CN106655976B - Servo driver and driving method thereof - Google Patents
Servo driver and driving method thereof Download PDFInfo
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- CN106655976B CN106655976B CN201611197551.7A CN201611197551A CN106655976B CN 106655976 B CN106655976 B CN 106655976B CN 201611197551 A CN201611197551 A CN 201611197551A CN 106655976 B CN106655976 B CN 106655976B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
Abstract
The invention provides a servo driver, which comprises a main controller, and a pulse signal interface circuit and a communication interface circuit which are connected with the main controller, wherein the main controller comprises a variable storage module, a judgment module and a selection module, the variable storage module is used for storing address variables, the judgment module is used for judging the position instruction source of the servo driver, and the selection module is used for automatically selecting the corresponding position instruction source according to the judgment result of the judgment module. The servo driver has the function of automatically identifying the instruction source, so that a user omits a complicated parameter setting process, the servo is flexible and intelligent to use, and the servo driver is very convenient in practice and is not easy to make mistakes. The invention also provides a driving method of the servo driver.
Description
Technical Field
The present invention relates to servo drivers, and more particularly, to a servo driver capable of automatically selecting a position command source and a driving method thereof.
Background
Servo motors and corresponding servo drivers are used more and more, and generally, equipment with relatively high requirements on process precision, processing efficiency, working reliability and the like, such as machine tools, printing equipment, packaging equipment, textile equipment, laser processing equipment, robots, automatic production lines and the like, can be involved as long as the equipment needs a power source and has requirements on precision. Generally, a servo motor adopts three control modes: speed control mode, torque control mode, and position control mode. The position control mode determines the rotation speed through the frequency of externally input pulses, determines the rotation angle through the number of the pulses, and also can directly assign values to the speed and the displacement through a communication mode for some servos.
The servo position command setting mode mainly comprises an external pulse sending mode, a can communication command setting mode, a modbus communication mode, a 485 communication mode and the like.
In the prior art, a servo is generally a position command source which is manually set, for example, 0 is set as an external position pulse, 1 is set as a modbus communication mode, and 2 is set as a can communication command, which requires manual confirmation of the position command source and manual setting, so that the servo is inconvenient to use, is prone to error, and does not conform to the intelligent development trend of industrial equipment.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems of the prior art.
The invention provides a servo driver for automatically selecting a position instruction source, which comprises a main controller, and a pulse signal interface circuit and a communication interface circuit which are connected with the main controller, wherein the communication interface circuit comprises a modbus communication interface circuit and a can communication interface circuit, the servo driver is characterized in that the main controller comprises a variable storage module, a judging module and a selecting module, the variable storage module is used for storing address variables comprising an initial address variable, a first address variable and a second address variable, the first address variable and the second address variable are the address variables transmitted by the communication interface circuit, the judging module is used for judging the position instruction source of the servo driver according to the stored address variables, the position instruction is from the pulse signal interface circuit, the modbus communication interface circuit or the can communication interface circuit, the selecting module is used for automatically selecting the corresponding position instruction source according to the judgment result of the judging module, when the modbus communication position command setting mode is judged, only the position command transmitted by the modbus communication interface circuit is selected for the position control of the servo system, when the can communication position command setting mode is judged, only the position command transmitted by the can communication interface circuit is selected for the position control of the servo system, and when the external pulse position command setting mode is judged, only the position command transmitted by the pulse signal interface circuit is selected for the position control of the servo system.
In one embodiment, the external pulse position command specifying mode is set as default when the initial variable has a value of 0, the modbus communication position command specifying mode is determined when the first address variable value is 827, and the can communication position command specifying mode is determined when the second address variable value is 0x20081C 20.
The invention also provides a driving method of the servo driver.
The servo driver has the function of automatically identifying the instruction source, so that a user omits a complicated parameter setting process, the servo is flexible and intelligent to use, and the servo driver is very convenient in practice and is not easy to make mistakes.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a servo driver according to the present invention;
FIG. 2 is a schematic diagram of the main controller of the servo driver of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1, the servo driver of the present invention includes a Main Controller (MCU) and three interface circuits connected to the MCU. The three interface circuits are respectively a pulse signal interface circuit, a can communication interface circuit and a modbus communication interface circuit. The servo driver is compatible with a pulse position instruction giving mode and a communication position instruction giving mode, wherein the communication position instruction giving mode comprises a can communication mode and a modbus communication mode.
In other embodiments, other types of communication location command assignment may be included, such as ethernet communication location command assignment or other industry communication standard location command assignment.
Referring to fig. 2, the Main Controller (MCU)10 includes a variable storage module 12, a determination module 14, and a selection module 16. The variable storage module 12 stores an initial address variable, a first address variable, and a second address variable.
The initial value of the initial address variable is set to 0, i.e. the value is 0 when the user powers on the servo driver or resets. The first address variable is used for storing an address variable transmitted by the modbus communication interface circuit, such as an address variable NamedAdresOrgin received by communication. The second address variable is used to store an address variable transmitted by the can communication interface circuit, such as the dwmapvalue received by the communication.
The determination module 14 is used for determining the position command source/mode of the servo driver. The rule is that when the value of the initial variable is 0, the default is the external pulse position command given mode. If not, the communication mode is determined to be given, and further, the communication mode is determined to be the given communication mode. For example, when the value of the first address variable (NamedAdresOrgin) is 827, it is determined that the modbus communication location command gives the manner, that is, the location command is transmitted from the modbus communication interface circuit. When the second address variable (dwmapvalue) value is 0x20081C20, it is determined that the can communication location command is given, i.e., the location command is transmitted from the can communication interface circuit.
