Servo driver, communication control method and device thereof, medium and program product

Abstract

The invention provides a servo driver and a communication control method and device thereof, a medium and a program product. The method comprises the following steps: judging whether a current network communication mode of the servo driver is a multi-end mode or a single-end mode; the single-end mode is a network communication mode in which the servo driver is connected with a single computer device for network communication, and the multi-end mode is a network communication mode in which more than two servo drivers are connected with the same computer device through a network switch for network communication; the servo driver is any one of the more than two servo drivers; if it is judged that the current network communication mode is the multi-terminal mode, whether a preset IP address is stored in a storage unit is judged; if it is judged that the preset IP address is stored in the storage unit, the stored preset IP address is used for communication. According to the scheme provided by the invention, the ARP broadcast storm problem can be solved, and normal communication of a plurality of drivers in a local area network is realized.

Description

Technical Field

[0001] The present invention relates to the field of control, and in particular to a servo drive and a communication control method, device, medium and program product thereof. Background Art

[0002] In related technologies, the servo drive has the function of network communication with the host computer. The staff can send operation instructions or monitor data to the drive through the drive-specific debugging interface on the computer, such as checking various drive parameters, drive operating status, motor speed, motor operating status, current error code, etc. At the same time, the driver can also be upgraded online according to whether the drive and the dedicated debugging interface have the online upgrade function.

[0003] In related technologies, servo drives can communicate with a single computer network in real time. However, when using the data forwarding function of a network switch for local area networking, an ARP broadcast storm may occur, causing the drive function to become paralyzed. Summary of the Invention

[0004] The main purpose of the present invention is to overcome the defects of the above-mentioned related technologies and provide a servo drive and its communication control method, device, medium and program product to solve the problem of ARP broadcast storm when local area networking is performed through a network switch in the related technology.

[0005] On one hand, the present invention provides a communication control method for a servo drive, comprising: determining whether the current network communication mode of the servo drive is a multi-end mode or a single-end mode; the single-end mode is a network communication mode in which the servo drive is connected to a single computer device for network communication, and the multi-end mode is a network communication mode in which two or more servo drives are connected to the same computer device through a network switch for network communication, wherein the servo drive is any one of the two or more servo drives; if it is determined that the current network communication mode is the multi-end mode, determining whether a preset IP address is stored in a storage unit; if it is determined that a preset IP address is stored in the storage unit, using the stored preset IP address for communication.

[0006] Optionally, it also includes: if it is determined that the current network communication mode is a single-ended mode, starting the IP adaptive mode, and setting the IP address of the servo driver according to the IP address of the connected computer device so that the driver and the computer device are in the same network segment.

[0007] Optionally, the method further includes: if it is determined that no preset IP address is stored in the storage unit, using a default IP address for communication.

[0008] Optionally, after the servo drive network is successfully initialized, it is determined whether the current network communication mode is a multi-terminal mode; if it is determined that the servo drive network initialization fails, the network initialization is repeated.

[0009] Optionally, it also includes: receiving an IP address set by the PC end, storing the IP address in a storage unit, so that when it is determined to be a multi-end mode, the stored pre-set IP address is used for communication.

[0010] Optionally, it also includes: receiving a network communication mode switching instruction sent by the PC; if a network communication mode switching instruction is received from the PC, after switching the mode according to the mode switching instruction, communicating in the modified network communication mode until a mode switching instruction is received from the PC again.

[0011] On the other hand, the present invention provides a communication control device for a servo drive, comprising: a first judgment unit, used to judge whether the current network communication mode is a multi-end mode or a single-end mode; the single-end mode is a network communication mode in which the servo drive is connected to a single computer device for network communication, and the multi-end mode is a network communication mode in which two or more servo drives are connected to the same computer device through a network switch for network communication, wherein the servo drive is any one of the two or more servo drives; a second judgment unit, used to judge whether a preset IP address is stored in a storage unit if the first judgment unit judges that the current network communication mode is a multi-end mode; and a communication unit, used to use the stored preset IP address for communication if the second judgment unit judges that a preset IP address is stored in the storage unit.

[0012] Optionally, it also includes: a starting unit, which is used to start the IP adaptive mode if the first judgment unit determines that the current network communication mode is a single-ended mode, and set the IP address of the servo drive according to the IP address of the connected computer device so that the drive and the computer device are in the same network segment.

[0013] Optionally, the communication unit is further configured to: if the second judgment unit determines that no preset IP address is stored in the storage unit, use a default IP address for communication.

[0014] Optionally, the first judgment unit is further used to: after the servo drive network is successfully initialized, determine whether the current network communication mode is a multi-terminal mode; if the first judgment unit determines that the servo drive network initialization fails, repeat the network initialization.

