WO2019113726A1 - 运动控制器及运动控制的方法 - Google Patents

运动控制器及运动控制的方法 Download PDF

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Publication number
WO2019113726A1
WO2019113726A1 PCT/CN2017/115415 CN2017115415W WO2019113726A1 WO 2019113726 A1 WO2019113726 A1 WO 2019113726A1 CN 2017115415 W CN2017115415 W CN 2017115415W WO 2019113726 A1 WO2019113726 A1 WO 2019113726A1
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Prior art keywords
motion
circuit
motion controller
rtex
communication circuit
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PCT/CN2017/115415
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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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Priority to CN201780092647.3A priority Critical patent/CN110832410B/zh
Priority to PCT/CN2017/115415 priority patent/WO2019113726A1/zh
Publication of WO2019113726A1 publication Critical patent/WO2019113726A1/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

Definitions

  • the present application relates to the field of automatic control, and in particular to a motion controller and a method of motion control.
  • Motion control is the real-time control and management of the position and speed of mechanical moving parts, so that they move according to the expected motion trajectory and the specified motion parameters.
  • the motion controller is the core device of the control system. It not only realizes real-time monitoring of human-computer interaction interface management and control system, but also completes functions such as motion trajectory planning and pulse signal output.
  • motion controllers include control systems based on personal computers (PCs) and motion control cards. It is usually embedded in the PC through the peripheral component interconnect (PCI) bus.
  • PC peripheral component interconnect
  • the PC is responsible for running the robot control software, and the PCI board handles the real-time interpolation function.
  • the control of the joint motion is generally realized by controlling the motor, thereby realizing a specific control function.
  • the motion controller must realize the real-time monitoring of the human-computer interaction interface management and control system, and also complete the functions of motion trajectory planning and pulse signal output.
  • the non-bus type motion controller due to the limitation of the hardware interface, it is generally possible to connect 4 to 6 axes of servo drive, and the number of connected axes is small and does not have expandability.
  • the general-purpose motion controller generally does not support the connection of input and output modules.
  • the embodiment of the present application provides a motion controller and a motion control method for improving the number of axes of motion control, making it expandable, and improving the integration of the motion controller control system and reducing the cost.
  • a first aspect of an embodiment of the present application provides a motion controller, including:
  • the power circuit, the RTEX communication circuit, and the serial communication circuit are connected to different interfaces of the main control chip;
  • the power circuit is configured to supply power to the motion controller
  • the RTEX communication circuit is configured to receive an operation instruction of a user
  • the RTEX communication circuit is further configured to send the operation instruction to the serial port communication circuit;
  • the RTEX communication circuit is further configured to send a motion control signal to the controlled device, where the motion control signal is used to control the controlled device motion;
  • the serial communication circuit is configured to establish a communication connection with an external circuit by using a target protocol, receive the operation instruction sent by the RTEX communication circuit, and send the operation instruction to the external circuit, so that the external circuit is opposite Processing instructions are processed to obtain the motion control signal;
  • the serial communication circuit is further configured to receive the motion control signal and send the motion control signal to the RTEX communication circuit.
  • the RTEX communication circuit includes:
  • RTEX protocol chip physical layer PHY chip and isolation transformer
  • the RTEX protocol chip is connected to the GPMC1 interface of the main control chip of the motion controller, and the RTEX protocol chip is connected to the PHY chip through an MII interface, and is used to implement a MAC layer function of the RTEX communication circuit;
  • the PHY chip is configured to receive, by using a first RJ45 interface of the isolation transformer, the operation instruction or the motion control signal sent by the RTEX protocol chip;
  • the PHY chip is further configured to transmit the operation instruction or the motion control signal through a second RJ45 interface of the isolation transformer.
  • the serial communication circuit is specifically configured to establish a communication connection with the external circuit by using a Modbus standard communication protocol.
  • the serial communication circuit includes:
  • the isolation transceiver is connected to the UART1 interface of the main control chip, and is configured to receive the operation instruction sent by the RTEX communication circuit;
  • the isolation transceiver is connected to the external circuit through a DP9 interface, and is further configured to send an operation instruction sent by the RTEX communication circuit to the external circuit, and receive the motion control signal sent by the external circuit, And transmitting the motion control signal to the RTEX communication circuit.
  • the power circuit includes:
  • the power supply is used to provide a first voltage
  • the BUCK circuit is configured to perform a step-down process on the first voltage, and output a second voltage, the first voltage and the second voltage are voltages of different volt values, and the volts of the second voltage Less than the volt of the first voltage.
  • the motion controller further includes:
  • the digital input and output circuit is connected to the GPIO interface of the main control chip, and is used for detecting alarm information during the operation of the controlled device.
  • the motion controller further includes:
  • the clock circuit is coupled to the CLOCK interface of the main control chip for generating a clock signal for the motion controller.
  • the motion controller further includes:
  • the reset circuit is connected to the RESET interface of the main control chip, and is configured to reset the main control chip, the RTEX protocol chip, and the PHY chip.
  • the reset circuit includes:
  • a reset chip configured to control a core power of the main control chip and a power-on sequence of a peripheral power supply of the main control chip.
  • a second aspect of the embodiments of the present application provides a method for motion control, including:
  • the motion controller receives an operation instruction of the user
  • the motion controller sends the operation command to an external circuit to cause the external circuit to process the operation instruction and obtain a motion control signal, and send the motion control signal to the motion controller;
  • the motion controller receives the motion control signal
  • the motion controller controls the controlled device motion based on the motion control signal.
  • the method further includes:
  • the motion controller establishes a communication connection with the external circuit using a target protocol.
  • the method further includes:
  • the motion controller monitors an operating state of the controlled device
  • the motion controller determines target security logic control corresponding to the abnormal motion state, and performs corresponding to the controlled device by the target security logic control control.
  • the method further includes:
  • the motion controller receives an upgrade instruction of the user
  • the motion controller updates the target program according to the upgrade instruction, and the target program is a program to be updated in the motion controller.
  • controlling, by the motion controller, the controlled device motion according to the motion control signal includes:
  • the motion controller transmits the motion control signal to a drive of the controlled device such that the drive device drives the controlled device to move.
  • a third aspect of an embodiment of the present invention provides a processor for operating a computer program that, when executed, performs the steps of the method of motion control as described in the above aspects.
  • a fourth aspect of the embodiments of the present invention provides a computer readable storage medium having stored thereon a computer program, characterized by the steps of the method of motion control described in the above aspects when the computer program is executed by a processor.
