CN102237836B - Servo driver and control method thereof - Google Patents
Servo driver and control method thereof Download PDFInfo
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- CN102237836B CN102237836B CN2010101693729A CN201010169372A CN102237836B CN 102237836 B CN102237836 B CN 102237836B CN 2010101693729 A CN2010101693729 A CN 2010101693729A CN 201010169372 A CN201010169372 A CN 201010169372A CN 102237836 B CN102237836 B CN 102237836B
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Abstract
The invention discloses a servo driver, which comprises a subcycle circuit and a pulse width processing circuit, wherein the subcycle circuit is used for receiving a phase A signal and a phase B signal output by a motor encoder and outputting a subcycle phase A signal and a subcycle phase B signal; a default value is set inside the pulse width processing circuit; the pulse width processing circuit is used for receiving a phase Z signal output by the motor encoder, activating a recording function to record a phase Z time interval, and outputting a variable-width phase Z signal; and when the phase Z time interval is equal to the default value, the pulse width processing circuit stops outputting the variable-width phase Z signal to an upper controller.
Description
[technical field]
The invention relates to a kind of driver, and particularly relevant for a kind of control method of servo-driver and use its servo-driver.
[background technology]
Generally speaking, the motor that drives load needs the sensing cell that can respond to present motor rotary speed and position, is commonly referred to as motor encoder (Encoder).Common motor encoder (Encoder) is to export A phase signals, B phase signals and Z phase signals.Wherein, the Z phase signals is in order to representing motor initial point signal, and revolves when turning around in motor and to occur once.The cheap treatment circuit of tradition is directly to export the Z phase signals to level controller.
Yet, along with the encoder of the raising of application scenario rotating speed and collocation high-resolution, will make the narrowed width that the Z phase signals occurs can produce the situation that level controller can't be received the Z phase signals.In addition, the encoder specification of manufacturer partly if Z phase signals itself is with regard under the narrow situation, only is the wide situation of half range of A phase signals or B phase signals as the width of Z phase signals, then can cause level controller to can not receive the Z phase signals easilier.
So, how to improve that to go up level controller narrow because of the Z phase signals, and can't receive and the disappearance of Z phase signals be the problem that the present invention mainly improves.
[summary of the invention]
Present invention is directed to a kind of servo-driver and control method thereof, in order to solve when the high rotating speed application scenario, last level controller reads the problem less than the Z phase signals.
A kind of control method of servo-driver is proposed according to an aspect of the present invention.The control method of servo-driver comprises the steps: that at least the pulsewidth treatment circuit receives the Z phase signals that motor encoder is exported, and in establish default value; When the pulsewidth treatment circuit receives the Z phase signals, activate the record function recording a Z phase time-histories, and export a variable-width Z phase signals; And equaling default value when Z phase time-histories, the pulsewidth treatment circuit stops to export the supreme level controller of variable-width Z phase signals.
According to a further aspect in the invention, a kind of servo-driver is proposed.Servo-driver comprises all circuit of branch and pulsewidth treatment circuit.A phase signals and the B phase signals of dividing all circuit to export in order to receive motor encoder are divided all A phase signals and are divided all B phase signals with output.Be provided with a default value in the pulsewidth treatment circuit, in order to receiving the Z phase signals that motor encoder is exported, and activate the record function recording a Z phase time-histories, and export a variable-width Z phase signals.When Z phase time-histories equals default value, the pulsewidth treatment circuit stops to export the supreme level controller of variable-width Z phase signals.
For foregoing of the present invention can be become apparent, a preferred embodiment cited below particularly, and cooperate appended graphicly, be described in detail below:
[description of drawings]
It is the partial schematic diagram of servo-driver that Fig. 1 illustrates.
It is the signal waveforms of servo-driver that Fig. 2 illustrates.
It is flow chart according to the control method of a kind of servo-driver of first embodiment of the invention that Fig. 3 illustrates.
