Method and system for automatically configuring process data object and computer readable storage medium

Abstract

The invention provides a method and system for automatically configuring a process data object and a computer readable storage medium. The method comprises the steps of judging whether a function of an automatic configuration process data object is opened or not; when it is judged that the function of automatically configuring the process data object is opened, whether the current process data object is complete or not is judged; and when the current process data object is judged to be incomplete, configuring a new process data object. According to the method provided by the invention, automatic PDO configuration can be realized, the difficulty and time of manual configuration are reduced, the probability of PDO missing and / or errors caused by manual configuration is reduced, and the accuracy and reliability of PDO configuration are improved.

Description

Technical Field

[0001] This invention relates generally to the field of process data objects, and more particularly to a method for automatically configuring process data objects, a system for automatically configuring process data objects, and a computer-readable storage medium. Background Technology

[0002] Programmable Logic Controllers (PLCs) are commonly used control devices in the field of industrial automation, and are widely used in various industrial automation fields, such as production lines, packaging machinery, and conveying systems.

[0003] The PLCopen function block is an important component of PLC programming, used to implement specific functions and closely related to the PLC's control system. In motion control systems, the PLCopen function block is a standardized function block used for motion control, while the Progress Data Object (PDO) is the object used for real-time data transmission. The PLCopen function block is associated with the PDO. The PLCopen function block transmits data and communicates through the PDO. By assigning values ​​to the PDO, the PLCopen function block achieves precise motion control, ensuring the rapid and accurate transmission of control commands and feedback information.

[0004] Because different function blocks are associated with different PDOs, traditional solutions involve manually configuring PDOs. This method is not only inefficient but also prone to missing and / or incorrect PDO configurations. When a PDO is missing or incorrect, data from the PLCopen function block cannot be written correctly to the servo drive, PDOs cannot be accurately assigned values, precise motion control cannot be achieved, and missing and / or incorrect PDOs cannot be located, increasing the time and difficulty of manual debugging. Configuring redundant PDOs also adds extra communication overhead. Therefore, an efficient and accurate PDO configuration solution is urgently needed.

[0005] The content of the background section is merely the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0006] To address one or more of the problems existing in the prior art, the present invention provides a method for automatically configuring process data objects, comprising:

[0007] Determine whether the automatic configuration process data object function is enabled;

[0008] When it is determined that the function of the automatic configuration process data object is enabled, it is determined whether the current process data object is complete; and

[0009] If the current process data object is determined to be incomplete, a new process data object is configured.

[0010] Optionally, the step of determining whether the function of the automatic configuration process data object is enabled includes: determining whether the function of the automatic configuration process data object is enabled based on whether the function switch of the automatic configuration process data object is turned on.

[0011] Optionally, the step of determining whether the current process data object is complete includes: determining whether the current process data object is complete based on the current process data object and a preset process data object.

[0012] Optionally, the current process data object and the preset process data object are determined based on the currently used function block.

[0013] Optionally, configuring a new process data object includes: adding process data objects that are missing from the current process data object, based on the preset process data object.

[0014] Optionally, the method further includes: determining whether the current number of process data objects has reached the allocation quantity threshold; and configuring the new process data object when it is determined that the number has not reached the allocation quantity threshold.

[0015] Optionally, the method further includes: when it is determined that the quantity has reached the allocation quantity threshold, reminding that the quantity of the current process data object has reached the allocation quantity threshold and cannot be configured.

[0016] Optionally, after the step of configuring a new process data object, the method further includes: re-evaluating whether the new current process data object is complete.

[0017] Optionally, the method further includes: when it is determined that the current process data object is complete, determining whether the current process data object includes redundant process data objects.

[0018] Optionally, the step of determining whether the current process data object includes redundant process data objects includes: determining whether the redundant process data objects are included based on the usage of the current process data objects.

[0019] Optionally, the method further includes: when it is determined that the current process data object includes redundant process data objects, reminding that the current process data object includes redundant process data objects.

[0020] The present invention also provides a system for automatically configuring process data objects, comprising:

[0021] Programmable logic controller; and

[0022] The servo driver is communicatively connected to the programmable logic controller.

[0023] The programmable logic controller is configured to perform the method described above and to control the operation of the servo drive.

[0024] The present invention also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method described above.

[0025] The method of the present invention can determine whether the automatic PDO configuration function is enabled. When the automatic PDO configuration function is enabled, it can determine whether the current PDO is complete. When the current PDO is incomplete, it can realize the automatic configuration of PDO, reducing the difficulty and time of manual configuration, reducing the probability of PDO missing and / or errors caused by manual configuration, and improving the accuracy and reliability of PDO configuration.

