JP2004070422A - Method of configuring servo drive - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the number of signal lines between a control board and a power part to enhance reliability while making a servo drive usable also as a versatile servo for one-to-N connections. <P>SOLUTION: The control board samples position feedback and an AC servo sends data corresponding to torque and electric angles to a servo drive (power drive). The servo drive part uses the data to create the timing at which power is supplied to a motor. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present application relates to a configuration of a servo drive that controls a plurality of axes with one CPU, such as a robot.
[0002]
[Prior art]
Conventionally, an ASIC (Application Specific Integrated Circuit) for servo gate control is mounted on the same control board as the CPU, and a gate drive signal is given to each power drive. Current feedback is returned from the power drive to the ASIC on the control board. I was
[0003]
[Problems to be solved by the invention]
The purpose of the present invention is to reduce the number of signal lines between the control board and the power section, to improve the reliability, and to be able to be used as a one-to-N connection general-purpose servo.
[0004]
[Means for Solving the Problems]
The position feedback is taken in by the control board, and the data corresponding to the torque and the electrical angle are sent to the servo live (power drive) in the AC servo, and the servo drive section uses this data to create the timing to supply power to the motor. I do.
[0005]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 shows the configuration of a normal network drive. A command is given from the controller 1 to the servo 2 on a transmission line 5 in a 1: N manner. The servo 2 applies a current to the motor 3 and takes in position feedback from the encoder 4.
Fig. 2 shows the encoder output in the form of a dazy chain.
Recent encoders are serialized, so if the host controller sends a transmission request with an address to a specific axis, only that axis will return the necessary information.This method is required for robots etc. to reduce signal lines. Have been.
At this time, since the servo 2 cannot perform position management, it receives a torque and an electrical angle command from the controller 1. The connection from the controller 1 is one-to-one. However, when the processing of the controller 1 is slow and the payout of the command is slow, it is not prevented that the connection is one-to-N as shown in FIG. Native data.
In the state shown in FIG. 2, those requiring high-speed processing have a one-to-one correspondence with the encoder 4 and the command. At the time of one-to-N connection, the servo 2 requires two address setting switches and two connectors for the connection of the daisy chain. In the encoder 4, the address setting is performed in the internal EEPROM by the addressing method described in Japanese Patent Application No. 08-002928. It has to be written in the same way and there is no contrivance such as placing two connectors. Although the daisy chain of FIG. 1 is intended for a relatively long distance, the operating environment as shown in FIG. 2 has a distance of 1 m or less in the same panel and does not require a robust cable or connector.
In the present application, it is possible to remove the two connectors and the address setting SW.
Next, FIG. 3 shows a configuration diagram of a board and a connector in an example of a daisy chain connection. FIG. 3A shows that two connectors A for connecting the DAG chain and the address setting SW are attached to the small board C and are connected to the board C on the servo main body side by the connector B. At the end of the connector A, a terminator called a terminator is attached at the end. When this small board C is removed, a cable can be connected to the connector B with a simple connector as shown in FIG. By pulling up and pulling down with a resistor, the value will always be constant. By preparing a product that internally connects a resistor and a signal, termination will be possible with a jumper on the connector.
[0006]
【The invention's effect】
A normal one-to-N connection servo can be used as a robot type servo whose position is managed by a host controller, and the cost can be reduced by devising a connector part or the like.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an ordinary network drive. FIG. 2 is a diagram in which an encoder output is converted into a daisy chain. FIG. 3 is a configuration diagram of a board and a connector showing an example of a daisy chain connection.
1 controller,
2 servo 3 motor,
4 encoder,
5 transmission line,
A connector,
B connector,
C substrate,
SW address setting,

Claims (3)

In a network-compatible servo, a one-to-N multi-drop servo is normally used to receive position, speed and torque commands. When the host controller manages the position, the servo drive is configured to drive the motor by receiving necessary information such as torque and electrical angle from the host controller through a network. When receiving the torque and electrical angle commands, the CPU on the servo side creates prediction data sequentially from its own internal timer and the data before and after the previous time and the previous data, creates data in a very short time, data from the upper controller is discontinuous, and A servo drive configuration system that interpolates and creates necessary data even sporadically. The address setting switch and the daisy chain connector are detachable. If there is no address setting switch, the address signal is fixed with a resistor so that the address becomes a specific address. A servo drive configuration method characterized by connection.

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