JPH0212308A - Data exchange system - Google Patents

Abstract

PURPOSE:To realize the exchange of data at a high speed between a main processor and a servo processor without waiting for the end of the process with each other by performing said exchange of data via a dual port DRAM. CONSTITUTION:A main processor 1 writes the interpolation data, etc., into a dual port DRUM 10 for control of a servo motor and a servo processor 21 or 31 reads said interpolation data, etc. While the processor 21 or 31 writes the position data, etc., into the DRAM 10. Then the processor 1 reads said position data, etc., and data are mutually replaced through a dual port DRAM 10. Thus both processors 1 and 21 or 31 exchange data to each other at a high speed without stopping each process.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a data exchange method for exchanging servo data of a numerical control device or a robot control device, and particularly relates to a data exchange method using a dual port RAM for data exchange. .

[Conventional technology]

In numerical control devices or robot control devices, a digital servo control method is adopted in order to control servo motors at higher speed and with higher precision.

For this purpose, a system is configured that mainly includes a main processor that controls the numerical control device and the like, and a sub-processor that controls the servo motor.

FIG. 5 shows a block diagram of a conventional numerical control device system. In the figure, 1 is a main processor that controls the entire numerical control device, and 2 is a RAM for data exchange between the main processor 1 and a servo processor, which will be described later. 3 is a buffer.

21 is a servo processor for controlling the servo motor, 22 is a RAM for storing various data of the servo motor, and 23 is a buffer. 31-33 are 2 each
Since it is the same as 1 to 23, the explanation thereof will be omitted.

Here, the main processor 1 writes interpolation data etc. for controlling the servo motor to the RAM 2, the servo processor 21 or 31 reads this data, and conversely the servo processor 21 or 31 writes position data etc. to the RAM 2.
The data is written to M2, read by the main processor 1, and data is exchanged with each other via the RAM2.

Fig. 6 shows a block diagram of another conventional numerical control system. In Fig. 6, the difference from Fig. 5 is the R
AM4 and the necessary buffer 5 are added, and the other configuration is the same as that of FIG. 5.

[Problems to be Solved by the Invention] However, in the configuration shown in FIG. 5, in order to exchange data with one flAM2, the number of axes to be controlled increases, and as the number of servo processors 21, etc. increases, the RAM2 becomes The time occupied by the servo processor 21 and the like increases, and when the main processor 1 accesses the RAM 2, it is often put on standby, which reduces the processing speed of the main processor and interferes with the overall control of the numerical control device. Conversely, while the main processor 1 is accessing the RAM 2, the servo processor 21 etc. cannot access RAM 2 and must stand by, which reduces the processing speed of the servo processor 21 etc. and makes it difficult to control the current of the servo motor. Processing speed decreases.

As shown in Fig. 6, this problem can be solved by providing a dedicated RAM 4 for data exchange, but this increases the amount of hardware such as the RAM 4 and accompanying buffer 5, and further increases the
Data transfer processing between M2 and RAM4 is also required.

The present invention has been made in view of the above points, and an object of the present invention is to provide a data exchange method using a dual port RAM for data exchange.

The servo processor writes and reads data via the serial port of the dual-port RAM, and the dual-port RAM internally performs transfer between the random port and the serial port.

[Means to solve the problem]

In order to solve the above problems, the present invention provides a data exchange method for exchanging servo data of a numerical control device or a robot control device, in which a main processor that controls the entire device, a sub-processor that controls a servo motor, and the main processor A data exchange method is provided, comprising: a dual-port RAM connected to the sub-processor via a random port; and a dual-port RAM connected to the sub-processor via a serial port.

[Effect]

The main processor writes and reads data to and from random ports of the dual port RAM. - [Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a block diagram of a data exchange system that is an embodiment of the present invention. In the figure, 1 is a main processor that controls the entire numerical control device, 10 is a dual port DRAM for data exchange, and has terminals for a random port 13 and a serial port 14, and the random port 13 is connected to the main processor 1. There is. dual port DR
Details of AMIO will be described later.

21 is a servo processor for controlling the servo motor, 22 is a RAM for storing various data of the servo motor, and 23 is a buffer. 31-33 are 2 each
Since it is the same as 1 to 23, the explanation thereof will be omitted. RAM
22.32 stores servo motor position data, speed data, a program for controlling the servo motor current, etc. As shown in the figure, servo processor 21.
31 etc. are connected to the serial port 14 of the dual port DRAMIO. Generally, one servo processor is provided for one axis to be controlled by a numerical control device.

Here, the main processor 1 writes interpolation data etc. for controlling the servo motor to the dual port DRAMIO, and the servo processor 21 or 31 reads this data.Conversely, the servo processor 21 or 31 writes position data etc. to the dual port DRAMIO. The main processor 1 reads the data, and the data is exchanged with each other via the dual-baud (DRAMIO) DRAMIO.

FIG. 2 shows a schematic configuration diagram of a dual port DRAM. In the figure, lO is a dual-port DRAM,
It consists of a memory cell array 11 and a data register 12.

