CN112650148A - Multi-axis motion control system and method - Google Patents
Multi-axis motion control system and method Download PDFInfo
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- CN112650148A CN112650148A CN201910959683.6A CN201910959683A CN112650148A CN 112650148 A CN112650148 A CN 112650148A CN 201910959683 A CN201910959683 A CN 201910959683A CN 112650148 A CN112650148 A CN 112650148A
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- 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
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
A multi-axis motion control system and method, the control system includes upper computer, lower computer and expansion module, the expansion module is used for disposing the axis craft object and axis parameter; the execution unit is used for acquiring the state data of the shaft of the servo motor and controlling the output of the servo driver; the multi-axis motion control method comprises the following steps: the upper computer acquires state data of the shafts of the servo motors and sends the state data to the upper computer in a first preset format, and the upper computer analyzes the state data to obtain the states of the shafts of the servo motors; and the upper computer sends the control data corresponding to the control command event to the lower computer in a second preset format, and the lower computer controls the servo motor to move after analyzing the control data. The method and the device realize control of multi-axis servo motion by configuring axis process objects and axis parameters based on state data acquired by a lower computer and control data generated by an upper computer; the upper computer and the lower computer achieve the purposes of conveniently and flexibly controlling the multi-axis servo system and accurately positioning through communication and a preset information transmission mode.
Description
Technical Field
The invention relates to the field of automatic control, in particular to a multi-axis motion control system and method.
Background
In the current market, there are 3 kinds of motion control modes used in the industrial control field: 1. PLC individual control: in a conventional control system, a PLC is used as a main controller, and an editing program executes corresponding actions to complete corresponding work; 2. DLL calls motion control board card control: the upper computer is convenient to call and control; 3. CAN communication protocol control; the upper computer is convenient to call and control.
In practical control, the above prior art has the following disadvantages:
1. PLC is controlled independently, and the mode is not suitable for upper computer control; 2. DLL calls the movement control board card to control, which is unstable, easy to damage and error-reporting; 3. the CAN communication protocol is controlled, error reporting is easy, and error reporting information is not easy to eliminate.
The existing control mode adopts serial ports or OPC control, OPC communication is slow, and a serial port programming protocol is complex; in the multi-axis motion control, the data transmission and control efficiency is low, the precision is poor, and the flexible and reliable actual requirements of multi-axis servo control are difficult to meet.
Disclosure of Invention
In view of this, the present invention provides a multi-axis motion control system and method, which have the characteristics of flexibly configuring an axis process object and an axis parameter and realizing four-axis independent control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-axis motion control system comprises an upper computer and a lower computer which is in communication connection with the upper computer, and is characterized in that,
the system also comprises an expansion module which is configured with the lower computer and used for configuring the shaft process object and the shaft parameters;
the execution unit is connected with the servo driver and the servo motors and is used for acquiring the state data of the axes of the servo motors and controlling the output of the servo driver;
the lower computer transmits the state data to the upper computer, and the upper computer analyzes the state data to obtain the state parameters of the shafts of the servo motors; the upper computer sends the control data to the lower computer, the lower computer analyzes the control data, the expansion module configures the shaft process object and the shaft parameters based on the analyzed control data, and the lower computer controls the motion of the servo motors through the servo drivers.
Optionally, the upper computer includes a communication connection module, configured to fill in a communication address and a port number set in the lower computer; the data sending module is used for packing and sending the control data of the upper computer to the lower computer; the data receiving module is used for receiving state data sent by the lower computer; the main control module is used for analyzing the collected state data to obtain the state of the shaft of each servo motor; the main control module is used for generating a control command based on control data input by the panel control so as to control the state of each servo motor; and the panel control is used for inputting control data and displaying the state of the shaft of each servo motor in real time.
Optionally, the upper computer includes an operating system and a Labview system, and one or more of the communication connection module, the data sending module, the data receiving module, the main control module and the panel control are generated based on the Labview system.
Optionally, the lower computer includes an integrated programming system; the integrated programming system is used for compiling the execution unit containing an axis subprogram; the axis subprogram comprises one or more of a servo enabling module, a servo resetting module, a servo origin returning module, a servo absolute motion module, a servo relative motion module, a servo reading parameter module, a servo pause module, a servo JOG module, an interactive control servo module and a servo state acquisition and summary module.
