Action point location expansion method, control method, device and system of servo system

Abstract

The invention discloses an action point position expansion method, a control method, a device and a system of a servo system, and the method comprises the steps: obtaining a control data block of a servo shaft, the control data block comprises basic positioning point parameters and conventional parameters of a plurality of basic positioning points, the control module can control the servo shaft to move to the selected basic positioning point based on the control data block, and the basic positioning point comprises at least one variable positioning point; copying the control data block to obtain at least one mirror image data block, and replacing at least one of the basic positioning point parameters in the mirror image data block with an expanded positioning point parameter of a preset expanded positioning point, the expanded positioning point parameter is used as a basic positioning point parameter of the variable positioning point when the expanded positioning point is a target positioning point of the servo shaft, and flexible expansion of the number of the positioning points can be realized without modifying template data of the servo shaft.

Description

Technical Field

[0001] The present invention relates to the field of automatic control systems, and in particular to an action point expansion method, a control method, a device and a system for a servo system. Background Art

[0002] In automation equipment, servo axes are indispensable components. Various required motion actions are achieved by controlling the servo axes of the mechanical arms in mechanical equipment. Currently, the servo module that controls the motion of the servo axis has an upper limit on the number of action points that the servo axis can move. For example, in a servo module PLC program template, all available servo axis action point structures are defined as 16, that is, 16 positioning points are configured in the servo module parameters. If the number of servo axis action positioning points required in the actual device application is greater than 16, it is necessary to change the number of structures defined in the PLC program template and modify the positioning point data.

[0003] Therefore, in order to increase the servo axis action positioning points, a lot of address allocation will be wasted, and a large amount of module positioning point data will have to be modified. If there are further increases in the future, changes will need to be made again, and the number of positioning points after modification still has an upper limit, resulting in poor scalability and portability of the program and a corresponding increase in the difficulty and workload of personnel maintenance. Summary of the invention

[0004] One object of the present application is to provide a method for expanding the action points of a servo system, which can achieve flexible expansion of the number of positioning points without modifying the template data of the servo axis, thereby improving the scalability and portability of the servo axis control program. Another object of the present application is to provide a device for expanding the action points of a servo system. Another object of the present application is to provide a method for controlling a servo system. Another object of the present application is to provide a device for controlling a servo system. Another object of the present application is to provide a servo system.

[0005] In order to achieve the above-mentioned object, the present application discloses, on one hand, a method for expanding the action points of a servo system, wherein the servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the method comprises:

[0006] Acquire a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point;

[0007] The control data block is copied to obtain at least one mirror data block, and at least one of the basic positioning point parameters in the mirror data block is replaced with an extended positioning point parameter of a preset extended positioning point, wherein the extended positioning point parameter is used as a basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

[0008] Optional: The conventional parameters include one or more of power state parameters, enable state parameters, error parameters, operation state parameters, movement to position state parameters, movement fixed point speed, acceleration and deceleration.

[0009] Optional: the basic positioning point parameters and the extended positioning point parameters include parameters of the same field.

[0010] Optionally: the basic positioning point parameters and the extended positioning point parameters respectively include trigger parameters of the basic positioning point and the extended positioning point, motion fixed point interlocking parameters and positioning point values.

[0011] Optionally, the copying of the control data block to obtain at least one mirror data block includes:

[0012] Determine all required positioning points M;

[0013] The number O of the mirror data blocks is obtained based on the number N of the basic positioning points and the number P of the variable positioning points, where O*NP <M≤(O+1)*N-P。

[0014] The present application also discloses an action point expansion device for a servo system, wherein the servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the device comprises:

[0015] A first setting module is used to obtain a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point;

[0016] The second setting module is used to copy the control data block to obtain at least one mirror data block, and replace at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point, and the extended positioning point parameter is used as the basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

[0017] The present application also discloses a servo system control method, wherein the servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the method comprises:

[0018] Determine the target positioning point of the servo axis movement based on the control instruction of the servo axis;

[0019] Determine whether the target positioning point exists in the control data block and the mirror data block of the servo axis, where the control data block includes the basic positioning point parameters and conventional parameters of multiple basic positioning points, the basic positioning points include at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with the extended positioning point parameters of a preset extended positioning point;

[0020] If the target positioning point is the basic positioning point, control the servo axis to move to the target positioning point based on the basic positioning point parameters corresponding to the target positioning point through the control module; if the target positioning point is the extended positioning point, use the extended positioning point parameters of the target positioning point as the basic positioning point parameters of the variable positioning point, and control the servo axis to move to the target positioning point based on the basic positioning point parameters of the variable positioning point through the control module.

