JPH10285997A - Pulse generator - Google Patents

Abstract

(57) [Summary] In the conventional configuration, the load on the host tends to increase because the host needs to monitor the status of the pulse generator, and the host and the pulse generator are connected by one network. In this case, real-time controllability is impaired. A simple network (2) in which an intelligent function including a communication function with a host is provided inside a pulse generator (3) and the host is duplicated.
1 and 22 to improve the distributed control and real-time controllability of the pulse generator 3 units.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a pulse generator.

[0002]

2. Description of the Related Art A conventional stepping motor control system will be described below with reference to the drawings. In FIG. 2, 1 is a central processing unit that controls the system, 5a to 5n are stepping motors, 3a to 3n are pulse generators that output pulses that the stepping motors can rotate synchronously, 4a to 4n
Is a drive circuit for supplying an exciting current to each phase of the stepping motors 1a to 1n.

The starting of the stepping motors 5a to 5n is
By accessing the control registers in the pulse generators 3a to 3n through the control bus 2 from the central processing unit 1, the corresponding pulse generators 3a
3n are activated. The pulse generators 3a to 3n convert the value set in the control register by the central processing unit 1 into a pulse and output it. The drive circuits 4a to 4n excite the respective phases of the stepping motors 5a to 5n in an operation sequence according to the pulses output from the pulse generators 3a to 3n. The central processing unit 1 detects the end of the process based on the interrupts and statuses from the pulse generators 3a to 3n, and reads the result from a register inside the pulse generators 3a to 3n. In the conventional device configuration, the specifications of the control bus 2 are determined by the standard of the main CPU serving as the core of the central processing unit 1, and the larger the CPU used, the larger the size of the control bus becomes. Further, according to the signal driving capability of the CPU, the signal transmission means of the control bus 2 is constituted by a motherboard, the central processing unit 1 and the pulse generators 3a to 3n are integrated in one place, and the pulse generators 3a to 3n and the driving circuits 4a to 4n are combined. 4n, drive circuits 4a to 4n
And the stepping motors 5a to 5n are connected by a relatively long signal cable or the like.

FIG. 3 shows a network for transmitting control information such as start / stop of the pulse generators 3a to 3n. In this method, the central processing unit 1 and the pulse generators 3a to 3n can be arranged separately, and the degree of freedom in designing the device can be improved. However, the connected pulse generators 3a to 3n, such as changing the operation pattern of the pulse generators 3a to 3n.
Is required to be frequently transmitted over the network 22, the pulse generators 3a to 3
As the number n increases, the line usage rate of the network 22 increases, and the probability that control information collides on the network 22 increases. As a result, the central processing unit 1 and the pulse generators 3a to 3n need to perform operations such as retransmission of control information, and the accumulation of time associated with retransmission may impair the real-time control.

[0005]

In the conventional system configuration, the central processing unit and the pulse generator connected by a motherboard or the like are integrated in one place, and wiring between the pulse generator and the drive circuit or between the drive circuit and the stepping motor is complicated. Tends to be. When arranging these devices inside the device, physical restrictions occur depending on the position of the control target, and the degree of freedom of arrangement is impaired. Although it is required that the apparatus be smaller and have improved functions, if the signal transmission means between the central processing unit and the pulse generator is constituted by a motherboard or the like, the expandability of the system will be impaired. Further, in the conventional system, when the stepping motor or the drive circuit fails, there is no means for notifying the central processing unit, so that the central processing unit cannot detect the failure until an abnormality occurs in the operation of the entire system.

In a system in which a central processing unit and a pulse generator are connected by a single network, the above problem can be solved. However, when the line utilization of the network increases and a collision of transmission data occurs, the system can be used. Requires retransmission of data and the like, and accumulation of time for retransmission and the like may impair real-time control.

[0007]

