Mirror image control method based on driver and related equipment

Abstract

The embodiment of the invention provides a driver-based mirror image control method and related equipment, which are used for realizing instruction mirror image control of a plurality of driving shafts so as to reduce the time cost and the maintenance cost for configuring a whole control system as much as possible. The method provided by the embodiment of the invention comprises the following steps: receiving instruction mirror image information and configuration parameter information which are issued by a controller and aim at any driving shaft in the driver; if the instruction mirror image information is associated with the starting state of the instruction mirror image function of the driving shaft, determining all slave driving shafts which are subjected to mirror image control by the main driving shaft in the driver according to the instruction mirror image information; and after the master driving shaft forwards the configuration parameter information to the slave driving shaft, controlling the slave driving shaft and the master driving shaft to perform driving operation according to the configuration parameter information so as to complete mirror image control of all driving shafts in the driver.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of digital control, and in particular to a driver-based mirror control method and related equipment. Background Art

[0002] At present, in the case of industrial drives with multiple axes in one machine, there is generally no mirror control between axes. Instead, motion control or the same instructions are sent at the upper-level controller level. The upper-level controller then sends instructions to the drive through communication methods such as Ethernet control automation technology EtherCat or serial communication protocol ModBus, thereby achieving the effect of multi-axis mirror operation.

[0003] At present, industrial application scenarios are becoming more and more abundant, and the requirements for the performance of the entire motion control system are getting higher and higher. However, the traditional way of synchronizing control instructions by the controller has defects in the solution. For example, the upper-level controller needs to configure and program the movement of each axis separately, which is cumbersome to apply. At the same time, the more axes the master station controls, the greater the pressure on computing power, communication and network resources, which will reduce the overall response performance of the system. Summary of the invention

[0004] The embodiments of the present application provide a driver-based mirror control method and related equipment for implementing command mirror control of multiple drive shafts to minimize the time cost and maintenance cost of configuring the entire control system.

[0005] A first aspect of an embodiment of the present application provides a driver-based mirror control method, which is applied to a driver, wherein the driver includes a plurality of drive shafts, and the method includes:

[0006] Receiving configuration parameter information for any drive shaft in the driver sent by the controller, wherein the configuration parameter information at least includes configuration information of a main drive shaft and a slave drive shaft;

[0007] Acquire status information of the command mirroring function of the main drive shaft and the slave drive shaft, and determine all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the status information of the command mirroring function and the configuration information;

[0008] The main drive shaft receives motion control information sent by the controller, forwards the motion control information to the slave drive shaft, controls the slave drive shaft and the main drive shaft to drive according to the motion control information, so as to complete the mirror control of all drive shafts in the driver.

[0009] Optionally, the method further comprises:

[0010] If the state information of the instruction mirror information of the first driving shaft is in a closed state, it is determined that the first driving shaft is an independent driving shaft in the driver; wherein the independent driving shaft is used to describe a driving shaft in the driver except the main driving shaft and the slave driving shaft;

[0011] Establishing a first communication connection between the independent drive shaft and the controller, and receiving the configuration parameter information sent by the controller according to the first communication connection;

[0012] Controlling the independent drive shaft to drive and operate according to the motion control information, and outputting the first position data of the independent drive shaft;

[0013] The first posture data is uploaded to the controller through the first communication connection to realize data interaction between the controller and the independent drive shaft.

[0014] Optionally, after determining all slave drive shafts in the driver that are mirror-controlled by the master drive shaft according to the state information of the instruction mirror function and the configuration information, the method further includes:

[0015] Acquire function switch parameters of the main drive shaft and all the slave drive shafts; wherein the function switch parameters include fault synchronization parameters or input-output synchronization parameters of the instruction mirroring function, the fault synchronization parameters are used to describe the function synchronization status of the main drive shaft or the slave drive shaft corresponding to different fault categories, and the input-output synchronization parameters are used to describe the synchronization status of the interactive data between the main drive shaft or the slave drive shaft;

[0016] If the fault type triggered by the main drive shaft or the slave drive shaft is an alarm fault, the main drive shaft and the slave drive shaft are distinguished based on the fault synchronization parameter, a first slave drive shaft whose fault synchronization parameter is a synchronization alignment parameter is determined, and the first slave drive shaft is controlled to perform fault synchronization alignment with the main drive shaft; and / or,

[0017] If the main drive shaft or the slave drive shaft triggers the data synchronization alignment function, a second slave drive shaft whose input and output synchronization parameters are the synchronization alignment parameters is determined based on the input and output synchronization parameters, and the second slave drive shaft is controlled to perform data synchronization alignment with the main drive shaft.

[0018] Optionally, the method further comprises:

[0019] When the main drive shaft triggers the alarm fault, determining whether to replace the main drive shaft based on the fault synchronization parameter;

[0020] If it is determined to replace the main drive shaft, the drive shaft to be replaced is selected in the driver, and the spare configuration parameter information of the drive shaft to be replaced is set to switch the drive shaft to be replaced to a spare main drive shaft; wherein the drive shaft to be replaced is any drive shaft in the driver except the main drive shaft;

[0021] When the backup main drive shaft is switched successfully, a communication connection between the slave drive shaft and the backup main drive shaft is established according to the backup configuration parameter information to complete the mirror control of the slave drive shaft and the backup main drive shaft.

[0022] Optionally, the method further comprises:

[0023] If it is determined that the main drive shaft is not to be replaced, determining a fault handling operation for the main drive shaft;

[0024] According to the fault handling operation, the slave drive shaft that is communicatively connected to the main drive shaft is processed.

[0025] Optionally, after the main driving shaft forwards the motion control information to the slave driving shaft, the method further includes:

[0026] Determining relative position information between the main drive shaft and the slave drive shaft;

[0027] Receive the position increment information corresponding to the relative position information sent by the controller, set the position increment information and the motion control information as a position increment instruction, and transmit it to the slave drive shaft, so that the slave drive shaft is driven according to the position increment instruction.

