CN112180804A - Servo shaft control system that screws up based on etherCAT communication - Google Patents
Servo shaft control system that screws up based on etherCAT communication Download PDFInfo
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- CN112180804A CN112180804A CN202011103851.0A CN202011103851A CN112180804A CN 112180804 A CN112180804 A CN 112180804A CN 202011103851 A CN202011103851 A CN 202011103851A CN 112180804 A CN112180804 A CN 112180804A
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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Abstract
The invention discloses a servo tightening shaft control system based on EtherCAT communication, which solves the problems in the prior art, and has the following specific scheme: the system comprises a master control device and a plurality of levels of slave control devices, wherein the master control device and the slave control devices are sequentially connected in a daisy chain topological structure; the master control device and the slave control device are connected with a monitoring module for monitoring information of the servo tightening shafts, the master control device and the slave control device respectively monitor different servo tightening shafts, and simultaneously the master control device and the slave control device respectively control working states of the different servo tightening shafts, so that simultaneous closed-loop control of the plurality of servo tightening shafts is realized.
Description
Technical Field
The invention relates to the technical field of motor driving, in particular to a servo tightening shaft control system based on EtherCAT communication.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
At present, most of tightening shaft products adopt a control system scheme combining three products, namely a PLC (programmable logic controller) or a self-developed controller, a servo controller and a general servo motor, the control mode is limited by parameters of the PLC or the servo controller, the requirement of tightening control is difficult to meet, and especially when a plurality of shafts are controlled together, the problem of poor synchronization performance exists.
The distance between the shaft body where the motor is located and the controller is long when the tightening device works, the distance between the encoder and the servo controller in the existing solution cannot meet the working requirements of the tightening machine under all working conditions, and the installation of the servo to the position where the motor is located on the tightening shaft can cause the use space and the weight to be increased, and cannot meet the use requirements of most working conditions of the tightening machine.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a servo tightening shaft control system based on EtherCAT communication, which is provided with a master control device and a multi-stage slave control device, wherein the master control device and the slave control device are connected in a daisy chain topological structure, and the master control device and the slave control device control the working states of different servo tightening shafts to realize the simultaneous closed-loop control of a plurality of servo tightening shafts.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a servo tightening shaft control system based on EtherCAT communication comprises a master control device and a multi-stage slave control device, wherein the master control device and the slave control device are sequentially connected in a daisy chain topological structure; the master control device and the slave control device are connected with a monitoring module for monitoring information of the servo tightening shafts, the master control device and the slave control device respectively monitor different servo tightening shafts, and simultaneously the master control device and the slave control device respectively control working states of the different servo tightening shafts, so that simultaneous closed-loop control of the plurality of servo tightening shafts is realized.
As a further technical scheme, the main control device comprises a first core control board, the first core control board is provided with a first microprocessor, the first microprocessor is connected with a first EtherCAT communication unit, and the first EtherCAT communication unit controls the working state of the servo tightening shaft.
As a further technical scheme, the slave control device comprises a second core control board, the second core control board is provided with a second microprocessor, the second microprocessor is connected with a second EtherCAT communication unit, and the second EtherCAT communication unit controls the working state of the servo tightening shaft.
As a further technical solution, the main control device is connected with a first driving circuit, the first driving circuit is connected with a first converting circuit, and the first converting circuit is connected with the monitoring module.
As a further technical solution, the communication physical layer between the main control device and the first driving circuit is connected with an EtherCAT communication cable.
As a further technical scheme, the monitoring module comprises a torque sensor, an encoder and a temperature sensor, and the first conversion circuit acquires data generated by the torque sensor, the temperature sensor and the encoder and sends the data to the first driving circuit.
As a further technical scheme, the master control device communicates with the slave control device through a CANopen bus, the master control device is connected with the first display device, and the first display device is connected with the first key device.
As a further technical scheme, the first key device comprises a key board, and the key board is provided with a third microprocessor.
