Highspeed Distributed Motion Control System and Control Method

High-speed distributed motion control system and control method {Highspeed Distributed Motion Control System and Control Method}

11 is a network configuration showing a closed network to which the present invention is applied.

2Figure 2 is a block diagram showing the functional internal configuration of each of the slave nodes.

3The present invention relates to a high-speed distributed motion control system and a control method, a high-speed distributed motion control system and a control method for handling a dynamic link and the synchronization control between the specific control node for a distributed real-time motion control.

4In general, the control node will be distributed to the distributed motion control over the network and control data will be transmitted over the network.

5For this reason, the main disadvantage of the distributed motion control is that it is difficult to match the link and a synchronization between the control node than the centralized motion control in real time.

6They were trying to solve the prior art with a view to improving the transfer rate of the physical transmission medium of the network in order to solve this problem.

7However, and despite shipping and handling path for the data and that there is still a complicated problem.

<p num="8">It is therefore an object of the invention to provide a motion control system and the distributed control method for providing enhanced control and synchronization control links between nodes on the same physical transmission rate. </p><p num="9">Other objects, features and advantages of the invention will be understood more clearly through embodiment to be described below.</p>

<p num="10">According to an aspect of the invention, in a closed network is configured as the master node and multiple slave nodes, real-time control data in the network layer of the OSI layer processing and non-real-time control data using a MAC frame from the data link layer of the OSI layer The high-speed distributed motion control system is disclosed for processing by using the IP data.</p><p num="11">Preferably, the real-time control data is included in the source address (SA) of the MAC frame.</p><p num="12">The slave nodes each includes a MAC processing unit 100, the ring processing section 200, and the IP process and a portion (300), the MAC processing, then a report DA (Destination Address) of the MAC frames coming to the slave node MAC address If the MAC address to determine whether a match, which match real-time control data is transmitted to the real-time and non-real-time control data processing control data (IP data), the MAC receiving unit for transmission to the IP processing unit through the ring processing; If the MAC address does not match, the control data received from the MAC receiving bypass MAC transmitting unit for transmission to the next slave node; And and receives the SA of the MAC frame including the real-time control data processing section to perform a control process, IP processing unit receives the non-real-time control data transmission processing for the non-real-time control data, the ring processing section is the master node and the slave node, The operation to connect the ring.</p><p num="13">According to another aspect of the invention, the master node and in the closed network formed of a plurality of slave nodes, the real-time control data in the data link layer of the OSI layers, including the source address (SA) of the MAC frame processing and transmitted between the nodes, non-real-time control data is high-speed distributed motion control method for handling the transmission between the nodes, including the IP data in the network layer of the OSI layers are provided.</p><p num="14">With reference to the accompanying drawings, it will be described an embodiment of the present invention.</p><p num="15">1 is a network configuration showing a closed network to which the present invention is applied.</p><p num="16">As shown, one master node M and comprises a plurality of slave nodes S1 to S7. </p><p num="17">A master node, the slave node from the M S2, S4, and S6 to or in real-time control command that requires processing transmission, between the slave nodes, for example, the slave node S7 at the slave nodes S3 or the slave node, the slave node in S4 S5 and real-time synchronization control command that requires the process to S6 can be transmitted. To the control data to the real-time processing requires, for example, there is a synchronization start command and synchronization stopped. In addition, although not shown, that it does not need to be processed in real-time from the master to the slave node S1-S7 slave M control data, for example, there is a command requesting the status information of each node can be transmitted.</p><p num="18">According to the invention, the control data that requires real time process control by transmitting using the second layer, the data link layer of the OSI layer over Ethernet MAC frame performs the hardware processing, which does not require real-time processing of data is an IP frame, by transmitting with a third layer, the network layer of the OSI layers is performed by the software processing.</p><p num="19">Preferably, SA (Source Address) of the nature of a closed network, the MAC frame can be transferred and with a control data that requires real-time processing to the SA because it is not used.</p><p num="20">Figure 2 is a block diagram showing the functional internal configuration of each of the slave nodes. </p><p num="21">As shown, the slave node S1-S7 is provided with an MAC processing unit 100, the ring processing section 200, and the IP processing section 300.