[0028] Optionally, after the main driving shaft forwards the motion control information to the slave driving shaft, the method further includes:

[0029] Calculate the master posture data of the main drive axis and the slave posture data of all the slave drive axes, control the main drive axis to drive based on the motion control information and the master posture data, and control the slave drive axis to drive based on the motion control information and the slave posture data to output real-time posture data of the driver.

[0030] A second aspect of an embodiment of the present application provides a driver-based mirror control system, including:

[0031] A receiving unit, configured to receive configuration parameter information for any drive shaft in the driver sent by the controller, wherein the configuration parameter information at least includes configuration information of a main drive shaft and a slave drive shaft;

[0032] an acquisition unit, used for acquiring status information of the instruction mirror function of the main drive shaft and the slave drive shaft, and determining all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the status information of the instruction mirror function and the configuration information;

[0033] The receiving unit is also used to receive motion control information sent by the controller, and the main drive shaft forwards the motion control information to the slave drive shaft, controls the slave drive shaft and the main drive shaft to drive according to the motion control information, so as to complete the mirror control of all drive shafts in the driver.

[0034] The driver-based mirror control system provided in the second aspect of the embodiment of the present application is used to execute the driver-based mirror control method described in the first aspect.

[0035] A third aspect of an embodiment of the present application provides a driver-based mirror control device, comprising:

[0036] CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply;

[0037] The memory is a short-term storage memory or a persistent storage memory;

[0038] The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the driver-based mirror control method described in the first aspect.

[0039] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes instructions. When the instructions are executed on a computer, the computer executes the driver-based mirror control method described in the first aspect.

[0040] A fifth aspect of an embodiment of the present application provides a computer program product, which includes instructions. When the instructions are executed on a computer, the computer executes the driver-based mirror control method described in the first aspect.

[0041] It can be seen from the above technical scheme that the embodiments of the present application have the following advantages: through a driver-based mirror control method disclosed in the embodiments of the present application, the controller can realize synchronous control of multiple drive shafts (slave drive shafts) when only configuring or controlling one of the drive shafts (main drive shaft) in the driver, thereby greatly reducing the time cost and maintenance cost required to configure the entire control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0043] Figure 1 A schematic diagram of the architecture of a driver-based mirror control system disclosed in an embodiment of the present application;

[0044] Figure 2 A schematic flow chart of a driver-based mirror control method disclosed in an embodiment of the present application;

[0045] Figure 3 A schematic flow chart of another driver-based mirror control method disclosed in an embodiment of the present application;

[0046] Figure 4 A schematic flow chart of another driver-based mirror control method disclosed in an embodiment of the present application;

[0047] Figure 5 A schematic flow chart of another driver-based mirror control method disclosed in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the structure of a driver-based mirror control system disclosed in an embodiment of the present application;

[0049] Figure 7 It is a structural schematic diagram of a driver-based mirror control device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] It should be noted that the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0053] For easier understanding, please refer to Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the architecture of a mirror control system based on a driver 102 disclosed in an embodiment of the present application. Figure 1 It can be seen that the embodiment of the present application is a control system as a whole, wherein the control system includes a master station 101 and a driver 102. Specifically, the master station 101 may be an upper-level controller (or host computer), and the driver 102 may be a multi-axis-in-one driver 102, wherein the driver 102 has multiple drive shafts, and the number of drive shafts is not limited here, and at the same time, the embodiment of the present application does not limit the structural composition of the drive shaft or the connection method between the components.

[0054] In the embodiment of the present application, the master station 101 and the driver 102 can be connected to each other through a network bus (EtherCat or ModBus, etc.) or other methods. Specifically, real-time and non-real-time data exchange can also be performed between the drive shafts or between the drive shaft and the master station 101, which is not limited here. Figure 1 It can be seen that axis 2 and axis 3 (assuming they are slave drive axes) can exchange data with axis 1 (assuming they are master drive axes). At the same time, axis 2 and axis 3 can also exchange data with the master station 101, and axis 1 can also exchange data with the master station 101. It should be noted that the physical interfaces of the various drive axes in the driver are shared, wherein the driver may and only uses one of the axes as the master drive axis to communicate with the master station, and the instructions of the remaining slave drive axes will be obtained from the master drive axis. For the convenience of understanding and description, the master drive axis can be referred to as the master axis, and the slave drive axis can be referred to as the slave axis.

[0055] To understand the above Figure 1 For details on how the various components interact with each other, see Figure 2 , Figure 2 The flowchart of a driver-based mirror control method disclosed in an embodiment of the present application includes steps 201 to 203.

[0056] 201. Receive configuration parameter information for any drive shaft in the driver sent by the controller.

[0057] It should be noted that, in this embodiment, since the drive shaft is located in the driver, this embodiment is mainly described in detail with respect to the driver. At the same time, the steps executed by the controller (master station) will also be supplemented. Figure 1 It can be seen that the driver can receive configuration parameter information for any drive shaft issued by the controller. It should be noted that the configuration parameter information at least includes the configuration information of any drive shaft (main drive shaft and slave drive shaft). It should also be noted that the main drive shaft is a drive shaft that is communicatively connected to the controller, and the slave drive shaft is a drive shaft that is communicatively connected to the main drive shaft. Of course, the above is only one way of defining the main drive shaft and the slave drive shaft. In other feasible technical solutions, the slave drive shaft can also be communicatively connected to the controller, and then, the slave drive shaft can be defined as the main drive shaft.

[0058] In one specific embodiment, the controller can configure the operating parameters of each drive shaft in the driver (in this case, the main drive shaft or the slave drive shaft is not distinguished), that is, the configuration parameter information. Specifically, the controller can send down the configuration parameter information, and then the driver can synchronize the information. Among them, the configuration parameter information may include the configuration information of the main drive shaft and the slave drive shaft, and also include the configuration information of a slave drive shaft following a main drive shaft. In other feasible technical solutions, it is also possible to choose whether to logically distinguish and align fault / IO and other information by level by setting the corresponding parameters. This avoids the problem of the master station needing to configure and program each axis one by one. For ease of understanding, please refer to the subsequent Figure 3 or Figure 4 The embodiment shown.