  • the motion controller provided by the embodiment of the present application can provide up to 32 axes by providing RTEX communication circuit, and can simultaneously control the operation of four 6-DOF robots, and each robot can expand two.
  • the external axis and because it also includes the serial communication circuit, the serial communication circuit uses the target protocol to establish a communication connection with the external circuit, and the system integration is convenient.
  • FIG. 1 is a schematic diagram of a hardware structure of an operation control controller according to an embodiment of the present application
  • FIG. 2 is a schematic diagram of another hardware structure of a motion controller according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of an embodiment of a method for motion control according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of hardware of an embodiment of a motion controller according to an embodiment of the present application.
  • FIG. 1 is a schematic diagram of a hardware structure of a motion controller according to an embodiment of the present application, including:
  • the power circuit 102, the RTEX communication circuit 103, and the serial communication circuit 104 are connected to different interfaces of the main control chip 101;
  • the power circuit 102 is used to supply power to the motion controller
  • the RTEX communication circuit 103 is configured to receive an operation instruction of the user
  • the RTEX communication circuit 103 is also used to send an operation command to the serial communication circuit 104;
  • the RTEX communication circuit 103 is further configured to send a motion control signal to the controlled device, where the motion control signal is used to control the motion of the controlled device;
  • the serial communication circuit 104 is configured to establish a communication connection with an external circuit by using a target protocol, receive an operation instruction sent by the RTEX communication circuit 103, and send an operation instruction to the external circuit, so that the external circuit processes the operation instruction and obtains a motion control signal;
  • the serial communication circuit 104 is further configured to receive a motion control signal and transmit a motion control signal to the RTEX communication circuit 103.
  • the different interfaces of the main control chip are different pins on the main control chip or different ports on the main control chip, and the circuits connected to each pin are different.
  • the motion controller provided by the embodiment of the present application can provide up to 32 axes by providing RTEX communication circuit, and can simultaneously control the operation of four 6-DOF robots, and each robot can expand two.
  • the external axis and because it also includes the serial communication circuit, the serial communication circuit uses the target protocol to establish a communication connection with the external circuit, and the system integration is convenient.
  • FIG. 2 is a schematic diagram of another hardware structure of a motion controller according to an embodiment of the present disclosure, including:
  • the power circuit 202, the RTEX communication circuit 203, the serial communication circuit 204, the reset circuit 205, the digital input/output circuit 206, the external storage circuit 207, and the clock circuit 208 are respectively connected to different interfaces in the main control chip.
  • the main control chip 201 in the motion controller 200 provided by the embodiment of the present application may use a TMS320DM8148 chip, or other chips, as long as the function of the motion controller can be implemented, and can be connected with other circuits in the motion controller 200.
  • the purpose of the application is as follows, and is not specifically limited.
  • the power circuit 202 in the motion controller 200 provided in this embodiment includes:
  • the power circuit 301 is connected to a PWR interface of a motion controller's main control chip, wherein the power supply is used to provide a first voltage, and the BUCK circuit is used to step down the first voltage And outputting a second voltage, wherein the first voltage and the second voltage are voltages of different volt values, and the volt of the second voltage is less than the volt of the first voltage.
  • the motion control power supply is 24V
  • the BUCK circuit provides power supplies such as +5V, +3.3V, +2.5V, +1.8V, +1.5V, and +1.2V to the motion controller.
  • the voltage of other volt values may also be used.
  • the above numerical value is taken as an example for description, as long as the voltage volt value can realize the function of the motion controller.
  • the RTEX communication circuit 203 of the motion controller 200 provided in this embodiment is used to implement the RTEX communication bus, and includes:
  • RTEX protocol chip physical layer chip and isolation transformer
  • the RTEX protocol chip is connected to the GPMC1 (General Purpose Memory Controller) of the main control chip of the motion controller 300, and the RTEX protocol chip passes the MII (Medium Independent Interface) interface and the PHY (physical). Layer, physical layer) chip connection, used to implement the MAC (Media Access Control) layer function of the RTEX communication circuit;
  • the PHY chip is configured to receive an operation instruction or a motion control signal sent by the RTEX protocol chip through the first RJ45 interface of the isolation transformer, and also to send an operation instruction or a motion control signal through the second RJ45 interface of the isolation transformer. Therefore, the embodiment of the present application can adopt the RJ45 communication interface to support the cascading mode to connect the servo driver, and can expand and support 32 axes.
  • the serial communication circuit 204 of the motion controller 200 provided by the embodiment of the present application specifically establishes a communication connection with an external circuit by using a Modbus standard communication protocol.
  • the serial communication circuit 204 provides an RS485 hardware circuit, and implements a Modbus standard communication protocol at the application layer, which can support and support.
  • the PLC (Programmable Logic Controller) I/O (Input/Output) device of the Modbus standard communication protocol communicates directly with other integrated devices, including:
  • the isolation transceiver is connected to the UART1 (Universal Asynchronous Receiver/Transmitter) of the main control chip 201 of the motion control 200, and is configured to receive an operation instruction sent by the RTEX communication circuit 203, and The isolated transceiver is connected to an external circuit through a DP9 interface, and is configured to send an operation command sent by the RTEX communication circuit 203 to an external circuit, and receive a motion control signal obtained by processing the operation command by the external circuit, and the motion control signal is obtained. Send to the RTEX communication circuit 203.
  • UART1 Universal Asynchronous Receiver/Transmitter
  • serial communication circuit of the present application provides an RJ485 interface, supports the standard Modbus protocol, and can communicate with a peripheral circuit supporting the Modbus protocol, and the system integration is more convenient.
  • the motion controller 200 provided by the embodiment of the present application includes a main control chip 201, a RTEX protocol chip, and a PHY chip. In order to reset the motion controller 200, the motion controller 200 provided by the embodiment of the present application further includes a reset circuit 205.
  • the reset circuit 205 is connected to the RESET interface of the main control chip 201 of the motion controller 200 for resetting the main control chip 201, the RTEX protocol chip, and the PHY chip.
  • the reset circuit 205 of the motion control 200 provided by the embodiment of the present application includes:
  • the reset chip is used to control the core power of the master chip 201 of the motion controller 200 and the power-on timing of the peripheral power of the master chip 201.
