JPH0680494B2 - Microcomputer emulation chip - Google Patents

Description

The present invention relates to an emulation chip for a microcomputer.

[Conventional technology]

Generally, an emulation chip of a single-chip microcomputer has a function equivalent to that of a single-chip microcomputer (hereinafter referred to as a target chip) to be emulated and a function specific to the emulation chip for improving the efficiency of debugging.

The functions specific to the emulation chip include displaying the status of internal registers of the emulation chip and
Privileged interrupt function that shifts to the mode that executes the emulation program for displaying I / O status (hereinafter referred to as supervisor mode), I / O with read attribute on the target chip It has an attribute expansion function that enables read / write, and emulation mode registers such as memory capacity setting registers that are compatible with target chips in the same family with different memory capacities.

In recent years, single-chip microcomputers are often used for real-time control systems such as servo motor control systems.

In order to debug the real-time control system, an emulation chip function peculiar to the real-time control system is required in addition to the conventional emulation chip function.

FIG. 3 is a block diagram of a servo motor control system using an example of a conventional microcomputer emulation chip.

The emulation chip 1b receives the feedback pulse signal S _F from the controlled unit 20 having the servo motor 12 and counts the real-time current position signal S _CP corresponding to the current position, and the feedback pulse. The signal S _F is input to the DOWN end, the target command pulse signal Sp is input to the UP end, and the deviation counter unit 3 having the deviation counter signal S _D of both signals is input, and the deviation counter signal S _D is input to calculate by the program memory 8. Then, the speed command signal S _{S is} sent from the speed control port 9 to the controlled unit 20.
And a processor unit 4 for supplying the.

FIGS. 4 (a) to 4 (d) are current position count signals for explaining the operation of the block of FIG. 3, respectively.
It is a timing diagram of a command pulse signal, a feedback pulse signal, and a deviation count signal.

Here, as shown in FIG. 4A, when the servo motor 12 is rotated by a target distance I _{T of,} for example, 10 cm, the target distance count P _T is set to 10 and set in the target position register 5.

First, when the level "0" is supplied to the reset terminal T _R , the reset signal S _R becomes active, and the current position counter 2 and the deviation counter 3 are both cleared to the level "0".
And the processor unit 4 is reset.

After resetting, the pro-set unit 4 outputs the address of the target position register 5 to the address AB, and also outputs a signal to the data bus DB until the time t ₂ to activate the write signal of the control bus CB.

Therefore, the period τ ₂ corresponding to the target rotation count P _T is written in the target position register 5.

As a result, the command panel enable signal S _E becomes active only during the period τ, and the buffer 7 opens only during that period.

Therefore, the clock signal S _C of the clock generator 6 is input to the UP end of the deviation counter 3 for a period τ as a command pulse signal S _P corresponding to the target distance count P _T via the buffer 7.

As shown in FIG. 4 (d), the deviation signal S _D inside the deviation counter 3 is based on the command pulse signal S _P and the feedback pulse signal S _F input from the servo motor 12 via the AD converter 10b. Change.

Here, the feedback pulse signal S _F of the rotation speed of the servo motor is as shown in FIG. 4 (c).

The processor unit 4 calculates based on the deviation counter signal S _D, and outputs a digital speed command signal S _S to the servo motor 12 from the speed control port 9.

This speed command signal S _S is calculated by the equation (1).

V (t) = ak (t) (1) where V (t): speed command value at time t, a: speed command constant, k (t): value of deviation counter signal at time t, t : At the time of sampling.

The processor unit 4 outputs the address of the deviation counter 3 to the address bus AD and activates the read signal of the control bus CB.

In this state, the deviation counter signal value K (t) is read via the data bus DB.

The processor unit 4 calculates the speed command value V (t) using the speed command constant a preset in the program memory 8 based on the read deviation counter signal value K (t).

Next, the processor unit 4 outputs the address of the speed control port 9 to the address bus AB, outputs the calculated speed command value V (t) to the data bus CB, and activates the write signal of the control bus CB.

As a result, the speed command value V (t) is written in the speed control port 9, and the written speed command value V (t) is used as the speed command signal.
It is supplied to the DA converter 10a as S _S via the output terminal T _S.

First, the operation of the servo motor 12 during the period of 0 ≦ t ≦ t ₁ will be described.

At the beginning, since the servo motor 12 is stationary,
The command pulser signal S _P is continuously input to the deviation counter 3 from the up end.

With the accumulation of the command pulse signal S _P , the speed command signal S _S calculated according to the equation (1) becomes larger and larger, and the rotational speeds of the servomotor 12 are accelerated.

As the rotation speed S of the servomotor 12 increases, the feedback pulse signal S _F also increases the count number C of the feedback pulse signal S _F input to the DOWN end of the deviation counter 3, and eventually the command pulse signal at time t = t ₁ . S _P
And the count number C of the feedback pulse signal S _F are both equal to C _T.

At this time, the value of the deviation counter 3 becomes "A".

The value of the deviation counter 3 is “A” during the period of t ₁ ≦ t ≦ t ₂ ,
The servo motor 12 operates at a constant speed.

After time t _2, the buffer is closed and the command pulse signal S _P
Is no longer in the deviation counter 3, the servo motor
Each time the feedback pulse signal S _F from 12 arrives, the value of the deviation counter 3 is subtracted and becomes smaller, the speed command signal S _S calculated according to the equation (1) becomes smaller, and the servo motor 12 decelerates. go.

Eventually, the value of the deviation counter 3 becomes "0" due to the sum and feed of the command pulse signal S _P , and the servo motor 1 stops.

As a result of the above series of operations, the servo motor 12 is moved to the position shown in FIG.
Target distance corresponding to distance count P _T as shown in
It means that it has rotated to l _T.