Optionally, the integrated programming system is further configured to edit the interactive communication module; the interactive communication module comprises a data receiving area and a data sending area; the data receiving area is linked with the data sending module to receive and summarize the control data, and the data sending area is linked with the data receiving module to summarize state data to be sent to an upper computer.
Optionally, the axis parameter includes one or more of a pulse output, a direction output, an origin signal, a limit signal, an emergency stop signal, an origin returning mode, and a mechanical parameter.
Preferably, the upper computer is a PC, the lower computer is a PLC, and the communication connection mode between the upper computer and the lower computer is TCP/IP communication.
The invention also discloses a multi-axis motion control method, which is characterized by comprising the following steps:
(1) waiting for the upper computer to be connected when the lower computer is in a monitoring state, if the connection is successful, performing the step (2), and if the connection is unsuccessful, performing initialization again and connecting again;
(2) the method comprises the steps that an upper computer sends a state acquisition instruction to the lower computer in a preset period, the lower computer acquires state data of a plurality of servo motor shafts and sends the state data to the upper computer in a first preset format, and the upper computer analyzes the state data to obtain the state of the servo motor shafts;
(3) and the upper computer responds to the control command event, sends control data corresponding to the control command event to the lower computer in a second preset format, and the lower computer analyzes the control data and controls the servo motor to move.
Optionally, the process of sending the state data of the axes of the plurality of servo motors to the upper computer in a first preset format by the lower computer is as follows: the state data is divided into state parameters and position parameters, the state parameters and the position parameters are respectively placed in a first area and a second area of the lower computer for receiving bytes, and the first area is larger than the second area; and the lower computer encrypts the state data collected in the preset period and then sends the state data to the upper computer.
Optionally, the process of sending the control data to the lower computer in the second preset format by the upper computer is as follows: the control data are divided into object parameters, control mode parameters, speed parameters and position parameters, and the object parameters, the control mode parameters, the speed parameters and the position parameters are respectively filled into a first area, a second area, a third area and a fourth area of a receiving byte of the upper computer, wherein the first area, the second area, the third area and the fourth area are equal; and the upper computer sends the control data to the lower computer in real time.
Compared with the prior art, the invention has the following beneficial effects: according to the method and the device, the independent control of the multi-axis servo motion is realized by configuring the axis process object and the axis parameters and based on the state data acquired by the lower computer and the control data generated by the upper computer; the method comprises the steps that an execution program and an interactive program communicated with an upper computer are edited in the lower computer, the upper computer edits a main control program and an interactive communication program communicated with the lower computer, and the upper computer conveniently and flexibly controls a multi-axis servo system and accurately positions in a preset information transmission mode through mutual communication.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
fig. 1 is a block diagram of a multi-axis motion control system according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of another multi-axis motion control system provided in an embodiment of the present disclosure.
Fig. 3 is a main loop wiring diagram provided by an embodiment of the present disclosure.
Fig. 4 is a wiring diagram of a control loop provided by an embodiment of the present disclosure.
Fig. 5 is a wiring diagram of a driver control port provided by an embodiment of the present disclosure.
Fig. 6 is an exemplary diagram illustrating a configuration of a lower computer and an expansion module according to an embodiment of the disclosure.
Fig. 7 is an exemplary diagram of a panel control for inputting control data and displaying states of various servo motors in real time according to an embodiment of the disclosure.
Fig. 8 is an exemplary diagram of a communication connection module generated based on a Labview system according to an embodiment of the disclosure.
Fig. 9 is an exemplary diagram of a data transmission module generated based on a Labview system according to an embodiment of the disclosure.
Fig. 10 is an exemplary diagram of a data receiving module generated based on a Labview system according to an embodiment of the disclosure.
Fig. 11 is an exemplary diagram of a master control module generated based on a Labview system according to an embodiment of the disclosure.
Fig. 12 is another exemplary diagram of a master control module generated based on a Labview system according to an embodiment of the disclosure.
Fig. 13 is a control flow chart provided by an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In a first aspect, an embodiment of the present disclosure provides a multi-axis motion control system, such as the block diagram of the multi-axis motion control system shown in fig. 1, which includes an upper computer, a lower computer in communication connection with the upper computer, and an extension module configured with the lower computer and configured to configure an axis process object and axis parameters; the execution unit is connected with the servo driver and the servo motors and is used for acquiring the state data of the axes of the servo motors and controlling the output of the servo driver;
the lower computer transmits the state data to the upper computer, and the upper computer analyzes the state data to obtain the state parameters of the shafts of the servo motors; the upper computer sends the control data to the lower computer, the lower computer analyzes the control data, the expansion module configures the shaft process object and the shaft parameters based on the analyzed control data, and the lower computer controls the motion of the servo motors through the servo drivers.
The upper computer is PC and industrial computer, such as PC of the industrial personal computer, the lower computer is Programmable Logic Controller (PLC), such as Siemens PLC1200, and the expansion module can adopt SM 1223; when multi-axis motion control is realized, the lower computer is started, state data of shafts of the servo motors are obtained in real time, the upper computer is monitored, the state data are transmitted to the upper computer for analysis and display after the upper computer is connected, a user sets control data through the upper computer according to the state parameters of the shafts of the servo motors and based on operation requirements, the lower computer receives and analyzes the control data, the expansion module configures control data based on the control data to configure shaft process objects and shaft parameters, and then the execution unit controls the servo drivers to drive the motion of the servo motors based on the control information of the expansion module; the axis process object obtained based on the control data and the corresponding axis parameters have independence, independent adjustment of each axis parameter in multiple axes is achieved, and flexibility and convenience are achieved.
In some embodiments, as shown in the block diagram of another multi-axis motion control system in fig. 2, the upper computer includes a communication connection module, configured to fill in a communication address and a port number set in the lower computer; the communication connection module comprises necessary input components and display components, wherein the communication connection module is preferably integrated into an input and display module of an upper computer, such as a panel control; the communication connection module inputs a communication address and a port number of the lower computer, carries out interactive verification with the lower computer through wired or wireless data communication, and if the handshake is complete, the upper computer and the lower computer establish a unique secure communication link;
optionally, the communication connection module fills in communication addresses and port numbers of the at least two lower computers, the communication connection module prestores the communication addresses and the port numbers of the at least two lower computers, and a user selects one or more lower computers as work by touch on the display assembly.
The data sending module is used for packing and sending control data of the upper computer to the lower computer; the data receiving module is used for receiving state data sent by the lower computer; optionally, the data sending module includes a timer and an encryptor, and after a preset time threshold of the timer is met, the data sending module packages the control data with the same lower computer identification tag, encrypts the control data by the encryptor, and sends the control data to the corresponding lower computer. The data receiving module receives data of the lower computer, respectively prestores the data according to the label of the lower computer, and transmits the data to the main control module after the collected data meets a set value.
The main control module is used for analyzing the collected state data to obtain the state of the shaft of each servo motor and generating a control command based on control data input by the panel control to control the state of each servo motor; the panel control is used for inputting control data and displaying the state of the shaft of each servo motor in real time; the main control module sends the state data obtained by analysis to the panel control, the panel control at least includes a display window and an input window, as shown in fig. 7, the panel control inputs control data and displays an example graph of the states of the servo motors in real time, the state data from the main control module is displayed on the display window, the control data is input through the input window, and the state data is sent to the main control module for processing.
In some embodiments, the upper computer comprises an operating system and a Labview system, and one or more of the communication connection module, the data sending module, the data receiving module, the main control module and the panel control are generated based on the Labview system; optionally, the operating system is a WIN7 operating system; the communication connection mode of the upper computer and the lower computer is TCP/IP communication. The communication connection module fills in a communication IP address and a port number set in the PLC controller, and the communication connection module generated based on the Labview system is the embodiment shown in fig. 8. The data sending module is configured to package and send Labview control data of the upper computer, and the data sending module generated based on the Labview system is the embodiment shown in fig. 9. The data receiving module receives and analyzes data transmitted by the PLC to obtain the state of each axis, and the data receiving module generated based on the Labview system is the embodiment shown in fig. 10. The main control module integrates TCP/IP to acquire data and analyze the data to obtain the state of each axis, acquires input data of the panel control, integrates TCP/IP to transmit data to control each axis, and is generated based on the Labview system as shown in fig. 11 and 12. The panel control clicks the corresponding control of the front panel through a mouse, controls the servo of each axis to carry out corresponding movement, and displays the state of each axis in real time.
