Driving and control all-in-one machine, synchronous control method and related device

Abstract

The invention provides a driving and control all-in-one machine, a synchronous control method and a related device, the driving and control all-in-one machine comprises a controller and a servo driver, and the controller is electrically connected with the servo driver through a first bus; the controller is used for responding to received instruction data sent by the upper computer through the second bus, interrupting a current control program of the controller, triggering the controller to convert the instruction data into downlink data meeting the reading requirement of the servo driver, and sending the downlink data to the servo driver; and the controller is also used for responding to the received state data sent by the servo driver through the first bus, interrupting the current control program of the controller, triggering the controller to convert the state data into uplink data meeting the reading requirement of the upper computer, and sending the uplink data to the upper computer. According to the invention, data jitter caused by periodic operation of the controller is overcome, and real-time synchronization of data between the controller and the servo driver is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a drive-control integrated machine, a synchronous control method and related devices. Background Art

[0002] In industrial automation control systems, controllers are used to load the customer's process control program and control field equipment through periodic operation (periodic reading of inputs, logical operation, and refreshing of outputs).

[0003] An all-in-one drive and control unit (ACM) is a device that integrates drive and control functions and is widely used in automated control systems, particularly in industrial automation, robotics, and CNC machine tools. It typically combines motor drive, motion control, and feedback control functions to achieve precise control and monitoring of motors.

[0004] In the existing drive-control integrated machine, the controller runs periodically. The command data sent by the host computer needs to be sent to the servo drive only when the controller runs periodically. Correspondingly, the status data of the servo drive also needs to be uploaded to the host computer only when the controller runs periodically, resulting in data jitter and the data between the controller and the servo drive cannot be synchronized in real time. Summary of the Invention

[0005] The embodiments of the present invention provide a drive-control integrated machine, a synchronous control method and related devices to solve the problem that the controller in the existing drive-control integrated machine runs periodically, causing data jitter and the data between the controller and the servo driver cannot be synchronized in real time.

[0006] In order to solve the above-mentioned technical problems, the present invention is achieved as follows:

[0007] In a first aspect, an embodiment of the present invention provides a drive-control integrated machine, comprising a controller and a servo driver, wherein the controller and the servo driver are electrically connected via a first bus;

[0008] The controller is configured to, in response to receiving instruction data sent by the host computer through the second bus, interrupt the current control program of the controller, trigger the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and send the downlink data to the servo driver;

[0009] The controller is also used to respond to receiving status data sent by the servo drive through the first bus, interrupt the current control program of the controller, and trigger the controller to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer.

[0010] Optionally,

[0011] The servo drive is electrically connected to the motor;

[0012] The servo driver is configured to receive the downlink data sent by the controller via the first bus, and drive the motor to operate under the control of the downlink data;

[0013] The servo driver is further configured to receive motor operation data sent by the motor, obtain the status data according to the motor operation data, and send the status data to the controller via the second bus.

[0014] Optionally, the controller is a programmable logic controller.

[0015] Optionally, the controller has a pre-deployed control program;

[0016] The controller is configured to set a trigger execution flag of the control program to enable the control program to convert the instruction data into the downlink data;

[0017] The controller is further configured to set the trigger execution flag of the control program so that the control program converts the status data into the uplink data.

[0018] Optionally, before triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer, the controller is also used to verify whether the status data meets preset conditions and obtain a verification result. If the verification result indicates that the preset conditions are met, the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer is entered; if the verification result indicates that the preset conditions are not met, the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer is not entered.

[0019] In a second aspect, an embodiment of the present invention provides a synchronous control method, which is applied to a controller of an all-in-one drive and control machine, wherein the all-in-one drive and control machine further includes a servo drive, and the controller is electrically connected to the servo drive via a first bus;

[0020] The synchronization control method comprises:

[0021] In response to receiving instruction data sent by the host computer through the second bus, interrupting the current control program of the controller, and triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and sending the downlink data to the servo driver;

[0022] In response to receiving the status data sent by the servo driver through the first bus, the current control program of the controller is interrupted, and the controller is triggered to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer.