[0015] Optionally, it also includes: a first receiving unit, used to receive an IP address set by a computer device, and store the IP address in a storage unit, so that when it is determined to be a multi-terminal mode, the stored pre-set IP address is used for communication.

[0016] Optionally, it also includes: a second receiving unit, used to receive a network communication mode switching instruction sent by a computer device; the communication unit is also used to: if the second receiving unit receives a network communication mode switching instruction sent by the computer device, then after switching the mode according to the mode switching instruction, communicate in the modified network communication mode until the mode switching instruction sent by the PC is received again.

[0017] Another aspect of the present invention provides a storage medium having a computer program stored thereon, wherein the program implements the steps of any of the aforementioned methods when executed by a processor.

[0018] In another aspect, the present invention provides a servo drive, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the aforementioned methods when executing the program.

[0019] In another aspect, the present invention provides a servo driver comprising any of the aforementioned communication control devices.

[0020] In another aspect, the present invention provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the aforementioned methods are implemented.

[0021] According to the technical solution of the present invention, when a single driver is connected to a single computer, the single-ended communication mode is used. When establishing a local area network, the mode is switched to multi-ended communication mode, which can resolve the ARP broadcast storm problem. This enables multiple drivers to communicate normally within the local area network, accelerates the digitalization of servo drivers, and enhances product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 1 is a method diagram of an embodiment of a communication control method for a servo drive provided by the present invention;

[0024] Figure 2 shows a schematic diagram of a network switch;

[0025] Figure 3Shows a schematic diagram of the connection and communication between a single servo drive and a single computer device (PC);

[0026] Figure 4 The topology diagram shows that three servo drives communicate with a computer device (PC) through a network switch;

[0027] Figure 5 Shows a schematic diagram of the computer device (PC end) network communication mode switching process;

[0028] Figure 6 Shows a schematic diagram of the servo drive end network communication mode switching process;

[0029] Figure 7 This is a structural block diagram of an embodiment of a communication control device for a servo drive provided by the present invention. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] An ARP storm occurs when a large number of ARP requests or responses are sent in a short period of time on a local area network (LAN). This can cause network bandwidth to be occupied, devices to be overloaded, or even network device resources to be exhausted, ultimately leading to network communication interruptions or severe delays.

[0033] In related technologies, the driver uses IP self-adaptation to communicate with the host computer over the network. This is based on the ARP protocol. When a computer and driver are connected via a network cable, the computer's network port initializes and sends a gratuitous ARP request, broadcasting its information to the network. This allows other devices to update their ARP caches or detect IP address conflicts.

[0034] Taking advantage of this, the driver will parse the ARP protocol in the protocol stack, obtain the source IP address of the ARP protocol stack, and use this network segment as the driver IP address segment, and add 1 to the last bit of the driver IP. In this way, the driver IP and the computer IP are in the same network segment, and data packets can be exchanged normally through the network. However, this mode will generate ARP broadcast storms in LAN communications. Figure 2 A schematic diagram of a network switch is shown. Figure 4 The figure shows the topology of ARP request between three servo drives and PC. Figure 2 、 Figure 4 As shown in the figure, the servo drive is connected to the network switch via the RJ45 interface through the network cable. After the computer sends an ARP request, the three drives receive it, parse the data, and set the IP address. Under the above communication principle, the three drives will have an IP conflict, that is, the IP addresses of the three drives are the same, and the last digit of the computer's IP address is added by 1.

[0035] When an IP conflict occurs, the three drives will each send a free ARP request. The function of free ARP is to detect whether there is an IP conflict in the network and to update the ARP cache table of other hosts in the network. This usually occurs when the host changes its IP address or the host re-enters the local area network. Every time an APR request is generated in the local area network, the program enters the IP adaptive program and initializes the drive's own IP address. Once the IP address is initialized, it will send a free ARP to the local area network again to ensure that there will be no IP address conflict. This forms an infinite loop, causing a large number of ARP requests to appear in the local area network, resulting in a surge in ARP traffic, exhaustion of network device resources, and inability to handle normal traffic, ultimately leading to a complete interruption of network communications. Therefore, a large number of ARP requests will appear in the local area network, resulting in an ARP broadcast storm, which in turn causes network paralysis.

[0036] The invention provides a communication control method for a servo driver.

[0037] Figure 1 1 is a schematic diagram of an embodiment of a communication control method for a servo drive provided by the present invention.

[0038] like Figure 1As shown, according to one embodiment of the present invention, the communication control method of the servo drive includes at least step S110, step S120 and step S130.

