CN116069703B - Encoder communication mode conversion device and method - Google Patents
Encoder communication mode conversion device and method Download PDFInfo
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- CN116069703B CN116069703B CN202310330738.3A CN202310330738A CN116069703B CN 116069703 B CN116069703 B CN 116069703B CN 202310330738 A CN202310330738 A CN 202310330738A CN 116069703 B CN116069703 B CN 116069703B
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/40—Bus structure
- G06F13/4004—Coupling between buses
- G06F13/4009—Coupling between buses with data restructuring
- G06F13/4018—Coupling between buses with data restructuring with data-width conversion
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
- G06F13/4286—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus using a handshaking protocol, e.g. RS232C link
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Abstract
The invention relates to a device and a method for converting a communication mode of an encoder, and relates to the technical field of industrial control. The system comprises a first processor, a second processor, a serial communication unit, an RS232 communication unit, an IO input and output unit, an increment signal level conversion unit and a power supply system; the first processor is respectively connected with the serial communication unit, the RS232 communication unit, the IO input and output unit and the second processor through chip pins of the first processor; the second processor is connected with the increment signal level conversion unit through a chip pin of the second processor; the power supply system is used to convert external power to the power supply level required by the internal individual units of the device. The invention solves the problems that when the equipment needs displacement action, the servo controller needs accurate increment signals, a single absolute value encoder does not output increment signals, and when two encoders are used, mechanical errors are easy to be introduced, thereby effectively improving the precision of servo control.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a device and a method for converting a communication mode of an encoder.
Background
In the field of industrial control, a servo motor and a control system thereof are indispensable devices. The encoder is a sensing device in a servo motor system, and has an irreplaceable position for the servo motor and the servo system. When using a servo motor control part or the like for linear movement, two encoders are usually required, one servo motor encoder for feeding back a servo motor signal to a controller, the controller controls the rotational speed, torque and the like of the motor through the signal, and an incremental encoder is usually used for such encoders; the other encoder is used for feeding back the linear displacement distance and is used for performing position closed-loop control by a servo controller, and the absolute value encoder is used by the encoder.
In order to achieve more accurate position closed-loop control, the servo controller needs to obtain the position information fed back by the displacement absolute value encoder in real time, but most of the absolute value encoders use serial communication modes including, but not limited to, an RS232 communication mode and an SSI communication mode, and the serial communication modes can ensure the accuracy of displacement data, but cannot ensure the real-time performance of the data, and most of the servo controllers cannot support serial communication.
The current method for solving this problem is to arrange an incremental encoder at the position of the absolute value encoder, and provide an incremental signal, that is, the PLC reads the data of the absolute value encoder, and the servo controller receives the signal of the incremental encoder.
However, there are several problems with the method of using two encoders arranged simultaneously: the mechanical error introduced during the arrangement of the two encoders causes errors in the position information of the PLC and the servo controller, so that the control precision is reduced; when measuring long distance linear displacement, in order to obtain higher measurement accuracy, the absolute value encoder is a visual encoder in common use, a label picture needs to be pasted on a measured object, the high-accuracy incremental encoder is a rotary type, if the encoder is used, a device for converting a displacement variable into a rotary variable by arranging a roller and the like is needed, and a large amount of errors are introduced, so that the control accuracy is not high.