[0023] Optionally, the controller has a pre-deployed control program;

[0024] Triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver includes:

[0025] Setting a trigger execution flag of the control program to enable the control program to convert the instruction data into the downlink data;

[0026] Triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer includes:

[0027] The trigger execution flag of the control program is set to enable the control program to convert the status data into the uplink data.

[0028] In a third aspect, an embodiment of the present invention provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the synchronization control method as described in any one of the second aspects.

[0029] In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps in the synchronization control method as described in any one of the second aspects are implemented.

[0030] In a fifth aspect, an embodiment of the present invention provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the synchronization control method as described in any one of the second aspects.

[0031] In an embodiment of the present invention, a drive-control integrated machine includes a controller and a servo driver, and the controller and the servo driver are electrically connected via a first bus; the controller is used to respond to instruction data sent by a host computer via a second bus, interrupt the current control program of the controller, and trigger the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and send the downlink data to the servo driver; the controller is also used to respond to status data sent by the servo driver via the first bus, interrupt the current control program of the controller, and trigger the controller to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer. In the embodiment of the present invention, the controller overcomes the data jitter caused by the periodic operation of the controller through interrupt triggering execution, and realizes the instant synchronization of data between the controller and the servo driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0033] Figure 1 This is a principle block diagram of a drive-control integrated machine according to an embodiment of the present invention;

[0034] Figure 2 This is a functional block diagram of a drive-control integrated machine according to another embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the principle of the synchronous control method according to an embodiment of the present invention;

[0036] Figure 4 This is a principle block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0038] The terms "first", "second", etc. in the embodiments of the present invention are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "or" in the embodiments of the present invention represents at least one of the connected objects. For example, "A or B" covers three options, namely, Option 1: including A but not including B; Option 2: including B but not including A; Option 3: including both A and B. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0039] In the technical solutions of the embodiments of the present invention, words such as “connect”, “couple” or “connected” are not limited to physical or mechanical connections, but may include electrical connections.

[0040] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0041] The embodiment of the present invention provides a drive-control integrated machine, see Figure 1 As shown, Figure 1 This is a principle block diagram of an integrated drive and control machine according to an embodiment of the present invention. The integrated drive and control machine 100 includes a controller 101 and a servo driver 102. The controller 101 and the servo driver 102 are electrically connected via a first bus.

[0042] The controller 101 is configured to, in response to receiving instruction data sent by the host computer 400 via the second bus, interrupt the current control program of the controller 101 , trigger the controller 101 to convert the instruction data into downlink data that meets the reading requirements of the servo driver 102 , and send the downlink data to the servo driver 102 ;

[0043] The controller 101 is also used to respond to the status data sent by the servo driver 102 through the first bus, interrupt the current control program of the controller 101, and trigger the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400, and send the uplink data to the host computer 400.

[0044] In some embodiments of the present invention, the servo driver 102 can be electrically connected to the motor 500 to drive and control the motor's operation. The command data can include target position information to implement interpolation and point-to-point motion control. Correspondingly, the status data can include encoder position information of the motor 500, which is fed back to the host computer to achieve closed-loop control of the motor 500.

[0045] In some optional embodiments, the motor may be a servo motor; in other embodiments, the motor may further preferably be a four-axis servo motor.

[0046] In the embodiment of the present invention, the first bus may be an internal bus within the integrated drive and control machine, and the second bus may be a field bus provided at the site where the integrated drive and control machine is arranged for electrically connecting the integrated drive and control machine with other electrical equipment (including a host computer).

[0047] In some optional embodiments, the first bus may be implemented in any of the following ways: the controller 101 and the servo driver 102 are integrated on the same PCB board, or the controller 101 and the servo driver 102 are connected via a connector.

[0048] In some optional embodiments, the second bus may be an Ethernet bus, employing the TCP (Transmission Control Protocol) protocol and using Socket communication programming. TCP is a powerful and widely used protocol that ensures secure and reliable data transmission in unreliable network environments. Socket communication programming allows different computers to exchange data over a network.

