Control device, data transmission system for control device, and data transmission method

Abstract

A numerical control device (100) is composed of a main control unit (10) for analyzing a program and a motor control unit (20) for controlling a motor. When motor control data is transmitted from the main control unit (10) to the motor control unit (20) via a serial bus, the motor control data is not transmitted one by one for each axis. Instead, when the motor control data repeats a specific pattern, the repetition pattern and the number of repetitions are transmitted, and the repetition pattern is copied on the motor control unit side.

Description

Technical Field

[0001] The present invention relates to a control device for industrial machinery, a data transmission system for the control device, and a data transmission method. Background Art

[0002] A numerical control device is a device that controls industrial machinery, including machine tools. It generates control signals according to a program and moves the multiple drive components of the industrial machinery according to a preset procedure.

[0003] In recent years, the number of motors (axes) controlled by industrial machinery has increased, and the amount of data processed by numerical controllers has also increased. For example, machine tools not only have linear axes such as the X, Y, and Z axes, but also rotary axes such as the A and B axes. Some machine tools also utilize multiple tools simultaneously for machining, not just a single one. Furthermore, tool replacement and fixture movement are also performed by motors. As the number of drive units in industrial machinery increases, the number of axes to be controlled increases, and the amount of data processed by numerical controllers also increases.

[0004] Numerical control devices typically include a main control unit and multiple motor control units. The main control unit analyzes the input program and generates command pulses. The motor control units receive motor control data from the main control unit, including the command pulses and at least one of the following: torque command, current cycle, and control mode (cutting mode / positioning mode). They then output this motor control data to the servo motor amplifier.

[0005] The torque command, current cycle, and control mode (cutting mode / positioning mode) are parameters related to motor control. These motor control parameters are generally specified by a machining program or parameters set in a non-volatile memory.

[0006] In numerical controllers, motor control data generated by a main control unit is transmitted to each servo amplifier via the motor control unit. The main control unit and the motor control unit are connected via a serial bus. As the amount of motor control data increases, the transmission load imposed on this serial bus increases.

[0007] Patent Document 1 discloses a bus controller that adds a serial bus to internal units and external I / O units connected to the bus controller and that require periodic data transmission, thereby reducing data traffic on the parallel bus and achieving improved performance.

[0008] Patent Document 1: WO98 / 35296 Summary of the Invention

[0009] Problems to be solved by the invention

[0010] Patent Document 1 proposes adding a serial bus to reduce bus traffic. However, adding a new serial bus not only requires physical structural changes but also complicates bus traffic control. Therefore, to stabilize bus traffic, it is sufficient to reduce the amount of data transmitted.

[0011] In the field of numerical controllers, technology for reducing the amount of data transmission is desired.

[0012] Means for solving problems

[0013] As one embodiment of the present invention, a control device generates motor control data for an industrial machine and controls a drive unit of the industrial machine according to the motor control data, and comprises: a control data holding unit that holds the motor control data of each drive unit of the industrial machine; a control quantity calculation unit that calculates the control quantity of the drive unit for each control cycle; a control data generation unit that converts the control quantity of each control cycle into motor control data consisting of a command pulse and data including at least one of a torque command, a current cycle, and a control mode (cutting mode / positioning mode); a repetition pattern determination unit that determines the presence or absence of a repetition pattern in the motor control data; a repetition pattern generation unit that calculates the number of repetitions of the repetition pattern; a pattern data transmission unit that transmits the repetition pattern to a control unit of the drive unit; a pattern notification unit that transmits information related to the repetition pattern including the number of repetitions to the control unit of the drive unit; and a pattern data generation unit that copies the repetition pattern by the number of repetitions and writes it into the control data holding unit for each control cycle.