Disclosure of Invention
The invention aims to provide a communication mode conversion device and method for an encoder, which are used for solving the technical problem of low control precision in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the communication mode conversion device of the encoder is characterized by comprising a first processor, a second processor, a serial communication unit, an RS232 communication unit, an IO input/output unit, an increment signal level conversion unit and a power supply system;
the first processor is respectively connected with the serial communication unit, the RS232 communication unit, the IO input and output unit and the second processor through chip pins of the first processor;
the second processor is connected with the increment signal level conversion unit through a chip pin of the second processor;
the power supply system is used for converting external power supply into power supply levels required by various units inside the device;
further, the serial communication unit performs bus matching with an external absolute value encoder;
further, the RS232 communication unit is communicated with the PLC module;
further, the IO input/output unit is communicated with the PLC module;
further, the PLC module and the increment signal level conversion unit are respectively connected with the servo controller;
further, the servo controller is connected with a servo motor;
further, the matching circuit for bus matching between the serial communication unit and the external absolute value encoder is selected from any one of an RS232 circuit, an RS485 circuit, an RS422 circuit, an SSI circuit and a Gray code circuit;
another aspect of the present invention provides a method for converting an encoder communication mode, which adopts the encoder communication mode converting apparatus, wherein the workflow of the first processor includes the following steps:
s11: the power supply system powers on the power supply of each unit module, performs self-checking judgment and sets a self-checking flag bit;
s12, performing a 1ms running period;
s13, judging whether the SSI encoder needs to be read or not;
if so, reading the absolute position data of the SSI encoder, and transmitting the absolute position data through a parallel port;
if not, carrying out the next step;
s14, judging whether RS232 communication is needed or not;
if so, absolute position data are sent to the PLC through an RS232 interface;
if not, carrying out the next step;
s15, setting a parallel port output state according to the data zone bit and the self-checking zone bit;
s16, returning to the step S12, and carrying out the next operation period.
Further, the step S13 further includes: judging whether the absolute position data of the SSI encoder is correct or not, if so, setting a correct data flag bit, and transmitting the absolute position data through a parallel port.
Further, the workflow of the second processor includes the steps of:
s21, the power supply system powers on each unit module, self-checking judgment is carried out, and a self-checking zone bit is set;
s22, detecting whether the serial port is interrupted, if so, performing the next step, and if not, repeating the detection;
s23, reading parallel port data;
s24, calculating a displacement value of the next period according to the displacement data and the time interval of the current period;
s25, calculating the number of pulses to be transmitted in the next period according to the calculated displacement value and transmitting the number of pulses;
s26, setting a parallel port output state according to the self-checking flag bit;
s27, returning to the step S22, and repeatedly detecting the serial port interruption.
Compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the device and the method for converting the communication modes of the encoders solve the problems that when equipment needs displacement action, a servo controller needs accurate increment signals, a single absolute value encoder does not output increment signals, and mechanical errors are easy to introduce when two encoders are used. Meanwhile, the problem that the PLC only has an RS232 interface and cannot be applied to most absolute value encoders is solved. By using the scheme of the invention, only one absolute value encoder is needed, different serial communication units are designed according to the communication type of the encoder, the data is read and then communicated with the PLC through the RS232 interface, and meanwhile, an increment signal is sent to the servo controller, so that the precision of servo control is greatly improved.
Drawings
FIG. 1 is a schematic diagram illustrating the structure of a communication mode switching device of an encoder according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first processor according to an embodiment of the invention;
FIG. 3 is a flow chart of a second processor according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The drawings are for illustrative purposes only and are not to be construed as limiting the present patent;
the terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the application. As used in the examples of this application and the appended claims, the singular forms "a," "an," "the," and "the" include
"the" is also intended to include the majority form unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
In the description of this application, it should be understood that the terms "first," "second," "third," and the like are used merely to distinguish between similar objects and are not necessarily used to describe a particular order or sequence, nor should they be construed to indicate or imply relative importance. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
Furthermore, in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. The character "/" generally indicates that the context-dependent object is an "or" relationship. The invention is further illustrated in the following figures and examples.
In order to solve the limitations of the prior art, the present embodiment provides a technical solution, and the technical solution of the present invention is further described below with reference to the drawings and the embodiments.
As shown in fig. 1, the embodiment of the invention discloses an encoder communication mode conversion device, which comprises a first processor, a second processor, a serial communication unit, an RS232 communication unit, an IO input/output unit, an increment signal level conversion unit and a power supply system;
the first processor is respectively connected with the serial communication unit, the RS232 communication unit, the IO input and output unit and the second processor through chip pins of the first processor;
the second processor is connected with the increment signal level conversion unit through a chip pin of the second processor;
the power supply system is used to convert external power to the power supply level required by the internal individual units of the device.
The first processor has the function of reading the position data of the absolute value encoder through the serial communication unit every other encoder refreshing period, and sending the position information and the turntable information to the PLC module through the RS232 communication unit and the IO input/output unit after detecting that the data is correct. Meanwhile, the first processor also needs to send the position data to the second processor, and the real-time performance of the communication between the first processor and the second processor is high, so that the communication is performed by using a parallel communication mode, and the first processor immediately sends a flag signal through one bit in the parallel bus after sending the data, so that the second processor is triggered to process the data.
The second processor requires high real-time performance so that the second processor operates in interrupt mode. The second processor immediately enters an interrupt mode after detecting the marking signal sent by the first processor, reads the current position information from the parallel port and processes data.
The second processor needs to record the current position S1 and the last stored position S2, and uses S1 minus S2 as the moving distance S of the device in the current time period, where the time period is short enough, it can be considered that the speed of the current period and the speed of the next period of the device do not change obviously. If the requirement is that N pulses need to be transmitted every unit distance period, the number of pulses that need to be transmitted in the next time period is n= (S1-S2) ×n. If the time is t every time period, the transmission frequency is F=N/t, and the transmission mode of the pin analog increment signal is controlled to transmit A, B, Z signals according to the calculated pulse number N and the frequency F which need to be transmitted in the next period.
The serial communication unit is responsible for bus matching between the first processor and an external absolute value encoder, and different matching circuits are required to be designed according to different communication types of the absolute value encoder. The matching circuit includes, but is not limited to, an RS232 circuit, an RS485 circuit, an RS422 circuit, an SSI circuit, a gray code circuit, and the like.
The RS232 communication unit is required to convert serial port signals of the first processor into RS232 bus signals for communication with the PLC module, and the PLC module is required to periodically communicate with the first processor for reading position information of the incremental encoder recorded in the first processor and performing position calibration in motion.
The IO input/output function is used as an emergency interface, and when the system self-check is problematic or the absolute value encoder and the communication circuit thereof are detected to be faulty, the fault is directly reported to the PLC module through the IO port, and the operation of the equipment is immediately stopped, so that the occurrence of casualties or equipment damage is avoided.
The incremental signal level conversion unit is responsible for converting the A, B, Z signal sent by the IO port of the second processor into a signal similar to the signal sent by the incremental encoder, and generally needs to convert the IO port signal into a single-ended or differential signal with 5v level.
The power supply system has the functions of converting external power supply into power supply levels required by all modules in the equipment, ensuring stable power supply and simultaneously having the functions of lightning protection, static electricity prevention, interference resistance and the like.
The serial communication unit is in bus match with an external absolute value encoder, the RS232 communication unit is in communication with the PLC module, and the IO input and output unit is in communication with the PLC module.
The PLC module and the increment signal level conversion unit are respectively connected with a servo controller, and the servo controller is connected with a servo motor.
Another embodiment of the present invention provides a method for converting an encoder communication mode, which is the apparatus for converting an encoder communication mode, as shown in fig. 2, wherein the workflow of the first processor includes the following steps:
s11: the power supply system powers on the power supply of each unit module, performs self-checking judgment, sets a self-checking flag bit, outputs the self-checking flag bit through an IO port and informs the PLC module of the self-checking state;
s12, performing a 1ms running period;
s13, judging whether the SSI encoder needs to be read according to a set reading period;
if so, reading the absolute position data of the SSI encoder, and transmitting the absolute position data through a parallel port;
if not, carrying out the next step;
s14, judging whether RS232 communication is needed according to the PLC communication command;
if so, absolute position data are sent to the PLC through an RS232 interface;
if not, carrying out the next step;
s15, setting a parallel port output state according to the data zone bit and the self-checking zone bit, if the data zone bit and the self-checking zone bit are normal, sucking the IO port relay, and if at least one error exists between the data zone bit and the self-checking zone bit, releasing the IO port relay to inform the PLC of whether the data are abnormal at the moment; the data flag bit represents a point position signal with normal data.
S16, returning to the step S12, and carrying out the next operation period.
The step S13 further includes: judging whether the absolute position data of the SSI encoder is correct or not through a data check mark and a data range interval, setting a data correct mark bit if the data is correct, and transmitting the absolute position data through a parallel port. If not, setting the data flag bit as an error state, and not sending a parallel port signal.
