Channel event method and system

Abstract

The invention belongs to the technical field of movement mechanism automation. A channel event method includes creating a link according to a plurality of external axes including at least a first external axis and a second external axis, generating an action trajectory; and if at least one of the plurality of external shafts needs to be used in the action track, inserting a channel event into the used first external shaft, controlling the first external shaft to act by using the channel event, and controlling the second external shaft to stop acting and break the link, the channel event represents all track points between the track point where the event corresponding to the external shaft is located and the next channel event, and the corresponding external shaft is used as a tool to act. The method is mainly used for the intelligent switching scene of multiple external shafts (such as a positioner) in an industrial movement mechanism system. By setting channel event marks in the motion trail, sectional control over different external shafts is achieved, and the rigid control problem of full-open / full-close in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motion mechanism automation, and particularly relates to a passage event method and system. BACKGROUND

[0002] In industrial motion mechanism automation applications, external shafts and other external shaft devices are key auxiliary devices for realizing complex processing. The current external shaft control method widely used in the industry has obvious technical limitations, mainly manifested in insufficient system flexibility and low energy efficiency. The traditional control method usually requires all connected external shaft devices to be enabled or completely disabled at the same time. This "one-size-fits-all" working mode has brought many problems in actual production.

[0003] The prior art solution is particularly clumsy when dealing with multi-station collaborative work. Taking a typical double-external-shaft welding system as an example, when the motion mechanism only needs one external shaft to cooperate to complete the current process, the other external shaft has to remain in an idle state. This not only causes considerable energy waste, but also accelerates the wear of mechanical parts.

[0004] The current solution mainly relies on two technical routes: one is to coordinate control through an external PLC, which requires additional hardware support, significantly increasing system cost; the other is to use complex offline programming to optimize trajectory planning, but this method has a long debugging period and is difficult to respond to changes in field conditions. Both of these solutions cannot fundamentally solve the problem of dynamic management of external shafts, resulting in higher operating costs for enterprises while pursuing production flexibility.

[0005] With the increasing pursuit of production efficiency and energy utilization rate in intelligent manufacturing, this extensive external shaft control method has been difficult to meet the needs of modern manufacturing. In particular, in complex application scenarios that require frequent switching of processing postures, such as automobile welding, aerospace structure processing and other fields, the limitations of the existing technology are more prominent. The industry urgently needs a more intelligent and flexible external shaft control solution that can realize precise start-stop and collaborative control of external shaft devices while ensuring processing accuracy. SUMMARY

[0006] Therefore, it is necessary to provide a passage event method in view of the above technical problems.

[0007] In a first aspect, the application provides a passage event method, which comprises:

[0008] creating a link according to a plurality of external shafts to generate an action trajectory, wherein the plurality of external shafts at least includes a first external shaft and a second external shaft;

[0009] If the action trajectory requires the use of at least one of the multiple external axes, a channel event is inserted into the first external axis used, and the channel event is used to control the action of the first external axis, and to control the second external axis to stop the action, and disconnect the link, wherein the channel event represents all trajectory points between the trajectory point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as the tool action.

[0010] In some implementations, creating links based on multiple external axes to generate motion trajectories includes:

[0011] Establishing a communication and control relationship between the motion mechanism body and the plurality of external axes;

[0012] The coordinated motion paths of the motion mechanism body and all linked external axes are calculated to generate a motion trajectory.

[0013] In some practicable embodiments, if the motion trajectory requires use of at least one of the plurality of external axes, inserting a channel event into the first external axis being used, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes:

[0014] In trajectory programming software or a controller, the channel event is inserted into the trajectory point of the first external axis, and the channel event is bound to the trajectory point.

[0015] In some practicable embodiments, if the motion trajectory requires use of at least one of the plurality of external axes, inserting a channel event into the first external axis being used, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes:

[0016] According to the channel event, starting from the track point to all track points between the next channel event, the track data of the first external axis is read and a control signal is output.

