CN102510339A - Ethernet networked connection device and system for realizing non-networked servo - Google Patents
Ethernet networked connection device and system for realizing non-networked servo Download PDFInfo
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- CN102510339A CN102510339A CN2011103762361A CN201110376236A CN102510339A CN 102510339 A CN102510339 A CN 102510339A CN 2011103762361 A CN2011103762361 A CN 2011103762361A CN 201110376236 A CN201110376236 A CN 201110376236A CN 102510339 A CN102510339 A CN 102510339A
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Abstract
The invention discloses an Ethernet networked connection device and system for realizing a non-networked servo. The Ethernet networked connection device comprises an outer shell in which a control panel is arranged; the control panel comprises a core panel and a servo driving interface panel, the core panel is movably connected with the servo driving interface panel via a servo interface panel insert pin; the outer shell is of a two-half type structure, and the middle parts of the outer shell are connected via a buckle; openings respectively matched with a net opening, a terminal board and a servo plug on the core panel are positioned on the outer shell; and a chute matched with the core panel is positioned on the inner wall of the outer shell, and heat radiating holes are arranged at the bottom part of the outer shell. According to the invention, a network communication, a servo control and a servo driving connector are integrated on a small module; the driver is not required to perform any change and plugged on the control interface of the general servo driver so that the real-time Ethernet communication function is added to the general servo drive and replaces the complex connecting method of the original traditional servo interface for realizing the networked connection of the system.
Description
Technical field
The present invention relates to the servo networked jockey of a kind of tradition, relate in particular to a kind of ethernet network jockey and system that realizes that non-network is servo.
Background technology
Servo-drive technology in recent years is all to have obtained development at full speed on the control precision or the speed of service; But the servo-driver interface is in pulsed quantity and analog signal control stage for a long time; The traffic rate of this interface mode is low; Control mode is complicated, has seriously hindered the development of high-grade servo techniques.On the other hand, industrial control network has experienced the development that controls to field bus technique by collecting and distributing.Though nowadays fieldbus still occupies this leading position, unified because its numerous and disorderly consensus standard is difficult to, and also message transmission rate is lower, more and more is difficult to satisfy the interconnected requirement of transmitting with mass data between the inside plants smart machine.
Ethernet technology rely on its widely user base, huge bandwidth, advantage such as topological structure and networking mode causes people's attention gradually and begins to penetrate into industrial control field flexibly, and has produced the EPA technology thus.Because through using ethernet technology to arrive office network and workshop net connection together easily; Realize net total solution on earth; Therefore should technology obtain extensive approval in the industry, and be considered to the best solution of industrial control network in the future once appearance.Though the servo-drive product of industry ethernet has been arranged on the market at present, and the servo system that remains in the actual production with pulse and analog interface is the main body.
For this reason, the invention discloses a kind of networked device, realized that traditional servo networking connects, and provided concrete implementation and method of work for traditional servo-driver expansion real-time ethernet interface.
Summary of the invention
The present invention is directed to now, general motor servo driver proposes a kind of networked connectivity scenario; This scheme is integrated into network communication, SERVO CONTROL and servo-drive connector on the little device; Only need this device be assigned into and promptly can be servo-drive interpolation EPA interface on the servo-driver control interface, realize the networking of servo-drive; This device can also be realized motion control functions such as location, return reference point, spacing control except that possessing the characteristic that real-time ethernet has.
To achieve these goals, the present invention adopts following technical scheme:
A kind of ethernet network jockey of realizing that non-network is servo; It comprises shell; Be provided with control board in the shell, said control board comprises core board and servo-drive interface board two parts, and said core board flexibly connects through servo interface plate contact pin and servo-drive interface board; Said shell adopts two halves formula structure, and is middle through the buckle connection; Be respectively equipped with on the said shell with core board on the opening that matches of network interface, terminal board and servo plug; Said outer casing inner wall is provided with the chute that matches with core board, and said outer casing bottom also is provided with louvre.
One side of said core board is provided with two network interfaces, and opposite side is provided with the terminal board socket, between network interface and terminal board socket, is provided with two network transformers successively, and two physical chips and a FPGA also are provided with a slice RAM and a slice FLASH on the said core board.
