CN112923957B - Signal processing method and device for servo driver and encoder - Google Patents
Signal processing method and device for servo driver and encoder Download PDFInfo
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- CN112923957B CN112923957B CN201911244514.0A CN201911244514A CN112923957B CN 112923957 B CN112923957 B CN 112923957B CN 201911244514 A CN201911244514 A CN 201911244514A CN 112923957 B CN112923957 B CN 112923957B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/249—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using pulse code
- G01D5/2497—Absolute encoders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
According to the signal processing method and device of the servo driver and the encoder, when the encoder works in an absolute mode, the absolute position signal comprising the absolute position level signal and the absolute position pulse signal is transmitted to the servo driver, only the absolute position signal with less information amount can be transmitted, and correspondingly, only shorter transmission time is needed, so that the servo driver can determine the absolute position more quickly. When the encoder works in the incremental mode, the incremental position signals comprising the first incremental position pulse signal and the second incremental position pulse signal are transmitted to the servo driver, so that the servo driver can determine the incremental position in real time, and the working accuracy is improved.
Description
Technical Field
The present invention relates to the field of display technologies, and in particular, to a method and an apparatus for processing signals of a servo driver and an encoder.
Background
Usually, the servo driver and the encoder transmit information indicating absolute position through a communication protocol, so that more data needs to be transmitted, and a start bit and a stop bit are also needed when the data is transmitted, which generally requires longer transmission time. Taking an encoder communication protocol of Morgan as an example, it indicates that 11 bytes, that is, 88 bits, need to be transmitted at an absolute position, a 1-bit start bit and a 1-bit stop bit are arranged between every 8 bits, and the total is 110 bits, and if 1-bit data needs to be transmitted, the transmission time needs to be 22us in total.
Disclosure of Invention
Embodiments of the present invention provide a signal processing method for a servo driver and an encoder, which can reduce transmission time required for transmitting an absolute position.
The embodiment of the invention provides a signal processing method of a servo driver and an encoder, which comprises the following steps: the servo driver supplies power to the encoder, the encoder works in an absolute mode, and the encoder outputs an absolute position signal to the servo driver, so that the servo driver determines an absolute position according to the absolute position signal; wherein the absolute position signal comprises: an absolute position level signal and an absolute position pulse signal having a first frequency;
the encoder works in an absolute mode and after a time threshold value passes, the encoder works in an incremental mode and outputs an incremental position signal to the servo driver, so that the servo driver determines an incremental position according to the incremental position signal to adjust the absolute position according to the incremental position; wherein the incremental position signal comprises: a first incremental position pulse signal and a second incremental position pulse signal having a second frequency, and the first frequency is different from the second frequency.
Optionally, the servo driver is electrically connected to the encoder through a first differential signal transmission line and a second differential signal transmission line, the absolute position pulse signal and the first incremental position pulse signal are transmitted through the first differential signal transmission line, and the absolute position level signal and the second incremental position pulse signal are transmitted through the second differential signal transmission line.
Optionally, the determining, by the servo driver, an absolute position according to the absolute position signal specifically includes:
the servo driver receives the absolute position signal;
the servo driver acquires a first frequency of the absolute position pulse signal;
the servo driver judges whether the first frequency meets a first frequency threshold value;
and if so, the servo driver determines the absolute position according to the level of the absolute position level signal corresponding to the rising edge or the falling edge of the absolute position pulse signal.
Optionally, the absolute position comprises a single-turn position and a multi-turn position;
the absolute position level signal comprises a single-turn absolute position level signal and a multi-turn absolute position level signal, and the absolute position pulse signal comprises a single-turn absolute position pulse signal and a multi-turn absolute position pulse signal.
Alternatively, the encoder operates in an absolute mode and transmits the absolute position signal a plurality of times, and a separation level signal is provided between each adjacent two of the absolute position signals.
Optionally, the determining, by the servo driver, the incremental position according to the incremental position signal specifically includes:
the servo driver receives the incremental position signal;
the servo driver acquires a second frequency of the first incremental position pulse signal and the second incremental position pulse signal;
the servo driver judges whether the second frequency is smaller than a second frequency threshold value; wherein the second frequency threshold is less than the first frequency threshold;
and if so, the servo driver determines the incremental position according to the rising edge and the falling edge of the first incremental position pulse signal and the second incremental position pulse signal.