In order to solve this problem, a pulse control processor inside a pulse generator, a communication processor having a function of transmitting or receiving control information, an application processor executing an application program, and a pulse control Incorporates an access control processor that supervises the processor, communication processor, and application processor, controls each pulse generator by communication by connecting to a network that transmits control information, and enables independent processing in pulse generator units Not only that, by transmitting and receiving control information between a plurality of pulse generators, a cooperative operation among the plurality of pulse generators is enabled without the intervention of a host. In addition, by separating the network for transmitting the emergency control signal represented by the motor emergency stop request signal and the network for transmitting the control signal other than the emergency control signal, the transmission of the emergency control signal becomes The danger of being disturbed by the transmission of control signals has been avoided and real-time controllability has been improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1, 4, 5, 6, and 7. FIG. Figure 1
In FIG. 4, reference numeral 21 denotes a network for transmitting an emergency control signal. 31a to 31n are pulse generators 3a to 3n
Is a network communication processor serving as an interface for connecting the central processing unit 1 via the network 21 and the network 22. 33a to 33n are application processors for executing application programs, and 34a to 34n are pulse control processors for performing pulse calculation. Reference numerals 32a to 32n denote access control processors for controlling the network communication processors 31a to 31n, the application processors 33a to 33n, and the pulse control processors 34a to 34n in order to perform the processing efficiently. 3
6a to 36n are flash memories for storing application programs and the like, and 35a to 35n are RAMs for storing control data received via the networks 21 and 22, and for developing programs in the flash memories 36a to 36n. It is. 37a-37
b reflects various statuses of the pulse control processors 34a to 34n. Reference numerals 38a to 38n denote pulse setting registers for setting various pulse settings, motor driving methods, and the like.

The operation of these circuits will be described below. When the power is turned on, the access control processors 32a to 32n execute the self-diagnosis program on the flash memories 36a to 36n in the RAM 3
5a to 35n, application processor 3
The self-diagnosis data is transmitted to 3a to 33n. The application processors 33a to 33n convert the self-diagnosis data into pulse set values and output the pulse control processors 34a to 34n.
4n, the pulse is set in the pulse setting registers 38a to 38n and the pulses are output when the pulse control processors 34a to 34n are activated. The output pulses are applied to the drive circuits 4a to 4n.
, And the initial operation of the stepping motors 5a to 5n is started. Stepping motors 5a-5
n, the pulse control processor 34
a to 34n report the end of the initial operation to the access control processors 32a to 32n. Upon receiving the initial operation end report, the access control processors 32a to 32n transmit operation confirmation data to the application processors 33a to 33n. Application processor 33a
33n convert the operation confirmation data into pulse set values, compare them with the contents of the status registers 37a to 37n inside the pulse control processors 34a to 34n, and transmit the results to the access control processors 32a to 32n. If the contents are different, the network communication processors 31a to 31n,
An initial operation error is reported to the central processing unit 1 via the network 21. This operation is performed every time the power is turned on to the system. At this point, the user can select to continue or stop the operation of the system.

Next, the central processing unit 1 transmits operation pattern data to each of the pulse generators 3a to 3n. The central processing unit 1 transmits the operation pattern data converted into the protocol on the network 21 to the network communication processors 31a to 31n. The network communication processors 31a to 31n convert the received operation pattern data and perform access control processors 32a to 32n.
Send to Access control processors 32a to 32n
Stores the received operation pattern data in the flash memory 3
After storing in 6a-36n, it transmits to application processor 33a-33n. The application processors 33a to 33n convert the operation pattern data into pulse setting values and set the pulse setting registers 38a to 38n inside the pulse control processors 34a to 34n. When the setting is completed, the setting completion report is sent to the access control processors 32a to 32n.
a to 32n are network communication processors 31a to 31
n, the operation pattern data reception completion report is sent to the central processing unit 1 via the network 21. Similarly,
Each operation pattern data is set for the pulse generators 3a to 3n. One pulse generator 3a
When there are a plurality of operation patterns for .about.3n, a plurality of operation pattern data settings are performed for one pulse generator 3a.about.3n. Set the operation pattern data only when the system is first turned on.
When the power is turned on again, the flash memory 36a
The operation pattern data stored in 36n becomes valid.

When the operation pattern data setting for all the pulse generators 3a to 3n is completed, the central processing unit 1
Starts the pulse generator 3a to be operated first in the system. The access control processor 32a expands the operation pattern data on the flash memory 36a on the RAM 35a and transmits the operation pattern data to the application processor 33a. The application processor 33a converts the operation pattern data into a pulse set value,
After reading the status register 37a inside the pulse control processor 34a and confirming the status of the stepping motor 5a, the pulse setting value is stored in the pulse setting register 3
8a. The application processor 33a activates the pulse control processor 34a, and a pulse is output. The output pulse is converted into a voltage by the drive circuit 4a, and the operation of the stepping motor 5a is started. Position information such as sensor information associated with the operation of the stepping motor 5a is directly input to the pulse generator 3a, and together with the ID of the pulse generator 3a, the other pulse generators 3b to 3b.
n. At the end of the operation, the pulse control processor 34
a to 34n report the operation end to the access control processors 32a to 32n. The access control processor 32a that has received the operation completion report is
The operation confirmation data is transmitted to 3a. The application processor 33a converts the operation check data into a pulse set value, compares it with the contents of the status register 37a inside the pulse control processor 34a, sends the result to the access control processor 32a, and
a, The operation result is transmitted to the central processing unit 1 and the other pulse generators 3b to 3n via the network 21 together with the ID of the pulse generator 3a. The pulse generator 3b of the stepping motor 5b to be operated next is started one after another by the same procedure based on position information such as sensor information and operation result information accompanying the operation of the stepping motor 5a.