</p><p num="22">MAC processor 100 comprises a MAC receiving unit 110 and, MAC reception unit 110 and the MAC transmission unit connected to a bypass 120.</p><p num="23">The MAC receiving unit 110 to determine whether a match, the DA (Destination Address) to report MAC addresses of the MAC frames coming to the slave node. If the MAC address matches, the real-time control data is sent to the real-time control data processing unit 130 is sent to the non-real-time control data (IP data), the IP processing section 300 through the ring receiving unit 210 of the ring processor 200 It is.</p><p num="24">On the other hand, if the MAC address does not match, and the by-pass to the MAC transmission unit 120, the MAC transmission unit 120 is transmitted from the MAC receiving unit 110, the bypass data to the next slave node.</p><p num="25">The real-time control data processing unit 130 receives the SA of the MAC frame performs a control process. Information per node for the dynamic link in the SA data transmitted, for example, the synchronization start and processing the synchronization stop command to the hardware and control from a master node M command or other synchronization control passed to the slave node S1-S7 The real-time processing the command.</p><p num="26">IP processing 300 is, for example, receiving IP data to a processor to process the non-real-time control data in the IP.</p><p num="27">On the other hand, the transmission medium between the master node and the slave node optical fiber, configure redundant ring to automatically repair network during the cutting of the fiber-optic cable (cw, ccw) and and operation of the redundant ring is carried out in the ring processing unit (200). </p><p num="28">Ring is made of a processor 200 receiving ring 210 and the ring transmission 220, the normal data processing of one of the two rings or respectively transmit the data input to the redundant ring.</p><p num="29">The following will describe the distributed motion control method according to this configuration.</p><p num="30">The master node M will be described by assuming the case of transmitting the control command to the slave node S2.</p><p num="31">The synchronization start control data that requires real-time processing are stored in SA of the MAC frame. As described above, the closed network can be used in both the SA because SA consisting of 6 bytes are not used in the MAC frame. Further, the control data which does not require real-time processing such as a control command to transmit the status information of the slave node S2 is driven on the IP frame.</p><p num="32">Sending the master node M is a real-time control command to the MAC frame and the slave node S2 to IP frames, including a non-real-time control command, including, MAC reception unit of a slave node S2 (110) matching the MAC address with reference to the DA MAC frame checks whether.</p><p num="33">If the MAC address to be checked does not match, the MAC receiving unit 110 of the MAC frame to the MAC transmitting bypass 120 and the MAC transmission unit 120 transmits the data to bypass the next slave node.</p><p num="34">If the MAC address is checked to be consistent, real-time control data is sent in real-time control data processing unit 130, a real-time control data processing unit 130 and the control command from the master node M to read the control data from the SA of the MAC frame It performs the synchronous control command from the other slave nodes.</p><p num="35">In addition, non-real-time control data is non-real-time control command is executed by the processor to configure the IP processing section 130 is sent to the IP processing section 300 included in the IP frame. </p><p num="36">On the other hand, conventionally transmits the synchronization control information generated on the slave node A to the master node, the master node has been passed to the synchronization control information to the indirect communication mode by sending a slave node B for the purpose of the information, according to the present invention between the slave node The process for the synchronous control command is made through a direct communication between the slave nodes. </p>

<p num="37">As it described above, according to the present invention, the dynamic link and a synchronization between the nodes has the advantage of real-time to process. That is, the conventional data processing method of processing IP analysis in layer-3 levels in the IP data in software is so affected by the performance of the processor and the OS, there is a limit to the real-time processing. However, the present invention can be carried out so that the hardware processing in the layer-2 levels in the MAC frame to the real-time process control data required among the nodes.</p><p num="38">In addition, conventionally, was sent to the distinct types of data have been made through the IP data to the non-real-time data with real-time data, the real-time processing is impossible. However, non-real-time control in accordance with the present invention data is transmitted to the slave nodes through the IP frame ratio perform real-time processing, and sync start, sync stop real-time control and data is the real-time processing by transmitting using the SA data in the MAC frame, It can be carried out.</p><p num="39">Furthermore, the real-time control data between the slave nodes without passing through the master node can be transmitted through a direct communication between the slave nodes.</p>