[0014] As one embodiment of the present invention, a data transmission system generates motor control data of an industrial machine and controls a drive unit of the industrial machine according to the motor control data, and comprises: a control data holding unit that holds the motor control data of each drive unit of the industrial machine; a control quantity calculation unit that calculates the control quantity of the drive unit for each control cycle; a control data generation unit that converts the control quantity of each control cycle into motor control data consisting of a command pulse, a torque command, and data including at least one of a current cycle and a control mode (cutting mode / positioning mode); a repetition pattern determination unit that determines the presence or absence of a repetition pattern in the motor control data; a pattern data transmission unit that transmits the repetition pattern to a control unit of the drive unit; a pattern notification unit that transmits information related to the repetition pattern including the number of repetitions to the control unit of the drive unit; and a pattern data generation unit that copies the repetition pattern by the number of repetitions and writes it into the motor control data holding unit for each control cycle.

[0015] As one aspect of the present invention, a data transmission method is a method for transmitting data from a main control unit that generates motor control data for an industrial machine to a control unit that controls a drive unit of the industrial machine based on the motor control data, calculating the control amount of the drive unit in each control cycle, converting the control amount of each control cycle into motor control data consisting of a command pulse, a torque command, and data including at least one of a current cycle and a control mode (cutting mode / positioning mode), determining the presence or absence of a repetitive pattern in the motor control data, calculating the number of repetitions of the repetitive pattern, transmitting the repetitive pattern to the control unit of the drive unit, copying the repetitive pattern the number of times, and generating motor control data.

[0016] Effects of the Invention

[0017] According to one aspect of the present invention, the amount of data transmission can be reduced without changing the internal structure of the control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is the hardware structure of the numerical control device disclosed in the present invention.

[0019] Figure 2A This is a diagram showing a situation where the tool moves in an oblique direction relative to the Z axis in the XZ plane.

[0020] Figure 2B This is a diagram showing an example of a pattern of motor control data generated by the main control unit.

[0021] Figure 3 This is a block diagram of the numerical control device in the first disclosure.

[0022] Figure 4 This is a block diagram of the numerical control device in the second disclosure.

[0023] Figure 5 This is a flowchart showing the data transmission method in the second disclosure.

[0024] Figure 6 This diagram shows the linear movement of a tool based on two-axis XZ commands.

[0025] Figure 7 This is a diagram showing the movement amount of each axis per control cycle.

[0026] Figure 8 This is a block diagram of the numerical control device in the third disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, the numerical controller 100 of the present disclosure will be described. Figure 1This is the hardware structure of the numerical controller 100 disclosed herein. The numerical controller 100 includes a main control unit 10 and a motor control unit 20. The main control unit 10 analyzes the machining program and generates motor control data. The motor control unit 20 controls the servo amplifier 31 according to the motor control data generated by the main control unit 10.

[0028] In addition, Figure 1 In the embodiment, one motor control unit 20 is connected to one main control unit 10 , but a plurality of motor control units 20 may be connected.

[0029] The main control unit 10 includes a motor control data holding unit 11 that stores motor control data, a CPU 12 that performs calculations and controls according to a program stored in a main memory, and a DMAC (Direct Memory Access Controller) 13 that controls data transfer.

[0030] The motor control data holding unit 11 is a register for transferring motor control data of each axis to the motor control unit 20. The DMAC 13 reads the motor control data from the motor control data holding unit 11 and transfers the data to the motor control unit 20 without passing through the CPU 12.

[0031] The motor control unit 20 includes a motor control data holding unit 21, a CPU 22, and a DMAC 23. The motor control data holding unit 21 is a register that temporarily holds data transmitted from the main control unit 10. The DMAC 23 writes the data transmitted from the main control unit 10 into the motor control data holding unit 21. The motor control unit 20 and the n servo amplifiers 311 to 31 n The storage area of the motor control data holding unit 21 and the servo amplifiers 311 to 31 of the first to n-th axes are connected. n The motor control data is transmitted in each control cycle. The numerical controller 100 performs real-time processing of the motor control data transmitted in each control cycle without delay.