[0026] The method of this invention can determine whether there are missing, erroneous, or redundant PDOs, and can alert users to missing, erroneous, or redundant PDOs. This helps to optimize the PDO allocation process, reduce unnecessary computing power consumption and communication burden, and achieve efficient and accurate PDO allocation. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 A flowchart illustrating a method for automatically configuring PDO according to some embodiments of the present invention is shown.

[0029] Figure 2 A schematic diagram illustrating the configuration of a new PDO according to some embodiments of the present invention is shown.

[0030] Figure 3 A schematic diagram illustrating the configuration of a new PDO according to some embodiments of the present invention is shown.

[0031] Figure 4 A flowchart illustrating a method for automatically configuring PDO according to some embodiments of the present invention is shown.

[0032] Figure 5 A schematic diagram illustrating the configuration of a new PDO according to some embodiments of the present invention is shown.

[0033] Figure 6A schematic diagram of a system for automatically configuring PDOs according to some embodiments of the present invention is shown. Detailed Implementation

[0034] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of the invention. Therefore, the drawings and description are considered to be exemplary in nature and not restrictive.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, an electrical connection, or a connection that allows for communication; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] The following provides many different embodiments or examples for implementing various structures of the invention. To simplify the invention, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, examples of various specific processes and materials are provided in this invention, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0039] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0040] This invention provides a method for automatically configuring PDOs, which enables automatic configuration of PDOs, ensuring precise association between PLCopen function blocks and PDOs, improving the efficiency, accuracy, and reliability of PDO configuration, and facilitating the optimization of data transmission and processing.

[0041] Figure 1 A flowchart illustrating a method 10 for automatically configuring PDOs according to some embodiments of the present invention is shown. Figure 1 As shown, method 10 includes steps S11 to S13. Step S11: Determine whether the automatic PDO configuration function is enabled. Step S12: If the automatic PDO configuration function is enabled, determine whether the current PDO is complete. Step S13: If the current PDO is incomplete, configure a new PDO. Method 10 and its steps can be executed by the controller. The steps of method 10 are described in detail below.

[0042] In some embodiments, the step of determining whether the automatic configuration PDO function is enabled (i.e., step S11) includes: determining whether the automatic configuration PDO function is enabled based on whether the automatic configuration PDO function switch is on. For example, when the automatic configuration PDO function switch is on, the controller determines that the automatic configuration PDO function is enabled. When the automatic configuration PDO function switch is off, the controller determines that the automatic configuration PDO function is not enabled.

[0043] In some embodiments, the controller can communicate with a human-machine interface (HMI) (not shown in the figure). The controller can determine whether the automatic configuration PDO function switch is turned on and whether the automatic configuration PDO function is enabled based on the input instructions received by the HMI.

[0044] This invention does not limit the specific implementation of the automatic PDO configuration function switch. The switch can be, for example, a mechanical switch or a virtual switch. A virtual switch can be, for example, a program instruction or a function option on the HMI. When the automatic PDO configuration function option is selected, the controller determines that the automatic PDO configuration switch is on, and therefore the automatic PDO function is enabled. Conversely, when the automatic PDO configuration function option is not selected, the controller determines that the automatic PDO configuration switch is off, and therefore the automatic PDO function is not enabled.

[0045] When the controller determines that the automatic PDO configuration function is enabled, it can execute step S12. Conversely, when the controller determines that the automatic PDO configuration function is not enabled, it can terminate the process.

[0046] In some embodiments, the step of determining whether the current PDO is complete (i.e., step S12) includes: determining whether the current PDO is complete based on the current PDO and a preset PDO. For example, the controller can compare the current PDO with the preset PDO and determine whether the current PDO is complete based on the comparison result. For instance, the controller can compare the types of the current PDO with the preset PDO; if the types of the current PDO are fewer than the types of the preset PDO, the current PDO is determined to be incomplete. Conversely, if the types of the current PDO are not less than the types of the preset PDO, the current PDO is determined to be complete.

[0047] For example, the current PDO includes four types: control word, status word, target position, and current axis position (actual value). The preset PDO includes six types: control word, status word, target position, current axis position (actual value), mode of operation, and mode of operation display. By comparing the types of the current PDO with the preset PDOs, the controller can determine that the current PDO is incomplete. Based on this, the controller can determine that the current PDO is missing the mode of operation and mode of operation display PDOs.

[0048] In some embodiments, the current PDO and the preset PDO can be determined based on the currently used function block. There is a mapping relationship between PDOs and function blocks (the mapping relationship can be determined according to a standard protocol or a proprietary protocol). The controller can determine the current PDO and the PDO associated with the currently used function block by calling the function block currently used by the servo driver; the PDO associated with the currently used function block is the preset PDO.

