CN2876847Y

CN2876847Y - Single axis positioning device integrated in servo-system

Info

Publication number: CN2876847Y
Application number: CN 200620070600
Authority: CN
Inventors: 王帆; 王晓伟
Original assignee: Nanjing Aisidun Digital Technology Co Ltd; EEDUN IND AUTOMATION Co Ltd NANJING
Current assignee: Nanjing Estun Automation Co Ltd
Priority date: 2006-03-24
Filing date: 2006-03-24
Publication date: 2007-03-07
Anticipated expiration: 2016-03-24

Abstract

The utility model belongs to the motion control area, in particular to a single axis positioning device integrated in servo-system. A servo driver (1) is in a three-phase winding connection with a motor (3) of which a shaft is connected with a photoelectric encoder (4) which sends signals the decode circuit of a photoelectric decoder in the servo driver (1). The single axis control unit comprises a microprocessor which is in parallel connection with a servo motor interface module, a serial communicate interface module, a CAN bus communicate interface module, a digital input module, a digital output module, an analog input module and pulse width modulation output module through a bus, and which is characterized in that the input port of the single axis control sensor is connected with the signal generator(6) while the output port of the sensor is connected with the internal circuit of the servo drive system, and which can greatly reduce the whole control cost of one dimensional motion without a decrease of the accuracy of the one dimensional motion control, and can improve the reliability of the whole system.

Description

Be integrated in the single shaft locating device in the servo-drive system

Technical field

The utility model belongs to motion control field, relates to the Accurate Position Control in the motion in one dimension.

Background technology

In the position control field of most motions in one dimension, form by uniaxiality controller and servo-drive system, uniaxiality controller generally comprises microprocessor, it is connected with servomotor interface module, serial communication interface module, CAN bus communication interface module, digital quantity input module, digital quantity output module, analog quantity load module and width modulation output module by bus is parallel separately respectively, and servo-drive system comprises servo-driver, photoelectric encoder decoding circuit, motor, photoelectric encoder, photoelectric isolating circuit; Controller is connected by interface or circuit with servo-drive system, and if uniaxiality controller can be integrated into go in the servo-drive system, not only saved cost but also reduced wiring and improved reliability.

Summary of the invention

In order to solve the deficiency that above-mentioned prior art exists, the utility model provides a kind of single shaft locating device that is integrated in the servo-drive system.The utility model is achieved by the following technical solution:

Be integrated in the single shaft locating device in the servo-drive system, utilize existing servo drive system, servo drive system comprises servo-driver 1, photoelectric encoder decoding circuit 2, motor 3, photoelectric encoder 4, photoelectric isolating circuit 5, servo-driver 1 three phase windings connect motor 3, motor 3 rotation axiss connect with photoelectric encoder 4, and photoelectric encoder 4 transfers signals to the photoelectric encoder decoding circuit 2 in the servo-driver 1; Uniaxiality controller comprises microprocessor, and it is by parallel separately respectively servomotor interface module, serial communication interface module, CAN bus communication interface module, digital quantity input module, digital quantity output module, analog quantity load module and the width modulation output module of being connected with of bus; The input end of single shaft control sensor connects signal generation apparatus 6, and output terminal connects circuit in the servo drive system.

The signal triggering of signal generation apparatus is triggering mode or raster fashion or photoelectric code disk mode.

Signal generation apparatus circuit in photoelectricity is isolated with servo drive system connects.

The utility model simultaneously can reduce motion in one dimension integral body significantly and controls cost not reducing the motion in one dimension control accuracy, promote the reliability of total system simultaneously, promptly as long as use a servo-drive system just can realize accurate motion in one dimension, be convenient in motion in one dimension, promote servo application, promote the overall quality of motion in one dimension product.

Description of drawings

Fig. 1 the utility model structural representation

Fig. 2 is the utility model circuit theory diagrams

Fig. 3 is the utility model circuit theory diagrams

Fig. 4 is the utility model circuit theory diagrams

Fig. 5 is the utility model circuit theory diagrams

1 servo-driver, 2 photoelectric encoder decoding circuits, 3 motors, 4 photoelectric encoders, 5 photoelectric isolating circuits, 6 signal generation apparatus

Embodiment

Servo-driver at first according to parameter of user by signal generation apparatus with these two input signals of PCL, NCL as job sequence enabling signal and reference point search signal, if the user is defined as then motor forward lookup reference point of reference point search signal with PCL, if NCL is defined as then motor reverse search reference point of reference point search input signal, according to user's parameter mode that decision changes step being set is to adopt time-delay to change step or the PCON input signal is changed step in proper order.Signal generation apparatus adopts triggering mode, signal is isolated being input to circuit in the servo-drive system by photoelectricity; Signal generation apparatus also can use grating or photoelectric code disk that signal is isolated by photoelectricity and be input to circuit in the servo-drive system.

