CN102402200A - Servo control system - Google Patents
Servo control system Download PDFInfo
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- CN102402200A CN102402200A CN2010102760735A CN201010276073A CN102402200A CN 102402200 A CN102402200 A CN 102402200A CN 2010102760735 A CN2010102760735 A CN 2010102760735A CN 201010276073 A CN201010276073 A CN 201010276073A CN 102402200 A CN102402200 A CN 102402200A
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Abstract
The invention discloses a servo control system applied to precise numerical-control machine tool processing equipment. The servo control system comprises a programmable control unit with a CAN (controller area network) open communication interface and a servo driving unit with a CAN open communication interface, and the programmable control unit is in communication with the servo driving unit via a CAN open bus. A positioning module of a programmable controller is omitted, the CAN open bus replaces a pulse signal wire and a control wire, consumption of wires is reduced by two-third, cost is saved, and simultaneously, failure rate of circuits is greatly reduced. Digital signals transmitted by the CAN open bus replace pulse signals of the prior art, problems that speed is limited due to over high pulse frequency and individual pulse signals cannot be identified by servo drivers in the prior art are resolved, the speed can be 1.5 times faster than the original speed, processing efficiency is improved, and precision is increased to 0.3mm from 0.5mm of the original precision.
Description
Technical field
The present invention relates to a kind of servo-control system, especially a kind of servo-control system that is used for the accurate digital control process equipment of the CANopen of employing bus communication.
Background technology
Progress and development along with country; Steel Structure Industry more and more comes into one's own; The devices needed of steel construction production is simultaneously also comparatively fast developed, and the lathe kind that is used for the steel construction aspect is more and more, wherein especially most popular with plane boring apparatus and three-dimensional boring apparatus.Some industries with steel construction in, for example in the boring of used H shaped steel of bridge and Automobile balance shaft processing, quite high to the position accuracy demand in hole, require increasingly high to working (machining) efficiency.The control model of the servo-control system that generally adopts in the boring apparatus of prior art is to send the pulse location; The Programmable Logic Controller that is servo-control system includes locating module; The locating module of Programmable Logic Controller sends pulse signal and direction signal through control line to servo-driver; Confirm pulse signal rising signals or high level as the step-by-step counting benchmark through being provided with; As shown in Figure 5, servo-driver is confirmed position length according to the pulse signal quantity that reads, and servo-driver just directly sends to servomotor after pulse signal is multiplied by multiplying power; The transmission frequency of locating module pulse that can be through changing Programmable Logic Controller is with the movement velocity of control servomotor; Direction signal is the foundation as the servomotor rotating.
Prior art adopts pulse signal to confirm the technology of position length, the shortcoming below existing:
1) pulse signal is easy to be interfered in transmission course; Especially when transmission line is longer, frequency converter circuit, mobile phone signal and other signal wire all are easy to make pulse signal to produce the disturbing pulse of spike, driver will with disturbing pulse its as an effective impulse signal Processing; As shown in Figure 6; Driver can be with disturbing pulse 1 as an effective impulse, and disturbing pulse 2 is divided into two pulses with normal pulse signal, and what directly cause will be positioning error;
2) pulse signal of the locating module of Programmable Logic Controller transmission will pass through and be sent to servomotor after servo-driver is handled, and the pulse signal transmission will be reflected in the servomotor rotation with the processing time, cause equipment to walk and lag behind;
3) because all servo-driver pulse signals frequencies all have a limits value, so when pulse signal frequency is too high, servo-driver can't recognize pulse signal, so equipment moving speed will be restricted the reduction working (machining) efficiency;
4), thereby cause the location inaccurate when pulse signal frequency is higher but below the servo-driver limits value, being easy to occur the individual pulses servo-driver can't discern, and causes pulse missing;
5) wiring is complicated, except pulse signal-line, also needs a lot of control lines, and line failure rate is high;
6) poor expandability, when need increase the numerical control axle, must the change Hardware configuration.
Summary of the invention
The objective of the invention is the shortcoming to the existence of prior art, a kind of servo-control system that is used for the accurate digital control process equipment of the CANopen of employing bus communication is provided, servo-control system of the present invention can effectively solve the shortcoming that prior art exists.
