CN105682864A - Control card and robot - Google Patents
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- CN105682864A CN105682864A CN201480034950.4A CN201480034950A CN105682864A CN 105682864 A CN105682864 A CN 105682864A CN 201480034950 A CN201480034950 A CN 201480034950A CN 105682864 A CN105682864 A CN 105682864A
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Abstract
A motion control card (1), comprising: an algorithm module (11) for receiving and parsing a control command of an upper computer (2); a communication module (12) for transmitting the parsed control command to a servo driver (3); the communication module (12) being electrically connected to the algorithm module (11) via a parallel port; and the communication module (12) being provided with a male connector in adaptation connection to a female connector arranged on the algorithm module (11). The motion control card is highly versatile, has a wide range of applications, and is low in replacement cost. Also disclosed is a robot provided with the motion control card.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of mechanical automation, in particular to a motion control card and a robot with the same.
[ background of the invention ]
The motion control card is a PC or industrial PC based control unit used in various motion control situations, such as control of motion of displacement, velocity, acceleration, etc. The motion control card usually uses a professional motion control chip or a Digital Signal Processor (DSP) as a motion control core, and is mostly used for controlling a stepping motor or a servo motor. Generally, the motion control card and the PC mechanism form a master-slave control structure: the PC is responsible for the management of a human-computer interaction interface and the real-time monitoring of a control system and other aspects of work, such as the management of a keyboard and a mouse, the display of system states, the planning of motion tracks, the sending of control instructions, the monitoring of external signals and the like; the control card completes all details of motion control, including output of pulse and direction signals, processing of automatic speed increase and reduction, detection of signals such as origin and limit, and the like.
The inventor of the present invention finds, through research, that with the continuous development of industrial control communication technology, industrial ethernet (ethernet bus technology applied to the field of industrial control based on IEEE 802.3) gradually becomes the main communication connection mode of fieldbus, and each servo driver manufacturer provides a servo driver based on a high-speed industrial ethernet interface, but the following defects exist:
1. the application range is narrow: the traditional motion control card only supports a single interface, has a narrow application range and can only be connected with a servo driver of a specific interface.
2. The replacement cost is high: in order to adapt to servo drivers with different interfaces, the motion control card has to redesign and replace the whole motion control card according to the connected servo driver interface, and simultaneously replace the software of the upper computer, so that a large amount of design and material cost is required.
3. The universality is poor: because the motion control card interface is single, can not be according to mechanical control's demand, nimble change servo driver causes very big limitation to the upgrading of product line.
[ summary of the invention ]
The invention provides a motion control card with wide application range, low replacement cost and good universality, aiming at solving the problems of single interface, narrow application range, high replacement cost and poor universality of the motion control card in the prior art.
In order to realize the purpose, the invention adopts the following technical scheme:
a motion control card comprising:
the algorithm module is used for receiving the upper computer control command and analyzing the control command;
forwarding the control command analyzed by the algorithm module to a communication module of the servo driver;
the communication module is provided with a male end connector which is in adaptive connection with a female end connector arranged on the algorithm module.
Preferably, the algorithm module comprises a DSP processor, the communication module comprises an ARM processor, and the DSP processor is electrically connected to the ARM processor through a parallel port.
Preferably, the DSP processor is provided with a dual-port RAM.
Preferably, the algorithm module comprises a PCI function module connected between the DSP processor and the upper computer, and the PCI function module is provided with a connector electrically connected with the upper computer.
Preferably, the algorithm module comprises an external memory module connected with the DSP processor, and the external memory module comprises SDRAM for storing upper computer instructions and data received by the PCI function module, and FLASH for storing a firmware program.
Preferably, the algorithm module comprises an ARM communication interface module connected with the DSP processor, and the ARM communication interface module is used for communicating with the ARM processor.
Preferably, the algorithm module further comprises a first power module for providing power to the algorithm module; and the reset module is used for resetting the DSP processor, and the first power supply module and the first reset module are both connected with the DSP processor.
Preferably, the communication module comprises a DSP communication interface module connected to the ARM processor, and the DSP communication interface module is used for communicating with the DSP processor.
Preferably, the communication module comprises a bus interface module connected between the ARM processor and the servo driver, and the bus interface module comprises a pulse interface, a Mechatrolink-III interface, an EtherCAT interface and a CANopen interface.
Preferably, the communication module further comprises a second power module for providing power for the communication module; and the reset module is used for resetting the ARM processor, and the second power supply module and the second reset module are both connected with the ARM processor.
Preferably, the DSP processor includes a DSP signal processing unit for receiving a control command of the upper computer and analyzing the control command, and the ARM processor includes an ARM communication processing unit for sending the control command analyzed by the DSP signal processing unit to the servo driver.