[0059] 202. Obtain status information of the command mirroring function of the main drive shaft and the slave drive shaft, and determine all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the status information and configuration information of the command mirroring function.

[0060] Furthermore, by acquiring the status information of the command mirroring function in the main drive shaft and the slave drive shaft, and combining the status information with the configuration information, all the slave drive shafts in the driver that are mirrored by the main drive shaft can be determined.

[0061] In one of the specific embodiments, the master station can configure and program information related to the instruction mirror function, namely, the instruction mirror information. Furthermore, the instruction mirror information can be a parameter of the mirror synchronization function, for example, different parameter bit values ​​are set to achieve whether the corresponding function is synchronized. Based on the parameter bit values ​​corresponding to the instruction mirror information in the above, it is necessary to determine whether the driver turns on the instruction mirror function at this time. Specifically, the opening and closing of the instruction mirror function of each drive axis can be set by sending configuration parameters from the upper computer, or the configuration parameters of the instruction mirror function can be set by the driver itself. In specific applications, for example, the main drive axis turns on or off the instruction mirror function by modifying the information of the object dictionary of each axis, or a physical button is set on the driver to associate the instruction mirror function, and the instruction mirror function is turned on or off by the physical button, etc., which are not specifically limited here.

[0062] Then, the status information of the instruction mirror function of the main drive shaft and the slave drive shaft can be obtained. If the status information corresponding to the instruction mirror function in the driver is started at this time, it can be determined that the driver has turned on the instruction mirror function at this time. Therefore, it is necessary to combine all the drive shafts that have turned on the instruction mirror function in the above instruction mirror information. Then, the only drive shaft connected to the controller in the driver or the drive shaft specified by the host computer is used as the main drive shaft (spindle), and then, the remaining axes that turn on the instruction mirror function except the main drive shaft can be determined as slave drive shafts.

[0063] Furthermore, the remaining axes except the main axis can freely turn on / off the command mirroring function by setting parameters. In other feasible technical solutions, the main drive axis can also be set to be non-unique, but more configuration parameters are required to control which drive axes follow which drive axes, and how many main drive axes there are, which will not be elaborated here.

[0064] It should also be noted that, at this time, when the "mirror function" is turned on for the slave drive shaft, it can be understood that the drive shaft, as a slave drive shaft, follows the movement of the main drive shaft. And when the "mirror function" is turned on for the main drive shaft, it means that the drive shaft, as the main drive shaft, controls other slave drive shafts.

[0065] 203. Receive the motion control information sent by the controller, the main drive shaft forwards the motion control information to the slave drive shaft, and controls the slave drive shaft and the main drive shaft to drive and operate according to the motion control information, so as to complete the mirror control of all drive shafts in the driver.

[0066] Then, the controller will send the relevant motion control information to the driver, and then the driver will send the motion control information to the main drive axis. The motion control information includes control information such as position, speed or acceleration. At this time, the main drive axis will forward the motion control information to the slave drive axis. Then, the driver will control the main drive axis and the slave drive axis to drive according to the motion control information, and finally complete the mirror control of all drive axes in the driver.

[0067] In one specific embodiment, since the main drive shaft has established a communication connection with the slave drive shaft, the main drive shaft can exchange data with the slave drive shaft. The driver sends motion control information (and new configuration parameter information can also be sent at this time) to the main drive shaft, and then the main drive shaft turns on the mirror function and distributes the relevant motion control information to the slave drive shaft, so that the main drive shaft and the slave drive shaft can perform data calculation and data output according to the requirements of the relevant instructions in the motion control information and the configuration information such as position, speed or acceleration in the motion control information, so as to realize that the driver drives each drive shaft to operate and completes the mirror control of all drive shafts.

[0068] Specifically, in this embodiment, the "main axis-slave axis" method can be adopted. The controller only needs to communicate and interact with the main drive axis, and perform calculations and controls based on the feedback information of the main drive axis. In this way, the controller control is optimized from "one-to-many" to "one-to-one", saving a large part of computing power and bus resources, so that the control frequency / communication frequency can be increased, thereby improving the performance of the entire motion system.

[0069] Through the driver-based mirror control method disclosed in this embodiment, the controller can achieve synchronous control of multiple drive shafts (slave drive shafts) while only configuring or controlling one of the drive shafts (main drive shaft) in the driver, greatly reducing the time cost and maintenance cost required to configure the entire control system.

[0070] Furthermore, to achieve synchronization between the slave drive shaft and the master drive shaft, please refer to Figure 3 , Figure 3 This is a flow chart of another driver-based mirror control method disclosed in an embodiment of the present application, including steps 301 to 304.

[0071] 301. If the state information of the instruction mirror information of the first driving shaft is in a closed state, determine that the first driving shaft is an independent driving shaft in the driver.

[0072] Corresponds to Figure 2In step 202, in this embodiment, when the status information of the command mirroring function is in the off state, it is necessary to determine the independent drive shaft in the driver. It should be noted that the independent drive shaft is used to describe the drive shaft in the driver except the main drive shaft and the slave drive shaft. The main drive shaft is the drive shaft that is connected to the controller for communication, and the slave drive shaft is the drive shaft that is connected to the main drive shaft for communication.

[0073] In one specific embodiment, if the bit value (describing the current state) of the instruction mirror function in the instruction mirror information set by the controller is closed, it can be determined that the instruction mirror function has been turned off in the drive shaft at this time. At this time, each drive shaft interacts with the controller separately. Specifically, it is necessary to determine the other drive shafts in the driver at this time. It should be noted that since the main drive shaft and the slave drive shaft described in the above steps are both drive shafts with the instruction mirror function turned on, they can be understood as independent drive shafts other than the main drive shaft and the slave drive shaft. Furthermore, it can also be an independent drive shaft (including a slave drive shaft) other than the main drive shaft.