Optionally, the waveforms of the first incremental position pulse signal and the second incremental position pulse signal are the same and the periods are the same;
the first and second incremental position pulse signals differ in phase by 1/4.
Optionally, the incremental position is an amount of change in the single-turn position;
the adjusting the absolute position according to the incremental position specifically includes:
and adjusting the position of the single circle according to the variable quantity of the position of the single circle.
Optionally, the determining, by the servo driver, the incremental position according to rising edges and falling edges of the first incremental position pulse signal and the second incremental position pulse signal specifically includes: determining the incremental position when rising and falling edges of the first and second incremental position pulse signals satisfy a first condition;
the adjusting the single-turn position according to the variation of the single-turn position specifically includes: and adding the variation of the single-turn position to the last single-turn position to serve as the adjusted single-turn position.
Optionally, the determining, by the servo driver, the incremental position according to rising edges and falling edges of the first incremental position pulse signal and the second incremental position pulse signal specifically includes:
determining the incremental position when rising and falling edges of the first and second incremental position pulse signals satisfy a second condition;
the adjusting the single-turn position according to the variation of the single-turn position specifically includes:
and subtracting the variable quantity of the single-turn position from the previous single-turn position to serve as the adjusted single-turn position.
Accordingly, embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the steps of the above-mentioned signal processing method provided by embodiments of the present invention.
Correspondingly, the embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the signal processing method provided by the embodiment of the present invention are implemented.
The invention has the following beneficial effects:
according to the servo driver and the signal processing method of the encoder provided by the embodiment of the invention, when the encoder works in an absolute mode, only an absolute position signal with less information amount can be transmitted by transmitting the absolute position signal comprising the absolute position level signal and the absolute position pulse signal to the servo driver, and correspondingly, only shorter transmission time is required, so that the servo driver can determine the absolute position more quickly. When the encoder works in the increment mode, the increment position signal comprising the first increment position pulse signal and the second increment position pulse signal is transmitted to the servo driver, so that the servo driver can determine the increment position in real time, and the working accuracy is improved.
Drawings
FIG. 1 is a flowchart of a signal processing method for a servo driver and an encoder according to an embodiment of the present invention;
FIG. 2 is a connection diagram of a servo driver and an encoder according to an embodiment of the present invention;
FIG. 3 is a partial detailed flowchart of a signal processing method for a servo driver and an encoder according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an absolute position signal according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of another absolute position signal provided by an embodiment of the present invention;
FIG. 6 is a schematic diagram of a split level signal according to an embodiment of the present invention;
FIG. 7 is a partial detailed flowchart of another signal processing method for a servo driver and an encoder according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an incremental position signal provided by an embodiment of the present invention;
FIG. 9 is a schematic illustration of another incremental position signal provided by an embodiment of the present invention;
fig. 10 is a schematic diagram of another incremental position signal provided in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. And the embodiments and features of the embodiments may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
It should be noted that the sizes and shapes of the figures in the drawings are not to be considered true scale, but are merely intended to schematically illustrate the present invention. And the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.
In general, a servo system includes a servo driver, an encoder and a servo motor, the encoder is used for outputting a signal to the servo driver, and the servo driver can obtain data representing the position of a rotor of the servo motor according to the signal output by the encoder, so as to control the operation of the servo motor.
An embodiment of the present invention provides a signal processing method for a servo driver and an encoder, as shown in fig. 1, the method may include the following steps:
s101, the servo driver supplies power to the encoder, the encoder works in an absolute mode, and the encoder outputs an absolute position signal to the servo driver, so that the servo driver determines an absolute position according to the absolute position signal; wherein the absolute position signal comprises: an absolute position level signal and an absolute position pulse signal having a first frequency.
S102, after the encoder works in an absolute mode and a time threshold value passes, the encoder works in an incremental mode, and the encoder outputs an incremental position signal to the servo driver, so that the servo driver determines an incremental position according to the incremental position signal to adjust the absolute position according to the incremental position; wherein the incremental position signal comprises: a first incremental position pulse signal and a second incremental position pulse signal having a second frequency, and the first frequency is different from the second frequency.
According to the servo driver and the signal processing method of the encoder provided by the embodiment of the invention, when the encoder works in an absolute mode, only an absolute position signal with less information amount can be transmitted by transmitting the absolute position signal comprising the absolute position level signal and the absolute position pulse signal to the servo driver, and correspondingly, only shorter transmission time is required, so that the servo driver can determine the absolute position more quickly. When the encoder works in the increment mode, the increment position signal comprising the first increment position pulse signal and the second increment position pulse signal is transmitted to the servo driver, so that the servo driver can determine the increment position in real time, and the working accuracy is improved.
