JPH04100103A - Mechanism controller - Google Patents

Abstract

PURPOSE:To eliminate a need to spend time on transmission/reception of information or the like by providing a direct memory access means which directly transfers operation control data of a mechanism, which is stored in a storage position, from a memory means to the driving control side of the mechanism based on this storage position and a transfer indication from a control processing means. CONSTITUTION:A control processing means 3 checks the storage position in a memory means 2 of operation control data of the mechanism corresponding to a control command by this control command outputted from a controller means 1 and indicates transfer of this operation control data of the mechanism to the driving control side. A direct memory access means 4 directly transfers operation control data of the mechanism corresponding to the control command from the means 2 to the driving control side of the mechanism. Thus, the time is not spent on transmission/reception of information or the like.

Description

[Detailed Description of the Invention] [Summary] The present invention relates to a mechanism control device, more specifically, to a technology for transmitting rotational operation control data in a pulse train data configuration when performing mechanism control such as motor rotation control, reducing the number of parts. , a controller means 1 that outputs control commands that give various operation instructions to the mechanism, and each control command output from this controller means 1, with the aim of deleting programs and reducing the time required for sending and receiving information, etc. a memory means 2 for storing operation control data of the mechanism corresponding to the mechanism; out of the operation control data of the mechanism stored in this memory means 2, operation control data of the mechanism corresponding to the control command output from the controller means 1; A control processing means 3 which instructs to check the storage location in the memory means 2 of the mechanism and transfer the operation control data of this mechanism to the drive control side of the mechanism, and a storage location and transfer instruction from this control processing means 3. It is originally constructed to include direct memory access means 4 for directly transferring the operation control data of the mechanism stored in its storage location from the memory means 2 to the drive control side of the mechanism.

[Industrial application field]

The present invention relates to a mechanism control device, and more particularly to a technique for transferring rotational operation control data, for example, in the form of pulse train data, when performing mechanism control such as motor rotation control.

[Conventional technology]

Conventional mechanism control, for example motor rotation control, is comprised of a main system and a sub-system for motor control, which are arranged via a main-glJ interface circuit 31, as shown in FIG.

The main system includes a controller 32 that analyzes the content of alarms that occur on the motor side, and outputs control commands that give various operation instructions to the DC motor based on this content analysis, and sends and receives commands to and from this controller 32. In addition to the controller interface circuit 33 for the purpose of
) 35, and a write/recurrence memory (RAM) 36 as a working memory necessary to execute the program.

Similarly, the motor control subsystem includes a central processing unit (cPtJ) 37 that executes a predetermined program to perform control processing such as motor rotation control, and a rotational operation control corresponding to this program and control commands. In addition to a read-only memory (ROM) 3B for storing data and a write/read memory (RAM) 39 as a working memory necessary for executing programs, it also sends rotational operation control data to the motor and The system is comprised of an input/output device 40 that receives and receives alarm information from the system.

The main system sends control commands to the subsystem based on alarm analysis, receives alarm information from the subsystem and sensor information from the motor position sensor and rotation sensor, and analyzes these alarm information and sensor information. It also processes and sends and receives information, etc., to and from subsystems other than the subsystem for motor control. In addition, in the subsystem, upon reception of the aforementioned control command, the rotation operation control data corresponding to the control command is read out and supplied to the motor drive control section, thereby controlling the motor drive, and the aforementioned alarm information and It collects sensor information and sends this information to the main system.

[Problem to be solved by the invention]

However, when it is composed of a main system and a subsystem as described above, since there are two systems, the number of hardware parts increases, and the software also requires a program to control each system. The problem is that it requires development. Also,
There is a problem in that it takes time to send and receive information between the main and subsystems.

SUMMARY OF THE INVENTION In order to solve these problems, the present invention aims to reduce the number of parts, eliminate programs, and provide a mechanism control device that does not require time to send and receive information.

[Means to solve the problem]

In order to achieve the above-mentioned object, the mechanism control device according to the present invention includes a controller means for outputting control commands that give various operation instructions to the mechanism, as shown in the block diagram of the principle configuration in FIG. 1. A memory means 2 for storing mechanism operation control data corresponding to each control command output from the controller means 1; a memory means 2 for storing mechanism operation control data stored in this memory means 2; a control processing means 3 for checking the storage location in the memory means 2 of the operation control data of the mechanism corresponding to the output control command, and instructing to transfer the operation control data of the mechanism to the drive control side of the mechanism; Direct memory access means 4 is provided for directly transferring the operation control data of the mechanism stored in the storage location from the memory means 2 to the drive control side of the mechanism based on the storage location and transfer instruction from the control processing means 3. It is characterized by a configuration that allows for

[For production]

In response to a control command output from the controller means 1, the control processing means 3 examines the storage location in the memory means 2 of the operation control data of the mechanism corresponding to the control command stored in the memory means 2, and also Instructs the transfer of motion control data to the drive control side of the mechanism. In accordance with these storage locations and transfer instructions, the direct memory access means 4 directly transfers the operation control data of the mechanism corresponding to the control command from the memory means 2 to the drive control side of the mechanism.

[Embodiments] Next, specific embodiments in which the mechanism control device according to the present invention is applied to motor drive control will be described with reference to the drawings.

