Servo system action point expansion method, control method, device and system

Abstract

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

Description

Technical Field

[0001] The present invention relates to the field of automated 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] Servo axes are essential components in automated equipment. They control the servo axes of the robotic arms in mechanical equipment to achieve various desired motions. Currently, the servo modules that control servo axis motion have an upper limit on the number of motion points that the servo axis can move. For example, a servo module's PLC program template defines 16 structures for all available servo axis motion points, meaning that the servo module parameters configure 16 positioning points. If the actual device application requires more than 16 servo axis motion positioning points, 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 number of module positioning point data will need 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 correspondingly increasing 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 servo system control method. Another object of the present application is to provide a servo system control device. Another object of the present application is to provide a servo system.

[0005] To achieve the above objectives, the present application discloses, on one hand, a method for expanding the movement points of a servo system, wherein 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:

[0006] Acquire a control data block for 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 is capable of controlling 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 reporting parameters, operation state parameters, movement in place 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 mirrored 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 includes at least one servo axis and a control module for controlling the movement of the servo axis, and the device includes:

[0015] a first setting module, configured to obtain a control data block for the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and wherein the control module is capable of controlling the servo axis to move to a 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 includes at least one servo axis and a control module for controlling the movement of the servo axis. The method includes:

[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 base positioning point parameters and conventional parameters of multiple base positioning points, the base 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 base 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 base positioning point, control the servo axis to move to the target positioning point based on the base 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 base positioning point parameters of the variable positioning point, and control the servo axis to move to the target positioning point based on the base 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 base 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 base positioning point parameters and conventional parameters of multiple base positioning points, the base 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 base 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, comprising the above-mentioned servo system action point expansion device and / or the above-mentioned servo system control device, control module and servo axis.

[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, thereby achieving 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. The motion points of the servo axis can be flexibly increased or decreased according to demand, reducing the workload of changing the template program when more positioning points are needed, and improving the scalability and portability of the servo axis control program. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

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

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

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

[0033] The present invention is described in detail below with reference to 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 this field based on these embodiments are all within the scope of protection of the present invention.

[0034] The specific embodiments 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. The method includes:

[0036] S100: Acquire a control data block for the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points. The control module is capable of controlling 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, thereby achieving 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. The motion points of the servo axis can be flexibly increased or decreased according to demand, reducing the workload of changing the template program when more positioning points are needed, and 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 movement of the servo axis 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. 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 ​​for 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 in fields such as trigger parameters, motion fixed point interlocking parameters, and positioning point values. Only the specific values ​​of the parameters are different. In this case, 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 the 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 triggering and manual triggering; the motion fixed-point interlocking parameters are obtained based on whether there is an obstacle when the servo axis moves to the positioning point corresponding to the current positioning point value, and need to be set according to actual conditions; 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 value: [motion fixed point value 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 operational complexity 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 operating state parameter Busy, a motion in-position 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 do not change with changes in the positioning point, and can be classified as 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. These parameters are basically the same for each servo axis during movement and can also be used as conventional parameters.

[0046] In actual 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 mirror data block, the number of extended positioning points included in the mirror 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] Therefore, 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 mirror 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 mirror data blocks are needed. When there are two mirror 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 mirror 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, mirror data blocks BB and CC are added. Since the mirror data blocks are obtained by copying 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] The extended anchor point parameters of the BB or CC are passed to the variable anchor point for triggering, ensuring that the trajectory of the AA's 16th point is actually the anchor point passed by the moving BB or CC. For example, if CC's Pos9 is passed to AA's Pos16 and triggered, the trajectory will be the trajectory required by CC Pos9. Similarly, if BB's Pos7 is passed to AA's Pos16 and triggered, the trajectory will be the trajectory required by BB Pos7. Therefore, the total number of available AA trajectories is 47.

[0057] When setting up BB and CC, you need to pass the general parameters of AA to BB and CC. These parameters may include AA's power status parameter Power, enable status parameter Enable, error parameter Error, running status parameter Busy, motion in-position status parameter ActFlag, motion fixed-point speed Speed, acceleration ACC and deceleration Dec, and directly map them 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 trigger 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. In this way, 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 the target positioning point exists, and then the extended positioning points can be traversed to determine whether the target positioning point exists in the extended positioning points to improve search efficiency and control efficiency.