The objective of the invention is to realize through following technical scheme:
A kind of servo-control system comprises control module able to programme with CANopen communication interface and the servo drive unit with CANopen communication interface, and said control module able to programme and servo drive unit are through the CANopen bus communication.
Above-mentioned servo drive unit comprises servo-driven module and frequency-variable module.
A kind of servo-control system of the present invention comprises that also the CANopen bus divides wire module, and said servo-driven module and frequency-variable module divide wire module and control module able to programme to realize the CANopen bus communication through the CANopen bus.
The present invention can realize following beneficial effect through above technical scheme:
1, the locating module of cancellation Programmable Logic Controller replaces pulse signal-line and control line with the CANopen bus, has reduced 2/3rds with line, has practiced thrift cost, greatly reduces the failure rate of circuit simultaneously;
2, the digital signal that transmits of CANopen bus has substituted the pulse signal of prior art, and it is too high and the problem of maximum speed limit can be brought up to original 1.5 times with speed to have solved in the prior art pulsed frequency, improves working (machining) efficiency;
3, the digital signal of CANopen bus transmission has substituted the pulse signal of prior art, has solved the problem that individual pulses signal servo-driver can't be discerned in the prior art, and precision is improved 0.3mm from original 0.5mm.
Description of drawings
The present invention will explain through example and with reference to the mode of accompanying drawing, wherein:
Fig. 1 is the theory diagram of servo-control system of the present invention.
Fig. 2 is the further detailed schematic diagram of Fig. 1 servo-control system.
Fig. 3 is theory diagram and the ATV31 frequency converter arrangement plan that connects of parameter memory address really of storage inside word and the servo-control system of the present invention of servo-control system M340 Programmable Logic Controller of the present invention.
Fig. 4 is the CANopen bus communication process flow diagram of servo-control system of the present invention.
Fig. 5 is the theory diagram of prior art servo-control system.
Fig. 6 is the disturbing pulse schematic diagram that the prior art undesired signal produces.
Embodiment
Disclosed all characteristics in this instructions, or the step in disclosed all methods or the process except mutually exclusive characteristic and/or the step, all can make up by any way.
Disclosed arbitrary characteristic in this instructions (comprising any accessory claim, summary and accompanying drawing) is only if special narration all can be replaced by other equivalences or the alternative features with similar purpose.That is, only if special narration, each characteristic is an example in a series of equivalences or the similar characteristics.
As depicted in figs. 1 and 2, a kind of servo-control system of the present invention is used for the accurate digital control process equipment.In an embodiment of the present invention, give the present invention is elaborated with the servo-control system of the three-dimensional drilling hole machine tool that is used for steel construction.
A kind of servo-control system comprises control module able to programme with CANopen communication interface and the servo drive unit with CANopen communication interface, and said control module able to programme and servo drive unit are through the CANopen bus communication.Among the present invention, said servo drive unit comprises servo-driven module and frequency-variable module.Comprise that also the CANopen bus divides wire module, said servo-driven module and frequency-variable module divide wire module and control module able to programme to realize the CANopen bus communication through the CANopen bus.Said CANopen bus divides wire module to comprise three CANopen bus deconcentrators; The bus input end mouth (IN) of the one CANopen bus deconcentrator electrically connects through CANopen bus and Programmable Logic Controller; Its output end of main mouth (OUT) electrically connects with the bus input end mouth (IN) of the 2nd CANopen bus deconcentrator, and the output end of main mouth (OUT) of the 2nd CANopen bus deconcentrator electrically connects with the bus input end mouth (IN) of the 3rd CANopen bus deconcentrator.
In the instance of the present invention, above-mentioned servocontrol module comprises fixation side X axle servo-driver, fixation side Y axle servo-driver, goes up unit X axle servo-driver, goes up unit Y axle servo-driver, moves side X axle servo-driver, moves side Y axle servo-driver, mobile pallet servo-driver, feeding trolley servo-driver and feeding trolley clamp up-down servo-driver; Said frequency-variable module comprises the fixation side frequency converter, goes up unit frequency converter and mobile side frequency converter.Wherein fixation side X axle servo-driver, fixation side Y axle servo-driver, last unit X axle servo-driver and last unit Y axle servo-driver and a CANopen bus deconcentrator electrically connect; Move side X axle servo-driver, mobile side Y axle servo-driver, mobile pallet servo-driver and feeding trolley servo-driver and the 2nd CANopen bus deconcentrator and electrically connect, feeding trolley clamp up-down servo-driver, fixation side frequency converter, last unit frequency converter and mobile side frequency converter and the 3rd CANopen bus deconcentrator electrically connect.
