CN204808004U - Encoder interface arrangement and module based on PROFINET communication - Google Patents
Encoder interface arrangement and module based on PROFINET communication Download PDFInfo
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- CN204808004U CN204808004U CN201520570360.5U CN201520570360U CN204808004U CN 204808004 U CN204808004 U CN 204808004U CN 201520570360 U CN201520570360 U CN 201520570360U CN 204808004 U CN204808004 U CN 204808004U
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Abstract
The utility model discloses an encoder interface arrangement and module based on PROFINET communication. The chip circuit is agreed including square signal converter, two processing chips, arbitration circuit, PROFINET to the device. The incoming signal asin alpha of encoder, bcos alpha, R all transmit for two processing chips after converting corresponding three square signal to through the square signal converter. Handle chip the same functionality for two and represent two passageways respectively, and all be based on three square signal has carried out the redundant control of positional information, check -up information and has generated data signal from this. Data signal in two passageways transmits to PROFINET agreement chip circuit when the CRC check -up is correct to the form of message is passed through the PROFINET interface and is transmitted the driver for servo motor. The utility model also discloses a have the module of device.
Description
Technical field
The utility model relates to a kind of encoder interfaces device and module, particularly relates to a kind of encoder interfaces device based on PROFINET communication and module thereof.
Background technology
Can the built-in encoder output of servomotor realize Digital Transmission, is to determine that whether a digital control system is the mark of digital ac servo digital control system.Send out and change height [2014] No. 2072 files of altering and specify: the total digitalization realizing AC synchronous sampling internal control and measuring appliance, the Digital Control interfacing of employing PROFINET or real-time ethernet.What the measuring appliance said here referred to is exactly servomotor built-in encoder, and it is used to the sensor measuring actual position value and values for actual speed.
Incremental encoder A/B (1Vpp)+absolute position C/D (1Vpp)+reference point (R), before there is no Digital Transmission, the analog signals of to be peak-to-peak value be 1V, if be built in servomotor, its output signal must be converted into digital signal and export to driver by digital interface and can realize digital ac servo digital control system.
Utility model content
The utility model provides a kind of the encoder interfaces device based on PROFINET communication and the module thereof that realize the transmission of code device signal digital safety.
Solution of the present utility model is: a kind of encoder interfaces device based on PROFINET communication; It comprises square-wave signal converter, process chip CPU1, process chip CPU2, arbitration circuit, PROFINET protocol chip circuit: input signal Asin α, Bcos α, the R of square-wave signal converter accepts scrambler also convert corresponding three square-wave signals to thus, wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, α represents the electrical angle in the signal period, and R presentation code device often encloses the absolute position reference point of experience; Three square-wave signals of described square-wave signal converter are all connected with process chip CPU1, process chip CPU2, process chip CPU1 is identical with process chip CPU2 function represents two passages respectively, and all according to described three square-wave signals carried out positional information, check information Redundant Control and generate digital signal thus; The digital signal that described arbitration circuit and process chip CPU1, process chip CPU2 are all connected to receive two passages is carried out arbitrating to form data stream and is passed to motor servo driver by PROFINET protocol chip circuit.
As the further improvement of such scheme, described arbitration circuit adopts arbitration chip CPU3, and process chip CPU1 and process chip CPU2 is all with a moderator, and process chip CPU1 is connected with arbitration chip CPU3 by the moderator of self with process chip CPU2.
Preferably, process chip CPU1, process chip CPU2 are integrated into an integral core chip architecture.
Again preferably, process chip CPU1, process chip CPU2, arbitration chip CPU3 are integrated into an integral core chip architecture.
As the further improvement of such scheme, square-wave signal converter comprises three differential amplifiers, three comparison amplifiers corresponding with described three differential amplifiers; Input signal Asin α, Bcos α, R respectively via after described three differential amplifiers, then generate corresponding three square-wave signals via corresponding three comparison amplifiers respectively.
