Multi-axis interpolation control method and device

Abstract

The invention provides a multi-axis interpolation control method and device. The multi-axis interpolation control method comprises the steps that logical enabled instruction is controlled, parameters involved in an interpolation axis are calculated, and the parameters are passed to N drive communication modules; in the running process of the interpolation, a virtual principle axis module continuously issues virtual principle axes to drive the operation of an electronic cam module which is involved in interpolating the axes; when the drive communication module receives valid parameters, communication data is verified, and the parameters are sent to the electronic cam module after verification is passed; the electronic cam module conducts period calculation according to the virtual axes and input parameters, and sends periodic pulse quantity to a motor control module in each cycle; the motor control module receives periodic pulses output from the electronic cam module to control the operation of a motor. According to the multi-axis interpolation control method, it is only need to connect communication lines and virtual axis lines between a controller and a motor driver, the difficulties of wiring and checking are reduced, and it is not prone to interference.

Description

technical field [0001] The invention relates to the technical field of motion control, in particular to a multi-axis interpolation control method and device. Background technique [0002] At present, when interpolation control is involved in motion control, the mainstream solution is to perform interpolation calculations in the controller to obtain the position increments that each axis participating in the interpolation needs to run in each control cycle, and then periodically through the pulse or communication bus to send position increments to the motor driver. [0003] Chinese Invention Patent Application Specification CN101526808A provides a multi-axis interpolation method. The interpolation algorithm is jointly completed by the CPU and the FPGA. Specifically, the CPU periodically calculates the interpolation incremental data of each axis, and the calculation results are written into the FPGA. The internal dual-port RAM, under the control of the clock management unit, ...

AI Technical Summary

Problems solved by technology

However, at present, the surplus resources of the motor driver are mostly used to enhance the driving performance of the motor. From the perspective of the system, the pressure on the controller is still great when the number of interpolation axes increases.

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