CN102510339B - Ethernet networked connection device and system for realizing non-networked servo - Google Patents
Ethernet networked connection device and system for realizing non-networked servo Download PDFInfo
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Abstract
The invention discloses an Ethernet networked connection device and system for realizing a non-networked servo. The Ethernet networked connection device comprises an outer shell in which a control panel is arranged; the control panel comprises a core panel and a servo driving interface panel, the core panel is movably connected with the servo driving interface panel via a servo interface panel insert pin; the outer shell is of a two-half type structure, and the middle parts of the outer shell are connected via a buckle; openings respectively matched with a net opening, a terminal board and a servo plug on the core panel are positioned on the outer shell; and a chute matched with the core panel is positioned on the inner wall of the outer shell, and heat radiating holes are arranged at the bottom part of the outer shell. According to the invention, a network communication, a servo control and a servo driving connector are integrated on a small module; the driver is not required to perform any change and plugged on the control interface of the general servo driver so that the real-time Ethernet communication function is added to the general servo drive and replaces the complex connecting method of the original traditional servo interface for realizing the networked connection of the system.
Description
Technical field
The present invention relates to the servo networking jockey of a kind of tradition, relate in particular to a kind of ethernet network jockey and system that realizes non-network servo.
Background technology
Servo Drive Technology's is in recent years in control precision or the speed of service, all to have obtained development at full speed, but servo-driver interface is controlled the stage in pulsed quantity and analog signal for a long time, the traffic rate of this interface mode is low, control mode is complicated, has seriously hindered the development of high-grade servo techniques.On the other hand, industrial control network has experienced the development that controls to field bus technique by collecting and distributing.Although nowadays fieldbus still occupies this leading position, unified because its numerous and disorderly consensus standard is difficult to, and also message transmission rate is lower, is more and more difficult to meet requirement interconnected between inside plants smart machine and mass data transmission.
Ethernet technology rely on its widely user base, huge bandwidth, the advantage such as topological structure and networking mode causes gradually people's concern and starts to penetrate into industrial control field flexibly, and has produced thus Industrial Ethernet technology.Together with can easily office network being arrived with workshop net connection by use ethernet technology, realize net total solution on earth, therefore this technology has obtained extensive approval in the industry once appearance, and is considered to the best solution of industrial control network in the future.Although had at present the servo-drive product of industry ethernet on market, remained in actual production that to take the servo system of pulse and analog interface be main body.
For this reason, the invention discloses a kind of networked device for traditional servo-driver expansion real-time ethernet interface, realized traditional servo networking and connected, and provided concrete implementation and method of work.
Summary of the invention
The present invention is directed to general motor servo driver now and propose a kind of networking connection scheme, this scheme is integrated into network communication, SERVO CONTROL and servo-drive connector on a little device, only this device need be assigned on servo-driver control interface and can be servo-drive interpolation Industrial Ethernet interface, realize the networking of servo-drive; This device, except possessing the characteristic that real-time ethernet has, can also be realized the motion control functions such as location, return reference point, spacing control.
To achieve these goals, the present invention adopts following technical scheme:
A kind of ethernet network jockey of realizing non-network servo, it comprises shell, in shell, be provided with control board, described control board comprises core board and servo-drive interface board two parts, and described core board is flexibly connected with servo-drive interface board by servo interface plate contact pin; Described shell adopts two halves formula structure, and centre connects by buckle; On described shell, be respectively equipped with the opening matching with network interface, terminal board and servo plug on core board; Described outer casing inner wall is provided with the chute matching with core board, and described outer casing bottom is also provided with louvre.
One side of described core board is provided with two network interfaces, and opposite side is provided with terminal board socket, is provided with successively two network transformers between network interface and terminal board socket, and two physical chips and a FPGA, be also provided with a slice RAM and a slice FLASH on described core board.
Described servo-drive interface board upper end is provided with servo interface plate contact pin, lower end is servo plug, between servo interface plate contact pin and servo plug, be provided with communication expansion module, described communication expansion module adopts Mini USB interface, by RS485 or usb protocol chip and be connected with the FPGA on core board through servo interface plate contact pin.
Described shell both sides are also provided with two bolts hole that mate with servo-driver, and are bolted on servo-driver.
That described terminal board socket is provided with is spacing, back to zero, band-type brake and universal input interface.
A kind of ethernet network connected system of realizing non-network servo, it comprises main frame, main frame is connected with the network interface of several ethernet network jockeys by netting twine, and described ethernet network jockey directly assigns on servo-driver control interface by servo plug.
