 may include a foreign API interface function (application programming interface) unit 10111, and the external API interface function unit 10111 is configured to provide an API interface function 10111 that can be called externally, and implement RTEX support through an API interface function.
  • the API interface function includes a function for acquiring the state of the servo driver, a function for selecting the running state of the servo driver, and a function for writing the position data of the servo driver.
  • the API interface function can also provide a callback function of the standard algorithm externally, and the PC software developer can put the core part of the algorithm into the upper computer software for implementation.
  • the advantage of setting the external API interface function unit 10111 is that the motion control card 1 provided by the present invention can be made more open and has a higher running speed. Specifically, the interpolation, look-ahead and other algorithms running in the motion control card 1 of the present invention can be opened to the upper computer software developer in the form of a callback function through the external API function, and the software developer can Development, improved openness, and because of the simple function of the motion control card, the interpolation period and other indicators it supports can be higher.
  • the digital signal processor 101 is further provided with a remote communication module 1016.
  • the remote communication module 1016 is connected to the external API interface function unit 10111, and is configured to receive a remote upgrade program through the Ethernet port, and upgrade the firmware program according to the upgrade program, which is convenient for Maintenance and update of the firmware program.
  • the remote communication module 1016 can also be used to obtain a log file in the firmware program, and send it to the host computer through the host computer communication module 1011, so as to facilitate an abnormality check when an abnormality occurs on the site.
  • FIG. 6 is a logic block diagram of a DSP (Digital Signal Processing) chip in the motion control card of the present invention.
  • DSP Digital Signal Processing
  • an embodiment of the motion control system of the present invention includes:
  • the motion control card 1, the host computer 2, and the servo driver 3 are connected to the host computer 2 and the servo driver 3, respectively.
  • the motion control card 1 may include a digital signal processor 101, a host computer connection module 102, an RTEX bus module 103, a reset module 104, a power module 105, and a peripheral storage module 106, a host computer connection module 102, an RTEX bus module 103, and a reset.
  • the module 104, the power module 105, and the peripheral storage module 106 are connected to the digital signal processor 101, respectively.
  • the upper computer 2 is connected to the upper computer connection module 102, and the servo drive 3 is connected to the RTEX bus module 103.
  • the RTEX bus module 103 can support a large number of control axes and can be expanded, and can be connected to a plurality of servo drives 3, three in the figure.
  • the servo driver 3 is taken as an example.
  • the digital signal processor 101 includes a host computer communication module 1011, a state machine control module 1012, and an RTEX bus communication module 1013.
  • the data communication process between the motion control card 1, the host computer 2 and the servo driver 3 mainly involves the communication of the host computer control command and the communication of the servo driver operating state information.
  • the specific processes of the control command communication between the motion control card 1, the host computer 2, and the servo driver 3 include:
  • the host computer 2 acquires the control command of the user and parses the control command, and then sends the parsed control command to the motion control card 1. After receiving the control command sent by the host computer 2, the motion control card 1 forwards the control command to the servo The drive 3; the servo drive 3 receives the control command and executes the control command.
  • Communication of operational status information between the motion control card 1, the host computer 2, and the servo driver 3 include:
  • the motion control card 1 After receiving the running state information sent by the servo driver 3, the motion control card 1 decapsulates and parses the information, and then sends the parsed operating state information to the host computer 2.
  • the step of transmitting the running state information sent by the motion control card 1 to the upper computer 2, and the step of the motion control card forwarding the control command sent by the upper computer 2 to the driver 3 is mainly implemented by the digital signal processor 1.
  • the digital signal processor 1 For the module to implement the above steps in the digital signal processor 1, refer to the corresponding embodiment in FIG. 3, and details are not described herein again.
  • the digital signal processor 101 can also include a security logic processing module 1014.
  • the security logic processing module 1014 is connected to the state machine control module 1012 for performing security processing on the fault when the servo driver or the digital input/output module fails or the communication fails.
  • the safety logic processing module 1014 can actively send a stop instruction to the servo driver, so that the servo driver powers off the motor and stops the operation of the driver, waiting for further processing of the fault; when the communication is faulty, Actively reset and reconnect the internal chip. If the connection is not available, you can report the communication failure to the host computer and wait for further detection.
  • the upper computer 2 may include a computer 201 and/or a teach pendant 202.
  • the upper computer connection module 102 also includes a USB function module and/or a PCI function module 1021.
  • the USB function module is used to connect the teach pendant; the PCI function module 1021 is used to connect to the industrial computer.
  • the upper computer 2 is an industrial computer 201
  • the upper computer connection module 102 is a PCI function module 1021 as an example.
  • Another embodiment of the motion control system of the present invention includes:
  • the motion control card 1 may include a digital signal processor 101, a PCI function module 1021, an RTEX bus module 103, a reset module 104, a power module 105, a peripheral storage module 106, and a serial port module 107, and a PCI function module 1021 and an RTEX bus module 103.
  • the reset module 104, the power module 105, the peripheral storage module 106, and the serial port module 107 are respectively connected to the digital signal processor 101.
  • the host computer 2 is connected to the PCI function module 1021, the digital input/output module 4 is connected to the serial port module 107, and the servo driver 3 is connected to the RTEX bus module 103.
  • the RTEX bus module 103 can support a large number of control axes and can be expanded, and can be combined with The servo drives 3 are connected.
  • the digital input/output module 4 can be a digital input/output IO device of the programmable logic controller PLC.