[0032] like Figure 2A As shown, when the tool is moved in an inclined direction relative to the Z axis in the XZ plane, the X-axis and Z-axis motors are driven simultaneously. Motor control data is transmitted from the main control unit 10 to the motor control unit 20 in each control cycle. Figure 2B is an example of motor control data generated by the main control unit 10. Figure 2A Move as shown, as Figure 2B As shown, the X-axis command pulse P is generated xa →P xb →P xa →P xb→… and the Z-axis command pulse P zc →P zc →P zc →P zc → ... Data obtained by adding data including at least one of the torque command, the current cycle, and the control mode (cutting mode / positioning mode) to the command pulse is the motor control data.

[0033] The motor control data of the X axis is P xa With P xb Repeat, the Z-axis motor control data is P zc In the numerical control device of the present disclosure, when there is duplication in the motor control data, the traffic between the main control unit 10 and the motor control unit 20 is reduced by transmitting only the number of repetitions and the repetition pattern to the motor control unit 20 .

[0034] The main control unit 10 and the motor control unit 20 are connected via a serial bus. A serial bus uses a single transmission line to continuously transmit data. Because the transmission line is single, as the number of axes controlled by the numerical controller 100 increases, the amount of motor control data increases, and the serial bus traffic increases. Industrial machinery control requires real-time processing of constantly changing data without delay, so delays caused by data transmission must be avoided. The numerical controller 100 disclosed herein prevents traffic delays by reducing the amount of transmitted data.

[0035] [First Publication]

[0036] Figure 3 This is a block diagram of the numerical controller 100 in the first disclosure. The main control unit 10 of the numerical controller 100 includes: a machining program analyzing unit 41 that analyzes a machining program; a motor control data generating unit 42 that generates motor control data; a motor control data transmitting unit 43 that transmits the motor control data to the motor control unit 20; and a pattern notifying unit 44 that transmits information related to a repetition pattern.

[0037] The machining program analyzing unit 41 acquires a machining program recorded in a nonvolatile memory (not shown) or the like, analyzes each block (line) of the machining program, and calculates the movement amount of each axis per control cycle.

[0038] The motor control data generator 42 converts the movement amount per control cycle calculated by the machining program analyzer 41 from a physical unit system such as meters or inches into electric motor command units using pulses. Since the motor control data is an integer multiple of the minimum command unit, the motor control data generator 42 evenly distributes the data at a predetermined period to ensure smooth movement of the industrial machine's drive unit.

[0039] The motor control data transmission unit 43 transmits the motor control data generated by the motor control data generation unit 42 to the motor control data holding unit 51 of the motor control unit 20. Figure 1 As shown, the motor control data holding unit 51 can hold motor control data for each axis. The motor control data for each axis is copied to the holding area for each axis. The motor control data transfer unit 43 is implemented by the DMAC 13 and the CPU 12.

[0040] The functions up to this point are the same as those of the conventional numerical controller 100. The main control unit 10 of the present disclosure further includes a repetitive pattern determination unit 45, a repetitive pattern generation unit 46, a pattern data transmission unit 47, and a pattern notification unit 44.

[0041] The repetitive pattern determination unit 45 determines whether or not there is a repetitive pattern in the motor control data. A repetitive pattern is a combination of multiple elements. Figure 2B In the case of P xa 、P xb 、P zc The combination of these three elements becomes a repeating pattern.

[0042] The repetitive pattern generating unit 46 converts the elements of the detected repetitive pattern from a unit system of physical length such as meters and inches into a motor command unit using electric pulses.

[0043] The pattern data transfer unit 47 obtains the pattern data from the repetitive pattern generation unit 46 and transfers it from the main control unit 10 to the memory of the motor control unit 20 at each control cycle. The pattern data transfer unit 47 identifies the repetitive pattern data using, for example, the address of the repetitive pattern data. Specifically, the pattern data transfer unit identifies which address in the repetitive pattern storage unit 52 holds the repetitive pattern data associated with which mode and which axis.