Said servo-drive interface board upper end is provided with servo interface plate contact pin; The lower end is servo plug; Between servo interface plate contact pin and servo plug, be provided with the communication expansion module; Said communication expansion module adopts the Mini USB interface, links to each other with FPGA on the core board through RS485 or usb protocol chip and through servo interface plate contact pin.
Said shell both sides also are provided with two bolts hole that mate with servo-driver, and are connected on the servo-driver through bolt.
That said terminal board socket is provided with is spacing, return zero, band-type brake and general input interface.
A kind of ethernet network connected system of realizing that non-network is servo; It comprises main frame; Main frame is connected with the network interface of several ethernet network jockeys through netting twine, and said ethernet network jockey directly assigns on the servo-driver control interface through servo plug.
Detailed technology scheme of the present invention is following:
The ethernet network jockey is divided into shell and two parts of control board, and wherein shell adopts two halves formula structure, and is middle through buckle connection, convenient disassembly.Enclosure interior is provided with gathering sill, is used for realizing the location to circuit board.This device is provided with modules such as motor mouth, network interface, expansion mouth to satisfy the requirement of this device to different control functions.Outer casing bottom adopts mesh design, to make things convenient for the heat radiation of internal electronic element.
Control board comprises core board and two modules of servo-drive interface board, uses double contact pin (being servo interface plate contact pin) to connect between the module and accomplishes exchanges data with this, and the The whole control plate is positioned by the gathering sill of enclosure interior.The housing both sides are provided with the bolt hole, therefore after assigning into servo-driver through servo plug, can also use bolt in this module, thereby make connection reliable and stable.
Dispose a slice FPGA (Field programmable Gate Array) chip and two ethernet physical layer protocol chips on the core board.The flexibility of SOPC (System on a Programmable Chip) technology makes core board under the prerequisite that does not change core board hardware, to realize dissimilar Ethernet protocols through reconfiguring the FPGA program.For guaranteeing to have extended out a slice RAM (Random Access Memory) and a slice procedure stores Flash on enough large program running space core boards.The design of two network interfaces makes this invention can support the various network topological structure; Terminal board is then for the user provides spacing, returns zero, the function of band-type brake and universal I input.
The servo-drive interface board directly assigns on the servo-driver control interface.For satisfying the demands of different of servomotor Position Control, speed control and torque control, interface board can be divided into pulse control and analog quantity is controlled two types.According to the difference of different manufacturers servo-driver control interface definition, the pinout of the servo joint on the interface board slightly changes.In the actual use,, only need to change to realize the networking of different servo system is connected with the servo-drive interface board that this brand driver is complementary to different servo systems.
The servo-drive interface board is provided with a serial communication expansion module; The outside Mini USB interface that adopts; Through RS485 or usb protocol chip and through flexibly connecting contact pin is that servo interface plate contact pin links to each other with the FPGA of core board, makes this module can support communications protocol such as RS485/USB through the IP kernel (Intellectual Property Core) for FPGA interpolation different agreement.This interface can adopt the mode of aerial lug to link to each other with the driver communication interface, thereby realizes the visual debugging of driver, the Remote configuration of parameter and the remote diagnosis of fault are guaranteed the optimized running of servo system.
The present invention adopts above technical scheme, has following technological merit:
1, need not do any change, promptly can be general servo interpolation EPA interface on servo-driver Electric Machine Control mouth, realize that networking connects the implementation simple and flexible as long as the ethernet network jockey is installed to servo-driver hardware.And this device is compact to design, volume is little, and to the almost not influence of original driver profile, and compact design more helps the reliability of mechanical connection.
2, shell adopts the buckle-type ways of connecting, is convenient to dismounting; In addition, abundant interface can satisfy the Different control requirement.Enclosure interior is provided with gathering sill, can the control board of inside be positioned; The heat radiation of electronic component on the control board is convenient in the louvre design of outer casing bottom.
3, the servo-drive interface board has replaced traditional motor lines with the connection of card insert type, and connected mode is convenient reliable; And because the wiring link in the middle of having reduced can make the reliability of entire system strengthen.