  • the digital input/output circuit 206 of the motion controller 200 provided by the embodiment of the present application is connected to a GPIO (General Purpose Input Output) interface of the main control chip, wherein the digital input/output circuit 205 implements 16 channels externally. Digital input and 16 digital output, optocoupler isolation is designed on the digital input and output interface to enhance the anti-interference ability of the circuit.
  • the digital input and output circuit 205 monitors the alarm information in the controlled device.
  • the alarm information is sent to the main control chip 201, and the main control chip 201 drives the digital input and output according to the operation result of the safety logic control, and triggers The safety device in the control system controls the robot to stop.
  • the external storage circuit 207 of the motion controller 200 provided by the embodiment of the present application includes:
  • Nand-flash memory and DDR3 wherein the NAND Flash memory is connected to the GPMC2 interface of the main control chip of the motion controller 300, the DDR3 is connected to the EMIF interface of the motion controller 300, and the NAND Flash is used to store the operating system of the motion controller 300.
  • the operating system is supported from NAND Flash.
  • the Micro MT29F32G08CBABAWP device can be selected.
  • the memory has 4GB space and the data bus width is 8bit.
  • Motion controller 300 accesses the memory through the GPMC2 interface using a GPMC asynchronous 8-bit multiplexed data/address bus.
  • NAND Flash can also be used with other memory devices.
  • the Micro MT29F32G08CBABAWP device is used as an example for illustration.
  • the TMS320DM8148 comes with two dedicated 32bit DDR3-800SDRAM (Synchronous Dynamic Random Access Memory) interfaces DDR0 (Double Data Rate) and DDR1, which supports up to 2GB.
  • DDR0 Double Data Rate
  • DDR1 Dynamic Random Access Memory
  • DDR0 Double Data Rate
  • DDR1 Dynamic Random Access Memory
  • 4 128MB DDR SDRAMs are used to realize the requirements of the external SDRAM, which are respectively connected in parallel to the DDR0 interface and the DDR1 interface.
  • the clock circuit 208 of the motion controller 200 is connected to the CLOCK interface of the master chip 201 of the motion controller 200 for generating a clock signal for the motion controller 200.
  • the system clock scheme uses three clock sources, which are a 24 MHz passive crystal oscillator, a 32.768 KHz active crystal oscillator, and a 25 M passive crystal oscillator.
  • the main control chip 201 of the operation control controller 200 uses a 24 MHz passive crystal oscillator and a 32.768 KHz active crystal oscillator, and the RTEX and Ethernet (PHY) chip adopts a 25 MHz passive crystal oscillator.
  • the main control chip 201 of the motion controller 200 provided by the embodiment of the present application further includes a JTAG debugging interface, wherein the JTAG debugging interface is used to test the internal of the main control chip 201.
  • the motion controller 200 may further include a network interface (not shown) for the remote universal network of the two streets, and through the IP connection, and receiving the user's operation instruction, the motion The controller performs network remote control.
  • FIG. 3 is a schematic diagram of an embodiment of a method for motion control according to an embodiment of the present disclosure, including:
  • the motion controller receives an operation instruction of the user.
  • the motion controller may receive an operation instruction of the user, which is an operation of the user on the controlled device, for example, indicating that the controlled device is in the X-axis direction.
  • the operation instruction may be an operation performed by the user on the motion controller, or an operation instruction remotely executed by the user through the network, and the operation instruction is sent to the motion controller through the network.
  • the motion controller sends an operation instruction to an external circuit.
  • the communication protocol can be established with the external circuit through the target protocol (for example, Modbus standard communication protocol), and then the operation command is sent to the external circuit.
  • target protocol for example, Modbus standard communication protocol
  • the external circuit processes the operation instruction to obtain a motion control signal, and sends the motion control signal to the motion controller.
  • the operation instruction is an instruction input by the user, for example, the user inputs an operation instruction
  • the operation instruction indication may include a coordinate indicating a starting point of the controlled device movement and a coordinate of the movement termination point, for example, a coordinate of the movement starting point (0) , 0), the coordinates of the movement termination point are (0, 5), and for example, the coordinates of the movement start point are (0, 0), the coordinates of the movement termination point are (3, 4), and, for example, the movement start point is The coordinates are (0,0,0), and the coordinates of the movement termination point are (3,6,8);
  • the operation instruction may further include a position indicating a starting point of the movement of the controlled device, an angle of movement, and a distance of movement, for example, The starting point of the movement is (0, 0), and the moving angle is 45 degrees between the X-axis and the Y-axis, and the moving distance is 50 CM.
  • the operation instruction may indicate the movement of the controlled device in the axial direction of the X-axis, the Y-axis or the Z-axis, or may indicate that the controlled device moves in other directions, for example, at an angle of 45 degrees with respect to the X-axis. Or moving at an angle of 45 degrees with respect to the X-axis, Y-axis, and Z-axis.
  • the external circuit pair When the operation command is to indicate that the controlled device moves in the direction of a single axis of the X-axis, the Y-axis, or the Z-axis, the external circuit pair at this time
  • the operational command is processed to obtain a motion control signal, i.e., to obtain a moving distance indicative of an axial aspect of the controlled device along the X-axis, the Y-axis, or the Z-axis, and to transmit the motion control signal to the motion controller.
  • the motion controller receives the motion control signal.
  • the motion controller controls the motion of the controlled device according to the motion control signal.
  • the motion controller may send the motion control signal to the driving device of the controlled device, so that the driving device of the controlled device (for example, the motor of the controlled device) is driven by the driving device.
  • the motion controller can control the motion of the controlled device based on the received motion control signals. For example, when the operation command is two coordinates, the starting point coordinates (0, 5, 8), and the ending point coordinates (3, 6, 9), at this time, the external circuit processes the operation command to generate a motion control signal. Sended to the motion controller, the motion controller controls the controlled device to move from the starting point coordinates (0, 5, 8) to the ending point coordinates (0, 5, 8) according to the motion operation instruction.
  • the motion controller monitors an operating state of the controlled device.
  • the motion controller determines the target safety logic control corresponding to the abnormal motion state, and performs corresponding control on the controlled device by the target safety logic control.
  • the motion controller can set the safety logic control corresponding to the abnormality of the controlled device, the alarm, or the abnormality in the motion area of the controlled device in advance.
  • the target safety logic control corresponding to the abnormality of the running state may be determined, and corresponding control is performed on the controlled device through the target safety logic control.
  • the motion controller may also be provided with a network interface, and the external remote universal network is connected through the network interface, and the user's upgrade instruction may be received, the target program to be updated may be updated according to the user's upgrade instruction, and the user may also be received. Remote operation instructions through the network.
