Multicore Control Apparatus Parallel Motion Computation
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Solution Overview
Problem
Current control apparatuses for machinery and equipment with motors face challenges in reducing computation time for input data processing and command value output, particularly due to the sequential execution of short-cycle and long-cycle motion programs, which burdens users with complex program design and lengthy execution cycles.
Innovation Solution
A control apparatus with a multicore processor configuration, where a first core executes short-cycle motion computation programs and a second core executes long-cycle programs in parallel, allowing independent execution cycles for input, computation, and output operations, facilitated by a scheduling program that manages execution sequences and priorities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sequential execution of short-cycle and long-cycle motion programs is used, then execution priority can be ensured, but overall execution time increases and productivity decreases
Solution Approach 1:
The control apparatus divides the motion control functionality into separate segments: a first motion computation program running at a first control cycle and a second motion computation program running at a second control cycle. Each segment operates independently with its own execution timing, allowing short-cycle and long-cycle programs to execute in parallel without interfering with each other's priority requirements.
Solution Approach 2:
The invention transitions from sequential execution (one-dimensional time progression) to parallel execution by utilizing multiple independent execution threads. The first and second motion computation programs run simultaneously in different execution dimensions, with each having its own control cycle and timing mechanism, thereby achieving both priority assurance and reduced overall execution time.
2Ease of operation
If long-cycle motion program execution is restricted to after short-cycle program ends, then execution order is controlled, but the long-cycle execution cycle becomes lengthy
Solution Approach 1:
The control system segments the motion computation into two independent programs with distinct execution cycles. The first motion computation program operates at the first control cycle while the second motion computation program operates at the second control cycle, which can be shorter than the traditional restricted execution cycle. This segmentation allows each program to complete execution more quickly while maintaining proper control ordering through the scheduling mechanism.
3Adaptability or versatility
If multiple control programs are created with different execution cycles, then control flexibility improves, but program design complexity increases
Solution Approach 1:
The control apparatus implements a universal scheduling mechanism that manages multiple motion computation programs with different control cycles through a unified architecture. The first and second motion computation programs, along with their respective input and output programs, are handled by a common control system that automatically coordinates their execution timing, cycles, and data flow. This multi-functional scheduling system provides control flexibility while abstracting away the complexity of managing multiple execution cycles from the user.
Data Source
AI summary
Provided is a control apparatus that can, by causing multiple control programs that include motion computation programs to be executed in parallel, shorten the execution cycle of control programs that are executed cyclically. A microprocessor is configured to execute multiple control programs in parallel. When executing communication commands included in control programs that are to be executed in parallel, a scheduling program causes the microprocessor to execute the communication commands such that there is no competition between communication processes in a communication controller.