As the further improvement of such scheme, process chip CPU1, process chip CPU2 include frequency multiplier, reference point register, coarse counter, CRC check device; The input signal Asin α of scrambler, Bcos α access frequency multiplier after converting corresponding square-wave signal to respectively, reference point register is accessed after the input signal R of scrambler converts corresponding square-wave signal to, two output terminals of frequency multiplier connect coarse counter respectively, the output of reference point register connects coarse counter, the output of coarse counter connects CRC check device, and CRC check device connects arbitration chip CPU3.
Preferably, process chip CPU1 also comprises meticulous counter; Described meticulous counter obtains mechanical angle according to formula (1)
Formula (1),
Wherein, N is the resolution of scrambler, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Described meticulous counter also obtains rotating speed n according to formula (2):
formula (2),
Described meticulous counter is according to mechanical angle λ
swith rotating speed n, fine location value is formed to the coarse position value interpolation subdividing that process chip CPU1 generates.
As the further improvement of such scheme, process chip CPU1 adopts ADSP2199x chip, and process chip CPU2 adopts fpga chip, and fpga chip includes ARM series CPU, DSP, counter and switch; PROFINET protocol chip adopts ERTEC200 chip.
As the further improvement of such scheme, described encoder interfaces device also comprises temperature sensor signalling means, described temperature sensor one end of signalling means connects the temperature sensor that is measured coil of stator of motor temperature, other end connection handling chip CPU1.
The utility model also provides a kind of encoder interfaces module based on PROFINET communication, and it adopts the encoder interfaces device based on PROFINET communication described in above-mentioned any one, and described encoder interfaces apparatus design is module.
Encoder interfaces device based on PROFINET communication of the present utility model, for analyzing, processing the input signal of various scrambler, and the input signal of these analog quantity character, be transformed into digital signal, pass to motor servo driver with the form of message by PROFINET, real-time ethernet, these digital signals comprise actual position value and values for actual speed.In actual applications, with two CPU, same encoder input signal is carried out to the Redundant Control of positional information, check information, and carried out fine location calculating and security control with the code device signal of the CPU of wherein to input.Encoder input signal generates digital signal and passes to motor servo driver with the form of message by PROFINET or real-time ethernet after redundancy, security control.Encoder interfaces module based on PROFINET communication of the present utility model, because make modular, directly can install in plant area, conveniently produce, transports, use.
Accompanying drawing explanation
Fig. 1 is the structural representation of the encoder interfaces device of the PROFINET communication of the utility model preferred embodiment.
Fig. 2 is a kind of specific implementation in Fig. 1.
Fig. 3 is the another kind of specific implementation in Fig. 1.
Fig. 4 is another specific implementation in Fig. 1.
Fig. 5 is the implementation schematic diagram of the moderator of the utility model signal processing circuit.
Fig. 6 realizes the PROFINET communication interface of A+B+R incremental encoder in Fig. 1 and a kind of hardware circuit schematic diagram of module.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that A+B+R incremental encoder signal digital safe transmission device specific embodiment described herein is only in order to explain the utility model, and be not used in restriction the utility model.
Encoder interfaces device and the module of a kind of PROFINET communication of description of the present utility model are used for encoder input signal Asin α, Bcos α, R to be converted to digital signal from simulating signal, and described digital signal passes to motor servo driver with the form of message by PROFINET.
Refer to Fig. 1, the code device signal digital safety transmitting device of the utility model preferred embodiment comprises square-wave signal converter, process chip CPU1, process chip CPU2, arbitration circuit, PROFINET protocol chip circuit.
Square-wave signal converter is used for also converting encoder input signal Asin α, Bcos α, R to three square-wave signals respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once.Square-wave signal converter comprises three differential amplifiers, three comparison amplifier K_A, K_B, the K_Cs corresponding with described three differential amplifiers.Square-wave signal converter adopts differential amplifier, comparison amplifier is transformed into square-wave signal, realizes corresponding function.Particularly, encoder input signal Asin α becomes corresponding square-wave signal through one of them differential amplifier, comparison amplifier K_A, in like manner, encoder input signal Bcos α becomes corresponding square-wave signal through another differential amplifier, comparison amplifier K_B; Encoder input signal R becomes corresponding square-wave signal through another differential amplifier, comparison amplifier K_R.