As a further technical scheme, the slave control device is connected with a second driving circuit, the second driving circuit is connected with a second conversion circuit, and the second conversion circuit is connected with the monitoring module; the monitoring module comprises a torque sensor, an encoder and a temperature sensor, and the second conversion circuit acquires data generated by the torque sensor, the temperature sensor and the encoder and sends the data to the second driving circuit.
As a further technical scheme, the slave control device is connected with a second display device, and the second display device is connected with a second key device.
The beneficial effects of the invention are as follows:
the control system of the invention is provided with a master control device and a multi-stage slave control device, wherein the master control device and the slave control device monitor different servo tightening shafts, the master control device and the slave control device can control the working states of the different servo tightening shafts, the master control device and the slave control device are sequentially connected in a daisy chain topological structure, and the closed-loop control of the multi-shaft tightening machine system is realized through the mutual cooperation of the modules.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic illustration of a setup of a servo tightening shaft control system according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a slave device cooperating with a driving circuit and a display device according to one or more embodiments of the present invention;
FIG. 3 is a hardware configuration diagram of a master controller according to one or more embodiments of the invention;
FIG. 4a is a schematic illustration of a display front panel of a master controller according to one or more embodiments of the present invention;
FIG. 4b is another schematic view of a display front panel of a master controller according to one or more embodiments of the invention;
FIG. 5 is a schematic diagram of a core control board according to one or more embodiments of the present invention;
FIG. 6 is a schematic diagram of a CANopen interface board in accordance with one or more embodiments of the invention;
FIG. 7 is a schematic diagram of an IO interface board in accordance with one or more embodiments of the present disclosure;
FIG. 8 is a schematic diagram of a keypad of a master controller in accordance with one or more embodiments of the invention;
FIG. 9 is a schematic view of a front panel of a slave controller in accordance with one or more embodiments of the present invention;
FIG. 10 is a schematic diagram of a key, display screen setup of a slave controller in accordance with one or more embodiments of the present invention;
in the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the schematic is shown only schematically.
Wherein: the system comprises a main control device 1, an EtherCAT communication cable 2, a driving circuit 3, an RS485 serial port 4, a conversion circuit 5, an encoder 6, a torque sensor 7, a display device 8, an RS485 communication cable 9, a key device 10, an RS232 communication cable 11 and a temperature sensor of a slave control device I and a slave control device n and 14, wherein the main control device I and the slave control device n are respectively connected with the temperature sensor 12;
201IO interface board, 202CANopen interface board, 203 core control board, 204 driving circuit, 205 low-voltage power supply module, 206 wiring terminal, 207 interface, 208 interface, 301 resistance type touch screen, 302 serial interface, 303 key board, 401 microprocessor, 402EtherCAT communication unit, 403 Ethernet interface, 404 power interface, 405 external interface, 406 Ethernet control chip, 407 Ethernet control chip, 501 digital input circuit, 502 digital output circuit, 503 interface, 504CANopen physical interface, 505 Ethernet interface, 506 Ethernet interface, 507 pin connector, 601 connection pin, 602 input socket, 603 output socket, 604 power jack, 605RS232 first serial port, 606RS232 second serial port, 701RGB lamp, 702 button, 703RS232 chip, microprocessor, 801 control board, 901 liquid crystal display, 902 physical key, 903 bus pin.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Term interpretation section: in the present invention, terms such as "mounting," "connecting," "fixing," and the like should be understood in a broad sense, for example, they may be fixedly connected, detachably connected, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background of the invention, the prior art has problems, and in order to solve the technical problems, the invention provides a servo tightening shaft control system based on EtherCAT communication.