In a specific implementation, when the servo driver is not operated, i.e. the encoder is not powered, the encoder is powered by a battery and operates in an absolute mode. When the servo driver starts to work, the encoder is powered on, namely, the encoder sends a servo power supply signal, and the encoder receives the servo power supply signal and works in an absolute mode within a time threshold. When the encoder is in the increment working mode, the servo driver stops working and stops sending the servo power supply signal to the encoder, the encoder cannot receive the servo power supply signal and is powered by the battery, and the increment mode is converted into the absolute mode to work.
When the servo driver restarts operation, power is supplied to the encoder and the steps of S101 to S102 described above are executed.
In particular, the time threshold may be designed according to the first frequency. For example, the time threshold may be set to 1 second. Of course, in practical applications, the time threshold may be determined according to practical application environments, and is not limited herein.
In practical implementation, in the embodiment of the present invention, as shown in fig. 2, the servo driver and the encoder may be electrically connected through a first differential signal transmission line X and a second differential signal transmission line Y, the absolute position pulse signal a and the first incremental position pulse signal C may be transmitted through the first differential signal transmission line X, and the absolute position level signal B and the second incremental position pulse signal D may be transmitted through the second differential signal transmission line Y. That is, when the encoder operates in the absolute mode or the incremental mode, the absolute position signal or the incremental position signal can be output to the servo driver through the same signal transmission line. In a specific implementation, the first differential signal transmission line X may include two signal transmission lines; the second differential signal transmission line Y may also include two signal transmission lines. Of course, in practical applications, the number of the first differential signal transmission lines X and the second differential signal transmission lines Y may be determined according to practical application environment design, and is not limited herein.
In practical implementation, in the embodiment of the present invention, as shown in fig. 3, the determining, by the servo driver, the absolute position according to the absolute position signal may specifically include the following steps:
s301, a servo driver receives an absolute position signal;
s302, a servo driver acquires a first frequency of an absolute position pulse signal A;
s303, the servo driver judges whether the first frequency meets a first frequency threshold value; if yes, go to step S304; if not, go to step S305;
s304, the servo driver determines the absolute position according to the level of the absolute position level signal B corresponding to the rising edge or the falling edge of the absolute position pulse signal A.
S305, when the first frequency is judged to be smaller than the first frequency threshold and larger than the second frequency threshold, the servo driver gives an alarm and stops working.
In a specific implementation, the servo driver may determine the operating mode of the encoder according to the frequency of the acquired pulse signal. Specifically, when the acquired frequency satisfies the first frequency threshold, it may be determined that the encoder operates in the absolute mode, and the servo driver receives the absolute position signal, so as to determine the absolute position according to the level of the absolute position level signal B corresponding to the rising edge or the falling edge of the absolute position pulse signal a.
In a specific implementation, the first frequency threshold may be determined according to a preset first frequency and an extension value Δ, where the preset first frequency is higher than a maximum value of the second frequency threshold, for example, the maximum value of the second frequency threshold is 6.5M, and the preset first frequency may be 10M, and the first frequency threshold may be represented as an interval formed by the extension value Δ, and the formed interval may be, for example: [ 10-. DELTA.10 +. DELTA.. Alternatively, the following may be used: [ 10-. DELTA.10 +. DELTA.). In practical applications, however, Δ may also be designed and determined according to practical applications, and the preset first frequency may also be designed and determined according to practical applications, for example, the preset first frequency may also be 5M, and is not limited herein.
In particular implementations, when the first frequency threshold is [9.9, 10.1] and the second frequency threshold maximum is 6.5M. If the frequency acquired by the servo driver is 10M, it can be determined that the encoder operates in the absolute mode. If the frequency acquired by the servo driver is 5M, it can be determined that the encoder operates in the incremental mode. If the frequency acquired by the servo driver is between 6.5M and 9.9M, for example 8M, the encoder can be determined to work abnormally, the servo driver gives an alarm, and the servo driver stops working.
In particular, as shown in FIG. 4, the binary absolute position value 11101100101011100 may be determined according to the level of the absolute position level signal B corresponding to the rising edge of the absolute position pulse signal A, which is converted to the decimal value 121180.
