CN101315548A - Devices and methods for controlling servomotor - Google Patents
Devices and methods for controlling servomotor Download PDFInfo
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- CN101315548A CN101315548A CNA2007101073480A CN200710107348A CN101315548A CN 101315548 A CN101315548 A CN 101315548A CN A2007101073480 A CNA2007101073480 A CN A2007101073480A CN 200710107348 A CN200710107348 A CN 200710107348A CN 101315548 A CN101315548 A CN 101315548A
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Abstract
A device used for controlling a servo motor comprises a man-machine interface, a CPU and a plurality of communication interfaces, wherein, the man-machine interface is used for inputting at least one parameter; the CPU is provided with a module used for receiving the parameter and generating instructions; the CPU also sends out instructions to control at least one servo motor. A plurality of communication interfaces are respectively connected with the man-machine interface, the CPU and the servo motor.
Description
Technical field
The present invention is relevant for a kind of method and device thereof of controlling motor, and is particularly to a kind of control servo motor devices and methods therefor.
Background technology
Because automatic technology is to quicken industrial upgrading and promote one of key of competitiveness technology.Particularly, the precision positioning in the robotization industry comes into one's own gradually with the control system, is the part of most critical with motor and relevant control part thereof again wherein.
Motor is the motor that industry member is commonly called as, and comparatively extensively is that industry member is used with the servo motor (servo motor) of tool feed-back type (feedback) again wherein.The method of tradition control servo motor mainly is divided into two kinds, and one is controlled with computing machine (PC), as shown in Figure 1.Computing machine 10 sees through general bus/communication interface 12 (being generally RS232) and carries out communication with axle control card 14 (claiming the servo motor control card again), with control servo motor 20.In other words, computing machine 10 carries out the functions such as modification of parameter setting or target position data via communication interface 12 and axle control card 14, again by computing machine 10 real-time communications and monitor the motion of servo motor 10.Furthermore, by computing machine 10 input parameters and issue an order, issue an order to servo-driver 18 by axle control card 14 again, with monitoring servo motor 20 to behind the axle control card 14.Wherein really control servo motor 20 and be servo-driver 18, yet be able to be an axle control card 14, so computing machine 10 only needs to carry out communication with axle control card 14 and gets final product with servo-driver 18 communications.
It is two with programmable logic controller 10 (Programmable LogicController; PLC) control.Programmable logic controller 10 must carry out communication via exclusive programmable logic controller axle control card 14 and servo-driver 18, with control servo motor 20.In other words, programmable logic controller 10 is by seeing through the functions such as modification that axle control card 14 carries out parameter setting or target position data, and carries out communication with servo-driver 18.In embodiment as shown in Figure 1, programmable logic controller 10 also is connected with axle control card 14 with communication interface 12 (being generally RS232).Wherein programmable logic controller 10 and axle control card 14 carry out various parameters and target location etc. after the setting value, issue an order to servo-driver 18 by axle control card 14 again, utilize the I/O control function by programmable logic controller 10 again, with control servo motor 20.
In addition, computing machine/programmable logic controller 10 can be one to one or the mode of one-to-many, for the single or multiple servo motors 20 of control.Though can reach the purpose of controlling with computing machine 10 control servo motors 20, but computing machine 10 is issued an order to servo motor 20, need through axle control card 14 and servo-driver 18, delay on action is free is therefore if control 20 inevitable free puzzlements that postpone of several servo motors simultaneously.With programmable logic controller 10 control servo motors 20, with the axle control card 14 control servo-drivers 18 of special use, though can be more quick than computer operation, its control mode is subject to its I/O control function relatively, so the diversity deficiency.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of control servo motor devices and methods therefor, has the advantage of direct and faster control servo motor.
Fundamental purpose of the present invention is to provide a kind of control servo motor devices and methods therefor, has cost-effective advantage.
Another purpose of the present invention is to provide a kind of with program software, for the devices and methods therefor of the various servo motors of control.
A kind of device of controlling servo motor of the present invention comprises man-machine interface, CPU (central processing unit) and a plurality of communication interface.Wherein man-machine interface is at least one parameter of input.CPU (central processing unit) has module, and module receives parameter and operation produces order.CPU (central processing unit) more comprises to send orders, to control at least one servo motor.A plurality of communication interfaces connect man-machine interface, CPU (central processing unit) and servo motor respectively.