Its principle of work is as follows:

This single shaft locating device that is integrated in the servo-drive system is integrated in the servo-drive system, it produces the umber of pulse of a fixed numbers in the given sampling period in the servo-drive system position, the number of pulses in each cycle has just determined rotating speed of motor like this, and the umber of pulse that has what cycles to produce this fixed numbers just determines the angle of motor rotation, and the angle of motor rotation has just determined the workpiece displacement.

The user can pass through a plurality of displacements of parameter setting, the rotational speed of motor, time constant filter of interior location instruction, we are called a work step here at the complete displacement of will passing by, might contain a plurality of work steps in the motion in one dimension, cover when the stroke of a work step, just might enter next work step.To enter the another one work step from a work step is called and changes step.The mode of changing step can be that time-delay changes step also can change step according to the variation of outside input port level, and the mode that adopts any form can be set by the user parameter decides.The combination of the displacement of one or more work steps operation is called user's job sequence, and the user can change the startup operation that decide program or out of service by the on off state of external input port.

The displacement of user program can be that absolute figure also can be a relative value, the user can obtain mechanical zero by the searching for reference point, the user can select the forward lookup reference point also can the reverse search reference point, but click when starting the reference point search switch, the motor entry into service is then motor stall after if the input of reference point signal is arranged, rear motor turned round in the other direction with low speed in one second, when reference zero is thought in the position that first photoelectric encoder C pulse rising that runs to after not having the input of reference point signal is prolonged.

The specific implementation method of reference point search is such, here hypothetical reference point input signal is NCL, when the NCL signal is imported, then motor begins counter-rotating, and reference zero is not thought in (POT, NOT signal are normally closed) motor stall position that first photoelectric encoder C pulse rising after the input of NOT signal once more prolongs of reverse after about 1 second when the NOT signal is imported.The speed of reference point search here and the speed of counter-rotating are afterwards all set the numerical value operation according to the user.

Connect back (PCL or NCL) when the job sequence enabling signal, program brings into operation, when a work step is finished after waiting signal change step (can be to delay time to change step, also can be PCON import change step).Servo-driver turns round according to the displacement that the user sets, drive the rotation amount of the motor that the decoding circuit of pulse signal by Fig. 2 of the rotation photoelectric encoder of photoelectric encoder obtain feeding back during motor rotation, and the given pulse number in each the position ring cycle of servo-driver of uniaxiality controller control here, otherwise the given pulse number speed of the high then motor of speed of motor at most is low, for the speed that makes motor is not suddenlyd change, then need how given pulse to carry out a filtering, the length of a filtering time has determined electric motor starting, the slow degree that stops is zero if enabling signal disconnects then inner given pulse.In a tooling step, given overall pulse number depends on the displacement that the user sets, and speed has determined the given pulse number in each cycle, when the umber of pulse that the user is set distribute and the numerical value of the pulse feedback of photoelectric encoder 4 during with given equating a work step finish, at this moment if there is the signal of changing step then to carry out the operation of next step work step, job sequence circular flow like this.

Claims

1, is integrated in single shaft locating device in the servo-drive system, utilize existing servo drive system, servo drive system comprises servo-driver (1), photoelectric encoder decoding circuit (2), motor (3), photoelectric encoder (4), photoelectric isolating circuit (5), servo-driver (1) three phase winding connects motor (3), the same photoelectric encoder of motor (3) rotation axis (4) connects, and photoelectric encoder (4) transfers signals to the photoelectric encoder decoding circuit (2) in the servo-driver (1); Uniaxiality controller comprises microprocessor, it is by parallel separately respectively servomotor interface module, serial communication interface module, CAN bus communication interface module, digital quantity input module, digital quantity output module, analog quantity load module and the width modulation output module of being connected with of bus, it is characterized in that: the input end of single shaft control sensor connects signal generation apparatus (6), and output terminal connects circuit in the servo drive system.

2, the single shaft locating device that is integrated in the servo-drive system as claimed in claim 1 is characterized in that: the signal triggering of signal generation apparatus (6) is triggering mode or raster fashion or photoelectric code disk mode.

3, the single shaft locating device that is integrated in the servo-drive system as claimed in claim 1 is characterized in that: signal generation apparatus (6) circuit in photoelectricity is isolated with servo drive system connects.