[0074] 302. Establish a first communication connection between the independent drive shaft and the controller, and receive configuration parameter information sent by the controller according to the first communication connection.

[0075] Then, a first communication connection between the independent drive shaft and the control can be established, so as to receive the configuration parameter information sent by the controller according to the first communication connection.

[0076] In one specific embodiment, in combination Figure 1 As described above, it is necessary to establish a communication connection between the controller and each other drive shaft in the driver. Among them, the communication connection can be a network bus (communication methods such as EtherCat or ModBus). Specifically, it is necessary to first determine whether the controller is configured and connected to an independent drive shaft (such as shaft 2 or shaft 3, etc.), so that, according to the first communication connection between the independent drive shaft and the controller, the controller configures the independent drive shaft, and specifically can configure the configuration parameter information of the independent drive shaft.

[0077] 303. Control the independent drive axis to drive and operate according to the motion control information, and output the first position data of the independent drive axis.

[0078] Then, the driver can control the independent drive shaft to drive and operate according to the configuration parameter information, and output the first position data of the independent drive shaft.

[0079] In one specific embodiment, during the real-time and non-real-time data interaction between the controller and the independent drive axis, the driver can use the configuration parameter information sent by the controller to drive and control the independent drive axis, so that each drive axis is driven based on the motion control information and outputs related posture data, i.e., the first posture data. The first posture data can describe the current speed, position or acceleration of the drive axis, etc., which is not limited here.

[0080] 304. Upload the first posture data to the controller through the first communication connection to realize data interaction between the controller and the independent drive shaft.

[0081] Therefore, after receiving the first posture data, the driver can upload it to the controller through the first communication connection to realize data interaction between the controller and the independent drive shaft.

[0082] In one specific embodiment, the independent drive shaft can also directly exchange data with the controller. Therefore, in this embodiment, the independent drive shaft can upload the first posture data to the controller through the first communication connection, and then the controller can adjust the relevant configuration parameters to achieve the next step of control of the drive shaft.

[0083] The driver-based mirror control method disclosed in this embodiment can effectively realize the unidirectional control of each driving shaft by the controller, thereby improving the feasibility of the solution.

[0084] Since the individual drive shafts in the drive can be synchronized, to synchronize the master drive shaft and the slave drive shaft, refer to Figure 4 , Figure 4 This is a flow chart of another driver-based mirror control method disclosed in an embodiment of the present application, including steps 401 to 408.

[0085] 401. Obtain function switch parameters of the main drive shaft and all slave drive shafts.

[0086] Combined with the above Figure 1 and Figure 2It can be seen that it should be noted that this embodiment mainly describes that the main drive shaft and the slave drive shaft have a mirroring function. In order to solve the problem that the application of the controller is cumbersome when controlling the all-in-one drive, it is necessary to set and program the communication configuration, communication content, motion logic, trajectory interpolation and other functions of each drive shaft to complete the mirroring control. It is necessary to achieve: the master and slave axes can exchange information quickly, and the key states (such as faults) need to be aligned. Specifically, it is necessary to first obtain the function switch parameters of the main drive shaft and all slave drive shafts. It should be noted that the function switch parameters at least include the fault synchronization parameters or input-output synchronization parameters of the instruction mirroring function, wherein the fault synchronization parameters are used to describe the function synchronization state of the main drive shaft or the slave drive shaft corresponding to different fault categories, and the input-output synchronization parameters are used to describe the synchronization state of the data exchanged between the main drive shaft or the slave drive shaft; specifically, the fault synchronization parameters are used to control the function synchronization alignment corresponding to different fault categories in the main drive shaft or the slave drive shaft, and the input-output synchronization parameters are used to control the synchronization alignment of the data exchanged between the main drive shaft or the slave drive shaft.

[0087] In one specific embodiment, in combination with the above Figure 2 As described in step 201, the corresponding parameters can be set to select whether to logically distinguish and align the fault / IO information by level. Specifically, the function switch parameters here can include mirror function fault synchronization or mirror function IO synchronization. For example, when it is set to "1", the corresponding function is synchronized and aligned, and when it is set to "0", no alignment is performed. Furthermore, since different faults are handled differently for the main drive shaft and the slave drive shaft, it is also necessary to distinguish and distinguish different levels. Specifically, the distinction is due to the fact that in the same drive, some alarms will inevitably affect other axes, such as excessive temperature, excessive voltage, etc., while other alarms will not affect other axes (such as excessive position error), so in actual operation, it is necessary to distinguish and then selectively align. Furthermore, the fault information can be divided into two parameters: fault type and fault level according to actual classification requirements. For example, the fault type includes device fault and axis fault; device fault is defined as a fault that affects other axes, and axis fault is defined as a fault that does not affect other axes. Fault levels include general warnings, clearable faults, and non-clearable faults. Different fault types and fault levels have different fault processing parameters, so different fault categories are set. For example, when the fault type is an axis fault and its fault level is a normal warning, no processing is required, and a warning pop-up window is issued without triggering the fault synchronization parameter; when the fault type is an equipment fault, its level can be an unclear fault, triggering the fault synchronization parameter (i.e., an alarm fault), performing shutdown processing, and issuing an alarm signal, etc. Other examples are for reference only and are not specifically limited here. Synchronous alignment mainly aligns the fault information of each drive axis and the analog / digital input and output data.

[0088] 402. If the main drive shaft or the slave drive shaft triggers the data synchronization alignment function, a second slave drive shaft whose input and output synchronization parameters are synchronization alignment parameters is determined based on the input and output synchronization parameters, and the second slave drive shaft is controlled to perform data synchronization alignment with the main drive shaft.