[0017] In some practicable embodiments, if the motion trajectory requires use of at least one of the plurality of external axes, inserting a channel event into the first external axis being used, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes:

[0018] According to the channel event, starting from the trajectory point and all trajectory points between the next channel event, the second external axis is controlled to stop the action and disconnect the link.

[0019] In some practicable embodiments, if the motion trajectory requires use of at least one of the plurality of external axes, inserting a channel event into the first external axis being used, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes:

[0020] On the control option page for controlling the second external axis, the second external axis changes to a preset color and becomes inoperable.

[0021] In some practicable embodiments, if the motion trajectory requires use of at least one of the plurality of external axes, inserting a channel event into the first external axis being used, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes:

[0022] The channel event includes name, output position, external axis, channel switch and output code, wherein,

[0023] The name indicates the channel event name;

[0024] The output position indicates whether the output is to the program before or after the track point;

[0025] The external axis indicates that when executing a channel event, the associated external axis is selected;

[0026] The channel switch includes channel on and channel off, indicating whether to associate with the external axis;

[0027] The output code represents an instruction output in a program.

[0028] In a second aspect, the present application provides a channel event system, which is applied to the aforementioned channel event method, and the system includes:

[0029] a starting unit, configured to create a link based on a plurality of external axes to generate a motion trajectory, wherein the plurality of external axes include at least a first external axis and a second external axis;

[0030] A processing unit is used to insert a channel event into the first external axis used if the action trajectory requires the use of at least one of the multiple external axes, use the channel event to control the action of the first external axis, and control the second external axis to stop the action and disconnect the link, wherein the channel event represents all trajectory points between the trajectory point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as the tool action.

[0031] In a third aspect, the present application provides a computer storage medium having a computer program stored thereon, which implements the steps of the aforementioned method when executed by a processor.

[0032] In a fourth aspect, the present application provides a computer program, which implements the steps of the aforementioned method when executed by a processor.

[0033] Beneficial effect: The present application provides a channel event method, which includes creating a link based on multiple external axes to generate a motion trajectory, wherein the multiple external axes include at least a first external axis and a second external axis; if the motion trajectory requires the use of at least one of the multiple external axes, a channel event is inserted into the first external axis to be used, and the channel event is used to control the action of the first external axis, and the second external axis is controlled to stop the action, and the link is disconnected, wherein the channel event represents all trajectory points between the trajectory point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as the tool action. The above method is mainly used for intelligent switching scenarios of multiple external axes (such as positioners) in industrial motion mechanism systems. By setting channel event marks in the motion trajectory, segmented control of different external axes is achieved, solving the rigid control problem of "full open / full close" in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the conventional technology, the following briefly introduces the drawings required for use in the embodiments or the conventional technology descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 The figure is a flow chart of a channel event method in one embodiment.

[0036] Figure 2 A channel diagram of a channel event method in one embodiment. DETAILED DESCRIPTION

[0037] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all couplings of one or more of the associated listed items.

[0039] It will be understood that the terms "first," "second," etc. used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element.

[0040] The following are some explanations of some terms involved in this application to facilitate understanding of this application:

[0041] RobotStudio is an offline programming and simulation software for industrial robots developed by ABB. Based on virtual controller technology, it allows users to simulate robot work cells on computers without occupying physical equipment.

[0042] DELMIA is Dassault Systèmes' digital manufacturing and production planning software, part of the 3DEXPERIENCE platform, covering the entire lifecycle management from process design to execution.

[0043] The existing function is that after the external axis is linked, when generating the work trajectory, you can only use all external axis data or not use any external axis data. However, there is a situation where if two positioners are linked, one trajectory may only use one positioner and the other positioner is not used. To deal with this situation, a new conduction event is added. Through this channel event, you can specify which external axis tool to use for all trajectory points between the trajectory point where the channel event is located and the next channel event. The external axis tool that is not selected will be disconnected, and the post-output code will also be in the initial state without any value. The debug panel will also gray out the remaining external axes.