[0044] The pattern notification unit 44 transmits the identification information of the repetition pattern and the number of repetitions to the motor control unit 20. The motor control unit 20 copies the repetition pattern to the register of the corresponding axis based on the number of repetitions and the repetition pattern received from the pattern notification unit 44 to generate motor control data.

[0045] Next, the configuration of the motor control unit 20 will be described. The motor control unit 20 includes a motor control data storage unit 51 that stores motor control data; a repetitive pattern storage unit 52 that stores a repetitive pattern; a pattern information storage unit 53 that stores information related to the repetitive pattern; a repetitive pattern data generation unit 54 that generates motor control data based on the repetitive pattern; and a motor control unit 55 that controls the servo motor using the motor control data stored in the motor control data storage unit 51.

[0046] The motor control data storage unit 51, the repetitive pattern storage unit 52, and the pattern information storage unit 53 are, for example, shared memories with the main control unit 10. The addresses of the shared memories of the main control unit 10 and the motor control unit 20 correspond to each other, allowing the main control unit 10 and the motor control unit 20 to identify what data is stored in each other's memories. In other words, the addresses of the shared memories function as data identification information.

[0047] The motor control data holding unit 51 holds the motor control data used by the motor control unit 55 to control the servo amplifier 31. Figure 1 As shown, the motor control data is stored for each axis of the industrial machine. The motor control unit 55 outputs a control signal to the servo amplifier 31 based on the motor control data stored in the motor control data storage unit 51 .

[0048] The repetitive pattern holding unit 52 holds the repetitive pattern generated by the repetitive pattern generating unit 46 .

[0049] The pattern information holding unit 53 holds data related to repetition, such as identification information of the repetition pattern, the number of repetitions, and identification information of the axis to be repeated, which is transmitted from the pattern notification unit 44 .

[0050] The pattern data generating unit 54 acquires the repetitive pattern from the repetitive pattern holding unit 52 based on the information held in the pattern information holding unit 53 , and writes the repetitive pattern into the storage area of the corresponding axis in the motor control data holding unit 51 .

[0051] The motor control unit 55 reads the motor control data according to the control cycle and outputs the data to the servo amplifier 31 of each motor. The servo amplifier 31 controls the rotation speed and torque of the motor according to the motor control data.

[0052] As described above, in the numerical controller 100 of the present disclosure, instead of transmitting all motor control data for each axis one by one, when the motor control data repeats a specific pattern, information on the repetition pattern and the number of repetitions is transmitted, thereby reducing the amount of data transmitted to the motor control unit.

[0053] If the amount of data to be transferred decreases, the transfer load on the serial bus decreases, preventing transfer delays. In addition, the utilization of hardware resources such as the CPU and DMAC can be reduced, thereby reducing heat generation.

[0054] [Second Publication]

[0055] Next, the second disclosure will be described.

[0056] Figure 41 is a block diagram of a numerical control device 100 in the second disclosure. Figure 3 The illustrated repetitive pattern determination unit 45 functions as a movement instruction determination unit 48 .

[0057] The movement command determination unit 48 detects whether a repetitive pattern exists based on program commands. For example, a repetitive pattern occurs during linear movement. Therefore, if a program contains commands such as G01 (cutting feed command), G00 (rapid traverse command), or G53 (machine coordinate command), the movement command determination unit 48 determines that a repetitive pattern has occurred.

[0058] The numerical controller 100 starts the repetitive processing based on the determination result of the movement command determination unit 48. The detection of the repetitive pattern using the program is an example. The presence of the repetitive pattern may be detected by other methods.

[0059] Reference Figure 5 , the data transmission method in the second disclosure is described. The second disclosure determines whether a repetitive pattern exists based on instructions recorded in a program. When it is determined that a repetitive pattern exists, the data transmission method of the present disclosure is started. Regarding the data transmission method, the first disclosure and the second disclosure perform the same process.