4, the design of the two network interfaces on the core board has increased networking flexibility property, can realize chain, annular and multiple network topological structure such as star-like according to different demands.
5, the modularized design of adopting core board and servo-drive interface board to be separated, middle with the contact pin connection, for convenience detach; To only being required to be FPGA configuration different protocol stack in the different application or changing the servo-drive interface board and can realize networking control to the different servo driver.Increased the flexibility of system based on the design architecture of FPGA, through can realize the real-time ethernet scheme of different agreement type for FPGA configuration different programs.
6, to different servo-drivers, the servo-drive interface board is provided with the communication expansion module, can carry out Remote configuration and can realize remote monitoring and the failure diagnosis to motor status the parameter of servo system through this module.
Description of drawings
Fig. 1 a is traditional SERVO CONTROL connected mode sketch map:
Fig. 1 b is a connected mode sketch map of the present invention:
Fig. 2 a is a contour structures sketch map of the present invention;
Fig. 2 b is a control board structural representation of the present invention;
Fig. 3 is the enclosure structural representation;
Fig. 4 is the core board structural representation;
Fig. 5 is a servo interface plate structure sketch map;
Fig. 6 a is a chain-shaped network topological structure connection layout;
Fig. 6 b is a loop network topological structure connection layout;
Fig. 6 c is a hub-and-spoke network topology structure connection layout;
Fig. 7 is the hierarchical chart of implementation;
Wherein: 1, the industrial computer of motion control card is housed, 2, the SERVO CONTROL cable, 3, servo-driver, 4, servo splicing ear, 5, straight through cable; 6, ethernet network jockey, 7, industrial computer, 21, shell, 22, communication expansion module interface, 23, network interface; 24, louvre, 25, connecting bolt, 26, the servo-driver interface; 27, core board, 28, the servo-drive interface board, 29, servo interface plate contact pin, 30, servo interface plate socket; 31, gathering sill, 32, buckle; 42, network transformer, 43, physical chip, 44, FPGA, 45, Flash, 46, RAM, 47, IO terminal board socket; 51, servo plug, 52, the communication expansion module, 53, the conversion of signals chip.
Embodiment
Below in conjunction with accompanying drawing the present invention is carried out detailed description.
Be depicted as traditional SERVO CONTROL connected mode sketch map like Fig. 1 a, the industrial computer 1 that motion control card is housed passes through SERVO CONTROL cable 2 and links to each other with servo splicing ear 4, and servo splicing ear 4 directly links to each other with servo-driver 3; Be depicted as connected mode sketch map of the present invention like Fig. 1 b; This figure is through directly assigning into ethernet network jockey 6 on the servo-driver 3; Thereby can go up the real-time ethernet linkage function for servo-driver adds easily, and directly link to each other with standard industry computer 7 through straight through cable 5; This mode of Fig. 1 b has replaced the pattern of in mainframe box, adding the PCI motion control card among traditional Fig. 1 a, has replaced complicated SERVO CONTROL cable 2 and servo splicing ear 4 with straight through cable 5, has simplified system configuration.
Shown in Fig. 2 a and Fig. 2 b, this contrive equipment is divided into shell and control board two parts, and device is provided with servo-driver interface 26, communication expansion module interface 22 and network interface 23, to satisfy the requirement of this device to different control board peripheral hardwares.Wherein shell 21 adopts two halves formula structure, connects through buckle 32 between the two halves housing, and convenient disassembly connects reliable, as shown in Figure 3.Enclosure interior is provided with gathering sill 31, realizes the location of control board with this.Louvre 24 designs are adopted in the bottom of shell 21, make things convenient for the heat radiation of electronic component in the shell.Whole module assigns on servo-driver 3 control interfaces through the servo plug 51 of the SCSI of 50 cores, and fixes through the bolt hole of both sides.