In particular implementations, the absolute position may include a single-turn position and a multi-turn position in embodiments of the present invention. Illustratively, as shown in fig. 5, the absolute position level signal B may include a single-turn absolute position level signal B1 and a multi-turn absolute position level signal B2, and the absolute position pulse signal a may include a single-turn absolute position pulse signal a1 and a multi-turn absolute position pulse signal a 2.
In one embodiment, the encoder may transmit the signal for determining the position of a single turn to the servo driver before transmitting the signal for determining the position of multiple turns to the servo driver. So that the servo driver receives the signal for determining the position of a single turn first and then the signal for determining the position of a plurality of turns. For example, as shown in fig. 5, a1 represents a single-turn absolute position pulse signal for determining a single-turn position, and a2 represents a multi-turn absolute position pulse signal for determining a multi-turn position. B1 represents a single turn absolute position level signal for determining a single turn position and B2 represents a multi turn absolute position level signal for determining a multi turn position. The servo driver can determine the binary value 01010101010101010 of the single-turn position of 17bit according to the level of the single-turn absolute position level signal B1 corresponding to the rising edge of the single-turn absolute position pulse signal A1, and the binary value is converted into a decimal 43690. According to the level of the multi-turn absolute position level signal B2 corresponding to the rising edge of the multi-turn absolute position pulse signal A2, a binary value 1010101010101010 of the 16-bit multi-turn position can be determined, and the binary value is converted into a decimal 43690. I.e. the servo driver needs to receive only a total of 33bit absolute position signals to determine the absolute position. Of course, in the specific implementation, the amount of information required for transmitting the single-turn position or the multi-turn position should be determined according to the design of the actual application environment, and is not limited herein.
Of course, in the implementation, the encoder may first transmit the signal for determining the position of the multi-turn to the servo driver, and then transmit the signal for determining the position of the single-turn to the servo driver. So that the servo driver receives the signal for determining the multi-turn position first and then receives the signal for determining the single-turn position, which is not limited herein.
In a specific implementation, the servo driver may use a part of the absolute position signal of a preset fixed information amount as a signal for determining the single-turn position or the multi-turn position. Illustratively, the absolute position signal is fixed to 33 bits, the servo driver determines the single-turn position according to the first 17 bits, and determines the multi-turn position according to the last 16 bits. Of course, the specific way of distinguishing the single-turn absolute position level signal B1 from the multi-turn absolute position level signal B2, and the single-turn absolute position pulse signal a1 from the multi-turn absolute position pulse signal a2 in the absolute position signals may not be limited thereto, and is not limited thereto.
In the implementation, when the single-turn position value is changed, the servo driver can automatically complete the conversion between the single-turn position and the multi-turn position. Wherein the single-turn position value may have a conversion relationship with the multi-turn position value. For example, if the maximum value of the single-turn position value is N-1, when the single-turn position value is changed from N-1 to N, the multi-turn position value is added with 1 and the single-turn position value is cleared.
In practical implementation, in the embodiment of the present invention, as shown in fig. 6, the encoder operates in the absolute mode and transmits the absolute position signal a plurality of times, and a separation level signal S is provided between each adjacent two absolute position signals. Generally, a servo driver needs to determine a working mode of an encoder according to an acquired pulse signal frequency, and then can determine an absolute position or an incremental position according to an acquired signal, so that an absolute position signal needs to be transmitted for many times. Further, there is a possibility that noise may be generated when transmitting the absolute position signal, and it is also necessary to transmit the absolute position signal several times in order to ensure that the servo driver can acquire an accurate absolute position signal. In order to distinguish between the two transmitted absolute position signals, a separation level signal S is provided between each adjacent two absolute position signals.
In a specific implementation, the split level signal S may include a low level signal transmitted through the first differential signal transmission line X and a low level signal transmitted through the second differential signal transmission line Y. Of course, in practical applications, the separation level signal S may be determined according to practical application environment design, and is not limited herein.
In a specific implementation, in the embodiment of the present invention, as shown in fig. 7, the determining, by the servo driver, the incremental position according to the incremental position signal may specifically include the following steps:
s601, the servo driver receives an incremental position signal;
s602, the servo driver acquires a second frequency of the first incremental position pulse signal C and the second incremental position pulse signal D;
s603, the servo driver judges whether the second frequency is smaller than a second frequency threshold value; if yes, go to step S604; if not, executing step S605; wherein the second frequency threshold is less than the first frequency threshold;
and S604, determining the incremental position by the servo driver according to the rising edge and the falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D.