  • the motion controller receives the user's operation instruction during the running process, and the operation instruction may be sent by the user remotely through the network, or may be performed directly by the user on the display interface of the motion controller.
  • it can receive the operation instructions sent remotely through the network, which is convenient for convenience in the use of the intelligent factory.
  • an embodiment of the present invention further provides a motion controller 400.
  • the motion controller 400 includes a processor 401 and a memory 402.
  • the RTEX communication circuit, a serial communication circuit, and a clock circuit are stored as program units.
  • the above-described program units stored in the memory are executed by the processor to implement the corresponding functions.
  • the processor 401 includes a kernel, and the kernel removes the corresponding program unit from the memory.
  • the kernel can be set to one or more, and the user data is updated by adjusting the kernel parameters.
  • the memory 402 may include non-persistent memory, random access memory (RAM), and/or nonvolatile memory in a computer readable medium, such as read only memory (ROM) or flash memory (flash RAM), the memory including at least A memory chip.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Embodiments of the present invention provide a storage medium on which a program is stored, the method of implementing the motion control when the program is executed by a processor.
  • An embodiment of the present invention provides a processor for running a program, wherein the method for performing the motion control when the program runs.
  • Embodiments of the present invention provide a motion controller.
  • the device includes a processor, a memory, and a program stored on the memory and executable on the processor.
  • the processor implements the following steps when executing the program:
  • a communication link is established with the external circuit using a target protocol.
  • the controlled device motion is controlled in accordance with the motion control signal.
  • the motion controller determines target security logic control corresponding to the abnormal motion state, and performs corresponding to the controlled device by the target security logic control control.
  • controlling the controlled device motion according to the motion control signal includes:
  • the motion control signal is sent to a drive of the controlled device such that the drive device drives the controlled device to move.
  • the present application also provides a computer program product, when executed on a data processing device, adapted to perform a process of initializing the method steps as follows:
  • a communication link is established with the external circuit using a target protocol.
  • the controlled device motion is controlled in accordance with the motion control signal.
  • the motion controller determines target security logic control corresponding to the abnormal motion state, and performs corresponding to the controlled device by the target security logic control control.
  • controlling the controlled device motion according to the motion control signal includes:
