CN106849765A - A kind of direct current common bus servo drive based on EtherCAT - Google Patents
A kind of direct current common bus servo drive based on EtherCAT Download PDFInfo
- Publication number
- CN106849765A CN106849765A CN201611104454.9A CN201611104454A CN106849765A CN 106849765 A CN106849765 A CN 106849765A CN 201611104454 A CN201611104454 A CN 201611104454A CN 106849765 A CN106849765 A CN 106849765A
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- servo
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Numerical Control (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The present invention relates to a kind of direct current common bus servo drive based on EtherCAT, direct current common bus servo drive includes：Servo-drive component, servomotor component, control unit and rectification unit, rectification unit and control unit are all connected with servo-drive component, servo-drive component connection servomotor component；Control unit includes EtherCAT master station modules；Servo-drive component includes at least one servo drive unit being sequentially connected, and servomotor component includes at least one servomotor, and each servo drive unit connects a servomotor；Each servo drive unit is all connected with rectification unit；Each servo drive unit includes EtherCAT slave station modules, and each EtherCAT slave station module is all connected with EtherCAT master station modules.The beneficial effects of the invention are as follows：EtherCAT real-time industrial ethernets topological structure is convenient, and with low cost, small volume can increase or decrease the number of servo-driver, convenient disassembly according to practical application request.
Description
Technical field
Driven the present invention relates to Servo Drive Technology's field, more particularly to a kind of direct current common bus servo based on EtherCAT
Dynamic device.
Background technology
Existing servo-driver is made up of rectification, inversion, the several units of control.This servo-driver is equivalent to
One drive belts, one rectification unit, with regard to bad control so on cost, the radiating of large area is needed due to rectification unit
Treatment, this causes that volume ratio is larger, then the electric cabinet of control is accomplished by bigger space.Typically, an industrial robot needs are more
Individual AC servo motor is used as executing agency, and an AC servo motor is accomplished by a servo-driver and is controlled.Control
Device processed is to send movement instruction to each driver by fieldbus.At present, traditional fieldbus is generally total CAN scenes
Line, and the unit price of CAN Fieldbus Components is higher, the integrated cost that this results in whole control system is relatively higher.CAN shows
Field bus are to realize transmitting with modular subnet field apparatus, and this modular subnet equipment increases to a certain extent
The complexity of system is added so that kinematic system has obvious shortcoming in many aspects such as multi-axial Simultaneous, real-times.Traditional
Industrial robot also needs to I/O box of the special configuration with bus functionality when in use, is enabled for motor internal contracting brake, servo, driven
The signal transactings such as dynamic alarm, system alarm, the positive and negative position limitation in joint, joint dead-center position so that whole system seems complicated
And redundancy.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of small volume, with low cost, installation convenient disassembly and reality
The direct current common bus servo drive based on EtherCAT of Shi Xingqiang.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of direct current common bus servo drive based on EtherCAT, the direct current common bus servo drive bag
Include：Servo-drive component, servomotor component, control unit and rectification unit, the rectification unit and described control unit are equal
The servo-drive component is connected, the servo-drive component connects the servomotor component；
Described control unit includes EtherCAT master station modules, and the EtherCAT master station modules are used to control the servo
Drive component；
The servo-drive component includes at least one servo drive unit being sequentially connected, the servomotor component bag
At least one servomotor is included, each described servo drive unit connects a servomotor；
Each described servo drive unit is all connected with the rectification unit, and the rectification unit is used for servo each described
Driver element provides direct current；
Each described servo drive unit includes EtherCAT slave station modules, and each described EtherCAT slave stations module connects
The EtherCAT master station modules are connect, the EtherCAT slave stations module is used for what is sent according to the EtherCAT master station modules
Motion control instruction controls the servomotor to rotate, and the internal data of the servo drive unit is sent to described
EtherCAT master station modules；
Between the rectification unit and all servo drive units, and the two neighboring servo drive unit it
Between by busbar connect.
The beneficial effects of the invention are as follows：EtherCAT real-time industrial ethernets topological structure is convenient, real-time, Neng Goutong
When support 65535 slave nodes, it is convenient to increase subnet and with low cost, can solve the problem that correlation between multiple slave nodes therefore
Barrier postpones, and can be randomly topologically structured between EtherCAT slave station modules；Direct current common bus technology enables to servo-drive
The small volume of device, can increase or decrease the number of servo-driver, convenient disassembly according to practical application request.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, power sum of the power of the rectification unit more than all servo drive units.