[0021] Optionally, the number O of the mirror data blocks satisfies: O*N - P < M ≤ (O + 1)*N - P, where M is all positioning points, N is the number of the basic positioning points, and P is the number of the variable positioning points.

[0022] This application also discloses a servo system control device. The servo system includes at least one servo axis and a control module for controlling the movement of the servo axis. The device includes:

[0023] A first control unit for determining the target positioning point of the servo axis movement based on the control instruction of the servo axis;

[0024] A second control unit for determining whether the target positioning point exists in the control data block and the mirror data block of the servo axis, where the control data block includes the basic positioning point parameters and conventional parameters of multiple basic positioning points, the basic positioning points include at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with the extended positioning point parameters of a preset extended positioning point;

[0025] The third control unit is used to control the servo axis to move to the target positioning point based on the basic positioning point parameters corresponding to the target positioning point through the control module if the target positioning point is the basic positioning point; if the target positioning point is the extended positioning point, use the extended positioning point parameters of the extended positioning point corresponding to the target positioning point as the basic positioning point parameters of the variable positioning point, and control the servo axis to move to the target positioning point based on the basic positioning point parameters of the variable positioning point through the control module.

[0026] The present application also discloses a servo system, including the action point expansion device of the servo system as described above and / or the servo system control device, control module and servo axis as described above.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present application obtains at least one mirror data block by copying the control data block, and modifies the basic positioning point parameters in the mirror data block to be extended positioning point parameters. In addition, at least one basic positioning point in the control data block is set as a variable positioning point. When the target positioning point to which the servo axis needs to move is an extended positioning point, the corresponding extended positioning point parameters are used as the basic positioning point parameters of the variable positioning point, so that the control module can move the servo axis to the extended positioning point based on the extended positioning point parameters as the basic positioning point parameters in the variable positioning point, so as to achieve the purpose of expanding the number of movable positioning points of the servo axis. Thus, the present application achieves the purpose of expanding the servo axis action points without modifying the number of basic positioning points contained in the control data block and modifying the data structure such as address allocation, by copying the control data block to construct the mirror data block. The motion points of the servo axis can be flexibly increased or decreased according to the needs, and the workload of changing the template program when more positioning points are needed is reduced, thereby improving the scalability and portability of the servo axis control program. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0030] Figure 1 A flow chart of a method for expanding the action points of a servo system provided in this application;

[0031] Figure 2 A flow chart of a method S200 for expanding the action points of a servo system provided in the present application;

[0032] Figure 3 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with the various embodiments shown in the accompanying drawings, but it should be noted that these embodiments are not limitations of the present invention, and any equivalent transformations or substitutions in functions, methods, or structures made by ordinary technicians in the field based on these embodiments are all within the scope of protection of the present invention.

[0034] The specific implementation modes of the present invention are described in detail below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, this embodiment provides a method for expanding the action points of a servo system. The servo system includes at least one servo axis and a control module for controlling the movement of the servo axis, and the method includes:

[0036] S100: Acquire a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point.

[0037] S200: Copy the control data block to obtain at least one mirror data block, and replace at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point, wherein the extended positioning point parameter is used as a basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

[0038] The present application obtains at least one mirror data block by copying the control data block, and modifies the basic positioning point parameters in the mirror data block to be extended positioning point parameters. In addition, at least one basic positioning point in the control data block is set as a variable positioning point. When the target positioning point to which the servo axis needs to move is an extended positioning point, the corresponding extended positioning point parameters are used as the basic positioning point parameters of the variable positioning point, so that the control module can move the servo axis to the extended positioning point based on the extended positioning point parameters as the basic positioning point parameters in the variable positioning point, so as to achieve the purpose of expanding the number of movable positioning points of the servo axis. Thus, the present application achieves the purpose of expanding the servo axis action points without modifying the number of basic positioning points contained in the control data block and modifying the data structure such as address allocation, by copying the control data block to construct the mirror data block. The motion points of the servo axis can be flexibly increased or decreased according to the needs, and the workload of changing the template program when more positioning points are needed is reduced, thereby improving the scalability and portability of the servo axis control program.

