Controller, data transfer system of controller, and data transfer method
AssigneeFanuc Corporation
InventorKatsuhiro ENDOU
Life of this patent
Estimating the term…
Abstract
A numerical controller includes a main control unit configured to analyze a program and a motor control unit configured to control a motor. In the case where motor control data is transferred from the main control unit to the motor control unit via a serial bus, instead of transferring all pieces of the motor control data to each shaft one by one, when the motor control data repeats a specific pattern, the repetition pattern and the number of repetitions are transferred, and the repetition pattern is duplicated in the motor control unit.
Claims7
A controller for generating motor control data of an industrial machine, and controlling drivers in the industrial machine according to the motor control data, the controller comprising:
- a control data holder configured to hold motor control data of the drivers for each driver in the industrial machine;
- a control amount calculator configured to obtain a control amount of the drivers for each control cycle;
- a control data generator configured to convert the control amount for each control cycle into motor control data including a command pulse and data containing at least one of a torque command, a current cycle, or a control mode;
- a repetition pattern determinator configured to determine presence or absence of a repetition pattern in the motor control data;
- a repetition pattern generator configured to calculate the number of repetitions of the repetition pattern;
- a pattern data transferor configured to transfer the repetition pattern to a control unit for the drivers;
- a pattern notificator configured to transfer information related to the repetition pattern including the number of repetitions to the control unit for the drivers;
- and
- a pattern data generator configured to duplicate the repetition pattern the number of repetitions, and write the duplicated repetition pattern to the control data holder for each control cycle.
A data transfer system for generating motor control data of an industrial machine, and controlling drivers in the industrial machine according to the motor control data, the data transfer system comprising:
- a control data holder configured to hold motor control data of the drivers for each driver in the industrial machine;
- a control amount calculator configured to obtain a control amount of the drivers for each control cycle;
- a motor control data generator configured to convert the control amount for each control cycle into motor control data including a command pulse and data containing at least one of a torque command, a current cycle, or a control mode;
- a repetition pattern determinator configured to determine presence or absence of a repetition pattern in the motor control data;
- a pattern data transferor configured to transfer the repetition pattern to a control unit for the drivers;
- a pattern notificator configured to transfer information related to the repetition pattern including the number of repetitions to the control unit for the driver;
- and
- a pattern data generator configured to duplicate the repetition pattern the number of repetitions, and write the duplicated repetition pattern to the control data holder for each control cycle.
A data transfer method for transferring data from a main control unit for generating motor control data of an industrial machine to a control unit for controlling drivers in the industrial machine based on the motor control data, the data transfer method comprising:
- calculating a control amount of the drivers for each control cycle;
- converting the control amount for each control cycle into motor control data including a command pulse and data containing at least one of a torque command, a current cycle, or a control mode;
- determining presence or absence of a repetition pattern in the motor control data;
- calculating the number of repetitions of the repetition pattern;
- transferring the repetition pattern to the control unit for the drivers;
- and
- duplicating the repetition pattern the number of repetitions to generate the motor control data.
Dependencies are inferred from the claim text.