In preferred embodiment, CPU (central processing unit) and man-machine interface are also put maybe and can be integrated into counter.Servo motor more comprises servomotor drive, for receiving the order of sending from CPU (central processing unit).Module is preferably program/software, at certain/modular program that some specific servo motor is write.In addition, communication interface more comprises first communication interface and second communication interface, and first communication interface connects man-machine interface and CPU (central processing unit) respectively, and second communication interface then connects CPU (central processing unit) and servo motor respectively.
The present invention more provides a kind of method of controlling servo motor, and it comprises following steps: import at least one parameter; Receive parameter and operation and produce an order; And send order, and according at least one servo motor of order control.
In preferred embodiment, input parameter is imported by the I/O function of man-machine interface, and is stored in the internal memory.In other preferred embodiment, the input of parameter also can be continued to use the last time parameter of memory, i.e. may command servo motor.After producing order when the input parameters and via the module of CPU (central processing unit), can activate, actions such as location positioning, delay or condition monitoring servo motor.
Description of drawings
Fig. 1 is the control calcspar of known control servo motor;
Fig. 2 a controls the block schematic diagram of servo motor device for the present invention;
Fig. 2 b controls another block schematic diagram of servo motor device for the present invention;
Fig. 3 controls the concise and to the point control flow synoptic diagram of servo motor method for the present invention; And
Fig. 4 controls the preferable schematic flow sheet of servo motor method for the present invention.
The primary clustering symbol description
100 man-machine interfaces
110 CPU (central processing unit)
120 internal memories
150 computing machines
200 first communication interfaces
300 second communication interfaces
400 servomotor drive
500 servo motors
Embodiment
A kind of modular program that is input into the programmable logic controller that provides of the present invention is for the control servo motor devices and methods therefor of direct and servomotor drive communication.In preferred embodiment, servo motor comprises dc servomotor (DC Servo Motor) (claiming brushless motor again).Yet in other different embodiment, also can comprise AC servomotor (AC ServoMotor), alternating current impression motor (AC Reaction Motor), inverter motor (FrequencyConversion Motor), d.c. motor (DC Motor), step motor (SteppingMotor), magnetic resistance motor (Reluctance Motor) or other motor etc.In addition, the present invention develops written program language control servo motor voluntarily with programmable logic controller (PLC) input, and does not limit the running of controlling any machinery and equipment.In other words, the present invention can control at the various machinery and equipment that are equiped with the different field of servo motor.Below promptly further specify embodiments of the present invention and step thereof with accompanying drawing.
Fig. 2 a is depicted as the block schematic diagram that the present invention controls the servo motor device.Control servo motor device in the present embodiment comprises man-machine interface 100, CPU (central processing unit) 110 and a plurality of communication interface 200,300.Man-machine interface 100 can be imported at least one parameter.The kind, brand, model or other the relevant data that refer to various servo motors in this parameter of saying.In man-machine interface 100, this parameter will be converted to some data, such as: instructions such as torsion, rotating speed, electric current, deceleration.In the present embodiment, man-machine interface 100 preferable finger programmable logic controller (Programmable Logic Controller; PLC).The programmable logic controller can see through numeral or analog input/output module control machinery and equipment, manufacturing treatment scheme, reach the electronic system of other control module.In other words, the programmable logic controller can receive/import and send/export the electric or electric signal of multiple kenel, and use them to control or supervise the machinery and the electrical system of almost all kinds.Have module (figure does not illustrate) in the CPU (central processing unit) 110 (being CPU), module receives parameter and operation produces order.In this module of saying, be preferably program/software that compiling is voluntarily write, write at the various servo motor of specific operating mode and form.In brief, module is promptly write the program software that forms according to each former factory's servo motor parameter decided at the higher level but not officially announced.Module is by the processing of parameter, and above-mentioned parameter is inserted each address of servomotor drive, according to the principle (being output command) of servomotor drive control servo motor, controls each servo motor 500 again.CPU (central processing unit) 110 more comprises to send orders, in order to control at least one servo motor 500.A plurality of communication interfaces 200,300 connect man-machine interface 100, CPU (central processing unit) 110 and each servo motor 500 respectively.