Example one
In an exemplary embodiment of the present invention, as shown in fig. 1, a multi-axis embedded servo tightening axis control system based on EtherCAT communication includes: the main control device 1 compatible with the EtherCAT communication protocol function, the driving circuit 3 and the display device 8 connected with the main control device 1, the conversion circuit 5 connected with the driving circuit 3, the torque sensor 7 and the encoder 6 connected with the conversion circuit 5, the temperature sensor 14 and the key device 10 connected with the display device 8; the conversion circuit can acquire data generated by the torque sensor, the temperature sensor and the motor encoder and send the data to the driving circuit; the master control device 1 communicates with the slave control device i 12 through the CANopen protocol, and the slave control device i is connected with the next slave control device through the CANopen protocol, and the steps are repeated until the slave control device i is connected to the slave control device n 13, so that a daisy chain topology is formed.
The master control device and the slave control device respectively monitor different servo tightening shafts, and simultaneously, the master control device and the slave control device respectively control the working states of the different servo tightening shafts.
The temperature sensor, the torque sensor and the encoder are arranged at corresponding positions of the motor tightening shaft so as to monitor corresponding signals of the motor; the drive circuit acquires data of a temperature sensor, an encoder and a torque sensor of a tightening shaft connected to the drive circuit through the connection conversion circuit, and closed-loop control of the whole system is completed.
The communication physical layer between the main control device 1 and the drive circuit 3 is connected with an EtherCAT communication cable 2, the communication physical layer between the main control device 1 and the display device 8 is connected with an RS485 communication cable 9, and the display device 8 and the key device 10 are connected with an RS232 communication cable 11, so that the main controller is formed.
The main control device performs data interaction with the driving circuit through the microprocessor. The master control device is connected with the slave control device through a CANopen bus in an Ethernet interface mode.
Preferably, the conversion circuit 5 is connected with the drive circuit 3 through the RS485 serial port 4, the communication baud rate of the conversion circuit is up to 2.5Mbps, and the conversion circuit is mainly connected with the encoder 6, the torque sensor 7 and the temperature sensor 15, and sends data obtained by acquiring, amplifying and calculating analog signals of the encoder to the drive circuit 3.
The encoder 6 is compatible with one or more of 16-bit or 17-bit multi-turn encoders, the encoder connected with the encoder unit in the embodiment adopts 16-bit multi-turn encoders, and the single working angle of 0 degree to 2 degrees can be realized32And counting the angles in the degree range.
The torque sensor 7 is compatible with one or more of the upper limit ranges of the sensors from 150N · m to 1750N · m, and the corresponding signals are compatible with current and voltage signals, in this embodiment, the analog signal adopted by the torque sensor 7 is a voltage type signal, and the range is 1-10V.
The temperature sensor is one or more sensor circuits compatible with the measurement range of 0-150 degrees, and can realize that the motor temperature value is uploaded to the main control device 1 through the conversion circuit 5 and the drive circuit 3, so as to control the drive circuit 3 to issue a stop signal to the motor in time and protect the motor from working normally. The structure and form of the temperature sensor 15 and the torque sensor 7 are not particularly limited.
According to the invention, a motor side temperature sensor signal, a torque sensor signal and an encoder signal are amplified by a conversion circuit and then are sent to a driving circuit through an RS485 bus, the RS485 transmission rate is 2.5Mbps, the transmission distance at the rate meets the use requirement, the communication between a main control device and the driving circuit is realized by adopting an EtherCAT-based bus, the main control device is in circuit connection with an EtherCAT communication unit through a physical layer by adopting a microcontroller, the main control device is in circuit connection with a display device by adopting RS485, the main control device is in circuit connection with the RS485 through the physical layer, and the main control device is in serial connection with the display device by adopting an MODBUS protocol through.
The master control device is connected with the first network port of the slave control device through CANopen. The second CANopen interface of the first slave control device is connected with the first CANopen interface of other slave control devices, and the like, and a plurality of slave controllers can be connected according to actual needs.
The specific structural configuration of the master controller is shown in fig. 3, and includes: the controller comprises a core control panel 203, a CANopen interface board 202 and a driving circuit 204 which are connected with the core control panel 203, an IO interface board 201 is connected with the CANopen interface board 202, and an external power supply is connected with a controller internal low-voltage power supply module 205 and a connecting terminal 206 through an interface 207. Connected to the servo motor via an interface 208. The CANopen interface board can be used for carrying out communication connection with the slave controller.