Detailed technology scheme of the present invention is as follows:
Ethernet network jockey is divided into shell and two parts of control board, and its housing adopts two halves formula structure, and centre connects by buckle, convenient disassembly.Enclosure interior is provided with gathering sill, is used for realizing the location to circuit board.This device is provided with the modules such as motor mouth, network interface, expansion mouth to meet the requirement of this device to different control functions.Outer casing bottom adopts mesh design, to facilitate the heat radiation of internal electronic element.
Control board comprises core board and two modules of servo-drive interface board, uses double contact pin (being servo interface plate contact pin) connect and complete exchanges data with this between module, and whole control board is positioned by the gathering sill of enclosure interior.Housing both sides are provided with bolt fixing hole, therefore in this module, after assigning into servo-driver by servo plug, can also fix with bolt, thereby make stable connection reliable.
On core board, dispose a slice FPGA(Field programmable Gate Array) chip and two ethernet physical layer protocol chips.SOPC(System on a Programmable Chip) flexibility of technology can not change under the prerequisite of core board hardware core board, by reconfiguring FPGA program, realizes dissimilar Ethernet protocol.For guaranteeing to have extended out a slice RAM(Random Access Memory on enough large program running space core boards) and a slice program storage Flash.The design of two network interfaces makes this invention can support different network topology structures; Terminal board provides the function of spacing, back to zero, band-type brake and universal I/O input for user.
Servo-drive interface board directly assigns on servo-driver control interface.The different requirements of controlling for meeting servomotor Position Control, speed control and torque, interface board can be divided into pulse control and analog quantity is controlled two types.According to the difference of different manufacturers servo-driver control interface definition, the pinout of the servo joint on interface board slightly changes.In actual use procedure, for different servo systems, the servo-drive interface board that only needs replacing to match with this brand driver can be realized the networking of different servo system is connected.
Servo-drive interface board is provided with a serial communication expansion module, the outside Mini USB interface that adopts, through RS485 or usb protocol chip and be that servo interface plate contact pin is connected with the FPGA of core board by being flexibly connected contact pin, by the IP kernel (Intellectual Property Core) for FPGA interpolation different agreement, make this module can support the communications protocol such as RS485/USB.This interface can adopt the mode of aerial lug to be connected with driver communication interface, thereby realizes the visual debugging of driver, the Remote configuration of parameter and the remote diagnosis of fault, guarantees the optimized running of servo system.
The present invention adopts above technical scheme, has following technological merit:
1, do not need servo-driver hardware to do any change, as long as ethernet network jockey is installed on servo-driver Electric Machine Control mouth can be general servo interpolation Industrial Ethernet interface, realize networking and connect, implementation simple and flexible.And this device is compact to design, volume is little, on the almost not impact of original driver profile, and compact design is more conducive to the reliability of mechanical connection.
2, shell adopts the mode that buckle-type connects, and is convenient to dismounting; In addition, abundant interface can meet different control requirements.Enclosure interior is provided with gathering sill, can inner control board be positioned; The heat radiation of electronic component on control board is convenient in the louvre design of outer casing bottom.
3, servo-drive interface board has replaced traditional motor lines with the connection of card insert type, and connected mode is convenient reliable; And because the wiring link in the middle of having reduced can make the reliability of entire system strengthen.
4, the design of the two network interfaces on core board has increased networking flexibility, can realize chain, annular and the multiple network topological structure such as star-like according to different demands.
5, the modularized design that adopts core board and servo-drive interface board to be separated, middle with contact pin connection, for convenience detach; For being only required to be FPGA in different application, configuring different protocol stacks or change servo-drive interface board and can realize the networking control to different servo driver.Design architecture based on FPGA has increased the flexibility of system, can realize the real-time ethernet scheme of different agreement type by configure different programs for FPGA.
6, for different servo-drivers, servo-drive interface board is provided with communication expansion module, by this module, can the parameter of servo system be carried out Remote configuration and can be realized the remote monitoring of motor status and failure diagnosis.