As shown in fig. 3, the workflow of the second processor includes the following steps:
s21, the power supply system powers on each unit module, self-checking judgment is carried out, and a self-checking zone bit is set;
s22, detecting whether the serial port is interrupted, if so, performing the next step, and if not, repeating the detection;
s23, reading parallel port data, wherein the parallel port data comprises data zone bits, self-checking zone bits and encoder data;
s24, calculating a displacement value of the next period according to the displacement data and the time interval of the current period; since the speed of the reading encoder reaches the order of ms, the reading speed is fast enough compared to the mechanical movement, and it can be approximated that the acceleration of the first few cycles and the present cycle is unchanged. And because the time of each period is consistent, the displacement value of the next period can be calculated according to the speed, the acceleration and the time.
S25, calculating the number of pulses to be transmitted in the next period according to the calculated displacement value and transmitting the number of pulses; and according to the set pulse number N per unit distance, reading the period T according to the displacement value S of the next period, and calculating the pulse frequency F which needs to be output currently.
The formula:
。
the output signal is sent according to the frequency of F, and N pulses can be sent in the next period.
S26, setting a parallel port output state according to the self-checking flag bit; and setting a high flag bit when the self-check is correct, and setting a low flag bit when the self-check is incorrect, so as to inform the first processor of the current state of the second processor.
S27, returning to the step S22, and repeatedly detecting the serial port interruption.
Claims (10)
1. The communication mode conversion device of the encoder is characterized by comprising a first processor, a second processor, a serial communication unit, an RS232 communication unit, an IO input/output unit, an increment signal level conversion unit and a power supply system;
the first processor is respectively connected with the serial communication unit, the RS232 communication unit, the IO input and output unit and the second processor through chip pins of the first processor;
the second processor is connected with the increment signal level conversion unit through a chip pin of the second processor;
the power supply system is used to convert external power to the power supply level required by the internal individual units of the device.
2. The encoder communication mode conversion device according to claim 1, wherein the serial communication unit performs bus matching with an external absolute value encoder.
3. The encoder communication mode conversion device according to claim 1 or 2, wherein the RS232 communication unit communicates with a PLC module.
4. The encoder communication mode conversion device according to claim 1 or 2, wherein the IO input output unit communicates with a PLC module.
5. The encoder communication mode switching device of claim 4, wherein the PLC module and the incremental signal level switching unit are respectively connected to the servo controller.
6. The encoder communication mode switching device of claim 5, wherein the servo controller is connected to a servo motor.
7. The encoder communication mode conversion apparatus according to claim 2, wherein the matching circuit for bus-matching the serial communication unit with the external absolute value encoder is selected from any one of an RS232 circuit, an RS485 circuit, an RS422 circuit, an SSI circuit, and a gray code circuit.
8. An encoder communication mode conversion method, employing an encoder communication mode conversion apparatus according to any one of claims 1 to 7, wherein the workflow of the first processor includes the steps of:
s11: the power supply system powers on the power supply of each unit module, performs self-checking judgment and sets a self-checking flag bit;
s12, performing a 1ms running period;
s13, judging whether the SSI encoder needs to be read or not;
if so, reading the absolute position data of the SSI encoder, and transmitting the absolute position data through a parallel port;
if not, carrying out the next step;
s14, judging whether RS232 communication is needed or not;
if so, absolute position data are sent to the PLC through an RS232 interface;
if not, carrying out the next step;
s15, setting a parallel port output state according to the data zone bit and the self-checking zone bit;
s16, returning to the step S12, and carrying out the next operation period.
9. The method for converting communication modes of an encoder according to claim 8, wherein said step S13 further comprises: judging whether the absolute position data of the SSI encoder is correct or not, if so, setting a correct data flag bit, and transmitting the absolute position data through a parallel port.
10. An encoder communication mode conversion method according to claim 8 or 9, wherein the workflow of the second processor comprises the steps of:
s21, the power supply system powers on each unit module, self-checking judgment is carried out, and a self-checking zone bit is set;
s22, detecting whether the serial port is interrupted, if so, performing the next step, and if not, repeating the detection;
s23, reading parallel port data;
s24, calculating a displacement value of the next period according to the displacement data and the time interval of the current period;
s25, calculating the number of pulses to be transmitted in the next period according to the calculated displacement value and transmitting the number of pulses;
s26, setting a parallel port output state according to the self-checking flag bit;
s27, returning to the step S22, and repeatedly detecting the serial port interruption.
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