In FIG. 2, a central processing unit (cPtJ) 11 outputs, for example, a 16-bit address signal and a -rite signal and a Read signal that designate writing and reading of commands, data, etc., via an address bus. Ru. For example, the upper three pins of this 16-bit address signal store programs and various tables that are executed in the controller interface circuit 12, CPLIII, which is composed of a bidirectional connection device, and perform system control processing, etc. Read-only memory (ROM)
13. Write/recurrence memory (RAM) 14 as working memory necessary for executing programs, direct access memory circuit (DMA circuit) 15 for reading and transferring data at arbitrary addresses, and alarm detection for detecting alarms on the motor side The chip select signals C3I to C, S5 for accessing each of the circuits 16 are
The signal is supplied to a decoder 17 formed by focusing. Further, the lower 13 bits are supplied to the ROM 13, the RAM 14, and the DMA circuit 15 for address instruction in each of the RO, M13, RAM 14, and DMA circuit 15. Further, the Write/Read signal is transmitted to the controller interface circuit 12, and further to the controller which supplies control commands to give various operation instructions to the motor based on content analysis of alarms generated on the motor side via the controller interface circuit 12. 18, RAM 14, and I) MA circuit 15, while the Read signal is supplied to ROM 13. Note that a Read signal is transmitted from the DMA circuit 15 to the ROM 19 that stores various rotational operation control data in the form of pulse train data for controlling the motor rotational speed.
This ROM 19 is supplied via the circuit 15.
The rotational operation control data read from the motor drive unit 2O
A, 20B... each motor drive unit 2O
Chip select signal C5A is used to access the output devices 30A, 30B... provided corresponding to A, 20B... and write their rotational operation control data.
, C3B... are supplied.

Incidentally, the starting address and length of the various rotational operation control data stored in the ROM 19 are stored in a table in the ROM 13 in correspondence with each control command supplied from the controller 18.

Next, the operation of the mechanism control device according to the present invention configured as described above will be explained.

i) Normally, when a control command is supplied from the controller 18 to the CPLJII via the controller interface circuit 12, the CPU Ull interrupts the processing of the program being executed and enters an interrupt control routine. In this interrupt control routine, the CPU Ull checks the table in the ROM 13 and stores the starting address of the rotational operation control data corresponding to the control command stored in the ROM 19 and the length of the rotational operation control data in its RO.
The data is read from the table M13, and the leading address and length are supplied to the DMA circuit 15 and written. Next, D
The MA circuit 15 then transfers the required rotational operation control data stored in the ROM 19 based on the starting address and length based on the start command supplied from the CP 011 to the chip select signals C3A and C5B.
The corresponding output device 2 accessed by...
Transfer to 1A, 21B... This transferred rotational operation control data is transferred to the motor control drive unit 206.20B.
... is converted into a driving voltage level and supplied to, for example, a DC motor, and the rotational operation of the motor is controlled.

Note that the rotational operation control data is output by the output devices 21A and 21B.
. . , the DMA circuit 15 supplies a transfer end command to the CPU Ull by an interrupt. In addition, DM
During the transfer of rotational operation control data of the A circuit 15, CP 0
11 and the like process control commands from the next controller 18, and receive and process alarm information and sensor information.

Normally, this kind of operation is repeated.

ii) In case of abnormality Abnormal alarm conditions from various sensors are detected by the alarm detection circuit 16. This alarm detection circuit 16
The alarm information detected in the controller 18 is detected by polling the CPU II, and an alarm command is supplied to the controller 18. This controller 18 analyzes the alarm contents and sends control commands for alarm processing to the CPU II.
and the DMA circuit 15 supplies the ROM1 as described above.
9 to an output device 21A corresponding to rotational operation control data for alarm processing.

21B... and performs alarm processing control.

In case of emergency, alarm processing is performed by interrupt without waiting for CPU II polling.

Note that the controller means 1 in the present invention corresponds to the controller interface circuit 2 and the controller 18 in the present embodiment, and the memory means 2 in the present invention corresponds to the controller interface circuit 2 and the controller 18 in the present embodiment.
corresponds to the ROM 19 in this embodiment, and the control processing means 3 in the present invention corresponds to the ROM 19 in this embodiment,
It corresponds to the ROM 13, RAM 14, and decoder 17, and the direct memory access means 4 in the present invention corresponds to the DMA circuit 15 in this embodiment.

〔Effect of the invention〕

As explained above, according to the present invention, only the control processing means corresponding to the CPU etc. in the main system of the conventional example is required, and the control processing means such as the CPU etc. in the subsystem is unnecessary. The number of parts in the software is reduced, and in the software, the program can be deleted using only the program in the control processing means. Further, unlike the conventional example, it does not take time to send and receive information between the main and sub systems. Further, since only the program in the control processing means is required, the development period can be shortened, and the operation of the mechanism can be freely changed simply by changing the operation control data of the mechanism stored in the memory means.

[Brief explanation of the drawing]

FIG. 1 is a principle block diagram corresponding to the structure of the present invention described in the claims, FIG. 2 is a block diagram for explaining a specific embodiment of the mechanism control device according to the present invention, and FIG. The figure is a block diagram for explaining a conventional example. Controller means Memory means Control processing means Direct memory access means PLI Controller interface circuit OM AM DMA circuit Alarm detection circuit Decoder Controller Motor control drive section output device

Claims (1)

[Claims] 1 (a) Controller means (1) for outputting control commands that give various operation instructions to the mechanism; (b) Controller means (1) for the mechanism corresponding to each control command output from the controller means (1); a memory means (2) for storing operation control data; (c) a mechanism corresponding to a control command output from the controller means (1) from among the operation control data of the mechanism stored in this memory means (2); control processing means (3) for checking the storage location of the operation control data of the mechanism in the memory means (2) and for instructing to transfer the operation control data of the mechanism to the drive control side of the mechanism; and (d) this control processing. Direct memory access means (4) for directly transmitting the operation control data of the mechanism stored in the memory location from the memory means (2) to the drive control side of the mechanism based on the memory location and transfer instruction from the memory means (3); )
A mechanism control device comprising: