Clock synchronization calibration method of distributed movement control system based on data bus

Abstract

The invention discloses a clock synchronization calibration method of a distributed movement control system based on a data bus. The clock synchronization calibration method comprises the following steps that (1) according to preset servo cycles, at the starting stage of each servo cycle, a bus control card generates an address sequence, wherein the first address in the address sequence is a special address; (2) movement control cards receive the address sequence, then the address signals in the address sequence are compared with existing data, when the compared address signals are the same as the data stored in a matching unit of the special address, an interrupt signal is sent from the corresponding movement control card, and therefore calculation of a new servo cycle is started; otherwise, calculation of the current servo cycle is continued. According to the clock synchronization calibration method, the performance stability of the movement control system is improved, all board cards in the system can conduct automatic calibration when each servo cycle is started, it can be guaranteed that each independent movement control cards can keep clock consistency with the entire system in a long time, and the operation synchronicity of all the movement control cards is guaranteed.

Description

technical field [0001] The invention relates to a clock synchronization calibration method, more specifically, to a clock synchronization calibration method for a distributed motion control system based on a data bus. Background technique [0002] For the motion control system of large-scale manufacturing equipment, it is often necessary to perform multi-axis control on dozens or even dozens of axes. Multi-axis control requires multiple motion control cards for motion signal processing. Each motion control card has a separate processor ( CPU), that is to say, the motion control system of large-scale manufacturing equipment can be regarded as a whole system composed of multiple independent subsystems. [0003] These control cards are mounted on such as VME backplane. The VME (VersaModule Eurocard) bus is a general-purpose computer bus that combines the electrical standards of Motorola's Versa bus and the mechanical form factor of the Eurocard standard established in Europe, ...

AI Technical Summary

Problems solved by technology

[0004] During the operation of the whole machine, the individual subsystems in the system need to run precisely and synchronously, that is, the start time of the servo cycle of each block processor (CPU) needs to be strictly consistent. However, because the clock systems in each block of motion control cards are independent of each other, resulting in Each subsystem is in a different clock domain, and these clock system crystal oscillators with approximately equal frequencies have phase deviations and slight differences in frequency. Discrepancies in servo cycle start times between subsystems, causing system synchronicity to be violated

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