Servo-motor control system and method

Abstract

The present invention relates to a servo motor control system and a control method. The servo motor control system according to the present invention comprises: one or more sub-motion controllers; a higher controller for controlling the one or more sub-motion controllers according to a predetermined operation sequence or a user input command; a user interface for setting the operation sequence or the input command; a common tag storage unit for storing common tags corresponding to parameters having functional commonality among API parameters of heterogeneous motion controllers; a common tag conversion unit for generating data of the API parameters adaptive to the one or more sub-motion controllers selected among the heterogeneous motion controllers based on the data of the common tags corresponding to the operation sequence or the input command, and providing such data to the one or more sub-motion controllers; and a file generation unit for generating a reference file for setting functionally non-common parameters among the API parameters of the heterogeneous motion controllers, and providing data of the non-common parameters corresponding to the sub-motion controllers to the sub-motion controllers according to the operation sequence or the input command. The present invention can reduce the complexity of development and operation of automation systems, improve development efficiency and significantly reduce development / maintenance costs, and improve system scalability by providing interoperability with heterogeneous systems and facilitating integration.

Description

Technology Field

[0001] The present invention relates to a servo motor control system and a control method, and more specifically, to a servo motor control system and a control method capable of comprehensive control of a heterogeneous motion controller based on common / non-common parameters. Background Technology

[0003] Motion controllers are used for precise position and speed control of servo motors. Manufacturers of motion controllers provide unique API commands and parameter structures for their respective amplifiers (drives) and motor control, enabling their use in the development of control systems.

[0004] When a control system developer wants to change servo motors, motion controllers, etc., or use two or more motion controllers from different manufacturers, the developer had to develop the control program of the higher-level controller to match the API of the motion controller being introduced.

[0005] These development practices are recognized as a cause of many problems as smart factories expand.

[0006] In other words, as the automation of industrial facilities expands, the number of servo motors increases and motion controllers with more diverse performance capabilities are being released; however, regarding system scalability, existing control systems significantly increase complexity and costs, making system expansion difficult. Furthermore, this makes maintenance difficult, which can delay corrective measures in the event of a control system failure and significantly reduce overall system productivity.

[0007] Therefore, there is a strong demand in the industry for the development of systems capable of adaptively controlling heterogeneous motion controllers without modifying the control software of the higher-level controller. Prior art literature

[0009] Republic of Korea Registered Patent No. 1803936 (October 21, 2016) The problem to be solved

[0010] Therefore, the present invention aims to provide an efficient servo motor control system and method that does not require individual programming of the upper controller for each heterogeneous motion controller. means of solving the problem

[0012] The above objective can be achieved by a servo motor control system according to one embodiment of the present invention, comprising: one or more sub-motion controllers; a higher controller for controlling the one or more sub-motion controllers according to a predetermined motion sequence or a user input command; a user interface for setting the motion sequence or the input command; a common tag storage unit for storing common tags corresponding to parameters having functional commonality among API parameters of heterogeneous motion controllers; a common tag conversion unit for generating data of the API parameters adaptive to the one or more sub-motion controllers selected among the heterogeneous motion controllers based on the data of the common tags corresponding to the motion sequence or the input command, and providing such data to the one or more sub-motion controllers; and a file generation unit for generating a reference file for setting functionally non-common parameters among the API parameters of the heterogeneous motion controllers, and providing data of the non-common parameters corresponding to the sub-motion controllers to the sub-motion controllers according to the motion sequence or the input command.