It is flow chart according to the control method of a kind of servo-driver of second embodiment of the invention that Fig. 4 illustrates.
It is a kind of servo-driver according to second embodiment of the invention that Fig. 5 illustrates.
It is signal waveforms according to third embodiment of the invention that Fig. 6 illustrates.
[primary clustering symbol description]
10: motor encoder
20: go up level controller
30,40: servo-driver
310: divide all circuit
330: the pulsewidth treatment circuit
The SA:A phase signals
The SB:B phase signals
SZ, Z:Z phase signals
PA: divide all A phase signals
PB: divide all B phase signals
ZW, ZW1, ZW2, ZW3: variable-width Z phase signals
410,440,450,460,470,480,510,540,550,560: step
[embodiment]
Read problem less than the Z phase signals in order to solve level controller, following embodiment provides a kind of servo-driver and control method thereof.Servo-driver comprises all circuit of branch and pulsewidth treatment circuit.A phase signals and the B phase signals of dividing all circuit to export in order to receive motor encoder are divided all A phase signals and are divided all B phase signals with output.Be provided with a default value in the pulsewidth treatment circuit, in order to receiving the Z phase signals that motor encoder is exported, and the activation record function to be recording a Z phase time-histories, and output variable-width Z phase signals.When Z phase time-histories equals default value, the pulsewidth treatment circuit stops to export the supreme level controller of variable-width Z phase signals.
The control method of servo-driver comprises the steps: that at least the pulsewidth treatment circuit receives the Z phase signals that motor encoder is exported, and in establish default value; Pulsewidth treatment circuit activation record function to be recording a Z phase time-histories, and exports a variable-width Z phase signals; And equaling default value when Z phase time-histories, the pulsewidth treatment circuit stops to export the supreme level controller of variable-width Z phase signals.Mentioned " signal " in the execution mode, its meaning comprises " signal ", the Ri Wen ﹠amp in the English; " signal " in the simplified Chinese character.
First embodiment
Please be simultaneously with reference to Fig. 1 and Fig. 2, it is partial schematic diagram according to a kind of servo-driver of first embodiment of the invention that Fig. 1 illustrates, it is signal waveforms according to first embodiment of the invention that Fig. 2 illustrates.Servo-driver 30 be coupled to motor encoder 10 and go up level controller 20 between, and go up level controller 20 for example be program-controlled device (Programmable Logic Controller, PLC).Servo-driver 30 comprises all circuit 310 of branch and pulsewidth treatment circuit 330.Divide all circuit 310 to be called frequency eliminating circuit again, divide all circuit 310 to receive the information of motor encoder 10, and the supreme level controller 20 of transmission information.The all circuit 310 of branch divide A phase signals SA Zhou Weifen week A phase signals PA and divide all B phase signals of Zhou Weifen PB according to minute all ratios with B phase signals SB according to one fen all ratio, and will divide all A phase signals PA and divide all B phase signals PB to export level controller 20 to.
Because pulsewidth treatment circuit 330 can be adjusted the pulse bandwidth of variable-width Z phase signals ZW, therefore can solve level controller 20 because of the too small problem that reads less than Z phase signals SZ of the pulse bandwidth of Z phase signals SZ.This variable-width Z phase signals ZW, can be as variable-width Z phase signals ZW1, variable-width Z phase signals ZW2 among Fig. 2 or variable-width Z phase signals ZW3, change speech, this default value is not limited only to single parameter, it also can comprise complex parameter, is available for users to set according to its demand.When aforementioned default value is 1, the variable-width Z phase signals ZW1 that this variable-width Z phase signals ZW such as Fig. 2 illustrate, its width can comprise edge number once, this edge number means all A phase signals of branch or divides the edge number of all B phase signals, and when receiving secondary edge number, namely stop to export this variable-width Z phase signals ZW1; When aforementioned default value is 2, the variable-width Z phase signals ZW2 that this variable-width Z phase signals ZW such as Fig. 2 illustrate, its width can comprise the edge number of secondary, with Fig. 2, when the edge number that receives for the third time, stop to export this variable-width Z phase signals ZW2 in real time, make the width of this variable-width Z phase signals ZW2 cross over the secondary edge number at least; When aforementioned default value is 3, the variable-width Z phase signals ZW3 that this variable-width Z phase signals ZW such as Fig. 2 illustrate, its width can comprise three times edge number, that is, when the edge number that receives the 4th time, stop to export this variable-width Z phase signals ZW3 in real time, make the width of this variable-width Z phase signals ZW3 cross over the edge number at least three times.
