Motion Control System

Abstract

The invention discloses a movement control system used for providing pulse signals for a servo motor for driving an object to move. The system comprises a main movement controller and a subordinate movement controller. The main movement controller comprises a processor and a first memory connected to the processor. The subordinate movement controller comprises a control unit, a second memory and a pulse signal generator. The pulse signal generator comprises a register and a pulse generator connected to the register. The control unit is connected to the second memory and the pulse signal generator. The second register is connected to the pulse signal generator. The processor is used for carrying out fitting on speed curves of an object by use of a basic speed curve so as to obtain one or more basic speed curve segments corresponding to the speed curves, and generating movement data with a predetermined data structure based on each basic speed curve segment. The subordinate movement controller is used for generating pulse signals based on the movement data.

Description

technical field [0001] The invention relates to motion control of a robot, in particular to a motion control system. Background technique [0002] The robot market in the world, especially in China, is developing explosively, and robot shipments are growing rapidly. The controller as the center of robot movement has also been greatly developed. The implementation of existing controllers is generally based on motion control ASIC chips or FPGA chips, and its system structure is generally figure 1 shown. The main control CPU generates instructions and data according to the motion curve, and transmits the instructions and data to the slave motion controller (ASIC chip or FPGA chip) in real time through the physical interface; after the instruction execution module in the motion controller parses the instructions, the data is The waveform is sent to the waveform generation module, and the waveform generation module generates pulse signals to drive the motor to run according to...

AI Technical Summary

Problems solved by technology

[0004] 1. Each manufacturer uses an exclusive dedicated instruction system. These systems are poor in openness, not easy to transplant, and require professional personnel to develop and maintain, so the development and maintenance costs are high

[0005] 2. It is necessary to use the physical interface corresponding to the special instruction system, which makes the system complex, the interface standards are different, and it is difficult to connect different systems and it is not easy to expand

[0006] 3. The instructions and data sent by the main control CPU need to be parsed from the motion controller and then executed. There is a certain delay from the instruction sending to the actual motor operation.

[0007] 4. Even if it is the same manufacturer, the software and hardware functions of the multi-axis control system with more than 4 axes and the single-axis control system are not the same, resulting in the software structure and function depending on the hardware; the software structure of each company's motion control system is even more different from its own hardware. closely related

[0008] The above shortcomings hinder the integration and application of robot motion control systems

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