[0013] Herein, the common tag storage unit further includes a common tag defined to correspond to the servo motor state information parameter of the heterogeneous motion controller, and the common tag conversion unit may convert the servo motor state information provided from the lower motion controller into the corresponding common tag and provide it to the upper controller, and the common tag defined to correspond to the state information parameter of the heterogeneous motion controller may include: a tag indicating whether an error has occurred in the servo motor; a tag indicating the operation readiness state of the servo motor; a tag indicating the state in which the servo motor is operating; a tag indicating whether the servo motor has accurately reached the target position; a tag indicating whether the servo motor has performed a home return operation; a tag indicating whether the servo motor is in the home return state; a tag indicating the limit sensor detection state; a tag indicating the command target position of the servo motor; and a tag indicating the actual position of the servo motor. It includes at least one of the tags for the current movement speed of the above servo motor, and the common tag is a tag that does not correspond to the state information parameter of the above heterogeneous motion controller, and may include tags for single-axis movement completion, multi-axis movement completion, linear interpolation completion, and circular interpolation completion.

[0014] In addition, the above non-common parameters may include parameters representing at least one of an initial speed; an end speed; a buffer mode; a Jerk value when using S-curve acceleration or deceleration; a setting for whether to detect the encoder Z-phase after home search is completed; an encoder position; a home reset position; a home return mode; a direction of travel; and a speed mode. The above common tags corresponding to the parameters having the above functional commonality may include parameters representing at least one of an axis number specifying a control axis; mode information for specifying one of jog control, relative movement, absolute movement, and home movement; a movement target position; movement speed; acceleration; deceleration; execution status; and a manufacturer ID. Additionally, the above common tags may be implemented as OPC UA tags.

[0015] Furthermore, when the above-mentioned lower motion controller is changed to a heterogeneous new motion controller, the above-mentioned controller may classify the API parameters of the new motion controller into first parameters corresponding to the common tag and second parameters not corresponding to the common tag, the above-mentioned common tag conversion unit may define the correspondence relationship between the first parameters and the common tag, and the above-mentioned file generation unit may generate the above-mentioned reference file that defines the above-mentioned second parameters. Here, the above-mentioned controller may extract parameter information by making an API call based on the ID information of the new motion controller or receive it from an external reference server.

[0016] In addition, the above objective can be achieved by a servo motor control method according to another aspect of the present invention, comprising: a step of setting a predetermined operation sequence or a user input command; a step of setting data of a common tag corresponding to the operation sequence or the user input command; a step of converting and setting the data of the common tag into data of an API common parameter corresponding to the sub-motion controller; a step of additionally generating, based on the operation sequence or the user input command, non-common parameter data that does not correspond to the common tag among the API parameters corresponding to the sub-motion controller as API parameter data; and a step of executing the API based on the API parameter data so that the sub-motion controller controls the servo motor.

[0017] Herein, if there is no conversion relationship between the API parameters of the sub-motion controller and the common tag, the method may further include the step of classifying the API parameters of the sub-motion controller into common parameters corresponding to the common tag and non-common parameters not corresponding to the common tag; and the step of creating a conversion relationship between the common parameters and the common tag. Effects of the invention

[0019] The present invention can reduce the complexity of development and operation of automation systems, improve development efficiency and significantly reduce development / maintenance costs, and improve system scalability by providing interoperability with heterogeneous systems and facilitating integration. Brief explanation of the drawing

