CN104181866A - Servo driver interpolation control method - Google Patents
Servo driver interpolation control method Download PDFInfo
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- CN104181866A CN104181866A CN201410426468.7A CN201410426468A CN104181866A CN 104181866 A CN104181866 A CN 104181866A CN 201410426468 A CN201410426468 A CN 201410426468A CN 104181866 A CN104181866 A CN 104181866A
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- interpolation
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Abstract
The invention relates to a servo driver interpolation control method. According to the method, a control mode with an interpolation function serves as the main control mode of a servo driver; the servo driver can conduct position control, speed control, torque control and the like on a monoaxial servo motor like a universal servo motor driver in a non-main-control mode, and the servo driver controls multiple servo motors by generating various control signals to achieve interpolation motion in the main control mode; an interpolation operation program is modularized and embedded into a control core unit of the servo driver, the servo driver can directly control the multiple servo motors to conduct interpolation motion, and then requirements for the data processing capacity, operation capacity and storage capacity of an upper computer are reduced. The servo driver interpolation control method is high in application value.
Description
Technical field
The present invention relates to a kind of servo drive control method, particularly a kind of servo-driver interpolation control method.
Background technology
Traditional servo-driver adopts digital signal processor as control core, has position control mode, speed control mode and torque control model etc., is widely used in the fields such as injection machine, textile machine, package packing machine, numerically-controlled machine.When traditional position control mode, speed control mode and torque control model are used in to the fields such as numerically-controlled machine, need in host computer, carry out the program module of interpolation operation, then host computer deal with data ability, arithmetic capability and storage capacity are required all highlyer, increased the cost of a whole set of control system.
At present, on market, a servomotor of existing servo-driver control carries out single shaft digital-controlled technology, has met general numerically controlled requirement.Also there is a servo-driver by I/O mouth, to control the technology of an above servomotor, but this kind of servo-driver do not have interpolation function, carry out still needing to rely on the host computer that cost is higher when digital control and control, be not suitable for using in low-cost digital control field.
Summary of the invention
The present invention be directed to traditional servo-driver requiring high and can only carry out the numerically controlled problem of single shaft host computer when completing numerical control operating, a kind of servo-driver interpolation control method has been proposed, can drive some servomotors to realize the servo-driver of interpolation function, interpolation operation program module is embedded into behind servo-driver control core unit, reduce the programming requirement to host computer bottom program, then reduced the requirement to host computer hardware.
Technical scheme of the present invention is: a kind of servo-driver interpolation control method, and servo-driver divides master mode and non-master mode, and under non-master mode, servo-driver carries out position control, speed control and torque control to single-axis servo motor, under master mode, unless all the other each axle servomotors that servo-driver output multi-channel control signal is controlled outside the servomotor under master mode are realized moving interpolation, the location coordinate information of linear interpolation or circular interpolation instruction and correspondence is input in host computer by external control signal, host computer carries out calculation process by central interior processor to data, and data message is left in memory module, host computer and servo-driver communication connection, by communication module, the motion control instruction that completes decoding is sent to servo-driver, servo-driver calls embedded patching plug program module and completes interpolation operation, and send multi-way control signals to the motor servo driver of all the other each axles, realize the moving interpolation requirement that host computer is assigned.
Beneficial effect of the present invention is: servo-driver interpolation control method of the present invention, interpolation operation program is carried out to modularized processing, be embedded into servo-driver control core inner, servo-driver can be controlled some servomotors under master mode, then reduce the requirement to host computer deal with data ability, arithmetic capability and storage capacity, there is very large using value.
Accompanying drawing explanation
Fig. 1 is servo-driver of the present invention control schematic diagram to some servomotors under master mode;
Fig. 2 is the servo-driver of the present invention schematic diagram of working under master mode;
Fig. 3 is servo-driver INTERPOLATION CONTROL OF PULSE process flow diagram of the present invention.
Embodiment
The servo-driver that the present invention has interpolation function has two kinds of control modes, master mode and non-master mode, servo-driver carries out position control, speed control and torque control etc. to single-axis servo motor under non-master mode as general motor servo driver; As Fig. 1 has servo-driver control schematic diagram to some servomotors under master mode of interpolation function, under master mode, servo-driver output multi-channel control signal is controlled all the other each axle servomotors and is realized moving interpolation.The schematic diagram of working under master mode of the multiple-axis servo driver as shown in Figure 2 with interpolation function, in practice, host computer, servo-driver and servomotor form servo-control system.The instructions such as linear interpolation or circular interpolation and corresponding location coordinate information are input in host computer by external control signal, host computer carries out calculation process by central interior processor to data, and data message is left in memory module, host computer and servo-driver are realized after communication connection, by communication module, the motion control instruction that completes decoding is sent to servo-driver, servo-driver calls embedded patching plug program module and completes interpolation operation, and send multi-way control signals to the motor servo driver of all the other each axles, realize the moving interpolation requirement that host computer is assigned.