Please be simultaneously with reference to Fig. 1 and Fig. 3, it is flow chart according to the control method of a kind of servo-driver of first embodiment of the invention that Fig. 3 illustrates.The control method of servo-driver comprises the steps:
At first shown in step 410.Pulsewidth treatment circuit 330 receives the Z phase signals SZ that motor encoder 10 is exported.Then shown in step 440, pulsewidth treatment circuit 330 activation record functions are recording a Z phase time-histories, and output variable-width Z phase signals ZW.Wherein Z phase time-histories is branch all A phase signals PA and the edge number of dividing all B phase signals PB.Then shown in step 450, pulsewidth treatment circuit 330 detects the edge that divides all A phase signals PA or divide all B phase signals PB.
Then shown in step 460, the Z phase that adds up time-histories.Then shown in step 470, judge whether Z phase time-histories equals default value.Wherein default value for example equals 3.If Z phase time-histories equals default value, then execution in step 480.In step 480, pulsewidth treatment circuit 330 stops to export the supreme level controller 20 of variable-width Z phase signals ZW.When pulsewidth treatment circuit 330 stops to export the supreme level controller 20 of variable-width Z phase signals ZW, pulsewidth treatment circuit 330 stops writing function simultaneously, and this Z phase time-histories is made zero.After step 480 was finished, namely repeated execution of steps 410.
Second embodiment
Please be simultaneously with reference to Fig. 4 and Fig. 5, it is flow chart according to the control method of a kind of servo-driver of second embodiment of the invention that Fig. 4 illustrates, it is a kind of servo-driver according to second embodiment of the invention that Fig. 5 illustrates.The servo-driver 40 of this embodiment is different with first embodiment be in: default value and Z phase time-histories are time value among this embodiment.Its control method of the servo-driver of this embodiment comprises the steps:
At first shown in step 510.Pulsewidth treatment circuit 330 receives the Z phase signals SZ that motor encoder 10 is exported.Then shown in step 540, pulsewidth treatment circuit 330 activation record functions are recording a Z phase time-histories, and output variable-width Z phase signals ZW.Wherein default value is a time value, and Z phase time-histories then is the record duration of runs.Then shown in step 550, judge whether Z phase time-histories equals default value.If Z phase time-histories equals default value, then execution in step 560.In step 560, pulsewidth treatment circuit 330 stops to export the supreme level controller 20 of variable-width Z phase signals ZW.When pulsewidth treatment circuit 330 stops to export the supreme level controller 20 of variable-width Z phase signals ZW, pulsewidth treatment circuit 330 stops writing function simultaneously, and this Z phase time-histories is made zero.After step 560 was finished, namely repeated execution of steps 510.
What need special instruction is that the resolution of motor maximum speed and motor encoder 10 is depended in the default value system of second embodiment.The inverse of motor maximum speed and the ratio of resolution equal a clock pulse cycle.Default value predeterminable for less than this clock pulse cycle or be preset as less than two minutes of this clock pulse cycle one, this 1 clock pulse cycle=60/ (resolution * maximum speed) of two minutes is not so as limit.
