KR20190045601A - An extendable embedded multi-asis motion controller with industrial electric noise immunity - Google Patents

Abstract

The present invention relates to an extendable embedded multi-axial motion controller with industrial electric noise resistance, capable of interlocking a control board, a shaft control board, and input/output boards through an interface. According to the present invention, the extendable embedded multi-axial motion controller with industrial electric noise resistance comprises: a control board (10) including a microcontroller (100), a main bus (110), a memory device (120), an input/output system controller (130), an Ethernet device (140), and the like; a shaft control board (20) including a shaft controller; and an input/output board including an input/output device.

Description

[0001] The present invention relates to an expandable embedded multi-axis motion controller having an industrial electric noise immunity,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an embedded multi-axis motion controller for controlling servo motors for moving a multi-joint robot or the like, and more particularly, to an embedded multi-axis motion controller, In order to increase or decrease the number of output devices, an embedded multi-axis motion controller is divided into a control board, a board control board, an input / output board, and the like. To an expandable embedded multiaxis motion controller with industrial electrical noise immunity which has a structure in which a board and input / output boards are interlocked.

In general, the embedded multiaxis motion controller used for controlling the packaging robot, the loading robot, the processing robot, and the packing machine is composed of a plurality of input devices for sensing the moving limit of the mechanical part, the moving object and the working environment, And a plurality of output devices that are responsible for incidental control.

In the prior art Patent Document 1, a multi-axis motion control circuit includes an external interface module for receiving a control command of a multi-axis motion system from a host computer and outputting a response corresponding to the control command; An interpolation module for performing multi-axis interpolation using at least one interpolation method; An inverse kinematics calculation module for performing an inverse kinematics calculation for moving a terminal device of a multi-axis motion system to a given position; A velocity waveform generation module for generating a velocity waveform and outputting the velocity waveform to a pulse integration module; A pulse integration module for accumulating pulses generated every sampling time and outputting them to the PID control module; A feedback counter module for generating rotation direction and position information of the motor and outputting the information to the PID control module; A PID control module for outputting a position control signal of the motor to the data conversion module; A data conversion module for converting output data to correspond to an input characteristic of the motor; And a clock generation module for generating and outputting a clock to at least one of the modules.

As shown in FIG. 1, the embedded multi-axis motion controller generally includes an integrated multi-axis motion controller for mounting a microcontroller, a focal plane and input / output devices on one or two boards, As shown, there is an expandable embedded multi-axis motion controller that operates by interlocking the multi-axis motion controller functions with a control board, a flare board, and a few input / output boards and connecting them to each other.

All-in-one embedded multi-axis motion controller is one of the most economical structures to construct microcontroller, fader and input / output devices on one or two PCB (printed circuit board) However, there is a problem that it is necessary to re-manufacture the PCB board and the apparatus in order to increase the number of fades and increase or decrease the number of input / output devices.

Expanded embedded multi-axis motion controller is different from unified multi-axis motion controller in which control board, boarder board and input / output board are manufactured separately, The number of I / O boards can be increased by increasing the number of I / O boards and increasing the number of I / O boards by increasing the number of I / O boards.

However, there is no standardized standard for appropriately designing an interface for connecting a control board and a board-to-board and an interface for connecting a control board and an input / output board. Therefore, There is a problem that it causes a bottleneck of transmission, a problem that limits the number of input / output devices due to limitation of interfaces, and a problem that electric noise of an industrial site is introduced through these interfaces and malfunction of the device occurs.