[0039] In an optional implementation manner, the basic anchor point parameters and the extended anchor point parameters include parameters of the same field.

[0040] Specifically, in order to minimize the program modifications required by engineers when it is necessary to expand the positioning points of the servo axis, the present application directly copies the control data block used in the control program template of the current servo axis to control the servo axis to move to the basic positioning point to obtain a mirror data block, so that only the basic positioning point parameters in the mirror data block need to be modified to the extended positioning point parameters, so that the extended positioning point parameters and the basic positioning point parameters include parameters of the same field. Then, when the extended positioning point parameters in the mirror data block are needed, the extended positioning point parameters are directly written into the variable positioning point as the basic positioning point parameters of the variable positioning point for the control module to call, and the servo axis is moved to the extended positioning point based on the extended positioning point parameters written in the variable positioning point, thereby achieving the purpose of completing the positioning point expansion without modifying the number of positioning points in the control data block.

[0041] For example, in one or more optional embodiments, the basic positioning point parameters and the extended positioning point parameters include trigger parameters, motion fixed point interlocking parameters and positioning point values ​​of the basic positioning point and the extended positioning point, respectively. In this embodiment, the basic positioning point parameters and the extended positioning point parameters both include parameters of fields such as trigger parameters, motion fixed point interlocking parameters and positioning point values, and only the specific values ​​of the parameters are different. Then, the control module can move the servo axis to the corresponding basic positioning point and extended positioning point based on the basic positioning point parameters and extended positioning point parameters of the same data structure.

[0042] Among them, it should be noted that the trigger parameters may include two trigger state parameters: automatic trigger and manual trigger; the motion fixed-point interlocking parameter is obtained by whether there is an obstacle in the process of the servo axis moving to the positioning point corresponding to the current positioning point value, and needs to be set according to the actual situation; the positioning point value includes the positioning point to which the servo axis can move.

[0043] For example, in the specific example, the control data block includes basic positioning point parameters of 16 basic positioning points, and the basic positioning point parameters are expressed as trigger parameters: [manual trigger ActMan.Pos1~ActMan.Pos16], [automatic trigger ActAuto.Pos1~ActAuto.Pos16], motion fixed point interlock parameters: [motion fixed point interlock Lock.Pos1~Lock.Pos16] and positioning point values: [motion fixed point values ​​SvPP.Pos1~SvPP.Pos16].

[0044] In this application, the parameter values ​​of the basic positioning point parameters and the extended positioning point parameters need to be determined according to the positioning point and the actual situation, and the basic positioning point parameters in the mirror data block need to be modified and replaced with the extended positioning point parameters of the extended positioning point. As for the conventional parameters in the control data block, these parameters are usually system defaults and will not change with the change of the positioning point. Therefore, there is no need to modify and update the conventional parameters. When it is necessary to move to the extended positioning point, there is no need to write the conventional parameters into the variable positioning point as the basic positioning point parameters of the variable positioning point. This application divides the control data block into basic positioning point parameters and conventional parameters, which reduces the workload of parameter setting in the process of extending the positioning point, and also reduces the complexity of operations when controlling the movement of the extended positioning point.

[0045] In an optional embodiment, the conventional parameters may include one or more of a power state parameter Power, an enable state parameter Enable, an error parameter Error, an operation state parameter Busy, a motion in place state parameter ActFlag, a motion fixed point speed Speed, an acceleration ACC, and a deceleration Dec. These conventional parameters are basically conventional settings of the servo system, and will not change with the change of the positioning point, and can be divided into conventional parameters. In other optional embodiments, the conventional parameters may also include control parameters of the servo axis, such as Stop, positive direction movement Jog+, negative direction movement Jog-, and origin search Org, etc. These parameters are basically the same for each servo axis during movement, and can also be used as conventional parameters.