Three square-wave signals of square-wave signal converter are all connected with process chip CPU1, process chip CPU2, process chip CPU1 is identical with process chip CPU2 function represents two passages respectively, and all according to described three square-wave signals carried out positional information, check information Redundant Control and generate digital signal thus.The digital signal that arbitration circuit and process chip CPU1, process chip CPU2 are all connected to receive two passages is carried out arbitrating to form data stream and is passed to motor servo driver by PROFINET.Export as the positional information in two passages is correctly then added in standard message field by CRC check, the data stream of formation passes to motor servo driver by PROFINET protocol chip circuit; As incorrect, then output alarm information in status word.
Process chip CPU1, process chip CPU2 include frequency multiplier, reference point register, coarse counter, CRC check device.The input signal Asin α of scrambler, Bcos α access frequency multiplier after converting corresponding square-wave signal to respectively, reference point register is accessed after the input signal R of scrambler converts corresponding square-wave signal to, two output terminals of frequency multiplier connect coarse counter respectively, the output of reference point register connects coarse counter, the output of coarse counter connects CRC check device, and CRC check device connects arbitration chip CPU3.
Frequency multiplier is used for carrying out 4 frequencys multiplication to encoder input signal Asin α, Bcos α.Reference point register is recorded encoder input signal R and is formed scrambler and often encloses experience absolute position track once.Coarse counter is used for calculating coarse position value according to absolute position track to encoder input signal Asin α, the Bcos α after 4 frequencys multiplication, and derives velocity amplitude according to described coarse position value, and described coarse position value, described velocity amplitude form code successively.CRC check device is used for arranging check code at the lowest order of described code and forms described signal to be transmitted, and the one-period content of described signal to be transmitted is: coarse position value, velocity amplitude, state value.
In addition process chip CPU1 is also provided with meticulous counter.Meticulous counter is used for forming fine location value to the coarse position value interpolation subdividing of process chip CPU1, and meticulous counter can be arranged, and also can not arrange.Meticulous counter is provided with mechanical angle λ
scounter and rotating speed n counter.
Mechanical angle λ
scounter obtains mechanical angle λ according to formula (1)
s:
Wherein, N is the resolution of scrambler, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Rotating speed n counter obtains rotating speed n according to formula (2):
formula (2),
Meticulous counter is according to mechanical angle λ
swith rotating speed n, fine location value is formed to the coarse position value interpolation subdividing of process chip CPU1, make the content alteration in the one-period of the code of process chip CPU1 become coarse position value, velocity amplitude, fine location value, the content alteration in the one-period of the signal to be transmitted of encoder interfaces device becomes coarse position value 1, velocity amplitude 1, fine location value, state value 2.Coarse position value 1, velocity amplitude 1 are from process chip CPU1, and state value 2 is from process chip CPU2.
Meticulous counter can be integrated in process chip CPU1, as shown in Figure 1, when not being with security function, the calculating of angle of rotor of motor λ s and speed n: in process chip CPU1, code device signal Asin α, Bcos α are via multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, 12 A/D converters, Asin α, Bcos α instantaneous value signal are read.
Formula (1) namely
In process chip CPU1, Asin α, Bcos α, by obtaining coarse position value after comparer K_A, K_B and coarse counter, use meticulous interpolation software algorithm, calculate α angle.Rotor-position (coarse position value and Fine interpolation α) is transferred to the driver of servomotor by bus.
The computing method of rotating speed n are as follows:
In process chip CPU1, reference point register provides extra reference marker.When coarse counter count down to reference marker position, process chip CPU1 extracts the information of register, and stores coarse position value and Fine interpolation α.
Whether arbitration circuit is identical for the signal judging two process chip CPU1 and CPU2 and export respectively, as identical, two signal one after the others exported and forms data stream and pass to motor servo driver by PROFINET.As shown in Figure 1, arbitration circuit accessible site is in process chip CPU2.