  • the digital signal processor 101 includes a host computer communication module 1011, a state machine control module 1012, an RTEX bus communication module 1013, a security logic processing module 1014, a serial communication module 1015, and a remote communication module 1016.
  • the digital signal processor host computer communication module 1011 may include a foreign API interface function unit 10111, and the external API interface function unit 10111 is configured to provide an API interface function 10111 that can be called externally, and implement the RTEX bus servo through the API interface function.
  • the API interface function includes a function for acquiring the state of the servo driver, a function for selecting the running state of the servo driver, and a function for writing the position data of the servo driver.
  • the API interface function can also provide a callback function of the standard algorithm externally, and the PC software developer can put the core part of the algorithm into the upper computer software for implementation.
  • the advantage of setting the external API interface function unit 10111 is that the motion control card 1 provided by the present invention can be made more open and has a higher running speed. Specifically, the interpolation, look-ahead and other algorithms running in the motion control card 1 of the present invention can be opened to the upper computer software developer in the form of a callback function through the external API function, and the software developer can Development, improved openness, and because of the simple function of the motion control card, the interpolation period and other indicators it supports can be higher.
  • the remote communication module 1016 is connected to the external API interface function unit 10111, and is configured to receive a remote upgrade program through the Ethernet port, and upgrade the firmware program according to the upgrade program to facilitate maintenance and update of the firmware program.
  • the remote communication module 1016 can also be used to obtain a log file in the firmware program, and send it to the host computer through the host computer communication module 1011, so as to facilitate an abnormality check when an abnormality occurs on the site.
  • the present invention also provides a robot system, the robot system comprising:
  • the robot body 4 The robot body 4, the motion control card 1, the teach pendant 202, and the servo driver 3.
  • the motion control card 1 may be a motion control card according to any one of the embodiments corresponding to FIG. 1 to FIG. 3, and should include at least a digital signal processor 101, a host computer connection module 102, an RTEX bus module 103, and a reset.
  • the module 104, the power module 105, and the peripheral storage module 106, the host computer connection module 102, the RTEX bus module 103, the reset module 104, the power module 105, and the peripheral storage module 106 are respectively connected to the digital signal processor 101.
  • the teach pendant 202 is connected to the host computer connection module 102 of the motion control card 1.
  • the host computer connection module 102 can be a USB function module.
  • the line modules 103 are connected, and the servo driver 3 is connected to the robot body 4 for controlling the movement of the robot body 4.
  • the RTEX bus module 103 can support a large number of control axes and can be expanded, and can be connected to a plurality of servo drivers 3. In FIG. 9, three servo drivers 3 are taken as an example.
  • the data communication process between the motion control card 1, the teach pendant 202 and the servo driver 3 mainly relates to the communication of the teach pendant control command and the communication of the servo drive operating state information.
  • the specific processes of the control command communication between the motion control card 1, the teach pendant 202, and the servo driver 3 include:
  • the teach pendant 202 acquires the control command of the user and parses the control command, and then sends the parsed control command to the motion control card 1; after receiving the control command sent by the teach pendant 202, the motion control card 1 forwards the control command
  • the servo driver 3 is received; the servo driver 3 receives the control command and controls the robot body 4 in accordance with the control command.
  • the present invention also provides a numerical control machine tool, and the numerical control machine tool comprises:
  • the machine body 5 The machine body 5, the motion control card 1, the industrial computer 201, and the servo driver 3.
  • the motion control card 1 may be a motion control card according to any one of the embodiments corresponding to FIG. 1 to FIG. 3, and should include at least a digital signal processor 101, a host computer connection module 102, an RTEX bus module 103, and a reset.
  • the module 104, the power module 105, and the peripheral storage module 106, the host computer connection module 102, the RTEX bus module 103, the reset module 104, the power module 105, and the peripheral storage module 106 are respectively connected to the digital signal processor 101.
  • the industrial computer 201 is connected to the upper computer connection module 102 of the motion control card 1.
  • the upper computer connection module 102 can be a PCI function module.
  • the servo drive 3 is connected to the RTEX bus module 103 of the motion control card, and the servo drive 3 is connected to the machine body 5 for controlling the movement of the machine body 5.
  • the RTEX bus module 103 can support a large number of control axes and can be expanded, and can be connected to a plurality of servo drivers 3. In FIG. 10, three servo drivers 3 are taken as an example.
  • the data communication process between the motion control card 1, the industrial computer 201 and the servo driver 3 mainly involves the communication of the industrial control command and the communication of the servo drive operating state information.
  • the specific processes of the control command communication between the motion control card 1, the industrial computer 201, and the servo driver 3 include:
  • the industrial computer 201 acquires the control command of the user and parses the control command, and then sends the parsed control command to the motion control card 1; after receiving the control command sent by the industrial computer 201, the motion control card 1 forwards the control command to the servo Driver 3; servo driver 3 receives control commands and follows control The command controls the machine body 5 .
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of cells is only a logical function division.
  • multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • An integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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Abstract

公开了一种运动控制卡、以及使用该运动控制卡的运动控制系统、机器人系统和数控机床。该运动控制卡包括数字信息处理器（101）、上位机连接模块（102）、RTEX总线模块（103）、复位模块（104）以及电源模块（105），数字信号处理器（101）通过上位机连接模块（102）从上位机（2）获取经解析的运动控制命令，并根据通过RTEX总线模块获取的伺服驱动器（3）的不同状态将运动控制命令通过RTEX总线模块发送至伺服驱动器；或者，数字信号处理器（101）通过RTEX总线模块接收来自伺服驱动器的运行状态信息并通过上位机连接模块（102）发送至上位机（2），能够实现对支持RTEX总线型伺服驱动器的控制。

Description

一种运动控制卡、运动控制系统、机器人系统及数控机床 技术领域
本申请实施例涉及机械自动化技术领域，尤其涉及一种运动控制卡、运动控制系统、机器人系统及数控机床。
背景技术
开放式数控系统，采用了在工控机主板的插槽插入运动控制板卡的结构，具有架构灵活、可移植性强、可扩展性强等优势，近年来获得了极大的发展。为了保证控制系统的高实时性，需要选用匹配的传输总线，使得控制系统的实时性不被传输部分局限。
随着以太网技术的迅猛发展，以太网开始被应用在越来越多的工业领域。在国内外伺服技术都在向以太网总线化发展的背景下，日本松下公司发布的RTEX高速实时以太网通讯协议，成为新一代数控系统的控制总线，具有拓扑结构灵活、抗干扰能力优异以及配线成本低廉等优点。支持RTEX总线型伺服驱动器使得多轴控制系统的总线连接方式得以简易实现，并且成本低廉。
但是现有的运动控制卡通常为支持MIII总线(并行总线)或CAN总线(控制器局域网总线)的运动控制卡，无法实现对支持RTEX总线型伺服驱动器的控制，不利于降低数控系统的成本。
发明内容
本发明提供一种运动控制卡、运动控制系统、机器人系统及数控机床，用于解决现有运动控制卡无法实现对支持RTEX总线型伺服驱动器的控制的问题。
本发明实施例的一方面提供了一种运动控制卡，包括：
数字信号处理器、上位机连接模块、RTEX总线模块、复位模块以及电源模块；
所述数字信号处理器分别与所述上位机连接模块、所述RTEX总线模块、所述复位模块以及所述电源模块相连；
所述电源模块用于为所述运动控制卡供电；
所述复位模块用于对所述运动控制卡进行复位；
所述上位机连接模块用于与上位机进行通信连接；
所述RTEX总线模块用于与伺服驱动器进行通信连接；
所述数字信号处理器通过所述上位机连接模块从所述上位机获取经解析的运动控制命令，并根据通过所述RTEX总线模块获取的所述伺服驱动器的不同状态将所述运动控制命令通过所述RTEX总线模块发送至所述伺服驱动器；或者，所述数字信号处理器通过所述RTEX总线模块接收来自所述伺服驱动器的运行状态信息并通过所述上位机连接模块发送至所述上位机。
结合第一方面，在第一方面的第一种可能的实现方式中，所述上位机连接模块包括USB功能模块和/或PCI功能模块；所述USB(通用串行总线)功能模块用于连接示教器；所述PCI(外围器件互联)功能模块用于连接工控机。
结合第一方面或第一方面的第一种可能的实现方式，在第一方面的第二种可能的实现方式中，所述数字信号处理器包括：
上位机通讯模块、状态机控制模块以及RTEX总线通讯模块；
所述上位机通讯模块分别与所述上位机连接模块和所述状态机控制模块相连，所述状态机控制模块与所述RTEX总线通讯模块相连，所述RTEX总线通讯模块与所述RTEX总线模块相连；
所述上位机通讯模块用于接收上位机解析后的控制命令，并将控制命令发送给状态机控制模块；
所述状态机控制模块用于以轮询的方式接收上位机通过上位机通讯模块发送的解析后的控制命令，根据所述伺服驱动器的不同状态，以中断的方式将所述控制命令通过RTEX总线通讯模块发送到所述伺服驱动器中；
所述RTEX总线通讯模块用于接收所述状态机控制模块发送的控制命令，并将所述控制命令进行封装后发送给所述RTEX总线模块。
结合第一方面的第二种可能的实现方式，在第一方面的第三种可能的实现方式中，所述RTEX总线通讯模块还用于接收所述RTEX总线模块发送的所述伺服驱动器的运行状态信息，并对所述运行状态信息进行解析，发送给所述状态机控制模块；
所述状态机控制模块还用于以中断的方式获取来自所述RTEX总线通讯模块的所述伺服驱动器的运行状态信息，并将所述运行状态信息发送给所述上位机通讯模块；
所述上位机通讯模块还用于接收所述状态机控制模块发送的所述伺服驱 动器的运行状态信息，并将所述运行状态信息发送至所述上位机。
结合第一方面、第一方面的第一种可能的实现方式、第一方面的第二种可能的实现方式和第一方面的第三种可能的实现方式之中任意一种，在第一方面的第四种可能的实现方式中，所述运动控制卡还包括串口模块，所述串口模块与所述数字信号处理器相连，并且与数字量输入输出模块进行通信。
结合第一方面的第四种可能的实现方式，在第一方面的第五种可能的实现方式中，所述数字信号处理器还包括串口通讯模块，所述串口通讯模块分别与所述状态机控制模块以及所述串口模块相连。
结合第一方面、第一方面的第一种可能的实现方式、第一方面的第二种可能的实现方式、第一方面的第三种可能的实现方式、第一方面的第四种可能的实现方式和第一方面的第五种可能的实现方式之中任意一种，在第一方面的第六种可能的实现方式中，所述数字信号处理器还包括安全逻辑处理模块，所述安全逻辑处理模块与所述状态机控制模块相连，用于当所述伺服驱动器或者数字量输入输出模块出现故障或者通讯故障时，针对故障进行安全处理。