  • the motion control signal is sent to a drive of the controlled device such that the drive device drives the controlled device to move.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • the memory may include non-persistent memory, random access memory (RAM), and/or non-volatile memory in a computer readable medium, such as read only memory (ROM) or flash memory.
  • RAM random access memory
  • ROM read only memory
  • Memory is an example of a computer readable medium.
  • Computer readable media includes both permanent and non-persistent, removable and non-removable media.
  • Information storage can be implemented by any method or technology.
  • the information can be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory. (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, Magnetic tape cartridges, magnetic tape storage or other magnetic storage devices or any other non-transportable media can be used to store information that can be accessed by a computing device.
  • computer readable media does not include temporary storage of computer readable media, such as modulated data signals and carrier waves.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.

Abstract

一种运动控制器（100）及运动控制的方法，旨在解决运动控制器（100）所接轴数少以及集成度低的问题。该运动控制器（100）包括：主控芯片（101）、电源电路（102）、实时表达RTEX通讯电路（103）以及串口通讯电路（104）；电源电路（102）、RTEX通讯电路（103）以及串口通讯电路（104）与主控芯片（101）的不同接口连接；RTEX通讯电路（103）用于接收用户的操作指令；RTEX通讯电路（103）还用于发送操作指令至串口通讯电路（104）；RTEX通讯电路（103）还用于向受控设备发送运动控制信号；串口通讯电路（104）用于采用目标协议与外部电路建立通信连接，接收RTEX通讯电路（103）发送的操作指令，并向外部电路发送操作指令，以使外部电路对操作指令进行处理并得到运动控制信号；串口通讯电路（104）用于接收运动控制信号，并向RTEX通讯电路（103）发送运动控制信号。

Description

运动控制器及运动控制的方法 技术领域
本申请涉及自动控制领域，尤其涉及一种运动控制器及运动控制的方法。
背景技术
运动控制是对机械运动部件的位置和速度等进行实时的控制管理，使其按照预期的运动轨迹和规定的运动参数进行运动。在自动控制领域中，尤其是在机器人控制领域，运动控制器作为控制系统的核心装置，既要实现人机交互界面管理和控制系统实时监测，又要完成运动轨迹规划、脉冲信号输出等功能。
目前，常用的运动控制器包括基于个人电脑(personal computer，PC)和运动控制卡的控制系统。一般通过外设部件互连标准(peripheral component interconnect，PCI)总线方式嵌入到PC中，由PC负责运行机器人控制软件，PCI板卡处理实时插补功能。对于运动控制系统，一般是通过控制电机来实现对关节运动的控制，从而实现具体的控制功能。运动控制器既要实现人机交互界面管理和控制系统实时监测，又要完成运动轨迹规划、脉冲信号输出等功能。
然而，目前基于非总线式的运动控制器，由于硬件接口的限制，一般能够接4～6个轴的伺服驱动，所接轴数少且不具备扩展性。目前通用型的运动控制器一般不支持连接输入输出模块，在机器人系统集成时，当需要与焊机等外围设备进行通讯，就需要在整个控制系统中专门添加特殊功能接口的板卡，造成这个控制系统集成度低、成本高。
发明内容
本申请实施例提供了一种运动控制器及运动控制的方法，用于提升运动控制所接轴的个数，使其具备扩展性，以及提升运动控制器的控制系统的集成度，降低成本。
本申请实施例的第一方面提供一种运动控制器，包括：
主空芯片、电源电路、实时表达RTEX通讯电路以及串口通讯电路；
所述电源电路、所述RTEX通讯电路以及串口通讯电路与所述主控芯片的 不同接口连接；
所述电源电路用于为所述运动控制器供电；
所述RTEX通讯电路用于接收用户的操作指令；
所述RTEX通讯电路还用于发送所述操作指令至所述串口通讯电路；
所述RTEX通讯电路还用于向受控设备发送运动控制信号，所述运动控制信号用于控制所述受控设备运动；
所述串口通讯电路用于采用目标协议与外部电路建立通信连接，接收所述RTEX通讯电路发送的所述操作指令，并向所述外部电路发送所述操作指令，以使所述外部电路对所述操作指令进行处理并得到所述运动控制信号；
所述串口通讯电路还用于接收所述运动控制信号，并向所述RTEX通讯电路发送所述运动控制信号。
可选地，所述RTEX通讯电路包括：
RTEX协议芯片、物理层PHY芯片以及隔离变压器；
所述RTEX协议芯片与所述运动控制器的主控芯片的GPMC1接口连接，所述RTEX协议芯片通过MII接口与所述PHY芯片连接，用于实现所述RTEX通讯电路的MAC层功能；
所述PHY芯片用于通过所述隔离变压器的第一RJ45接口接收所述RTEX协议芯片发送的所述操作指令或所述运动控制信号；
所述PHY芯片还用于通过所述隔离变压器的第二RJ45接口发送所述操作指令或所述运动控制信号。
可选地，所述串口通讯电路具体用于采用Modbus标准通讯协议与所述外部电路建立通信连接。
可选地，所述串口通信电路包括：
隔离收发器；
所述隔离收发器与所述主控芯片的UART1接口连接，用于接收所述RTEX通讯电路发送的所述操作指令；
所述隔离收发器通过DP9接口与所述外部电路连接，还用于将所述RTEX通讯电路发送的操作指令发送至所述外部电路，以及，接收所述外部电路发送的所述运动控制信号，且将所述运动控制信号发送至所述RTEX通讯电路。
可选地，所述电源电路包括：
供电电源以及降压式变换BUCK电路；
所述供电电源用于提供第一电压；
所述BUCK电路用于对所述第一电压进行降压处理，并输出第二电压，所述第一电压与所述第二电压为不同伏值的电压，且所述第二电压的伏值小于所述第一电压的伏值。
可选地，所述运动控制器还包括：
数字量输入输出电路；
所述数字量输入输出电路与所述主控芯片的GPIO接口连接，用于检测所述受控设备运行过程中的报警信息。
可选地，所述运动控制器还包括：
时钟电路；
所述时钟电路与所述主控芯片的CLOCK接口连接，用于为所述运动控制器产生时钟信号。
可选地，所述运动控制器还包括：
复位电路；
所述复位电路与所述主控芯片的RESET接口连接，用于对所述主控芯片、所述RTEX协议芯片以及所述PHY芯片进行复位。
可选地，所述复位电路包括：
复位芯片，用于控制所述主控芯片的内核电源以及所述主控芯片的外围电源的上电时序。
本申请实施例第二方面提供了一种运动控制的方法，具体包括：
运动控制器接收用户的操作指令；
所述运动控制器将所述操作指令发送至外部电路，以使得所述外部电路对所述操作指令进行处理并得到运动控制信号，且将所述运动控制信号发送至所述运动控制器；