Preferably, the DSP signal processing unit includes a DSP communication interface command processing module connected to the state feedback module and the command processing module, and is configured to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit.
Preferably, the ARM communication processing unit includes an ARM communication interface command processing module connected to the DSP communication interface command processing module, and is configured to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit.
Preferably, the DSP signal processing unit further comprises an upper computer communication module and a command processing module, one end of the upper computer communication module is connected with the upper computer, the other end of the upper computer communication module is connected with the processing module and the state feedback module and used for receiving the communication instruction of the upper computer and uploading the state information of the servo driver, and the command processing module is used for analyzing the control command of the upper computer.
Preferably, the DSP signal processing unit further includes an algorithm library module, and the algorithm library module is connected to the command processing module and configured to provide an analysis algorithm to the command processing module to implement a function of motion control.
Preferably, the male end connector is a contact pin, and the female end connector is a connecting hole matched with the contact pin.
A robot comprising said motion control card, said motion control card comprising:
the algorithm module is used for receiving the upper computer control command and analyzing the control command;
forwarding the control command analyzed by the algorithm module to a communication module of the servo driver;
the communication module is provided with a male end connector which is in adaptive connection with a female end connector arranged on the algorithm module.
According to the motion control card provided by the invention, the communication module and the algorithm module of the motion control card can be separated by arranging the male end connector on the communication module and arranging the female end connector on the algorithm module, and the communication module can be disassembled and replaced, so that the same motion control card can be selectively provided with the corresponding communication module according to different servo driver interfaces, and therefore, the servo drivers adapting to different interfaces can be realized without replacing the whole motion control card, the universality of the motion control card is enhanced, the application range is expanded, and the replacement cost of the motion control card is reduced.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of a motion control card according to an embodiment of the present invention;
FIG. 2 is a block diagram of a motion control card according to an embodiment of the present invention;
FIG. 3 is a logic block diagram of a motion control card according to an embodiment of the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, fig. 1 is a schematic diagram of a working principle of a motion control card according to an embodiment of the present invention; the invention provides a motion control card 1.A master-slave control structure is formed by an upper computer 2 and the motion control card 1, and the motion control card is connected with a servo driver 3 based on a PC bus (PCI bus) to realize multi-axis coordination control of a plurality of servo motors. The upper computer is responsible for the management of a human-computer interaction interface and the real-time monitoring of a control system and other aspects of work, such as the management of a keyboard and a mouse, the display of system states, the planning of motion tracks, the sending of control instructions, the monitoring of external signals and the like; the motion control card completes all details of motion control, including output of pulse and direction signals, motion trajectory planning, processing of automatic speed increase and decrease, detection of signals such as origin and limit, and the like. The motion control card comprises functions of pulse output, pulse counting, digital input, digital output, D/A output and the like, the pulse output mode comprises a pulse/direction mode and a pulse/pulse mode, the pulse counting is used for position feedback of an encoder, provides a machine preparation position and corrects errors generated in a transmission process, and the digital input/output is used for limiting, an origin switch and the like.
As shown in fig. 2, fig. 2 is a block diagram of a motion control card according to an embodiment of the present invention; in an embodiment of the motion control card 1 of the present invention, the motion control card 1 comprises:
an algorithm module 11 for receiving the control command of the upper computer 2 and analyzing the control command, and providing a uniform control interface for the upper computer 2 upwards; the control command analyzed by the algorithm module 11 is forwarded to a communication module 12 of the servo driver 3; the communication module 12 is electrically connected with the algorithm module 11 through a parallel port; the communication module 12 is provided with a male end connector which is connected with a female end connector arranged on the algorithm module 11 in an adaptive manner.
The male end connector on the communication module 12 is set as a pin, and the female end connector on the algorithm module 11 is set as a connecting hole adapted to the pin, but the male end connector and the female end connector described in the present invention are not limited to the shape and size of the pin and the connecting hole adapted thereto, and also include other conventional technical means of connectors.
The algorithm module 11 comprises a DSP processor 110, and TMS320DM642 is selected; the communication module 12 comprises an ARM processor 120, an STM32F405ZG is selected, and the DSP processor 110 is electrically connected with the ARM processor 120 through a parallel port, so that the transmission speed is higher.
The algorithm module 11 further comprises the following modules: a first power module 111, a first reset module 112, an ARM communication interface module 113, and an external memory module 114.