[0060] First, the machining program analysis unit 41 obtains the machining program from a nonvolatile memory (not shown) (step S1). Next, the machining program analysis unit 41 analyzes the machining program for each block (one line) (step S2). The machining program analysis unit 41 calculates the movement amount of each axis for each block (step S3).

[0061] The movement command determination unit 48 determines whether the G code written in the program is a repeating mode G code. If the G code is not a repeating mode G code (step S4; No), the movement amount of each axis for each control cycle is calculated (step S5), and the units of meters and inches are converted to motor command units (step S6). In addition, motor control data including at least one of the torque command, current cycle, and control mode (cutting mode / positioning mode) is generated (step S7).

[0062] The motor control data transfer unit 43 transfers the motor control data for each control cycle to the motor control data storage unit 51 . The motor control unit 55 acquires the motor control data from the motor control data storage unit 51 and controls the servo amplifier 31 (step S8 ).

[0063] In step S4, if the G code is a G code for a repetitive mode (step S4; yes), the repetitive pattern generating unit 46 calculates the movement amount of each control cycle of the elements constituting the repetitive mode, data including at least one of the torque command, the current cycle, the control mode (cutting mode / positioning mode), and the number of repetitions (step S9), converts the meter and inch units of the movement amount into motor command units (step S10), and generates repetitive pattern data (step S11).

[0064] The pattern data transfer unit 47 transfers the repetition pattern to the repetition pattern storage unit 52 (step S12). The pattern notification unit 44 transfers information related to repetition, such as the repetition pattern used, the number of repetitions, and the axis, to the pattern information storage unit 53 (step S13).

[0065] The pattern data generator 54 obtains information related to repetition from the pattern information storage 53 and writes the repetition pattern for a predetermined number of times to the motor control data storage 51 for the corresponding axis (step S14). The motor control unit 55 obtains motor control data from the motor control data storage 51 and controls the servo amplifier 31 (step S8).

[0066] [Specific Examples of the Present Disclosure]

[0067] The operation of the numerical controller 100 will be described using an example in which a tool is moved linearly using two-axis XZ commands. When a block "G01 UΔx WΔz Ef" is written in a machining program, as shown in FIG. Figure 6 As shown in FIG, the tool is moved from point A to point B at a speed f. The amount of movement of the tool in the X-axis direction is Δx, and the amount of movement in the Z-axis direction is Δz.

[0068] At this time, the machining program analyzer 41 calculates the number of data transfers K (times) based on the movement vector AB from point A to point B (movement amount of each axis), the feed speed f, and the control cycle (transfer cycle) T using the following formula.

[0069] [Formula 1]

[0070]

[0071] Next, the machining program analyzing unit 41 calculates the movement amount of each axis per control cycle of the motor control data according to the following formula.

[0072] [Formula 2]

[0073] The movement amount of each control cycle of the X axis:

[0074] The movement amount of each control cycle of the Z axis:

[0075] The machining program analyzer 41 converts the movement amount per control cycle of each axis into integers, using the minimum movement command unit, to adjust the movement command per transfer cycle to an even value. This ensures smooth movement of each axis. Specifically, when dividing the X-axis movement amount Δx by the number of transfers K, the division does not necessarily result in an exact division; instead, a remainder is generated. This remainder is adjusted to be evenly distributed across the number of transfers K. By decomposing the remainder, a repetitive pattern of adjusting the remainder at a fixed period is established.

[0076] The number of repetitions can be calculated using "K / number of elements in the repetition pattern". For example, if the movement amount of each axis in each control cycle is Figure 7 In such a case, the movement amount per control cycle of the X axis repeats K / 2 times "ΔXta→ΔXtb", and the movement amount per control cycle of the Z axis repeats K / 4 times "ΔZta→ΔZta→ΔZta→ΔZtb".