[0089] Therefore, in combination with step 401, when the main drive shaft or the slave drive shaft triggers the data synchronization alignment function, it is necessary to determine the second slave drive shaft whose input and output synchronization parameters are the synchronization alignment parameters based on the input and output synchronization parameters, and control the second slave drive shaft to perform data synchronization alignment with the main drive shaft. Among them, the second slave drive shaft is a slave drive shaft that meets the input and output synchronization parameters, and the first slave drive shaft is a slave drive shaft that meets the fault synchronization parameters. It should be noted that the second slave drive shaft described in step 402 of this embodiment and the first slave drive shaft described in step 403 are only distinguished classifications in description. In this embodiment, it is not limited to which specific slave drive shaft the first slave drive shaft or the second slave drive shaft is. The two can be the same slave drive shaft or not, and this is not limited here.

[0090] In one specific embodiment, when the data synchronization alignment function is triggered by the main drive shaft or the slave drive shaft, it is necessary to determine the slave drive shaft whose synchronization alignment parameter is a corresponding bit value in each drive shaft (the drive shaft that triggers the data synchronization alignment function) by inputting and outputting synchronization parameters, for example, the corresponding bit value may be "1". Then, the second slave drive shaft is determined. In this way, the second drive shaft can be controlled to perform data synchronization alignment with the main drive shaft.

[0091] Furthermore, the data synchronization alignment mainly indicates the fault information between the main drive shaft and the second slave drive shaft or the input and output IO alignment of analog signals (or digital signals), that is, to achieve the consistency of fault information or signals between the axes. In other steps, step 402 in this embodiment can be performed consistently.

[0092] Furthermore, independent drive shafts other than the main drive shaft and the slave drive shaft can communicate directly with the controller and can be switched according to process requirements, which will not be described in detail here.

[0093] 403. If the fault type triggered by the main drive shaft or the slave drive shaft is an alarm fault, the main drive shaft and the slave drive shaft are distinguished based on the fault synchronization parameter, the first slave drive shaft whose fault synchronization parameter is the synchronization alignment parameter is determined, and the first slave drive shaft is controlled to perform fault synchronization alignment with the main drive shaft.

[0094] Furthermore, in combination with step 401, when the fault type triggered by the main drive shaft or the slave drive shaft is an alarm fault, it is necessary to distinguish the main drive shaft and the slave drive shaft based on the fault synchronization parameter, determine the first slave drive shaft whose fault synchronization parameter is the synchronization alignment parameter, and control the first slave drive shaft to perform fault synchronization alignment with the main drive shaft.

[0095] In one of the specific embodiments, when the above-mentioned alarm fault occurs in the main drive shaft or the slave drive shaft, it is necessary to distinguish whether the alarm fault is triggered by the main drive shaft or the slave drive shaft, and then, under the triggering condition of the main drive shaft, it is necessary to determine the slave drive shaft whose fault synchronization parameter is the corresponding bit value of the synchronization alignment parameter in each drive shaft (the drive shaft that triggers the fault synchronization alignment function), for example, the corresponding bit value can be "1". Then, the first slave drive shaft is determined. In this way, the first drive shaft can be controlled to perform fault synchronization alignment with the main drive shaft.

[0096] Under the triggering condition of the slave drive shaft, it is similar to the above-mentioned main drive shaft, but the fault synchronization alignment with other slave drive shafts needs to be achieved through the main drive shaft, which will not be described in detail here.

[0097] 404. When the main drive shaft triggers the alarm fault, determine whether to replace the main drive shaft based on the fault synchronization parameter.

[0098] Therefore, based on step 403, when the main drive shaft triggers the alarm fault, it can be determined whether to replace the main drive shaft based on the fault synchronization parameter.

[0099] In one specific embodiment, in combination with step 401, when a main drive shaft in the driver fails or is abnormal, it is necessary to determine whether to replace the main drive shaft through the parameter setting in the fault synchronization parameter. For example, it is determined whether the parameter bit value of the relevant replacement drive shaft is "1".

[0100] In other feasible technical solutions, the slave drive shaft may fail or be abnormal. In this case, it is still possible to determine whether to replace the master drive shaft by setting the parameters in the fault synchronization parameters. The details are not described here.

[0101] 405. If it is determined to replace the main drive shaft, select the drive shaft to be replaced in the driver, and set the spare configuration parameter information of the drive shaft to be replaced to switch the drive shaft to be replaced to the spare main drive shaft.

[0102] Furthermore, in combination with step 404, when it is determined to replace the main drive shaft, the drive shaft to be replaced can be selected in the driver, and the spare configuration parameter information of the drive shaft to be replaced can be set, so that the drive shaft to be replaced is switched to the spare main drive shaft. It should be noted that the drive shaft to be replaced is any drive shaft in the driver except the main drive shaft.

[0103] In one of the specific embodiments, after the main shaft is replaced according to the setting, it is necessary to replace it according to the fault synchronization parameters mentioned above. Specifically, the controller needs to cooperate with the switch. In this embodiment, the drive shaft to be replaced is first selected in the driver. The drive shaft can be a slave drive shaft or an independent drive shaft other than the slave drive shaft, that is, the drive shaft to be replaced. Then, the controller sends the spare configuration parameter information of the configured drive shaft to be replaced to the driver. The driver adjusts the spare configuration parameters to switch the drive shaft to be replaced to the subsequent main drive shaft, that is, the spare main drive shaft described above.

[0104] Furthermore, in the process of replacing the main drive shaft, the controller settings (for example, directly replacing the main drive shaft when a partial fault or abnormality is triggered, etc.) can also be used to decide whether to replace the main drive shaft. Furthermore, the main drive shaft needs to be replaced according to the settings or the rules for automatic main drive shaft selection. However, the controller needs to cooperate with the switching. Specifically, in the case of a single main shaft, the controller only needs to control and communicate with the main drive shaft. If switching is required, the information of the spare main drive shaft needs to be configured in advance, and the control of the spare main drive shaft needs to be directly switched when switching.

[0105] 406. When the standby main drive shaft is switched successfully, a communication connection between the slave drive shaft and the standby main drive shaft is established according to the standby configuration parameter information to complete the mirror control of the slave drive shaft and the standby main drive shaft.

