CN105204392B - A kind of servo-driver of integrated security chain functional circuit - Google Patents
A kind of servo-driver of integrated security chain functional circuit Download PDFInfo
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- CN105204392B CN105204392B CN201510489748.7A CN201510489748A CN105204392B CN 105204392 B CN105204392 B CN 105204392B CN 201510489748 A CN201510489748 A CN 201510489748A CN 105204392 B CN105204392 B CN 105204392B
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- circuit
- theft
- link chain
- resistant link
- servo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
It is an object of the invention to provide a kind of servo-driver circuit of integrated security chain functional circuit, the circuit is by concatenating multiple switches triggered by different safe input circuits, constitute theft-resistant link chain loop, by the break-make for detecting and judging theft-resistant link chain loop in real time, locking signal is exported to each functional module of servo-driver, realize the block to servo-driver corresponding module, protect servo-driver and servomotor, pass through theft-resistant link chain loop arbitrary extension, comprehensive protection to servo-driver circuit can be realized, hardware based realization also causes defencive function more reliable in time, fully ensure that the safety and reliability of servo-driver circuit operation.
Description
Technical field
The present invention relates to servo-driver field, more particularly to servo-driver fault detect and field of emergency protection.
Servo-driver, is a kind of controller for controlling servomotor, and its effect acts on general similar to frequency converter
Logical alternating current motor, belongs to a part for servo-drive system, as the servo-driver of one of industrial automation equipment, as its is a large amount of
Using while people is freed from substantial amounts of heavy physical labor and improves production efficiency, due to lacking corresponding peace
Full guard measure, can also give people to bring various injuries with equipment.Due to traditional servo driver itself lack security function or
Security function is weaker, and in order to reduce this risk to the full extent, people would generally be by additionally installing various security protections additional
And set corresponding monitoring device to avoid the generation of hazard event.Therefore, a kind of reliable servo-drive of inherently safe is designed
Device, is very necessary and with realistic meaning.
Typical servo drive system application is as shown in Figure 1.Servo-driver receives the order-driven motor fortune of host computer
OK, in the application scenario for having gravity load, servo-driver also needs reliably to control motor internal contracting brake, prevents load because of gravity
It is sagging.Meanwhile, when motor is in generating state, to consume the energy of motor feedback, servo-driver is also needed to braking resistor
Carry out incision and cut out control, to prevent pumping voltage from damaging driver, in addition, general servo-drive system can also be equipped with emergency stop switch,
For operating personnel when finding urgent fortuitous event, servo-driver is closed.General, also it was integrated with inside servo-driver
Stream is protected, overvoltage protection, the circuit such as short-circuit protection, and when occurring excessively stream, when overvoltage or short trouble, servo-driver can be forbidden defeated
Go out servomotor drive signal with the safety of protection equipment.
Fig. 2 is a kind of current most common servo-driver circuit diagram, rectification unit of the AC power through servo-driver
Be converted to and inversion unit accessed after dc source, brake unit is in the middle of rectification unit and inversion unit, inversion unit it is defeated
Go out and connect motor, the output connection braking resistor of brake unit, emergency stop switch accesses central processing unit through digital input circuit, therefore
The output signal of barrier protection circuit is also connected to central processing unit, and fault secure circuit generally comprises overvoltage crowbar, excessively stream
Protection circuit, short-circuit protection circuit etc., central processing unit is single to braking by braking drive circuit and inverse changing driving circuit respectively
Member and inversion unit are controlled, when central processing unit receives emergency stop switch actuating signal or fault secure circuit actuating signal
When, brake unit output is blocked by braking drive circuit, blocking inversion unit by inverse changing driving circuit exports, and passes through band-type brake
Drive circuit braking motor band-type brake.
But there is problems with the circuit of the servo-driver in Fig. 2：One is that central processing unit is opened from jerk is detected
Actuating signal or fault secure circuit signal being closed valid till there is delay to output locking signal, causing protection act timely
Complete, the safety of equipment may be endangered；Two be central processing unit be servo-driver core circuit, if central processing unit from
Body breaks down or central processing unit internal processes make a mistake, and protection act will be unable to perform, and directly endanger equipment safety.
The content of the invention
It is an object of the invention to provide a kind of servo-driver of integrated security chain functional circuit, the servo-driver will
The safe input circuit that be likely to cause servo-driver is caused danger is connected into a theft-resistant link chain loop, as long as there is a peace
Full input circuit failure, theft-resistant link chain supervisory circuit will come into force, and block all Safety output circuits of driver, it is ensured that servo-drive
Device is in a safe condition.
