CN107153366A - A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT - Google Patents
A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT Download PDFInfo
- Publication number
- CN107153366A CN107153366A CN201610123239.7A CN201610123239A CN107153366A CN 107153366 A CN107153366 A CN 107153366A CN 201610123239 A CN201610123239 A CN 201610123239A CN 107153366 A CN107153366 A CN 107153366A
- Authority
- CN
- China
- Prior art keywords
- voltage
- ethercat
- controller
- power supply
- circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT, it includes, controller, controls whole system；Upper communication, for providing upper order of the bit input；Power supply, is inputted as low-voltage dc voltage, and DC voltage is less than 100V, for providing power input for system；Loop of power circuit, control signal is inputted by controller, and the driving of switch tube is realized by drive circuit, is output as low-voltage ac voltage, realizes the driving to motor.Integral device more lightness, miniaturization can bear more rugged environment requirement, support permagnetic synchronous motor, support radio communication, can realize wireless information transfer.
Description
Technical field
Present invention relates particularly to a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT.
Background technology
With the raising of industrial automation level, automation gradually exceeds traditional factory's scope, realize, i.e., develop to movement automation direction in more extensive environment, new servo needs mobile energy resource supply, need to provide accurate positional information, wireless information transfer is needed, it is necessary to lightness, miniaturization, more rugged environment requirement can be born, this proposes challenge to traditional servo.Current AC servo is mostly the product towards factory automation, and input voltage is AC220V or AC380V, and this servo can not realize mobile power supply supply, wireless information transfer can not be realized, it is impossible to accomplish that lightness is minimized, the stable environment of plant can only be born, and existing servo needs rectification module, voltage class is high, it is difficult to accomplish miniaturization, it is impossible to meet the removable power supply of movement automation, mobile communication, low pressure, lightness, the demand of miniaturization.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT.
To achieve these goals, the technical solution adopted by the present invention is：A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT, it includes, controller, controls whole system；Upper communication, for providing upper order of the bit input；Power supply, is inputted as low-voltage dc voltage, and DC voltage is less than 100V, for providing power input for system；Loop of power circuit, control signal is inputted by controller, and the driving of switch tube is realized by drive circuit, is output as low-voltage ac voltage, realizes the driving to motor.
Preferably, upper communication supports that EtherCAT realizes the upper of servo-drive system, networking and synchronization；Radio communication, for realizing remote data movement interaction；Digital I/O, input and output for data signal IO.
Preferably, it also includes,
Encoder, the position signalling for detecting motor is that position and speed control provide input；Analog signal sensing circuit is sampled there is provided the analog signal of system and nursed one's health；State instruction, is indicated for providing system running state；Accessory power supply is controller and drive circuit provides accessory power supply, and passes through the power supply of accessory power supply offer system.
Preferably, motor is permagnetic synchronous motor.
Preferably, encoder is absolute value encoder, the position signalling for detecting motor is that position and speed control provide input；Or be incremental encoder, the position signalling for detecting motor is that position and speed control provide input；Or be rotary transformer, the position signalling for detecting motor is that position and speed control provide input.
Preferably, analog signal sensing circuit includes, bus current detection circuit, is that short-circuit protection and overload protection provide input for detecting bus current；Busbar voltage detection circuit, is that overvoltage protection and under-voltage protection provide input for detecting busbar voltage；Phase current sensing circuit, for detecting phase current, input is provided for motor control；Temperature sensing circuit, the surface temperature for detecting environment and power component is that temperature correction and overheat protector provide input.
Preferably, power supply is connected with loop of power circuit, controller is connected with loop of power circuit, and upper communication is connected with controller, and loop of power circuit is connected with motor.
Preferably, analog signal sensing circuit is connected with controller, encoder is connected with controller, and state instruction is connected with controller, and accessory power supply is connected with power supply.
Preferably, EtherCAT connects host computer by the exit a port that communicates, then connects next servo by another port for the exit that communicates, servo-drive system networking and synchronization are realized with this；Radio communication provides the joint of radio communication, by SPI and UART connection radio communication transmitter modules, realizes remote data movement interaction.
