TWI403083B - Servo driver and controlling method thereof - Google Patents

Description

Servo drive and control method thereof

The present invention relates to a driver, and more particularly to a method of controlling a servo driver and a servo driver using the same.

In general, a motor that drives a load requires a sensing unit that senses the current motor speed and position, commonly referred to as a motor encoder (Encoder). A common motor encoder (Encoder) will output A phase signal, B phase signal and Z phase signal. The Z-phase signal is used to indicate the motor origin signal and appears once when the motor rotates once. The traditional inexpensive processing circuit outputs the Z-phase signal directly to the upper controller.

However, as the application speed increases and the higher resolution encoder is used, the width of the Z-phase signal will be narrowed, which will result in the upper controller not receiving the Z-phase signal. In addition, some manufacturers' encoder specifications, if the Z-phase signal itself is too narrow, such as the width of the Z-phase signal is only the half-width of the A-phase signal or the B-phase signal, it will be more likely to cause the upper control. The device does not receive the Z phase signal.

Therefore, how to improve the lack of the Z-phase signal due to the narrow Z-phase signal of the host controller is the main improvement problem of the present invention.

The invention relates to a servo driver and a control method thereof for solving the problem that the upper controller can not read the Z-phase signal in the high-speed application.

According to an aspect of the invention, a method of controlling a servo driver is proposed. The control method of the servo driver includes at least the following steps: the pulse width processing circuit receives the Z-phase signal output by the motor encoder, and presets a preset value; when the pulse width processing circuit receives the Z-phase signal, starts the recording function to record a Z phase time history, and output a variable width Z phase signal; and when the Z phase time course is equal to the preset value, the pulse width processing circuit stops outputting the variable width Z phase signal to the upper controller.

According to another aspect of the invention, a servo drive is presented. The servo driver includes a divided circuit and a pulse width processing circuit. The sub-circle circuit is configured to receive the A-phase signal and the B-phase signal output by the motor encoder, and output the weekly A-phase signal and the sub-cycle B-phase signal. The pulse width processing circuit is provided with a preset value for receiving one of the Z-phase signals output by the motor encoder, and starts a recording function to record a Z-phase time course and output a variable-width Z-phase signal. When the Z-phase time course is equal to the preset value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the upper controller.

In order to make the above-mentioned contents of the present invention more comprehensible, a preferred embodiment will be described below, and in conjunction with the drawings, a detailed description is as follows:

In order to solve the problem that the upper controller cannot read the Z-phase signal, the following embodiments provide a servo driver and a control method thereof. The servo driver includes a divided circuit and a pulse width processing circuit. The sub-circle circuit is configured to receive the A-phase signal and the B-phase signal output by the motor encoder, and output the weekly A-phase signal and the sub-cycle B-phase signal. The pulse width processing circuit is provided with a preset value for receiving a Z-phase signal output by the motor encoder, and starts a recording function to record a Z-phase time course and output a variable-width Z-phase signal. When the Z-phase time course is equal to the preset value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the upper controller.

The control method of the servo driver includes at least the following steps: the pulse width processing circuit receives the Z-phase signal output by the motor encoder, and presets a preset value; the pulse width processing circuit starts a recording function to record a Z-phase time history, and outputs one The variable width Z-phase signal; and when the Z-phase time course is equal to the preset value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the upper controller. The "signal" mentioned in the embodiment means "signal" in English, "signal" in Japanese & simplified characters.

First embodiment

Please refer to FIG. 1 and FIG. 2 simultaneously. FIG. 1 is a partial schematic diagram showing a servo driver according to a first embodiment of the present invention, and FIG. 2 is a signal waveform according to a first embodiment of the present invention. Figure. The servo driver 30 is coupled between the motor encoder 10 and the upper controller 20, and the upper controller 20 is, for example, a programmable logic controller (PLC). The servo driver 30 includes a divided circuit 310 and a pulse width processing circuit 330. The divided circuit 310 is also referred to as a frequency dividing circuit, and the divided circuit 310 receives the information of the motor encoder 10 and transmits information to the upper controller 20. The weekly circuit 310 divides the A-phase signal SA into weekly A-phase signals PA according to a minute-to-week ratio, and divides the B-phase signal SB into weekly B-phase signals PB according to the weekly ratio, and divides the weekly A-phase signals. The PA and the sub-cycle B phase signal PB are output to the upper controller 20.