The 3rd embodiment
Please refer to Fig. 6, it is signal waveforms according to third embodiment of the invention that Fig. 6 illustrates.When the controlling party genealogy of law of the servo-driver of aforementioned first embodiment and second embodiment equals default value when Z phase time-histories, stop to export variable-width Z phase signals ZW.Yet, during variable-width Z phase signals ZW that the width of the Z phase signals SZ that exports when motor encoder 10 sets greater than pulsewidth treatment circuit 330, then pulsewidth treatment circuit 330 is not handled Z phase signals SZ, and directly exports the supreme level controller 20 of Z phase signals SZ.Wherein, default value and the Z phase time-histories edge number or the time value that can be branch all A phase signals PA and divide all B phase signals PB.
When aforementioned default value is 1, the variable-width Z phase signals ZW1 that its variable-width Z phase signals ZW such as Fig. 6 illustrate; When aforementioned default value is 2, the variable-width Z phase signals ZW2 that its variable-width Z phase signals ZW such as Fig. 6 illustrate; When aforementioned default value is 3, the variable-width Z phase signals ZW3 that its variable-width Z phase signals ZW such as Fig. 6 illustrate.
For instance, the Z phase signals SZ that illustrates of Fig. 1 and Fig. 5 represents with Z phase signals Z in Fig. 6 system.When the width of Z phase signals Z during greater than variable-width Z phase signals ZW1, then pulsewidth treatment circuit 330 is directly exported the supreme level controller 20 of Z phase signals Z.Similarly, when the width of Z phase signals Z during greater than variable-width Z phase signals ZW2, then pulsewidth treatment circuit 330 is directly exported the supreme level controller 20 of Z phase signals Z.On the contrary, when the width of Z phase signals Z during less than variable-width Z phase signals ZW3, pulsewidth treatment circuit 330 continues output variable-width Z phase signals ZW3 and equals default value up to Z phase time-histories.
The disclosed servo-driver of the above embodiment of the present invention and control method thereof can solve level controller and read problem less than the Z phase signals, to guarantee the operate as normal of motor.
In addition, disclose in embodiment, the motor driver of using this motion technology can match with various encoder, can be applicable to common communication type motor encoder, pulse wave type motor encoder etc.
In sum, though the present invention discloses as above with a preferred embodiment, so it is not in order to limit the present invention.The persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is as the criterion when looking accompanying the claim person of defining.
Claims (15)
1. the control method of a servo-driver comprises:
The pulsewidth treatment circuit receives the Z phase signals that a motor encoder is exported, and in establish a default value;
This pulsewidth treatment circuit activation record function to be recording a Z phase time-histories, and exports a variable-width Z phase signals; And
When this Z phase time-histories equals this default value, this pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to;
Wherein this default value system is smaller or equal to 3.
2. the control method of servo-driver according to claim 1 is characterized in that, when this pulsewidth treatment circuit stops to export this variable-width Z phase signals, and stops writing function simultaneously, and this Z phase time-histories is made zero.
3. the control method of servo-driver according to claim 2 is characterized in that, more comprises:
All than an A phase signals being divided Zhou Weiyi divide all A phase signals and all than dividing Zhou Weiyi to divide all B phase signals one B phase signals according to this branch according to one minute; And
Detecting this divides all A phase signals maybe this divides the edge of all B phase signals; And
Maybe this divides the edge of all B phase signals to be detected when this divides all A phase signals, and this Z phase time-histories adds up.
4. the control method of servo-driver according to claim 1 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.
5. the control method of a servo-driver comprises:
The pulsewidth treatment circuit receives the Z phase signals that a motor encoder is exported, and in establish a default value;
This pulsewidth treatment circuit activation record function to be recording a Z phase time-histories, and exports a variable-width Z phase signals; And
When this Z phase time-histories equals this default value, this pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to;
Wherein, this default value depends on a resolution of a motor maximum speed and this motor encoder; Wherein the ratio of the inverse of this motor maximum speed and resolution equals a clock pulse cycle; Wherein this default value is less than this clock pulse cycle.