Preferably, controller has also been bi-directionally connected EtherCAT from station control, EtherCAT is bi-directionally connected with EtherCAT from station control, and system realizes the communication of EtherCAT main websites and servo controller by EtherCAT from station control；Accessory power supply is also individually provided with power supply.
Compared with prior art, the advantage of the invention is that：
1. input is low-voltage dc power supply, it is possible to achieve mobile energy resource supply, so that integral device can more lightness, miniaturization；
2. being output as alternating voltage, permagnetic synchronous motor is supported；
3. supporting radio communication, wireless information transfer can be realized；
4. supporting EtherCAT, the upper of servo-drive system, networking and synchronization are realized；
5. supporting Digital I/O, data signal IO input and output is realized.
Brief description of the drawings
Fig. 1 is a kind of block diagram of the Miniature digital low-voltage alternating-current servo based on EtherCAT of the present invention.
Fig. 2 is a kind of refinement block diagram of the Miniature digital low-voltage alternating-current servo based on EtherCAT of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.One kind is based on EtherCAT (11,12) Miniature digital low-voltage alternating-current servo, and it includes, controller 1, controls whole system；Upper communication, for providing upper order of the bit input；Power supply 2, is inputted as low-voltage dc voltage, and DC voltage is less than 100V, for providing power input for system；Loop of power circuit 3, control signal is inputted by controller 1, and the driving of switch tube is realized by drive circuit, is output as low-voltage ac voltage, realizes the driving to motor 4.Upper communication supports that EtherCAT (11,12) realizes the upper of servo-drive system, networking and synchronization；Radio communication 14, for realizing remote data movement interaction；Digital I/O (13), input and output for data signal IO.It also includes, encoder, the position signalling for detecting motor 4, is that position and speed control provide input；Analog signal sensing circuit is sampled there is provided the analog signal of system and nursed one's health；State instruction 8,8 are indicated for providing system running state；Accessory power supply is controller 1 and drive circuit provides accessory power supply, and passes through the power supply of the offer system of accessory power supply 7.Motor 4 is permagnetic synchronous motor 4.Encoder is absolute value encoder 51, and the position signalling for detecting motor 4 is that position and speed control provide input；Or be incremental encoder 52, the position signalling for detecting motor 4 is that position and speed control provide input；Or be rotary transformer 53, the position signalling for detecting motor 4 is that position and speed control provide input.Analog signal sensing circuit includes, and bus current detection circuit 61, is that short-circuit protection and overload protection provide input for detecting bus current；Busbar voltage detection circuit 62, is that overvoltage protection and under-voltage protection provide input for detecting busbar voltage；Phase current sensing circuit 64, for detecting phase current, input is provided for the control of motor 4；Temperature sensing circuit 63, the surface temperature for detecting environment and power component is that temperature correction and overheat protector provide input.Power supply 2 is connected with loop of power circuit, and controller 1 is connected with loop of power circuit, and upper communication is connected with controller 1, and loop of power circuit is connected with motor 4.Analog signal sensing circuit is connected with controller 1, and encoder is connected with controller 1, and state instruction 8 is connected with controller 1, and accessory power supply 7 is connected with power supply 2.EtherCAT (11,12) connects host computer by the exit a port that communicates, then connects next servo by another port for the exit that communicates, and servo-drive system networking and synchronization are realized with this；Radio communication 14 provides the joint of radio communication 14, by the transmitter module of SPI and UART connections radio communication 14, realizes remote data movement interaction.Controller 1 has also been bi-directionally connected EtherCAT (11,12) from station control 1, EtherCAT (11,12) with EtherCAT (11,12) it is bi-directionally connected from station control 1, system realizes the communication of EtherCAT (11,12) main websites and servo controller 1 by EtherCAT (11,12) from station control 1；Accessory power supply 5 can also individually be provided with power supply.