[0039] Step S110 , determining whether the current network communication mode is a multi-port mode or a single-port mode.

[0040] The single-ended mode is a network communication mode in which the servo drive is connected to a single computer device for network communication. For example, Figure 3 The figure shows the connection and communication diagram between a single servo drive and a single computer (PC). Figure 3 As shown in the figure, a single servo drive is connected to the PC via a network cable, which can use an RJ45 interface. On the PC side, the communication mode can be switched and the IP address can be set through the debugging interface.

[0041] The multi-terminal mode is a network communication mode in which two or more servo drives are connected to the same computer device through a network switch for network communication, wherein the servo drive is any one of the two or more servo drives. For example, Figure 4 The figure shows a topology diagram of three servo drives communicating with a computer (PC) through a network switch. Figure 4 As shown in the figure, the RJ45 interface of the servo drive is connected to the network switch via a network cable to communicate with the PC. In other words, a local area network is established through the network switch.

[0042] Specifically, the current network communication mode can be set as a multi-end mode or a single-end mode by a computer device (such as a PC). More specifically, a network communication mode switching instruction sent by a computer device (PC end) is received; if the network communication mode switching instruction sent by the computer device is received, after switching the mode according to the network communication mode switching instruction, communication is performed in the modified network communication mode until the mode switching instruction sent by the PC end is received again. Among them, the computer device (host computer interface) sends the parameters of the network communication mode switching to the servo driver, and the servo driver receives and stores them in a storage unit. The storage unit can specifically be an EEPROM chip of the servo driver.

[0043] For example, a mode switch button is set on the host computer interface on the PC. This button selects single-ended mode or multi-ended mode. After selecting the mode, the host computer interface sends the network communication mode switching parameters to the servo driver via UDP network communication. The servo driver receives and stores the parameters in the EEPROM chip. The EEPROM chip is a data storage chip, and the data is not lost after power failure. Once the mode is changed once, the driver will start in this mode by default.

[0044] Preferably, after the servo drive network initialization is successful, it is determined whether the current network communication mode is multi-terminal mode; if it is determined that the servo drive network initialization has failed, the network initialization is repeated. In other words, after the network initialization is successful and the local area network is connected, it is determined whether the current network communication mode is multi-terminal mode; otherwise, the initialization is repeated.

[0045] Step S120: If it is determined that the current network communication mode is the multi-terminal mode, it is determined whether a preset IP address is stored in the storage unit.

[0046] In step S130, if it is determined that a preset IP address is stored in the storage unit, the stored preset IP address is used for communication.

[0047] If the current network communication mode is determined to be multi-terminal mode, a custom IP address (i.e., a pre-set IP address) can be used for communication, and the IP address can be set through the host computer (PC). If it is determined that a pre-set IP address is stored in the storage unit, the stored pre-set IP address is used for communication; if it is determined that no pre-set IP address is stored in the storage unit, the default IP address is used for startup.

[0048] Among them, the IP address can be set through the PC side. A default initial IP address is set, and the IP address can be modified through the host computer (PC side). Specifically, the IP address set by the computer device is received, and the IP address is stored in a storage unit (for example, stored in an EEPROM chip) for use when the network communication mode is a multi-terminal mode, using the stored pre-set IP address for communication. That is to say, in the multi-terminal mode, the IP adaptive function is not used, and a custom IP address is used for data interaction. Different drivers set different custom IP addresses. At this time, the IP address of the driver does not change according to the PC IP address.

[0049] If the current network communication mode is determined to be single-ended mode, the IP adaptive mode is activated, and the IP address of the servo driver is set according to the IP address of the connected computer device so that the driver and the terminal are in the same network segment for communication.

[0050] Figure 5 The figure shows the flow chart of switching the network communication mode of a computer device (PC terminal). Figure 5As shown, open the debugging interface on the PC and click the communication connection button to establish a communication connection between the PC and the servo drive. The PC waits for the communication data message returned by the drive to determine whether the communication is successful. If the communication is successful, debug operations and monitor drive data. You can also switch the network communication mode and set the IP address. If the communication connection is unsuccessful, repeat the communication connection.

[0051] Figure 6 The figure shows the process flow of switching the network communication mode at the servo drive end. Figure 6 As shown in the figure, when the servo drive is connected to a local area network (for example, when powered on), it performs network initialization and determines whether initialization is successful. If initialization is successful, it determines whether the network communication mode is multi-port or single-port. If it is multi-port, it determines whether the IP address is stored in the EEPROM. If so, it starts using the IP address stored in the EEPROM. If not, it starts using the default IP address. If it is single-port mode, it starts in IP adaptive mode. If initialization fails, it repeats the initialization.

