CN110333696A - Multiaxis intelligent servo-control system based on EtherCAT - Google Patents
Multiaxis intelligent servo-control system based on EtherCAT Download PDFInfo
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- CN110333696A CN110333696A CN201910610411.5A CN201910610411A CN110333696A CN 110333696 A CN110333696 A CN 110333696A CN 201910610411 A CN201910610411 A CN 201910610411A CN 110333696 A CN110333696 A CN 110333696A
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- Prior art keywords
- ethercat
- driver
- interface
- control system
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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- Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The multiaxis intelligent servo-control system that the invention discloses a kind of based on EtherCAT and for its integrated mainboard, the integrated mainboard is disposed with the multiple drivers that can be functioned independently, each driver is configured with feedback port and servo motor connectivity port, feedback port includes the primary feedback port and additional feedback port for being configured to be connected to difference incremental encoder or multidigit absolute value encoder and receive the feedback signal that difference incremental encoder or absolute value encoder provide, and servo motor connectivity port is configured to be connected to servo motor；Integrated mainboard there also is provided EtherCAT high speed bus interface, and each driver is able to be connected to high-speed bus via high speed bus interface to realize communication.For the present invention while having powerful multijoint control ability, structure is more compact, can reduce volume, and is more conducive to pass through simple programming centralized control.
Description
Technical field
The present invention relates to intelligent servo-control system more particularly to a kind of intelligent servo-control systems based on EtherCAT
And the integrated mainboard for it.
Background technique
Existing multiple-axis servo control system, although being widely used in electronic semi-conductor, laser cutting, cooperate robot,
Medical industry, photovoltaic, packaging, the technical fields such as printing, mobile robot (AGV) and military project, but still exist and be related to not enough
It is compact, occupied space is larger, is not easy to installation and the defects of centralized control.
Therefore, it needs to design a kind of new more compact multiaxis intelligent servo-control system based on EtherCAT,
While having powerful multijoint control ability, volume can be reduced, programmability is high, and is more conducive to pass through simple programming
The entire servo architecture of centralized control.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome, existing multiple-axis servo Control system architecture is not compact enough, accounts for
With space it is larger, be not easy to install, control the defects of complex, propose that a kind of new multiaxis based on EtherCAT is intelligently watched
Take control system and the integrated mainboard for it.
The present invention is to solve above-mentioned technical problem by using following technical proposals:
The present invention provides a kind of integrated mainboards for the multiaxis intelligent servo-control system based on EtherCAT, special
Point is that the integrated mainboard is disposed with the multiple drivers that can be functioned independently, and each driver is configured with feedback end
Mouth and servo motor connectivity port, the feedback port includes primary feedback port and additional feedback port, the primary feedback port
It is configured to be connected to difference incremental encoder or multidigit absolute value encoder with the additional feedback port, and receives institute
The feedback signal that difference incremental encoder or the multidigit absolute value encoder provide is stated, the servo motor connectivity port is matched
Servo motor can be connected to by being set to, so that the servo motor be driven to work；
The integrated mainboard there also is provided EtherCAT high speed bus interface, and each driver is via the EtherCAT high
Fast bus interface is connected to EtherCAT via the EtherCAT high speed bus interface by the integrated cascade of the integrated mainboard
High-speed bus, thus with the EtherCAT high-speed bus communications.
Preferably, the integrated mainboard there also is provided main board power supply interface, the main board power supply interface is configured to
It is connected to 24V DC power supply, thus for the integrated mainboard and the multiple driver arranged thereon power supply.
Preferably, the primary feedback port is configured as receiving the difference increment signal of the difference incremental encoder transmission
With the absolute value signal of hall signal or the reception multidigit absolute value encoder transmission, the additional feedback port is configured as
Receive the difference increment signal of the difference incremental encoder transmission.
Preferably, each driver is also configured with AI+ interface and GND interface, the AI+ interface and the GND interface quilt
It is configured to access DC simulation signal.
Preferably, each driver is also configured with long-range I/O interface, the long-range I/O interface includes multiple DO interfaces and more
A DI interface.