[0062] It should be noted that, in actual applications, those skilled in the art may set specific values ​​for each parameter based on 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 includes at least one servo axis and a control module for controlling the movement of the servo axis, and the device includes:

[0065] a first setting module, configured to obtain a control data block for the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and wherein the control module is capable of controlling the servo axis to move to a 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 this device is similar to that of the above method, the implementation of this 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 includes at least one servo axis and a control module for controlling the movement of the servo axis. The method includes:

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

[0070] Determining whether the target positioning point exists in a control data block and a mirror 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, 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 an extended positioning point parameter of a preset extended positioning point;

[0071] If the target positioning point is the basic positioning point, the servo axis is controlled by the control module 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 servo axis is controlled by the control module 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, configured to determine a target positioning point for the movement of the servo axis based on a control instruction of the servo axis;

[0076] A second control unit, configured to 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 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 extended positioning point parameters of a preset extended positioning point;

[0077] A third control unit, configured to if the target positioning point is the basic positioning point, control the servo axis to move to the target positioning point by 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, 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 by 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 the system in solving the problem 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 will appreciate that the embodiments of the present application may be provided as methods, systems, or computer programs. The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer device. Specifically, the computer device may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, 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, a 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 structural diagram 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 tasks and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage portion 608 into a random access memory (RAM) 603. Various programs and data required for the operation of the computer device 600 are also stored in the RAM 603. The CPU 601, ROM 602, and 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, and the like; an output section 607 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 608 including devices such as a hard disk; and a communication section 609 including a network interface card such as a LAN card or a modem. 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. Removable media 611, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 610 as needed, so that computer programs read therefrom can be installed in the storage section 608 as needed.

[0088] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program comprising program code for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication portion 609 and / or installed from a removable medium 611.

[0089] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0090] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0094] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[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 take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing 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 communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0097] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0098] The foregoing is merely 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 modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within 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 includes at least one servo axis and a control module for controlling the movement of the servo axis, and the method includes: Acquire a control data block for 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 is capable of controlling 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; Copying the control data block to obtain at least one mirror data block, 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, the extended positioning point parameter being 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; 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; 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 mirrored 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。 2. The method for expanding the action points of a servo system according to claim 1, wherein: 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, wherein: 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 a servo system according to claim 1, wherein: The trigger parameters include two trigger state parameters: automatic trigger and manual trigger. The motion fixed point interlock parameter is whether there is an obstacle when the servo axis moves to the positioning point corresponding to the current positioning point value; the positioning point value includes the positioning point to which the servo axis can move.

5. The method for expanding the action points of a servo system according to claim 2, wherein: The conventional parameters also include control parameters of the servo axis, and the control parameters of the servo axis include stop, positive direction movement, negative direction movement and origin search parameters.

6. The method for expanding the action points of a servo system according to claim 2, wherein: The control data block includes 16 basic positioning points, the mirror data block is 1, the mirror data block includes 16 extended positioning points, and the total number of positioning points included in the basic data block and the extended data block is 16*2-1=31.

7. A device for expanding the action points of a servo system, 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 setting module, configured to obtain a control data block for the servo axis, wherein the control data block includes basic positioning point parameters and conventional parameters of a plurality of basic positioning points, and wherein the control module is capable of controlling the servo axis to move to a selected basic positioning point based on the control data block, wherein the basic positioning point includes at least one variable positioning point; a second setting module, configured 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, 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; The basic positioning point parameters and the extended positioning point parameters respectively include trigger parameters, motion fixed-point interlock parameters, and positioning point values of the basic positioning points and the extended positioning points; The obtaining of at least one mirrored data block by copying the control data block includes: Determining all required positioning points M; Obtaining 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*N - P < M ≤ (O + 1)*N - P.

8. A servo system control method, characterized in that: The servo system includes at least one servo axis and a control module for controlling the movement of the servo axis. The method includes: Determining the target positioning point of the movement of the servo axis based on the control instruction of the servo axis; Determining whether the target positioning point exists in the control data block and the mirrored data block of the servo axis. The control data block includes basic positioning point parameters and conventional parameters of multiple basic positioning points. The basic positioning points include at least one variable positioning point. The mirrored data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirrored data block with the extended positioning point parameters of a preset extended positioning point; If the target positioning point is a basic positioning point, controlling the servo axis to move to the target positioning point by the control module based on the basic positioning point parameters corresponding to the target positioning point; if the target positioning point is an 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 by the control module based on the basic positioning point parameters of the variable positioning point; The basic positioning point parameters and the extended positioning point parameters respectively include trigger parameters, motion fixed-point interlock parameters, and positioning point values of the basic positioning points and the extended positioning points; The number O of the mirrored 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. 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 mirrored data block of the servo axis. The control data block includes basic positioning point parameters and conventional parameters of multiple basic positioning points. The basic positioning points include at least one variable positioning point. The mirrored data block is obtained by copying the control data block and replacing at least one of the basic positioning point parameters in the mirrored data block with the extended positioning point parameters of a preset extended positioning point; A third control unit, configured to, 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 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; The basic positioning point parameters and the extended positioning point parameters respectively include trigger parameters, motion fixed-point interlock parameters, and positioning point values of the basic positioning point and the extended positioning point; 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.

10. A servo system, characterized in that: It includes an action point expansion device of the servo system as claimed in claim 7 and / or a servo system control device as claimed in claim 9, a control module, and a servo axis.

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