Patent Document 1. Korean Patent Registration No. 10-0925274

SUMMARY OF THE INVENTION The present invention has been made in an effort to solve the problems of the prior art described above, and it is an object of the present invention to provide an expandable embedded multi-axis motion controller suitable for 16 or fewer embedded multi-axis motion controllers, Dedicated commands can be processed to reduce the number of command words, and the interface between the control board and the board controller can be used for address bus, data bus, reset and input / output as well as flip chip selection, emergency stop, Operation control, and notification of the operation of the bus word, thereby reducing the problem of causing a bottleneck in the data transfer between the control board and the board board by speeding up the selection of the bus address and the command and data transmission, Signal lines are amplified by a line driver to increase the signal-to-noise ratio for industrial electrical noise (I2C) inter-integrated circuit (I2C) bus, which is an industry standard, and solves the problem of erroneous operation due to industrial field electric noise introduced into the connection interface between the control board and the board- Communication system Three lines are used to increase the data transmission bandwidth to solve the problem of causing data transmission and reception bottleneck and to solve the limitation of the number of input / output devices by providing a repeater buffer for lowering the capacitance, Bypass capacitors and a TVS (Transient Voltage Suppression) element that discharges industrial field electric noise at high speed can bypass the industrial electric noise flowing into the connection interface between the control board and the input / output board to the ground, And a problem that a malfunction occurs in accordance with the operation of the apparatus.

Another object of the present invention is to provide a GUI through a GUI (Graphic User Interface) processing board for providing a user interface and a differential I2C signal cable or Ethernet.

According to an aspect of the present invention, there is provided an expansion type embedded multiaxis motion controller having an industrial electrical noise immunity, including: a control board including a microcontroller, a main bus, a memory device, an input / output system controller, and an Ethernet device; A fancy speech board including a fancy speech unit; And an input / output board including an input / output device, wherein the control board includes: an FPGA programmed to process predetermined instructions including an interpolation operation frequently used in a firing command; And a control board side address bus interface for selecting a fader chip on the control board side control bus interface to increase the signal to noise ratio by specifying an address in the selected fader chip and amplifying the address bus signal, A control board side data bus interface for amplifying a bus signal to increase a signal to noise ratio, and a control signal line for processing a control bus to the control board from the control board to emergency stop, emergency stop, manual operation control, And a control board side control bus interface configured to amplify a control bus signal to increase a signal-to-noise ratio.

Also, the board-to-board may include a bus board-side data bus interface for amplifying a data bus signal to be transferred from the board board to the control board when the control board performs a read operation to increase a signal-to-noise ratio, And a control bus line for adding a control signal line for transferring the processing result of the command sent to the board board to the control board from the board board to the control board and a control bus signal to which an interruption request signal line for continuous interpolation is added to increase the signal- Side control board connection interface configured to include a control bus interface.

Also, the control board side input / output board connection interface provided on the control board and the input / output board side control board connection interface provided on the input / output board are connected to each other through a TVS, To increase data communication bandwidth using three lines of I2C bus communicating at 400 Kbps, each equipped with an electric noise bypassing grounding device and a repeater buffer for lowering I2C capacitance, equipped with a pass capacitor to bypass industrial field electrical noise to ground .

In the case of a cable connecting the control board and the GUI processing board to the I2C bus, the cable section is connected to the control board and the GUI processing board so as to have immunity against electric noise emission radiated in the industrial field wirelessly. And an I2C differential signal conversion inverse converter for converting the cable section into an I2C bus section converted into a differential signal.

The input / output board may further include a repeater buffer for lowering the I2C electrostatic capacity therein to expand the number of input / output devices.

Therefore, the extended embedded multi-axis motion controller having industrial noise immunity of the present invention eliminates the data transfer bottleneck occurring at the connection interface between the control board and the board control board, thereby connecting a plurality of board control boards to the control board. The number of input / output devices can be reduced by reducing the number of input / output devices that can be connected and reducing the data bottleneck caused by the interface between the board and the input / output board. And an embedded multi-axis motion controller.

In addition, it provides protection and immunity against industrial field electric noise introduced into the connection interface, thereby reducing the occurrence of malfunction of the embedded multi-axis motion controller due to the industrial field electric noise introduced into the connection interface, It has the effect of drastically reducing the damage caused by the breakdown of the machine parts and the production interruption.