In the embodiment shown in Fig. 2 a, preferable first communication interface 200 and second communication interface 300 of comprising of communication interface.First communication interface 200 connects man-machine interface 100 and CPU (central processing unit) 110 respectively; 300 of second communication interfaces connect CPU (central processing unit) 110 and servo motor 500 respectively.Be preferably RS232 at this first communication interface 200 of saying.Second communication interface 300 is preferable then to be RS485.RS232 and RS485 support many instrument and equipments at present widely, and often are used in device to be measured (device under test for early communications protocol in test or the metrology applications; DUT) diagnosis or control port.Yet in other different embodiment, first communication interface 200 or second communication interface 300 also can comprise USB, IEEE1394 or other different communication interface.In addition, servo motor 500 more comprises servomotor drive 400, and servomotor controller 400 is essentially the assembly of real control servo motor 500, and for the order that receives from CPU (central processing unit) 110.In other words, in be stored in the module of CPU (central processing unit) 110 preferable with servomotor drive 400 communications, to control servo motor 500.
CPU (central processing unit) 110 is preferable separates setting with man-machine interface 100, and connects with first communication interface 200.Yet in the embodiment shown in Fig. 2 b, CPU (central processing unit) 110 also can and be put with man-machine interface 100 maybe can be integrated into a computing machine 150.In the present embodiment, more comprise at least one internal memory 120 is set, for storing above-mentioned parameter, and be arranged in the man-machine interface 100.At this internal memory of saying 120, be preferably random access memory (Random AccessMemory; RAM).Yet in the embodiment shown in Fig. 2 b, man-machine interface 100 also can be arranged at outside the man-machine interface 100, that is is arranged in the computing machine 150.
In addition, in the embodiment shown in Fig. 2 a and Fig. 2 b, but the mode of the preferable one-to-many of module and a plurality of servo motor 500 carry out communication.In other words, after input parameters and module execution, can carry out the actions such as activation, location positioning, delay or condition monitoring servo motor of system via CPU (central processing unit).In addition, each servo motor 500 necessary each servomotor drive 400 of collocation can be controlled the servo motor 500 that is connected.
Below promptly further introduce control servo motor method of the present invention.As shown in Figure 3, control servo motor method of the present invention comprises following steps: at least one parameter of step 510 input.Step 520 receives parameter and operation produces order.Step 530 sends order.According to order control at least one servo motor (being step 540).
It is preferable by man-machine interface setting servo motor parameter, the step 700 among the embodiment promptly shown in Figure 4 to import at least one parameter.In addition, the preferable input/output interface function input of the parameter of input from man-machine interface.At this input parameter of saying, then refer to the inner parameter of servo motor, and the parameter position in the man-machine interface is corresponding mutually with the position of internal memory.In other words, before system activates, in man-machine interface, import parameters, these parameters just can memory storage in the internal memory of man-machine interface.Yet in other different embodiment, also can continue to use last time each stored in internal memory parameter setting.In other words, before system activates, in man-machine interface, do not change the setting of any parameter, promptly can carry out communication with each servomotor drive, and then control each servo motor according to record in the internal memory.The reception parameter of step 520 also produces order, preferable finger parameter with in be built in man-machine interface module combine, and send this in conjunction with after order (being step 530) give servomotor drive, control servo motor with step 540 again.
Yet in the embodiment shown in fig. 4, more comprise by communication interface and servomotor drive and carry out communication.In other words, after the servo motor parameter is set in the man-machine interface of step 700, see through first communication interface of step 710 and the module running of step 720 CPU (central processing unit), supply servomotor drive communication with step 740.Wherein preferable second communication interface that more comprises step 730 is connected between the servomotor drive communication of the module of the CPU (central processing unit) of step 720 running and step 740.In embodiment as shown in Figure 4, first communication interface of step 710 and second communication interface of step 730 are preferable to carry out communication with RS232 and RS485 bus respectively.Yet in other different embodiment, can also USB etc. general purpose interface bus carry out communication.At last, via the signal of the servomotor drive communication of step 740, for every running of the servo motor of controlled step 750.