And S605, when the second frequency is judged to be smaller than the first frequency threshold and larger than the second frequency threshold, the servo driver gives an alarm and stops working.
In specific implementation, when the frequency of the pulse signal acquired by the servo driver is less than the second frequency threshold, it may be determined that the encoder operates in the incremental mode, so that the incremental position is determined according to the rising edge and the falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D.
In a specific implementation, the second frequency threshold may be determined according to the resolution of the encoder and the rated rotation speed of the servo driver. For example, the maximum value of the second frequency threshold may be determined as a product of the resolution of the encoder and the nominal rotational speed of the servo drive. For example, the encoder is a 17-bit encoder, and the nominal speed of the servo driver is 3000 rpm, i.e. 50 rpm/s, and then 50 x 2176553600, the maximum value of the second frequency threshold may be set to 6.5M.
In practical implementation, in the embodiment of the present invention, as shown in fig. 8, the waveforms of the first incremental position pulse signal C and the second incremental position pulse signal D are the same and the periods are the same; the first and second incremental position pulse signals C and D differ in phase by 1/4.
In particular implementations, the second frequency may be varied, but the second frequency needs to satisfy a condition less than a second frequency threshold. For example, as shown in fig. 9, the second frequency may be increased. Of course, in practical application, the second frequency may also be reduced or unchanged, and only the second frequency needs to be smaller than the second frequency threshold, and the specific change condition of the second frequency may be determined according to the practical application environment, and is not limited herein.
In specific implementation, in the embodiment of the present invention, the incremental position is a variation of a single-turn position; adjusting the absolute position according to the incremental position specifically comprises: and adjusting the position of the single circle according to the variable quantity of the position of the single circle.
In a specific implementation, the determining, by the servo driver, the incremental position according to the rising edge and the falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D may specifically include: the incremental position is determined when the rising and falling edges of the first and second incremental position pulse signals C and D satisfy a first condition. In addition, in the embodiment of the present invention, adjusting the position of the single turn according to the variation of the position of the single turn may specifically include: and adding the variation of the position of the single turn to the position of the last single turn to obtain the adjusted position of the single turn.
In a specific implementation, as shown in fig. 8, the first condition may specifically include: the rising edge of the second incremental position pulse signal D corresponds to the high level of the first incremental position pulse signal C, and the falling edge of the second incremental position pulse signal D corresponds to the low level of the first incremental position pulse signal C. For example, if the current time is the rising edge of the second incremental position pulse signal D, the last time is the rising edge of the first incremental position pulse signal C. If the current time is the falling edge of the first incremental position pulse signal C, the last time is the rising edge of the second incremental position pulse signal D. If the current time is the falling edge of the second incremental position pulse signal D, the last time is the falling edge of the first incremental position pulse signal C. If the current time is the rising edge of the first incremental position pulse signal C, the last time is the falling edge of the second incremental position pulse signal D.
In a specific implementation, in the embodiment of the present invention, the determining, by the servo driver, the incremental position according to the rising edge and the falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D may specifically include: the incremental position is determined when the rising and falling edges of the first and second incremental position pulse signals C and D satisfy a second condition. In addition, in the embodiment of the present invention, adjusting the position of the single turn according to the variation of the position of the single turn may specifically include: and subtracting the variation of the single-turn position from the previous single-turn position to obtain the adjusted single-turn position.
In a specific implementation, as shown in fig. 10, the second condition may specifically include: the falling edge of the second incremental position pulse signal D corresponds to the high level of the first incremental position pulse signal C, and the rising edge of the second incremental position pulse signal D corresponds to the low level of the first incremental position pulse signal C. For example, if the current time is the falling edge of the second incremental position pulse signal D, the last time is the rising edge of the first incremental position pulse signal C. If the current time is the falling edge of the first incremental position pulse signal C, the last time is the falling edge of the second incremental position pulse signal D. If the current time is the rising edge of the second incremental position pulse signal D, the last time is the falling edge of the first incremental position pulse signal C. If the current time is the rising edge of the first incremental position pulse signal C, the last time is the rising edge of the second incremental position pulse signal D.
In specific implementation, the previous single-turn position may need to carry after adding or subtracting the variable quantity of the single-turn position, the servo driver may automatically complete the carry of the single-turn position and the multi-turn position, and the single-turn position after the carry is the adjusted single-turn position.