Each module of the main controller is disposed in a housing, the housing is provided with a display front panel, and the display front panel is as shown in fig. 4a and 4b, and includes a 7-inch resistive touch screen 301, and is connected to the IO interface board 201 through a serial interface 302. The keypad 303 is connected to a 7-inch resistive touch screen 301.
Preferably, the resistive touch screen 301 is one or more devices compatible with a visualization operating system including RS485 and RS232 communication and based on cores such as X86 and ARM. Such as a PC, an embedded touch screen, etc., may be employed. Therefore, the embedded servo control system based on the EtherCAT communication can be intuitively oriented to users, and has the advantages of convenience in operation and use.
The resistive touch screen 301 can be connected with the key board 303 through an RS232 serial port, the resistive touch screen 301 is connected with the IO interface board 201 through an RS485 serial port, and the specific connection position is a CANopen interface board inner pin. The touch screen power-on interface is introduced through the pin header.
The keypad 303 is shown in fig. 8, and includes 5 RGB lamps 701 and 5 buttons 702, which are directly connected to a microprocessor 704 through a physical layer circuit, where the microprocessor is an ARM processor, a DSP processor, or an FPGA processor with more than 22 pins.
In the ARM processor used in this embodiment, the processor is connected to the pins through the RS232 chip 703 and the serial port physical circuit, and the pins are connected to the serial port interface 302 through the lead wires.
The RGB lamp is one or more of signal devices which are compatible and can simultaneously display red, yellow and green. The button is any switching device which outputs low level when triggered.
The structure of the core control board 203 is shown in fig. 5, which has a microprocessor 401 compatible with SPI communication protocol function, a power interface 404 is connected with the low-voltage power module 205, an ethernet interface 403 is internally connected with an EtherCAT communication unit 402, the outside is connected with the driving circuit 204, an external interface 405 is connected with the CANopen interface board 202, and an ethernet control chip 406 and an ethernet control chip 407 are connected with an ethernet interface 505 and an ethernet interface 506 through the external interface 405.
Preferably, the microprocessor adopts at least one ARM processor, DSP processor or FPGA processor compatible with the SPI communication protocol function. Therefore, the control system of the invention has small volume and low cost.
In this embodiment, the microprocessor 401 is an ARM processor, that is, the present invention is a servo control system based on EtherCAT communication using a single chip ARM processor. The type and configuration of the microprocessor 401 is not particularly limited.
The power interface 404 is directly connected to the low voltage power module 205 to provide power to the entire core board shown in fig. 5, and the interface voltage level is 24V.
The servo motor device comprises one or more tightening shafts compatible with the servo motor with the absolute value encoder, the aim of controlling the whole tightening shaft is achieved by controlling the motor, and the structure and the form of the tightening shaft are not particularly limited.
The ethernet control chip 406 and the ethernet control chip 407 are one or more compatible TCP/IP communication, and are connected to an external network port through the chip, and perform data interaction with the microcontroller 401 through a protocol.
The structure of the CANopen interface board 202 is shown in fig. 6, and it includes: digital quantity input circuit 501, digital quantity output circuit 502, CANopen physical interface 504, Ethernet interface 505, Ethernet interface 506 and pin header connector 507. The digital quantity input circuit 501 and the digital quantity output circuit 502 are connected with the core control board 203 through an interface 503; the CANopen physical interface 504 is connected with the core control panel 203 through the CAN communication circuit by an interface 503; the pin header connection port 507 is connected to the interface 503 via an internal circuit.
The CAN communication circuit is one of chip physical circuits compatible with any CAN protocol.
The IO interface board 201 is shown in fig. 7, and includes a connection pin 601, a power jack 604, an input socket 602, an output socket 603, an RS232 first serial port 605, and an RS232 second serial port 606. All the interfaces are connected with the pin header connecting port 507 through a connecting pin header 601.