Control board comprises core board 27 and 28 two modules of servo-drive interface board, and its structure is respectively like Fig. 4, shown in Figure 5.Servo-drive interface board contact pin 29 can directly assign on the servo interface plate socket 30.Servo-drive interface board 28 carries out exchanges data with 27 two intermodules of core board through servo-drive interface board contact pin 29.The The whole control plate is connected the location through the gathering sill 31 of enclosure interior with shell 21, is directly assigned on the servo-driver 3 by servo-drive interface 26, and uses the connecting bolt 25 of shell 21 both sides to fix.Therefore this device can be realized general servo networking is connected on the basis that does not change original driver hardware structure.In actual use,, need not core board 27 is made any change, can realize being connected with the servo-drive interface board 28 that this servo-driver 3 is complementary with the different model driver as long as change to different servo-driver 3.
Dispose 42, two physical chips 43 of 23, two network transformers of two network interfaces on the core board 27, a slice fpga chip 44, one program memory flash 45, a slice extends out RAM 46, servo interface plate socket 30 and IO terminal board 47; The core board 27 main functions such as Ethernet data transmitting-receiving, protocol analysis, motor and IO control of accomplishing.Wherein FPGA is responsible for nearly all data operation and logical process task, and flash 45 is used to deposit the configurator of FPGA 44, and the RAM 46 that extends out is used for for application program bigger running space being provided as the expansion to the FPGA ram in slice.Through disposing different FPGA programs, core board 27 can be realized different industrial ethernet protocols; Flexibility in view of programmable system on the sheet can realize application layer procedure such as Electric Machine Control, parameter regulation easily in the soft nuclear of FPGA.And the project organization of two network interfaces is easier to networking, can conveniently realize chain, annular, network topology structure such as star-like, and structure is more flexible, shown in Fig. 6 a and Fig. 6 b.Basic motion interface such as that IO terminal board 47 is provided with is spacing, return zero, band-type brake and general input.
According to different servo control modes, servo-drive interface board 28 can be divided into two types of Position Control (pulse put in marks mode) and analog quantity controls.Servo-drive interface board 28 receives from core board 27 in the Position Control mode pulse and direction signal send to motor driver and realize Electric Machine Control behind the conversion of signals chip 53 of servo-drive interface board 28; Pass through serial bus communication in the analog quantity control mode between servo-drive interface board 28 and the core board 27, the DA chip on interface board is converted into aanalogvoltage control motor action with control data; The encoder information of motor execution result turns back to through interface board among the FPGA of core board 27, and fit applications layer program realizes that PID regulates scheduling algorithm.Except that motor control module, also has a communication expansion module 52 on the servo-drive interface board 28.This module can be connected on the communication interface of driver through aerial lug; To different servo-drive types; Can realize the corresponding protocol conversion through in FPGA, adding corresponding interface agreement IP kernel, thereby realize to the Remote configuration of the parameter of electric machine with to the remote monitoring and the failure diagnosis thereof of motor status.
The system hierarchy of this device is as shown in Figure 7.In system's running, level signal on the netting twine is delivered in the PHY chip through after the transformer, bit stream in the PHY chip, decode and transform after send to FPGA.Network control module among the FPGA is resolved it according to corresponding protocol behind the packet that receives from bottom, and waits in the two-port RAM that with leaving in after the application data extraction application layer procedure reads; Application layer procedure is obtained control data according to protocol requirement from the correspondence memory address, realize the operation to each peripheral module.
The peripheral hardware of FPGA control mainly comprises modules such as Electric Machine Control, IO control and communication expansion.Motor control module will be converted into pulse or analog signal control motor action from the control information that network obtains; In this simultaneously; The FPGA program reads the motor encoder state in real time; And between node the synchronous moment coder state latched be placed in the two-port RAM, wait for that the bus cycles upload to host node when arriving.Spacing state, time zero on off state, control motor that the IO control module is responsible for monitoring actuator enable, remove tasks such as motor warning message.
The serial communication expansion module 52 of servo-drive interface board 28 is provided with different PHY chips in advance, realizes agreements such as RS485/USB through the IP kernel that adds different agreement for FPGA.This module can link to each other with the driver communication interface through aerial lug, realizes the visual debugging of driver, the Remote configuration of parameter and the remote diagnosis of fault, thus the optimized running of assurance servo system.