[0021] FIG. 1 is a schematic block diagram of a servo motor control system according to one embodiment of the present invention; FIG. 2 is a flowchart of a servo motor control method according to an embodiment of the present invention; FIG. 3 is a table showing the description of second common tags and the state information of a servo motor for each second common tag, and the conversion relationship of API common parameters for each heterogeneous motion controller manufacturer according to an embodiment of the present invention; FIG. 4a is a table showing the conversion relationship of a first common tag for 'JOG operation' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention; FIG. 4b is a diagram showing an API call form in which manufacturer-specific API parameters converted from a first common tag for 'JOG operation' are actually utilized according to an embodiment of the present invention; FIG. 4c is a drawing showing manufacturer-specific non-common parameters and reference file formats for 'JOG operation' according to an embodiment of the present invention; FIG. 5a is a table showing the conversion relationship of a first common tag for a 'shortened movement operation' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention; FIG. 5b is a diagram showing an API call form in which manufacturer-specific API parameters converted from a first common tag for a 'shortened movement motion' are actually utilized according to an embodiment of the present invention; FIG. 5c is a drawing showing manufacturer-specific non-common parameters and reference file formats for a 'shortened movement operation' according to an embodiment of the present invention; FIG. 6a is a table showing the conversion relationship of a first common tag for 'origin shift' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention; FIG. 6b is a diagram showing an API call form in which manufacturer-specific API parameters converted from a first common tag for 'origin movement' are actually utilized according to an embodiment of the present invention; FIG. 6c is a drawing showing manufacturer-specific non-common parameters and reference file formats for 'origin shift' according to an embodiment of the present invention; FIG. 7a is a table showing the conversion relationship of a first common tag for a '2-axis linear interpolation movement mode' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention; FIG. 7b is a diagram showing an API call form in which manufacturer-specific API parameters converted from a first common tag for a '2-axis linear interpolation movement mode' according to an embodiment of the present invention are actually utilized; FIG. 7c is a drawing showing manufacturer-specific non-common parameters and reference file formats for a '2-axis linear interpolation movement mode' according to an embodiment of the present invention; FIG. 8a is a table showing the conversion relationship of a first common tag for a '2-axis arc interpolation movement mode' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention; FIG. 8b is a diagram showing an API call form in which manufacturer-specific API parameters converted from a first common tag for a '2-axis arc interpolation movement mode' according to an embodiment of the present invention are actually utilized; and FIG. 8c is a drawing showing manufacturer-specific non-common parameters and reference file formats for a '2-axis arc interpolation movement mode' according to an embodiment of the present invention. Specific details for implementing the invention

[0022] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0023] FIG. 1 is a schematic block diagram of a servo motor control system (1) according to one embodiment of the present invention.

[0024] Referring to FIG. 1, a servo motor control system (1) according to one embodiment of the present invention comprises a lower motion controller (10), an upper controller (20), a user interface (30), a common tag storage unit (40), a common tag conversion unit (50), and a file generation unit (60).

[0025] The lower motion controller (10) provides an API and controls the driving of the lower servo motor (100) according to the execution of the API. The lower motion controller (10) can be implemented with a combination of hardware such as a processor for data processing and associated memory.

[0026] The upper controller (20) controls the servo motor (100) through one or more lower motion controllers (10) according to a predetermined motion sequence or user input command. The upper controller (20) may be implemented through memory and a processor for storing and processing the motion sequence or user input command, and the motion sequence or user command is determined in such a way that data is specified in the common tag described below, and / or further data is specified in the non-common API parameter.

[0027] The user interface (30) is intended to set operation sequences or input commands from the user. The user interface (30) may be implemented by selectively combining a keyboard, mouse, touch panel, jog stick, and display, and includes cases where operation sequences are set by receiving input from an external device; thus, it is considered to include detailed configurations for transmitting and receiving data from an external device. An operation sequence refers to a software function that defines repetitive or one-time operations of a servo motor (100) required in an industrial site, and can be understood as a specific control command.

[0028] The common tag storage unit (40) stores first common tags corresponding to parameters having functional commonality among the API parameters of heterogeneous motion controllers. More specifically, it defines and stores the correspondence relationship between the common tags and parameters having functional commonality among the individual API parameters of each heterogeneous motion controller. Here, the first common tag is a tag corresponding to the API parameters having functional commonality of heterogeneous motion controllers, and may include a parameter representing at least one of an axis number specifying a control axis; mode information for specifying one of jog control, relative movement, absolute movement, and origin movement; a movement target position; movement speed; acceleration; deceleration; execution status; and a manufacturer ID.