A kind of theft-resistant link chain functional circuit, the theft-resistant link chain functional circuit include one or more safe input circuits, one or
The multiple Safety output circuits of person and theft-resistant link chain supervisory circuit, all safe input circuits are connected into a theft-resistant link chain loop, connection
To theft-resistant link chain supervisory circuit, when one or more safe input circuits are triggered, theft-resistant link chain loop disconnects, theft-resistant link chain supervisory circuit
Break-make to theft-resistant link chain loop is detected, when theft-resistant link chain loop disconnects, and exports locking signal to all Safety output circuits.
A kind of servo-driver circuit of integrated security chain functional circuit, the integrated theft-resistant link chain function electricity of servo-driver
Road includes secure digital input circuit, fault secure circuit, central processing unit supervisory circuit, theft-resistant link chain loop and theft-resistant link chain monitoring
Circuit, wherein emergency stop switch connect secure digital input circuit, the first output end connection theft-resistant link chain of secure digital input circuit
The first switch in loop, the second output end connection central processing unit of secure digital input circuit；The first of fault secure circuit
The second switch in output end connection theft-resistant link chain loop, the second output end connection central processing unit of fault secure circuit；Centre
The input connection central processing unit of device supervisory circuit is managed, the output end connection theft-resistant link chain loop of central processing unit supervisory circuit
3rd switch；First, second, and third switch in theft-resistant link chain loop constitutes theft-resistant link chain loop after being connected in series, loop two ends connect
Theft-resistant link chain supervisory circuit is connected to, judges whether the loop turns on by the detection of theft-resistant link chain supervisory circuit；Theft-resistant link chain supervisory circuit is distinguished
It is connected to braking drive circuit, inverse changing driving circuit, central processing unit and band-type brake drive circuit.
Especially, servo-driver circuit includes rectification unit, brake unit and inversion unit, the input of rectification unit
AC power is connected, the output end of rectification unit connects the input of brake unit, while the output end of brake unit is connected to
The input of inversion unit, the output end connection servomotor of inversion unit.
Especially, the brake unit of servo-driver is driven by braking drive circuit, and the inversion unit of servo-driver
Driven by inverse changing driving circuit, the driving of braking drive circuit and inverse changing driving circuit drive the center for being connected to servo-driver
Processor, is controlled by central processing unit.
Especially, central processing unit is also associated with band-type brake drive circuit, to control driving band-type brake action.
Especially, the fault secure circuit include current foldback circuit, overvoltage crowbar, undercurrent protection circuit, owe
Voltage protection circuit, short-circuit protection circuit and/or breaking protection circuit.
A kind of theft-resistant link chain guard method of servo-driver circuit, when secure digital input circuit receives emergent stop signal
When, output signal disconnects the first switch in theft-resistant link chain loop；When fault secure circuit detects fault, output signal is broken
Open the second switch in theft-resistant link chain loop；First and second switches in theft-resistant link chain loop are connected in series；Theft-resistant link chain supervisory circuit is real-time
Detect and judge whether theft-resistant link chain loop is breaking, once finding theft-resistant link chain loop open circuit, then theft-resistant link chain supervisory circuit is exported at once
Locking signal.
Especially, the 3rd switch is also serially connected with theft-resistant link chain loop, in the input connection of central processing unit supervisory circuit
Central processor, the 3rd switch in the output end connection theft-resistant link chain loop of central processing unit supervisory circuit.
Especially, multiple switch is also serially connected with theft-resistant link chain loop, each switch is triggered by different circuits respectively.
The servo-driver for the integrated security chain functional circuit that the present invention is provided, its safe operation is by theft-resistant link chain functional circuit
Ensure, independent of central processing unit, so as to it also avoid losing safe guarantor because of central processing unit failure in the prior art
The problem of protective function, the dependence to central processing unit is broken away from；Meanwhile, the theft-resistant link chain functional circuit in the present invention is integrated with all
Security-related imput output circuit, protects more thoroughly comprehensive to servo drive circuit；And theft-resistant link chain functional circuit energy
Enough to be participated in devices at full hardware circuit realiration without software, defencive function is more reliable.
Brief description of the drawings
Fig. 1 servo drive system structural representations in the prior art；
Fig. 2 servo-driver circuit diagrams in the prior art；
The theft-resistant link chain functional circuit schematic diagram of Fig. 3 present invention；
A kind of servo-driver circuit diagram of integrated security chain functional circuit of Fig. 4 present invention.
Embodiment
Servo-driver braking resistor return circuit detection method is specifically described in conjunction with specific embodiments as follows：
Fig. 3 is theft-resistant link chain functional circuit schematic diagram of the invention, and wherein safe input circuit includes all and servo-drive
Safety-related input circuit, such as：Connect the digital input circuit of emergency stop switch, fault secure circuit etc. is this kind of be used to input or
Person detects the circuit of servo-drive security；Safety output circuit includes all and safety-related output circuit of servo-drive,
For servo-driver circuit, just such as：Inverse changing driving circuit, brakes drive circuit, and band-type brake drive circuit etc. is to watching
Clothes driving can play the circuit that control and safeguard protection are acted on.All safe input circuits are connected into a loop, are connected to
Theft-resistant link chain supervisory circuit.When any one or more safe input circuits are triggered, theft-resistant link chain loop disconnects, theft-resistant link chain monitoring electricity
Road exports locking signal to Safety output circuit, while outputting alarm signal is to central processing unit.Safety output circuit is received
After locking signal, all Safety output circuits are blocked, make servo-driver and servomotor in a safe condition.