The pulse width processing circuit 330 receives the Z-phase signal SZ output from the motor encoder 10 and activates a recording function to record a Z-phase time course. The preset value and the Z-phase time history are, for example, the number of edges or a time value of the weekly A-phase signal PA and the weekly B-phase signal PB. The pulse width processing circuit 330 outputs a variable width Z phase signal ZW. When the Z-phase time course is equal to the preset value, the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the upper controller 20. When the pulse width processing circuit 330 stops outputting the variable width Z-phase signal ZW to the upper controller 20, the pulse width processing circuit 330 simultaneously stops the recording function and zeroes the Z-phase time.

Since the pulse width processing circuit 330 can adjust the pulse width of the variable-width Z-phase signal ZW, it can solve the problem that the upper controller 20 cannot read the Z-phase signal SZ because the pulse width of the Z-phase signal SZ is too small. The variable width Z-phase signal ZW can be as the variable width Z-phase signal ZW1, the variable-width Z-phase signal ZW2 or the variable-width Z-phase signal ZW3 in FIG. 2, in other words, the preset value is not limited to a single parameter. It can also contain multiple parameters, which can be set by the user according to his needs. When the preset value is 1, the variable width Z-phase signal ZW is a variable-width Z-phase signal ZW1 as shown in FIG. 2, and the width thereof includes the number of edges at a time, and the number of edges refers to a sub-circle. The number of edges of the A-phase signal or the weekly B-phase signal, and when the second edge number is received, the variable-width Z-phase signal ZW1 is stopped; when the preset value is 2, the variable The width Z-phase signal ZW, as shown in Figure 2, has a variable-width Z-phase signal ZW2, and its width will include the number of edges of the second. In the second figure, when the number of edges of the third time is received, Stop outputting the variable width Z-phase signal ZW2 such that the width of the variable-width Z-phase signal ZW2 spans at least the number of secondary edges; when the preset value is 3, the variable-width Z-phase signal ZW is as the second The variable width Z-phase signal ZW3 is shown in the figure, and the width thereof includes the number of edges of three times, that is, when the number of edges of the fourth time is received, the variable-width Z-phase signal ZW3 is immediately stopped and outputted. The width of the variable width Z-phase signal ZW3 spans at least three edges.

Please refer to FIG. 1 and FIG. 3 simultaneously. FIG. 3 is a flow chart showing a control method of a servo driver according to the first embodiment of the present invention. The control method of the servo drive includes the following steps: First, as shown in step 410. The pulse width processing circuit 330 receives the Z-phase signal SZ output from the motor encoder 10. Next, as shown in step 440, pulse width processing circuit 330 initiates a recording function to record a Z-phase time course and output a variable width Z-phase signal ZW. The Z-phase time history is the number of edges of the weekly A-phase signal PA and the weekly B-phase signal PB. Next, as shown in step 450, the pulse width processing circuit 330 detects the edge of the weekly A-phase signal PA or the peripheral B-phase signal PB.

Then, as shown in step 460, the Z phase time history is accumulated. Next, as shown in step 470, it is determined whether the Z-phase time course is equal to a preset value. The preset value is for example equal to 3. If the Z-phase time course is equal to the preset value, step 480 is performed. In step 480, the pulse width processing circuit 330 stops outputting the variable width Z phase signal ZW to the upper controller 20. When the pulse width processing circuit 330 stops outputting the variable width Z-phase signal ZW to the upper controller 20, the pulse width processing circuit 330 simultaneously stops the recording function and zeroes the Z-phase time. When step 480 is performed, step 410 is repeated.