[0029] Additionally, the common tag storage unit (40) further includes second common tags corresponding to the servo motor (100) state information parameters provided by the motion controller, and the conversion relationship is stored for each heterogeneous motion controller. Here, the second common tag is a tag defined to correspond to the state information parameters of the heterogeneous motion controller, and includes: a tag indicating whether an error has occurred in the servo motor (100); a tag indicating the operation preparation state of the servo motor (100); a tag indicating the state in which the servo motor (100) is operating; a tag indicating whether the servo motor (100) has accurately reached the target position; a tag indicating whether the servo motor (100) has performed a home return operation; a tag indicating whether the servo motor (100) is in the home return state; a tag indicating the limit sensor detection state; a tag indicating the command target position of the servo motor (100); and a tag indicating the actual position of the servo motor (100). It may include at least one of the tags for the current movement speed of the servo motor (100). The second common tag is a tag that does not correspond to the state information parameter of the heterogeneous motion controller, and may further include tags for single-axis movement completion, multi-axis movement completion, linear interpolation completion, and circular interpolation completion.

[0030] The common tag conversion unit (50) generates data of adaptive API parameters for a selected sub-motion controller (10) among heterogeneous motion controllers based on data of a first common tag corresponding to an operation sequence or input command, and provides this data to the sub-motion controller (10).

[0031] Additionally, the common tag conversion unit (50) can convert the servo motor (100) status information provided from the lower motion controller (10) into data of the corresponding second common tag and provide it to the upper controller (20).

[0032] The file generation unit (60) generates a reference file for setting functional non-common parameters among the API parameters of heterogeneous motion controllers, and provides data of non-common parameters corresponding to the sub-motion controller (10) to the sub-motion controller (10) according to the operation sequence or input command. Here, the functional non-common parameters may include parameters representing at least one of an initial speed; an end speed; a buffer mode; a Jerk value when using S-curve acceleration or deceleration; a setting for whether to detect the encoder Z-phase after home search is completed; an encoder position; a home reset position; a home return mode; a direction of travel; and a speed mode.

[0033] Referring again to FIG. 1, an operation sequence or user command executed by the upper controller (20) is provided to the common tag conversion unit (50) in a manner in which data for the first common tags is set, and the common tag conversion unit (50) converts the received data into data of API common parameters by referring to a customized conversion relationship for the lower motion controller (10) and provides it to the lower motion controller (10), thereby enabling the lower motion controller (10) to execute the API and control the servo motor (100).

[0034] Here, for the sake of brevity, only data regarding the first common tags has been described, but in a similar manner, the file generation unit (60) sets specific data in non-common parameters according to the API characteristics of the lower motion controller (10) according to the operation sequence or user command, and this set data is provided to the lower motion controller (10), so that the servo motor (100) can ultimately be controlled by referencing it.

[0035] Meanwhile, in the reverse direction, while controlling the servo motor (100) or after it is completed, the servo motor (100) status information can be provided to the upper controller (20) in the form of data for the second common tags from the lower motion controller (10) through the common tag conversion unit (50), for example, in a pooling method at regular intervals.

[0036] In this way, since the upper controller (20) operates based on the first and second common tags and non-common parameters, it does not need to be modified or supplemented even if the lower motion controller (10) is changed.

[0037] As previously described, if the upper controller (20) determines that the conversion relationship of the API common parameters of the motion controller for the first common tags is not set, for example, when the lower motion controller (10) is changed to a new motion controller, it can classify the API parameters of the new motion controller into first parameters corresponding to the first common tags and second parameters not corresponding to the first common tags, and the common tag conversion unit (50) can define the correspondence relationship between the first parameters and the first common tags, and the file generation unit (60) can generate a reference file that defines the second parameters. The upper controller (20) can extract parameter information by making an API call based on the ID information of the new motion controller, or automatically complete the installation and configuration of the motion controller by receiving parameter information and conversion relationships, etc. from an external reference server.

[0038] FIG. 2 is a flowchart of a servo motor control method according to one embodiment of the present invention.

[0039] Referring to FIG. 2, the organic operational relationship between the components of the servo motor control system (1) of FIG. 1 will be explained.

[0040] First, common tags corresponding to parameters with functional commonality among the API parameters of heterogeneous motion controllers are defined, and corresponding transformation relationships are established (S1). The common tags can be determined in advance as a default of the system and can be defined in advance as the first common tag described above.