Have arbitration circuit in process chip CPU2, process chip CPU2 is by the procedures of arbitration in sheet, and what select to be exported by bus is the positional value that the positional value that calculates of process chip CPU1 or process chip CPU2 calculate.Exported by bus by the signal that arbitration circuit is chosen.Reference point register in process chip CPU2 provides detect zero point, checks the whether corresponding constant encoder pulse number of signal period number between adjacent two reference point by software in sheet.Enter the square-wave signal cross connection of process chip CPU2, object is in order to detect servomotor reversion.
In other embodiments, as shown in Figure 2, arbitration circuit adopts arbitration chip CPU3, and process chip CPU1 and process chip CPU2 all can with a moderator, and process chip CPU1 is connected with arbitration chip CPU3 by the moderator of self with process chip CPU2.Process chip CPU1, process chip CPU2 be the as a whole chip structure of accessible site also, as shown in Figure 3; More very, process chip CPU1, process chip CPU2, arbitration chip CPU3 can also be integrated into an integral core chip architecture, as shown in Figure 4.
Please again consult Fig. 1, that is on encoder signal processing circuit plate, carry out signal transacting with two chips (CPU1, CPU2) to code device signal, every chips performs a program process separately, is exactly a respective passage.
Settling signal input and signal transacting in each passage, main signal transacting has: rolling counters forward, the segmentation of software difference, positional value, state value, CRC check.In each passage, the end of signal transacting is arbitration circuit interface, and feed choosing exports.
In this case CPU1=process 1=passage 1; CPU2=process 2=passage 2;
Please again consult Fig. 2, with the 3rd chips in signal circuit, in CPU3, CPU3, primary responsibility is by arbitration main website, chip selection signal, choose the signal source that CPU1 or CPU2 exports as signal, another function of CPU3 runs the protocol stack sofeware of PROFINET or real-time ethernet in sheet, MAC, LAYER2, by this MAC, Signal transmissions is to bus interface.
Please again consult Fig. 3, that is on encoder signal processing circuit plate, with a chips (CPU1), signal transacting is carried out to code device signal, multiple core is had in every chips, multi-core CPU, each core performs a program process separately, is exactly a respective passage.
Settling signal input and signal transacting in each passage, main signal transacting has: rolling counters forward, the segmentation of software difference, positional value, state value, CRC check.In each passage, the end of signal transacting is arbitration circuit interface, and feed choosing exports.
In this case CPU1=process 1=passage 1; CPU1=process 2=passage 2;
The second chips is used in signal circuit, CPU3, in CPU3, primary responsibility is by arbitration main website, and chip selection signal, chooses the signal source that passage 1 or passage 2 export as signal, another function of CPU3 runs the protocol stack sofeware of PROFINET or real-time ethernet in sheet, MAC, APP, (LAYER2, LAYER7) by this MAC+APP, Signal transmissions is to bus interface.
Please again consult Fig. 4, that is do not have CPU3, namely Signal transmissions is integrated into signal transacting, and the integrated level of chip and system is higher.
On encoder signal processing circuit plate, carry out signal transacting, have multiple core, multi-core CPU in every chips with a chips (CPU1) to code device signal, each core performs a program process separately, is exactly a respective passage.
Settling signal input and signal transacting in each passage, main signal transacting has: rolling counters forward, the segmentation of software difference, positional value, state value, CRC check.In each passage, the end of signal transacting is arbitration circuit interface, and feed choosing exports.
In this case CPU1=process 1=passage 1; CPU1=process 2=passage 2;
Signal circuit is integrated in CPU1, and sharing process 1, is independent thread, arbitration circuit integrated enter CPU1, chip selection signal, chooses the signal source that passage 1 or passage 2 export as signal, the protocol stack sofeware of PROFINET or real-time ethernet is run in sheet, MAC, APP, (LAYER2, LAYER7) by this MAC+APP, Signal transmissions to bus interface, the Physical layer PHY of Signal transmissions integrated enter CPU1, such as DP83848vv.
