CN110703694A

CN110703694A - Control method of incremental servo driver

Info

Publication number: CN110703694A
Application number: CN201911063943.8A
Authority: CN
Inventors: 颜明华; 邓传友
Original assignee: Chengdu Weida Guangtai Cnc Technology Ltd By Share Ltd
Current assignee: Chengdu Weida Guangtai Cnc Technology Ltd By Share Ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-01-17

Abstract

The invention relates to the technical field of servo driver control, and discloses an incremental servo driver control method, which comprises a main controller and a pulse quantity input interface connected with the main controller, wherein the main controller comprises a variable storage module, a judgment module and a selection module, the main controller is connected with a display module, the variable storage module is used for storing command address variables, the judgment module is used for judging the source of a command position of a servo driver, the selection module is used for selecting and operating commands, and a monitoring command DP, a parameter setting command PA, a parameter management command EE, a speed regulation command Sr, a JOG operation command Jr and a servo driver test command oL are arranged in the variable storage module. The control method of the incremental servo driver can conveniently and rapidly control the servo motor and comprehensively regulate internal parameters, and is convenient for people to use.

Description

Control method of incremental servo driver

Technical Field

The invention relates to the technical field of servo driver control, in particular to an incremental servo driver control method.

Background

Along with the maturity and stability of the alternating current servo technology, the product performance is continuously improved, the development of the industrial control to the directions of high speed, high precision, high efficiency and digital intelligence is adapted, and meanwhile, along with the continuous improvement of the cost performance of the servo products, the replacement of step control by the servo control becomes the industrial development trend. The alternating current servo technology has penetrated from the military aviation and aerospace field to various industries, and is widely applied to the automation fields of numerical control machines, textile machinery, light industry machinery, screen printing, packaging machinery, automatic production lines and the like.

Among the prior art, servo driver's control mode is more complicated, and the flexibility ratio is not high, and is not comprehensive enough to servo driver's internal parameter's setting, and then the use of the people of not being convenient for. Therefore, the invention provides an absolute servo driver control method.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the incremental servo driver control method provided by the invention has the advantages of conveniently controlling and adjusting the servo motor and facilitating the use of people, and solves the problems that the control mode of the servo driver is complex, the flexibility is not high, the setting of the internal parameters of the servo driver is not comprehensive enough, and the use of people is not convenient.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: an incremental servo driver control method comprises a main controller and a pulse quantity input interface connected with the main controller, wherein the main controller comprises a variable storage module, a judgment module and a selection module, the main controller is connected with a display module, the variable storage module is used for storing command address variables, the judgment module is used for judging the source of a command position of a servo driver, the selection module is used for selecting and operating commands, and a monitoring command DP, a parameter setting command PA, a parameter management command EE, a speed regulation command Sr, a JOG operation command Jr and a servo driver test command oL are arranged in the variable storage module.

Preferably, the maximum pulse frequency of the pulse quantity input interface is 500kHz, and the pulse quantity is input by a differential driving method.

Preferably, the display module is composed of a 6-bit LED nixie tube display, and the 6-bit LED nixie tube display is used for displaying various states and data in the main controller.

Preferably, the monitoring command DP includes a motor speed Spd, position pulses Pos and Pos, pulses Cpo and Cpo, position deviation pulses Epo and Epo, a motor torque Trq, a motor current I, a linear speed LSp, a control method Cnt, a pulse frequency Frq, an operating state rn, and an alarm Err.

Preferably, the parameter setting instruction PA is used to modify the parameter in the system, and the unit of each modification is 1, and the modified parameter is stored and saved by the variable storage module.

Preferably, the parameter management instruction EE is used for processing operations between the memory and the EEPROM, and the management instruction EE includes a parameter write Set, a parameter read rd, a parameter backup bA, a restore backup rS, and a restore default value dEF.

Preferably, the speed adjustment command Sr is used to change the speed of the motor, the motor is operated at a given speed, when the display speed is positive, the motor rotates in the forward direction, and when the display speed is negative, the motor rotates in the reverse direction.