[0106] Furthermore, when the standby main drive shaft is switched successfully, a communication connection between the slave drive shaft and the standby main drive shaft can be established according to the standby configuration parameter information, thereby completing the mirror control of the slave drive shaft and the standby main drive shaft.

[0107] In one specific embodiment, if the backup main drive shaft was previously a slave drive shaft, a communication connection with the controller is not established. Therefore, it is necessary to establish a communication connection between the slave drive shaft and the backup main drive shaft based on the backup configuration parameter information. Then, the backup main drive shaft can interact with the controller, and at the same time, the original slave drive shaft can also interact with the backup main drive shaft.

[0108] Furthermore, if the backup main drive shaft was another main drive shaft before, the backup main drive shaft has established a communication connection with the controller at this time, and there is no need to re-establish a communication connection with the controller.

[0109] 407. If it is determined that the main drive shaft will not be replaced, determine the troubleshooting operation for the main drive shaft.

[0110] Corresponding to step 405, when it is determined not to replace the main drive shaft, a fault handling operation of the main drive shaft is determined.

[0111] In one specific embodiment, when the main drive shaft is not replaced, the corresponding slave drive shaft needs to replace the main drive shaft fault handling mode. Therefore, it is necessary to determine the fault handling operation of the main drive shaft at this time.

[0112] 408. According to the fault handling operation, the slave drive shaft in communication connection with the main drive shaft is processed.

[0113] Furthermore, in combination with step 407, fault handling can be performed on the slave drive shaft that is communicatively connected to the main drive shaft according to the fault handling operation of the main drive shaft.

[0114] In one specific embodiment, since the main drive shaft is in mirror control of the slave drive shaft, the main drive shaft can control other slave drive shafts. Furthermore, when the main drive shaft fails, the associated slave drive shafts also need to be adjusted. At the same time, since the main drive shaft and the slave drive shaft are synchronously aligned, the slave drive shaft also needs to implement the same fault handling operation as the main drive shaft.

[0115] Through the driver-based mirror control method disclosed in this embodiment, the master station can realize synchronous control of multiple axes while only configuring / controlling one of the axes, greatly reducing the time cost and maintenance cost required to configure the entire control system. The response performance of a master station controlling multiple axis drivers for synchronous operation is improved, and further, the master station only needs to calculate the movement of the main axis and only needs to maintain communication with the main axis, which means that the calculation frequency, calculation accuracy, communication frequency and other performance of the master station will not decrease significantly with the increase in the number of axes, and can still maintain high performance when controlling multiple axes.

[0116] Combined with the above Figures 2 to 4 , see Figure 5 , Figure 5 This is a flow chart of another driver-based mirror control method disclosed in an embodiment of the present application, including steps 501 to 503.

[0117] 501. Determine the relative position information between the main drive shaft and the slave drive shaft.

[0118] In order to achieve motion synchronization between the main drive shaft and the slave drive shaft, it is necessary to control the speed, position or acceleration and other operating information between the main drive shaft and the slave drive shaft to be as similar as possible. Therefore, it is necessary to first determine the relative position information between the main drive shaft and the slave drive shaft.

[0119] In one of the specific embodiments, because the initial states of the various drive shafts (main drive shaft and slave drive shaft) are different, and the operating data of each drive shaft during operation will not be the same, all operating data cannot be reused. Furthermore, in this embodiment, the relative position data between the main drive shaft and the slave drive shaft can be determined first. Among them, the main drive shaft and the slave drive shaft exchange data, so the slave drive shaft can transmit its own operating data (such as speed, position or acceleration, etc.) to the main drive shaft. Furthermore, the main drive shaft can combine its own operating data with the operating data of the slave drive shaft to calculate the relative position information.

[0120] Furthermore, in other feasible technical solutions, since the controller only needs to communicate with the main drive shaft, the controller only needs to process the control information of the main drive shaft.

[0121] 502. Receive position increment information corresponding to the relative position information sent by the controller, set the position increment information and motion control information as a position increment instruction, and transmit it to the slave drive shaft, so that the slave drive shaft drives according to the position increment instruction.

[0122] Furthermore, in combination with step 501, in order to realize the control of the remaining drive shafts, the controller can generate position increment information in combination with the relative position information uploaded by the main drive shaft, thereby setting the position increment information and the motion control information as position increment instructions, and transmitting them to the slave drive shaft, so that the slave drive shaft can be driven and operated according to the position increment instructions.

[0123] In one specific embodiment, the controller sets the motion control information and position increment information of the remaining drive shafts (i.e., slave drive shafts) as a unified instruction, such as a position increment instruction or other means, and transmits the information, and then sends the relevant instructions to the main drive shaft. Then, the driver can process the position increment instruction received by the main drive shaft, thereby processing it into the actual instruction of each drive shaft, i.e., the actual drive control instruction, and then the controller can control the main drive shaft and the slave drive shaft to drive and operate according to the actual drive control instruction.

[0124] 503. Calculate the master posture data of the master drive axis and the slave posture data of all slave drive axes, control the master drive axis to drive based on the motion control information and the master posture data, and control the slave drive axis to drive based on the motion control information and the slave posture data to output the real-time posture data of the driver.

[0125] Corresponding to step 501, the driver can calculate the main posture data of the main driving axis and the slave posture data of all the slave driving axes, and then control the main driving axis to drive based on the motion control information and the main posture data, and at the same time, control the slave driving axis to drive based on the motion control information and the slave posture data, thereby outputting the real-time posture data of the driver.

[0126] In one specific embodiment, the driver can calculate the posture data of the main drive shaft and the slave drive shaft respectively. Specifically, each drive shaft can calculate its own position, speed or acceleration data according to the mirror synchronization instruction issued by the controller, so as to obtain the main posture data or the slave posture data. Furthermore, the driver can control the main drive shaft and the slave drive shaft respectively in combination with the motion control information (the main drive shaft and the slave drive shaft can be consistent), and the corresponding main posture data or the slave posture data to drive the operation. Among them, the main drive shaft and the slave drive shaft can be operated by instruction control, and then the real-time posture data of different drive shafts can be output.