Code device signal digital safety transmitting device also can be provided with internal memory, internal memory choosing multiple storer.As the internal memory in circuit comprises three kinds, FlashRAM, SRAM and DPRAM.CPU2 and PHY shared drive DPRAM, is controlled the read-write of this internal memory by CPU1, this DPRAM is positioned at CPU2 sheet.
Described encoder interfaces device also can set temperature sensor signal analog to digital converter, temperature sensor signal in feeding coil of stator of motor inputs to the A/D converter of CPU1, Temperature numerical through calculating loads in the field that specifies enter message, passes to motor driver.KTY, PTC temperature sensor signal in spindle motor stator coil inputs to the A/D converter of CPU1, and the Temperature numerical through calculating loads in the field that specifies enter message, passes to motor driver.Now, " temperature sensor signal after signal one to be transmitted, signal to be transmitted two, analog to digital conversion " one-period content that is described data stream.
The embody rule mode of arbitration circuit can consult Fig. 5:
1.DATA [7:0] data line
Arbitration interface is 8 bit parallel data interfaces;
2.LATCH control line
Distinguish circulation and other acyclic read modes by control line LATCH, Low level effective, this line is enable, and the signal of scrambler is just locked.Positional value is determined from the signal of locking;
3.RD/WR read/write line
Read and write, Low level effective, only acts on selected (activation) passage;
4.CS chip select line
Chip select signal CS guarantees that synchronization only has the data of a passage and the communication of arbitration main website;
5.P power supply
6.M power supply common port
From the power supply of bus interface, general+24V+COM, powers to signal transacting or scrambler through P, M.
Control line LATCH, CS, RD/WR are unidirectional lines, and always remain on a signal condition determined after initialization, default is high level.DATA [7:0] is two-way.
Signal transmissions is one of important component part of the present utility model, code device signal enters Signal transmissions after arbitration, signal properties is parallel port signal, and have passed through digitizing, in Signal transmissions part, parallel port data will convert serial data to, and according to the requirement of output bus or real time ethernet protocol stack, the form of message passes to driver or controller by bus interface.Bus or real time ethernet protocol stack, relate to the LAYER2 of osi model, 7, MAC, APP, be the one section of application program operated on the RTOS in CPU3.
During the utility model band security function, functional safety code device signal transmission principle: the mechanical angle λ s ' of rotor and the calculating of speed n': in CPU1, code device signal Asin α, Bcos α are via totalizer, subtracter, 45 ° of transposition, 0.707 times of amplitude modulation, oppositely, generate Asin'(α+45 °) ,-Bcos'(α+45 °), (symbol ', only representing this is safety signal), Asin'(α+45 °) ,-Bcos'(α+45 °) there are 45 ° of phase shifts and oppositely compared with Asin α, Bcos α.Again through multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, 12 A/D converters, Asin'(α+45 °) ,-Bcos'(α+45 °) instantaneous value signal is read.
Asin'(α+45 °) ,-Bcos'(α+45 °) via CPU2, then send driver to by bus, then send controller main website to by bus.In main website, there is algorithm to utilize these safety signals to calculate the Electron Angular α of safety signal, and be added in coarse position value two.Calculate the mechanical angle λ s ' of safety signal thus.Algorithm contrasts the rotor position λ s ' that controller calculates with the rotor position λ s in driver.Similar, also to contrast n' and n:
It should be noted that: A and B of encoder input signal Asin α, Bcos α only represents A phase signals and B phase signals, the not amplitude of representation signal.
Produce for realizing code device signal, process, integrated with SIL (SafetyIntegrityLevel) safety integrity of transmission, require that the information of scrambler produces, the transmission of signal transacting, signal all occurs in the secure state.For this reason, the circuit designed by requirement has binary channels, two passages 1 main 1 from, passage 1 is main channel, and passage 2 is from passage, and two positional values produce separately in respective passage, process separately, transmit separately.