The first power supply module 111 is used for supplying power to the algorithm module 11, a TPS54310 chip containing three voltages of 1.8V, 3.3V and 5V is selected, and the 5V power supply is supplied from a PCI interface;
the first Reset module 112 is responsible for resetting the circuit, selects a TPS386000 chip, is connected to a Reset pin of the DSP processor 110, and is used to Reset the DSP processor 110;
the ARM communication interface module 113 is configured to communicate with the ARM processor 120, and use an EMIF interface CE2 address space of the TMS320DM 642;
and a PCI function module 115 connected between the DSP processor 110 and the upper computer to receive a command from the upper computer (e.g., an industrial control computer IPC) and transmit a status of a driver, the PCI function module including a connector electrically connected to an upper computer (industrial control computer IPC) slot, the PCI function module providing an external PCI connector through three PCI bus caches through a PCI/HPI interface of the DSP, and the PCI function module being connectable to a PCI slot of the upper computer (industrial control computer IPC).
An external memory module 114 connected to the DSP processor 110, where the external memory module includes SDRAM, and is configured to store upper computer instructions and data received by the PCI function module 115 and real-time status information in a program running process, and uses an EMIF interface CE0 address space of the TMS320DM642, and the external memory module further includes FLASH for storing a firmware program, so as to implement self-starting, and uses an EMIF interface CE1 address space of the TMS320DM 642;
the DSP processor 110 is provided with a dual-port RAM for solving the driving capability problem between the DSP processor 110 and the ARM processor 120.
The communication module 12 further comprises the following modules: a second power module 121, a second reset module 122, a DSP communication interface module 123 and a bus interface module 124.
The second power module 121, which selects TPS62291 chip and TPS62290 chip, can provide 2.5V and 3.3V, and is the basis for normal operation of the ARM processor 120 and its peripheral devices;
the second reset module 122, the reset chip selects TPS386000 to connect to the reset pin of the ARM processor 120, and resets the whole circuit;
the DSP communication interface module 123 is configured to communicate with the DSP processor 110, and the DSP communication interface module 123 is connected to the ARM communication interface module 113 to implement communication between the DSP processor 110 and the ARM processor 120. The DSP processor 110 can directly access the memory space of the ARM processor 120 through 10 address lines and 16 data lines, and the STM32F405ZG side uses the FSMC interface.
And the bus interface module 124 is connected between the ARM processor 120 and the servo driver 3, and circuits of the bus interface module 124 are made into a series according to different protocols, wherein the series comprises a pulse adding direction interface, a Mechatrolink-III interface, an EtherCAT interface and a CANopen interface.
FIG. 3 is a logic block diagram of a motion control card according to an embodiment of the present invention; the DSP processor 110 includes a DSP signal processing unit 1101 for receiving a control command of the upper computer and analyzing the control command, and the ARM processor 120 includes an ARM communication processing unit 1201 for sending the control command analyzed by the DSP signal processing unit 1101 to the servo driver.
The DSP signal processing unit 1101 includes: host computer communication module 11011, command processing module 11012, algorithm library module 11014, state feedback module 11013 and DSP communication interface command processing module 11015.
The system comprises an upper computer communication module 11011, one end of which is connected with an upper computer 2 and the other end of which is connected with a command processing module 11012 and a state feedback module 11013, and is mainly used for receiving communication instructions of the upper computer 2 and uploading state information of a servo driver 3, and opening up four data address spaces and a command address space in SDRAM connected with the upper computer, wherein the command address spaces are used for receiving control instructions sent from the upper computer, such as instructions of servo driver connection, servo driver electrification and the like, two of the four data address spaces are used for storing track information sent from the upper computer, and two of the four data address spaces are used for storing running state information of the servo driver;
the command processing module 11012 is configured to analyze a control command of the upper computer 2, process corresponding operations according to different commands received from the upper computer communication module 11011, for example, receive an interpolation command, call an interpolation function in the algorithm library module 11014, perform interpolation and speed planning on a track, and then send a data command to the communication module 12;
and the algorithm library module 11014 is connected with the command processing module 11012, and the algorithm library module 11014 is used for providing an analysis algorithm for the command processing module 11012 to realize functions of motion control, including algorithm functions such as T-type speed planning, S-type speed planning, linear interpolation, circular interpolation and the like.
The state feedback module 11013 is used for acquiring motion state information of the servo driver 3, acquiring real-time states of the servo driver 3, such as shaft position information, shaft speed information and the like, from the communication module 12, and sending the real-time states to an upper computer for displaying;
the DSP communication interface command processing module 11015 is connected to the status feedback module 11013 and the command processing module 11012, and is configured to implement signal transmission between the DSP signal processing unit 1101 and the ARM communication processing unit 1201, and agree on a communication address space between the DSP signal processing unit 1101 and the ARM communication processing unit 1201.
The ARM communication processing unit 1201 includes: the ARM communication interface command processing module 12011, the bus application layer module 12012, and the bus link layer module 12013.
The ARM communication interface command processing module 12011 is connected to the DSP communication interface command processing module, and is configured to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit, and implement a data read-write function with the algorithm module 11.