In some embodiments, the lower computer comprises an integrated programming system; the integrated programming system is used for compiling the execution unit containing an axis subprogram; the axis subprogram comprises one or more of a servo enabling module, a servo resetting module, a servo origin returning module, a servo absolute motion module, a servo relative motion module, a servo reading parameter module, a servo pause module, a servo JOG module, an interactive control servo module and a servo state acquisition and summary module; optionally, the integrated programming system is a world wide web development software. The lower computer controls the servo driver and the servo motors through partial shaft subprograms (a servo enabling module, a servo resetting module, a servo returning point module, a servo absolute motion module, a servo relative motion module, a servo pause module, a servo JOG module and an interactive control servo module), and obtains the working state of the shaft of the servo motor through the servo parameter reading module and the servo state obtaining and summarizing module, so that the output of state data of the shaft of the servo motor and the control of the servo driver are realized through the execution unit.
In some embodiments, the PLC host controller and the expansion module are configured, as shown in fig. 6, which is an exemplary diagram of the configuration of the lower computer and the expansion module; taking four servo motors as an example, configuring 4-axis process objects through an expansion module, and respectively configuring parameters for an axis 1, an axis 2, an axis 3 and an axis 4: the axis parameters include one or more of pulse output, directional output, origin signal, limit signal, scram signal, origin return mode, and mechanical parameters. The servo motor realizes the control of the shaft state through the configured parameters such as pulse output, direction output, an origin point signal, a limit signal, an emergency stop signal, an origin point returning mode, mechanical parameters and the like. The executing unit acquires the state data of the shaft, and the lower computer adds a label uniquely corresponding to the shaft to the state data of the shaft acquired from each servo motor and each private server driver; based on the control data, the expansion module configures an axis process object and axis parameters for four axes by taking the label corresponding to the axis, so as to realize independent control of the four axes.
In some embodiments, the integrated programming system is further for editing an interactive communication module; the interactive communication module comprises a data receiving area and a data sending area; the data receiving area is linked with the data sending module to receive and summarize the control data, and the data sending area is linked with the data receiving module to summarize state data to be sent to an upper computer; referring to the four-servomotor example, the axis control information of the axes of the 4 servomotors is collected in the TCP/IP data reception area, the axis states of the axes of the 4 servomotors are collected in the TCP/IP data transmission area, and the reception area and the transmission area corresponding to the connection of the reception module are transmitted by the TCP/IP.
In terms of hardware, embodiments of the present disclosure relate to the connection of main loop wiring, control loop wiring, and driver control port wiring, where the main loop wiring provided by embodiments of the present disclosure, as shown in fig. 3, and the control loop wiring provided by embodiments of the present disclosure, as shown in fig. 4; the embodiment of the present disclosure provides a wiring diagram of a driver control port, as shown in fig. 5.
The disclosed embodiment of the application is a multi-axis motion control system, an operation executive program and an upper computer communication interactive program are edited in a lower computer, an upper computer Labview edits a main control program and is in interactive communication with a PLC, the upper computer Labview and the lower computer PLC are programmed, and the purpose that the upper computer conveniently and flexibly controls a multi-axis servo system and accurately positions is achieved through TCP/IP mutual communication. The scheme relates to that an upper computer and a lower computer complete control of a four-axis servo system through interactive communication through a preset programming control program.