Pass through query and search; The M340 Programmable Logic Controller of finding Schneider company has the CANopen communication function; And other function also can satisfy equipment requirements; Simultaneously the Lexium05 servo-driver of Schneider company and ATV31 frequency converter are all had a CANopen communication function, and the Programmable Logic Controller in the embodiments of the invention just adopts Schneider M340 Programmable Logic Controller, and 9 servo-drivers all adopt Schneider Lexium05 servo-driver; 3 frequency converters all adopt Schneider ATV31 frequency converter.
The CANopen bus is two line buses of differential mode control, is made up of CAN-high, CAN-low and ground wire, utilizes 120 ohm of terminal resistances of servo-driver between CAN-high and CAN-low, to set up level difference, i.e. the CANopen signal of communication.
In order to guarantee that the CANopen communication bus connects integrality and CANopen communication correctness; The M340 Programmable Logic Controller has defined the internal state word that is connected integrality and CANopen communication correctness with the CANopen bus, can the show bus state, information such as communication state, slave station state and current communication step.
The CANopen communication is divided into the exchange of two types of SDO and PDO, and PDO is and the communication interface object of process data that its allows data in real time exchange.The present invention uses the PDO exchange to circulate and reads and writes data; Be mainly used in and read servo-driver status word, servomotor position, servomotor ultimate limit state, the servo-driver method of operation, manually operation of writing servo driver control word, servomotor operational objective Position And Velocity, startup.Use this CANopen bus communication, just need be configured, with the storage inside word of M340 Programmable Logic Controller and Lexium05 servo-driver and ATV31 frequency converter really the parameter memory address set up relatedly, its associated configuration is as shown in Figure 3.
SDO allows through asking imitatively to ask that device data, the present invention mainly carry out data with this kind exchange and once write, and is mainly used in writing servo driver rotating speed, the servo-driver method of operation, servo-driver and looks for the benchmark method of operation, servo-driver reference data.This kind exchange is carried out with M340 Programmable Logic Controller order Write_var.Communication flow such as Fig. 4; M340 Programmable Logic Controller real-time inspection CANopen communication bus operation conditions; Unusual generation warning occurs and let equipment shut down, M340 exchanges to move through SDO and PDO respectively with the Write_var order according to the communication configuration and reads and writes data, and servo-driver and frequency converter are accepted data and carried out returning data after the analyzing and processing; The M340 Programmable Logic Controller is analyzed the passback data; Check whether communication is correctly accomplished, let equipment shut down if error in data will produce to report to the police, if data correctly will be carried out communication next time as requested.
Through technical scheme of the present invention, cancellation Programmable Logic Controller locating module replaces pulse signal-line and control line with the CANopen communication bus, has reduced 2/3rds with line, has practiced thrift cost.Speed is brought up to original 1.5 times, improve working (machining) efficiency.Precision is improved 0.3mm from original 0.5mm, with step of machining precision raising of China's accurate digital control process equipment.Reliability, anti-interference strengthens greatly.
The present invention is not limited to aforesaid embodiment.The present invention expands to any new feature or any new combination that discloses in this manual, and the arbitrary new method that discloses or step or any new combination of process.
Claims (7)
1. servo-control system; Comprise control module able to programme and servo drive unit; It is characterized in that said control module able to programme and servo drive unit have the CANopen communication interface, control module able to programme and servo drive unit are through the CANopen bus communication.
2. servo-control system according to claim 1 is characterized in that said servo drive unit comprises servo-driven module and frequency-variable module.
3. servo-control system according to claim 2 is characterized in that, comprises that also the CANopen bus divides wire module, and said servo-driven module and frequency-variable module divide wire module and control module able to programme to realize the CANopen bus communication through the CANopen bus.