Preferably, each driver, which is also configured with, is used to indicate the current of the multiple DO interface and the multiple DI interface
The status indicator lamp of state, each driver are also configured with respective driver indicator light, EtherCAT communications status indicator light
And EtherCAT bus communication indicator light.
Preferably, each driver is also configured with mini USB debugging interface.
The present invention also provides a kind of multiaxis intelligent servo-control system based on EtherCAT, it is characterized in that, it is described
Multiaxis intelligent servo-control system includes integrated mainboard as described above, wherein the multiple driver is configured as control simultaneously
Corresponding motor is driven, thus the multiaxial motion of control object.
Preferably, the servo-control system further includes control module, the control module is configured to described
Multiple drivers issue control instruction, to control the multiple driver control and drive the multiaxial motion of the control object.
Preferably, controller of the control module using times good fortune, using control instruction described in TwinCAT software configuration.
On the basis of common knowledge of the art, above-mentioned each optimum condition, can any combination to get each preferable reality of the present invention
Example.
The positive effect of the present invention is that:
Multiaxis intelligent servo-control system according to the present invention based on EtherCAT and the integrated mainboard for it are having
While standby powerful multijoint control ability, structure is more compact, can reduce volume, and is more conducive to pass through simple programming
Centralized control.
Detailed description of the invention
Fig. 1 is the collection for the multiaxis intelligent servo-control system based on EtherCAT according to the preferred embodiment of the present invention
At the schematic diagram of mainboard.
Specific embodiment
With reference to the accompanying drawings of the specification, further the preferred embodiment of the present invention is described in detail, description below
To be illustrative, not limitation of the present invention, any other similar situation also fall within protection scope of the present invention it
In.
In specific descriptions below, term of directionality, such as "left", "right", "upper", "lower", "front", "rear" etc.,
The direction with reference to described in attached drawing uses.Component in various embodiments of the present invention can be placed in a variety of different directions, directionality
Term be for illustrative purposes and not restrictive.
Refering to what is shown in Fig. 1, according to the preferred embodiment of the present invention be used for the multiaxis Intelligent servo control based on EtherCAT
The integrated mainboard 100 of system processed is disposed with the multiple drivers 1 that can be functioned independently.It is according to the present invention some excellent
Embodiment is selected, integrated mainboard 100 can arrange that, there are four driver 1, high-accuracy intelligent drives mould specifically can be used in driver 1
Thus block can be used for the four axis intelligent servo-control systems based on EtherCAT.
Wherein, each driver 1 is configured with feedback port and servo motor connectivity port.Shown in Fig. 1 with appended drawing reference " 2 "
Indicate feedback port and servo motor connectivity port to meaning property.Specifically, the feedback port includes primary feedback port and auxiliary
Help feedback port, the primary feedback port and the additional feedback port be configured to be connected to difference incremental encoder,
And the feedback signal of the difference incremental encoder transmission is received, the servo motor connectivity port is configured to be connected to
Servo motor, so that the servo motor be driven to work.
The integrated mainboard 100 there also is provided EtherCAT high speed bus interface 2, and the high-speed bus of each driver 1 connects
It is total to be connected to EtherCAT high speed via the EtherCAT high speed bus interface 2 by the integrated cascade of integrated mainboard 100 for mouth 2
Line, thus with the EtherCAT high-speed bus communications.
Some preferred embodiments according to the present invention, the integrated mainboard 100 there also is provided main board power supply interface 4, institute
It states main board power supply interface 4 to be configured to be connected to 24V DC power supply, to arrange for the integrated mainboard 100 and thereon
The multiple driver 1 power.
Some preferred embodiments according to the present invention, the primary feedback port are configured as receiving the difference increment volume
The difference increment signal and HALL signal (i.e. hall signal) of code device transmission or the absolute value letter for receiving absolute value encoder transmission
Number, the additional feedback port is configured as receiving the difference increment signal of the difference incremental encoder transmission.For example, main anti-
Feedback port and additional feedback port can support respectively or respectively support difference incremental encoder feedback type or
Encoder&hall feedback kind.
Some preferred embodiments according to the present invention, each driver 1 is also configured with AI+ interface and GND interface, described
AI+ interface and the GND interface are configured to access DC simulation signal.
