CN117318584A - Servo driver registering position control method - Google Patents
Servo driver registering position control method Download PDFInfo
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- CN117318584A CN117318584A CN202311249839.4A CN202311249839A CN117318584A CN 117318584 A CN117318584 A CN 117318584A CN 202311249839 A CN202311249839 A CN 202311249839A CN 117318584 A CN117318584 A CN 117318584A
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- servo driver
- register
- control method
- motor
- target position
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 4
- 230000003993 interaction Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Abstract
The invention discloses a servo driver registering position control method, which comprises the following steps: s1: a register is arranged in the servo driver and is used for storing the numerical value of the target position; s2: electrically connecting a position controller of the servo driver with the register; s3: the position controller writes the value of the target position into the register, and controls the position of the servo driver to reach the target position. The beneficial effects of the invention are as follows: the position of the servo driver is controlled through the register, the multi-section position control of the servo motor is realized in the servo driver, external equipment such as a PLC (programmable logic controller) is not needed, and the controller or the board card sends position control pulses to the servo driver, so that the problem of high price of the matched external equipment and cables is solved, and the method disclosed by the invention is simple and practical and can improve the control precision and stability of the servo driver.
Description
Technical Field
The invention relates to the technical field of servo drivers, in particular to a method for controlling a registering position of a servo driver.
Background
At present, external equipment needs to be accessed when the servo system performs position control, for example: and a PLC, a controller, a board card and other upper computer control systems. The control system sends position control pulses to the servo driver, namely the upper controller controls the motion of the servo motor by outputting pulse trains with a certain number and frequency; the frequency of the pulse trains determines the speed at which the motor operates, and the number of pulse trains determines the distance at which the motor operates. But this approach faces the problem of expensive equipment and cables.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a servo driver registering position control method.
The aim of the invention is achieved by the following technical scheme: a servo driver registering position control method comprises the following steps:
s1: a register is arranged in the servo driver and is used for storing the numerical value of the target position;
s2: electrically connecting a position controller of the servo driver with the register;
s3: the position controller writes the value of the target position into the register, and controls the position of the servo driver to reach the target position.
Preferably, the servo driver receives external input parameters through man-machine interaction.
Preferably, the external input parameters include an internal position parameter and other parameters, the internal position parameter includes a motor operation given position section parameter, a position circulation parameter and an internal position parameter, and the other parameters include an interval time after each position section is finished, an acceleration and deceleration time of the internal position section and a speed parameter of each position section.
Preferably, in step S1, the register is initialized;
preferably, the initialization settings include a movement pattern, a motor enable, an acceleration time, and a deceleration time.
Preferably, in step S3, the method further includes the steps of:
s31: starting a servo driver to move through a control instruction written into a register;
s32: after receiving the starting command, the servo driver performs motion control according to the set target position and other parameters;
s33: the servo driver acquires a position feedback signal of the motor through the encoder, compares the position feedback signal with a set target position and determines the difference between the current position and the target position;
s34: according to the difference between the current position and the target position, the servo driver adjusts the control signal to enable the motor to move towards the target position;
s35: when the position of the motor approaches the set target position, the servo driver adopts decelerating motion to ensure the accuracy of the position;
s36: when the target position is reached, a stop command is written to the register to stop the motor.
Preferably, in step S34, the motor is moved toward the target position by controlling the torque, speed, and acceleration of the motor.
Preferably, the position controller of the servo driver is a PID controller.
Preferably, the control signal of the servo driver is an analog signal or a digital signal.
Preferably, the servo driver is an ac servo driver.
The invention has the following advantages: the position of the servo driver is controlled through the register, the multi-section position control of the servo motor is realized in the servo driver, external equipment such as a PLC (programmable logic controller) is not needed, and the controller or the board card sends position control pulses to the servo driver, so that the problem of high price of the matched external equipment and cables is solved, and the method disclosed by the invention is simple and practical and can improve the control precision and stability of the servo driver.
Drawings
Fig. 1 is a schematic structural diagram of a control method flow.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, based on the embodiments of the invention, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the invention.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In this embodiment, as shown in fig. 1, a method for controlling a registering position of a servo driver includes the following steps:
s1: a register is arranged in the servo driver and is used for storing the numerical value of the target position;
s2: electrically connecting a position controller of the servo driver with the register;
s3: and writing the numerical value of the target position into the register through a position controller, and controlling the position of the servo driver to reach the target position. The position of the servo driver is controlled through the register, the multi-section position control of the servo motor is realized in the servo driver, external equipment such as a PLC (programmable logic controller) is not needed, and the controller or the board card sends position control pulses to the servo driver, so that the problem of high price of the matched external equipment and cables is solved, and the method disclosed by the invention is simple and practical and can improve the control precision and stability of the servo driver.