Fig. 4 is the servo-driver circuit diagram of the integrated security chain functional circuit of the present invention.
Servo-driver circuit mainly includes rectification unit, brake unit and inversion unit, and the input of rectification unit connects
AC power is connect, the output end of rectification unit connects the input of brake unit, and brake unit itself is connected with braking resistor, together
When brake unit output end be connected to the input of inversion unit, the output end connection servomotor of inversion unit.
Wherein brake unit is driven by braking drive circuit, and inversion unit is driven by inverse changing driving circuit, braking driving
Circuit drives and inverse changing driving circuit driving are connected to central processing unit, are controlled by central processing unit, while centre
Reason device is also associated with band-type brake drive circuit, to control driving band-type brake action.
For the theft-resistant link chain functional circuit of servo-driver, realized by circuits below：Emergency stop switch connection secure digital is defeated
Enter circuit, the first switch in the first output end connection theft-resistant link chain loop of secure digital input circuit, secure digital input circuit
The second output end connection central processing unit；The second switch in the first output end connection theft-resistant link chain loop of fault secure circuit,
The second output end connection central processing unit of fault secure circuit；The input connection center processing of central processing unit supervisory circuit
Device, the 3rd switch in the output end connection theft-resistant link chain loop of central processing unit supervisory circuit；First, second He in theft-resistant link chain loop
3rd switch constitutes theft-resistant link chain loop after being connected in series, and loop two ends are connected to theft-resistant link chain supervisory circuit, monitored by theft-resistant link chain
Electric circuit inspection and judge whether the loop turns on；And theft-resistant link chain supervisory circuit is respectively connecting to braking drive circuit, inversion driving
Circuit, central processing unit and band-type brake drive circuit.
The theft-resistant link chain function of the servo-driver circuit is run as follows：When secure digital input circuit is received
During emergent stop signal, output signal disconnects the first switch in theft-resistant link chain loop；It is defeated when fault secure circuit detects fault
Go out the second switch that signal disconnects theft-resistant link chain loop；Central processing unit supervisory circuit is monitored in real time to central processing unit, when
When central processing unit fails, output signal disconnects the 3rd switch in theft-resistant link chain loop；Theft-resistant link chain supervisory circuit is detected and sentenced in real time
Whether disconnected theft-resistant link chain loop is breaking, once finding theft-resistant link chain loop open circuit, then theft-resistant link chain supervisory circuit exports locking signal at once
To braking drive circuit, inverse changing driving circuit, central processing unit and band-type brake drive circuit, to protect servo drive circuit and servo
Motor.
It should be noted that the number of switches concatenated in the theft-resistant link chain loop can be arbitrary, depending on operator
Member and different theft-resistant link chain protection demand, can only have one of above-mentioned first, second, third switch or on
State any combination of three switches, to concatenate can also constitute theft-resistant link chain loop comprising greater number of switch, each switch by
Different circuits are triggered, so as to realize the protection comprehensive to servo-driver.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (9)
1. a kind of theft-resistant link chain functional circuit, it is characterised in that：Theft-resistant link chain functional circuit include one or more safe input circuits,
One or more Safety output circuit and theft-resistant link chain supervisory circuit, all safe input circuits are connected into a theft-resistant link chain and returned
Road, is connected to theft-resistant link chain supervisory circuit, when one or more safe input circuits are triggered, and theft-resistant link chain loop disconnects, theft-resistant link chain
Supervisory circuit is detected to the break-make in theft-resistant link chain loop, when theft-resistant link chain loop disconnects, export locking signal to one or
Multiple Safety output circuits.
2. a kind of servo-driver circuit of integrated security chain functional circuit, it is characterised in that：The integrated peace of servo-driver
Full chain functional circuit include secure digital input circuit, fault secure circuit, central processing unit supervisory circuit, theft-resistant link chain loop and
Theft-resistant link chain supervisory circuit, wherein emergency stop switch connect secure digital input circuit, the first output end of secure digital input circuit
Connect the first switch in theft-resistant link chain loop, the second output end connection central processing unit of secure digital input circuit；Error protection
The second switch in the first output end connection theft-resistant link chain loop of circuit, the second output end connection center processing of fault secure circuit
Device；The input connection central processing unit of central processing unit supervisory circuit, the output end connection peace of central processing unit supervisory circuit
3rd switch in full chain loop；First, second, and third switch in theft-resistant link chain loop constitutes theft-resistant link chain loop after being connected in series,
Loop two ends are connected to theft-resistant link chain supervisory circuit, judge whether the loop turns on by the detection of theft-resistant link chain supervisory circuit；Theft-resistant link chain is supervised
Control circuit is respectively connecting to braking drive circuit, inverse changing driving circuit, central processing unit and band-type brake drive circuit.
