Parameter editing method of motion control part, computer readable medium and computer

Abstract

Disclosed is a parameter editing method for a motion control component. The motion control component is used for controlling the motion of a motion component. The method comprises: editing a group ofmotion parameter list composed of multiple motion parameters; editing a cycle index of the motion parameter list; inquiring the motion control component a threshold number of motion parameters allowedby the storage space thereof; when the number of the motion parameters is greater than or equal to the threshold number, executing the first step: sending the motion parameters in the motion parameter list to the motion control component in sequence according to the cycle index; when the number of the motion parameters is smaller than the threshold number, executing the second step: sending the cycle index and the motion parameters in the motion parameter list to the motion control component in sequence. The parameter editing method is friendlier to a user, and meets different requirements ofthe user.

Description

technical field [0001] The invention relates to the field of motion control, in particular to a parameter editing method of a motion control component, a computer-readable medium stored with a computer program and a computer. Background technique [0002] In the field of motion control, moving parts such as motors are the core components to realize motion control. For example, the operation of a robot requires a motor to cooperate with a screw or a reducer as a motion execution part to drive the robot to move. [0003] Taking the motor with the reducer as an example, the motor with the reducer is the main motion execution part of the manipulator (or called manipulator, multi-axis robot, multi-joint robot, etc.), and the multi-axis robot mainly clamps from an initial position according to a predetermined route. Take the target object to the target position, suitable for mechanical automation operations in many industrial fields. [0004] The multi-axis robots on the market n...

AI Technical Summary

Problems solved by technology

[0019] 1. Regardless of how many motion parameters the user needs to edit and whether they need to be executed in a loop, the user can only edit all the motion parameters from the first to the last one. Even if the user needs to repeat a group of motion actions many times, the It is necessary to edit and edit the motion parameters many times, and then send them to the motion control part 103 one by one, and when the cache of the motion control part 103 is full, the next motion parameter can only be continued after the motion control part 103 solves and executes it. Sending, the waiting time is long, which is not user-friendly;

[0020] 2. The existing motion control part 103 relies on the DSP chip to solve the calculation and generate the pulses for controlling the operation of the motor 106. It must be executed while solving, and the real-time performance is poor, and the pulse error generated by the DSP chip is relatively large, so that the running error of the motor 106 Very large, can not meet customer needs

[0021] 3. Existing motion control part 103 adopts DSP chip as main solution chip, and produces control pulse, and FPGA digital signal processor is only used as signal conversion, so that existing motion control part 103 has the problem of slow calculation, slow execution, Large errors, poor real-time performance, etc.

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