所述运动控制器接收所述运动控制信号；
所述运动控制器根据所述运动控制信号控制受控设备运动。
可选地，所述运动控制器将所述操作指令发送至外部电路之前，所述方法 还包括：
所述运动控制器采用目标协议与所述外部电路建立通信连接。
可选地，所述方法还包括：
所述运动控制器监控所述受控设备的运行状态；
当所述受控设备的运行状态异常，则所述运动控制器确定与所述异常的运动状态相对应的目标安全逻辑控制，并通过所述目标安全逻辑控制对所述受控设备执行相应的控制。
可选地，所述方法还包括：
所述运动控制器接收所述用户的升级指令；
所述运动控制器根据所述升级指令对目标程序进行更新，所述目标程序为所述运动控制器中待更新的程序。
可选地，所述运动控制器根据所述运动控制信号控制受控设备运动包括：
所述运动控制器将所述运动控制信号发送至所述受控设备的驱动装置，以使得所述驱动装置驱动所述受控设备运动。
本发明实施例第三方面提供了一种处理器，所述处理器用于运行计算机程序，所述计算机程序运行时执行如上述各方面所述运动控制的方法的步骤。
本发明实施例第四方面提供了一种计算机可读存储介质，其上存储有计算机程序，其特征在于：所述计算机程序被处理器执行时上述各方面所述的运动控制的方法的步骤。
综上所述，可以看出，本申请实施例提供的运动控制器由于提供了RTEX通讯电路，能够最多连接32个轴，可以同时控制4台6自由度机器人的运行，每台机器人可以扩展两个外轴，且由于还包括串口通讯电路，串口通讯电路采用目标协议与外部电路建立通信连接，系统集成方便。
附图说明
图1为本申请实施例提供的运控控制器的一个硬件结构示意图；
图2为本申请实施例提供的运动控制器的另一硬件结构示意图；
图3为本申请实施例提供的运动控制的方法的一个实施例示意图；
图4为本申请实施例提供的运动控制器一个实施例的硬件结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请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申请一部分实施例，而不是全部的实施例。
本申请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”和“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。
参阅图1，图1为本申请实施例提供的运动控制器的一个硬件结构示意图，包括：
主控芯片101、电源电路102、实时表达(Realtime Express,RTEX)通讯电路103以及串口通讯电路104；
电源电路102、RTEX通讯电路103以及串口通讯电路104与主控芯片101的不同接口连接；
电源电路102用于为运动控制器供电；
RTEX通讯电路103用于接收用户的操作指令；
RTEX通讯电路103还用于发送操作指令至串口通讯电路104；
RTEX通讯电路103还用于向受控设备发送运动控制信号，运动控制信号用于控制受控设备运动；
串口通讯电路104用于采用目标协议与外部电路建立通信连接，接收RTEX通讯电路103发送的操作指令，并向外部电路发送操作指令，以使外部电路对操作指令进行处理并得到运动控制信号；
串口通讯电路104还用于接收运动控制信号，并向RTEX通讯电路103发送运动控制信号。
需要说明的是，本实施例中所述主控芯片的不同接口，为主控芯片上不同 的引脚或者主控芯片上不同的端口，每个引脚所连接的电路不相同。
综上所述，可以看出，本申请实施例提供的运动控制器由于提供了RTEX通讯电路，能够最多连接32个轴，可以同时控制4台6自由度机器人的运行，每台机器人可以扩展两个外轴，且由于还包括串口通讯电路，串口通讯电路采用目标协议与外部电路建立通信连接，系统集成方便。
为了便于理解，下面结合图2对本申请实施例提供的运动控制器进行详细描述。
请参阅图2，图2为本申请实施例提供的运动控制器的另一硬件结构示意图，包括：
主控芯片201、电源电路202、RTEX通讯电路203、串口通讯电路204、复位电路205、数字量输入输出电路206、外部存储电路207以及时钟电路208；
其中，电源电路202、RTEX通讯电路203、串口通讯电路204、复位电路205、数字量输入输出电路206、外部存储电路207以及时钟电路208分别与主控芯片中的不同接口相连接。
本申请实施例提供的运动控制器200中的主控芯片201可以采用TMS320DM8148芯片，也可以采用其他芯片，只要能实现运动控制器的功能，且可以与运动控制器200中的其他电路进行连接实现本申请的目的即可，具体不做限定。
本实施例提供的运动控制器200中的电源电路202包括：
供电电源以及降压式变换BUCK电路；该电源电路301连接至运动控制器的主控芯片的PWR接口，其中，供电电源用于提供第一电压，BUCK电路用于对第一电压进行降压处理，并输出第二电压，其中，第一电压与第二电压为不同伏值的电压，且第二电压的伏值小于第一电压的伏值。本实施例中，运动控制的供电电源为24V，通过BUCK电路为运动控制器提供+5V、+3.3V、+2.5V、+1.8V、+1.5V和+1.2V等电源。
需要说明的是，也可以是其他伏值的电压，此处以上述数值为例进行说明，只要电压的伏值能够实现运动控制器的功能即可。
本实施例提供的运动控制器200的RTEX通讯电路203，用于实现RTEX通 讯总线，包括：
RTEX协议芯片、物理层芯片以及隔离变压器；
其中，RTEX协议芯片与运动控制器300的主控芯片的GPMC1(General Purpose Memmory Controller，通用内存控制器)接口连接，且RTEX协议芯片通过MII(Medium Independent Interface，独立媒体接口)接口与PHY(physical layer，物理层)芯片连接，用于实现RTEX通讯电路的MAC(Media Access Control，媒体介入控制层)层功能；
PHY芯片用于通过隔离变压器的第一RJ45接口接收RTEX协议芯片发送的操作指令或运动控制信号，还用于通过隔离变压器的第二RJ45接口发送操作指令或运动控制信号。因此，本申请实施例通过采用RTEX通讯电路采用RJ45接口，能够支持级联的方式连接伺服驱动器，可以扩展，并且能支持做多32个轴。
本申请实施例提供的运动控制器200的串口通讯电路204具体采用Modbus标准通讯协议与外部电路建立通信连接，该串口通讯电路204提供RS485硬件电路，在应用层实现Modbus标准通讯协议，能够与支持Modbus标准通讯协议的PLC(Programmable Logic Controller,可编程逻辑控制器)I/O(Input/Output，输入/输出)设备和其他集成时候的设备直接进行通讯，具体包括：
隔离收发器；其中，该隔离收发器与运动控制200的主控芯片201的UART1(Universal Asynchronous Receiver/Transmitter，通用异步收发传输器)接口连接，用于接收RTEX通讯电路203发送的操作指令，且该隔离收发器通过DP9接口与外部电路连接，用于将RTEX通讯电路203发送的操作指令发送至外部电路，以及，接收外部电路对操作指令进行处理得到的运动控制信号，且将该运动控制信号发送至RTEX通讯电路203。
综上可以看出，本申请中的串口通信电路提供RJ485接口，支持标准Modbus协议，可以与支持Modbus协议的外围电路进行通讯，系统集成更加方便。
本申请实施例提供的运动控制器200需要复位的芯片包括：主控芯片201、 RTEX协议芯片以及PHY芯片，为了对其进行复位，本申请实施例提供的运动控制器200还包括复位电路205；
复位电路205与运动控制器200的主控芯片201的RESET接口连接，用于对主控芯片201、RTEX协议芯片以及PHY芯片进行复位。
对于主控芯片201的启动，需要考虑复位以为的上电时序问题，其关系到运动控制器是否能够正常启动，为了解决该问题，本申请实施例提供的运动控制200的复位电路205包括：
