CN206224181U - A kind of multiple-axis servo drive system position feedback data interface card based on FPGA - Google Patents

A kind of multiple-axis servo drive system position feedback data interface card based on FPGA Download PDF

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Publication number
CN206224181U
CN206224181U CN201621211053.9U CN201621211053U CN206224181U CN 206224181 U CN206224181 U CN 206224181U CN 201621211053 U CN201621211053 U CN 201621211053U CN 206224181 U CN206224181 U CN 206224181U
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China
Prior art keywords
interface
fpga
feedback data
position feedback
driver
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Expired - Fee Related
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CN201621211053.9U
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Chinese (zh)
Inventor
史步海
刘斌炜
田世鹏
王超
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The utility model discloses a kind of multiple-axis servo drive system position feedback data interface card based on FPGA, including power module, the interface processor with fpga chip as core, several driver interface modules;When in use, the servo-driver with absolute encoder is connected with the standard servo control interface in one of driver interface module, and each driver interface module is connected with interface processor respectively;Voltage of the power module for needed for above-mentioned all parts are provided;Interface processor is connected by the SPI interface of standard with epigyny device.The position feedback data that the utility model can be obtained to absolute encoder is acquired, and realizes that high performance position feeds back, and has the advantages that low cost, easy to use, stability be high, applicable situation is wide.