Further, the scalable embedded multi-axis motion controller with industrial electrical noise immunity of the present invention has another effect of providing the function of communicating the I2C cable connecting the GUI processing board with a differential I2C signal having radioactive electrical noise immunity.

1 is a configuration diagram of a conventional integrated type multi-axis motion controller,
FIG. 2 is a configuration diagram of a conventional extended-type embedded multi-axis motion controller,
Fig. 3 is a noise graph generated by a servo driver for driving a motor and an IGBT built in an inverter. Fig. 3 is a graph showing a noise signal magnitude for a frequency band generated when an IGBT is driven at 450V / 20A and 5KHz switching speeds for driving a motor ego,
FIG. 4 is a waveform diagram of test signal generation waveforms of the electrical transient phenomenon / burst immunity test specification of KC 61000-4-4 Electromagnetic Compatibility Section 4-4 of the National Institute of Standards and Technology,
FIG. 5 is a configuration diagram of a connection interface between the control board and the board control board of the present invention,
6 is a configuration diagram of a connection interface between the control board and the input / output board of the present invention,
7 is a connection interface diagram between the motion controller and the GUI processing board of the present invention.

The terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms and the inventor may appropriately define the concept of the term in order to best describe its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may obscure the subject matter of the present invention. .

6 is a diagram illustrating a connection interface between a control board and an input / output board of the present invention, and FIG. 7 is a diagram illustrating a connection interface between a motion controller and a GUI processing board according to the present invention. Connection interface.

5 to 7, the expansion type embedded multiaxis motion controller with industrial electrical noise immunity according to the present invention includes a microcontroller 100, a main bus 110, a memory device 120, an input / output system controller 130 A control board 10 including an Ethernet device 140, and the like; A festival board (20) including a festival fishery apparatus; And an input / output board 30 including an input / output device.

The main bus 100 includes an address bus 111, a data bus 112, and a control bus 113.

The control board (10) includes: an FPGA (300) programmed to process a frequently used command among a fancy command that includes an interpolation operation; And a control board side address bus interface 171 for selecting an address on the control board side control bus interface 173 to increase the signal to noise ratio by designating an address in the selected chip and amplifying the address bus 111 signal, Side data bus interface 172 for amplifying the data bus 112 signal to increase the signal-to-noise ratio when a write operation is performed on the addressed address of the control board 10 and a control bus Side control bus interface 173 for adding a control signal line for processing the selection of a bus selection, an emergency stop, a manual operation control, and a home feedback operation to the control board 113, and amplifying the control bus 113 signal to increase a signal-to- And a control board-side board control board connection interface 170. [

The festival board 20 includes a festival board 20 for amplifying a data bus 112 signal to be transferred from the festival board 20 to the control board 10 when the control board 10 performs a read operation, Side data bus interface 182 and a control signal line for transmitting the processing result of the command sent from the control board 10 to the board control board 20 to the control board 10 from the board control board 20, Side control board connection interface 180 constituted by a control board bus side control bus interface 183 for amplifying a control bus 113 signal to which a request signal line is added to increase a signal-to-noise ratio.

5 is a diagram showing only a portion necessary for explaining the connection interface between the control board 10 and the festival board 20 of the present invention in the conventional extended type embedded multiaxis motion controller shown in FIG. All of the devices of FIG. 2, which are not shown, should be considered included in FIG.

The conventional extended embedded multiaxial motion controller as shown in FIG. 2 has a problem that a connection interface between the control board 10 and the focal plane board 20 causes a data transfer bottleneck and a problem between the control board 10 and the input / output board 30 There is a problem that the connection interface causes a data transfer bottleneck. The data transfer bottleneck of the connection interface between the control board 10 and the board assembly board 20 limits the amount of data that can be transmitted and received and limits the number of board boards 20 that can be used. Therefore, in order to use a plurality of board boards 20 connected to the control board 10, it is necessary to speed up the data transmission of the connection interface between the board 10 and the board 20, .