[0041] If the conversion relationship between the API parameters of the motion controller installed and operated in the system and the first common tag is not mutually defined, it can be automatically defined by the user's settings through the user interface (30), or by the upper controller (20) through information provided from an external server, or through analysis and classification operations of the API parameters of the motion controller. For example, the function of the parameter can be inferred from the word composition of most parameters.

[0042] Next, the upper controller (20) receives user commands from the user interface (30) and sets or sets an operation sequence, or sets an operation sequence corresponding to a predetermined periodic / non-periodic operation (S2).

[0043] The set operation sequence or user command is configured so that appropriate data is matched to the first common tags and also so that appropriate data is matched to the non-common parameters of the file conversion unit (S3).

[0044] The common tag conversion unit (50) determines the conversion relationship of the sub-motion controller (10) based on the ID of the sub-motion controller (10) or predetermined by user settings, and converts the data of the first common tags into data of the API common parameter of the corresponding sub-motion controller (10) (S4). In addition, non-common parameter data is also added to the API parameter (S5).

[0045] The sub-motion controller (10) executes the API based on the provided parameter data and controls the servo motor (100) (S6).

[0046] The status information of the servo motor (100) is pooled and acquired at regular time intervals (S7), and the acquired status information of the servo motor (100) is provided from the lower motion controller (10) to the common tag conversion unit (50) and converted into data of the second common tag at the common tag conversion unit (50) (S8).

[0047] After the upper controller (20) collects the servo motor (100) status information through the second common tag data (S9), if continuous additional control is required, it can return to step S3 or, depending on the case, step S2 to perform a repetitive operation (S10).

[0048] FIG. 3 is a table showing the second common tags and the state information of the servo motor (100) for each second common tag according to an embodiment of the present invention, and the conversion relationship of API common parameters for each heterogeneous motion controller manufacturer.

[0049] Here, the second common tags are implemented as OPC UA tags, and a list of tags such as a tag indicating whether an error has occurred in the servo motor (100) (tStat_ServoError); a tag indicating the ready state of operation of the servo motor (100) (tStat_ServoOn); a tag indicating the state of operation of the servo motor (100) (tStat_ServoBusy); a tag indicating whether the servo motor (100) has accurately reached the target position (tStat_ServoINP); a tag indicating whether the servo motor (100) has performed a return to origin operation (tStat_ServoOrigin); a tag indicating whether the servo motor (100) is in the state of returning to origin (tStat_ServoOriginReturning); and tags indicating the limit sensor detection state (tStat_ServoLimitPlus, tStat_ServoLimitMinus), and the conversion relationship of exemplary API parameters of an A / C / L manufacturer are disclosed.

[0050] FIG. 4a is a table showing the conversion relationship between a first common tag for 'JOG operation' and the corresponding manufacturer-specific API parameters according to an embodiment of the present invention, FIG. 4b shows the API call format in which manufacturer-specific API parameters converted from the first common tag for 'JOG operation' are actually utilized according to an embodiment of the present invention, and FIG. 4c shows the manufacturer-specific non-common parameters and reference file format for 'JOG operation' according to an embodiment of the present invention.

[0051] JOG mode is an operation mode of the motion controller, which is a function that continuously drives the servo motor (100) at a speed set by the user, and is generally controlled via a keypad, button, or software interface and is used to manually operate the machine or set the position (teaching). Non-common parameters are stored and managed within a reference file JSON file, and if used in other modes, they can be managed as common variables within the file.

[0052] Similarly, FIG. 5a is a table showing the conversion relationship between a first common tag for a 'shortcut movement operation' and the corresponding manufacturer-specific API parameters according to an embodiment of the present invention, FIG. 5b shows the API call format in which the manufacturer-specific API parameters converted from the first common tag for a 'shortcut movement operation' are actually utilized according to an embodiment of the present invention, and FIG. 5c shows the manufacturer-specific non-common parameters and reference file format for a 'shortcut movement operation' according to an embodiment of the present invention.

