CN100568130C - Buss-type full digital servo-driver - Google Patents

Buss-type full digital servo-driver Download PDF

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Publication number
CN100568130C
CN100568130C CNB2007100100480A CN200710010048A CN100568130C CN 100568130 C CN100568130 C CN 100568130C CN B2007100100480 A CNB2007100100480 A CN B2007100100480A CN 200710010048 A CN200710010048 A CN 200710010048A CN 100568130 C CN100568130 C CN 100568130C
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data
physical layer
protocol analysis
bus protocol
servo
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CN101013310A (en
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于德海
王庆鹏
张赞秋
张可畏
李俊
李文庆
吴超
何兴家
杨立波
冯吉
叶东国
刘士宏
罗迪
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Dalian Kede Numerical Control Co Ltd
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Dalian Guangyang Science and Technology Engineering Co Ltd
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Abstract

A kind of Buss-type full digital servo-driver of the present invention comprises the first bus protocol analysis unit, servo driving control module, the power drive unit of realizing the servocontrol function; Also comprise the second bus protocol analysis unit and PLC interface unit; The second bus protocol analysis module is by interaction data between data register and the described PLC interface unit; The function of above-mentioned bus protocol analysis unit is used for by Physical layer control module and host computer interactive information, according to communications protocol resolving information data; Described PLC interface unit is used to finish input, the output of PLC control.Servo-driver of the present invention owing to realized the combination of PLC and servo driving part, have powerful, the characteristics of compact conformation.