[0046] In practical applications, the conventional parameters may include different parameters depending on the servo system. Those skilled in the art can determine the conventional parameters according to actual needs, and this application does not limit this.

[0047] In an optional embodiment, if Figure 2 As shown, the step S200 of copying the control data block to obtain at least one mirror data block includes:

[0048] S210: Determine all required positioning points M.

[0049] S220: Obtain the number O of the mirrored data blocks based on the number N of the basic positioning points and the number P of the variable positioning points, where O*NP <M≤(O+1)*N-P。

[0050] Specifically, it can be understood that if the number of basic positioning points in the control data block is N, the number of mirror data blocks obtained by copying the control data block is also N, and the number of variable positioning points in the basic positioning points is P, then the number of available positioning points (the sum of basic positioning points and extended positioning points) after copying O mirror data blocks is (O+1)*NP, where the variable positioning point is a variable bit and the positioning point parameter is not set.

[0051] For example, when the control data block includes 16 basic positioning points and there is 1 mirrored data block, the number of extended positioning points included in the mirrored data block is also 16. If one of the basic positioning points in the control data block is set as a variable positioning point, the total number of positioning points included in the basic data block and the extended data block is 16 * 2 - 1 = 31.

[0052] Thus, after confirming that the total number of all required positioning points is M, the number of basic positioning points is N, and the number of variable positioning points is P, the number of mirrored data blocks that need to be copied and modified can be determined based on the formula O * N - P < M ≤ (O + 1) * N - P to meet the requirement of M positioning points.

[0053] For example, when the total number of all required positioning points is 40, the number of basic positioning points is 16, and the number of variable positioning points is 1, it can be determined based on O * N - P < M ≤ (O + 1) * N - P that 2 mirrored data blocks are needed. When there are two mirrored data blocks, the total number of positioning points that can be set is 16 * 3 - 1 = 47, meeting the requirement of 40 positioning points.

[0054] When controlling the servo axis, the target positioning point of the servo axis movement can be determined based on the control instruction of the servo axis. Determine whether the target positioning point exists in the control data block and the mirrored data block of the servo axis. If the target positioning point is the basic positioning point, the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is the extended positioning point, the extended positioning point parameters of the extended positioning point corresponding to the target positioning point are used as the basic positioning point parameters of the variable positioning point, and the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters of the variable positioning point.

[0055] For example, in a specific example, the number of positioning points in the control data block AA of the servo axis is 16, and the number of positioning points of the required action position is 40. Then, mirrored data blocks BB and CC are added. Since the mirrored data blocks are copied from the control data block, BB and CC have all the relevant parameter structures of AA. Therefore, the number of positioning points available for BB and CC is also 16. Set the 16th positioning point Pos16 of AA as the variable positioning point.

[0056] Among them, the extended positioning point parameters of BB or CC are passed to the variable positioning point for triggering, so that the motion trajectory of the 16th point of AA is actually the positioning point passed by the moving BB or CC. For example, the trajectory after CC's Pos9 is passed to AA's Pos16 and triggered is the trajectory required by CC Pos9, and the trajectory after BB's Pos7 is passed to AA's Pos16 and triggered is the trajectory required by BB Pos7. So there are a total of 47 trajectories available for AA at present.

[0057] When setting BB and CC, it is necessary to pass the general parameters of AA to BB and CC. These parameters may include AA's power state parameter Power, enable state parameter Enable, error parameter Error, running state parameter Busy, motion in-position state parameter ActFlag, motion fixed-point speed Speed, acceleration ACC and deceleration Dec, which are directly mapped to BB and CC. In this way, BB and CC have the same general parameters as AA.

[0058] The extended positioning point parameters of BB or CC [manual triggering ActMan.Pos1~ActMan.Pos16],

[0059] [Automatic trigger ActAuto.Pos1~ActAuto.Pos16], [Motion fixed point interlock Lock.Pos1~Lock.Pos16] and [Motion fixed point value SvPP.Pos1~SvPP.Pos16] need to be modified and set according to the actual expansion positioning points and other conditions.