结合第一方面、第一方面的第一种可能的实现方式、第一方面的第二种可能的实现方式、第一方面的第三种可能的实现方式、第一方面的第四种可能的实现方式、第一方面的第五种可能的实现方式和第一方面的第六种可能的实现方式之中任意一种，在第一方面的第七种可能的实现方式中，所述上位机通讯模块包括对外应用程序编程接口API接口函数单元，所述对外API接口函数单元用于对外提供可供调用的API接口函数，所述API接口函数包括用于获取伺服驱动器状态的函数、用于选择伺服驱动器运行状态的函数以及用于写入伺服驱动器位置数据的函数。
结合第一方面、第一方面的第一种可能的实现方式、第一方面的第二种可能的实现方式、第一方面的第三种可能的实现方式、第一方面的第四种可能的实现方式、第一方面的第五种可能的实现方式、第一方面的第六种可能的实现方式和第一方面的第七种可能的实现方式之中任意一种，在第一方面的第八种可能的实现方式中，所述数字信号处理器还包括远程通讯模块，所述远程通讯模块与所述对外API接口函数单元相连，用于通过以太网口接收远程的升级程序，并根据所述升级程序对固件程序进行升级。
结合第一方面的第八种可能的实现方式，在第一方面的第九种可能的实现 方式中，所述远程通讯模块还用于获取固件程序内的日志文件，并通过所述上位机通讯模块发送至所述上位机。
本发明实施例的第二方面提供了一种运动控制系统，包括：
本发明实施例的第一方面提供的上述任意一种运动控制卡，与所述运动控制卡的上位机连接模块相连的上位机，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
结合第二方面，在第二方面的第一种可能的实现方式中，所述上位机包括工控机和/或示教器。
结合第二方面或者第二方面的第一种可能的实现方式，在第二方面的第二种可能的实现方式中，所述运动控制系统还包括与所述运动控制卡的串口模块相连的数字量输入输出模块。
结合第二方面、第二方面的第一种可能的实现方式和第二方面的第二种可能的实现方式之中任意一种，在第二方面的第三种可能的实现方式中，所述数字量输入输出模块为可编程逻辑控制器的数字量输入输出模块。
本发明实施例的第三方面提供了一种机器人系统，包括：
机器人主体、本发明实施例的第一方面提供的上述任意一种运动控制卡，与所述运动控制卡的上位机连接模块相连的示教器，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
本发明实施例的第四方面提供了一种数控机床，包括：
机床本体、本发明实施例的第一方面提供的上述任意一种运动控制卡，与所述运动控制卡的上位机连接模块相连的工控机，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
本申请实施例提供的运动控制卡包括数字信号处理器、上位机连接模块、RTEX总线模块、复位模块以及电源模块，运动控制卡的数字信号处理器通过所述上位机连接模块从所述上位机获取经解析的运动控制命令，并根据通过所述RTEX总线模块获取的所述伺服驱动器的不同状态将所述运动控制命令通过所述RTEX总线模块发送至所述伺服驱动器；或者，所述数字信号处理器通过所述RTEX总线模块接收来自所述伺服驱动器的运行状态信息并通过所述上位机连接模块发送至所述上位机，能够实现对支持RTEX总线型伺服驱动器的控制，以降低成本。
附图说明
图1是本发明运动控制卡一个实施例示意图；
图2是本发明运动控制卡另一个实施例示意图；
图3是本发明运动控制卡另一个实施例示意图；
图4是本发明运动控制卡中数字信号处理器一个实施例示意图；
图5是本发明运动控制卡中数字信号处理器另一个实施例示意图；
图6是本发明运动控制卡中数字信号处理器的逻辑框图；
图7是本发明运动控制系统一个实施例示意图；
图8是本发明运动控制系统另一个实施例示意图；
图9是本发明机器人系统一个实施例示意图；
图10是本发明数控机床一个实施例示意图。
具体实施方式
本发明实施例提供了一种运动控制卡、运动控制系统、机器人系统及数控机床，用于实现对支持RTEX总线型伺服驱动器的控制，以降低成本。
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的实施例能够以除了在这里图示或描述的内容以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为便于理解，下面对本发明实施例中的具体流程进行描述，请参阅图1，本发明实施例中运动控制卡1一个实施例包括：
数字信号处理器101、上位机连接模块102、RTEX(高速实时以太网通讯 协议)总线模块103、复位模块104以及电源模块105；
数字信号处理器101分别与上位机连接模块102、RTEX总线模块103、复位模块104以及电源模块105相连；
电源模块105用于为运动控制卡1供电；
复位模块104用于对运动控制卡1进行复位；
上位机连接模块102用于与上位机进行通信连接；
RTEX总线模块103用于与伺服驱动器进行通信连接；
数字信号处理器101通过上位机连接模块102从上位机获取经解析的运动控制命令，并根据通过RTEX总线模块103获取的伺服驱动器的不同状态将运动控制命令通过RTEX总线模块103发送至伺服驱动器；或者，数字信号处理器101通过RTEX总线模块103接收来自伺服驱动器的运行状态信息并通过上位机连接模块102发送至上位机，能够实现对支持RTEX总线型伺服驱动器的控制，以降低成本。