4. servo-control system according to claim 2; It is characterized in that said servocontrol module comprises fixation side X axle servo-driver, fixation side Y axle servo-driver, goes up unit X axle servo-driver, goes up unit Y axle servo-driver, moves side X axle servo-driver, moves side Y axle servo-driver, mobile pallet servo-driver, feeding trolley servo-driver and feeding trolley clamp up-down servo-driver; Said frequency-variable module comprises the fixation side frequency converter, goes up unit frequency converter and mobile side frequency converter.
5. servo-control system according to claim 4; It is characterized in that said fixation side X axle servo-driver, fixation side Y axle servo-driver, last unit X axle servo-driver, last unit Y axle servo-driver, mobile side X axle servo-driver, mobile side Y axle servo-driver, mobile pallet servo-driver, feeding trolley servo-driver and feeding trolley clamp up-down servo-driver are Schneider Lexium05 servo-driver; Said fixation side frequency converter, last unit frequency converter and mobile side frequency converter are Schneider ATV31 frequency converter.
6. servo-control system according to claim 3; It is characterized in that; Said CANopen bus divides wire module to comprise three CANopen bus deconcentrators; The bus input end mouth (IN) of the one CANopen bus deconcentrator electrically connects through CANopen bus and Programmable Logic Controller; Its output end of main mouth (OUT) electrically connects with the bus input end mouth (IN) of the 2nd CANopen bus deconcentrator, and the output end of main mouth (OUT) of the 2nd CANopen bus deconcentrator electrically connects with the bus input end mouth (IN) of the 3rd CANopen bus deconcentrator.
7. servo-control system according to claim 1 is characterized in that, said Programmable Logic Controller is a Schneider M340 Programmable Logic Controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102760735A CN102402200A (en) | 2010-09-09 | 2010-09-09 | Servo control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102760735A CN102402200A (en) | 2010-09-09 | 2010-09-09 | Servo control system |
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| CN102402200A true CN102402200A (en) | 2012-04-04 |
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| CN2010102760735A Pending CN102402200A (en) | 2010-09-09 | 2010-09-09 | Servo control system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476414A (en) * | 2016-09-08 | 2017-03-08 | 西安电子科技大学 | The automatic voltage regulating system of the polychrome flexible steel roller printing machine based on CAN |
| CN106557073A (en) * | 2015-09-30 | 2017-04-05 | 发那科株式会社 | The Servocontrol device of the function with the characteristic for determining learning controller |
| CN106647672A (en) * | 2017-01-10 | 2017-05-10 | 上海新时达电气股份有限公司 | CANopen-based servo driver position control synchronizing method |
| CN106843162A (en) * | 2017-03-23 | 2017-06-13 | 马鞍山工蜂智能科技有限公司 | A kind of industrial lathe automation remote intelligence control system |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | Distributed power unmanned aerial vehicle control system |
| CN113517840A (en) * | 2021-08-11 | 2021-10-19 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106557073A (en) * | 2015-09-30 | 2017-04-05 | 发那科株式会社 | The Servocontrol device of the function with the characteristic for determining learning controller |
| CN106557073B (en) * | 2015-09-30 | 2021-02-19 | 发那科株式会社 | Servo control device having function of measuring characteristics of learning controller |
| CN106476414A (en) * | 2016-09-08 | 2017-03-08 | 西安电子科技大学 | The automatic voltage regulating system of the polychrome flexible steel roller printing machine based on CAN |
| CN106647672A (en) * | 2017-01-10 | 2017-05-10 | 上海新时达电气股份有限公司 | CANopen-based servo driver position control synchronizing method |
| CN106647672B (en) * | 2017-01-10 | 2019-01-25 | 上海新时达电气股份有限公司 | Servo-driver position control synchronous method based on CANopen |
| CN106843162A (en) * | 2017-03-23 | 2017-06-13 | 马鞍山工蜂智能科技有限公司 | A kind of industrial lathe automation remote intelligence control system |
| CN111708374A (en) * | 2020-06-22 | 2020-09-25 | 西北工业大学 | Distributed power unmanned aerial vehicle control system |
| CN113517840A (en) * | 2021-08-11 | 2021-10-19 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
| CN113517840B (en) * | 2021-08-11 | 2022-04-08 | 梁仁和 | Method for determining power-off position of encoder on motor and motor control system |
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Application publication date: 20120404 |