In one embodiment, equipment supports three kinds of encoders simultaneously, after equipment starts, encoder can be selected by configuration file, the position feedback information of motor 4 can be provided by absolute value encoder 51, the speed feedback information of motor 4 is calculated by incremental encoder 52, rotary transformer 53, position signalling for detecting motor 4, is that position and speed control provide input, and position and velocity close-loop control are carried out in controller 1；The feedback signal detected according to phase current sensing circuit 64, carries out closed-loop current control in controller 1；The feedback signal detected according to busbar voltage detection circuit 62 carries out over-and under-voltage protection; detect that the feedback signal that circuit 61 is detected carries out overcurrent protection according to bus current; the feedback signal detected according to temperature sensing circuit 63 carries out overheat protector; the status information of system operation is provided by the signal of state instruction 8; simultaneity factor supports EtherCAT (11; 12) the upper and Digital I/O (13) that communicates control; and the data of system are connected wireless transceiver by the joint of radio communication 14, feed back to server high in the clouds.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or using the present invention.
Claims (9)
1. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT, it is characterised in that：It includes,
Controller, controls whole system；
Upper communication, for providing upper order of the bit input；
Power supply, is inputted as low-voltage dc voltage, and DC voltage is less than 100V, for providing power input for system；
Loop of power circuit, control signal is inputted by controller, and the driving of switch tube is realized by drive circuit, is output as low-voltage ac voltage, realizes the driving to motor.
2. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 1, it is characterised in that：The upper communication support,
EtherCAT, realizes the upper of servo-drive system, networking and synchronization；
Radio communication, for realizing remote data movement interaction；
Digital I/O, input and output for data signal IO.
3. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 1, it is characterised in that：It also includes,
Encoder, the position signalling for detecting motor is that position and speed control provide input；
Analog signal sensing circuit is sampled there is provided the analog signal of system and nursed one's health；
State instruction, is indicated for providing system running state；
Accessory power supply is controller and drive circuit provides accessory power supply, and passes through the power supply of accessory power supply offer system.
4. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 1, it is characterised in that：The motor is permagnetic synchronous motor.
5. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 3, it is characterised in that：The encoder is absolute value encoder, and the position signalling for detecting motor is that position and speed control provide input；Or be incremental encoder, the position signalling for detecting motor is that position and speed control provide input；Or be rotary transformer, the position signalling for detecting motor is that position and speed control provide input.
6. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 3, it is characterised in that：The analog signal sensing circuit includes,
Bus current detects circuit, is that short-circuit protection and overload protection provide input for detecting bus current；
Busbar voltage detection circuit, is that overvoltage protection and under-voltage protection provide input for detecting busbar voltage；
Phase current sensing circuit, for detecting phase current, input is provided for motor control；
Temperature sensing circuit, the surface temperature for detecting environment and power component is that temperature correction and overheat protector provide input.
7. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 1, it is characterised in that：The power supply is connected with loop of power circuit, and controller is connected with loop of power circuit, and upper communication is connected with controller, and loop of power circuit is connected with motor.
8. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 3, it is characterised in that：The analog signal sensing circuit is connected with controller, and encoder is connected with controller, and state instruction is connected with controller, and accessory power supply is connected with power supply.