In this embodiment, 8 input sockets are provided, 8 output sockets are provided, 8 input sockets share 1 common port, and 8 output sockets share 1 common port.
The slave controller and the slave controller have similar functions as the master controller, and as shown in fig. 2, the difference is that the serial port unit 201 shown in fig. 3 is eliminated from the slave controller, and the front panel of the master controller shown in fig. 4 is changed into the front panel of the slave controller shown in fig. 9.
As shown in fig. 9 and 10, the front panel of the slave controller includes a control panel 801 including a liquid crystal display 901, 4 physical keys 902, and a bus pin 903. The liquid crystal display 901 is connected with a microprocessor of the slave control device through a physical layer circuit and an external lead wire of a flat cable pin 903, and can display data set by a user. The physical keys 902 are connected to the liquid crystal display 901 in the same path.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A servo tightening shaft control system based on EtherCAT communication is characterized by comprising a master control device and a multi-stage slave control device, wherein the master control device and the slave control device are sequentially connected in a daisy chain topological structure; the master control device and the slave control device are connected with a monitoring module for monitoring information of the servo tightening shafts, the master control device and the slave control device respectively monitor different servo tightening shafts, and simultaneously the master control device and the slave control device respectively control working states of the different servo tightening shafts, so that simultaneous closed-loop control of the plurality of servo tightening shafts is realized.
2. The servo tightening shaft control system according to claim 1, wherein the master control device comprises a first core control board, the first core control board is provided with a first microprocessor, the first microprocessor is connected with a first EtherCAT communication unit, and the first EtherCAT communication unit controls the working state of the servo tightening shaft.
3. The servo tightening shaft control system according to claim 1, wherein the slave control device comprises a second core control board, the second core control board is provided with a second microprocessor, the second microprocessor is connected with a second EtherCAT communication unit, and the second EtherCAT communication unit controls the working state of the servo tightening shaft.
4. The servo tightening shaft control system according to claim 1, wherein the master control device is connected to a first driving circuit, the first driving circuit is connected to a first switching circuit, and the first switching circuit is connected to the monitoring module.
5. The servo tightening shaft control system according to claim 4, wherein the physical layer communication connection between the master control device and the first drive circuit is an EtherCAT communication cable.
6. The servo tightening shaft control system according to claim 4, wherein the monitoring module includes a torque sensor, an encoder, and a temperature sensor, and the first switching circuit collects data generated by the torque sensor, the temperature sensor, and the encoder and transmits the data to the first driving circuit.
7. The servo tightening shaft control system according to claim 1, wherein the master control device communicates with the slave control device through a CANopen bus, the master control device is connected with a first display device, and the first display device is connected with a first key device.
8. The servo tightening shaft control system according to claim 7, wherein the first key device includes a key pad provided with a third microprocessor.
9. The servo tightening shaft control system according to claim 1, wherein the slave control device is connected to a second drive circuit, the second drive circuit is connected to a second switching circuit, and the second switching circuit is connected to the monitoring module; the monitoring module comprises a torque sensor, an encoder and a temperature sensor, and the second conversion circuit acquires data generated by the torque sensor, the temperature sensor and the encoder and sends the data to the second driving circuit.
10. The servo tightening spindle control system according to claim 9, wherein the slave control device is connected to a second display device, and the second display device is connected to a second key device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103851.0A CN112180804A (en) | 2020-10-15 | 2020-10-15 | Servo shaft control system that screws up based on etherCAT communication |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103851.0A CN112180804A (en) | 2020-10-15 | 2020-10-15 | Servo shaft control system that screws up based on etherCAT communication |
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| CN112180804A true CN112180804A (en) | 2021-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011103851.0A Pending CN112180804A (en) | 2020-10-15 | 2020-10-15 | Servo shaft control system that screws up based on etherCAT communication |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115533945A (en) * | 2022-09-14 | 2022-12-30 | 重庆智能机器人研究院 | Double-shaft synchronous control device and method for robot system |
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