In a second aspect, based on the multi-axis motion control system, an embodiment of the present disclosure further provides a multi-axis motion control method, as shown in fig. 13, a control procedure provided by an embodiment of the present disclosure; the method comprises the following steps:
(1) and (3) waiting for the upper computer to be connected when the lower computer is in the interception state, if the connection is successful, performing the step (2), and if the connection is unsuccessful, performing initialization again and connecting again. Firstly, starting a lower computer program, enabling a lower computer serving as a server to be in a monitoring state, waiting for connection of an upper computer serving as a client, connecting the programs of the lower computer and the upper computer after the upper computer is also started, if the connection is successful, successfully communicating the programs, and if the connection is unsuccessful, re-initializing and re-connecting the programs;
(2) the method comprises the steps that an upper computer sends a state acquisition instruction to the lower computer in a preset period, the lower computer acquires state data of a plurality of servo motor shafts and sends the state data to the upper computer in a first preset format, and the upper computer analyzes the state data to obtain the state of the servo motor shafts; optionally, the upper computer sends a control command for acquiring the state of the lower computer at a cycle of 50mS, the lower computer receives the corresponding control command, collects state data (state parameters and current positions of the shafts) of the plurality of servo motors to a data sending area, and the upper computer receives the corresponding data and analyzes the data to obtain the current state and current position of each shaft;
(3) the upper computer responds to the control command event, control data corresponding to the control command event are sent to the lower computer in a second preset format, and the lower computer controls the servo motor to move after analyzing the control data; in the process of obtaining the state of the lower computer at a certain frequency, detecting whether other control command events are generated, if the events are generated, responding to the events, and if the events are the control commands of the upper computer: the upper computer sends control data to the lower computer, the upper computer continues to periodically acquire the state of the lower computer after sending a command, and the lower computer analyzes data after receiving the control data and performs corresponding control; if the command is a program exit command: the routine exits.
In some embodiments, the process of the upper computer and the lower computer communicating with each other is that the lower computer is used as a server, and the upper computer is used as a client; a server end of the lower computer is provided with a sending data TCP _ T (4 continuous DWORDs) and a receiving data TCP _ R (5 continuous DWORDs); the client of the upper computer is provided with receiving data TCP _ R (continuous 16 BYTEs) and sending data TCP _ T (continuous 20 BYTEs); the upper computer and the lower computer exchange data at the moment, the number of bytes of the data sent by the upper computer is equal to the number of bytes of the data received by the lower computer, and the number of bytes of the data received by the upper computer is equal to the number of bytes of the data sent by the lower computer.
In some embodiments, the process of the lower computer sending the state data of the axes of the plurality of servo motors to the upper computer in the first preset format is as follows: the state data is divided into state parameters and position parameters, the state parameters and the position parameters are respectively placed in a first area and a second area of the lower computer for receiving bytes, and the first area is larger than the second area; and the lower computer encrypts the state data collected in the preset period and then sends the state data to the upper computer. Taking four servo motors as an example, the lower computer collects the state parameters of four axes and respectively places the state parameters in the 1 st DWORD in TCP _ T, namely 0-3 bytes in TCP _ T, the position parameters of each axis of 4 axes are respectively placed in the 2 nd DWORD in TCP _ T, and the state and the current position of each axis are obtained through analysis after the state data collected by the lower computer is obtained by the upper computer. By dividing the state data and respectively storing the zone bit settings, the efficiency and the precision of data summarization and sending are improved, and the independent processing and monitoring of the state parameters and the position parameters can be realized.
In some embodiments, the process of sending the control data to the lower computer in the second preset format by the upper computer is as follows: the control data are divided into object parameters, control mode parameters, speed parameters and position parameters, and the object parameters, the control mode parameters, the speed parameters and the position parameters are respectively filled into a first area, a second area, a third area and a fourth area of a receiving byte of the upper computer, wherein the first area, the second area, the third area and the fourth area are equal; and the upper computer sends the control data to the lower computer in real time. The upper computer collects the object parameters in 0-3 bytes of TCP _ T, collects the control mode parameters in 4-7 bytes, fills the corresponding speed parameters in 8-11 bytes and fills the corresponding position parameters in 11-15 bytes, namely, all commands executed by the lower computer to be controlled by the upper computer are collected in 0-15 bytes of TCP _ T and correspond to 4 DWORDs in TCP _ R in the lower computer.
In a third aspect, embodiments of the present disclosure provide a multi-axis control device that includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform a multi-axis motion control method as described above (i.e. the method of the second aspect).