[0044] like Figure 1 and Figure 2 As shown, the present application provides a channel event method, the method comprising:

[0045] S100: creating links based on multiple external axes to generate motion trajectories.

[0046] The plurality of external shafts include at least a first external shaft and a second external shaft.

[0047] Specifically, generating an action trajectory may include the following steps:

[0048] S101, establishing a communication and control relationship between the motion mechanism body and the plurality of external axes.

[0049] S102, calculating the coordinated motion paths of the motion mechanism body and all linked external axes to generate a motion trajectory.

[0050] For example, the controller of the motion mechanism body can be connected to external axes (such as positioners and guide rails) via an industrial bus (such as EtherCAT or Profinet) or an analog interface. Each external axis is registered in the controller and parameters are set.

[0051] Define the master-slave relationship between the external axis and the motion mechanism body (for example, the motion mechanism body is the master and the external axis is the slave).

[0052] For example, in an automobile welding line, the motion mechanism controller is linked to: the first external axis: positioner (controls door rotation), the second external axis: the seventh axis guide rail (moves the welding platform).

[0053] Next, the motion path calculation logic is performed, and logical calculations can be performed based on the actions to be performed by the external axis and the motion mechanism body.

[0054] Steps S101 and S102 provide underlying support for multi-axis collaboration through standardized link establishment and automated trajectory calculation, making them suitable for simultaneous opening and closing of multiple external axes. Dynamic axis management can then be implemented through channel events. This solution significantly outperforms traditional hard-coded control and is particularly well-suited for high-precision, multi-device smart manufacturing scenarios.

[0055] S200, if the motion trajectory requires the use of at least one of the plurality of external axes, insert a channel event into the first external axis used, utilize the channel event to control the motion of the first external axis, and control the second external axis to stop motion and disconnect the link.

[0056] The channel event represents all track points between the track point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as a tool action.

[0057] It should be noted that in the aforementioned steps, the collaborative motion trajectory of multiple external axes has been obtained, and channel events are used to achieve precise control of enabling the first external axis and disabling the second external axis. In other words, segmented dynamic control of the trajectory is achieved through event binding rather than global static configuration.

[0058] Specifically, step S200 may include:

[0059] S201 : In trajectory programming software or a controller, insert the channel event at the trajectory point of the first external axis, and bind the channel event to the trajectory point.

[0060] For example, in trajectory programming software (such as RobotStudio or DELMIA) or the controller teaching interface, select a trajectory point (such as point P5) and insert a channel event instruction, as shown in Table 1. Channel events are associated with the trajectory point as metadata tags and do not modify the original trajectory data. Nested events are supported (for example, inserting event B within the scope of event A).

[0061]

[0062] Table 1

[0063] It should be noted that this application inserts channel events separately after generating the motion trajectory, rather than directly modifying the external axis parameters in the trajectory data. The purpose is:

[0064] Technical logic layering:

[0065] (1) Motion trajectory generation (bottom layer)

[0066] Function: Calculate the theoretical motion path of the motion mechanism body and all external axes according to task requirements (such as welding path).

[0067] Output results: Contains the original trajectory data of all axes (main body + external axes) (such as the position, speed, and time series of each axis).

[0068] The data at this time is "full data" (assuming that all external axes are involved in the motion).

[0069] (2) Channel event insertion (logical layer)

[0070] Function: Dynamically mark the control strategy on the original trajectory and specify which sections enable / disable specific external axes.

[0071] If you modify the trajectory data directly, the following problems will occur:

[0072] Decoupled design: trajectory generation is a mathematical calculation (based on the kinematic model), while channel events are logically controlled (based on process requirements). Separate processing maintains modularity and facilitates maintenance.