Second embodiment

Please refer to FIG. 4 and FIG. 5 simultaneously. FIG. 4 is a flow chart showing a control method of a servo driver according to a second embodiment of the present invention, and FIG. 5 is a second embodiment of the present invention. A servo drive. The servo driver 40 of this embodiment is different from the first embodiment in that the preset value and the Z-phase time history are time values in this embodiment. The control method of the servo driver of this embodiment includes the following steps: First, as shown in step 510. The pulse width processing circuit 330 receives the Z-phase signal SZ output from the motor encoder 10. Next, as shown in step 540, pulse width processing circuit 330 initiates a recording function to record a Z-phase time course and output a variable width Z-phase signal ZW. The preset value is a time value, and the Z-phase time history is the recording operation time. Next, as shown in step 550, it is determined whether the Z-phase time course is equal to a preset value. If the Z-phase time course is equal to the preset value, then step 560 is performed. In step 560, the pulse width processing circuit 330 stops outputting the variable width Z phase signal ZW to the upper controller 20. When the pulse width processing circuit 330 stops outputting the variable width Z-phase signal ZW to the upper controller 20, the pulse width processing circuit 330 simultaneously stops the recording function and zeroes the Z-phase time. When step 560 is performed, step 510 is repeated.

It should be particularly noted that the preset value of the second embodiment depends on the maximum motor speed and the resolution of the motor encoder 10. The ratio of the reciprocal of the maximum motor speed to the resolution is equal to one clock cycle. The preset value can be preset to be less than the pulse period or preset to be less than one-half of the pulse period, the one-half clock period = 60 / (resolution * maximum speed), but not This is limited.

Third embodiment

Please refer to FIG. 6. FIG. 6 is a diagram showing signal waveforms according to a third embodiment of the present invention. The control method of the servo driver of the first embodiment and the second embodiment stops outputting the variable width Z-phase signal ZW when the Z-phase time course is equal to the preset value. However, when the width of the Z-phase signal SZ output by the motor encoder 10 is greater than the variable-width Z-phase signal ZW set by the pulse width processing circuit 330, the pulse width processing circuit 330 does not process the Z-phase signal SZ, but directly The Z-phase signal SZ is output to the upper controller 20. The preset value and the Z-phase time-course may be the edge number or a time value of the weekly A-phase signal PA and the weekly B-phase signal PB.

When the preset value is 1, the variable width Z-phase signal ZW is the variable-width Z-phase signal ZW1 as shown in FIG. 6; when the preset value is 2, the variable-width Z-phase signal ZW is as The variable width Z-phase signal ZW2 is shown in FIG. 6; when the preset value is 3, the variable-width Z-phase signal ZW is as shown in FIG. 6 as the variable-width Z-phase signal ZW3.

For example, the Z-phase signal SZ shown in FIGS. 1 and 5 is represented by the Z-phase signal Z in FIG. When the width of the Z-phase signal Z is greater than the variable-width Z-phase signal ZW1, the pulse width processing circuit 330 directly outputs the Z-phase signal Z to the upper controller 20. Similarly, when the width of the Z-phase signal Z is greater than the variable-width Z-phase signal ZW2, the pulse width processing circuit 330 directly outputs the Z-phase signal Z to the upper controller 20. Conversely, when the width of the Z-phase signal Z is smaller than the variable-width Z-phase signal ZW3, the pulse width processing circuit 330 continuously outputs the variable-width Z-phase signal ZW3 until the Z-phase time course is equal to the preset value.

The servo driver and the control method thereof disclosed in the above embodiments of the present invention can solve the problem that the upper controller cannot read the Z-phase signal to ensure the normal operation of the motor.

In addition, it is disclosed in the embodiment that the motor driver applying the proposed technology can be matched with various encoders, and can be applied to a common communication type motor encoder, a pulse wave type motor encoder, and the like.

In view of the above, the present invention has been disclosed in a preferred embodiment, and is not intended to limit the present invention. A person skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the scope of the invention is defined by the scope of the appended claims.