In the present invention, the FPGA 300 is used as a method of speeding up data transfer between the control board 10 and the festival board 20, and the festival board built in the festival board 20 is directly connected to the control board 10 And a method for transmitting and receiving data by designating an address within a frame address so that the data can be directly written to and read from the address of the frame address 142.

A control signal line for processing an emergency stop, a manual operation control, and a home return operation is added to the control bus, and a control signal line for sending the processing result of the command sent from the control board 10 to the control board 10, And interrupt request signal lines for continuous interpolation are added to the control bus so that the command processing result can be sent directly to the control board 10 and the next command can be sent to thereby speed up the data transfer so that the control board 10 and the festival board 20 It provides a device that reduces bottlenecks in the connection interface.

5, the data transfer bottleneck phenomenon occurring at the connection interface between the conventional control board 10 and the fade-out board 20 is caused by the connection between the FPGA 300 and the control board-side board interface connection interface 170 And the board-side control board connection interface 180. The industrial field electrical noise introduced into the connection interface between the control board 10 and the board-side board 20 is transmitted to the control board-side board- 170 and the control board-side control board connection interface 180.

The FPGA 300 is provided in the control board 10 so that the FPGA 300 itself processes the interpolation operations and the like that are frequently used among the firing commands without performing them in the microcontroller 100, And reduces the number of firing commands that must be processed per unit of time. Therefore, the FPGA 300 reduces the number of commands required to be transmitted to the connection interface between the control board 10 and the board control board 20, thereby reducing the number of data transmission operations occurring at the connection interface between the control board 10 and the board control board 20 Thereby reducing bottlenecks.

Therefore, the connection interface between the control board 10 and the board control board 20 is connected to the control board side address bus interface 171, the control board side data bus interface 172 and the control board side control bus interface 173 , The fastest data transmission / reception device of the direct addressing data input / output method using the bus interface side data bus interface 182 and the bus interface side control bus interface 183, The interrupt request signal control for stop, manual operation control, home return and continuous interpolation enables the fast instruction to be processed quickly, greatly alleviating the data transfer bottleneck occurring at the interface between the control board 10 and the board assembly board 20 .

In addition, by amplifying the address bus 111 signal, the data bus 112 signal, and the control bus 113 signal by a line driver to improve the signal-to-noise ratio, the difference between the control board 10 and the board- The immunity against electrical noise that may enter the connection interface is enhanced so that the electrical noise generated in the industrial field flows into the connection interface between the control board 10 and the board interface 20 to reduce the frequency of malfunction of the motion controller .

That is, the present invention provides an apparatus for increasing the signal-to-noise ratio of electrical noise by providing a protection / immunity against electrical noise generated at an industrial site in a connection interface between the control board 10 and the focal plane board 20. The device for increasing the signal-to-noise ratio is a device for amplifying a signal current to a bus signal line corresponding to the output side of a bus signal line used for a connection interface between the control board 10 and the board- 10 times higher than the signal-to-noise ratio, thereby increasing the protection / immunity against the industrial field electrical noise of the connection interface between the control board 10 and the board-

6 is a diagram showing only a part necessary for explaining the connection interface between the control board 10 and the input / output board 30 of the present invention in the conventional extended embedded multi-axis motion controller of FIG. 2. FIG. All of the devices of FIG.

6, the control board side input / output board connection interface 190 provided on the control board 10 and the input / output board side control board connection interface 200 provided on the input / output board 30, (191, 201), which are equipped with TVS (not shown) and a very small capacity bypass capacitor (not shown) that operate at high speed for interfacing with each other and bypass the industrial field electrical noise to ground And repeater buffers 192 and 202 for lowering the I2C capacitance, respectively, and to increase the data communication bandwidth by using three lines of the I2C bus 160 communicating at 400 Kbps.