[0073] Dynamic response requirements: Channel events may need to respond to external signals in real time (such as sensor trigger switching). Directly modifying trajectory data cannot achieve dynamic adjustment.

[0074] In addition, there are limitations to directly modifying trajectory data:

[0075] Disrupt motion continuity. The start and stop of external axes must consider a smooth transition of acceleration. Directly deleting data can cause sudden changes (such as an emergency stop of a positioner). For example, if a rotary axis is suddenly turned off during welding, the inertia of the workpiece can cause the weld to shift.

[0076] Trajectories cannot be reused. The same trajectory may need to be adapted to different processes (for example, positioner A is used in scene A, and positioner B is used in scene B). Direct modification will generate multiple independent trajectories, wasting computing power.

[0077] Debugging is difficult, and the modified trace cannot be intuitively distinguished between the "disabled" and "unused" states, increasing troubleshooting costs.

[0078] By inserting channel events later, you can achieve:

[0079] Dynamic shielding: superimpose logic switches on the original trajectory, and dynamically ignore certain external axis data (instead of deleting the data) based on events during runtime.

[0080] The state is reversible and channel events can enable / disable external axes at any time without regenerating the trajectory.

[0081] Visual debugging: In the debugging interface, the axis display is disabled, but the original trajectory is still fully preserved (for comparison and analysis).

[0082] In summary, the channel event insertion mechanism is the optimal solution for balancing computing efficiency, flexibility, and security, and is particularly suitable for multi-external axis systems that require dynamic coordination.

[0083] It should also be noted that in the field of industrial motion mechanisms and motion control, there are many ways to implement multi-external axis collaborative control, but they are different from channel events. The specific reasons are as follows:

[0084] The existing static binding (traditional solution) is implemented by directly binding the external axis to the trajectory during the programming phase. This has limitations: once bound, the external axis must be fully engaged or disabled throughout the entire trajectory cycle.

[0085] In this application, track points are bound through channel events, embedding external axis control instructions directly into the track sequence (rather than as independent signals or programs) for synchronization. Data logic shielding allows disabling external axes while retaining the original data but ignoring it at runtime, ensuring both debugging and safety. Full lifecycle management allows for complete status visualization from programming, simulation, and execution.

[0086] In this application, the trigger condition of the channel event can be reaching the specified trajectory point as the trigger condition. In the trajectory data structure, a unique identifier and event marker are added for each trajectory point. When the user selects trajectory point P5 to insert the event, the system records it. The controller detects the current trajectory point ID in each motion control cycle (such as 1ms) and triggers the event if it matches.

[0087] In addition, the application can also have an anti-tampering design, that is, the track point ID is solidified, and a hash value (such as SHA-1) is assigned to each track point as a unique identifier when the track is generated, so that the track point can still be identified even if it is renamed. That is, the trigger condition of the channel event is to reach a specified track point, the track point is bound to the event through a unique identifier, and the invariability of the binding relationship is maintained during track editing.

[0088] Need to be explained, the track point as the selection point of the channel event, can make the track point carry the process parameters, encapsulation, and not only coordinates, so that in the channel event setting, the parameters of the track point can be directly and intuitively seen. The channel event trigger mechanism is deeply integrated with the process control, realizing the integration of “trigger condition-process execution”, for example, when the user selects the track point (such as P5) to set the channel event, the process parameters (such as welding current, spraying speed) associated with the point can be directly viewed, without the need to jump to other interfaces, and the setting omission or conflict caused by the dispersion storage of parameters (such as forgetting to modify the external shaft speed and welding parameters synchronously) can also be avoided. The role of encapsulation is to solidify the industry process experience (such as the current-pressure curve of automobile spot welding) into the track point, reducing the technical dependence on the operator. In addition, the track points of the same process can be directly copied and used, and the parameters are automatically inherited (such as multiple welding points of the same type of workpiece). When the channel event is triggered, the process parameters embedded in the track point can be called synchronously, ensuring that the action and the process are strictly matched. For example, reaching point P5→triggering the rotation of the positioner (channel event)→automatically loading the welding parameters (200A / 20L / min) stored in P5→executing welding.