10. . . Motor encoder

20. . . Host controller

30, 40. . . server Driver

310. . . Weekly circuit

330. . . Pulse width processing circuit

SA. . . Phase A signal

SB. . . Phase B signal

SZ, Z. . . Z phase signal

PA. . . Weekly A phase signal

PB. . . Weekly B phase signal

ZW, ZW1, ZW2, ZW3. . . Variable width Z-phase signal

410, 440, 450, 460, 470, 480, 510, 540, 550, 560. . . step

Figure 1 is a partial schematic view of a servo drive.

Figure 2 shows the signal waveform of the servo driver.

3 is a flow chart showing a control method of a servo driver in accordance with a first embodiment of the present invention.

4 is a flow chart showing a control method of a servo driver in accordance with a second embodiment of the present invention.

Fig. 5 is a view showing a servo driver in accordance with a second embodiment of the present invention.

Figure 6 is a diagram showing signal waveforms in accordance with a third embodiment of the present invention.

410, 440, 450, 460, 470, 480. . . step

Claims (10)

A control method for a servo driver, comprising: a pulse width processing circuit receiving a Z-phase signal output by a motor encoder, and setting a preset value, the preset value being an edge number or a time value; The wide processing circuit starts a recording function to record a Z-phase time history and outputs a variable width Z-phase signal; and when the Z-phase time course is equal to the preset value, the pulse width processing circuit stops outputting the variable width Z-phase The signal is sent to an upper controller; wherein, when the preset value is the number of edges, the preset value is less than or equal to 3; wherein, when the preset value is the time value, the preset value is less than one clock The period, the clock period is equal to the ratio of the reciprocal of a maximum motor speed to the resolution of one of the motor encoders. The control method according to claim 1, wherein the pulse width processing circuit stops outputting the variable width Z-phase signal, and simultaneously stops the recording function, and zeroes the Z-phase time. For example, the control method described in claim 2 includes: dividing a phase A signal into a minute A phase signal according to a minute and dividing a phase B signal into one according to the minute ratio. a weekly B-phase signal; and detecting the edge of the weekly A-phase signal or the peripheral B-phase signal; and when the edge of the weekly A-phase signal or the peripheral B-phase signal is detected, accumulating the Z-phase Cheng. The control method according to claim 1, wherein the Z-phase time history is a recording operation time. For example, the control method described in claim 1 of the patent scope, wherein The width of the Z-phase signal is greater than the variable-width Z-phase signal, and the pulse width processing circuit outputs the Z-phase signal to the upper controller. A servo driver comprising: a minute circuit for receiving A phase signal and B phase signal output by a motor encoder, and outputting a minute A phase signal and a minute B phase signal; and a pulse width processing circuit A preset value is provided for receiving one Z-phase signal output by the motor encoder, and a recording function is started to record a Z-phase time course, and the variable-width Z-phase signal is output, when the Z-phase time course is equal to The preset value, the pulse width processing circuit stops outputting the variable width Z-phase signal to an upper controller, and the preset value is an edge number or a time value: wherein, when the preset value is the edge number The preset value is less than or equal to 3; wherein, when the preset value is the time value, the preset value is less than a clock cycle, and the clock cycle is equal to a reciprocal of a motor maximum speed and the motor encoder A ratio of resolutions. The servo driver of claim 6, wherein the pulse width processing circuit stops outputting the variable width Z-phase signal and simultaneously stops the recording function, and zeroes the Z-phase time. The servo driver according to claim 7, wherein the weekly circuit divides an A-phase signal into a sub-cycle A-phase signal according to a minute-to-week ratio and divides a B-phase signal according to the sub-week. For a weekly B-phase signal, the pulse width processing circuit determines whether the edge of the weekly A-phase signal or the peripheral B-phase signal is detected, when the peripheral A-phase signal or the edge of the peripheral B-phase signal is detected. Checked out, accumulating the Z phase time course. The servo drive of claim 6, wherein the Z-phase time history is a recording operation time. The servo driver according to claim 6, wherein the pulse width processing circuit outputs the Z phase signal to the upper controller when the width of the Z phase signal is greater than the variable width Z phase signal.