Accompanying drawing explanation
Fig. 1 a is traditional SERVO CONTROL connected mode schematic diagram:
Fig. 1 b is connected mode schematic diagram of the present invention:
Fig. 2 a is contour structures schematic diagram of the present invention;
Fig. 2 b is control board structural representation of the present invention;
Fig. 3 is enclosure structural representation;
Fig. 4 is core board structural representation;
Fig. 5 is servo interface plate structure schematic diagram;
Fig. 6 a is chain-shaped network topological structure connection layout;
Fig. 6 b is loop network topological structure connection layout;
Fig. 6 c is hub-and-spoke network topology structure connection layout;
Fig. 7 is the hierarchical chart of implementation;
Wherein: 1, the industrial computer of motion control card is housed, 2, SERVO CONTROL cable, 3, servo-driver, 4, servo splicing ear, 5, straight through cable, 6, ethernet network jockey, 7, industrial computer, 21, shell, 22, communication expansion module interface, 23, network interface, 24, louvre, 25, connecting bolt, 26, servo-driver interface, 27, core board, 28, servo-drive interface board, 29, servo interface plate contact pin, 30, servo interface plate socket; 31, gathering sill, 32, buckle; 42, network transformer, 43, physical chip, 44, FPGA, 45, Flash, 46, RAM, 47, IO terminal board socket; 51, servo plug, 52, communication expansion module, 53, signal conversion chip.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail.
Be traditional SERVO CONTROL connected mode schematic diagram as shown in Figure 1a, the industrial computer 1 that motion control card is housed passes through SERVO CONTROL cable 2 and is connected with servo splicing ear 4, and servo splicing ear 4 is directly connected with servo-driver 3; Be connected mode schematic diagram of the present invention as shown in Figure 1 b, this figure is by directly assigning into ethernet network jockey 6 on servo-driver 3, thereby can be the upper real-time ethernet linkage function of servo-driver interpolation easily, and directly be connected with standard industry computer 7 by straight through cable 5; This mode of Fig. 1 b has replaced the pattern of adding PCI motion control card in traditional Fig. 1 a in mainframe box, with straight through cable 5, has replaced complicated SERVO CONTROL cable 2 and servo splicing ear 4, has simplified system configuration.
As shown in Figure 2 a and 2 b, this contrive equipment is divided into shell and control board two parts, and device is provided with servo-driver interface 26, communication expansion module interface 22 and network interface 23, to meet the requirement of this device to different control board peripheral hardwares.Its housing 21 adopts two halves formula structure, between two halves housing, by buckle 32, connects, and convenient disassembly, connects reliably, as shown in Figure 3.Enclosure interior is provided with gathering sill 31, with this, realizes the location of control board.The bottom of shell 21 adopts louvre 24 designs, facilitates the heat radiation of electronic component in shell.Whole module assigns on servo-driver 3 control interfaces by the servo plug 51 of SCSI of 50 cores, and is fixed through the bolt hole of both sides.
Control board comprises core board 27 and 28 two modules of servo-drive interface board, and its structure respectively as shown in Figure 4, Figure 5.Servo-drive interface board contact pin 29 can directly assign on servo interface plate socket 30.27 two intermodules of servo-drive interface board 28 and core board carry out exchanges data by servo-drive interface board contact pin 29.Whole control board is connected location by the gathering sill 31 of enclosure interior with shell 21, is more directly assigned on servo-driver 3 by servo-drive interface 26, and uses the connecting bolt 25 of shell 21 both sides to be fixed.Therefore this device can be realized general servo networking is connected on the basis that does not change original driver hardware structure.In actual use, for different servo-driver 3, without core board 27 is made to any change, as long as can realizing with different model driver, the servo-drive interface board 28 that replacing matches with this servo-driver 3 is connected.
On core board 27, dispose 42, two physical chips 43 of 23, two network transformers of two network interfaces, a slice fpga chip 44, one program memory flash 45, a slice extends out RAM 46, servo interface plate socket 30 and IO terminal board 47; Core board 27 mainly completes the functions such as Ethernet data transmitting-receiving, protocol analysis, motor and IO control.Wherein FPGA is responsible for nearly all data operation and logical process task, and flash 45 is for depositing the configurator of FPGA 44, and the RAM 46 extending out is as the expansion of FPGA ram in slice is used for providing larger running space for application program.By configuring different FPGA programs, core board 27 can be realized different industrial ethernet protocols; In view of the flexibility of programmable system on sheet, can in the soft core of FPGA, realize easily the application layer programs such as Electric Machine Control, parameter adjusting.And the project organization of two network interfaces is easier to networking, can conveniently realize chain, annular, the network topology structure such as star-like, structure is more flexible, as shown in Fig. 6 a and Fig. 6 b.The basic motion interface such as that IO terminal board 47 is provided with is spacing, back to zero, band-type brake and universal input.