[0060] When the servo axis needs to move to a certain extended positioning point, the extended positioning point parameters of the extended positioning point are directly mapped to the 16th variable positioning point of AA, so that the triggering of the motion point of BB or CC can realize the motion trajectory through the variable positioning point of AA.

[0061] Optionally, when determining whether the target positioning point is included in the basic positioning points and the extended positioning points, in order to save program running time, considering that the basic positioning points are usually commonly used positioning points, the basic positioning points can be traversed first to determine whether there is a target positioning point and then the extended positioning points can be traversed to determine whether there is a target positioning point in the extended positioning points to improve search efficiency and control efficiency.

[0062] It should be noted that, in practical applications, those skilled in the art may set specific values ​​of the parameters according to actual conditions, and this application does not limit this. The structure of the control module and the specific implementation of the control module controlling the servo axis to move to the corresponding positioning point based on the control data block are conventional technical means in the art and will not be described in detail here.

[0063] Through the above steps and methods, the expansion and control of servo points can be easily achieved. At the same time, the method provided by the present invention can be used in all programmable PLC devices with servo axes, reducing the workload of engineers to change template programs and module programs when more servo positioning actions are required during the design process.

[0064] The present application also discloses an action point expansion device for a servo system, wherein the servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the device comprises:

[0065] A first setting module is used to obtain a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point;

[0066] The second setting module is used to copy the control data block to obtain at least one mirror data block, and replace at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point, and the extended positioning point parameter is used as the basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

[0067] Since the principle of solving the problem by the device is similar to that of the above method, the implementation of the device can refer to the implementation of the method and will not be repeated here.

[0068] The present application also discloses a servo system control method, wherein the servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the method comprises:

[0069] Determine a target positioning point for movement of the servo axis based on a control instruction of the servo axis;

[0070] Determine whether the target positioning point exists in the control data block and the mirror data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of multiple basic positioning points, the basic positioning point includes at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point;

[0071] If the target positioning point is the basic positioning point, the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is the extended positioning point, the extended positioning point parameters of the extended positioning point corresponding to the target positioning point are used as the basic positioning point parameters of the variable positioning point, and the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters of the variable positioning point.

[0072] Optionally, the number O of the mirror data blocks satisfies: O*N - P < M ≤ (O + 1)*N - P, where M is all positioning points, N is the number of the basic positioning points, and P is the number of the variable positioning points.

[0073] Since the principle of this method for solving problems is similar to the above method, the implementation of this method can refer to the implementation of the method and will not be elaborated here.

[0074] A servo system control device of the present application, the servo system includes at least one servo axis and a control module for controlling the movement of the servo axis, and the device includes:

[0075] A first control unit for determining a target positioning point of the movement of the servo axis based on a control instruction of the servo axis;

[0076] A second control unit for determining whether the target positioning point exists in the control data block and the mirror data block of the servo axis, where the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, the basic positioning points include at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with extended positioning point parameters of a preset extended positioning point;

[0077] A third control unit for, if the target positioning point is the basic positioning point, controlling the servo axis to move to the target positioning point through the control module based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is the extended positioning point, using the extended positioning point parameters of the extended positioning point corresponding to the target positioning point as the basic positioning point parameters of the variable positioning point, and controlling the servo axis to move to the target positioning point through the control module based on the basic positioning point parameters of the variable positioning point.

[0078] Since the principle of this device for solving problems is similar to the above method, the implementation of this device can refer to the implementation of the method and will not be elaborated here.

[0079] The present application also discloses a servo system, including the action point expansion device of the servo system as described in this embodiment and / or the servo system control device, control module and servo axis.

[0080] Since the principle of solving the problem by the system is similar to the above method, the implementation of this system can refer to the implementation of the method and will not be repeated here.

[0081] An embodiment of the present application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above method when executing the computer program.

[0082] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0083] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer programs to produce the systems, devices, modules or units described in the above embodiments, which can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device, and specifically, the computer device can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0084] In a typical example, the computer device specifically includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method executed by the client as described above is implemented; or, when the processor executes the program, the method executed by the server as described above is implemented.