复位芯片，该复位芯片用于控制运动控制器200的主控芯片201的内核电源以及主控芯片201的外围电源的上电时序。
本申请实施例提供的运动控制器200的数字量输入输出电路206，与主控芯片的GPIO(General Purpose Input Output，通用输入/输出)接口连接，其中，数字量输入输出电路205对外实现16路数字量输入和16路数字量输出，在数字量输入输出接口上均设计光耦隔离，以增强电路的抗干扰能力，该数字量输入输出电路205，监测受控设备中的报警信息，当机器人控制系统出现异常，、报警或者机器人运行区域内有异常等情况的发生，即将该报警信息发送至主控芯片201，由主控芯片201根据安全逻辑控制的运行结果，驱动数字量输入输出，触发控制系统中的安全器件，控制机器人停止。
本申请实施例提供的运动控制器200的外部存储电路207包括：
Nand-flash存储器以及DDR3，其中，NAND Flash存储器与运动控制器300的主控芯片的GPMC2接口连接，DDR3与运动控制器300的EMIF接口连接，NAND Flash用于存放运动控制器300的操作系统，支持操作系统从NAND Flash中启动，可以选用选用Micro MT29F32G08CBABAWP器件，该存储器具有4GB空间，数据总线宽度为8bit。运动控制器300通过GPMC2接口使用GPMC异步8bit复用数据/地址总线访问该存储器。
需要说明的是，该NAND Flash也可以选用其他的存储器件，此处仅以Micro MT29F32G08CBABAWP器件为例进行说明，具体不做限定。
以TMS320DM8148为例进行说明，TMS320DM8148自带两个专用的32bitDDR3-800SDRAM(Synchronous Dynamic Random Access Memory，同步 动态随机存储器)接口DDR0(Double Data Rate，双倍速率同步动态随机存储器)和DDR1，最多支持2GB的外部地址空间，本申请中，选用4片128MB的DDR SDRAM实现外扩SDRAM的需求，分为两组分别并联的连接到DDR0接口和DDR1接口上。
本申请实施例提供的运动控制器200的时钟电路208连接至运动控制器200的主控芯片201的CLOCK接口，用于为运动控制器200产生时钟信号。本实施例中，系统时钟方案采用3个时钟源，分别为24MHz无源晶振、32.768KHz有源晶振和25M无源晶振。其中，运控控制器200的主控芯片201采用24MHz无源晶振和32.768KHz有源晶振，RTEX和Ethernet(以太网)的PHY芯片采用25MHz无源晶振。
本申请实施例提供的运动控制器200的主控芯片201还包括JTAG调试接口，其中，该JTAG调试接口用于对主控芯片201的内部进行测试。
需要说明的是，运动控制器200还可以包括网络接口(图中未示出)，该网络接口用于俩街外部远程的通用网络，并通过IP的连接，且接收用户的操作指令，对运动控制器进行网络远程控制。
上面从运动控制器以及外部电路的方面对本申请实施例进行描述，下面从运动控制方法的角度对本申请实施例进行描述。
参阅图3，图3为本申请实施例提供的运动控制的方法的一个实施例示意图，包括：
301、运动控制器接收用户的操作指令。
本实施例中，用户在操作运动控制器时，运动控制器可以接收用户的操作指令，该操作指令为用户对受控设备的操作，例如指示受控设备向沿X轴方向。
需要说明的是，该操作指令可以是用户在运动控制器上执行的操作，也可以是用户通过网络远程执行的操作指令，并将该操作指令通过网络发送至运动控制器。
302、运动控制器将操作指令发送至外部电路。
本实施例中，在运动控制器将操作指令发送至外部电路之前，可以先通过目标协议(例如Modbus标准通讯协议)与外部电路建立通信连接，然后将操 作指令发送至外部电路。
303、外部电路对操作指令进行处理以得到运动控制信号，且将运动控制信号发送至运动控制器。
本实施例中，该操作指令为用户输入的指令，例如用户输入操作指令，该操作指令指示可以包括指示受控设备移动起始点的坐标以及移动终止点的坐标，例如移动起始点的坐标(0，0)，移动终止点的坐标为(0，5)，又例如，移动起始点的坐标为(0，0)，移动终止点的坐标为(3，4)，还例如，移动起始点的坐标为(0，0，0)，移动终止点的坐标为(3，6，8)；该操作指令还可以包括指示受控设备移动的起始点的位置、移动的角度以及移动的距离，例如，移动的起始点的位置为(0，0)，移动的角度为X轴与Y轴的中间位置45度，移动的距离为50CM。也就是说该操作指令可以指示受控设备沿X轴、Y轴或Z轴轴向方向的移动，也可以是指示受控设备沿其他方向移动，例如沿与X轴角度为45度的角度移动、或者沿与X轴、Y轴以及Z轴角度为45度的角度移动，当操作指令为指示受控设备沿X轴、Y轴或Z轴单个轴向的方向移动时，此时外部电路对该操作指令进行处理，以得到运动控制信号，即得到指示该受控设备沿X轴、Y轴或Z轴的轴向方面的移动距离，并将该运动控制信号发送至运动控制器。
304、运动控制器接收运动控制信号。
305、运动控制器根据运动控制信号控制受控设备运动。
本实施例中，运动控制器在接收到运动控制信号之后，可以将所述运动控制信号发送至受控设备的驱动装置，以使得受控设备的驱动装置(例如受控设备的电机)驱动受控设备运动。运动控制器可以根据接收到的运动控制信号控制受控设备运动。例如，当操作指令为两个坐标，起始点坐标(0，5，8)，终止点坐标时(3，6，9)时，此时，外部电路对操作指令进行处理，生成运动控制信号，发送给运动控制器，运动控制器根据该运动操作指令控制受控设备从起始点坐标(0，5，8)移动至终止点坐标(0，5，8)。
306、运动控制器监测受控设备的运行状态。
本实施例中，在运动控制器的控制系统中，为了功能安全，需要对受控设 备的运行状态进行实时监控，该运动控制器可以实时检测受控设备的运行状态。
307、当受控设备的运行状态异常，则运动控制器确定与异常的运动状态相对应的目标安全逻辑控制，并通过目标安全逻辑控制对受控设备执行相应的控制。
本实施例中，运动控制器可以提前设定受控设备出现异常、报警或受控设备的运动区域内有异常等情况相对应的安全逻辑控制，当监测到受控设备的运行状态异常时，可以确定与该运行状态异常所对应的目标安全逻辑控制，并通过目标安全逻辑控制对受控设备执行相应的控制。
需要说明的是，运动控制器还可以设置有网络接口，通过该网络接口连接外部远程的通用网络，可以接收用户的升级指令，根据用户的升级指令对待更新的目标程序进行更新，还可以接收用户通过网络的远程操作指令。
综上所述，可以看出，运动控制器在运行的过程中，接收用户的操作指令，该操作指令可以是用户通过网络远程发送的，也可以是用户直接在运动控制器的显示界面上进行的操作指令，并通过实时监测受控设备的运行状态，并根于预先设定的安全逻辑控制，对受控设备出现的各种异常情况进行及时处理，提供整个控制系统的运动可靠性。且可以接收到通过网络远程发送的操作指令，有利于在智能化工厂的使用中提供方便。
请参阅图4，本发明实施例还提供了一种运动控制器400，所述运动控制器400包括处理器401和存储器402，上述RTEX通讯电路、串口通讯电路和时钟电路等均作为程序单元存储在存储器中，由处理器执行存储在存储器中的上述程序单元来实现相应的功能。
处理器401中包含内核，由内核去存储器中调取相应的程序单元。内核可以设置一个或以上，通过调整内核参数来对用户数据进行更新。
存储器402可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)，存储器包括至少一个存储芯片。
本发明实施例提供了一种存储介质，其上存储有程序，该程序被处理器执 行时实现所述运动控制的方法。
本发明实施例提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行所述运动控制的方法。
本发明实施例提供了一种运动控制器，设备包括处理器、存储器及存储在存储器上并可在处理器上运行的程序，处理器执行程序时实现以下步骤：