3. servo-driver circuit as claimed in claim 2, it is characterised in that：Servo-driver circuit include rectification unit,
Brake unit and inversion unit, the input connection AC power of rectification unit, the output end connection brake unit of rectification unit
Input, while the output end of brake unit is connected to the input of inversion unit, the output end connection servo of inversion unit
Motor.
4. servo-driver circuit as claimed in claim 2, it is characterised in that：The brake unit of servo-driver is driven by braking
Dynamic circuit drives, and the inversion unit of servo-driver is driven by inverse changing driving circuit, the driving of braking drive circuit and inversion are driven
Dynamic circuit drives are connected to the central processing unit of servo-driver, are controlled by central processing unit.
5. servo-driver circuit as claimed in claim 2, it is characterised in that：Central processing unit is also associated with band-type brake driving electricity
Road, to control driving band-type brake action.
6. servo-driver circuit as claimed in claim 2, it is characterised in that：The fault secure circuit includes overcurrent protection
Circuit, overvoltage crowbar, undercurrent protection circuit, under-voltage protecting circuit, short-circuit protection circuit and/or breaking protection circuit.
7. a kind of theft-resistant link chain guard method of servo-driver circuit, it is characterised in that：When secure digital input circuit is received
During emergent stop signal, output signal disconnects the first switch in theft-resistant link chain loop；It is defeated when fault secure circuit detects fault
Go out the second switch that signal disconnects theft-resistant link chain loop；First and second switches in theft-resistant link chain loop are connected in series；Theft-resistant link chain is monitored
Circuit detection in real time and judge whether theft-resistant link chain loop is breaking, once discovery theft-resistant link chain loop open circuit, then theft-resistant link chain supervisory circuit
Locking signal is exported at once.
8. theft-resistant link chain guard method as claimed in claim 7, it is characterised in that：The 3rd is also serially connected with theft-resistant link chain loop to open
Close, the input connection central processing unit of central processing unit supervisory circuit, the output end connection peace of central processing unit supervisory circuit
3rd switch in full chain loop.
9. theft-resistant link chain guard method as claimed in claim 7, it is characterised in that：Multiple open also is serially connected with theft-resistant link chain loop
Close, each switch is triggered by different circuits respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510489748.7A CN105204392B (en) | 2015-08-12 | 2015-08-12 | A kind of servo-driver of integrated security chain functional circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510489748.7A CN105204392B (en) | 2015-08-12 | 2015-08-12 | A kind of servo-driver of integrated security chain functional circuit |
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| Publication Number | Publication Date |
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| CN105204392A CN105204392A (en) | 2015-12-30 |
| CN105204392B true CN105204392B (en) | 2017-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510489748.7A Active CN105204392B (en) | 2015-08-12 | 2015-08-12 | A kind of servo-driver of integrated security chain functional circuit |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111736514B (en) * | 2020-06-10 | 2020-12-04 | 杭州凯尔达机器人科技股份有限公司 | Robot control system based on general computer |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3601361B2 (en) * | 1999-06-07 | 2004-12-15 | 松下電器産業株式会社 | How to clear servo driver error |
| CN104485853A (en) * | 2014-12-19 | 2015-04-01 | 清能德创电气技术（北京）有限公司 | Servo driver with motor brake monitor and abnormal brake detection method thereof |
| CN204287899U (en) * | 2014-12-22 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | A kind of servo-driver of translator band-type brake status monitor circuit |
| CN104767443A (en) * | 2015-01-21 | 2015-07-08 | 田苍 | Servo motor control system |
-
2015
- 2015-08-12 CN CN201510489748.7A patent/CN105204392B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3601361B2 (en) * | 1999-06-07 | 2004-12-15 | 松下電器産業株式会社 | How to clear servo driver error |
| CN104485853A (en) * | 2014-12-19 | 2015-04-01 | 清能德创电气技术（北京）有限公司 | Servo driver with motor brake monitor and abnormal brake detection method thereof |
| CN204287899U (en) * | 2014-12-22 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | A kind of servo-driver of translator band-type brake status monitor circuit |
| CN104767443A (en) * | 2015-01-21 | 2015-07-08 | 田苍 | Servo motor control system |
Non-Patent Citations (1)
| Title |
|---|
| 安全集成伺服驱动技术;刘艳强等;《制造技术与机床》;20120302;第49-52页 * |
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| CN105204392A (en) | 2015-12-30 |
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