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, embodiments of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present disclosure may 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, and so forth) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A multi-axis motion control system comprises an upper computer and a lower computer which is in communication connection with the upper computer, and is characterized in that,
also comprises
The expansion module is configured with the lower computer and used for configuring the shaft process object and the shaft parameters;
the execution unit is connected with the servo driver and the servo motors and is used for acquiring the state data of the axes of the servo motors and controlling the output of the servo driver;
the lower computer transmits the state data to the upper computer, and the upper computer analyzes the state data to obtain the state parameters of the shafts of the servo motors;
the upper computer sends the control data to the lower computer, the lower computer analyzes the control data, the expansion module configures the shaft process object and the shaft parameters based on the analyzed control data, and the lower computer controls the motion of the servo motors through the servo drivers.
2. The multi-axis motion control system of claim 1, wherein the upper computer comprises
The communication connection module is used for filling and writing a communication address and a port number which are set in the lower computer;
the data sending module is used for packing and sending the control data of the upper computer to the lower computer;
the data receiving module is used for receiving state data sent by the lower computer;
the main control module is used for analyzing the collected state data to obtain the state of the shaft of each servo motor;
and the panel control is used for inputting control data and displaying the state of the shaft of each servo motor in real time.
3. The multi-axis motion control system of claim 2, wherein the upper computer comprises an operating system and a Labview system, and one or more of the communication connection module, the data sending module, the data receiving module, the master control module and the panel control are generated based on the Labview system.
4. The multi-axis motion control system of claim 2, wherein the lower computer comprises an integrated programming system;
the integrated programming system is used for compiling the execution unit containing an axis subprogram;
the axis subprogram comprises one or more of a servo enabling module, a servo resetting module, a servo origin returning module, a servo absolute motion module, a servo relative motion module, a servo reading parameter module, a servo pause module, a servo JOG module, an interactive control servo module and a servo state acquisition and summary module.
5. The multi-axis motion control system of claim 3, wherein the integrated programming system is further configured to edit an interactive communication module;
the interactive communication module comprises a data receiving area and a data sending area;
the data receiving area is linked with the data sending module to receive and summarize the control data, and the data sending area is linked with the data receiving module to summarize state data to be sent to an upper computer.
6. The multi-axis motion control system of claim 1, wherein the axis parameters comprise one or more of pulse outputs, directional outputs, origin signals, limit signals, scram signals, origin return patterns, and mechanical parameters.
7. The multi-axis motion control system as claimed in any one of claims 1 to 6, wherein the upper computer is a PC, the lower computer is a PLC, and the communication connection between the upper computer and the lower computer is TCP/IP communication.
8. A multi-axis motion control method, comprising the steps of:
(1) waiting for the upper computer to be connected when the lower computer is in a monitoring state, if the connection is successful, performing the step (2), and if the connection is unsuccessful, performing initialization again and connecting again;
(2) the method comprises the steps that an upper computer sends a state acquisition instruction to the lower computer in a preset period, the lower computer acquires state data of a plurality of servo motor shafts and sends the state data to the upper computer in a first preset format, and the upper computer analyzes the state data to obtain the state of the servo motor shafts;
(3) and the upper computer responds to the control command event, sends control data corresponding to the control command event to the lower computer in a second preset format, and the lower computer analyzes the control data and controls the servo motor to move.
9. The multi-axis motion control method as claimed in claim 8, wherein the lower computer transmits the state data of the axes of the plurality of servo motors to the upper computer in a first preset format as follows:
the state data is divided into state parameters and position parameters, the state parameters and the position parameters are respectively placed in a first area and a second area of the lower computer for receiving bytes, and the first area is larger than the second area;
and the lower computer encrypts the state data collected in the preset period and then sends the state data to the upper computer.
10. The multi-axis motion control method as claimed in claim 9, wherein the upper computer transmits the control data to the lower computer in the second preset format as follows:
the control data are divided into object parameters, control mode parameters, speed parameters and position parameters, and the object parameters, the control mode parameters, the speed parameters and the position parameters are respectively filled into a first area, a second area, a third area and a fourth area of a receiving byte of the upper computer, wherein the first area, the second area, the third area and the fourth area are equal;
and the upper computer sends the control data to the lower computer in real time.
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