Drive control system

Details Drive control system Drive control system

2001-12-10

2004-09-14

Picard, Leo (Department: 2125)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Product assembly or manufacturing

C700S063000, C700S114000

Reexamination Certificate

active

06792330

ABSTRACT:

TECHNICAL FIELD
The present invention relates to a drive control system. More particularly this invention relates to a drive control system for driving and controlling the plurality of servo motors or spindle motors in machine tools and industrial machines.
BACKGROUND ART
Drive control systems for driving and controlling the plurality of servo motors or spindle motors in machine tools and industrial machines are disclosed, for example, in Japanese Patent Application Laid-Open No. 3-245204 and Japanese Patent Application Laid-Open No. 4-290102.
FIG. 16
shows an outline of a prior art drive control system as disclosed in the above patent publications. This drive control system comprises one control unit
500
, a plurality of servo amplifiers or spindle amplifiers (hereinafter called servo amplifiers)
510
, and a plurality of remote input and output (remote IO) units
520
, and the control unit (master)
500
is the host device, to which servo amplifiers (slaves)
510
with CPU and remote IO units
520
are connected with communication lines
600
,
601
in two-way communication manner.
The control unit
500
includes the CPU (M/CPU)
501
, a serial communication interface for servo amplifier
502
, and a serial communication interface for IO unit
503
. The serial communication interface for servo amplifier
502
and serial communication interface for IO unit
503
respectively incorporates transmission memories
502
a,
503
a,
and reception memories
502
b,
503
b.
The servo amplifier
510
individually has a CPU (S/CPU)
511
, a motor drive circuit (M/D)
512
, and a serial interface
513
for communication with the control unit
500
, and a servo motor
530
is connected thereto. The serial communication interface
513
is same as the serial communication interface such as serial communication interface
502
, and includes a transmission memory
513
a
and a reception memory
513
b.
The CPU
501
of the control unit
500
transmits command data or parameter to the servo amplifier
510
through the serial communication interface
502
by serial transmission, and the CPU
511
of the servo amplifier
510
receives the transmitted command data or parameter through the serial communication interface
513
, and drives and controls the servo motor
530
by using the motor drive circuit
512
.
The remote IO unit
520
includes a digital input interface (DI)
521
, a digital output interface (DO)
522
, and a serial communication interface
523
for communication with the control unit
500
. The serial communication interface
523
is a same serial communication interface as the serial communication interface
503
, and includes a transmission memory
523
a
and a reception memory
523
b.
The remote IO unit
520
transmits data of the state of DI interface
521
to the control unit
500
through the serial communication interface
523
, and the control unit
500
receives the transmitted digital output data through the serial communication interface
523
, and produces digital output from the DO interface
522
.
FIG. 17
shows a prior art of serial communication interface used in such drive control system. A transmission memory
700
and a reception memory
701
are composed of dual port RAMs, and are connected to an external address bus
702
and an external data bus
703
at one side. A CPU
501
(
511
) writes transmission data from an external bus interface
704
into the transmission memory
700
.
Transmission function in the serial communication interface begins by starting up a transmission-reception controller
706
by a transmission start signal from a synchronous clock generator
705
. The transmission-reception controller
706
writes the transmission address set value and transmission data length set value being set in a transmission-reception control register setting unit
707
into a transmission address counter
708
, and transmits the sequentially counted-up transmission address to an address decoder
709
, so that the data in the transmission memory
700
is sent into a transmission register
710
to be transmitted. In a redundancy code generator
711
, from similar transmission data, a redundancy code is generated, and after sending out the final transmission data, the redundancy code is sent into the transmission register
710
to be transmitted.
Reception function begins when the data received in a reception register
712
is transferred to a start flag detector
713
, and the transmission-reception controller
706
is started by a start signal generated by detection of start flag in reception data. The transmission-reception controller
706
writes the reception address set value in the transmission-reception control register setting unit
707
into a reception address counter
714
, and counts up at every data reception. By transmitting the counted-up reception address to the address decoder
709
, reception data is written into the reception memory
701
.
A communication failure detector
715
compares the redundancy code added to the end of the reception data and the redundancy code generated from the reception data, and detects if the communication is finished normally. The result of detection is written in the communication abnormality status in the transmission-reception control register setting unit
707
. The CPU
501
(
511
) reads this communication abnormality status, and uses for control if normal, and discards the reception data if abnormal.
FIG. 18
shows communication timing in the conventional drive control system, and
FIG. 19
shows outline of communication data. In
FIG. 19
, (a) shows communication data to be transmitted from the control unit
500
to the servo amplifier
510
, (b) shows communication data to be transmitted from the servo amplifier
510
to the control unit
500
, (c) shows communication data to be transmitted from the control unit
500
to the remote IO unit
520
, and (d) shows communication data to be transmitted from the remote IO unit
520
to the control unit
500
.
The control unit
500
transmits data simultaneously to the servo amplifier
510
and remote IO unit
520
in synchronism with the clock T
1
. As shown in FIG.
19
(
a
) and FIG.
19
(
c
), a synchronous code is included in the data transmitted from the control unit
500
to the servo amplifier
510
, and in the data transmitted to the remote IO unit
520
, and the servo amplifier
510
and remote IO unit
520
detect the synchronous code from the reception data, and generate a clock synchronized with clock T
1
in the control unit
500
.
The servo amplifier
510
divides this clock, and transmits the data shown in FIG.
19
(
b
) to the control unit
500
at the predetermined timing indicated by codes S
1
to S
5
in FIG.
18
. The remote IO unit
520
also transmits the data shown in FIG.
19
(
d
) to the control unit
500
at the predetermined timing indicated by codes R
1
to R
7
in FIG.
18
.
The command data transmitted from the control unit
500
to the servo amplifier
510
is entirely transmitted to the servo amplifier
510
, and the feedback data taken in by the servo amplifier
510
is individually transferred from each servo amplifier
510
to the control unit
500
, and is managed totally in the control unit
500
. Similarly, the input data of the remote IO unit
520
is transferred to the control unit
500
, and is managed totally in the control unit
500
.
Data TS
1
, TS
2
to TSn, RS
1
, RS
2
to RSn in the transmission memory
502
a
and reception memory
502
b
for servo amplifiers in the control unit
500
shown in
FIG. 16
show the sharing relation of transmission and reception data, and the control unit
500
totally manages the transmission and reception data of all servo amplifiers
510
. By contrast, the data managed in each servo amplifier
510
is the own individual data, and it is known the data managed in each servo amplifier
510
is different. Data DO
1
, DO
2
to DOn, DI
1
, DI
2
to DIn in the transmission memory
503
a
and reception memory
503
b
for remote IO unit of the control unit
500
show the sharing relation

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