[0077] Next, the motor control data generator 42 multiplies the movement amount for each axis generated by the machining program analyzer 41 by coefficients (command coefficient, feedback coefficient) to convert the units from inches or meters to motor command units. The resulting data, which is then added with at least one of the torque command, current cycle, and control mode (cutting mode / positioning mode), becomes the motor control data. The unit conversion formula is as follows: C is the command coefficient, and 1 / D is the feedback coefficient.

[0078] [Formula 3]

[0079] X-axis motor control data:

[0080] Motor control data for the Z axis:

[0081] Furthermore, when generating normal motor control data, all data must be converted to a unit. However, when using a repeating pattern, performing a single repeating pattern conversion eliminates the need for converting the remaining data to a unit. Repeating pattern generator 46 performs a single unit conversion for a repeating pattern that is repeated multiple times.

[0082] The following formula shows an example of calculating the number of repetitions by converting the units of the elements (Xa, Xb) included in the X-axis repetition pattern and the elements (Za, Zb) included in the Z-axis repetition pattern.

[0083] [Formula 4]

[0084] X-axis motor control data:

[0085] Repeat mode of X axis: K / 2 times

[0086] Motor control data for the Z axis:

[0087] Repeat mode of Z axis: K / 4 times

[0088] The motor control data transmission unit 43 transmits the motor control data from the main control unit 10 to the motor control unit 20 at each control cycle T. When the transmitted motor control data is normal motor control data, all of the motor control data generated by the motor control data generation unit 42 is transmitted to the motor control data storage unit 51 at each control cycle. Furthermore, when the transmitted motor control data is in a repeating pattern, the motor control data generated by the motor control data generation unit 42 is transmitted to the motor control data storage unit 51 at least once, and the repeating pattern is then copied.

[0089] The repetitive pattern serving as a basis for copying is transferred to the repetitive pattern holding unit 52 by the pattern data transfer unit 47 .

[0090] The pattern data generating unit 54 of the motor control unit 20 reads the repetitive pattern stored in the repetitive pattern holding unit 52 and copies the read repetitive pattern to the motor control data holding unit 51 a predetermined number of times.

[0091] In addition, the above example shows a repetitive pattern for a tool moving at a constant speed, but a repetitive pattern can also be generated when acceleration or deceleration occurs. In this case, an increment pattern or decrement pattern corresponding to the acceleration or deceleration is generated, and the repetitive pattern serving as a reference is added.

[0092] [Third Publication]

[0093] Figure 8 This is a block diagram of the numerical control device 100 in the third disclosure. Figure 8 The numerical controller 100 includes a transmitted pattern storage unit 49 in the main control unit 10. The pattern data transmission unit 47 checks whether the transmitted repetition pattern has already been transmitted. If the repetition pattern has already been transmitted, only the repetition count and other data are transmitted. In the third disclosure, the amount of data transmitted can be further reduced by reducing the number of repetition pattern transmissions.

[0094] Although one embodiment has been described above, the present invention is not limited to the above disclosure and can be implemented in various forms by adding appropriate changes.

[0095] Description of Reference Signs

[0096] 100 numerical control device

[0097] 10 Main control unit

[0098] 11 Motor control data holding unit

[0099] 12CPU

[0100] 13DMAC

[0101] 20 Motor control unit

[0102] 21 Motor control data holding unit

[0103] 22CPU

[0104] 23DMAC

[0105] 31 Servo amplifier

[0106] 41 Processing program analysis department

[0107] 42 Motor control data generation unit

[0108] 43 Motor control data transmission unit

[0109] 44 Mode Notification Department

[0110] 45 Repeating pattern determination unit

[0111] 46 Repeating pattern generation unit

[0112] 47 mode data transmission unit

[0113] 48 Movement command judgment unit

[0114] 49 Transmitted mode storage unit

[0115] 51 Motor control data holding unit

[0116] 52 Repeating pattern holding unit

[0117] 53 Mode information storage unit

[0118] 54 mode data generation unit

[0119] 55. Motor control unit.