[0049] For example, the controller calls the function blocks currently used by the servo drive, including the enable function block (MC_Power), the relative positioning function block (MC_MoveRelative), and the axis control mode function block (MC_ChangeAxisControlMode). It then determines that the current PDO includes four types of PDOs: control word, status word, target position, and current axis position (actual value). The PDOs associated with these three function blocks (i.e., the preset PDOs) include six types: control word, status word, target position, current axis position, mode of operation, and mode of operation display. Therefore, the controller can determine that the current PDO is incomplete. Based on this, the controller can further determine that the current PDO is missing two PDOs: mode of operation and mode of operation display.

[0050] For example, the controller might call the function blocks currently used by the servo drive, including the enable function block (MC_Power), the relative positioning function block (MC_MoveRelative), the axis control mode function block (MC_ChangeAxisControlMode), and the torque control function block (MC_TorqueControl). It then determines that the current PDOs include six types: control word, status word, target position, current axis position (position actual value), mode of operation, and mode of operation display. The PDOs associated with these four function blocks (i.e., the preset PDOs) include, in addition to these six PDOs, target torque, maximum speed limit (CTRL_V_max), and current axis torque (torque actual value). Therefore, the controller can determine that the current PDOs are incomplete. Based on this, the controller can determine that the current PDO lacks three types of PDO: target torque, maximum speed limit (CTRL_V_max), and current shaft torque (Torque actual value).

[0051] In some embodiments, when it is determined that the current PDO is incomplete, the step of configuring a new PDO (i.e. step S13) includes: adding the PDO that is missing from the current PDO according to the preset PDO.

[0052] Figure 2 This diagram illustrates the configuration of a new PDO according to some embodiments of the present invention. For example, the preset PDOs include the following six types: control word, status word, target position, current axis position, mode of operation, and mode of operation display. Figure 2The left half shows the current PDO, which includes four types: control word, status word, target position, and current axis position. The current PDO lacks two PDOs: Mode of operation and Mode of operation display. Based on the mapping relationship between PDOs and function blocks, the controller can determine that the axis control mode function block (MC_ChangeAxisControlMode) is associated with the two PDOs: Mode of operation and Mode of operation display. Therefore, these two PDOs can be added based on the axis control mode function block (MC_ChangeAxisControlMode), and these two PDOs become the new PDOs, as shown below. Figure 2 The right half, shown in the red box, is the main part.

[0053] Figure 3 This diagram illustrates the configuration of new PDOs according to some embodiments of the present invention. For example, in addition to the six types mentioned above, the preset PDOs include three more types: Target torque, Maximum speed limit (CTRL_V_max), and Torque actual value. Figure 3 As shown in the left half, the current PDO lacks these three types of PDOs. Based on the mapping relationship between PDOs and function blocks, the controller can determine that the torque control function block (MC_TorqueControl) is associated with the target torque, maximum speed limit (CTRL_V_max), and current shaft torque (Torque actualvalue)—these three PDOs. Therefore, these three PDOs can be added based on the torque control function block (MC_TorqueControl), and these three PDOs become the new PDOs, such as... Figure 3 The right half, shown in the red box, is the main part.

[0054] Figure 4 A flowchart illustrating a method 20 for automatically configuring PDOs according to other embodiments of the present invention is shown. Figure 4 As shown, method 20 includes steps S21 to S27. Method 20 and its steps can be executed by a controller. The steps of method 20 are described in detail below.

[0055] Step S21: Determine whether the automatic PDO configuration function is enabled. This step is the same as or similar to step S11 above, and will not be described again here. If it is determined that the automatic PDO configuration function is enabled, proceed to step S22 to determine whether the current PDO is complete. This step is the same as or similar to step S12, and will not be described again here. Conversely, if it is determined that the automatic PDO configuration function is not enabled, the controller can end this process.

[0056] In some embodiments, method 20 further includes: when it is determined in step S22 that the current PDO is incomplete, executing step S23 to determine whether the current number of PDOs has reached the allocation quantity threshold. This step can be executed after step S22. Specifically, the controller can compare the current number of PDOs with the allocation quantity threshold, and determine whether the current number of PDOs has reached the allocation quantity threshold based on the comparison result. When it is determined that the current number of PDOs has not reached the allocation quantity threshold, the controller executes step S24: configure a new PDO. Step S24 is the same as or similar to the example described in step S13, and will not be repeated here. When it is determined that the current number of PDOs has reached the allocation quantity threshold, the controller executes step S25: remind that the current number of PDOs has reached the allocation quantity threshold and cannot be configured. After step S25, the controller can end this process. In some embodiments, step S25 can be visualized through HMI for intuitive and effective reminder. It should be noted that the allocation quantity threshold can be determined based on the number of PDOs that the servo drive can receive, and the allocation quantity threshold is not greater than the upper limit of the number of PDOs that the servo drive can receive.