Description

A kind of multiple-axis servo drive system position feedback data interface card based on FPGA
Technical field
The utility model belongs to the performance application field of multi-axis servo motor drive system, and more particularly to one kind is based on The multiple-axis servo drive system position feedback data interface card of FPGA.
Background technology
In modern industry drive system of robot, it is a kind of type of drive of main flow that motor drives.AC servo motor With its excellent structural behaviour, it is safe and reliable to operation the features such as by extensively should be in all kinds of robots of large, medium and small load. In the high-precision control of servo motor driving system, encoder is the core component for realizing position feedback closed loop control, by connecing Receiving encoder data carries out motor positioning.The features such as its position feedback shows response real-time, high, high accuracy.
Encoder is divided into increment size formula encoder and absolute value formula encoder generally according to operation principle.Increment size formula is compiled Code device externally exports A, B phase delta pulse and Z phase zero pulses, and 360 ° of relative angular displacements can be determined by the counting to pulse Turned to differentiating.Compared with increment size formula encoder, absolute value formula encoder determines to encode with mechanical location, without zero reference With step-by-step counting, antijamming capability enhancing, data reliability greatly improves.
And be directly realized by incremental position feedback industrial robot and upgrade to absolute value formula position feedback industrial robot palpus Motion control board is redesigned, it is relatively costly.Therefore it provides a kind of compatible conventional delta formula encoder and absolute encoder Position feedback data interface card has important practical significance.
Utility model content
The purpose of this utility model is the shortcoming and deficiency for overcoming prior art, there is provided a kind of multiaxis based on FPGA is watched Drive system position feedback data interface card is taken, the position feedback data for being used to obtain absolute encoder is acquired, realized High performance position feeds back, and has the advantages that low cost, easy to use, stability be high, applicable situation is wide.
The purpose of this utility model is realized by following technical scheme:
A kind of multiple-axis servo drive system position feedback data interface card based on FPGA, including power module, with FPGA Chip is interface processor, several driver interface modules of core;When in use, the servo-drive with absolute encoder Device is connected with the standard servo control interface in one of driver interface module, each driver interface module respectively with connect Mouth processor is connected;Voltage of the power module for needed for above-mentioned all parts are provided;The SPI interface that interface processor passes through standard It is connected with epigyny device.
Preferably, the driver interface module includes standard servo control interface and signal conversion receiving circuit, described Signal conversion receiving circuit includes linear one, digital isolator and photoelectric coupled circuit, the linear one input and mark Quasi- SERVO CONTROL interface is connected, and output end is connected with digital isolator, and digital isolator output end is connected with fpga chip, described Photoelectric coupled circuit two ends are connected with standard servo control interface, fpga chip respectively.
Preferably, the differential signal of each servo-driver is received using special differential signal driver/receiver chip, RS-422 difference signalings send into FPGA signaling interfaces, all kinds of input and output generic control signals after receiving through digital isolator conversion It is transmitted through the form of photoelectric coupling.
Preferably, the FPGA uses EP2C5T144 chips, and it provides I/O port to support that multiple driver interface modules are passed Transmission of data signal and all kinds of control signals, the signal conversion of multiple passages can simultaneously meet multiple servo-drives with receiving circuit The position feedback data application of axle.
Preferably, the position feedback data interface card also includes clock circuit, external chip configuration circuit, the two electricity Road is connected with the interface processor with fpga chip as core respectively.
Preferably, external clock uses 100MHz crystal oscillators.
Preferably, external chip configuration circuit uses EPCS sequential series configuration devices.
Preferably, the power module in interface card all parts galvanic current pressure, including servo-drive are provided Needed for+5v voltages, fpga chip needed for 24v DC voltages, linear one needed for device+3.3v periphery operating voltage and Its kernel+1.2v voltages.
The utility model compared with prior art, has the following advantages that and beneficial effect:
1st, using fpga chip as core logic control chip, flexibility is strong, compatible with multiple encoder application, by SPI Connection epigyny device, greatly extends the selection of epigyny device.
2nd, the utility model advantage is to be directly realized by incremental position feedback industrial robot with relatively low cost to upgrade Motion control board need not be redesigned for absolute value formula position feeds back industrial robot.
3rd, the utility model can not only be used for independent dedicated location feedback data interface card, and multi-axial industrial machine can be integrated in again Device people's motion control card, so as to strengthen function.
4th, the utility model is by using fpga chip, take full advantage of FPGA pin numbers it is many characteristics of, it is many to meet The application of axle data feedback, realizes data processing high real-time, the independence of multiaxis.
Brief description of the drawings
Fig. 1 is interface hardware circuitry structure chart in the present embodiment.
Fig. 2 is functional block diagram of the interface software by taking single shaft as an example in the present embodiment.
Specific embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model Mode not limited to this.
As AC servo develops to the direction of total digitalization, digital interface is with its anti-interference and low cost high It is widely adopted, control and the feedback interface of servo-drive system realize comprehensively digitlization.To improve position resolution, simplifying knot Structure, reduction manufacture difficulty and cost, a kind of encoder by backup battery save location data are widely adopted, are referred to as " absolute encoder ".In essence, principle and the increment size formula encoder of absolute encoder collection positional information be it is the same, Belong to the category of " grating measurement " device, itself be the concept without Absolute position measurement.Absolute encoder is integrated in be watched Take motor internal and onboard data storage, revolution count sum word string line interface, battery reality is connected by encoder special cable The power down storage of existing data, supports the use to corresponding intelligent driver and externally shows the effect similar to absolute value formula encoder Really.The advantages of absolute encoder possesses high resolution, origin value is adjustable, revolution counts big, pulse increment signal, using more Flexibly.
In view of absolute encoder advantage in actual applications, a kind of multiple-axis servo based on FPGA of the utility model offer Drive system position feedback data interface card, including the interface hardware circuitry with fpga chip as core, can in real time, independently connect The encoder data of multiaxis is received, interface links are integrated in the control port of servo-driver;Fpga chip realizes multiple axes coding Reading, parsing, conversion and the transmission of device data.
The interface hardware circuitry realizes the electrical connection and communication connection with servo-driver encoder data interface, bag Include:24V control signal power supplys, the reception of the code device signal based on RS-422 and level conversion passage, I/O controlled quentity controlled variable passages, It is suitable to the signal protection of industrial environment application and electrical isolation, the 4 line systems based on SPI protocol for transmitting data to host computer Communication interface.
Specifically, a kind of multiple-axis servo drive system position feedback data interface card based on FPGA, as shown in figure 1, bag Include signal conversion receiving circuit and the mark of FPGA chip circuit, clock circuit, external chip configuration circuit, power module, 6 passages Quasi- SERVO CONTROL interface, signal conversion receiving circuit and the fpga chip of clock circuit, external chip configuration circuit and 6 passages Circuit is connected, and power module provides galvanic current pressure for each module of interface.
The FPGA is EP2C5T144 chips, and it provides I/O port with the data-signal for supporting 6 passages of transmission and all kinds of controls Signal processed.6 signals of passage are changed and receiving circuit, and can simultaneously meet 6 position feedback data of servo-drive axle should With.
FPGA is connected by the SPI interface of standard with epigyny device.
External clock employs 100MHz crystal oscillators.
Exterior arrangement circuit employs EPCS sequential series configuration devices.
The power module provides galvanic current pressure and power, including servo unit control port for each module of interface + 3.3v peripheries needed for the chips such as+5v voltages, FPGA needed for 24v DC voltages, linear interface needed for signal driver Operating voltage and its kernel+1.2v voltages.
The electrical connection of each servo-driver mainly includes, three groups of RS422 standard difference signals A+/A-, B+/B-, Z +/Z-, general I/O signal SEN, ON, ALM and power supply, reference ground etc..The special differential signal driver of differential signal reception use/ Receiver chip realizes that RS422 difference signalings send into FPGA signaling interfaces after receiving through digital isolator conversion.All kinds of inputs are defeated Go out generic control signal to be transmitted through the form of photoelectric coupling.
The absolute encoder data, both including real-time incremental pulse, and including absolute value data, absolute encoder it is exhausted It is the complete character string of a string of encapsulation to value position data, its read cycle is considerably long compared with robot motion's interpolation cycle , it is impossible to the position feedback being directly used in real time execution and absolute order control, so needing to carry out turning for absolute value data Change.During absolute value data is changed, the key link mainly has serial character receiver module, pulse counter module, just Pulse counter module, data register group and each holding wire is handed over to drive link, as shown in Fig. 2 above-mentioned module carries out data processing It is prior art.
Absolute position data share identical signal transmission passage with delta pulse.The fpga chip realizes that multiaxis is compiled Code device digital independent:When system need to complete initially to be accurately positioned or during position correction, that is, read absolute position data;Work as system When need to complete real time position feedback in running, that is, read delta pulse.The position data of multiaxis reads respective complete independently, And after through data parsing, conversion, transmitted to epigyny device in spi bus mode.
The multiple-axis servo drive system position feedback data interface card based on FPGA, for new absolute encoder Data protocol on the basis of, compatible traditional incremental encoder.If the drive system of former robot uses increment type volume The servomotor of code device, using after this interface, it is possible to directly change the servomotor with " absolute encoder " into, then read this The data that interface is provided upwards by SPI, obtain absolute value data.The controller of robot can just utilize this data-interface The data of offer, realize the upgrading of the positioning method of robot.
Hardware circuit described in the utility model is one piece of independent interface card, can additionally be installed at no position feedback Robot or incremental position feedback robot on, realize upgrading, externally provide absolute value data by this interface card.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned The limitation of embodiment, it is other it is any without departing from the change made under Spirit Essence of the present utility model and principle, modify, replace Generation, combination, simplification, should be equivalent substitute mode, be included within protection domain of the present utility model.