Preferably, the JOG operation command Jr is used for a motor to perform JOG operation, and the speed of the motor is adjusted by a speed articulation command.

Preferably, the servo driver test command oL is used for testing the servo motor.

(III) advantageous effects

Compared with the prior art, the invention provides an incremental servo driver control method, which has the following beneficial effects:

1. according to the incremental servo driver control method, the main controller is arranged, and the variable storage module, the judgment module and the selection module are arranged in the main controller, so that the servo motor can be conveniently controlled and the internal parameters can be comprehensively adjusted, the incremental servo driver control method is convenient for people to use, and the working state of the servo motor can be conveniently observed by people through the display module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The control method of the incremental servo driver comprises a main controller and a pulse quantity input interface connected with the main controller, wherein the main controller comprises a variable storage module, a judgment module and a selection module, the selection module comprises an upper key, a lower key, a left key and a confirmation key, the main controller is connected with a display module, the variable storage module is used for storing command address variables, the judgment module is used for judging the source of the command position of the servo driver, the selection module is used for selecting and operating commands, and a monitoring command DP, a parameter setting command PA, a parameter management command EE, a speed regulation command Sr, a JOG operation command Jr and a servo driver test command oL are arranged in the variable storage module.

The maximum pulse frequency of the pulse quantity input interface is 500kHz, and the pulse quantity is input by adopting a differential driving mode.

The display module is composed of a 6-bit LED nixie tube display, the 6-bit LED nixie tube display is used for displaying various states and data in the main controller, and decimal points of all nixie tubes or the rightmost nixie tube display flicker to indicate that alarm occurs.

The monitoring command DP comprises motor speed Spd, position pulses Pos and Pos, pulses Cpo and Cpo, position deviation pulses Epo and Epo, motor torque Trq, motor current I, linear speed LSp, a control mode Cnt, a pulse frequency Frq, an operation state rn and an alarm Err, the position pulses and the command pulses are numerical values amplified by an input electronic gear, a pulse quantity unit is a system internal pulse unit, 10000 pulses/rotation are adopted in the system, and the pulse quantity is represented by 4 high bits and 4 low bits.

The parameter setting instruction PA is used for modifying parameters in the system, the unit of each modification is 1, the modified parameters are stored and saved through the variable storage module, the parameter numbers are selected through the selection module, the numerical values of the parameters are displayed through the confirmation keys, and the parameters are modified on the keys and under the keys.

The parameter management instruction EE is used for processing the operation between the memory and the EEPROM, the management instruction EE comprises a parameter write Set, a parameter read rd, a parameter backup bA, a recovery backup rS and a recovery default value dEF, the parameter write indicates that the parameters in the memory are written into a parameter area of the EEPROM, a user modifies the parameters, only the parameter values in the memory are changed, the parameters are restored to the original values when the parameter is powered on next time, if the parameter values are permanently changed, the parameter write operation is required to be executed, the parameters in the memory are written into the parameter area of the EEPROM, and the modified parameters are used when the parameter is powered on later;

the parameter reading means that the data in the parameter area of the EEPROM is read into the memory and can be automatically executed once when the EEPROM is electrified, when the parameter value of the memory is the same as that in the parameter area of the EEPROM at the beginning, a user modifies the parameter and changes the parameter value in the memory, when the user is not satisfied with the modified parameter or the parameter is disturbed, the parameter reading operation is executed, the data in the parameter area of the EEPROM can be read into the memory again and is recovered into the parameter which is just electrified;

the parameter backup means writing the parameters in the memory into the backup area of the EEPROM. The whole EEPROM is divided into two areas of a parameter area and a backup area, and two sets of parameters can be stored. The system power-on, parameter writing and parameter reading operations use the parameter area of the EEPROM, and the parameter backup and recovery backup use the backup area of the EEPROM;

the recovery backup means that data in the backup area of the EEPROM is read into the memory without performing a parameter writing operation, and the data in the parameter area of the EEPROM is read into the memory when the memory is powered on next time

The recovery default value indicates that the default values of all the parameters are read into the memory and written into the parameter area of the EEPROM, the default parameters are used when the EEPROM is powered on next time, and when the parameters are disordered and cannot work normally, all the parameters can be recovered to the factory state by using the operation.