Control panel by servo-driver is chosen as master mode by the control model of servo-driver, also can in host computer, input numbering corresponding to master mode, by communication, the control model of servo-driver is chosen as to master mode.Servo-driver INTERPOLATION CONTROL OF PULSE process flow diagram as shown in Figure 3, under master mode, servo-driver can be controlled all the other each axle servomotors and carry out the interpolation actions such as linear interpolation, circular interpolation.Input motion steering order and corresponding position coordinates point and correlation parameter in host computer, host computer is sent to servo-driver by communication by command information after completing calculation process.Servo-driver receives after instruction, calls embedded interpolation operation program module and carries out relevant interpolation operation.After interpolation operation completes, servo-driver sends the control signals such as pulse, and the servomotor of controlling all the other each axles moves, and completes the moving interpolation of host computer requirement, arrives assigned address.
Claims (1)
1. a servo-driver interpolation control method, is characterized in that, servo-driver divides master mode and non-master mode, and under non-master mode, servo-driver carries out position control, speed control and torque control to single-axis servo motor, under master mode, unless all the other each axle servomotors that servo-driver output multi-channel control signal is controlled outside the servomotor under master mode are realized moving interpolation, the location coordinate information of linear interpolation or circular interpolation instruction and correspondence is input in host computer by external control signal, host computer carries out calculation process by central interior processor to data, and data message is left in memory module, host computer and servo-driver communication connection, by communication module, the motion control instruction that completes decoding is sent to servo-driver, servo-driver calls embedded patching plug program module and completes interpolation operation, and send multi-way control signals to the motor servo driver of all the other each axles, realize the moving interpolation requirement that host computer is assigned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410426468.7A CN104181866B (en) | 2014-08-27 | A kind of servo-driver interpolation control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410426468.7A CN104181866B (en) | 2014-08-27 | A kind of servo-driver interpolation control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104181866A true CN104181866A (en) | 2014-12-03 |
| CN104181866B CN104181866B (en) | 2017-01-04 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104571060A (en) * | 2015-01-22 | 2015-04-29 | 上海鲍麦克斯电子科技有限公司 | Automatic control system |
| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN108268011A (en) * | 2017-03-06 | 2018-07-10 | 华中科技大学 | A kind of control method, device and system for numerically-controlled machine tool |
| CN112147917A (en) * | 2019-06-26 | 2020-12-29 | 上海英威腾工业技术有限公司 | Servo motor driver with pressure control loop |
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| JP2007316862A (en) * | 2006-05-24 | 2007-12-06 | Yaskawa Electric Corp | Servo driver and servo system with multiple axes |
| US20090261771A1 (en) * | 2008-04-18 | 2009-10-22 | Robert Pearce | Interpolator for a networked motion control system |
| CN102073302A (en) * | 2009-11-25 | 2011-05-25 | 北京诺信泰伺服科技有限公司 | Full digitalized distributed intelligent servo driver |
| CN202145273U (en) * | 2011-07-08 | 2012-02-15 | 深圳华中数控有限公司 | Multi-axis numerical control system |
| CN202661806U (en) * | 2012-06-21 | 2013-01-09 | 上海理工大学 | Wireless video control device for servo motor |
| CN102914998A (en) * | 2012-11-20 | 2013-02-06 | 常州数控技术研究所 | Embedded small four-axis open-type numerical control system |
| CN103901814A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft motion numerical control system |
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2007316862A (en) * | 2006-05-24 | 2007-12-06 | Yaskawa Electric Corp | Servo driver and servo system with multiple axes |
| US20090261771A1 (en) * | 2008-04-18 | 2009-10-22 | Robert Pearce | Interpolator for a networked motion control system |
| CN102073302A (en) * | 2009-11-25 | 2011-05-25 | 北京诺信泰伺服科技有限公司 | Full digitalized distributed intelligent servo driver |
| CN202145273U (en) * | 2011-07-08 | 2012-02-15 | 深圳华中数控有限公司 | Multi-axis numerical control system |
| CN202661806U (en) * | 2012-06-21 | 2013-01-09 | 上海理工大学 | Wireless video control device for servo motor |
| CN102914998A (en) * | 2012-11-20 | 2013-02-06 | 常州数控技术研究所 | Embedded small four-axis open-type numerical control system |
| CN103901814A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft motion numerical control system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570952A (en) * | 2015-01-19 | 2015-04-29 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104570952B (en) * | 2015-01-19 | 2017-11-07 | 深圳市微秒控制技术有限公司 | Multi-axis interpolation control method and device |
| CN104571060A (en) * | 2015-01-22 | 2015-04-29 | 上海鲍麦克斯电子科技有限公司 | Automatic control system |
| CN108268011A (en) * | 2017-03-06 | 2018-07-10 | 华中科技大学 | A kind of control method, device and system for numerically-controlled machine tool |
| CN112147917A (en) * | 2019-06-26 | 2020-12-29 | 上海英威腾工业技术有限公司 | Servo motor driver with pressure control loop |
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