[0052] The present invention also provides a communication control device for a servo driver.

[0053] Figure 7 FIG. 1 is a structural block diagram of an embodiment of a communication control device for a servo drive provided by the present invention. Figure 7 As shown, the communication control device 100 includes: a first judgment unit 110 , a second judgment unit 120 and a communication unit 130 .

[0054] The first determining unit 110 is configured to determine whether the current network communication mode is a multi-port mode or a single-port mode.

[0055] The single-ended mode is a network communication mode in which the servo drive is connected to a single computer device for network communication. For example, Figure 3 The figure shows a schematic diagram of the connection and communication between a single servo drive and a single computer device (PC). Figure 3 As shown in the figure, a single servo drive is connected to the PC via a network cable, which can use an RJ45 interface. On the PC side, the communication mode can be switched and the IP address can be set through the debugging interface.

[0056] The multi-terminal mode is a network communication mode in which two or more servo drives are connected to the same computer device through a network switch for network communication, wherein the servo drive is any one of the two or more servo drives. For example, Figure 4 The figure shows a topology diagram of three servo drives communicating with a computer (PC) through a network switch. Figure 4As shown in the figure, the RJ45 interface of the servo drive is connected to the network switch via a network cable to communicate with the PC. In other words, a local area network is established through the network switch.

[0057] Specifically, the current network communication mode can be set to multi-end mode or single-end mode through a computer device (such as a PC). Optionally, the device 100 also includes: a second receiving unit (not shown) for receiving a network communication mode switching instruction sent by a computer device; the communication unit is further used to: if the second receiving unit receives a network communication mode switching instruction sent by the computer device, then after switching the mode according to the mode switching instruction, communicate in the modified network communication mode until the mode switching instruction sent by the PC is received again. Among them, the computer device (host computer interface) sends the parameters of the network communication mode switching to the servo driver, and the servo driver receives and stores them in the storage unit. The storage unit can specifically be an EEPROM chip of the servo driver.

[0058] For example, a mode switch button is set on the host computer interface on the PC. This button selects single-ended mode or multi-ended mode. After selecting the mode, the host computer interface sends the network communication mode switching parameters to the servo driver via UDP network communication. The servo driver receives and stores the parameters in the EEPROM chip. The EEPROM chip is a data storage chip, and the data is not lost after power failure. Once the mode is changed once, the driver will start in this mode by default.

[0059] Preferably, after the servo drive network is successfully initialized, the first determination unit 110 determines whether the current network communication mode is a multi-terminal mode; if it is determined that the servo drive network initialization has failed, the network initialization is repeated. In other words, after the network initialization is successful and the LAN is connected, the determination of whether the current network communication mode is a multi-terminal mode is performed; otherwise, the initialization is repeated.

[0060] The second determining unit 120 is configured to determine whether a preset IP address is stored in the storage unit if the first determining unit 110 determines that the current network communication mode is the multi-terminal mode.

[0061] The communication unit 130 is configured to communicate using the stored preset IP address if the second determination unit determines that a preset IP address is stored in the storage unit.

[0062] If the current network communication mode is determined to be multi-terminal mode, a custom IP address (i.e., a pre-set IP address) can be used for communication, and the IP address can be set through the host computer (PC). If it is determined that a pre-set IP address is stored in the storage unit, the stored pre-set IP address is used for communication; if it is determined that no pre-set IP address is stored in the storage unit, the default IP address is used for startup.

[0063] Optionally, it also includes: a first receiving unit (not shown), which is used to receive the IP address set by the computer device, and store the IP address in a storage unit, so that when it is determined to be a multi-terminal mode, the stored pre-set IP address is used for communication. That is, the IP address can be set by the PC end. A default initial IP address is set, and the IP address can be modified by the host computer (PC end). Specifically, the IP address set by the computer device is received, and the IP address is stored in a storage unit (for example, stored in an EEPROM chip), so that when the network communication mode is a multi-terminal mode, the stored pre-set IP address is used for communication. That is to say, in the multi-terminal mode, the IP adaptive function is not used, and a custom IP address is used for data interaction. Different drivers set different custom IP addresses. At this time, the IP address of the driver does not change according to the PC end IP address.

[0064] Optionally, the device 100 also includes: a starting unit (not shown), which is used to start the IP adaptive mode if the first judgment unit 110 determines that the current network communication mode is a single-ended mode, and set the IP address of the servo drive according to the IP address of the connected computer device, so that the drive and the computer device are in the same network segment for communication.