6. the control method of servo-driver according to claim 5 is characterized in that,
Wherein this Z phase time-histories is the record duration of runs.
7. the control method of servo-driver according to claim 5 is characterized in that, when this pulsewidth treatment circuit stops to export this variable-width Z phase signals, and stops writing function simultaneously, and this Z phase time-histories is made zero.
8. the control method of servo-driver according to claim 5 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.
9. servo-driver comprises:
One fen all circuit is in order to receive A phase signals and the B phase signals that motor encoder is exported, with one fen all A phase signals of output and one fen all B phase signals; And
Be provided with a default value in the one pulsewidth treatment circuit, in order to receive the Z phase signals that motor encoder is exported, and the activation record function is to note down a Z phase time-histories, and export a variable-width Z phase signals, when this Z phase time-histories equals this default value, the pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to;
Wherein this default value system is smaller or equal to 3.
10. servo-driver according to claim 9 is characterized in that, when this pulsewidth treatment circuit stops to export this variable-width Z phase signals, and stops writing function simultaneously, and this Z phase time-histories is made zero.
11. servo-driver according to claim 10, it is characterized in that, this divides all circuit all than an A phase signals being divided Zhou Weiyi divide all A phase signals and all than dividing Zhou Weiyi to divide all B phase signals one B phase signals according to this branch according to one minute, this pulsewidth treatment circuit is judged and this is divided all A phase signals maybe whether this divides the edge of all B phase signals to be detected, maybe this divides the edge of all B phase signals to be detected when this divides all A phase signals, and this Z phase time-histories adds up.
12. servo-driver according to claim 9 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.
13. a servo-driver comprises:
One fen all circuit is in order to receive A phase signals and the B phase signals that motor encoder is exported, with one fen all A phase signals of output and one fen all B phase signals; And
Be provided with a default value in the one pulsewidth treatment circuit, in order to receive the Z phase signals that motor encoder is exported, and the activation record function is to note down a Z phase time-histories, and export a variable-width Z phase signals, when this Z phase time-histories equals this default value, the pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to;
Wherein this default value depends on a resolution of a motor maximum speed and this motor encoder; Wherein the ratio of the inverse of this motor maximum speed and resolution equals a clock pulse cycle; Wherein this default value is less than this clock pulse cycle.
14. servo-driver according to claim 13 is characterized in that,
Wherein this Z phase time-histories is the record duration of runs.
15. servo-driver according to claim 13 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.
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| CN102237836B true CN102237836B (en) | 2013-09-04 |
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Citations (4)
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|---|---|---|---|---|
| CN2203773Y (en) * | 1994-08-09 | 1995-07-19 | 北京科技大学 | Rotary direction arbiter of coding device with doubling circuit |
| CN1514207A (en) * | 2003-08-21 | 2004-07-21 | 哈尔滨工业大学 | Magnetic photoelectric encoder used for servo system |
| CN200947041Y (en) * | 2006-07-28 | 2007-09-12 | 武汉科技大学 | FPGA-based signal separation unit of encoder |
| CN201365221Y (en) * | 2009-02-25 | 2009-12-16 | 哈尔滨瑞哈科技发展有限公司 | Servo drive of intelligent high-power DC motor |
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- 2010-04-26 CN CN2010101693729A patent/CN102237836B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2203773Y (en) * | 1994-08-09 | 1995-07-19 | 北京科技大学 | Rotary direction arbiter of coding device with doubling circuit |
| CN1514207A (en) * | 2003-08-21 | 2004-07-21 | 哈尔滨工业大学 | Magnetic photoelectric encoder used for servo system |
| CN200947041Y (en) * | 2006-07-28 | 2007-09-12 | 武汉科技大学 | FPGA-based signal separation unit of encoder |
| CN201365221Y (en) * | 2009-02-25 | 2009-12-16 | 哈尔滨瑞哈科技发展有限公司 | Servo drive of intelligent high-power DC motor |
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