In particular implementations, each rising edge and each falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D represent a minimum amount of change in a single turn position. The magnitude of the amount of change in the single-turn position that needs to be added or subtracted can be determined based on the total number of rising edges and falling edges in the first incremental position pulse signal C and the second incremental position pulse signal D in the incremental position signals that satisfy the first condition.
In specific implementation, as long as the waveforms of the first incremental position pulse signal C and the second incremental position pulse signal D are the same and the periods thereof are the same and the first incremental position pulse signal C and the second incremental position pulse signal D are different by 1/4 phases, the rising edge and the falling edge of the first incremental position pulse signal C and the second incremental position pulse signal D inevitably satisfy one of the first condition or the second condition.
The present invention will be described in detail with reference to specific examples. It should be noted that the present embodiment is for better explaining the present invention, but not limiting the present invention.
The encoder is powered by the battery to the servo driver, so that the encoder operates in an absolute mode. The encoder outputs an absolute position signal as shown in fig. 5 to the servo driver. Wherein the absolute position signal comprises: an absolute position level signal B transmitted through the second differential signal transmission line Y and an absolute position pulse signal a having a first frequency transmitted through the first differential signal transmission line X. The first frequency is 10M.
The servo driver receives the signal transmitted by the first differential signal transmission line X, i.e., the absolute position pulse signal a, and obtains the frequency thereof, i.e., the first frequency of 10M. The first frequency threshold is [9.9, 10.1], if the first frequency meets the first frequency threshold, the servo driver determines that the encoder is in an absolute mode, and the servo driver determines the absolute position according to the level of the absolute position level signal B corresponding to the rising edge of the absolute position pulse signal a.
As shown in FIG. 5, the binary value of the single-turn position determined by the servo driver according to the level of the single-turn absolute position level signal B1 corresponding to the rising edge of the single-turn absolute position pulse signal A1 is 01010101010101010, which is converted into decimal 43690. The binary value of the multi-turn position determined according to the level of the multi-turn absolute position level signal B2 corresponding to the rising edge of the multi-turn absolute position pulse signal A2 is 1010101010101010, and the decimal value is 43690. The absolute positions determined include a single-turn position having a value of 43690 and a multi-turn position having a value of 43690.
The time threshold is 1 second, after 1 second has elapsed for the encoder to operate in absolute mode, the encoder operates in incremental mode, and the encoder outputs an incremental position signal to the servo driver as shown in fig. 8. Wherein the incremental position signal comprises: a first incremental position pulse signal C and a second incremental position pulse signal D having a second frequency. The second frequency is 5M.
The servo driver receives the incremental position signal and acquires its frequency of 5M. The encoder is a 17-bit encoder, and the rated speed of the servo driver is 3000 rpm, namely 50 rpm, then the maximum value of the second frequency threshold is 50 x 2176553600, i.e. 6.5M. 5M<6.5MThe servo driver may determine that the encoder is operating in the incremental mode and determine the incremental position based on the rising and falling edges of the first and second incremental position pulse signals C and D. The total number of rising edges and falling edges of the first incremental position pulse signal C and the second incremental position pulse signal D in the incremental position signals is 87382, and the value of the determined incremental position is 87382.
The incremental position signals shown in fig. 8 satisfy the first condition that the rising edge of the second incremental position pulse signal D corresponds to the high level of the first incremental position pulse signal C. The falling edge of the second incremental position pulse signal D corresponds to the low level of the first incremental position pulse signal C. The servo driver adds the value of the single turn position to the incremental position, 43690+87382 131072. The single-turn position and the multi-turn position have a carry relation, the maximum value of the single-turn position value is 131071, and when the single-turn position value is 131072, the servo driver automatically clears the single-turn position value and adds 1 to the multi-turn position value.
The absolute positions stored by the servo driver at this time include a single-turn position with a value of 0 and a multi-turn position with a value of 43691.
Based on the same inventive concept, embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and the program, when executed by a processor, implements the steps of any one of the signal processing methods provided by the embodiments of the present invention. In particular, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
Based on the same inventive concept, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the computer device implements any of the steps of the signal processing methods provided by the embodiment of the present invention.