Description

Buss-type full digital servo-driver
Technical field
The present invention relates to a kind of servo-driver that drives servomotor, more particularly, the circuit that relates to the bus servo-driver constitutes.
Background technology
The servo-drive system of numerically-controlled machine is that the position and the speed of the moving-member (worktable, main shaft or cutter etc.) with numerically-controlled machine is the automatic control system of controlling object.It receives the interpolation instruction of numerical control device output, and is converted into the mechanical motion (rotating and translation) of moving-member.Servo-drive system is an important composition of Computerized Numerical Control machine tool, is the contact link of numerical control device and machine body, and its performance directly influences technical indicators such as the translational speed of precision, worktable of numerically-controlled machine and tracking accuracy.
The appearance of number bus formula servo-driver is a milestone on the Numeric Control Technology development history.Adopt digital servo device, all command value and actual value can both be finished in a microcontroller.Not only can realize the control of traditional electric current loop and speed ring, and can in the extremely short time, finish smart interpolation, realize position ring control.Compare with using analog-servo mechanism, adopt the digital servo drive unit can obtain higher machining precision and process velocity, and hardware is simple, the complicacy of system and cost all greatly reduce.
The realization principle of conventional bus formula servo-driver as shown in Figure 1, comprise the bus parsing part of obtaining position data, speed data according to protocol analysis transmission information, realize the servo driving part of data processing output control, driving command, the power section of power amplification drive motor.
Programmable Logic Controller (Programmable Logic Controller) is called for short PLC, and it is the universal automaton of a class.It is generally based on sequential control, and the loop is adjusted to auxilliary, can completion logic, in proper order, function such as timing, counting and arithmetical operation.Can the gauge tap amount, also can control analog quantity.
Adopt PLC to replace relay on numerically-controlled machine, make structure of numerically controlled machine-tool compacter, function is abundanter, and response speed and reliability improve greatly.PLC is indispensable control assembly in high process equipment of the medium automaticity of high-grade, digitally controlled machine tools and manufacturing system.
In general lathe can be divided into the hard PLC of " built in type " soft PLC and " self " with PLC from the position at Control Software place.Mostly the former is to finish programming and logical operation by host computer, carries out the input and output action by the IO module that the bus with certain form links to each other with host computer, and performed the result of the action can directly be presented in the software of host computer usually.The PLC of this structure can utilize the cpu function of host computer to greatest extent as Fig. 2, and the simplified system design can reduce cost simultaneously, and is simple to operate.Adopt the digital control system of this structure can have some senior control function,, directly handle the bulk information of NC window etc. in numerical control software inside such as ladder diagram editor and transmitting function.Adopt the digital control system of built in type PLC, special PLC and the line between the CNC controller have been saved, have again compact conformation, good reliability, installation and easy to operate etc. a bit, with after useful numerical control device, go again outside join always the situation of general PLC and compare, still all be favourable technically economically concerning the user.
Servo-driver and the PLC equipment that all is absolutely necessary in digital control system if can combine the servo-driver of developing a PLC of having control function and the product of PLC function to the two, can obtain to strengthen on function.
Summary of the invention
Digital bus servo-driver of the present invention, purpose are realize servo-driver and the two function of PLC integrated, by the PLC function is integrated in servo-driver, to reach the minimizing hardware cost, the purpose of distributing rationally.
To achieve these goals, the present invention has constructed a kind of digital bus servo-driver, comprise the first bus protocol analysis unit, servo driving control module, power drive unit, position data feedback unit, basic servocontrol function is finished in these four unit.Driver of the present invention also comprises the second bus protocol analysis unit and PLC interface unit; The second bus protocol analysis module is by interaction data between data register and the described PLC interface unit.Above-mentioned two bus protocol analysis unit are all by a Physical layer control module and host computer interactive information, and according to the communications protocol resolution data.This Physical layer control module is used for the transmitting-receiving control of data transmission, is provided with one and accepts the physical layer interface of data, a physical layer interface that sends data.Under the optimal way, transmission medium is selected ethernet physical layer for use.Above-mentioned PLC interface unit is mainly used in input, the output of finishing PLC control.
The digital bus servo-driver of the present invention, its improvement are, also comprise an encoder processing module, are used for the incremental encoding signal is handled.The encoder processing module is utilized interaction data between data register and the servo driving control module; Host computer also obtains the actual location data that described encoder processing module is deposited by first bus protocol analysis module accesses data register.Under the optimal way, the above-mentioned first bus protocol analysis unit, the second bus protocol analysis unit, PLC interface unit, encoder processing module are realized by on-chip integration system FPGA.The servo driving control module is realized by DSP or FPGA.And the PLC interface unit that the present invention realizes comprises the PLC I/O interface of 24 inputs, 16 outputs.
By technique scheme, servo-driver of the present invention, owing to realized the combination of PLC (24IN/16OUT) and servo driving part, and powerful, compact conformation.Servo-driver supports incremental encoder and grating chi interface also to support the serial line interface of absolute value encoder, ENDAT2.2, and INTERBUS, CAN, RS-485 can receive 32 absolute position signals.The encoder data figure place of transmission is up to 24bit.Servo-driver of the present invention adopts ethernet physical layer as Physical layer, category 5 twisted pair is as transmission medium, physical interface is RJ-45, bus protocol analysis adopts on-chip integration system FPGA to realize, therefore can be by the multiple bus protocol GLINK of protocol analysis support based on ethernet physical layer, SERCOS, PROFIBUS.This PLC programming is simple and convenient, the host computer PLC programming support ladder diagram that cooperates with these PLC input and output, and statement list, control system flow chart 3 kind programming mode, and be equipped with complete built-in function at the demand of numerical control can directly call and is used for Machine-Tool Control.
Description of drawings
Fig. 1 is a functional block diagram of realizing the bus type servo-driver in the prior art;
Fig. 2 is the functional block diagram of existing techniques in realizing bus type PLC I/O;
Fig. 3 realizes bus type servo-driver schematic diagram of the present invention;
Fig. 4 is the functional block diagram that realizes bus type servo-driver of the present invention;
Fig. 5 is a kind of embodiment of servo-driver of the present invention.
Embodiment
The ultimate principle of the digital bus servo-driver of the present invention as shown in Figure 3 is intended to servo-driver and PLC I/O control independently is combined as a whole, by a bus controller and upper machine communication.
In Fig. 4, bus controller comprises two bus protocol analysis unit and a Physical layer control module.The function of bus protocol analysis unit is used for by Physical layer control module and host computer interactive information, according to communications protocol resolving information data.The Physical layer control module is used for the transmitting-receiving of control data transmission in Physical layer, is provided with one and accepts the physical layer interface of data, a physical layer interface that sends data.
Wherein traditional servo-driver function is realized in conjunction with servo driving control module, power drive unit combination, position data feedback unit (scrambler) in Shang Fang a bus protocol analysis unit.
The input/output function of bus protocol analysis unit of below and PLC I/O module realization PLC.And two bus protocol unit and PLC I/O module all have an on-chip integration system FPGA to realize (as Fig. 5).
Under the optimal way, the servo driving control module is realized by DSP, also can utilize FPGA to realize.Among Fig. 5, the servo driving control module is exactly the control of 3 loops from inside to outside specifically, electric current loop (torsion loop), speed ring and position ring, owing to adopted the up-to-date 150MHz that works in, the instruction pipeline operation, have the special-purpose fixed-point DSP chip of Electric Machine Control of 32 word lengths, calculation function is powerful, so the partial arithmetic of position ring can realize in servo-drive system.And this unit also has the processing capacity of absolute value encoder, serial ports is set is used to receive serial data (parameter setting and Performance Detection).Can also realize functions such as IPM fault handling, dynamic brake processing and the braking processing of bringing back to life, the A/D module is set be used for the analog quantity input of bus current, torque, B phase current, A phase current, speed command, busbar voltage and then realize processing and control.
On-chip integration system FPGA has also realized an encoder processing module, is used for the incremental encoding signal is handled; The encoder processing module is by interaction data between data register transfer effect and the servo driving control module; Host computer also obtains the actual location data that described encoder processing module is deposited by the bus protocol analysis module of above-mentioned realization servocontrol function.
In this embodiment, the scrambler of PLC and bus controller and control system and grating chi feedback fraction all use a slice field programmable device to realize, can use minimum device to finish maximum functions like this.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.