Beneficial effect using above-mentioned further scheme is：Busbar collects electric current from power supply, then dispenses electric current to output
Feeder line a, communication network can could support up 65535 slave nodes, and 100 servos can have been processed in 100us
The related data of driver, and the important informations such as position, speed, electric current, state are fed back into main website.
Further, each described servo drive unit also includes:Inversion unit, the inversion unit is used for the rectification
The converting direct-current power into alternating-current power of unit input.
Further, each described servo drive unit also includes：Main control module, the main control module connection is corresponding described
EtherCAT slave station modules, and the servomotor is connected by the inversion unit, the main control module be used for it is corresponding
The EtherCAT slave stations module carries out data interaction, and drives the servomotor to turn according to motion control instruction control
It is dynamic.
Further, each described servo drive unit also includes：The bus ready module being connected with the rectification unit, institute
Bus ready module is stated for receiving the power supply standby ready signal of the rectification unit transmission and passing through corresponding described
EtherCAT slave station modules pass to the EtherCAT master station modules.
Further, each described servo drive unit also includes：Network interface, EtherCAT master station modules and all
Connect by the network between the EtherCAT slave stations module, and between the two neighboring EtherCAT slave stations module
Mouth connection.
Further, each described corresponding described servomotor of EtherCAT slave stations module connection, corresponding for processing
The feedback signal of the servomotor is simultaneously sent to the EtherCAT master station modules, the feedback signal include drive alarm,
The positive and negative position limitation in joint, joint dead-center position, position, speed, electric current, the signal of servo condition.
Further, the internal data includes position, speed, electric current and the starting state of the servo drive unit.
Brief description of the drawings
Fig. 1 is a kind of structural representation of direct current common bus servo drive based on EtherCAT of the invention；
Fig. 2 is the structural representation of servo drive unit of the invention.
Specific embodiment
Principle of the invention and feature are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
As shown in figure 1, a kind of direct current common bus servo drive based on EtherCAT, direct current common bus servo-drive
Device includes：Servo-drive component 1, servomotor component 2, control unit 3 and rectification unit 4, rectification unit 4 and control unit
3 are all connected with servo-drive component 1, the connection servomotor of servo-drive component 1 component 2；
Control unit 3 includes EtherCAT master station modules 31, and EtherCAT master station modules 31 connect servo-drive component 1,
EtherCAT master station modules 31 are used to control servo-drive component 1；
Servo-drive component 1 includes at least one servo drive unit 11 being sequentially connected, and servomotor component 2 is included extremely
A few servomotor 21, each servo drive unit 11 connects a servomotor 21；
Each servo drive unit 11 is all connected with rectification unit 4, and rectification unit 4 is used to be carried to each servo drive unit 11
For direct current；
Each servo drive unit 11 includes EtherCAT slave stations module 111, and each EtherCAT slave stations module 111 connects
EtherCAT master station modules 31 are connect, EtherCAT slave stations module 111 is used to control 21 turns of servomotor according to motion control instruction
It is dynamic, and the internal data of servo drive unit 11 is sent to EtherCAT master station modules 31, internal data includes servo-drive
The position of unit 11, speed, electric current and starting state；
Lead between rectification unit 4 and all servo drive units 11, and between two neighboring servo drive unit 11
Cross busbar connection.
EtherCAT (Ethernet auto-control technology) is that the scene of an open architecture based on Ethernet is total
Linear system is united, and the CAT in EtherCAT titles is Control Automation Technology (auto-control technology) lead-in
Female abbreviation, is initially researched and developed, EtherCAT by Elektro Beckhoff GmbH (Beckhoff Automation GmbH)
Be that new standard is set up in the flexibility of the real-time performance and topology of system, meanwhile, it also reduce the use of fieldbus into
This.The characteristics of EtherCAT, also includes synchronous high precision apparatus, optional cable redundancy and feature security protocol (SIL3).
Power sum of the power of rectification unit 4 more than all servo drive units 11.
Busbar collects electric current from power supply, then dispenses electric current to output feeder, and a communication network can could support up
65535 slave nodes, and 100 related datas of servo-driver can have been processed in 100us, and by position,
The important informations such as speed, electric current, state feed back to main website.
As shown in Fig. 2 each servo drive unit 11 also includes:Inversion unit 115, inversion unit 115 is used for rectification
The converting direct-current power into alternating-current power of the input of unit 4.
As shown in Fig. 2 each servo drive unit 11 also includes：Main control module 112, main control module 112 is connected accordingly
EtherCAT slave stations module 111, and by inversion unit 115 connect servomotor 21, main control module 112 be used for it is corresponding
EtherCAT slave stations module 111 carries out data interaction, and drives servomotor 21 to rotate according to motion control instruction control.