[0085] Reference below Figure 3 , which shows a schematic diagram of the structure of a computer device 600 suitable for implementing an embodiment of the present application.

[0086] like Figure 3 As shown, the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate operations and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the computer device 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0087] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal feedback device (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed as needed as the storage section 608.

[0088] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program tangibly contained on a machine-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication part 609, and / or installed from a removable medium 611.

[0089] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0090] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0094] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0095] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0096] The present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0097] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0098] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for expanding the action points of a servo system, characterized in that: The servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the method comprises: Acquire a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point; The control data block is copied to obtain at least one mirror data block, and at least one of the basic positioning point parameters in the mirror data block is replaced with an extended positioning point parameter of a preset extended positioning point, wherein the extended positioning point parameter is used as a basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

2. The method for expanding the action points of a servo system according to claim 1, characterized in that: The conventional parameters include one or more of power state parameters, enable state parameters, error reporting parameters, operation state parameters, movement to position state parameters, movement fixed point speed, acceleration and deceleration.

3. The method for expanding the action points of a servo system according to claim 1, characterized in that: The basic anchor point parameters and the extended anchor point parameters include parameters of the same field.

4. The method for expanding the action points of the servo system according to claim 3, characterized in that: The basic positioning point parameters and the extended positioning point parameters respectively include trigger parameters of the basic positioning point and the extended positioning point, motion fixed point interlocking parameters and positioning point values.

5. The method for expanding the action points of a servo system according to claim 1, characterized in that: The copying of the control data block to obtain at least one mirror data block comprises: Determine all required positioning points M; The number O of the mirror data blocks is obtained based on the number N of the basic positioning points and the number P of the variable positioning points, where O*NP <M≤(O+1)*N-P。 6. A servo system action point expansion device, characterized in that: The servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the device comprises: A first setting module is used to obtain a control data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and the control module can control the servo axis to move to the selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point; The second setting module is used to copy the control data block to obtain at least one mirror data block, and replace at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point, and the extended positioning point parameter is used as the basic positioning point parameter of the variable positioning point when the extended positioning point is the target positioning point of the servo axis.

7. A servo system control method, characterized in that: The servo system comprises at least one servo axis and a control module for controlling the movement of the servo axis, and the method comprises: Determine a target positioning point for movement of the servo axis based on a control instruction of the servo axis; Determine whether the target positioning point exists in the control data block and the mirror data block of the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of multiple basic positioning points, the basic positioning point includes at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with an extended positioning point parameter of a preset extended positioning point; If the target positioning point is the basic positioning point, the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is the extended positioning point, the extended positioning point parameters of the extended positioning point corresponding to the target positioning point are used as the basic positioning point parameters of the variable positioning point, and the control module controls the servo axis to move to the target positioning point based on the basic positioning point parameters of the variable positioning point.

8. The servo system control method according to claim 7, characterized in that: The number O of the mirror data blocks satisfies: O * N - P < M ≤ (O + 1) * N - P, where M is all positioning points, N is the number of the basic positioning points, and P is the number of the variable positioning points.

9. A servo system control device, characterized in that: The servo system includes at least one servo axis and a control module for controlling the movement of the servo axis, and the device includes: A first control unit for determining the target positioning point of the movement of the servo axis based on the control instruction of the servo axis; A second control unit for determining whether the target positioning point exists in the control data block and the mirror data block of the servo axis, where the control data block includes the basic positioning point parameters and conventional parameters of a plurality of basic positioning points, the basic positioning points include at least one variable positioning point, and the mirror data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirror data block with the extended positioning point parameters of a preset extended positioning point; A third control unit for, if the target positioning point is the basic positioning point, controlling the servo axis to move to the target positioning point through the control module based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is the extended positioning point, using the extended positioning point parameters of the extended positioning point corresponding to the target positioning point as the basic positioning point parameters of the variable positioning point, and controlling the servo axis to move to the target positioning point through the control module based on the basic positioning point parameters of the variable positioning point.

10. A servo system, characterized in that: An action point position expansion device including the servo system according to claim 6 and / or the servo system control device according to claim 9, a control module, and a servo axis.

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