[0053] The single-axis movement mode is an operation mode for moving to a target position based on the reference point (origin) of the servo motor (100), and includes a relative position movement mode that moves by a set distance based on the current position and an absolute position movement mode that moves to an absolute position regardless of the current position. Comparing FIG. 4a and FIG. 5a, it can be seen that the first common tag matches, and the non-common parameters are similarly managed within the JSON file.

[0054] FIG. 6a is a table showing the conversion relationship between a first common tag for 'origin shift' and the corresponding manufacturer-specific API parameters according to an embodiment of the present invention, FIG. 6b shows the API call form in which the manufacturer-specific API parameters converted from the first common tag for 'origin shift' are actually utilized according to an embodiment of the present invention, and FIG. 6c shows the manufacturer-specific non-common parameters and reference file form for 'origin shift' according to an embodiment of the present invention.

[0055] The home return function refers to the process of finding the home (reference point) of an axis in a motion control system. Through home return, the position of the drive device and the servo motor (100) can be accurately determined, and precise control becomes possible.

[0056] Parameters such as the motor's rotation direction can be derived during the conversion process without using separate tags by indicating the speed as positive for forward rotation and negative for reverse rotation.

[0057] FIG. 7a is a table showing the conversion relationship between a first common tag for a '2-axis linear interpolation movement mode' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention, FIG. 7b shows the API call format in which manufacturer-specific API parameters converted from the first common tag for a '2-axis linear interpolation movement mode' are actually utilized according to an embodiment of the present invention, and FIG. 7c shows the manufacturer-specific non-common parameters and reference file format for a '2-axis linear interpolation movement mode' according to an embodiment of the present invention.

[0058] The 2-axis interpolation movement mode is an operation mode of a motion controller or servo motor (100), and refers to a function of driving the servo motor (100) so that two or more axes reach a target position simultaneously. It is controlled by setting one master axis and one slave axis, and is driven based on the speed set on the master axis.

[0059] FIG. 8a is a table showing the conversion relationship between a first common tag for a '2-axis arc interpolation movement mode' and corresponding manufacturer-specific API parameters according to an embodiment of the present invention, FIG. 8b shows the API call format in which manufacturer-specific API parameters converted from the first common tag for a '2-axis arc interpolation movement mode' are actually utilized according to an embodiment of the present invention, and FIG. 8c shows the manufacturer-specific non-common parameters and reference file format for a '2-axis arc interpolation movement mode' according to an embodiment of the present invention.

[0060] The 2-axis arc interpolation movement mode is an operating mode of a motion controller or servo motor (100), and is an interpolation method that connects the path between the current position and the target position with a curve rather than a straight line. Generally, it is driven by connecting two points along an arc.

[0061] As can be seen from FIGS. 4a to 8c, the API parameters of the motion controller can be distinguished into API common parameters that have a correspondence and conversion relationship with the first common tag, non-common parameters that do not have a correspondence relationship, parameters inferred during conversion from other common parameters, and parameters among the API parameters that are 'not supported' and not used for simplification.

[0062] The present invention does not require modification or development of the upper controller (20) when the lower motion controller (10) is changed or added, and the change, addition, and expansion of the system can be easily performed by establishing a conversion relationship for each heterogeneous motion controller through an optional combination of common tags, non-common parameters, analogous parameters, 'not supported' parameters, etc.

[0063] Although embodiments of the present invention have been described above, those skilled in the art will understand that it is easy to modify or substitute all or part of the embodiments of the present invention without departing from the technical spirit of the present invention. Accordingly, the scope of protection of the present invention should be understood to extend to the patented invention described in the claims and its equivalents.