As shown in Fig. 2 each servo drive unit 11 also includes：The bus ready module 113 being connected with rectification unit 4,
Bus ready module 113 be used for receive rectification unit 4 transmission power supply standby ready signal and pass through corresponding EtherCAT from
Module of standing 111 passes to EtherCAT master station modules 31.
Main control module 112 can be STM32F407 chips.
STM32F407ZG series is based on high performanceCortexTM32 RISC (Reduced of-M4F
Instruction Set Computer, Reduced Instruction Set Computer) kernel, working frequency is up to 168MHz, realizes a set of complete
Whole DSP instructions and internal memory protection location, so as to improve the security of application program.
As shown in Fig. 2 each servo drive unit 11 also includes：Network interface 114, EtherCAT master station modules 31 and
Pass through network interface 114 between one EtherCAT slave stations module 111 and two neighboring EtherCAT slave stations module 111 between
Connection.
Network interface 114 can be RJ45 network interfaces.
Each EtherCAT slave stations module 111 connects corresponding servomotor 21, for processing corresponding servomotor 21
Feedback signal and be sent to EtherCAT master station modules 31, feedback signal include drive alarm, the positive and negative position limitation in joint, pass
The signals such as section dead-center position, position, speed, electric current, servo condition.
EtherCAT slave stations module 111 can be SMT32+LAN9252 chips.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (8)
1. a kind of direct current common bus servo drive based on EtherCAT, it is characterised in that the direct current common bus servo
Drive device includes：Servo-drive component (1), servomotor component (2), control unit (3) and rectification unit (4), it is described whole
Stream unit (4) and described control unit (3) are all connected with the servo-drive component (1), and the servo-drive component (1) connects institute
State servomotor component (2)；
Described control unit (3) includes EtherCAT master station modules (31), and the EtherCAT master station modules (31) are for controlling
The servo-drive component (1)；
The servo-drive component (1) includes at least one servo drive unit (11) that is sequentially connected, the servomotor group
Part (2) includes at least one servomotor (21), and each described servo drive unit (11) connects a servomotor
(21)；
Each described servo drive unit (11) is all connected with the rectification unit (4), and the rectification unit (4) is for giving each institute
State servo drive unit (11) and direct current is provided；
Each described servo drive unit (11) includes EtherCAT slave stations module (111), each described EtherCAT slave stations mould
Block (111) is all connected with the EtherCAT master station modules (31), and the EtherCAT slave stations module (111) is for according to described
The motion control instruction that EtherCAT master station modules (31) send controls the servomotor (21) to rotate, and the servo is driven
The internal data of moving cell (11) is sent to the EtherCAT master station modules (31)；
Between the rectification unit (4) and all servo drive units (11), and the two neighboring servo-drive list
Connected by busbar between first (11).
2. direct current common bus servo drive according to claim 1, it is characterised in that the rectification unit (4)
Power sum of the power more than all servo drive units (11).
3. direct current common bus servo drive according to claim 1, it is characterised in that each described servo-drive list
First (11) also include:Inversion unit (115), the inversion unit (115) is for the direct current that is input into the rectification unit (4)
It is converted into alternating current.
4. direct current common bus servo drive according to claim 3, it is characterised in that each described servo-drive list
First (11) also include:Main control module (112), the corresponding EtherCAT slave stations module of main control module (112) connection
(111), and by the inversion unit (115) connect the servomotor (21), the main control module (112) for it is corresponding
The EtherCAT slave stations module (111) carry out data interaction, and watched according to motion control instruction control drives
Take motor (21) rotation.
5. the direct current common bus servo drive according to any one of claim 1-4, it is characterised in that described in each
Servo drive unit (11) also includes:The bus ready module (113) being connected with the rectification unit (4), the bus is ready
Module (113) is for receiving the power supply standby ready signal of the rectification unit (4) transmission and passing through corresponding described
EtherCAT slave stations module (111) pass to the EtherCAT master station modules (31).
6. the direct current common bus servo drive according to any one of claim 1-4, it is characterised in that described in each
Servo drive unit (11) also includes：Network interface (114), EtherCAT master station modules (31) and all described
Between EtherCAT slave stations module (111), and by described between the two neighboring EtherCAT slave stations module (111)
Network interface (114) is connected.
7. the direct current common bus servo drive according to any one of claim 1-4, it is characterised in that described in each
The corresponding servomotor (21) of EtherCAT slave stations module (111) connection, for processing the corresponding servomotor
(21) feedback signal is simultaneously sent to the EtherCAT master station modules (31), and the feedback signal includes driving alarm, joint
Positive and negative position limitation, joint dead-center position, position, speed, electric current, the signal of servo condition.