Claims (4)

1, a kind of Buss-type full digital servo-driver comprises the first bus protocol analysis unit, servo driving control module, power drive unit, position data feedback unit, and basic servocontrol function is finished in these four unit; It is characterized in that, also comprise the second bus protocol analysis unit and PLC interface unit and a Physical layer control module;
The second bus protocol analysis unit is by interaction data between data register and the described PLC interface unit;
Two bus protocol analysis unit are all by described Physical layer control module and upper computer outside interactive information, and according to the communications protocol resolution data;
Described Physical layer control module is used for the transmitting-receiving control of data transmission in Physical layer, is provided with one and accepts the physical layer interface of data, a physical layer interface that sends data;
Described PLC interface unit is used to finish input, the output of PLC control.
2, Buss-type full digital servo-driver according to claim 1 is characterized in that, also comprises an encoder processing module, is used for the incremental encoding signal is handled;
Described encoder processing module is by interaction data between data register and the servo driving control module; Host computer also obtains the actual location data that described encoder processing module is deposited by the first bus protocol analysis unit access data register.
3, Buss-type full digital servo-driver according to claim 2, it is characterized in that the described first bus protocol analysis unit, the second bus protocol analysis unit, described PLC interface unit, described encoder processing module are realized by on-chip integration system FPGA; Described servo driving control module is realized by DSP or FPGA.
4, according to the arbitrary described Buss-type full digital servo-driver of claim 1-3, it is characterized in that the transmission medium of Physical layer is selected ethernet physical layer for use.
CNB2007100100480A 2007-01-15 2007-01-15 Buss-type full digital servo-driver Active CN100568130C (en)

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CN100568130C true CN100568130C (en) 2009-12-09

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102287571A (en) * 2011-05-31 2011-12-21 天津市津达执行器有限公司 Absolute encoder based valve position information converting module
CN105182912A (en) * 2015-09-18 2015-12-23 芜湖日升重型机床有限公司 Electric control system for numerical control machine tool, and maintenance of the same
CN109525472B (en) * 2018-09-30 2021-05-14 大族激光科技产业集团股份有限公司 Bus communication conversion circuit, device and system
CN109298683B (en) * 2018-11-26 2021-05-18 上海维宏电子科技股份有限公司 Numerical control system supporting multiple bus driver communication protocols
CN110989488A (en) * 2019-12-30 2020-04-10 江苏欧联智能科技有限公司 Programmable logic controller detection system and method
CN112865618A (en) * 2020-12-31 2021-05-28 常州洛源智能科技有限公司 Motor control system
CN113867189A (en) * 2021-09-02 2021-12-31 北京精密机电控制设备研究所 High-speed Glink bus communication servo control assembly and control method
CN115826479A (en) * 2023-02-16 2023-03-21 浙江中控研究院有限公司 PLC system supporting SSI signal acquisition
CN116069703B (en) * 2023-03-31 2023-05-30 成都思越智能装备股份有限公司 Encoder communication mode conversion device and method

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