接收用户的操作指令；
采用目标协议与所述外部电路建立通信连接。
将所述操作指令发送至外部电路，以使得所述外部电路对所述操作指令进行处理并得到运动控制信号，且将所述运动控制信号发送至所述运动控制器；
接收所述运动控制信号；
根据所述运动控制信号控制受控设备运动。
监控所述受控设备的运行状态；
当所述受控设备的运行状态异常，则所述运动控制器确定与所述异常的运动状态相对应的目标安全逻辑控制，并通过所述目标安全逻辑控制对所述受控设备执行相应的控制。
接收所述用户的升级指令；
根据所述升级指令对目标程序进行更新，所述目标程序为所述运动控制器中待更新的程序；
可选地，根据所述运动控制信号控制受控设备运动包括：
将所述运动控制信号发送至所述受控设备的驱动装置，以使得所述驱动装置驱动所述受控设备运动。
本申请还提供了一种计算机程序产品，当在数据处理设备上执行时，适于执行初始化有如下方法步骤的程序：
接收用户的操作指令；
采用目标协议与所述外部电路建立通信连接。
将所述操作指令发送至外部电路，以使得所述外部电路对所述操作指令进行处理并得到运动控制信号，且将所述运动控制信号发送至所述运动控制器；
接收所述运动控制信号；
根据所述运动控制信号控制受控设备运动。
监控所述受控设备的运行状态；
当所述受控设备的运行状态异常，则所述运动控制器确定与所述异常的运动状态相对应的目标安全逻辑控制，并通过所述目标安全逻辑控制对所述受控设备执行相应的控制。
接收所述用户的升级指令；
根据所述升级指令对目标程序进行更新，所述目标程序为所述运动控制器中待更新的程序；
可选地，根据所述运动控制信号控制受控设备运动包括：
将所述运动控制信号发送至所述受控设备的驱动装置，以使得所述驱动装置驱动所述受控设备运动。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个 流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。
存储器可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。存储器是计算机可读介质的示例。
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括要素的过程、方法、商品或者设备中还存在另外的相同要素。
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
以上仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的 任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。

Claims (14)

  1. 一种运动控制器，其特征在于，所述运动控制器包括：
    主控芯片、电源电路、实时表达RTEX通讯电路以及串口通讯电路；
    所述电源电路、所述RTEX通讯电路以及串口通讯电路与所述主控芯片的不同接口连接；
    所述电源电路用于为所述运动控制器供电；
    所述RTEX通讯电路用于接收用户的操作指令；
    所述RTEX通讯电路还用于发送所述操作指令至所述串口通讯电路；
    所述RTEX通讯电路还用于向受控设备发送运动控制信号，所述运动控制信号用于控制所述受控设备运动；
    所述串口通讯电路用于采用目标协议与外部电路建立通信连接，接收所述RTEX通讯电路发送的所述操作指令，并向所述外部电路发送所述操作指令，以使所述外部电路对所述操作指令进行处理并得到所述运动控制信号；
    所述串口通讯电路还用于接收所述运动控制信号，并向所述RTEX通讯电路发送所述运动控制信号。
  2. 根据权利要求1所述的运动控制器，其特征在于，所述RTEX通讯电路包括：
    RTEX协议芯片、物理层PHY芯片以及隔离变压器；
    所述RTEX协议芯片与所述运动控制器的主控芯片的GPMC1接口连接，所述RTEX协议芯片通过MII接口与所述PHY芯片连接，用于实现所述RTEX通讯电路的MAC层功能；
    所述PHY芯片用于通过所述隔离变压器的第一RJ45接口接收所述RTEX协议芯片发送的所述操作指令或所述运动控制信号；
    所述PHY芯片还用于通过所述隔离变压器的第二RJ45接口发送所述操作指令或所述运动控制信号。
  3. 根据权利要求1或2所述的运动控制器，其特征在于，所述串口通讯电路具体用于采用Modbus标准通讯协议与所述外部电路建立通信连接。
  4. 根据权利要求3所述的运动控制器，其特征在于，所述串口通信电路包括：
    隔离收发器；
    所述隔离收发器与所述主控芯片的UART1接口连接，用于接收所述RTEX通讯电路发送的所述操作指令；
    所述隔离收发器通过DP9接口与所述外部电路连接，还用于将所述RTEX通讯电路发送的操作指令发送至所述外部电路，以及，接收所述外部电路发送的所述运动控制信号，且将所述运动控制信号发送至所述RTEX通讯电路。
  5. 根据权利要求1或2所述的运动控制器，其特征在于，所述电源电路包括：
    供电电源以及降压式变换BUCK电路；
    所述供电电源用于提供第一电压；
    所述BUCK电路用于对所述第一电压进行降压处理，并输出第二电压，所述第一电压与所述第二电压为不同伏值的电压，且所述第二电压的伏值小于所述第一电压的伏值。
  6. 根据权利要求1或2所述的运动控制器，其特征在于，所述运动控制器还包括：
    数字量输入输出电路；
    所述数字量输入输出电路与所述主控芯片的GPIO接口连接，用于检测所述受控设备运行过程中的报警信息。
  7. 根据权利要求1或2所述的运动控制器，其特征在于，所述运动控制器还包括：
    时钟电路；
    所述时钟电路与所述主控芯片的CLOCK接口连接，用于为所述运动控制器产生时钟信号。
  8. 根据权利要求1或2所述的运动控制器，其特征在于，所述运动控制器还包括：
    复位电路；
    所述复位电路与所述主控芯片的RESET接口连接，用于对所述主控芯片、所述RTEX协议芯片以及所述PHY芯片进行复位。
  9. 根据权利要求6所述的运动控制器，其特征在于，所述复位电路包括：
    复位芯片，用于控制所述主控芯片的内核电源以及所述主控芯片的外围电源的上电时序。
  10. 一种运动控制的方法，其特征在于，所述方法应用于如权利要求1所述的运动控制器，所述方法包括：
    运动控制器接收用户的操作指令；
    所述运动控制器将所述操作指令发送至外部电路，以使得所述外部电路对所述操作指令进行处理并得到运动控制信号，且将所述运动控制信号发送至所述运动控制器；
    所述运动控制器接收所述运动控制信号；
    所述运动控制器根据所述运动控制信号控制受控设备运动。
  11. 根据权利要求10所述的方法，其特征在于，所述运动控制器将所述操作指令发送至外部电路之前，所述方法还包括：
    所述运动控制器采用目标协议与所述外部电路建立通信连接。
  12. 根据权利要求10或11所述的方法，其特征在于，所述方法还包括：
    所述运动控制器监控所述受控设备的运行状态；
    当所述受控设备的运行状态异常，则所述运动控制器确定与所述异常的运动状态相对应的目标安全逻辑控制，并通过所述目标安全逻辑控制对所述受控设备执行相应的控制。
  13. 根据权利要求10或11所述的方法，其特征在于，所述方法还包括：
    所述运动控制器接收所述用户的升级指令；
    所述运动控制器根据所述升级指令对目标程序进行更新，所述目标程序为所述运动控制器中待更新的程序。
  14. 根据权利要求10或11所述的方法，其特征在于，所述运动控制器根据所述运动控制信号控制受控设备运动包括：
    所述运动控制器将所述运动控制信号发送至所述受控设备的驱动装置，以使得所述驱动装置驱动所述受控设备运动。
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