8. the direct current common bus servo drive according to any one of claim 1-4, it is characterised in that the inside
Data include position, speed, electric current and the starting state of the servo drive unit (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104454.9A CN106849765A (en) | 2016-12-05 | 2016-12-05 | A kind of direct current common bus servo drive based on EtherCAT |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611104454.9A CN106849765A (en) | 2016-12-05 | 2016-12-05 | A kind of direct current common bus servo drive based on EtherCAT |
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| CN106849765A true CN106849765A (en) | 2017-06-13 |
Family
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| CN201611104454.9A Pending CN106849765A (en) | 2016-12-05 | 2016-12-05 | A kind of direct current common bus servo drive based on EtherCAT |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412896A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Magnetic suspension electromagnetic propulsion control system based on real-time ethernet |
| CN110609518A (en) * | 2019-09-12 | 2019-12-24 | 深圳市华成工业控制有限公司 | Industrial robot drive controller |
| CN110912492A (en) * | 2019-12-20 | 2020-03-24 | 苏州行远志成自动化科技有限公司 | Low-voltage alternating-current servo motor driving device |
| CN111061188A (en) * | 2019-12-19 | 2020-04-24 | 苏州迅镭激光科技有限公司 | Novel implementation method of wire harness board card for IO communication |
| CN111082710A (en) * | 2019-12-25 | 2020-04-28 | 深圳万讯自控股份有限公司 | Servo motor direct current bus carrier control topological structure and method |
| CN111157893A (en) * | 2020-01-06 | 2020-05-15 | 重庆智能机器人研究院 | Modularized servo drive unit comprehensive test platform based on bus control |
| CN112486112A (en) * | 2020-11-19 | 2021-03-12 | 珠海格力电器股份有限公司 | EtherCAT master station control system and control method thereof |
| CN113098362A (en) * | 2021-05-07 | 2021-07-09 | 成都哈工驱动科技有限公司 | Servo driver with bus cascade structure |
| CN113110364A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨理工大学 | Service robot control system based on industrial Ethernet |
| WO2021147351A1 (en) * | 2020-07-17 | 2021-07-29 | 之江实验室 | Ethercat p bus technology-based multi-axial servomotor control system and method |
| CN113452286A (en) * | 2020-03-25 | 2021-09-28 | 上海铼钠克数控科技股份有限公司 | Servo motor driving system |
| CN116713992A (en) * | 2023-06-12 | 2023-09-08 | 之江实验室 | Electrical control system, method and device for humanoid robot |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412896A (en) * | 2018-04-26 | 2019-11-05 | 中国航天科工飞航技术研究院（中国航天海鹰机电技术研究院） | Magnetic suspension electromagnetic propulsion control system based on real-time ethernet |
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| CN110609518B (en) * | 2019-09-12 | 2024-09-10 | 深圳市华成工业控制股份有限公司 | Industrial robot drive controller |
| CN111061188A (en) * | 2019-12-19 | 2020-04-24 | 苏州迅镭激光科技有限公司 | Novel implementation method of wire harness board card for IO communication |
| CN110912492A (en) * | 2019-12-20 | 2020-03-24 | 苏州行远志成自动化科技有限公司 | Low-voltage alternating-current servo motor driving device |
| CN111082710A (en) * | 2019-12-25 | 2020-04-28 | 深圳万讯自控股份有限公司 | Servo motor direct current bus carrier control topological structure and method |
| CN111157893A (en) * | 2020-01-06 | 2020-05-15 | 重庆智能机器人研究院 | Modularized servo drive unit comprehensive test platform based on bus control |
| CN113452286A (en) * | 2020-03-25 | 2021-09-28 | 上海铼钠克数控科技股份有限公司 | Servo motor driving system |
| WO2021147351A1 (en) * | 2020-07-17 | 2021-07-29 | 之江实验室 | Ethercat p bus technology-based multi-axial servomotor control system and method |
| CN112486112A (en) * | 2020-11-19 | 2021-03-12 | 珠海格力电器股份有限公司 | EtherCAT master station control system and control method thereof |
| CN113098362A (en) * | 2021-05-07 | 2021-07-09 | 成都哈工驱动科技有限公司 | Servo driver with bus cascade structure |
| CN113110364A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨理工大学 | Service robot control system based on industrial Ethernet |
| CN116713992A (en) * | 2023-06-12 | 2023-09-08 | 之江实验室 | Electrical control system, method and device for humanoid robot |
| CN116713992B (en) * | 2023-06-12 | 2024-07-26 | 之江实验室 | Electrical control system, method and device for humanoid robot |
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