Some preferred embodiments according to the present invention, each driver 1 is also configured with long-range I/O interface 3, described long-range
I/O interface 3 includes multiple DO interfaces and multiple DI interfaces.
Some preferred embodiments according to the present invention, each driver 1, which is also configured with, to be used to indicate the multiple DO and connects
The status indicator lamp of the current state of mouth and the multiple DI interface, driver indicator light, each driver EtherCAT communication
Status indicator lamp and EtherCAT bus communication indicator light.
Some preferred embodiments according to the present invention, each driver 1 are also configured with mini USB debugging interface.
Some preferred embodiments according to the present invention additionally provide a kind of multiaxis Intelligent servo control based on EtherCAT
System processed comprising the integrated mainboard 100 of above-mentioned preferred embodiment according to the present invention, wherein the multiple 1 quilt of driver
It is configured to control and drive corresponding motor, thus the multiaxial motion of control object.For example, can arrange four on integrated mainboard 100
A driver 1, four drivers 1 and the kinematic axis of control object distribute correspondingly, are configured as controlling and drive corresponding
Motor, thus the four axes motion of control object.
Some preferred embodiments according to the present invention, the servo-control system further include control module, the control
Module is configured to issue control instruction to the multiple driver 1, to control the multiple control of driver 1 and drive
The multiaxial motion of the control object.Wherein, the control module can be used to control described in such as TwinCAT software configuration and refer to
It enables.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that these
It is merely illustrative of, protection scope of the present invention is defined by the appended claims.Those skilled in the art is not carrying on the back
Under the premise of from the principle and substance of the present invention, many changes and modifications may be made, and these become
More protection scope of the present invention is each fallen with modification.
Claims (10)
1. a kind of integrated mainboard for the multiaxis intelligent servo-control system based on EtherCAT, which is characterized in that the collection
The multiple drivers that can be functioned independently are disposed at mainboard, each driver connects configured with feedback port and servo motor
Connect port, the feedback port includes primary feedback port and additional feedback port, the primary feedback port and the additional feedback
Port is configured to be connected to difference incremental encoder or multidigit absolute value encoder, and receives the difference incremental encoding
The feedback signal that device or the multidigit absolute value encoder provide, the servo motor connectivity port is configured to be connected to
Servo motor, so that the servo motor be driven to work；
The integrated mainboard there also is provided EtherCAT high speed bus interface, and each driver is total via the EtherCAT high speed
Line interface is connected to EtherCAT high speed by the integrated cascade of the integrated mainboard, via the EtherCAT high speed bus interface
Bus, thus with the EtherCAT high-speed bus communications.
2. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as described in claim 1, it is special
Sign is that the integrated mainboard there also is provided main board power supply interface, and the main board power supply interface is configured to be connected to 24V
DC power supply, thus for the integrated mainboard and the multiple driver arranged thereon power supply.
3. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as described in claim 1, it is special
Sign is that the primary feedback port is configured as receiving the difference increment signal and Hall letter of the difference incremental encoder transmission
Number or receive the absolute value signal of multidigit absolute value encoder transmission, the additional feedback port is configured as described in reception
The difference increment signal of difference incremental encoder transmission.
4. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as described in claim 1, it is special
Sign is that each driver is also configured with AI+ interface and GND interface, and the AI+ interface and the GND interface are configured to
Enough access DC simulation signal.
5. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as described in claim 1, it is special
Sign is that each driver is also configured with long-range I/O interface, and the long-range I/O interface includes multiple DO interfaces and multiple DI interfaces.
6. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as claimed in claim 5, it is special
Sign is that each driver is also configured with the shape for being used to indicate the current state of the multiple DO interface and the multiple DI interface
State indicator light, each driver be also configured with respective driver indicator light, EtherCAT communications status indicator light and
EtherCAT bus communication indicator light.
7. it is used for the integrated mainboard of the multiaxis intelligent servo-control system based on EtherCAT as described in claim 1, it is special
Sign is that each driver is also configured with mini USB debugging interface.
8. a kind of multiaxis intelligent servo-control system based on EtherCAT, which is characterized in that the multiaxis Intelligent servo control
System includes the integrated mainboard as described in any one of claim 1-7, wherein the multiple driver is configured as controlling
And corresponding motor is driven, thus the multiaxial motion of control object.