The selection module 16 is used for automatically selecting a corresponding position instruction source according to the result judged by the judgment module. For example, when the modbus communication position command setting mode is judged, only the position command transmitted by the modbus communication interface circuit is selected to be used for position control of the servo system. When the can communication position command is determined to be given, only the position command transmitted by the can communication interface circuit is selected for position control of the servo system. When the external pulse position command is determined to be in a given mode, only the position command transmitted by the pulse signal interface circuit is selected for position control of the servo system.
When the position command of the servo driver is changed from the communication mode to the external pulse command, the user only needs to power on the servo or reset the system, the initial variable value is 0 after initialization, and the system returns to the pulse given mode again.
The invention also provides a driving method of the servo driver, which comprises the following steps:
the judging module judges the initial address variable in the variable storage module, if 0, the selecting module selects the position instruction from the pulse signal interface circuit, otherwise
The judging module judges the mode of the communication interface circuit for transmitting the position instruction according to the value of the variable storage module, and the selecting module selects the position instruction of the communication interface circuit according to the mode.
In one embodiment, the method further comprises:
the judging module further judges the first address variable and the second address variable, and the selecting module selects a position instruction from one of the pulse signal interface circuit, the modbus communication interface circuit or the can communication interface circuit according to the judging result.
In one embodiment, the driving method further includes: when the power-on is restarted or reset, the initial address variable is reset to 0, and the servo driver selects a position command from the pulse signal interface circuit.
The servo driver and the driving method thereof provided by the invention enable the servo to automatically distinguish the instruction source, so that a user omits a complicated parameter setting process, the servo is flexible and intelligent to use, and the servo driver and the driving method thereof are very convenient in practice and are not easy to make mistakes.
In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A servo driver, comprising: the main controller, a pulse signal interface circuit and a communication interface circuit which are connected with the main controller, wherein the communication interface circuit comprises a modbus communication interface circuit and a can communication interface circuit, and the main controller is characterized in that the main controller comprises a variable storage module, a judging module and a selecting module, the variable storage module is used for storing address variables comprising an initial address variable, a first address variable and a second address variable, the first address variable and the second address variable are the address variables transmitted by the communication interface circuit, the judging module is used for judging the position instruction source of the servo driver according to the stored address variable values, the position instruction is from the source comprising the pulse signal interface circuit, the modbus communication interface circuit or the can communication interface circuit, the selecting module is used for automatically selecting the corresponding position instruction source according to the judging result of the judging module, when the modbus communication position instruction is judged to be in a given mode, and when the external pulse position command giving mode is determined, only the position command transmitted by the pulse signal interface circuit is selected to be used for the position control of the servo system.
2. The servo driver of claim 1 wherein the external pulse position command assignment mode is determined by default when the initial variable has a value of 0, the modbus communication position command assignment mode is determined when the first address variable has a value of 827, and the can communication position command assignment mode is determined when the second address variable has a value of 0x20081C 20.
3. A driving method of a servo driver according to claim 1, comprising the steps of:
the judging module judges the initial address variable in the variable storage module, if 0, the selecting module selects the position instruction from the pulse signal interface circuit, otherwise
The judging module judges the mode of the communication interface circuit for transmitting the position instruction according to the address variable value stored by the variable storage module, and the selecting module selects the position instruction of the communication interface circuit according to the mode.
4. The method of claim 3, wherein the variable storage module stores a primary address variable, a first address variable, and a second address variable, the communication interface circuit includes a modbus communication interface circuit and a can communication interface circuit, the method further comprising:
the judging module further judges the first address variable and the second address variable, and the selecting module selects a position instruction from one of the pulse signal interface circuit, the modbus communication interface circuit or the can communication interface circuit according to the judging result.
5. The driving method according to claim 4, characterized in that the driving method further comprises: when the power-on is restarted or reset, the initial address variable is reset to 0, and the servo driver selects a position command from the pulse signal interface circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611197551.7A CN106655976B (en) | 2016-12-22 | 2016-12-22 | Servo driver and driving method thereof |
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| CN201611197551.7A CN106655976B (en) | 2016-12-22 | 2016-12-22 | Servo driver and driving method thereof |
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| CN106655976B true CN106655976B (en) | 2020-05-22 |
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| CN110703694A (en) * | 2019-11-04 | 2020-01-17 | 成都广泰威达数控技术股份有限公司 | Control method of incremental servo driver |
| CN112019104B (en) * | 2020-08-26 | 2022-12-13 | 佛山市指擎科技有限公司 | Stepping motor driving method, stepping motor driving device and small mechanical arm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101086664A (en) * | 2007-07-09 | 2007-12-12 | 上海大学 | Multiple axle movement controller based on MPC5200 and its operation method |
| CN104796055A (en) * | 2015-02-13 | 2015-07-22 | 北京锐洁机器人科技有限公司 | Touch screen control and drive integrated four-axis steeping motor closed-loop control system |
| CN104932540A (en) * | 2015-05-08 | 2015-09-23 | 广东技术师范学院 | Servo driver position control method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0511803A (en) * | 1991-07-08 | 1993-01-22 | Matsushita Electric Ind Co Ltd | Parameter setter for motor controller |
| CN101409669B (en) * | 2008-09-09 | 2011-03-30 | 上海第二工业大学 | Four-layer load-equalizing switch base on hardware and exchanging method thereof |
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- 2016-12-22 CN CN201611197551.7A patent/CN106655976B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101086664A (en) * | 2007-07-09 | 2007-12-12 | 上海大学 | Multiple axle movement controller based on MPC5200 and its operation method |
| CN104796055A (en) * | 2015-02-13 | 2015-07-22 | 北京锐洁机器人科技有限公司 | Touch screen control and drive integrated four-axis steeping motor closed-loop control system |
| CN104932540A (en) * | 2015-05-08 | 2015-09-23 | 广东技术师范学院 | Servo driver position control method |
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