[0089] Compared with the traditional scheme, the application reduces the system complexity and improves the reliability through data binding of the track point.

[0090] S202, according to the channel event, reading the track data of the first external shaft from the track point to all track points between the next channel event, and outputting a control signal.

[0091] Specifically, the track data reading starts from the point (P5) where the channel event is located, and the system only extracts the track data of the first external shaft. The control signal output sends the position / speed instruction to the first external shaft driver through the real-time bus. The synchronization is guaranteed, the timestamps are aligned, the motion instructions of the first external shaft and the motion mechanism body are strictly synchronized, and the error is ≤1 ms. The acceleration is smoothed, and S-curve acceleration / deceleration is automatically added at the start point (P5) and the end point (P10) of the event scope, so as to avoid mechanical impact.

[0092] S203, according to the channel event, controlling the second external shaft to stop action and disconnect the link from the track point to all track points between the next channel event.

[0093] Specifically, when the second external axis stops, the motion stops, and the servo brake (if supported) or coasting stop of the second external axis is immediately triggered. Communication is disconnected, and the second external axis data field is masked in the bus data frame.

[0094] For example, in double-station welding, the scenario requirements are:

[0095] Station 1: Only positioner A is used to rotate the workpiece, and guide rail B is stationary.

[0096] Station 2: Only guide rail B is used to translate the workpiece, and positioner A is stationary.

[0097] Operation process:

[0098] Insert an event at the starting point of station 1: Positioner A rotates along the trajectory, and guide rail B maintains its initial position. Insert an event at the starting point of station 2: Guide rail B starts moving, and positioner A stops.

[0099] In summary, steps S201 - S203 achieve precise start / stop control and optimized resource allocation of multiple external axes through event-driven dynamic axis management.

[0100] In one embodiment, if the motion trajectory requires the use of at least one of the plurality of external axes, a channel event is inserted into the first external axis used, the channel event is used to control the motion of the first external axis, and the second external axis is controlled to stop motion, and disconnecting the link includes:

[0101] On the control option page for controlling the second external axis, the second external axis changes to a preset color and becomes inoperable.

[0102] Specifically, when the link of the second external axis is disconnected through a channel event, the system needs to synchronously update its UI status on the control options page, which can be specifically manifested as:

[0103] Visual feedback: The control changes to a preset color (such as gray).

[0104] Interaction restriction: Enter an inoperable state (disable input boxes, buttons, etc.).

[0105] Exemplarily, the UI status update triggering condition is that when the disconnect second external axis link instruction is executed in the channel event, the UI update is automatically triggered.

[0106] In summary, by deeply binding the external axis disconnection state with UI visual feedback, this application achieves:

[0107] Error-proofing mechanism: Eliminates the risk of users accidentally operating disabled axes.

[0108] Debug-friendly: Quickly identify active / inactive axes through color coding.

[0109] State traceable: combined with the log record UI change time, it is convenient for troubleshooting.

[0110] As Figure 2 shown, in one embodiment, the channel event includes a name, an output position, an external axis, a channel switch and an output code.

[0111] The name represents the channel event name.

[0112] The output position represents whether the output to the program is before or after the track point.

[0113] The external axis represents the selection of the associated external axis when the channel event is executed.

[0114] The channel switch includes channel on and channel off, which represents whether the associated external axis is selected.

[0115] The output code represents the instruction output in the program.

[0116] In a second aspect, the present application provides a channel event system, applied to the channel event method described above, and the system includes:

[0117] A starting unit is configured to create a link according to a plurality of external axes, and generate a motion track, wherein the plurality of external axes at least include a first external axis and a second external axis.