[0057] In some embodiments, after configuring the new PDO (i.e., step S24), the method further includes: re-determining whether the new current PDO is complete, i.e., re-executing step S22. It should be understood that after re-executing step S22, the controller may re-execute based on the determination result. Figure 4 Other steps illustrated (e.g., at least some of steps S23 to S27) help improve the accuracy and reliability of PDO configuration.

[0058] Figure 5This diagram illustrates the configuration of a new PDO according to some embodiments of the present invention. For example, the preset PDOs include the following nine types: Control word, Target position, Status word, Current axis position (actual value), Mode of operation, Mode of operation display, Target torque, Maximum speed limit (CTRL_V_max), and Current axis torque (actual value). Figure 5 As shown in the left half, the current PDO only includes the first four types. Figure 5 As shown in the middle section, after adding new PDOs (Mode of operation and Mode of operation display), the controller determines that the current PDO is still incomplete, so it continues to add new PDOs (Target torque, Maximum speed limit (CTRL_V_max), and Current axis torque (Torque actual value)). Figure 5 As shown in the right section, after adding a PDO, the controller re-evaluates whether the current PDO is complete until all preset PDOs have been added. In this way, the controller can dynamically configure PDOs in real time and dynamically determine whether the PDOs are complete, which helps improve the accuracy and reliability of PDO configuration.

[0059] In some embodiments, method 20 further includes step S26: determining whether the current PDO includes redundant PDOs. This step can be performed after step S22. Specifically, when it is determined that the current PDO is complete, the controller determines whether the current PDO includes redundant PDOs. Specifically, in some embodiments, the step of determining whether the current PDO includes redundant PDOs (i.e., step S26) includes: determining whether the current PDO includes redundant PDOs based on the current PDO usage. For example, the controller can determine whether the current PDO includes redundant PDOs based on the current number of PDOs used. When the current number of PDOs used is less than a usage threshold, it is determined that the current PDO includes redundant PDOs. Conversely, when the current number of PDOs used is not less than the usage threshold, it is determined that the current PDO does not include redundant PDOs.

[0060] In some embodiments, method 20 further includes step S27: alerting the controller that the current PDO contains redundant PDOs. This step can be performed after step S26. Specifically, when it is determined that the current PDO contains redundant PDOs, the controller alerts the controller that the current PDO contains redundant PDOs. Optionally, the alert that the current PDO contains redundant PDOs can be visualized through an HMI. After step S27, the controller can end the process. Optionally, when it is determined that the current PDO contains redundant PDOs, the controller can delete the redundant PDOs to reduce communication burden and improve communication efficiency.

[0061] The method of the present invention can determine whether the automatic PDO configuration function is enabled. When the automatic PDO configuration function is enabled, it can determine whether the current PDO is complete. When the current PDO is incomplete, it can realize the automatic configuration of PDO, reducing the difficulty and time of manual configuration, reducing the probability of PDO missing and / or errors caused by manual configuration, and improving the accuracy and reliability of PDO configuration.

[0062] The method of this invention can determine whether there are missing, erroneous, or redundant PDOs, can alert users to missing, erroneous, or redundant PDOs, and can visually display the situation. If necessary, it can also delete missing, erroneous, or redundant PDOs, which helps to optimize the PDO allocation process, reduce unnecessary computing power consumption and communication burden, and achieve efficient and accurate PDO allocation.

[0063] It should be noted that the PDOs and functional blocks shown in the accompanying drawings are merely illustrative and do not constitute a limitation of the present invention. Those skilled in the art should understand that in motion control, PDOs and functional blocks may include other PDOs and functional blocks, and for other PDOs and functional blocks, automatic configuration of the PDOs can be achieved through methods similar to or the same as those in the present invention; all of these are within the scope of protection of the present invention.