According to the servo driver and the signal processing method of the encoder provided by the embodiment of the invention, when the encoder works in an absolute mode, only the absolute position signal with less information amount can be transmitted by transmitting the absolute position signal comprising the absolute position level signal and the absolute position pulse signal to the servo driver, and correspondingly, only shorter transmission time is required, so that the servo driver can determine the absolute position more quickly. When the encoder works in the increment mode, the increment position signal comprising the first increment position pulse signal and the second increment position pulse signal is transmitted to the servo driver, so that the servo driver can determine the increment position in real time, and the working accuracy is improved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (12)
1. A signal processing method for a servo driver and an encoder, comprising:
the servo driver supplies power to the encoder, the encoder works in an absolute mode, and the encoder outputs an absolute position signal to the servo driver, so that the servo driver determines an absolute position according to the absolute position signal; wherein the absolute position signal comprises: an absolute position level signal and an absolute position pulse signal having a first frequency;
the encoder works in an absolute mode and works in an incremental mode after a time threshold value passes, and the encoder outputs an incremental position signal to the servo driver, so that the servo driver determines an incremental position according to the incremental position signal to adjust the absolute position according to the incremental position; wherein the incremental position signal comprises: a first incremental position pulse signal and a second incremental position pulse signal having a second frequency, and the first frequency is different from the second frequency.
2. The signal processing method according to claim 1, wherein the servo driver and the encoder are electrically connected through a first differential signal transmission line and a second differential signal transmission line, the absolute position pulse signal and the first incremental position pulse signal are transmitted through the first differential signal transmission line, and the absolute position level signal and the second incremental position pulse signal are transmitted through the second differential signal transmission line.
3. The signal processing method of claim 1, wherein the determining an absolute position by the servo driver from the absolute position signal comprises:
the servo driver receives the absolute position signal;
the servo driver acquires a first frequency of the absolute position pulse signal;
the servo driver judges whether the first frequency meets a first frequency threshold value;
and if so, the servo driver determines the absolute position according to the level of the absolute position level signal corresponding to the rising edge or the falling edge of the absolute position pulse signal.
4. The signal processing method of claim 3, wherein the absolute position comprises a single-turn position and a multi-turn position;
the absolute position level signal comprises a single-turn absolute position level signal and a multi-turn absolute position level signal, and the absolute position pulse signal comprises a single-turn absolute position pulse signal and a multi-turn absolute position pulse signal.
5. The signal processing method according to claim 4, wherein the encoder operates in an absolute mode and transmits the absolute position signal a plurality of times, and a separation level signal is provided between every adjacent two of the absolute position signals.
6. The signal processing method of claim 3, wherein the determining the incremental position by the servo driver based on the incremental position signal comprises:
the servo driver receives the incremental position signal;
the servo driver acquires a second frequency of the first incremental position pulse signal and the second incremental position pulse signal;
the servo driver judges whether the second frequency is smaller than a second frequency threshold value; wherein the second frequency threshold is less than the first frequency threshold;
and if so, the servo driver determines the incremental position according to the rising edge and the falling edge of the first incremental position pulse signal and the second incremental position pulse signal.
7. The signal processing method according to claim 6, wherein the first incremental position pulse signal and the second incremental position pulse signal have the same waveform and the same period;
the first and second incremental position pulse signals differ in phase by 1/4.
8. The signal processing method of claim 7, wherein the incremental position is a change in a single-turn position;
the adjusting the absolute position according to the incremental position specifically includes:
and adjusting the position of the single circle according to the variable quantity of the position of the single circle.
9. The signal processing method of claim 8, wherein the servo driver determines the incremental position based on rising and falling edges of the first and second incremental position pulse signals, in particular comprising: determining the incremental position when rising and falling edges of the first and second incremental position pulse signals satisfy a first condition;
the adjusting the single-turn position according to the variation of the single-turn position specifically includes: and adding the variation of the single-turn position to the last single-turn position to serve as the adjusted single-turn position.
10. The signal processing method of claim 8, wherein the servo driver determines the incremental position based on rising and falling edges of the first and second incremental position pulse signals, in particular comprising:
determining the incremental position when rising and falling edges of the first and second incremental position pulse signals satisfy a second condition;
the adjusting the single-turn position according to the variation of the single-turn position specifically includes:
and subtracting the variable quantity of the single-turn position from the previous single-turn position to serve as the adjusted single-turn position.
11. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the signal processing method of a servo driver and encoder according to any one of claims 1-10.
12. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the signal processing method of servo driver and encoder according to any one of claims 1-10 when executing the program.
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