Claims (8)

1. a kind of multiple-axis servo drive system position feedback data interface card based on FPGA, it is characterised in that including power supply mould Block, the interface processor with fpga chip as core, several driver interface modules;When in use, with absolute encoder Servo-driver be connected with the standard servo control interface in one of driver interface module, each driver interface mould Block is connected with interface processor respectively;Voltage of the power module for needed for above-mentioned all parts are provided;Interface processor is by mark Accurate SPI interface is connected with epigyny device.
2. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 1, its feature It is that the driver interface module includes standard servo control interface and signal conversion receiving circuit, the signal conversion connects Receiving circuit includes linear one, digital isolator and photoelectric coupled circuit, and the linear one input is controlled with standard servo Interface is connected, and output end is connected with digital isolator, and digital isolator output end is connected with fpga chip, the photoelectric coupled circuit two End is connected with standard servo control interface, fpga chip respectively.
3. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 2, its feature It is that the differential signal of each servo-driver, RS-422 difference are received using special differential signal driver/receiver chip Signaling sends into FPGA signaling interfaces after receiving through digital isolator conversion, and all kinds of input and output generic control signals are through photoelectric coupling Form be transmitted.
4. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 1, its feature It is that the FPGA uses EP2C5T144 chips, it provides I/O port to support multiple driver interface module transfer data-signals And all kinds of control signals, multiple passages signal conversion it is anti-with the position that receiving circuit can simultaneously meet multiple servo-drive axles Feedback data application.
5. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 1, its feature Be, the position feedback data interface card also include clock circuit, external chip configuration circuit, the two circuits respectively with Fpga chip is connected for the interface processor of core.
6. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 5, its feature It is that external clock uses 100MHz crystal oscillators.
7. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 5, its feature It is that external chip configuration circuit uses EPCS sequential series configuration devices.
8. the multiple-axis servo drive system position feedback data interface card based on FPGA according to claim 1, its feature Be, the power module in interface card all parts galvanic current pressure, including the 24v needed for servo-driver are provided + 3.3v periphery operating voltages and its kernel+1.2v needed for+5v voltages, fpga chip needed for DC voltage, linear one Voltage.
CN201621211053.9U 2016-11-10 2016-11-10 A kind of multiple-axis servo drive system position feedback data interface card based on FPGA Expired - Fee Related CN206224181U (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109254567A (en) * 2018-07-11 2019-01-22 杭州电子科技大学 A kind of multi-axis industrial robot's control system based on FPGA
CN109531624A (en) * 2018-12-03 2019-03-29 深圳市越疆科技有限公司 Variable operated type actuator assembly and servo control system
CN109781209A (en) * 2019-03-01 2019-05-21 杭州依美洛克医学科技有限公司 Liquid relief and liquid level detection circuit
CN111045393A (en) * 2019-12-31 2020-04-21 上海新时达机器人有限公司 Driving and controlling integrated servo implementation system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109254567A (en) * 2018-07-11 2019-01-22 杭州电子科技大学 A kind of multi-axis industrial robot's control system based on FPGA
CN109531624A (en) * 2018-12-03 2019-03-29 深圳市越疆科技有限公司 Variable operated type actuator assembly and servo control system
CN109781209A (en) * 2019-03-01 2019-05-21 杭州依美洛克医学科技有限公司 Liquid relief and liquid level detection circuit
CN109781209B (en) * 2019-03-01 2023-12-08 杭州依美洛克医学科技有限公司 Pipetting and liquid level detection circuit
CN111045393A (en) * 2019-12-31 2020-04-21 上海新时达机器人有限公司 Driving and controlling integrated servo implementation system

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Granted publication date: 20170606

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