What this need specify be, but the mode of the preferable one-to-many of the module of the CPU (central processing unit) of the step 720 in present embodiment running is controlled a plurality of servo motors.In other words, write in the program of module and at first to define each servo motor, the mode of writing with variable defines each servo motor again, can reach the purpose of controlling a plurality of servo motors.Yet in other different embodiment, also can man-to-man mode operate servo motor.
The present invention is described by above-mentioned related embodiment, yet the foregoing description is only for implementing example of the present invention.Must be pointed out that the embodiment that has disclosed does not limit the scope of the invention.On the contrary, being contained in the modification of the spirit of claim and scope and equalization is provided with and all is contained in the scope of the present invention.
Claims (10)
1. device of controlling servo motor, described device comprises:
One man-machine interface is at least one parameter of input;
One CPU (central processing unit) has a module, and described module receives described parameter and operation produces an order, and described CPU (central processing unit) more comprises the described order of transmission, to control at least one servo motor; And
A plurality of communication interfaces connect described man-machine interface, described CPU (central processing unit) and described servo motor respectively.
2. device as claimed in claim 1, wherein said CPU (central processing unit) and described man-machine interface are also put.
3. device as claimed in claim 1, wherein said man-machine interface more comprises at least one internal memory, and internal memory is for storing described parameter.
4. device as claimed in claim 1, wherein said servo motor more comprises a servomotor drive, for the described order that receives from described CPU (central processing unit).
5. device as claimed in claim 1, wherein said communication interface more comprises one first communication interface and one second communication interface, described first communication interface connects described man-machine interface and described CPU (central processing unit), and described second communication interface then connects described CPU (central processing unit) and described servo motor.
6. device as claimed in claim 1, wherein said man-machine interface comprise programmable logic controller (Programmable Logic Controller; PLC).
7. method of controlling servo motor, it comprises following steps:
Import at least one parameter;
Receive described parameter and operation generation one order; And
Send described order, and control at least one servo motor according to described order.
8. method as claimed in claim 7 is wherein imported described parameter and is more comprised by man-machine interface input, and is stored in the internal memory.
9. method as claimed in claim 7 wherein produces described order and produces via a module of carrying out in the CPU (central processing unit).
10. method as claimed in claim 7 wherein sends described order and more comprises by at least one servomotor drive reception, with further control servo motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101073480A CN101315548A (en) | 2007-05-29 | 2007-05-29 | Devices and methods for controlling servomotor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101073480A CN101315548A (en) | 2007-05-29 | 2007-05-29 | Devices and methods for controlling servomotor |
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| CN101315548A true CN101315548A (en) | 2008-12-03 |
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| CNA2007101073480A Pending CN101315548A (en) | 2007-05-29 | 2007-05-29 | Devices and methods for controlling servomotor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105099281A (en) * | 2014-05-14 | 2015-11-25 | 英属维尔京群岛商鉱腾有限公司 | Servo motor drive |
| CN105515251A (en) * | 2015-12-07 | 2016-04-20 | 北京精密机电控制设备研究所 | High-synchronism electromechanical servo mechanism with follow-up heat insulation tiles |
| CN106811858A (en) * | 2017-01-03 | 2017-06-09 | 福建睿能科技股份有限公司 | A kind of computer flat knitting machine |
-
2007
- 2007-05-29 CN CNA2007101073480A patent/CN101315548A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105099281A (en) * | 2014-05-14 | 2015-11-25 | 英属维尔京群岛商鉱腾有限公司 | Servo motor drive |
| CN105099281B (en) * | 2014-05-14 | 2018-04-24 | 英属维尔京群岛商鉱腾有限公司 | Servomotor drive |
| CN105515251A (en) * | 2015-12-07 | 2016-04-20 | 北京精密机电控制设备研究所 | High-synchronism electromechanical servo mechanism with follow-up heat insulation tiles |
| CN105515251B (en) * | 2015-12-07 | 2018-01-05 | 北京精密机电控制设备研究所 | A kind of high synchronism electromechanical coupling system with trailing type thermal insulation tile |
| CN106811858A (en) * | 2017-01-03 | 2017-06-09 | 福建睿能科技股份有限公司 | A kind of computer flat knitting machine |
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Open date: 20081203 |