The number of input / output devices, and the connection interface between the control board 10 and the input / output board 30, as well as the industrial field electrical noise introduced into the interface between the control board 10 and the input / Etc. are reduced or solved through the control board side input / output board connection interface 190 and the input / output board side control board connection interface 200.

As shown in FIG. 3, the electrical noise-bypassing grounding unit 191 is provided with a process of introducing a conductive EMI (Electro Magnetic Interference) noise generated from an insulated-gate bipolar transistor (IGBT) built in a motor control inverter and a servo motor driver The IGBT conductive noise of 20MHz or more which can not be removed from the power source is diverted to the ground and the test standard KC 61000-4-4, which simulates the phenomenon occurring in the industrial field as shown in FIG. 4, The rapid transient developing voltage generated at the level of 4KV, which is the level 4, flows into the connection interface between the control board 10 and the input / output board 30 at a high speed and the TVS having the very small capacitance is bypassed to the ground, 10) and the input / output board 30 to provide an immunity against electrical noise that may enter the connection interface.

In other words, a device for providing protection / immunity against electrical noise generated at industrial sites in a connection interface between the control board 10 and the input / output board 30 includes bypass capacitors for bypassing industrial electric noise to ground, It works with TVS devices that emit fast to ground, reducing the industrial field electrical noise in the frequency band greater than 20MHz and the high voltage electrical noise of the electrical fast transients.

Since the multi-axis controller of the present invention is used together with a servo motor, the electric noise of a frequency band higher than 20 MHz generated in the IGBT built in the servo motor driver flows into the bypass capacitor which bypasses the industrial field electric noise to the ground. It reduces to 1/10 times. In addition, the instantaneous high-voltage noise voltage in the KV unit generated by an electrical fast transient phenomenon / burst in the industrial field emits the TVS element that emits electric noise to the ground at high speed to the ground.

In addition, as the I2C bus length increases and the number of connected I2C devices increases, the capacitance increases to cause a communication failure. Repeater buffers 192 and 202, which lower the I2C capacitance, Or the number of repeater buffers embedded in the I / O board 30 - 1) is reduced by the amount corresponding to X 400 pF, thereby relaxing the limitation of the length of the I 2 C bus 160 and the number of connected I 2 C devices.

In addition, the control board side input / output board connection interface 190 and the input / output board side control board connection interface 200 of the present invention can reduce the occurrence of bottlenecks by increasing the communication bandwidth by using a plurality of industry standard serial communication methods The data communication bandwidth is increased by using the I2C bus 160 communication at 400 Kbps in the industry standard serial communication and the 3 communication lines in parallel at the connection interface of the control board 10 and the input and output board 30 Of data transfer bottlenecks.

In the present invention, the number of input / output devices may be increased by configuring repeater buffers 192 and 202 in the control board 10 and the input / output board 30 to lower the I2C electrostatic capacity, 202), it is possible to reduce the capacitor capacity by 400pF x (the number of repeater buffers lowering the I2C capacitance - 1) by increasing the number of input / output devices and increasing the length of the I2C line in the board so that sufficient I2C input / Make it available.

FIG. 7 is a diagram showing only a part necessary to explain a connection interface between the control board 10 and the GUI processing board 50 of the conventional extended embedded motion controller of FIG. Thus, all of the devices of FIG. 2 not shown in FIG. 6 should be considered as being included in FIG.

7, a connection interface between the motion multi-axis controller of the present invention and the GUI processing board 40 for providing a user interface to the touch screen monitor 50 uses an Ethernet or I2C bus 160, and an I2C bus 160 And an I2C differential signal conversion inverse conversion device 163 for converting / inverse-converting the I2C bus 160 into a differential signal on the side of the control board 10 in case of using the I2C differential signal conversion inverse conversion The apparatus 163 is disposed so that the I2C signal line in the connection cable section outside the board connecting the control board 10 and the GUI processing board 40 is converted into a differential I2C signal, ) And the GUI processing board 40, the connection cable section has a protection / immunity much more strengthened than the I2C signal for the radioactive electrical noise induced in the connection cable section.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, Various changes and modifications will be possible.