[0127] The driver-based mirror control method disclosed in this embodiment solves the problem of resource shortage when the controller is a one-to-many-in-one driver, the need to calculate the motion trajectory of each axis in sequence, and the need to send real-time instructions for each axis in sequence, resulting in low responsiveness when large-scale control of multiple axes to perform the same action. Furthermore, the controller can meet the motion requirements of more axes in one calculation, and the controller can control more axes to perform the same motion in one communication, and each slave drive axis updates its actual instruction according to the instruction synchronized from the main axis.

[0128] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0129] See also Figure 6 , Figure 6 A schematic diagram of the structure of a driver-based mirror control system disclosed in an embodiment of the present application.

[0130] The receiving unit 601 is used to receive the configuration parameter information for any driving shaft in the driver sent by the controller, where the configuration parameter information at least includes the configuration information of the main driving shaft and the slave driving shaft;

[0131] An acquisition unit 602 is used to acquire state information of the command mirror function of the main drive shaft and the slave drive shaft, and determine all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the state information and configuration information of the command mirror function;

[0132] The receiving unit 601 is also used to receive motion control information sent by the controller, the main drive shaft forwards the motion control information to the slave drive shaft, and controls the slave drive shaft and the main drive shaft to drive according to the motion control information to complete the mirror control of all drive shafts in the driver.

[0133] Exemplarily, the system further includes: a determination unit 603, an establishment unit 604, a control unit 605 and an upload unit 606;

[0134] A determination unit 603 is used to determine that the first drive shaft is an independent drive shaft in the driver when the state information of the instruction mirror information of the first drive shaft is in an off state; wherein the independent drive shaft is used to describe a drive shaft other than the main drive shaft and the slave drive shaft in the driver;

[0135] An establishing unit 604 is used to establish a first communication connection between the independent drive shaft and the controller, and receive configuration parameter information sent by the controller according to the first communication connection;

[0136] The control unit 605 is used to control the independent drive axis to drive and operate according to the motion control information, and output the first position data of the independent drive axis;

[0137] The uploading unit 606 is used to upload the first posture data to the controller through the first communication connection to realize data interaction between the controller and the independent driving axis.

[0138] Exemplarily, the system further includes:

[0139] The acquisition unit 602 is further used to acquire function switch parameters of the main drive shaft and all the slave drive shafts; wherein the function switch parameters include fault synchronization parameters or input-output synchronization parameters of the command mirror function, the fault synchronization parameters are used to describe the function synchronization status of the main drive shaft or the slave drive shaft corresponding to different fault categories, and the input-output synchronization parameters are used to describe the synchronization status of the interactive data between the main drive shaft or the slave drive shaft;

[0140] The determination unit 603 is further configured to distinguish the main drive shaft and the slave drive shaft based on the fault synchronization parameter when the fault type triggered by the main drive shaft or the slave drive shaft is an alarm fault, determine the first slave drive shaft whose fault synchronization parameter is a synchronization alignment parameter, and control the first slave drive shaft to perform fault synchronization alignment with the main drive shaft; and / or,

[0141] The determination unit 603 is also used to determine the second slave drive axis whose input and output synchronization parameters are synchronization alignment parameters based on the input and output synchronization parameters when the main drive axis or the slave drive axis triggers the data synchronization alignment function, and control the second slave drive axis to perform data synchronization alignment with the main drive axis.

[0142] Exemplarily, the system further includes: a setting unit 607;

[0143] The determination unit 603 is further configured to determine whether to replace the main drive shaft based on the fault synchronization parameter when the main drive shaft triggers an alarm fault;

[0144] The setting unit 607 is used for selecting the drive shaft to be replaced in the driver when it is determined to replace the main drive shaft, and setting the spare configuration parameter information of the drive shaft to be replaced, so as to switch the drive shaft to be replaced to the spare main drive shaft; wherein the drive shaft to be replaced is any drive shaft in the driver except the main drive shaft;

[0145] The establishing unit 604 is also used to establish a communication connection between the slave drive shaft and the backup main drive shaft according to the backup configuration parameter information after the backup main drive shaft is switched successfully, so as to complete the mirror control of the slave drive shaft and the backup main drive shaft.

[0146] Exemplarily, the system further includes: a processing unit 608;

[0147] The determination unit 603 is further used to determine a fault handling operation of the main drive shaft when it is determined that the main drive shaft is not to be replaced;

[0148] The processing unit 608 is used to process the slave drive shaft in communication connection with the main drive shaft according to the fault processing operation.

[0149] Exemplarily, the system further includes:

[0150] The determination unit 603 is further used to determine the relative position information between the main driving shaft and the slave driving shaft;

[0151] The receiving unit 601 is also used to receive the position increment information corresponding to the relative position information sent by the controller, and set the position increment information and motion control information as a position increment instruction, and transmit it to the slave drive shaft so that the slave drive shaft drives according to the position increment instruction.

[0152] Exemplarily, the system further includes:

[0153] The control unit 605 is also used to calculate the main posture data of the main drive axis and the slave posture data of all slave drive axes, control the main drive axis to drive based on the motion control information and the main posture data, and control the slave drive axis to drive based on the motion control information and the slave posture data to output the real-time posture data of the driver.

[0154] See below Figure 7 , a schematic structural diagram of a driver-based mirror control device disclosed in an embodiment of the present application includes:

[0155] CPU 701, memory 705, input / output interface 704, wired or wireless network interface 703 and power supply 702;

[0156] The memory 705 is a temporary storage memory or a permanent storage memory;

[0157] The CPU 701 is configured to communicate with the memory 705 and execute the instructions in the memory 705 to perform the aforementioned Figure 5 A driver-based mirror control method in the illustrated embodiment.

[0158] The embodiment of the present application also provides a chip system, the chip system includes at least one processor and a communication interface, the communication interface and the at least one processor are interconnected through a line, and the at least one processor is used to run a computer program or instruction to execute the aforementioned Figures 2 to 5 A driver-based mirror control method in any of the illustrated embodiments.