9. a kind of Miniature digital low-voltage alternating-current servo based on EtherCAT according to claim 3, it is characterised in that：The EtherCAT connects host computer by the exit a port that communicates, then connects next servo by another port for the exit that communicates, and servo-drive system networking and synchronization are realized with this；The radio communication provides the joint of radio communication, by SPI and UART connection radio communication transmitter modules, realizes remote data movement interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610123239.7A CN107153366A (en) | 2016-03-05 | 2016-03-05 | A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610123239.7A CN107153366A (en) | 2016-03-05 | 2016-03-05 | A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107153366A true CN107153366A (en) | 2017-09-12 |
Family
ID=59792201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610123239.7A Pending CN107153366A (en) | 2016-03-05 | 2016-03-05 | A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107153366A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2783384Y (en) * | 2005-04-27 | 2006-05-24 | 袁卫华 | Integrated intelligent servo motor |
| CN1854949A (en) * | 2005-04-06 | 2006-11-01 | 广州数控设备有限公司 | AC servo controller |
| CN201689302U (en) * | 2010-04-26 | 2010-12-29 | 广东伊莱斯电机有限公司 | Integrated intelligent servo driver |
| CN103199773A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Servo driving system based on bus technology |
| KR20130088596A (en) * | 2012-01-31 | 2013-08-08 | 주식회사 아진엑스텍 | Centralized and distributed type controller |
| US20140265944A1 (en) * | 2013-03-15 | 2014-09-18 | Stephen Miles | Linear magnetic motor power generation system |
-
2016
- 2016-03-05 CN CN201610123239.7A patent/CN107153366A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1854949A (en) * | 2005-04-06 | 2006-11-01 | 广州数控设备有限公司 | AC servo controller |
| CN2783384Y (en) * | 2005-04-27 | 2006-05-24 | 袁卫华 | Integrated intelligent servo motor |
| CN201689302U (en) * | 2010-04-26 | 2010-12-29 | 广东伊莱斯电机有限公司 | Integrated intelligent servo driver |
| CN103199773A (en) * | 2012-01-06 | 2013-07-10 | 沈阳新松机器人自动化股份有限公司 | Servo driving system based on bus technology |
| KR20130088596A (en) * | 2012-01-31 | 2013-08-08 | 주식회사 아진엑스텍 | Centralized and distributed type controller |
| US20140265944A1 (en) * | 2013-03-15 | 2014-09-18 | Stephen Miles | Linear magnetic motor power generation system |
Non-Patent Citations (1)
| Title |
|---|
| 樊留群: "《实时以太网及运动控制总线技术》", 31 March 2009, 同济大学出版社 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103199773B (en) | Servo drive system based on bussing technique | |
| CN103744376B (en) | A kind of servo-driver and the multi-axis control system using the servo-driver | |
| CN103389684A (en) | Multifunctional double-shaft servo driver | |
| CN102204403A (en) | An electronic heater and a control method thereof | |
| CN105467930B (en) | Machine vision and motion controller and servo driver integrated control system | |
| CN108549283A (en) | A kind of AC servo electric cylinder drive control circuit of infrared surveillance stabilized platform | |
| CN109194245B (en) | Servo driver with input open-phase detection function and detection method thereof | |
| CN202771219U (en) | Multifunctional biaxial servo driver | |
| CN201896001U (en) | Elevator integration control system | |
| CN107526304A (en) | A kind of Miniature digital low-voltage direct servo based on EtherCAT | |
| CN107317529A (en) | Closed-loop stepper motor servo-control system based on EtherCAT | |
| CN105676879A (en) | Deviation rectification control system of brushless DC motor based on CAN bus | |
| US8080965B2 (en) | Motor controller with deterministic synchronous interrupt having multiple serial interface backplane | |
| CN107153366A (en) | A kind of Miniature digital low-voltage alternating-current servo based on EtherCAT | |
| CN210573248U (en) | Intelligent servo system based on slave station control | |
| CN103856071B (en) | The power cell control circuit of high voltage converter | |
| CN103248284A (en) | Special driver for linear shaft motor | |
| CN106161221A (en) | A kind of intelligent gateway with master-slave controller | |
| CN210347796U (en) | Small-sized digital low-voltage alternating current servo system based on CAN bus | |
| CN210038482U (en) | Small-sized digital low-voltage direct-current servo system based on CAN bus | |
| CN103762909B (en) | A kind of module combined type multichannel ac driver | |
| CN204810192U (en) | Intelligence power drive module | |
| CN204046475U (en) | A kind of down-hole brushless DC motor driving controller | |
| CN207189660U (en) | A kind of manipulator control device | |
| CN207947718U (en) | Power supply device with self- recoverage defencive function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170912 |