Claims

1. A control device that generates motor control data for an industrial machine and controls a drive unit of the industrial machine based on the motor control data, characterized in that: The control device has: a control data holding unit that holds, for each drive unit of the industrial machine, motor control data of the drive unit; a control amount calculation unit for calculating a control amount of the drive unit in each control cycle; a control data generating unit that converts the control amount for each control cycle into motor control data consisting of a command pulse and data including at least one of a torque command, a current cycle, and a control mode; a repetitive pattern determination unit that determines whether or not a repetitive pattern exists in the motor control data; a repetition pattern generating unit that calculates the number of repetitions of the repetition pattern; a pattern data transmitting unit that transmits the repetitive pattern to a control unit of the driving unit; a pattern notification unit that transmits information related to the repetition pattern including the number of repetitions to a control unit of the drive unit; a pattern data generating unit that copies the repetitive pattern by the number of repetitions and writes the copy to the control data holding unit for each control cycle; as well as a transmitted pattern data storage unit that stores the repetitive pattern transmitted to the control unit of the driving unit, The pattern data transmitting unit transmits only the repetitive pattern that is not stored in the transmitted pattern data storage unit to the control unit of the driving unit.

2. The control device according to claim 1, characterized in that The control device has: a program analysis unit that analyzes the program; and A movement command determination unit detects the presence or absence of a repetitive pattern based on the command described in the program.

3. The control device according to claim 2, characterized in that When the movement instruction determination unit detects the presence of a repeated pattern, the operations of the repeated pattern generation unit, the pattern data transmission unit, the pattern notification unit, and the pattern data generation unit are started.

4. The control device according to claim 1, characterized in that The pattern data transmission section transmits the repetitive pattern using a serial bus.

5. A data transmission system for generating motor control data for an industrial machine and controlling a drive unit of the industrial machine based on the motor control data, characterized in that: The data transmission system has: a control data holding unit that holds, for each drive unit of the industrial machine, motor control data of the drive unit; a control amount calculation unit for calculating a control amount of the drive unit in each control cycle; a motor control data generating unit that converts the control amount for each control cycle into motor control data consisting of a command pulse and data including at least one of a torque command, a current cycle, and a control mode; a repetitive pattern determination unit that determines whether or not a repetitive pattern exists in the motor control data; a pattern data transmitting unit that transmits the repetitive pattern to a control unit of the driving unit; a pattern notification unit that transmits information related to the repetition pattern including the number of repetitions to the control unit of the drive unit; a pattern data generating unit that copies the repetitive pattern by the number of repetitions and writes the copy to the control data holding unit for each control cycle; as well as a transmitted pattern data storage unit that stores the repetitive pattern transmitted to the control unit of the driving unit, The pattern data transmitting unit transmits only the repetitive pattern that is not stored in the transmitted pattern data storage unit to the control unit of the driving unit.

6. A data transmission method for transmitting data from a main control unit that generates motor control data for an industrial machine to a control unit that controls a drive unit of the industrial machine based on the motor control data, characterized in that: Calculating the control amount of the driving unit in each control cycle, The control amount of each control cycle is converted into motor control data consisting of a command pulse and data including at least one of a torque command, a current cycle, and a control mode. determining whether or not there is a repetitive pattern in the motor control data, Counting the number of repetitions of the repetitive pattern, transmitting the repetitive pattern to the control unit of the driving unit, storing the transmitted repetitive pattern, and then transmitting only the repetitive pattern not stored to the control unit of the driving unit, transmitting information on the repetition pattern including the number of repetitions to a control unit of the drive unit, The control unit of the driving unit copies the transmitted repetitive pattern by the number of repetitions to generate the motor control data.

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