Claims

Claim 1 In a servo motor control system, one or more sub-motion controllers; adaptive control of the heterogeneous sub-motion controllers is possible according to a predetermined motion sequence or user input commands. one A servo motor control system characterized by comprising: a higher-level controller; a user interface for setting the operation sequence or the input command; a common tag storage unit for storing common tags corresponding to parameters having functional commonality among API parameters of heterogeneous motion controllers; a common tag conversion unit for generating data of the API parameters adaptive to one or more selected sub-motion controllers among the heterogeneous motion controllers based on the data of the common tags corresponding to the operation sequence or the input command, and providing such data to the one or more sub-motion controllers; and a file generation unit for generating a reference file for setting functionally non-common parameters among the API parameters of the heterogeneous motion controllers, and providing data of the non-common parameters corresponding to the sub-motion controllers to the sub-motion controllers according to the operation sequence or the input command. Claim 2 A servo motor control system according to claim 1, wherein the common tag storage unit further includes a common tag defined to correspond to a servo motor state information parameter of the heterogeneous motion controller, and the common tag conversion unit converts the servo motor state information provided from the lower motion controller into the corresponding common tag and provides it to the upper controller. Claim 3 A servo motor control system according to claim 2, wherein a common tag defined to correspond to the state information parameter of the heterogeneous motion controller comprises at least one of: a tag indicating whether an error has occurred in the servo motor; a tag indicating the operation preparation state of the servo motor; a tag indicating the state in which the servo motor is operating; a tag indicating whether the servo motor has accurately reached a target position; a tag indicating whether the servo motor has performed a home return operation; a tag indicating whether the servo motor is in the home return state; a tag indicating the limit sensor detection state; a tag indicating the command target position of the servo motor; a tag indicating the actual position of the servo motor; and a tag indicating the current movement speed of the servo motor, wherein the common tag is a tag not corresponding to the state information parameter of the heterogeneous motion controller, and includes tags indicating completion of single-axis movement, completion of multi-axis movement, completion of linear interpolation, and completion of circular interpolation. Claim 4 A servo motor control system according to claim 1, wherein the non-common parameter comprises a parameter representing at least one of an initial speed; an end speed; a buffer mode; a Jerk value when using S-curve acceleration or deceleration; a setting for whether to detect the encoder Z-phase after home search is completed; an encoder position; a home reset position; a home return mode; a direction of travel; and a speed mode. Claim 5 A servo motor control system according to claim 1, wherein the common tag corresponding to the parameters having the functional commonality comprises a parameter representing at least one of an axis number specifying a control axis; mode information for specifying one of jog control, relative movement, absolute movement, and origin movement; a movement target position; movement speed; acceleration; deceleration; execution status; and a manufacturer ID. Claim 6 A servo motor control system according to claim 1, characterized in that the common tag is an OPC UA tag. Claim 7 A servo motor control system according to any one of claims 1 to 6, wherein when the lower motion controller is changed to a heterogeneous new motion controller, the upper controller classifies first parameters corresponding to the common tag and second parameters not corresponding to the common tag among the API parameters of the new motion controller, the common tag conversion unit defines the correspondence relationship between the first parameters and the common tag, and the file generation unit generates the reference file defining the second parameter. Claim 8 A servo motor control system according to claim 7, wherein the upper controller extracts parameter information by making an API call based on the ID information of the new motion controller or receives it from an external reference server. Claim 9 A servo motor control method comprising: a step of setting a predetermined motion sequence or a user input command; a step of setting data of a common tag corresponding to the motion sequence or user input command; a step of converting and setting the data of the common tag into data of an API common parameter corresponding to a sub-motion controller; a step of additionally generating, based on the motion sequence or user input command, non-common parameter data that does not correspond to the common tag among the API parameters corresponding to the sub-motion controller as data of a non-common API parameter; and a step of executing the API based on the data of the common and non-common API parameters so that the sub-motion controller controls the servo motor. Claim 10 A servo motor control method according to claim 9, characterized by comprising: a step of classifying API parameters of the lower motion controller into common parameters corresponding to the common tag and non-common parameters not corresponding to the common tag when there is no conversion relationship between the API parameters of the lower motion controller and the common tag; and a step of creating a conversion relationship between the common parameters and the common tag.

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