The speed regulating command Sr is used for changing the speed of the motor, the motor runs at a given speed, when the display speed is a positive value, the motor rotates forwards, and when the display speed is a negative value, the motor rotates backwards.

The JOG operation instruction Jr is used for the motor to work in a inching mode, the speed of the motor is adjusted through a speed hinge instruction, after JOG operation is carried out, a key is pressed down and kept, the motor operates at the JOG speed, the key is released, the motor stops rotating, and the zero speed is kept; and pressing and maintaining the key, reversely running the motor at the JOG speed, and stopping the motor to keep the zero speed when the key is released.

And the servo driver test instruction oL is used for testing the servo motor, after the operation of the motor test mode is started, the confirm key button is pressed and kept for 2S, the motor runs at the test speed, the left key button is pressed and kept for 2S, the motor stops running, the zero speed is kept, the left key button is continuously pressed, the enable is disconnected, and the motor test mode is exited.

To sum up, the incremental servo driver control method can conveniently control the servo motor and comprehensively adjust internal parameters through the arranged main controller and the variable storage module, the judgment module and the selection module which are arranged in the main controller when in use, is convenient for people to use, and can be convenient for people to observe the working state of the servo motor through the arranged display module.

It is to be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A control method of incremental servo driver comprises a main controller and a pulse quantity input interface connected with the main controller, and is characterized in that: the main controller comprises a variable storage module, a judgment module and a selection module, the main controller is connected with a display module, the variable storage module is used for storing command address variables, the judgment module is used for judging the source of the command position of the servo driver, the selection module is used for selecting and operating commands, and a monitoring command DP, a parameter setting command PA, a parameter management command EE, a speed regulation command Sr, a JOG operation command Jr and a servo driver test command oL are arranged in the variable storage module.

2. The incremental servo driver control method of claim 1, wherein: the highest pulse frequency of the pulse quantity input interface is 500kHz, and the pulse quantity is input by adopting a differential driving mode.

3. The incremental servo driver control method of claim 1, wherein: the display module is composed of a 6-bit LED nixie tube display, and the 6-bit LED nixie tube display is used for displaying various states and data in the main controller.

4. The incremental servo driver control method of claim 1, wherein: the monitoring command DP includes a motor speed Spd, position pulses Pos and Pos, pulses Cpo and Cpo, position deviation pulses Epo and Epo, a motor torque Trq, a motor current I, a linear speed LSp, a control mode Cnt, a pulse frequency Frq, an operating state rn, and an alarm Err.

5. The incremental servo driver control method of claim 1, wherein: the parameter setting instruction PA is used for modifying parameters in the system, the unit of each modification is 1, and the modified parameters are stored and saved through the variable storage module.

6. The incremental servo driver control method of claim 1, wherein: the parameter management instruction EE is used for processing operations between the memory and the EEPROM, and the management instruction EE includes a parameter write Set, a parameter read rd, a parameter backup bA, a restore backup rS, and a restore default value dEF.

7. The incremental servo driver control method of claim 1, wherein: the speed regulating instruction Sr is used for changing the speed of the motor, the motor runs at a given speed, when the display speed is a positive value, the motor rotates forwards, and when the display speed is a negative value, the motor rotates backwards.

8. The incremental servo driver control method of claim 1, wherein: the JOG operation instruction Jr is used for a motor to work in a inching mode, and the speed of the motor is adjusted through a speed hinge instruction.

9. The incremental servo driver control method of claim 1, wherein: the servo driver test command oL is used to test the servo motor.