[0159] The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium includes instructions, when the instructions are executed on a computer, the computer executes the aforementioned Figures 2 to 5 A driver-based mirror control method in any of the illustrated embodiments.

[0160] The present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the aforementioned Figures 2 to 5 A driver-based mirror control method in any of the illustrated embodiments.

[0161] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0162] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0163] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0164] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit 608607, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0165] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A driver-based mirror control method, characterized in that: Applied to a driver, the driver includes a plurality of drive shafts, the method includes: Receiving configuration parameter information for any drive shaft in the driver sent by the controller, wherein the configuration parameter information at least includes configuration information of a main drive shaft and a slave drive shaft; Acquire status information of the command mirroring function of the main drive shaft and the slave drive shaft, and determine all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the status information of the command mirroring function and the configuration information; The main drive shaft receives motion control information sent by the controller, forwards the motion control information to the slave drive shaft, controls the slave drive shaft and the main drive shaft to drive according to the motion control information, so as to complete the mirror control of all drive shafts in the driver.

2. The driver-based mirror control method according to claim 1, characterized in that: The method further comprises: If the state information of the instruction mirror information of the first driving shaft is in a closed state, it is determined that the first driving shaft is an independent driving shaft in the driver; wherein the independent driving shaft is used to describe a driving shaft in the driver except the main driving shaft and the slave driving shaft; Establishing a first communication connection between the independent drive shaft and the controller, and receiving the configuration parameter information sent by the controller according to the first communication connection; Controlling the independent drive shaft to drive and operate according to the motion control information, and outputting the first position data of the independent drive shaft; The first posture data is uploaded to the controller through the first communication connection to realize data interaction between the controller and the independent drive shaft.

3. The driver-based mirror control method according to claim 1, characterized in that: After determining all slave drive shafts in the driver that are mirror-controlled by the master drive shaft according to the state information of the instruction mirror function and the configuration information, the method further includes: Acquire function switch parameters of the main drive shaft and all the slave drive shafts; wherein the function switch parameters include fault synchronization parameters or input-output synchronization parameters of the instruction mirroring function, the fault synchronization parameters are used to describe the function synchronization status of the main drive shaft or the slave drive shaft corresponding to different fault categories, and the input-output synchronization parameters are used to describe the synchronization status of the interactive data between the main drive shaft or the slave drive shaft; If the fault type triggered by the main drive shaft or the slave drive shaft is an alarm fault, the main drive shaft and the slave drive shaft are distinguished based on the fault synchronization parameter, a first slave drive shaft whose fault synchronization parameter is a synchronization alignment parameter is determined, and the first slave drive shaft is controlled to perform fault synchronization alignment with the main drive shaft; and / or, If the main drive shaft or the slave drive shaft triggers the data synchronization alignment function, a second slave drive shaft whose input and output synchronization parameters are the synchronization alignment parameters is determined based on the input and output synchronization parameters, and the second slave drive shaft is controlled to perform data synchronization alignment with the main drive shaft.

4. The driver-based mirror control method according to claim 3, characterized in that: The method further comprises: When the main drive shaft triggers the alarm fault, determining whether to replace the main drive shaft based on the fault synchronization parameter; If it is determined to replace the main drive shaft, the drive shaft to be replaced is selected in the driver, and the spare configuration parameter information of the drive shaft to be replaced is set to switch the drive shaft to be replaced to a spare main drive shaft; wherein the drive shaft to be replaced is any drive shaft in the driver except the main drive shaft; When the backup main drive shaft is switched successfully, a communication connection between the slave drive shaft and the backup main drive shaft is established according to the backup configuration parameter information to complete the mirror control of the slave drive shaft and the backup main drive shaft.

5. The driver-based mirror control method according to claim 4, characterized in that: The method further comprises: If it is determined that the main drive shaft is not to be replaced, determining a fault handling operation for the main drive shaft; According to the fault handling operation, the slave drive shaft that is communicatively connected to the main drive shaft is processed.

6. The driver-based mirror control method according to claim 1, characterized in that: After the main driving shaft forwards the motion control information to the slave driving shaft, the method further includes: Determining relative position information between the main drive shaft and the slave drive shaft; Receive the position increment information corresponding to the relative position information sent by the controller, set the position increment information and the motion control information as a position increment instruction, and transmit it to the slave drive shaft, so that the slave drive shaft is driven according to the position increment instruction.

7. The driver-based mirror control method according to claim 1, characterized in that: After the main driving shaft forwards the motion control information to the slave driving shaft, the method further includes: Calculate the master posture data of the main drive axis and the slave posture data of all the slave drive axes, control the main drive axis to drive based on the motion control information and the master posture data, and control the slave drive axis to drive based on the motion control information and the slave posture data to output real-time posture data of the driver.

8. A driver-based mirror control system, characterized in that: Applied to a drive, the drive includes a plurality of drive shafts, the system includes: A receiving unit, configured to receive configuration parameter information for any drive shaft in the driver sent by the controller, wherein the configuration parameter information at least includes configuration information of a main drive shaft and a slave drive shaft; an acquisition unit, configured to acquire status information of the instruction mirroring function of the main drive shaft and the slave drive shaft, and determine all slave drive shafts in the driver that are mirror-controlled by the main drive shaft according to the status information of the instruction mirroring function and the configuration information; The receiving unit is also used to receive motion control information sent by the controller, and the main drive shaft forwards the motion control information to the slave drive shaft, controls the slave drive shaft and the main drive shaft to drive according to the motion control information, so as to complete the mirror control of all drive shafts in the driver.

9. A driver-based mirror control device, characterized in that: The device comprises: CPU, memory, input and output interfaces, wired or wireless network interfaces, and power supply; The memory is a transient storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the driver-based mirror control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes instructions, and when the instructions are executed on a computer, the computer is caused to execute the drive-based mirroring control method according to any one of claims 1 to 7.

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