The positional information of two redundancies must be had just to guarantee, and positional information is transmitted safely, and wherein, the length of positional value 2 is less than or equal to the length of positional value 1.In addition, in two transmission channels, all must comprise the rough positional information of counter in message, complete message also will comprise CRC check.
By counter, situation during running can be checked, such as check that whether each passage is in normal work.
Whether can detect data by CRC check code to damage in transmitting procedure, whether the data between two autonomous channels produce alternately, whether data byte order is put upside down, and whether data send by correct passage.
The code device signal digital safety signal processing circuit of the utility model preferred embodiment is when applying, and its signal flows to, the first first step, also converts encoder input signal Asin α, Bcos α, R to square-wave signal respectively; Wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, and α represents the electrical angle in the signal period, and R presentation code device often encloses experience absolute position reference point once.
In CPU1, code device signal Asin α, Bcos α are via multichannel final election device MUXA, MUXB and MUXC, and two sample/hold amplifier S & H, and 12 A/D converters, Asin α, Bcos α instantaneous value signal are read.
Second step, is processed into two signals to be transmitted by encoder input signal Asin α, the Bcos α, the R that convert square-wave signal to.The treatment step of signal to be transmitted comprises: carry out 4 frequencys multiplication to encoder input signal Asin α, Bcos α; Record encoder input signal R and form scrambler and often enclose experience absolute position track once; Calculate coarse position value according to absolute position track to encoder input signal Asin α, the Bcos α after 4 frequencys multiplication, and derive velocity amplitude according to described coarse position value, described coarse position value, described velocity amplitude form code successively; Arrange check code at the lowest order of described code and form described signal to be transmitted, the one-period content of described signal to be transmitted is: coarse position value, velocity amplitude, state value.
The treatment step of the signal to be transmitted of process chip CPU1 also can comprise: form fine location value to described coarse position value interpolation subdividing.
3rd step, judges that whether two signals to be transmitted are identical, and as CRC check is correct, then export in the standard message field that the positional information in two passages is added to, the data stream of formation passes to motor servo driver by PROFINET.As incorrect, then output alarm information in status word.Arbitration circuit exchanges process information by switch, information correctly then the positional information in two passages be added to message field in export, positional value 1, positional value 2, state value 1, the state value 2 of Here it is correct information; If the result analyzed is information errors, then output error message in state value.
Wherein, described code device signal digitalized transmission method also comprises: analog to digital conversion measures the temperature sensor signal that obtains of motor temperature, the one-period content that " temperature sensor signal after two signals to be transmitted, analog to digital conversion " is described data stream.
The input signal of the present embodiment circuit is code device signal+temperature sensor signal, and output signal is digitized code device signal+temperature sensor signal.Input signal is analog quantity character, and output signal is digital quantity character.Output signal is exported with the mode high speed serialization of message by PROFINET.Output signal can be the standard message 81,82,83 or 84 meeting ProfileOrderNO.3.162V4.1;
Shown in Fig. 6, it is a kind of hardware circuit schematic diagram of A+B+R encoder signal processing circuit, two CPU can be adopted to realize when specific implementation, particularly, CPU1 can be adopted to be ADSP21990 chip, CPU2 is fpga chip, and fpga chip includes the IPCORE such as ARM series CPU, DSP, counter and switch; PROFINET protocol chip adopts ERTEC200 chip.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.
Claims (10)
1. the encoder interfaces device based on PROFINET communication; It is characterized in that: it comprises square-wave signal converter, process chip CPU1, process chip CPU2, arbitration circuit, PROFINET protocol chip circuit: input signal Asin α, Bcos α, the R of square-wave signal converter accepts scrambler also convert corresponding three square-wave signals to thus, wherein, A, B represent A phase signals, B phase signals in three-phase alternating current respectively, α represents the electrical angle in the signal period, and R presentation code device often encloses the absolute position reference point of experience; Three square-wave signals of described square-wave signal converter are all connected with process chip CPU1, process chip CPU2, process chip CPU1 is identical with process chip CPU2 function represents two passages respectively, and all according to described three square-wave signals carried out positional information, check information Redundant Control and generate digital signal thus; The digital signal that described arbitration circuit and process chip CPU1, process chip CPU2 are all connected to receive two passages is carried out arbitrating to form data stream and is passed to motor servo driver by PROFINET.