本发明实施例中的运动控制卡以数字信号处理器101为核心，具体的，作为举例，可以选用TMS320C6205芯片，在实际使用中也可以选用其他型号的芯片，此处不做限定。
其中，上位机连接模块102可以为USB(通用串行总线)功能模块(图中未标识出)，或者为PCI(外围器件互联)功能模块，或者包括USB功能模块和PCI功能模块。USB功能模块用于连接示教器；PCI功能模块用于连接工控机。在本发明实施例中，以上位机连接模块102为PCI功能模块1021为例进行说明。
PCI功能模块1021用于负责与工控机的连接，完成来自工控机的命令接收和伺服驱动器的运行状态信息的发送。选用的TMS320C6205芯片自带PCI(外围器件互联)电路，所以对于PCI功能模块1021的设计可以直接使用数字信号处理器101的电路。并且在外围添加BUFFER(缓冲器)可以增强其驱动能力，同时添加EEPROM(电可擦除只读存储器)，用来存放对于PCI的PID(产品识别码)和VID(供应商编号)等信息，PCI的PID和VID等信息用于编写板卡的驱动。
RTEX总线模块103用于与伺服驱动器进行通信连接，RTEX总线模块103可以选用RTEX协议芯片MNM1221来实现总线的物理层功能，然后通过MII 接口(介质独立接口)连接PHY(物理层)芯片RTL8201，最后通过隔离变压器对外提供两个RJ45接口(标准8位模块化接口)，分别负责发送数据和接收数据。
复位模块104用于对运动控制卡中的电路进行复位，具体的，复位模块104可以对数字信号处理器101(TMS320C6205)、RTEX协议芯片(MNM1221)、PHY芯片(RTL8201)进行复位，作为举例，在本发明实施例中，复位模块104可以选用TPS3808G01芯片。
电源模块105用于为运动控制卡供电，作为举例，可以选用TPS54325芯片。整个运动控制卡的电路可以采用基于PCI的供电方式，从PCI获取5V板级电源，然后通过TPS54325芯片，将5V电源转换板子所需要的内核电压1.5V和外围电压3.3V。对于1.5V和3.3V电压的上电时序通过复位电路进行控制，先产生1.5V电压，然后在产生3.3V电压。
进一步的，本实施例中的运动控制卡1还可以包括外围存储模块106，外围存储模块106可以包括SDRAM(同步动态随机存储器)和Flash(闪存)。Flash可以用来存储固件程序，整个系统从Flash启动，作为举例，可以选用ST39VF1601芯片。SDRAM用来存放程序运行过程中的程序以及数据，包括数字信号处理器101与上位机的命令和运行状态信息，本电路中选用MT48LC4M32B。
请参阅图2，以上位机连接模块102为工控机为例，本发明实施例中运动控制卡1另一个实施例包括：
数字信号处理器101、PCI功能模块1021、RTEX总线模块103、复位模块104、电源模块105、外围存储模块106以及串口模块107。
串口模块107与数字信号处理器101相连，并且与数字量输入输出模块进行通信。作为举例，串口模块可以提供RS485硬件电路，在应用层实现Modbus标准通讯协议，实现Modbus主站功能，能够与支持Modbus协议的数字量输入输出模块，优选的，与支持Modbus协议的PLC IO设备直接进行通讯。优选的，使用TMS320C6205的McBSP接口(多通道缓冲串行口)模拟UART(通用异步收发传输器)接口，能够省掉专门的UART接口芯片，节省了成本。同时，串口模块107还可以对外提供RS232接口(异步传输标准接口)，用来做调试输出使用。
需要说明的是，本发明中编号相同的器件或模块具有相同的含义，因此此处对于本发明实施例中与前述图1对应的实施例中编号相同的模块不再赘述。
作为举例，图2对应的运动控制卡的总体电路设计可以如图3所示。
运动控制卡1用于将上位机发送的控制命令转发至与运动控制卡1相连的各个伺服驱动器，从而使得各个伺服驱动器能及时对来自上位机的控制命令进行响应。此外，运动控制卡1还用于将来自各个伺服驱动器的运行状态信息转发给上位机，以使得上位机能及时显示各个伺服驱动器的状态。运动控制卡1的上述职能主要通过数字信号处理器101来实现。请参阅图4，本发明数字信号处理器101的一个实施例包括：
上位机通讯模块1011、状态机控制模块1012以及RTEX总线通讯模块1013；
上位机通讯模块1011分别与上位机连接模块102和状态机控制模块1012相连，状态机控制模块1012与RTEX总线通讯模块1013相连，RTEX总线通讯模块1013与RTEX总线模块103相连；
上位机通讯模块1011用于接收上位机解析后的控制命令，并将控制命令发送给状态机控制模块1012；
状态机控制模块1012用于以轮询的方式接收上位机通过上位机通讯模块1011发送的解析后的控制命令，根据伺服驱动器的不同状态，以中断的方式将控制命令通过RTEX总线通讯模块1013发送到伺服驱动器中；
RTEX总线通讯模块1013用于接收状态机控制模块1012发送的控制命令，并将控制命令进行封装后发送给RTEX总线模块103，从而使得RTEX总线模块103将控制命令发送给与之相连的伺服驱动器，进而使得伺服驱动器根据接收到的控制命令进行相应的操作。
为了执行将伺服驱动器发送的运行状态信息发送至上位机，数字信号处理器101中的各个模块还需具有如下功能：
RTEX总线通讯模块1013还用于接收RTEX总线模块103发送的伺服驱动器的运行状态信息，并对运行状态信息进行解析，发送给状态机控制模块1012；
状态机控制模块1012还用于以中断的方式获取来自RTEX总线通讯模块103的伺服驱动器的运行状态信息，并将运行状态信息发送给上位机通讯模块 1011；
上位机通讯模块1011还用于接收状态机控制模块1012发送的伺服驱动器的运行状态信息，并将运行状态信息发送至上位机。