Generally, in a servo motor control system, the operating characteristics of the motor are not constant over the entire operating range, and the movement causes a moment of inertia or changes in required torque.

The coefficient for controlling in response to this changing mechanism is the speed command constant a.

If the speed command constant a is too large, overshoot occurs and the system becomes unstable.

When the speed command constant a is small, the transient response becomes worse.

Therefore, when the servo motor system is debugged, it is important to optimize the speed command constant a.

Here, a program corresponding to the speed command constant a is set in the program memory 8 in advance.

It should be noted that another external memory may be used instead of the program memory 8.

[Problems to be Solved by the Invention]

Since the internal current position counter value can be indirectly referred to from the processor unit only, the emulation chip of the conventional microcomputer described above has a control command for supplying the optimum control signal to the operating characteristics of the controlled hardware of the servo control system. When the constant is changed, there is a drawback in that the operation of the controlled unit cannot be confirmed due to the constant change.

When monitoring the transitional state of the hardware of the controlled unit, the operation of the emulation chip must be stopped every time monitoring is performed, and the value of the current position counter must be monitored by the emulation program using supervisor mode. I have to.

In this case, since the operation of the hardware of the controlled part is stopped by stopping the operation of the emulation chip, there is a drawback that the transient response situation cannot be confirmed.

It is an object of the present invention to provide an emulation chip for a microcomputer, in which the controlled state can be checked and the characteristics can be optimized easily.

[Means for Solving the Problems]

The microcomputer emulation of the present invention is
It has a real-time count signal corresponding to the feedback signal from the controlled unit. A real-time counter section, a deviation counter section that inputs the feedback signal and the command signal and outputs a deviation signal of both signals, and a calculation that inputs the deviation signal and supplies a control signal from the control port to the controlled section. An emulation chip of a servo microcomputer superior to a processor unit for performing the operation is configured by adding a bus for supplying the deviation signal or the real-time count signal and a monitor terminal.

〔Example〕

 Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a servo motor control system using the first embodiment of the present invention.

The emulation chip 1 is the same as the conventional emulation chip 1b except that a real-time output bus RB for outputting the current position signal S _CP of the current position counter 2 of FIG. 3 and a monitor terminal T _M are added. Is.

That is, the rotation distance l of the servo motor 12 is accumulated in the current position counter 2 as a feedback pulse signal S _F of the motor speed S, and the real-time content of the current position counter 2 corresponds to the current rotation distance of the servo motor. Current position signal S _CP
Is output to the monitor terminal T _M.

By monitoring the monitor end T _M while the emulation chip 1 is executing the application program, the time transition of the distance count of the servo motor 12 can be easily confirmed as shown in FIG. 4 (a).

You can easily check.

FIG. 2 is a block diagram of a servo motor control system using the second embodiment of the present invention.

The emulation chip 1a is the same as that of the first embodiment except that the real-time select mode register 13 and the selector 14 controlled by the select signal S _RS are added to the emulation chip 1 of FIG. .

The processor unit 4 outputs the address of the real-time select mode register 13 to the address bus AB after inputting the reset signal S _R, and sets the level “0” to the data bus DB when outputting the current position signal S _CP to the monitor terminal T _M.
And it outputs the outputs level "1" if you want to output the value of the deviation counter signal S _P output deviation counter 3 to the monitor terminal T _M to the data bus DB, and activates the write signal of the control bus CB.

As a result, when the level “0” or “1” is written in the real-time select mode register 13, the selector
The current position signal S _CP or the deviation counter signal S _D is output to the monitor terminal T _M via 14 and the real-time output bus RB.

According to this embodiment, during the emulation chip 1a is an application program, by monitoring the monitor end T _M, the time transition of the rotational distance count P of the servo motor 12 shown in 4 (a), or fourth There is an effect that the time transition of the deviation counter signal S _{D with} respect to the servo motor 12 shown in FIG.

In the first and second embodiments, the controlled unit corresponds to the servo motor, but the same effect can be obtained by applying the controlled unit having other physical inertia such as the heat generating unit and the pressurizing unit. .

〔The invention's effect〕

As described above, according to the present invention, it is possible to easily optimize the characteristics of the servo control system by adding the real-time output bus and the real-time output terminal to the conventional emulation chip, and shorten the man-hours for developing the servo system by the microcomputer. effective.

[Brief description of drawings]

FIG. 1 is a block diagram of a servo motor control system using the first embodiment of the present invention, FIG. 2 is a block diagram of a servo motor control system using the second embodiment of the present invention, and FIG. A block diagram of a servo motor control system using an example of a conventional microcomputer emulation chip, and FIGS. 4 (a) to 4 (d) are current position signals and command pulses, respectively, for explaining the operation of the blocks in FIG. It is a timing diagram of a signal, a feedback pulse signal, and a deviation counter signal. 1, 1a ... Emulation chip, 2 ... Processor unit, 3 ... Deviation counter, 9 ... Speed control port,
12 …… Servo motor, 14 …… Elector, S _CP …… Current position signal, S _D …… Deviation counter signal, S _F …… Feedback pulse signal, S _P …… Command pulse signal, S _S ….
… Speed command signal, T _M …… Monitor end.

Claims (1)

[Claims] 1. A real-time counter section having a real-time count signal corresponding to a feedback signal from a controlled section; a deviation counter section which inputs the feedback signal and a command signal and outputs a deviation signal of both signals; A bus for supplying the deviation signal or the real-time count signal in an emulation chip of a servo microcomputer having a processor section for inputting a deviation signal and performing a calculation for supplying a control signal from the control port to the controlled section, and An emulation chip for a microcomputer, characterized in that a monitor end is added.