When an abnormality occurs during the operation sequence of the system, the pulse generator 3a that has detected the abnormality transmits an ID and abnormality detection information to the central processing unit 1 and the pulse generators 3b to 3n through the network 22 to generate a failure. The stepping motor 5a is returned to the neutral position according to the degree, and an ID and an abnormal processing end report are sent to the central processing unit 1. The pulse generators 3b to 3n related to the abnormality detection information return the stepping motors 5b to 5n to the neutral position according to the degree of occurrence of the failure, and report the ID and the abnormality processing end to the central processing unit 1. 6 and 7 show flowcharts of a series of operations.

With the above operation, the pulse generator 3
In addition to enabling independent processing in units of a to 3n, by transmitting and receiving control information among a plurality of pulse generators 3a to 3n, a coordinated operation between the plurality of pulse generators 3a to 3n can be performed without intervention of a host. Was made possible. Further, by separating the network 22 that transmits an emergency control signal represented by an emergency stop request signal of the motor and the network 21 that transmits a control signal necessary for normal motor control, the transmission of the emergency control signal becomes Real-time controllability can be improved by avoiding the danger of being disturbed by transmission of control signals required for other normal motor control.

FIG. 5 shows an example in which the information transmission means of the system is wireless or infrared communication.

The wireless interfaces 60a to 60n
a to 60n, and 61a to 61n are wireless interfaces 61a to 61n. In this example, the connection cable for the network can be omitted, and the central processing unit 1 and the pulse generators 3a to 3n can be installed separately from each other, so that the degree of freedom in installation is improved. Also, efficiency can be expected to be improved in terms of maintenance and production.

[0016]

According to the present invention, by transmitting and receiving control information between a plurality of pulse generators, the linking operation of the stepping motor becomes possible without the intervention of the host, and real-time controllability is improved by duplicating the network. . Further, since the degree of physical freedom between the central processing unit and the stepping motor is increased, the degree of freedom in the layout of the apparatus is increased, so that downsizing, cost reduction, and expandability can be achieved. By preparing various peripheral devices having the network interface, it is easy to expand the system.

[Brief description of the drawings]

FIG. 1 is a block diagram of a pulse generator according to the present invention.

FIG. 2 is a block diagram of a conventional stepping motor control system.

FIG. 3 is a block diagram of a conventional stepping motor control system.

FIG. 4 is a block diagram of one embodiment of the present invention.

FIG. 5 is a block diagram of a second embodiment of the present invention.

FIG. 6 is a flowchart of the operation of one embodiment of the present invention.

FIG. 7 is a flowchart of the operation of the second embodiment of the present invention.

[Explanation of symbols]

1 central processing unit, 3a to 3n pulse generator,
4a-4n drive circuit, 5a-5n stepper motor, 21,22 network, 31a-31n network communication processor, 32a-32n access control processor, 33a-33n application processor, 34a-34n pulse control processor , 35a
... 35n RAM, 36a-36n flash memory, 37a-37n status register, 38a-38
n: pulse setting register.

Claims (4)

[Claims] A pulse generator includes a pulse control processor, a communication processor having a function of transmitting or receiving control information, an application processor executing an application program, the pulse control processor, the communication processor, and the application processor. Incorporating an integrated access control processor and connecting to a network for transmitting the control information to control each of the pulse generators by communication, enabling independent processing in units of the pulse generators, A pulse generator characterized in that the control information is exchanged between the plurality of pulse generators to enable a cooperative operation among the plurality of pulse generators without intervention of a host. 2. A system according to claim 1, wherein a network for transmitting an emergency control signal typified by an emergency stop request signal for the motor and a network for transmitting a control signal required for normal motor control are separated. A pulse generator that improves real-time controllability by avoiding the risk that the transmission of control signals is obstructed by the transmission of control signals required for other normal motor control. 3. The pulse generator has a function of performing self-diagnosis of the pulse generator, diagnosing a peripheral circuit including a connected motor and a sensor, and transmitting a result of the diagnosis to another pulse generator or a central processing unit. A pulse generator characterized in that it makes it easy to identify a failure location and perform processing when an abnormality occurs. 4. The method according to claim 1, wherein the network connecting the communication processors with the built-in pulse generator is connected by wireless communication or infrared communication, thereby optimizing the selection of a motor installation location. A pulse generator with improved expandability of the system represented by changing the number.