优选的，数字信号处理器101还可以包括安全逻辑处理模块1014，安全逻辑处理模块1014与状态机控制模块1012相连，用于当伺服驱动器或者数字量输入输出模块出现故障或者通讯故障时，针对故障进行安全处理。具体的，当伺服驱动器故障时，安全逻辑处理模块1014可以主动给伺服驱动器发送停机指令，从而使得伺服驱动器给电机断电并停止驱动器的工作，等待进一步对故障进行处理；当通讯故障时，可以主动对内部芯片进行复位并重新连接，如果连接不上，可以向上位机上报通讯故障，等待进一步检测处理。
请参阅图5，本发明数字信号处理器101的另一个实施例包括：
上位机通讯模块1011、状态机控制模块1012以及RTEX总线通讯模块1013、安全逻辑处理模块1014、串口通讯模块1015、远程通讯模块1016。
其中，串口通讯模块1015分别与状态机控制模块1012以及串口模块107相连，用于实现标准的Modbus通讯协议，和串口模块107一起负责与支持Modbus协议的PLC IO设备(可编程逻辑控制器的输入输出设备)进行通讯。
优选的，上位机通讯模块1011可以包括对外API接口函数(应用程序编程接口)单元10111，对外API接口函数单元10111用于对外提供可供调用的API接口函数10111，实现通过API接口函数对支持RTEX总线伺服驱动器以及支持Modbus总线协议PLC IO设备的控制。其中，API接口函数包括用于获取伺服驱动器状态的函数、用于选择伺服驱动器运行状态的函数以及用于写入伺服驱动器位置数据的函数。同时，API接口函数中还可以对外提供标准算法的回调函数，上位机软件开发人员可以将算法核心部分放到上位机软件中实施。
设置对外API接口函数单元10111的优点在于，可以使得本发明提供的运动控制卡1的开放性更好、运行速度更高。具体的，在本发明运动控制卡1中运行的插补、前瞻等算法可以通过对外API函数，以回调函数的形式开放给上位机软件开发人员，对于软件开发人员而言，能够将核心算法自行开发，提高了开放性，同时由于运动控制卡功能简单，其支持的插补周期等指标可以做到更高。
数字信号处理器101还设有远程通讯模块1016，远程通讯模块1016与对外API接口函数单元10111相连，用于通过以太网口接收远程的升级程序，并根据升级程序对固件程序进行升级，方便对固件程序的维护与更新。
远程通讯模块1016还可以用于获取固件程序内的日志文件，并通过上位机通讯模块1011发送至上位机，方便现场出现异常时进行异常检查。
以图5对应的实施例中的数字信号处理器101为例，请参阅图6，为本发明运动控制卡中DSP(数字信号处理)芯片的逻辑框图。
上面对本发明实施例中的运动控制卡进行了描述，下面对本发明实施例中的运动控制系统进行描述。
请参阅图7，本发明运动控制系统一个实施例包括：
运动控制卡1、上位机2以及伺服驱动器3，运动控制卡1分别与上位机2和伺服驱动器3相连。
其中，运动控制卡1可以包括数字信号处理器101、上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106，上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106分别与数字信号处理器101相连。上位机2与上位机连接模块102相连，伺服驱动器3与RTEX总线模块103相连，RTEX总线模块103可支持的控制轴数多并且可以扩展，可以与多个伺服驱动器3相连，图中以三个伺服驱动器3为例。
数字信号处理器101包括上位机通讯模块1011、状态机控制模块1012以及RTEX总线通讯模块1013。
运动控制卡1、上位机2以及伺服驱动器3三者间的数据通讯过程主要涉及上位机控制命令的通讯和伺服驱动器运行状态信息的通讯。
运动控制卡1、上位机2以及伺服驱动器3三者间的控制命令通讯的具体流程包括：
上位机2获取用户的控制命令并将该控制命令进行解析，再将解析后的控制命令发送给运动控制卡1；运动控制卡1接收上位机2发送的控制命令后，将控制命令转发给伺服驱动器3；伺服驱动器3接收控制命令并执行该控制命令。
运动控制卡1、上位机2以及伺服驱动器3三者间的运行状态信息的通讯 包括：
运动控制卡1接收伺服驱动器3发送的运行状态信息之后，对其进行解封装与解析，之后将解析后的运行状态信息发送给上位机2。
运动控制卡1伺服驱动器3发送的运行状态信息发送给上位机2的步骤，以及运动控制卡将上位机2发送的控制命令转发给驱动器3的步骤，主要是通过数字信号处理器1来实现的，数字信号处理器1内用于实现上述步骤的模块请参阅图3对应的实施例，此处不再赘述。
进一步的，数字信号处理器101还可以包括安全逻辑处理模块1014。安全逻辑处理模块1014与状态机控制模块1012相连，用于当伺服驱动器或者数字量输入输出模块出现故障或者通讯故障时，针对故障进行安全处理。具体的，当伺服驱动器故障时，安全逻辑处理模块1014可以主动给伺服驱动器发送停机指令，从而使得伺服驱动器给电机断电并停止驱动器的工作，等待进一步对故障进行处理；当通讯故障时，可以主动对内部芯片进行复位并重新连接，如果连接不上，可以向上位机上报通讯故障，等待进一步检测处理。
上位机2可以包括工控机201和/或示教器202，相对应的，上位机连接模块102也包括USB功能模块和/或PCI功能模块1021。USB功能模块用于连接示教器；PCI功能模块1021用于连接工控机。请参阅图8，以上位机2为工控机201，上位机连接模块102为PCI功能模块1021为例进行说明，本发明运动控制系统另一个实施例包括：
运动控制卡1、工控机201、伺服驱动器3、数字量输入输出模块4，其中运动控制卡1分别与上位机2、伺服驱动器3以及数字量输入输出模块4相连。
其中，运动控制卡1可以包括数字信号处理器101、PCI功能模块1021、RTEX总线模块103、复位模块104、电源模块105、外围存储模块106以及串口模块107，PCI功能模块1021、RTEX总线模块103、复位模块104、电源模块105、外围存储模块106以及串口模块107分别与数字信号处理器101相连。上位机2与PCI功能模块1021相连，数字量输入输出模块4与串口模块107相连，伺服驱动器3与RTEX总线模块103相连，RTEX总线模块103可支持的控制轴数多并且可以扩展，可以与多个伺服驱动器3相连。
其中，数字量输入输出模块4可以为可编程逻辑控制器PLC的数字量输入输出IO设备。
数字信号处理器101包括上位机通讯模块1011、状态机控制模块1012以及RTEX总线通讯模块1013、安全逻辑处理模块1014、串口通讯模块1015、远程通讯模块1016。
优选的，数字信号处理器上位机通讯模块1011可以包括对外API接口函数单元10111，对外API接口函数单元10111用于对外提供可供调用的API接口函数10111，实现通过API接口函数对支持RTEX总线伺服驱动器以及支持Modbus总线协议PLC IO设备的控制。其中，API接口函数包括用于获取伺服驱动器状态的函数、用于选择伺服驱动器运行状态的函数以及用于写入伺服驱动器位置数据的函数。同时，API接口函数中还可以对外提供标准算法的回调函数，上位机软件开发人员可以将算法核心部分放到上位机软件中实施。
设置对外API接口函数单元10111的优点在于，可以使得本发明提供的运动控制卡1的开放性更好、运行速度更高。具体的，在本发明运动控制卡1中运行的插补、前瞻等算法可以通过对外API函数，以回调函数的形式开放给上位机软件开发人员，对于软件开发人员而言，能够将核心算法自行开发，提高了开放性，同时由于运动控制卡功能简单，其支持的插补周期等指标可以做到更高。
远程通讯模块1016与对外API接口函数单元10111相连，用于通过以太网口接收远程的升级程序，并根据升级程序对固件程序进行升级，方便对固件程序的维护与更新。
远程通讯模块1016还可以用于获取固件程序内的日志文件，并通过上位机通讯模块1011发送至上位机，方便现场出现异常时进行异常检查。
请参阅图9，本发明还提供一种机器人系统，机器人系统包括：
机器人本体4、运动控制卡1、示教器202以及伺服驱动器3。
其中，运动控制卡1可以为图1至图3对应的实施例中任意一个实施例所述的运动控制卡，应至少包括数字信号处理器101、上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106，上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106分别与数字信号处理器101相连。
示教器202与运动控制卡1的上位机连接模块102相连，具体的，上位机连接模块102可以为USB功能模块。伺服驱动器3与运动控制卡的RTEX总 线模块103相连，伺服驱动器3与机器人本体4相连，用于控制机器人本体4的运动。RTEX总线模块103可支持的控制轴数多并且可以扩展，可以与多个伺服驱动器3相连，图9中以三个伺服驱动器3为例。
运动控制卡1、示教器202以及伺服驱动器3三者间的数据通讯过程主要涉及示教器控制命令的通讯和伺服驱动器运行状态信息的通讯。
运动控制卡1、示教器202以及伺服驱动器3三者间的控制命令通讯的具体流程包括：
示教器202获取用户的控制命令并将该控制命令进行解析，再将解析后的控制命令发送给运动控制卡1；运动控制卡1接收示教器202发送的控制命令后，将控制命令转发给伺服驱动器3；伺服驱动器3接收控制命令并按照控制命令对机器人本体4进行控制。
请参阅图10，本发明还提供一种数控机床，数控机床包括：
机床本体5、运动控制卡1、工控机201以及伺服驱动器3。
其中，运动控制卡1可以为图1至图3对应的实施例中任意一个实施例所述的运动控制卡，应至少包括数字信号处理器101、上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106，上位机连接模块102、RTEX总线模块103、复位模块104、电源模块105以及外围存储模块106分别与数字信号处理器101相连。
工控机201与运动控制卡1的上位机连接模块102相连，具体的，上位机连接模块102可以为PCI功能模块。伺服驱动器3与运动控制卡的RTEX总线模块103相连，伺服驱动器3与机床本体5相连，用于控制机床本体5的运动。RTEX总线模块103可支持的控制轴数多并且可以扩展，可以与多个伺服驱动器3相连，图10中以三个伺服驱动器3为例。
运动控制卡1、工控机201以及伺服驱动器3三者间的数据通讯过程主要涉及工控机控制命令的通讯和伺服驱动器运行状态信息的通讯。
运动控制卡1、工控机201以及伺服驱动器3三者间的控制命令通讯的具体流程包括：
工控机201获取用户的控制命令并将该控制命令进行解析，再将解析后的控制命令发送给运动控制卡1；运动控制卡1接收工控机201发送的控制命令后，将控制命令转发给伺服驱动器3；伺服驱动器3接收控制命令并按照控制 命令对机床本体5进行控制。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统，装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统，装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，RandomAccess Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上，以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解： 其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (16)

  1. 一种运动控制卡，其特征在于，包括：
    数字信号处理器、上位机连接模块、高速实时以太网通讯协议RTEX总线模块、复位模块以及电源模块；
    所述数字信号处理器分别与所述上位机连接模块、所述RTEX总线模块、所述复位模块以及所述电源模块相连；
    所述电源模块用于为所述运动控制卡供电；
    所述复位模块用于对所述运动控制卡进行复位；
    所述上位机连接模块用于与上位机进行通信连接；
    所述RTEX总线模块用于与伺服驱动器进行通信连接；
    所述数字信号处理器通过所述上位机连接模块从所述上位机获取经解析的运动控制命令，并根据通过所述RTEX总线模块获取的所述伺服驱动器的不同状态将所述运动控制命令通过所述RTEX总线模块发送至所述伺服驱动器；或者，所述数字信号处理器通过所述RTEX总线模块接收来自所述伺服驱动器的运行状态信息并通过所述上位机连接模块发送至所述上位机。
  2. 根据权利要求1所述的运动控制卡，其特征在于，所述上位机连接模块包括通用串行总线USB功能模块和/或外围器件互联PCI功能模块；
    所述USB功能模块用于连接示教器；
    所述PCI功能模块用于连接工控机。
  3. 根据权利要求1所述的运动控制卡，其特征在于，所述数字信号处理器包括：
    上位机通讯模块、状态机控制模块以及RTEX总线通讯模块；
    所述上位机通讯模块分别与所述上位机连接模块和所述状态机控制模块相连，所述状态机控制模块与所述RTEX总线通讯模块相连，所述RTEX总线通讯模块与所述RTEX总线模块相连；
    所述上位机通讯模块用于接收上位机解析后的控制命令，并将控制命令发送给状态机控制模块；
    所述状态机控制模块用于以轮询的方式接收上位机通过上位机通讯模块发送的解析后的控制命令，根据所述伺服驱动器的不同状态，以中断的方式将所述控制命令通过RTEX总线通讯模块发送到所述伺服驱动器中；
    所述RTEX总线通讯模块用于接收所述状态机控制模块发送的控制命令，并将所述控制命令进行封装后发送给所述RTEX总线模块。
  4. 根据权利要求3所述的运动控制卡，其特征在于，所述RTEX总线通讯模块还用于接收所述RTEX总线模块发送的所述伺服驱动器的运行状态信息，并对所述运行状态信息进行解析，发送给所述状态机控制模块；
    所述状态机控制模块还用于以中断的方式获取来自所述RTEX总线通讯模块的所述伺服驱动器的运行状态信息，并将所述运行状态信息发送给所述上位机通讯模块；
    所述上位机通讯模块还用于接收所述状态机控制模块发送的所述伺服驱动器的运行状态信息，并将所述运行状态信息发送至所述上位机。
  5. 根据权利要求4所述的运动控制卡，其特征在于，所述运动控制卡还包括串口模块，所述串口模块与所述数字信号处理器相连，并且与数字量输入输出模块进行通信。
  6. 根据权利要求5所述的运动控制卡，其特征在于，所述数字信号处理器还包括串口通讯模块，所述串口通讯模块分别与所述状态机控制模块以及所述串口模块相连。
  7. 根据权利要求1至6中任一项所述的运动控制卡，其特征在于，所述数字信号处理器还包括安全逻辑处理模块，所述安全逻辑处理模块与所述状态机控制模块相连，用于当所述伺服驱动器或者数字量输入输出模块出现故障或者通讯故障时，针对故障进行安全处理。
  8. 根据权利要求1至6中任一项所述的运动控制卡，其特征在于，所述上位机通讯模块包括对外应用程序编程接口API接口函数单元，所述对外API接口函数单元用于对外提供可供调用的API接口函数，所述API接口函数包括用于获取伺服驱动器状态的函数、用于选择伺服驱动器运行状态的函数以及用于写入伺服驱动器位置数据的函数。
  9. 根据权利要求8所述的运动控制卡，其特征在于，所述数字信号处理器还包括远程通讯模块，所述远程通讯模块与所述对外API接口函数单元相连，用于通过以太网口接收远程的升级程序，并根据所述升级程序对固件程序进行升级。
  10. 根据权利要求9所述的运动控制卡，其特征在于，所述远程通讯模块 还用于获取固件程序内的日志文件，并通过所述上位机通讯模块发送至所述上位机。
  11. 一种运动控制系统，其特征在于，包括如权利要求1至10中任一项所述的运动控制卡，与所述运动控制卡的上位机连接模块相连的上位机，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
  12. 根据权利要求11所述的运动控制系统，其特征在于，所述上位机包括工控机和/或示教器。
  13. 根据权利要求11所述的运动控制系统，其特征在于，所述运动控制系统还包括与所述运动控制卡的串口模块相连的数字量输入输出模块。
  14. 根据权利要求13所述的运动控制系统，其特征在于，所述数字量输入输出模块为可编程逻辑控制器的数字量输入输出模块。
  15. 一种机器人系统，其特征在于，包括机器人本体、如权利要求1至10中任一项所述的运动控制卡，与所述运动控制卡的上位机连接模块相连的示教器，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
  16. 一种数控机床，其特征在于，包括机床本体、如权利要求1至10中任一项所述的运动控制卡，与所述运动控制卡的上位机连接模块相连的工控机，以及与所述运动控制卡的RTEX总线模块相连的伺服驱动器。
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