Further, the servo driver receives external input parameters through man-machine interaction. Still further, the external input parameters include an internal position parameter and other parameters, the internal position parameter includes a motor operation given position section parameter, a position cycle parameter, and an internal position parameter, and the other parameters include an interval time after each position section ends, an acceleration and deceleration time of the internal position section, and a speed parameter of each position section. Specifically, the position command is generated in units of servo motor encoder pulses, and the position command is input to a position loop PID controller of the servo driver to control the operation of the corresponding motor.
In this embodiment, in step S1, a register is initialized; preferably, the initialization settings include a movement pattern, a motor enable, an acceleration time, and a deceleration time.
In this embodiment, in step S3, the following steps are further included:
s31: starting a servo driver to move through a control instruction written into a register;
s32: after receiving the starting command, the servo driver performs motion control according to the set target position and other parameters;
s33: the servo driver acquires a position feedback signal of the motor through the encoder, compares the position feedback signal with a set target position and determines the difference between the current position and the target position;
s34: according to the difference between the current position and the target position, the servo driver adjusts the control signal to enable the motor to move towards the target position; further, in step S34, the motor is moved toward the target position by controlling the torque, speed, and acceleration of the motor.
S35: when the position of the motor approaches the set target position, the servo driver adopts decelerating motion to ensure the accuracy of the position;
s36: when the target position is reached, a stop command is written to the register to stop the motor.
In this embodiment, the position controller of the servo driver is a PID controller. Further, the control signal of the servo driver is an analog signal or a digital signal. Still further, the servo driver is an ac servo driver.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. A servo driver registering position control method is characterized in that: the method comprises the following steps:
s1: a register is arranged in the servo driver and is used for storing the numerical value of the target position;
s2: electrically connecting a position controller of the servo driver with the register;
s3: and writing the numerical value of the target position into the register through the position controller, and controlling the position of the servo driver to reach the target position.
2. The servo driver register position control method according to claim 1, wherein: the servo driver receives external input parameters through man-machine interaction.
3. A servo driver register position control method according to claim 2, wherein: the external input parameters comprise internal position parameters and other parameters, the internal position parameters comprise parameters of a motor operation given position section, position circulation parameters and internal position parameters, and the other parameters comprise interval time after each position section is ended, acceleration and deceleration time of the internal position section and speed parameters of each position section.
4. A servo driver register position control method according to claim 3, wherein: in the step S1, the register performs initialization setting.
5. The servo driver register position control method according to claim 4, wherein: the initialization settings include a movement mode, motor enable, acceleration time, and deceleration time.
6. The servo driver register position control method according to claim 5, wherein: in the step S3, the method further includes the following steps:
s31: starting a servo driver to move through a control instruction written into a register;
s32: after receiving the starting command, the servo driver performs motion control according to the set target position and other parameters;
s33: the servo driver acquires a position feedback signal of the motor through the encoder, compares the position feedback signal with a set target position and determines the difference between the current position and the target position;
s34: according to the difference between the current position and the target position, the servo driver adjusts the control signal to enable the motor to move towards the target position;
s35: when the position of the motor approaches the set target position, the servo driver adopts decelerating motion to ensure the accuracy of the position;
s36: when the target position is reached, a stop command is written to the register to stop the motor.
7. The servo driver register position control method according to claim 6, wherein: in step S34, the motor is moved toward the target position by controlling the torque, speed, and acceleration of the motor.
8. The servo driver register position control method according to claim 7, wherein: the position controller of the servo driver is a PID controller.
9. The servo driver register position control method according to claim 8, wherein: the control signal of the servo driver is an analog signal or a digital signal.
10. The servo driver register position control method according to claim 9, wherein: the servo driver is an alternating current servo driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311249839.4A CN117318584A (en) | 2023-09-25 | 2023-09-25 | Servo driver registering position control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311249839.4A CN117318584A (en) | 2023-09-25 | 2023-09-25 | Servo driver registering position control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117318584A true CN117318584A (en) | 2023-12-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311249839.4A Pending CN117318584A (en) | 2023-09-25 | 2023-09-25 | Servo driver registering position control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117318584A (en) |
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2023
- 2023-09-25 CN CN202311249839.4A patent/CN117318584A/en active Pending
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