According to different servo control modes, servo-drive interface board 28 can be divided into Position Control (pulse put in marks mode) and analog quantity is controlled two types.Pulse and direction signal that in Position Control mode, servo-drive interface board 28 receives from core board 27 send to motor driver to realize Electric Machine Control after the signal conversion chip 53 of servo-drive interface board 28; In analog quantity control mode, between servo-drive interface board 28 and core board 27, pass through serial bus communication, the DA chip on interface board is converted into analog voltage by control data and controls motor action; The encoder information of motor execution result turns back to by interface board in the FPGA of core board 27, and fit applications layer program realizes PID and regulate scheduling algorithm.Except motor control module, on servo-drive interface board 28, also has a communication expansion module 52.This module can be connected on the communication interface of driver by aerial lug, for different servo-drive types, by add corresponding interface protocol IP kernel in FPGA, can realize corresponding protocol conversion, thereby realize to the Remote configuration of the parameter of electric machine with to the remote monitoring of motor status and failure diagnosis thereof.
The system hierarchy of this device as shown in Figure 7.In system running, level signal on netting twine is delivered in PHY chip through after transformer, bit stream in PHY chip, decode and transform after send to FPGA.Network control module in FPGA is resolved it according to corresponding agreement after receiving from the packet of bottom, and leaves in two-port RAM and wait for that application layer program reads after application data is extracted; Application layer program is obtained control data from correspondence memory address according to protocol requirement, realize the operation to each peripheral module.
The peripheral hardware that FPGA controls mainly comprises the modules such as Electric Machine Control, IO control and communication expansion.The control information of obtaining from network is converted into pulse to motor control module or analog signal is controlled motor action, in this simultaneously, FPGA program reads motor encoder state in real time, and between node the synchronous moment coder state is latched and is placed in two-port RAM, wait for that the bus cycles upload to host node while arriving.Spacing state, back to zero on off state, control motor that IO control module is responsible for monitoring actuator enable, remove the tasks such as motor warning message.
The serial communication expansion module 52 of servo-drive interface board 28 is provided with different physical layer protocol chips in advance, by add the IP kernel of different agreement for FPGA, realizes the agreements such as RS485/USB.This module can be connected with driver communication interface by aerial lug, realizes the visual debugging of driver, the Remote configuration of parameter and the remote diagnosis of fault, thus the optimized running of assurance servo system.
Embodiment 1: described in patent, on this device, realized a kind of novel industrial real-time ethernet EtherMAC(Ethernet for Manufacture Automation Control), can support to reach 254 from node, maximum transmission distance between the situation lower node without any need for relaying can arrive 100 meters, adopt patent " a kind of realize apparatus and method synchronous between Ethernet chain-like network nodes " (patent No.: ZL200710014419.2) described synchronously to time mode, can between node, can obtain the synchronization accuracy of be less than ± 100ns.
Embodiment 2: in core board FPGA, load Powerlink slave station IP kernel, coordinate different servo-drive interface boards, can realize a servo slave station of standard of supporting Powerlink.
Embodiment 3: in core board FPGA, load EtherCAT slave station IP kernel, or on core board, add EtherCAT Ethernet chip, then to coordinate different servo-drive interface boards can be EtherCAT interface in general servo interpolation.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (1)
1. an ethernet network jockey of realizing non-network servo, it is characterized in that, it comprises shell, in shell, be provided with control board, described control board comprises core board and servo-drive interface board two parts, and described core board is flexibly connected with servo-drive interface board by the double contact pin of servo interface plate; Described shell adopts two halves formula structure, and centre connects by buckle; On described shell, be respectively equipped with the opening matching with network interface, terminal board and servo plug on core board; Described outer casing inner wall is provided with the chute matching with core board, and described outer casing bottom is also provided with louvre, and described outer casing bottom adopts the grid that facilitates internal electronic element heat radiation,
One side of described core board is provided with two network interfaces can supporting different network topology structures, opposite side is provided with terminal board socket, between network interface and terminal board socket, be provided with successively two network transformers, two physical chips and a FPGA, on described core board, be also provided with a slice RAM and a slice FLASH
Described servo-drive interface board upper end is provided with servo interface plate contact pin, lower end is servo plug, between servo interface plate contact pin and servo plug, be provided with communication expansion module, described communication expansion module adopts Mini USB interface, by RS485 or usb protocol chip and be connected with the FPGA on core board through servo interface plate contact pin, in actual use procedure, for different servo systems, only need to change the servo-drive interface board matching with this brand driver