[0049] It should be noted that regarding downlink data, the data that the servo drive can read usually needs to meet specific technical requirements and specifications to ensure the accuracy, real-time and compatibility of the data. For example, the data output by the servo drive must conform to the predefined data type and encoding format: Integer type (INT16 / UINT32): such as the number of position pulses, alarm code, etc. Floating point type (IEEE 754): such as speed (RPM), torque (Nm), current (A), etc. Boolean type: status flag (such as servo enable, alarm trigger). ASCII string: such as device model, serial number, fault description. Special encoding: such as the 32 / 64-bit long integer position value of a multi-turn absolute encoder.

[0050] It should be noted that regarding uplink data, the host computer (e.g., industrial PC, PLC, HMI, etc.) must meet a series of technical and engineering requirements when reading data from the servo drive to ensure that the data is accurate, reliable, and suitable for actual application scenarios. In some optional embodiments, the status data (e.g., encoder pulses) is converted to engineering units (e.g., millimeters, angles). For example, if the servo drive returns a position value of 10,000 pulses, and each pulse corresponds to 0.001 mm, the actual position in the uplink data is 10 mm.

[0051] In an embodiment of the present invention, a drive-control integrated machine includes a controller 101 and a servo driver 102, wherein the controller 101 is electrically connected to the servo driver 102 via a first bus. The controller 101 is configured to, in response to receiving instruction data sent by a host computer 400 via a second bus, interrupt a current control program of the controller 101, trigger the controller 101 to convert the instruction data into downlink data that meets the reading requirements of the servo driver 102, and send the downlink data to the servo driver 102. The controller 101 is further configured to, in response to receiving status data sent by the servo driver 102 via the first bus, interrupt the current control program of the controller 101, trigger the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400, and send the uplink data to the host computer 400. In an embodiment of the present invention, the controller 101 overcomes data jitter caused by periodic operation of the controller 101 by executing the interrupt trigger, thereby achieving instant synchronization of data between the controller 101 and the servo driver 102.

[0052] In some embodiments of the present invention, optionally, see Figure 1 As shown, the servo driver 102 is electrically connected to the motor 500;

[0053] The servo driver 102 is configured to receive downlink data sent by the controller 101 via the first bus, and drive the motor 500 to operate under the control of the downlink data;

[0054] The servo driver 102 is further configured to receive motor operation data sent by the motor 500 , obtain status data according to the motor operation data, and send the status data to the controller 101 via the second bus.

[0055] In some embodiments of the present invention, driving the motor 500 to operate includes at least one of the following: controlling the motor 500 to turn on or off, driving the motor 500 to rotate at a set speed, driving the motor 500 to change speed between multiple speeds, and driving the motor 500 to accelerate or decelerate according to a set acceleration.

[0056] In some embodiments of the present invention, the motor operation data may include at least one of the following: voltage, current, power, power factor, power consumption, harmonic content, speed, torque, vibration, noise, winding temperature, bearing temperature, ambient temperature, energy conversion efficiency, slip, and PWM duty cycle.

[0057] In some optional embodiments, the motor may be a servo motor, and the motor operation data may further include at least one of the following: position accuracy, tracking error, and dynamic response characteristics.

[0058] In some embodiments of the present invention, optionally, see Figure 2 As shown, Figure 2 This is a principle block diagram of an all-in-one drive and control machine according to another embodiment of the present invention, where the motor 500 is a built-in motor 500 of the all-in-one drive and control machine 100 .

[0059] In an embodiment of the present invention, the servo driver 102 is electrically connected to the motor 500. The servo driver 102 is used to receive downlink data sent by the controller 101 through the first bus, and drive the motor 500 to operate under the control of the downlink data; the servo driver 102 is also used to receive motor operation data sent by the motor 500, obtain status data based on the motor operation data, and send the status data to the controller 101 through the second bus, thereby realizing precise control of the motor 500 and efficient operation data collection.

