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US 10,649,426 B2Granted
Motor control device, control method, information processing program and recording medium
AssigneeOMRON Corporation
InventorsTakao Ushiyama, Satoshi Yamawaki, Takaya Kitano
Life of this patent
Estimating the term…
Abstract
The present invention can stabilize driving of a motor even if multiple control instructions of driving the motor are acquired through non-real-time communication. A servo driver (10) does not perform processing corresponding to other control commands when acquiring the other control commands from other interfaces through non-real-time communication in a process of performing processing corresponding to a control command acquired via one interface and through non-real-time communication.
Claims11
A motor driver, comprising:
- multiple interfaces, receiving control commands through a non-real-time communication and a real-time communication, wherein the real-time communication is a cyclic communication that uses a process data object protocol to exchange data at a fixed cycle, and the non-real-time communication is a communication that uses a service data object protocol to exchange data at any timing;
- and
- a control portion, comprising:
- an acquisition portion acquiring the control commands via the multiple interfaces respectively, wherein the control commands comprise a first control command for controlling driving of a motor acquired through the non-real time communication via one of the interfaces and a second control command acquired through the real-time communication via an other one of the interfaces;
- a command processing portion, configured to perform processing of the control commands;
- and
- an exclusive limiting portion, configured to:
- perform an excluding action to stop transmitting the second control command acquired through the real-time communication to the command processing portion during a period when the first control command acquired through the non-real-time communication for controlling driving of the motor is being performed by the command processing portion in response to determining that the second control command comprises a command for controlling driving of the motor, and
- transmit the second control command acquired through the real-time communication to the command processing portion during the period when the first control command acquired through the non-real-time communication for controlling driving of the motor is being performed by the command processing portion in response to determining that the second control does not comprise the command for controlling driving of the motor,
- wherein the command processing portion executes the control commands transmitted from the exclusive limiting portion to control the motor.
7 more elements
A method of data signalling control, wherein the method comprising:
- an acquisition step of acquiring control commands through a non-real-time communication and a real-time communication via the multiple interfaces, wherein the real-time communication is a cyclic communication that uses a process data object protocol to exchange data at a fixed cycle, the non-real-time communication is a communication that uses a service data object protocol to exchange data at any timing, and the control commands comprise a first control command for controlling driving of a motor acquired through the non-real time communication via one of the interfaces and a second control commands acquired through the real-time communication via an other one of the interfaces;
- a command processing step of performing processing of the control commands;
- and
- an exclusive limiting step of performing an excluding action to stop transmitting the second control command acquired through the real-time communication during a period when the first control command acquired through the non-real-time communication for controlling driving of the motor is being performed by the command processing portion in response to determining that the second control command comprises the command of controlling driving of the motor, and
- transmitting the second control command during the period when the first control command for controlling driving of the motor is being performed by the command processing portion in response to determining that at least one of the first control command and the second control command does not comprise the command of controlling driving of the motor;
- and
- executing the transmitted control commands to control the motor.
4 more elements
Dependencies are inferred from the claim text.