2. as claimed in claim 1 based on the encoder interfaces device of PROFINET communication, it is characterized in that: described arbitration circuit adopts arbitration chip CPU3, process chip CPU1 and process chip CPU2 is all with a moderator, and process chip CPU1 is connected with arbitration chip CPU3 by the moderator of self with process chip CPU2.
3., as claimed in claim 2 based on the encoder interfaces device of PROFINET communication, it is characterized in that: process chip CPU1, process chip CPU2 are integrated into an integral core chip architecture.
4. as claimed in claim 3 based on the encoder interfaces device of PROFINET communication, it is characterized in that: process chip CPU1, process chip CPU2, arbitration chip CPU3 are integrated into an integral core chip architecture.
5., as claimed in claim 1 based on the encoder interfaces device of PROFINET communication, it is characterized in that: square-wave signal converter comprises three differential amplifiers, three comparison amplifiers corresponding with described three differential amplifiers; Input signal Asin α, Bcos α, R respectively via after described three differential amplifiers, then generate corresponding three square-wave signals via corresponding three comparison amplifiers respectively.
6., as claimed in claim 1 based on the encoder interfaces device of PROFINET communication, it is characterized in that: process chip CPU1, process chip CPU2 include frequency multiplier, reference point register, coarse counter, CRC check device; The input signal Asin α of scrambler, Bcos α access frequency multiplier after converting corresponding square-wave signal to respectively, reference point register is accessed after the input signal R of scrambler converts corresponding square-wave signal to, two output terminals of frequency multiplier connect coarse counter respectively, the output of reference point register connects coarse counter, the output of coarse counter connects CRC check device, and CRC check device connects arbitration chip CPU3.
7., as claimed in claim 5 based on the encoder interfaces device of PROFINET communication, it is characterized in that: process chip CPU1 also comprises meticulous counter; Described meticulous counter obtains mechanical angle λ S according to formula (1):
Formula (1),
Wherein, N is the resolution of scrambler, every rotaring signal periodicity;
Z is movable signal period quantity;
α is the electrical angle in the signal period,
λ
sit is the mechanical angle in the signal period;
Described meticulous counter also obtains rotating speed n according to formula (2):
formula (2),
Described meticulous counter is according to mechanical angle λ
swith rotating speed n, fine location value is formed to the coarse position value interpolation subdividing that process chip CPU1 generates.
8. as claimed in claim 1 based on the encoder interfaces device of PROFINET communication, it is characterized in that: process chip CPU1 adopts ADSP2199x chip; Process chip CPU2 adopts fpga chip, and fpga chip includes ARM series CPU, DSP, counter and switch; PROFINET protocol chip adopts ERTEC200 chip.
9. as claimed in claim 1 based on the encoder interfaces device of PROFINET communication, it is characterized in that: described encoder interfaces device also comprises temperature sensor signalling means, described temperature sensor one end of signalling means connects the temperature sensor that is measured coil of stator of motor temperature, other end connection handling chip CPU1.
10. based on an encoder interfaces module for PROFINET communication, it is characterized in that: it adopts as in one of claimed in any of claims 1 to 9 based on the encoder interfaces device of PROFINET communication, and described encoder interfaces apparatus design is module.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347370A (en) * | 2018-11-13 | 2019-02-15 | 北京金自天正智能控制股份有限公司 | A kind of universal synchronous motor speed position detecting system based on PROFINET agreement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109347370A (en) * | 2018-11-13 | 2019-02-15 | 北京金自天正智能控制股份有限公司 | A kind of universal synchronous motor speed position detecting system based on PROFINET agreement |
| CN109347370B (en) * | 2018-11-13 | 2022-03-15 | 北京金自天正智能控制股份有限公司 | Universal synchronous motor speed and position detection system based on PROFINET protocol |
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