[0060] In some embodiments of the present invention, optionally, the controller 101 is a programmable logic controller, so that the controller 101 has the ability of secondary development. Compared with the existing integrated drive and control machine that does not support controller secondary programming, the user's production process can only be implemented through non-standard customization. The integrated drive and control machine in the embodiment of the present invention improves the application flexibility of the drive and control product.

[0061] In some embodiments of the present invention, optionally,

[0062] The controller 101 has a pre-deployed control program;

[0063] The controller 101 is used to set a trigger execution flag of the control program so that the control program converts the instruction data into downlink data;

[0064] The controller 101 is further configured to set a trigger execution flag of the control program so that the control program converts the status data into uplink data.

[0065] In some embodiments of the present invention, the control program can be run periodically according to a preset period, or can be run in a triggered mode. Specifically, in an embodiment of the present invention, the controller 101 is used to set a trigger execution flag of the control program, that is, the controller 101 triggers the control program to run, and the control program runs in the triggered mode.

[0066] In the implementation of the present invention, the controller 101 triggers the control program to run, and the control program runs in a trigger mode, avoiding data jitter caused by the periodic operation of the control program and achieving instant synchronization of data between the controller 101 and the servo driver 102.

[0067] In some embodiments of the present invention, optionally,

[0068] Before triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400, the controller 101 is also used to verify whether the status data meets the preset conditions and obtain a verification result. If the verification result indicates that the preset conditions are met, the step of triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400 is entered; if the verification result indicates that the preset conditions are not met, the step of triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400 is not entered.

[0069] In some embodiments of the present invention, the status data may include the motor speed, and the preset condition may be a preset upper speed threshold or a preset lower speed threshold. For example, if the motor speed is lower than the preset lower speed threshold, it indicates that the current speed does not meet the preset condition, and the controller 101 does not proceed to the step of triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400.

[0070] It should be noted that the preset conditions can be set by the user according to his or her own needs, and the present invention does not limit this.

[0071] In an embodiment of the present invention, before triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400, the controller 101 is also used to verify whether the status data meets the preset conditions to obtain a verification result. If the verification result indicates that the preset conditions are met, the step of triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400 is entered; if the verification result indicates that the preset conditions are not met, the step of triggering the controller 101 to convert the status data into uplink data that meets the reading requirements of the host computer 400 is not entered. In an embodiment of the present invention, the all-in-one drive and control machine verifies the status data before converting the uplink data, thereby avoiding uplink data errors caused by distortion of the status data, improving the accuracy of the feedback received by the host computer, and thus helping to avoid erroneous instructions from the host computer and achieve precise control.

[0072] An embodiment of the present invention further provides a synchronous control method, which is applied to a controller of a drive-control integrated machine, wherein the drive-control integrated machine further includes a servo driver, and the controller is electrically connected to the servo driver via a first bus;

[0073] The synchronization control method comprises:

[0074] In response to receiving instruction data sent by the host computer through the second bus, interrupting the current control program of the controller, and triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and sending the downlink data to the servo driver;

[0075] In response to receiving the status data sent by the servo driver through the first bus, the current control program of the controller is interrupted, and the controller is triggered to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer.

[0076] In some embodiments of the present invention, a servo driver can be electrically connected to a motor to drive and control the motor's operation. Command data can include target position information to implement interpolation and point-to-point motion control. Correspondingly, status data can include encoder position information from the motor, which is fed back to a host computer to achieve closed-loop control of the motor.

[0077] In some optional embodiments, the motor may be a servo motor; in other embodiments, the motor may further preferably be a four-axis servo motor.

[0078] In the embodiment of the present invention, the first bus may be an internal bus within the integrated drive and control machine, and the second bus may be a field bus provided at the site where the integrated drive and control machine is arranged for electrically connecting the integrated drive and control machine with other electrical equipment (including a host computer).

[0079] In some optional embodiments, the first bus may be implemented in any of the following ways: the controller and the servo driver are integrated on the same PCB board, or the controller and the servo driver are connected via a connector.

[0080] In some optional embodiments, the second bus may be an Ethernet bus, employing the TCP (Transmission Control Protocol) protocol and using Socket communication programming. TCP is a powerful and widely used protocol that ensures secure and reliable data transmission in unreliable network environments. Socket communication programming allows different computers to exchange data over a network.