[0065] Figure 5 The figure shows the flow chart of switching the network communication mode of a computer device (PC terminal). Figure 5 As shown, open the debugging interface on the PC and click the communication connection button to establish a communication connection between the PC and the servo drive. The PC waits for the communication data message returned by the drive to determine whether the communication is successful. If the communication is successful, debug operations and monitor drive data. You can also switch the network communication mode and set the IP address. If the communication connection is unsuccessful, repeat the communication connection.

[0066] Figure 6 The figure shows the process flow of switching the network communication mode at the servo drive end. Figure 6As shown in the figure, when the servo drive is connected to a local area network (for example, when powered on), it performs network initialization and determines whether initialization is successful. If initialization is successful, it determines whether the network communication mode is multi-port or single-port. If it is multi-port, it determines whether the IP address is stored in the EEPROM. If so, it starts using the IP address stored in the EEPROM. If not, it starts using the default IP address. If it is single-port mode, it starts in IP adaptive mode. If initialization fails, it repeats the initialization.

[0067] The present invention also provides a storage medium corresponding to the communication control method of the servo drive, on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above methods are implemented.

[0068] The present invention also provides a servo drive corresponding to the communication control method of the servo drive, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any of the aforementioned methods when executing the computer program.

[0069] The present invention also provides a servo driver corresponding to the communication control device of the servo driver, comprising any of the aforementioned communication control devices.

[0070] The present invention also provides a computer program product corresponding to the communication control method of the servo drive, comprising a computer program, which implements the steps of any of the aforementioned methods when executed by a processor.

[0071] The solution provided by the present invention utilizes single-ended communication mode when connecting a single driver to a single computer. When establishing a local area network, the mode is switched to multi-ended communication mode, resolving ARP broadcast storm issues. This enables multiple drivers to communicate normally within a local area network, accelerating the digital deployment of servo drivers and enhancing product competitiveness.

[0072] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present invention and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, each functional unit may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0073] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, 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 through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0074] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0075] 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 invention, or the part that contributes to the relevant technology, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0076] The foregoing description is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims.

Claims

1. A communication control method for a servo drive, characterized in that: include: Determining whether the current network communication mode of the servo driver is a multi-end mode or a single-end mode; the single-end mode is a network communication mode in which the servo driver is connected to a single computer device for network communication, and the multi-end mode is a network communication mode in which two or more servo drivers are connected to the same computer device through a network switch for network communication, wherein the servo driver is any one of the two or more servo drivers; If it is determined that the current network communication mode is a multi-terminal mode, it is determined whether a preset IP address is stored in the storage unit; If it is determined that a preset IP address is stored in the storage unit, communication is performed using the stored preset IP address.

2. The method according to claim 1, characterized in that Also includes: If the current network communication mode is determined to be single-ended mode, the IP adaptive mode is started, and the IP address of the servo driver is set according to the IP address of the connected computer device so that the driver and the computer device are in the same network segment.

3. The method according to claim 1, characterized in that Also includes: If it is determined that the preset IP address is not stored in the storage unit, a default IP address is used for communication.

4. The method according to any one of claims 1 to 3, characterized in that After the servo drive network is successfully initialized, determining whether the current network communication mode is a multi-terminal mode; If it is determined that the servo drive network initialization fails, repeat the network initialization.

5. The method according to any one of claims 1 to 3, characterized in that Also includes: An IP address set by a computer device is received and the IP address is stored in a storage unit so that when a multi-terminal mode is determined, the stored pre-set IP address is used for communication.

6. The method according to any one of claims 1 to 3, characterized in that Also includes: receiving a network communication mode switching instruction sent by a computer device; If a network communication mode switching instruction is received from the computer device, after switching the mode according to the mode switching instruction, communication is performed in the modified network communication mode until a mode switching instruction is received from the PC again.

7. A communication control device for a servo drive, characterized in that: include: a first determining unit, configured to determine whether a current network communication mode is a multi-port mode or a single-port mode; the single-port mode is a network communication mode in which the servo driver is connected to a single computer device for network communication, and the multi-port mode is a network communication mode in which two or more servo drivers are connected to the same computer device via a network switch for network communication, wherein the servo driver is any one of the two or more servo drivers; a second determining unit configured to determine whether a preset IP address is stored in the storage unit if the first determining unit determines that the current network communication mode is a multi-terminal mode; A communication unit is configured to communicate using the stored preset IP address if the second determination unit determines that a preset IP address is stored in the storage unit.

8. A storage medium, characterized in that: A computer program is stored thereon, and when the program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A servo drive, characterized in that: The device comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the method according to any one of claims 1 to 6 are implemented, or the device comprises the communication control device according to claim 7.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

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