[0064] The present invention also provides a system 30 for automatically configuring PDO. Figure 6 A schematic diagram of a system 30 for automatically configuring PDOs according to some embodiments of the present invention is shown. Figure 6As shown, system 30 includes a Programmable Logic Controller (PLC) 310 and a servo driver 320. PLC 310 can execute methods 10 / 20 and their respective steps as described above to achieve automatic configuration of the PDO. PLC 310 is communicatively connected to the servo driver 320 and can control the operation of the servo driver 320. Specifically, PLC 310 assigns values ​​to the PDO through function blocks, thereby controlling the servo driver 320 and enabling control of one or more of the following: position, speed, acceleration, or torque on a single or multiple axes. It should be noted that... Figure 6 While a servo drive 320 is illustrated by way of example, the invention is not limited thereto. In other words, the PLC 310 can communicate with one or more servo drives 320, and the PLC 310 can control one or more of the position, speed, acceleration or torque of one or more servo drives 320 on a single or multiple axes by assigning values ​​to the PDO through function blocks.

[0065] In some embodiments, the PLC310 may be located in a computer, which may include programming software (e.g., Machine Expert, Motion Expert, etc.). The method of the present invention can exist in the form of program code through the programming software. The system of the present invention, through the above method 10 / 20, can achieve automatic, accurate, and efficient allocation of PDOs, which is beneficial for PLCopen function blocks to perform effective and reliable data transmission and communication through PDOs. It is also beneficial for PLCopen function blocks to achieve precise motion control by assigning values ​​to PDOs, ensuring the rapid and accurate transmission of control commands and feedback information, and improving the effectiveness, reliability, real-time performance, and robustness of the entire control system.

[0066] The present invention also provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the method 10 / 20 as described above.

[0067] In some embodiments, the PLC / servo driver may include a controller. The controller may include control circuitry, a central processing unit (CPU), a microcontroller unit (MCU), a digital signal processor (DSP), other general-purpose processors, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and other components and circuits.

[0068] In some embodiments, the PLC / servo driver may include memory. The memory may include random access memory (RAM) or non-volatile memory. Further, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0069] This invention can take the form of a computer program product implemented on one or more storage media containing program code. Computer storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital video disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0070] It should be noted that this specification provides method operation steps as shown in the embodiments or diagrams, but based on conventional or non-inventive labor, more or fewer operation steps may be included. The order of steps listed in the embodiments is merely one possible execution order among many steps and does not represent the only execution order. In actual system or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0071] It should be noted that although several modules of the system for automatically configuring PDO have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of the present invention, the features and functions of two or more modules described above can be implemented in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0072] It should be noted that the present invention may include only Figure 1-6 Any one or more features of any one or more embodiments. In other words, not all of the features shown need to be implemented simultaneously in the automatic configuration PDO method and system of the present invention.

[0073] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for automatically configuring process data objects, characterized in that, include: Determine whether the automatic configuration process data object function is enabled; When it is determined that the function of the automatic configuration process data object is enabled, it is determined whether the current process data object is complete; and If the current process data object is determined to be incomplete, a new process data object is configured.

2. The method according to claim 1, characterized in that, The step of determining whether the function of the automatic configuration process data object is enabled includes: determining whether the function of the automatic configuration process data object is enabled based on whether the function switch of the automatic configuration process data object is turned on.

3. The method according to claim 1, characterized in that, The step of determining whether the current process data object is complete includes: determining whether the current process data object is complete based on the current process data object and a preset process data object.

4. The method according to claim 3, characterized in that, The current process data object and the preset process data object are determined based on the currently used function block.

5. The method according to claim 3, characterized in that, The configuration of the new process data object includes: adding process data objects that are missing from the current process data object according to the preset process data object.

6. The method according to any one of claims 1-5, characterized in that, Also includes: Determine whether the current number of process data objects has reached the allocation threshold. If the number has not reached the allocation threshold, configure the new process data object.

7. The method according to claim 6, characterized in that, Also includes: When it is determined that the quantity has reached the allocation quantity threshold, a reminder is issued that the current quantity of process data objects has reached the allocation quantity threshold and cannot be configured.

8. The method according to any one of claims 1-5, characterized in that, The step of configuring a new process data object is followed by: re-evaluating whether the new current process data object is complete.

9. The method according to any one of claims 1-5, characterized in that, Also includes: When it is determined that the current process data object is complete, it is then determined whether the current process data object includes redundant process data objects.

10. The method according to claim 9, characterized in that, The step of determining whether the current process data object includes redundant process data objects includes: determining whether the redundant process data objects are included based on the current usage of the process data objects.

11. The method according to claim 9, characterized in that, Also includes: When it is determined that the current process data object includes redundant process data objects, a notification is issued indicating that the current process data object contains redundant process data objects.

12. A system for automatically configuring process data objects, characterized in that, include: Programmable logic controller; and The servo driver is communicatively connected to the programmable logic controller. The programmable logic controller is configured to perform the method as described in any one of claims 1-11 and is configured to control the operation of the servo drive.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions that, when executed by a processor, perform the method as described in any one of claims 1-11.

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