[0081] In an embodiment of the present invention, in response to receiving instruction data sent by the host computer through the second bus, the current control program of the controller is interrupted, and the controller is triggered to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and the downlink data is sent to the servo driver; in response to receiving status data sent by the servo driver through the first bus, the current control program of the controller is interrupted, and the controller is triggered to convert the status data into uplink data that meets the reading requirements of the host computer, and the uplink data is sent to the host computer. This embodiment of the present invention overcomes the data jitter caused by the periodic operation of the controller and realizes the instant synchronization of data between the controller and the servo driver.

[0082] In some embodiments of the present invention, optionally, the controller has a pre-deployed control program;

[0083] Triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver includes:

[0084] Setting a trigger execution flag of the control program to enable the control program to convert the instruction data into the downlink data;

[0085] Triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer includes:

[0086] The trigger execution flag of the control program is set to enable the control program to convert the status data into the uplink data.

[0087] In some embodiments of the present invention, the control program can be run periodically according to a preset period, or it can be run in a triggered mode. Specifically, in an embodiment of the present invention, the trigger execution flag of the control program is set, that is, the control program is triggered to run, and the control program runs in the triggered mode. In the implementation of the present invention, by triggering the control program to run, the control program runs in the triggered mode, which can avoid data jitter caused by the periodic operation of the control program and achieve instant data synchronization between the controller and the servo drive.

[0088] In some embodiments of the present invention, optionally, before triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer, the method further includes:

[0089] Verify whether the status data meets the preset conditions and obtain a verification result. If the verification result indicates that the preset conditions are met, enter the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer; if the verification result indicates that the preset conditions are not met, do not enter the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer.

[0090] In some embodiments of the present invention, the status data may include motor speed, and the preset condition may be a preset upper speed threshold or a preset lower speed threshold. For example, if the motor speed is lower than the preset lower speed threshold, it indicates that the current speed does not meet the preset condition, and the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer is not performed.

[0091] It should be noted that the preset conditions can be set by the user according to his or her own needs, and the present invention does not limit this.

[0092] In an embodiment of the present invention, before triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer, the method includes:

[0093] Verify whether the status data meets the preset conditions and obtain a verification result. If the verification result indicates that the preset conditions are met, enter the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer; if the verification result indicates that the preset conditions are not met, do not enter the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer. In the embodiment of the present invention, the all-in-one drive and control machine verifies the status data before converting the uplink data, thereby avoiding uplink data errors caused by distortion of the status data, improving the accuracy of the feedback received by the host computer, and thus helping to avoid erroneous instructions from the host computer and achieve precise control.

[0094] The following is a description of the specific embodiments. Figure 3 As shown, Figure 3 The figure is a schematic diagram of the principle of the synchronous control method according to an embodiment of the present invention. The eight steps in the figure can realize real-time data refresh of the host computer and the drive-control integrated machine, including:

[0095] (1) The host computer sends a data frame containing control commands to the built-in controller via the field bus.

[0096] (2) The built-in controller receives and parses the data frame, and sets the trigger execution flag of the control program.

[0097] (3) The control program receives the trigger signal, executes the program and refreshes the output data.

[0098] (4) The controller sends the downlink data in the output data to the servo driver through the internal bus. The servo driver sends the uplink data to the built-in controller while receiving the data.

[0099] (5) The built-in controller receives the uplink data and sets the trigger execution flag of the control program.

[0100] (6) The control program receives the trigger signal, executes the program and refreshes the output data.

[0101] (7) The built-in controller sends the uplink data in the output data to the host computer through the field bus.

[0102] (8) The host computer receives the uplink data.