Described shell both sides are also provided with two bolts hole that mate with servo-driver, and are bolted on servo-driver,
That described terminal board socket is provided with is spacing, back to zero, band-type brake and universal input interface, it comprises main frame, main frame is connected with the network interface of several ethernet network jockeys by netting twine, and described ethernet network jockey directly assigns on servo-driver control interface by servo plug;
Device is realized general servo networking is connected on the basis that does not change original driver hardware structure; In actual use, for different servo-drivers, without core board being made to any change, as long as the servo-drive interface board that replacing matches with this servo-driver is realized with different model driver, be connected;
Core board completes Ethernet data transmitting-receiving, protocol analysis, motor and IO and controls function; Wherein FPGA is responsible for all data operation and logical process tasks, and flash is for depositing the configurator of FPGA, and the RAM extending out provides larger running space as the expansion of FPGA ram in slice is used for for application program; By configuring different FPGA programs, core board is realized different industrial ethernet protocols; In view of the flexibility of programmable system on sheet, in the soft core of FPGA, realize easily Electric Machine Control, parameter adjusting application layer program; And the project organization of two network interfaces is easier to networking, conveniently realize chain, annular, hub-and-spoke network topology structure, structure is more flexible, and that IO terminal board is provided with is spacing, back to zero, band-type brake and the basic motion interface of universal input;
According to different servo control modes, servo-drive interface board is divided into Position Control and analog quantity is controlled two types; In Position Control mode, servo-drive interface board receives pulse and the direction signal from core board, after the signal conversion chip of servo-drive interface board, sends to motor driver to realize Electric Machine Control; In analog quantity control mode, between servo-drive interface board and core board, pass through serial bus communication, the DA chip on interface board is converted into analog voltage by control data and controls motor action; The encoder information of motor execution result turns back to by interface board in the FPGA of core board, and fit applications layer program realizes PID and regulate algorithm; Except motor control module, on servo-drive interface board, also has a communication expansion module; This module is connected on the communication interface of driver by aerial lug, for different servo-drive types, by add corresponding interface protocol IP kernel in FPGA, realize corresponding protocol conversion, thereby realize to the Remote configuration of the parameter of electric machine with to the remote monitoring of motor status and failure diagnosis thereof;
In system running, level signal on netting twine is delivered in PHY chip through after transformer, bit stream in PHY chip, decode and transform after send to FPGA; Network control module in FPGA is resolved it according to corresponding agreement after receiving from the packet of bottom, and leaves in two-port RAM and wait for that application layer program reads after application data is extracted; Application layer program is obtained control data from correspondence memory address according to protocol requirement, realize the operation to each peripheral module;
The peripheral hardware that FPGA controls mainly comprises that Electric Machine Control, IO control and communication expansion module; The control information of obtaining from network is converted into pulse to motor control module or analog signal is controlled motor action, in this simultaneously, FPGA program reads motor encoder state in real time, and between node the synchronous moment coder state is latched and is placed in two-port RAM, wait for that the bus cycles upload to host node while arriving; Spacing state, back to zero on off state, control motor that IO control module is responsible for monitoring actuator enable, remove motor warning message task;
The serial communication expansion module of servo-drive interface board is provided with different physical layer protocol chips in advance, by add the IP kernel of different agreement for FPGA, realizes RS485/USB agreement; This module is connected with driver communication interface by aerial lug, realizes the visual debugging of driver, the Remote configuration of parameter and the remote diagnosis of fault, thus the optimized running of assurance servo system.
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| CN110324213B (en) * | 2018-03-31 | 2021-04-09 | 神盾网络安全信息化中心股份有限公司 | Data transmission method for smart home |
| CN108918429A (en) * | 2018-06-20 | 2018-11-30 | 中国科学院西安光学精密机械研究所 | A kind of online and offline spectrum data gathering device based on linear array detector |
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| CN202334575U (en) * | 2011-11-23 | 2012-07-11 | 济南凌康数控技术有限公司 | Ethernet networking connecting device and system for realizing non-network servo |
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Application publication date: 20120620 Assignee: Shandong Rifa Textile Machinery Co., Ltd. Assignor: Jinan Linkon CNC Technology Co., Ltd. Contract record no.: X2019370000003 Denomination of invention: Ethernet networked connection device and system for realizing non-networked servo Granted publication date: 20141203 License type: Exclusive License Record date: 20190830 |
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