[0118] A processing unit is configured to, if the motion track needs to use at least one of the plurality of external axes, insert a channel event for the first external axis used, control the first external axis to act by using the channel event, and control the second external axis to stop acting, and disconnect the link, wherein the channel event represents all track points between the track point where the event corresponding to the external axis is located and the next channel event, and uses the corresponding external axis as a tool action.

[0119] In a third aspect, the present application provides a computer storage medium, which stores a computer program, and the computer program is executed by a processor to realize the steps of the method described above.

[0120] In a fourth aspect, the present application provides a computer program, which is executed by a processor to realize the steps of the method described above.

[0121] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0122] The various embodiments in the present disclosure are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0123] The scope of protection of the present disclosure is not limited to the above-described embodiments. Obviously, those skilled in the art may make various modifications and variations to the present disclosure without departing from the scope and spirit of the present disclosure. If such modifications and variations fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include such modifications and variations.

Claims

1. A channel event method, characterized in that: Methods include: Creating a link based on a plurality of external axes to generate a motion trajectory, wherein the plurality of external axes include at least a first external axis and a second external axis; If the action trajectory requires the use of at least one of the multiple external axes, a channel event is inserted into the first external axis used, and the channel event is used to control the action of the first external axis, and to control the second external axis to stop the action, and disconnect the link, wherein the channel event represents all trajectory points between the trajectory point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as the tool action.

2. The channel event method according to claim 1, characterized in that: Creating links based on multiple external axes to generate motion trajectories includes: Establishing a communication and control relationship between the motion mechanism body and the plurality of external axes; The coordinated motion paths of the motion mechanism body and all linked external axes are calculated to generate a motion trajectory.

3. The channel event method according to claim 1, characterized in that: If the motion trajectory requires the use of at least one of the plurality of external axes, inserting a channel event into the first external axis, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes: In trajectory programming software or a controller, the channel event is inserted into the trajectory point of the first external axis, and the channel event is bound to the trajectory point.

4. The channel event method according to claim 1, characterized in that: If the motion trajectory requires the use of at least one of the plurality of external axes, inserting a channel event into the first external axis, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes: According to the channel event, starting from the track point to all track points between the next channel event, the track data of the first external axis is read and a control signal is output.

5. The channel event method according to claim 1, characterized in that: If the motion trajectory requires the use of at least one of the plurality of external axes, inserting a channel event into the first external axis, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes: According to the channel event, starting from the trajectory point and all trajectory points between the next channel event, the second external axis is controlled to stop the action and disconnect the link.

6. The channel event method according to claim 5, characterized in that: If the motion trajectory requires the use of at least one of the plurality of external axes, inserting a channel event into the first external axis, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes: On the control option page for controlling the second external axis, the second external axis changes to a preset color and becomes inoperable.

7. The channel event method according to claim 5, characterized in that: If the motion trajectory requires the use of at least one of the plurality of external axes, inserting a channel event into the first external axis, utilizing the channel event to control the motion of the first external axis, and controlling the second external axis to stop motion, disconnecting the link includes: The channel event includes name, output position, external axis, channel switch and output code, wherein, The name indicates the channel event name; The output position indicates whether the output is to the program before or after the track point; The external axis indicates that when executing a channel event, the associated external axis is selected; The channel switch includes channel on and channel off, indicating whether to associate with the external axis; The output code represents an instruction output in a program.

8. A channel event system, characterized in that: The channel event method according to any one of claims 1 to 7, wherein the system comprises: a starting unit, configured to create a link based on a plurality of external axes to generate a motion trajectory, wherein the plurality of external axes include at least a first external axis and a second external axis; A processing unit is used to insert a channel event into the first external axis used if the action trajectory requires the use of at least one of the multiple external axes, use the channel event to control the action of the first external axis, and control the second external axis to stop the action and disconnect the link, wherein the channel event represents all trajectory points between the trajectory point where the event corresponding to the external axis is located and the next channel event, and the corresponding external axis is used as the tool action.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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