[0103] The present invention achieves drive-control integration by changing the combination of the built-in controller and the servo driver. The execution of the controller control program is triggered by the downlink data frame of the external field bus and the uplink data frame of the internal bus, thereby achieving synchronous real-time refresh of the field data. The present invention enriches the application scenarios of the drive product through an integrated design; by adding the ability of secondary development (i.e., PLC module), the application flexibility of the drive product is improved; and by synchronizing the control link, the communication delay and data jitter problems caused by multi-level communication within the all-in-one machine are solved. By increasing the product's scenario adaptability, application flexibility, and control stability, the competitiveness of the drive control product is improved.

[0104] An embodiment of the present invention provides an electronic device 40, see Figure 4 As shown, Figure 4 This is a principle block diagram of an electronic device 40 according to an embodiment of the present invention, which includes a processor 41, a memory 42, and a program or instruction stored in the memory 42 and executable on the processor 41. When the program or instruction is executed by the processor, the steps in any one of the synchronization control methods of the present invention are implemented.

[0105] An embodiment of the present invention provides a readable storage medium, on which programs or instructions are stored. When the programs or instructions are executed by a processor, the various processes of an embodiment of the synchronization control method such as any one of the above-mentioned ones are implemented, and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0106] The readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0107] An embodiment of the present invention also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, the various processes of any of the above-mentioned synchronization control method embodiments are implemented and can achieve the same technical effect. To avoid repetition, they will not be described here.

[0108] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0109] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0110] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A drive-control integrated machine, characterized in that: It includes a controller and a servo driver, wherein the controller and the servo driver are electrically connected via a first bus; The controller is configured to, in response to receiving instruction data sent by the host computer through the second bus, interrupt the current control program of the controller, trigger the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and send the downlink data to the servo driver; The controller is also used to respond to receiving status data sent by the servo drive through the first bus, interrupt the current control program of the controller, and trigger the controller to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer.

2. The integrated drive and control machine according to claim 1, characterized in that: The servo drive is electrically connected to the motor; The servo driver is configured to receive the downlink data sent by the controller via the first bus, and drive the motor to operate under the control of the downlink data; The servo driver is further configured to receive motor operation data sent by the motor, obtain the status data according to the motor operation data, and send the status data to the controller via the second bus.

3. The integrated drive and control machine according to claim 2, characterized in that: The controller is a programmable logic controller.

4. The integrated drive and control machine according to any one of claims 1 to 3, characterized in that: The controller has a pre-deployed control program; The controller is configured to set a trigger execution flag of the control program to enable the control program to convert the instruction data into the downlink data; The controller is further configured to set the trigger execution flag of the control program so that the control program converts the status data into the uplink data.

5. The integrated drive and control machine according to claim 1, characterized in that: Before triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer, the controller is further used to verify whether the status data meets a preset condition and obtain a verification result. If the verification result indicates that the preset condition is met, the controller enters the step of triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer; If the check result indicates that the preset condition is not met, the step of triggering the controller to convert the status data into uplink data that meets the reading requirement of the host computer is not entered.

6. A synchronous control method, characterized in that: A controller applied to a drive-control integrated machine, the drive-control integrated machine further comprising a servo driver, the controller being electrically connected to the servo driver via a first bus; The synchronization control method comprises: In response to receiving instruction data sent by the host computer through the second bus, interrupting the current control program of the controller, and triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver, and sending the downlink data to the servo driver; In response to receiving the status data sent by the servo driver through the first bus, the current control program of the controller is interrupted, and the controller is triggered to convert the status data into uplink data that meets the reading requirements of the host computer, and send the uplink data to the host computer.

7. The synchronous control method according to claim 6, characterized in that: The controller has a pre-deployed control program; Triggering the controller to convert the instruction data into downlink data that meets the reading requirements of the servo driver includes: Setting a trigger execution flag of the control program to enable the control program to convert the instruction data into the downlink data; Triggering the controller to convert the status data into uplink data that meets the reading requirements of the host computer includes: The trigger execution flag of the control program is set to enable the control program to convert the status data into the uplink data.

8. An electronic device, characterized in that: The method comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps in the synchronous control method according to any one of claims 6 to 7.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps in the synchronous control method according to any one of claims 6 to 7 are implemented.

10. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the synchronous control method according to any one of claims 6 to 7.

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