Embodiment 1: according to patent; Realized a kind of novel industrial real-time Ethernet EtherMAC (Ethernet for Manufacture Automation Control) on this device; Can support to reach 254 from node; Can arrive 100 meters without any need for the maximum transmission distance between the situation lower node of relaying; Adopt patent " a kind of realize apparatus and method synchronous between the Ethernet chain-like network nodes " (patent No.: ZL200710014419.2) described synchronously to the time mode, can between node, can obtain synchronization accuracy less than ± 100ns.
Embodiment 2: in core board FPGA, load Powerlink slave station IP kernel, cooperate different servo-drive interface boards, can realize a servo slave station of standard of supporting Powerlink.
Embodiment 3: in core board FPGA, load EtherCAT slave station IP kernel, perhaps on core board, add the EtherCAT Ethernet chip, cooperate different servo-drive interface boards can be EtherCAT interface in the general servo interpolation again.
Though the above-mentioned accompanying drawing specific embodiments of the invention that combines is described; But be not restriction to protection range of the present invention; One of ordinary skill in the art should be understood that; On the basis of technical scheme of the present invention, those skilled in the art need not pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (6)
1. realize the servo ethernet network jockey of non-network for one kind; It is characterized in that it comprises shell, be provided with control board in the shell; Said control board comprises core board and servo-drive interface board two parts, and said core board flexibly connects through servo interface plate contact pin and servo-drive interface board; Said shell adopts two halves formula structure, and is middle through the buckle connection; Be respectively equipped with on the said shell with core board on the opening that matches of network interface, terminal board and servo plug; Said outer casing inner wall is provided with the chute that matches with core board, and said outer casing bottom also is provided with louvre.
2. like claims 1 described a kind of ethernet network jockey of realizing that non-network is servo; It is characterized in that; One side of said core board is provided with two network interfaces, and opposite side is provided with the terminal board socket, between network interface and terminal board socket, is provided with two network transformers successively; Two physical chips and a FPGA also are provided with a slice RAM and a slice FLASH on the said core board.
3. like claims 1 described a kind of ethernet network jockey of realizing that non-network is servo; It is characterized in that; Said servo-drive interface board upper end is provided with servo interface plate contact pin, and the lower end is servo plug, between servo interface plate contact pin and servo plug, is provided with the communication expansion module; Said communication expansion module adopts the Mini USB interface, links to each other with FPGA on the core board through RS485 or usb protocol chip and through servo interface plate contact pin.
4. like claims 1 described a kind of ethernet network jockey of realizing that non-network is servo, it is characterized in that said shell both sides also are provided with two bolts hole that mate with servo-driver, and be connected on the servo-driver through bolt.
5. like claims 1 described a kind of ethernet network jockey of realizing that non-network is servo, it is characterized in that that said terminal board socket is provided with is spacing, return zero, band-type brake and general input interface.
6. connected system that adopts the servo ethernet network jockey of the non-network of realization as claimed in claim 1; It is characterized in that; It comprises main frame; Main frame is connected with the network interface of several ethernet network jockeys through netting twine, and said ethernet network jockey directly assigns on the servo-driver control interface through servo plug.
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| CN105115106A (en) * | 2015-09-02 | 2015-12-02 | 阿尔西制冷工程技术（北京）有限公司 | Air conditioner signal transmission devices and air conditioners comprising same |
| CN108918429A (en) * | 2018-06-20 | 2018-11-30 | 中国科学院西安光学精密机械研究所 | A kind of online and offline spectrum data gathering device based on linear array detector |
| CN110324213A (en) * | 2018-03-31 | 2019-10-11 | 神盾网络安全信息化中心股份有限公司 | A kind of data transmission method of smart home |
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Application publication date: 20120620 Assignee: Shandong Rifa Textile Machinery Co., Ltd. Assignor: Jinan Linkon CNC Technology Co., Ltd. Contract record no.: X2019370000003 Denomination of invention: Ethernet networked connection device and system for realizing non-networked servo Granted publication date: 20141203 License type: Exclusive License Record date: 20190830 |
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