A random port 13 is connected to the memory cell array 11, and data from the outside can be stored and read out according to address selection (not shown).

On the other hand, data in memory cell array 11 can be transferred to data register 12, and conversely, data in data register 12 can be transferred to memory cell array 11. A serial port 14 is connected to the memory cell array 11, and data can be serially read and input via the serial port 14.

Therefore, the main processor 1 writes interpolated data etc. to the memory cell array 11 from the random port 13, and this interpolated data is transferred to the data register 12, read out from the serial port 14 by the servo processor 21, etc., and the servo motor is The rotation is controlled by

Conversely, data such as the position and speed of the servo motor is read into the data register 12 from the serial port 14, and transferred from the data register 12 to the memory cell array 11.
It is read by the main processor 1 via the random port 13.

Here, the memory cell array 11 and the data register 12
Since the transfer is an internal transfer of the memory, it is performed at a very high speed, and the time required is almost negligible compared to the input/output of data from the outside of the dual port DRAMIO. Therefore, main processor 1 and servo processor 21.3
The first class is not subject to internal transfer time limitations (data input/output.

The amount of time spent waiting for input/output of data on the other side is extremely small.

Further, such dual port DRAMs are easily available in the general market. Of course, the present invention is applicable to any dual-port RAM other than a dual-port DRAM.

Next, details of the data exchange method between the main processor and the servo processor will be described. FIG. 3 shows the data format of the present invention. In the figure, 40 is transfer data to be exchanged.

41 is a flag, and 42 is data, which is data transferred from the main processor 1 to the servo processor 21. Here, the flag is set to rll when the main processor 1 finishes writing data, and is reset to rOl when the servo processor 21 reads it.

Similarly, 43 is a flag and 44 is data, which are transferred from the main processor 1 to the servo processor 31.

Further, 45 is a flag, and 46 is data, which are transferred from the servo processor 21 to the main processor 1. Similarly, 47 is a flag and 48 is data, which are transferred from the servo processor 31 to the main processor 1. here,
The flag 45 is set to rll when the servo processor 21 writes data, and is reset to rol when the main processor 1 reads data. The same applies to the flag 47.

Next, details of data transfer will be described. FIG. 4 shows a time chart of data transfer. In the figure, the number following S indicates the step number.

That is, the main processor 1 executes the following processing.

[S1] Write the data to be transferred to the servo processor.

[S2] When writing of the transfer data is completed, a flag is set to Fil.

[S3] Next, the main processor 1 reads data, that is, checks whether the flag of the data to be read by the main processor 1 is rlJ.

[S4] If the flag is rlJ, read the data.

[S5] Reset the flag of the read data.

By executing these steps, interpolation data etc. are transferred to the servo processor, and conversely, the servo motor position data,
Load speed data etc.

The servo processors 21, 31, etc. also perform similar processing. The contents are shown in steps (Sil) to [S15], but since they are the same as the processing of the main processor I, the explanation will be omitted.

In this way, the main processor 1 and the servo processor 21.31 are connected to each other via the dual port DRAM 10.
Data can be exchanged at high speed without stopping each other's processing.

In the above description, the case where there are two servo processors has been explained, but of course the same implementation can be performed even when there are three or more servo processors, and the effect of the present invention can be exhibited as the number of servo processors increases.

〔Effect of the invention〕

As explained above, in the present invention, dual baud) DRA
Since the main processor and the servo processor are configured to exchange data via M, data can be exchanged at high speed without the need for each processor to wait for the other's processing.

Therefore, the main processor can speed up the control of the entire numerical control device, and the servo processor can control processes such as current control with higher precision.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a data exchange system that is an embodiment of the present invention, FIG. 2 is a schematic configuration diagram of a dual port DRAM, FIG. 3 is a diagram showing the data format of the present invention, and FIG. A time chart of data transfer, FIG. 5 is a block diagram of a conventional numerical @control device system, and FIG. 6 is a block diagram of another conventional numerical control device system. 40・・・・・・・・・−・・・・・Transfer data patent applicant Fanuc Co., Ltd. agent Patent attorney Takeshi Hattori 1・・・・・・−・・・Main processor 0−・・・・
・・・・・・・・・−・−Dual Bow) DRAMl・・
・−・・・・・・・−Memory cell array 2 ・・
Data register 3・・・・・・・−・−・−・Random port 4・−・
・−・−・・・−・Serial port・−・−・−
・−・−・Servo processor 1 Servo processor Fig. 3, -40kf17-y Fig. 5

Claims (3)

[Claims] (1) In a data exchange method for exchanging servo data of a numerical control device or a robot control device, a main processor that controls the entire device, a sub-processor that controls a servo motor, and a processor connected to the main processor through a random port, Dual port R connected to sub-processor via serial port
A data exchange method comprising: AM; (2) The main processor and the sub-processor have data exchange means for exchanging data with each other by confirming in a handshake format a flag indicating that data to be exchanged has been written. Data exchange method described in scope 1. (3) The data exchange system according to claim 1, wherein the dual port RAM is a DRAM.