10: Control board
20: Festival board
30: I / O board
40: GUI processing board
50: Touch Screen Monitor
100: Micro Controller
110: Main Bus
111: Address Bus
112: Data Bus
113: Control bus
120: memory device
130: Input / output system control device
131: I / O system bus
132: RS-485
133: USB device
134: RS-232
135: SD card reader
136: GPIO (General Purpose Input Output)
140: Ethernet device
141: LCD drive
142: axis control chip
150: Serial Peripheral Interface (SPI) bus
151: SPI bus interlock input device
152: SPI bus interlock output device
160: I 2 C (Inter-Integrated Circuit) bus
161: I2C bus interlock input device
162: I2C bus interlock output device
163: I2C differential signal conversion inverse transformer
170: Control board side interface board connection interface
171: Control board side address bus interface
172: Data bus interface on the control board side
173: Control board side control bus interface
180: Interface board control board connection interface board
182: Data bus interface on board board side
183: Bus board control bus interface
190: Control board side I / O board connection interface
191, 201: Electrical noise bypassing grounding device
192, 202: Repeater Buffer
200: I / O board side control board connection interface
300: Field Programmable Gate Array (FPGA)

Claims (3)

An expandable embedded multi-axis motion controller,
A control board 10 including a microcontroller 100, a main bus 110, a memory device 120, an input / output system control device 130, an Ethernet device 140, and the like;
A festival board (20) including a festival fishery apparatus; And
And an input / output board (30) including an input / output device,
The control board 10 includes: an FPGA 300 that is programmed to process predetermined instructions that include frequently used interpolation operations among firing instruction; And
A control board side address bus interface 171 for selecting an address on the control board side control bus interface 173 to designate an address in the selected bus interface and amplifying an address bus signal to increase a signal to noise ratio, Side data bus interface 172 for amplifying the data bus 112 signal to increase the signal-to-noise ratio when performing a write operation on the address and a control bus-side data bus interface 172 for transferring the control bus 10 from the control board 10 to the control board 20, Side control bus interface 173 for adding a control signal line for processing the selection of the control chip, emergency stop, manual operation control and home return operation to the control board 113 and amplifying the control bus 113 signal to increase the signal- Side board interface board connection interface 170,
When the control board 10 performs a read operation, the flare board 20 amplifies the data bus 112 signal to be transmitted from the flare board 20 to the control board 10 to increase the signal-to- And transmits the processing result of the command sent from the control board 10 to the board board 20 to the control board 10 from the board board 20 via the data bus interface 182, Side control board connection interface 180, which is constituted by a control-board-side control bus interface 183 for amplifying a control bus 113 signal to which a control signal line for continuous interpolation and an interrupt request signal line for continuous interpolation are added to increase a signal- ),
The control board side input / output board connection interface 190 provided on the control board 10 and the input / output board side control board connection interface 200 provided on the input / output board 30 operate at high speed A TVS having a very small capacitance and a very small capacity bypass capacitor are provided to provide electrical noise bypassing grounding devices 191 and 201 for bypassing industrial site electrical noise to ground and repeater buffers 192 and 202 for lowering I2C capacitance , And is configured to increase data communication bandwidth using three lines of I2C bus (160) communicating at 400 Kbps. ≪ Desc / Clms Page number 19 >
The method according to claim 1,
In the case of a cable connecting the control board 10 and the GUI processing board 40 to each other via the I2C bus, the cables are provided in the control board 10 and the GUI processing board 40, And an I2C differential signal conversion inverse transformer (163) for transforming the input signal into an I2C differential signal conversion inverse section.
The method according to claim 1,
The input / output board (30) further includes a repeater buffer (202) for lowering the I2C electrostatic capacity therein to expand the number of input / output devices incorporated therein.

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