9. the multiaxis intelligent servo-control system based on EtherCAT as claimed in claim 8, which is characterized in that the servo
Control system further includes control module, and the control module is configured to issue control instruction to the multiple driver,
To control the multiple driver control and drive the multiaxial motion of the control object.
10. the multiaxis intelligent servo-control system based on EtherCAT as claimed in claim 9, which is characterized in that the control
Molding block is using the controller of times good fortune, and the control module is using control instruction described in TwinCAT software configuration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610411.5A CN110333696A (en) | 2019-07-08 | 2019-07-08 | Multiaxis intelligent servo-control system based on EtherCAT |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610411.5A CN110333696A (en) | 2019-07-08 | 2019-07-08 | Multiaxis intelligent servo-control system based on EtherCAT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110333696A true CN110333696A (en) | 2019-10-15 |
Family
ID=68144408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910610411.5A Withdrawn CN110333696A (en) | 2019-07-08 | 2019-07-08 | Multiaxis intelligent servo-control system based on EtherCAT |
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| Country | Link |
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| CN (1) | CN110333696A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3136998A1 (en) * | 1981-09-17 | 1983-04-07 | Kieninger & Obergfell Fabrik für technische Laufwerke und Apparate, 7742 St Georgen | Device for monitoring measuring instruments and servo devices connected to an electronic bus |
| JP2000347739A (en) * | 1999-06-07 | 2000-12-15 | Matsushita Electric Ind Co Ltd | Error releasing method for servo driver |
| CN103336471A (en) * | 2013-06-14 | 2013-10-02 | 华南理工大学 | Servo motion control card based on EtherCAT network communication |
| CN103901822A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft linkage motion control system |
| CN204287906U (en) * | 2014-12-23 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | The servo-driver that a kind of multiaxis is integrated |
| CN205844813U (en) * | 2016-07-07 | 2016-12-28 | 中国电子科技集团公司第二十一研究所 | Four axle servo-drivers based on EtherCAT bus |
| CN206348618U (en) * | 2016-11-18 | 2017-07-21 | 威科达（东莞）智能控制有限公司 | A kind of motion controller with multiplex roles |
| CN108663993A (en) * | 2018-06-14 | 2018-10-16 | 商飞信息科技（上海）有限公司 | A kind of multiple-axis servo control system based on real-time controller |
| CN109217738A (en) * | 2018-09-27 | 2019-01-15 | 西安航天精密机电研究所 | A kind of servo-driver and servo drive control method that four axis is integrated |
-
2019
- 2019-07-08 CN CN201910610411.5A patent/CN110333696A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3136998A1 (en) * | 1981-09-17 | 1983-04-07 | Kieninger & Obergfell Fabrik für technische Laufwerke und Apparate, 7742 St Georgen | Device for monitoring measuring instruments and servo devices connected to an electronic bus |
| JP2000347739A (en) * | 1999-06-07 | 2000-12-15 | Matsushita Electric Ind Co Ltd | Error releasing method for servo driver |
| CN103336471A (en) * | 2013-06-14 | 2013-10-02 | 华南理工大学 | Servo motion control card based on EtherCAT network communication |
| CN103901822A (en) * | 2014-03-11 | 2014-07-02 | 中国矿业大学 | Multi-shaft linkage motion control system |
| CN204287906U (en) * | 2014-12-23 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | The servo-driver that a kind of multiaxis is integrated |
| CN205844813U (en) * | 2016-07-07 | 2016-12-28 | 中国电子科技集团公司第二十一研究所 | Four axle servo-drivers based on EtherCAT bus |
| CN206348618U (en) * | 2016-11-18 | 2017-07-21 | 威科达（东莞）智能控制有限公司 | A kind of motion controller with multiplex roles |
| CN108663993A (en) * | 2018-06-14 | 2018-10-16 | 商飞信息科技（上海）有限公司 | A kind of multiple-axis servo control system based on real-time controller |
| CN109217738A (en) * | 2018-09-27 | 2019-01-15 | 西安航天精密机电研究所 | A kind of servo-driver and servo drive control method that four axis is integrated |
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Application publication date: 20191015 |