The bus application layer module 12012 is connected with the ARM communication interface command processing module 12011, and the bus application layer module 12012 is used for encapsulating data information sent by the ARM communication interface command processing module 12011 according to a protocol structure of a bus, specifically, realizing an application layer of a field bus, encapsulating position signals or speed information after interpolation of an algorithm board according to a protocol structure of the bus according to formats of periodic data communication and aperiodic data communication, and then sending the encapsulated position signals or speed information to a data link layer function of a bus protocol;
a bus link layer module 12013, a bus link layer module 12013 connected to the bus application layer module 12012, where the bus link layer module 12013 is configured to receive data information sent by the ARM communication interface command processing module 12011 and initialize a bus protocol chip according to the information, specifically, to initialize the bus protocol chip and configure related parameters, where some bus protocol chips may perform a part of data link layer functions, and here, mainly implement the related initialization work.
The embodiment of the invention further provides an industrial robot which comprises the motion control card 1.
From the aspect of hardware, the algorithm module of the motion control card is made into a bottom plate, the communication module is made into a pinch plate, the communication module is provided with a contact pin, the algorithm module is provided with a connecting hole matched with the contact pin, and the same algorithm module board can support different communication module boards, so that the connection is flexible, and the system is convenient to upgrade. The motion control card provided by the invention has the advantages that the male connector is arranged on the communication module, the female connector is arranged on the algorithm module, so that the communication module and the algorithm module of the motion control card can be separated, the communication module can be disassembled and replaced, and the same motion control card can select and install the corresponding communication module according to different servo driver interfaces, so that the whole motion control card does not need to be replaced, the servo drivers matched with different interfaces can be realized, the universality of the motion control card is enhanced, the application range is expanded, and the replacement cost of the motion control card is reduced.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (17)
- A motion control card, comprising:the algorithm module is used for receiving the upper computer control command and analyzing the control command;forwarding the control command analyzed by the algorithm module to a communication module of the servo driver;the communication module is provided with a male end connector which is in adaptive connection with a female end connector arranged on the algorithm module.
- The motion control card of claim 1, wherein: the algorithm module comprises a DSP processor, the communication module comprises an ARM processor, and the DSP processor is electrically connected with the ARM processor through a parallel port.
- The motion control card of claim 2, wherein: the DSP processor is provided with a dual-port RAM.
- The motion control card of claim 2, wherein: the algorithm module comprises a PCI function module connected between the DSP processor and the upper computer, and the PCI function module is provided with a connector electrically connected with the upper computer.
- The motion control card of claim 4, wherein: the algorithm module comprises an external memory module connected with the DSP processor, and the external memory module comprises SDRAM used for storing upper computer instructions and data received by the PCI function module and FLASH used for storing firmware programs.
- The motion control card of claim 5, wherein: the algorithm module comprises an ARM communication interface module connected with the DSP processor, and the ARM communication interface module is used for communicating with the ARM processor.
- The motion control card of claim 6, wherein: the algorithm module also comprises a first power supply module which is used for supplying power to the algorithm module; and the reset module is used for resetting the DSP processor, and the first power supply module and the first reset module are both connected with the DSP processor.
- The motion control card of claim 2, wherein: the communication module comprises a DSP communication interface module connected with the ARM processor, and the DSP communication interface module is used for communicating with the DSP processor.
- The motion control card of claim 8, wherein: the communication module comprises a bus interface module connected between the ARM processor and the servo driver, and the bus interface module comprises a pulse interface, a Mechatrolink-III interface, an EtherCAT interface and a CANopen interface.
- The motion control card of claim 9, wherein: the communication module also comprises a second power supply module which is used for supplying power to the communication module; and the reset module is used for resetting the ARM processor, and the second power supply module and the second reset module are both connected with the ARM processor.
- The motion control card of claim 2, wherein: the DSP processor comprises a DSP signal processing unit used for receiving the upper computer control command and analyzing the control command, and the ARM processor comprises an ARM communication processing unit used for sending the control command analyzed by the DSP signal processing unit to the servo driver.
- The motion control card of claim 11, wherein: the DSP signal processing unit comprises a DSP communication interface command processing module connected with the state feedback module and the command processing module and is used for realizing signal transmission between the DSP signal processing unit and the ARM communication processing unit.
- The motion control card of claim 12, wherein: the ARM communication processing unit comprises an ARM communication interface command processing module connected with the DSP communication interface command processing module and is used for realizing signal transmission between the DSP signal processing unit and the ARM communication processing unit.
- The motion control card of claim 13, wherein: the DSP signal processing unit further comprises an upper computer communication module and a command processing module, one end of the upper computer communication module is connected with the upper computer, the other end of the upper computer communication module is connected with the processing module and the state feedback module and used for receiving the communication instruction of the upper computer and uploading the state information of the servo driver, and the command processing module is used for analyzing the control command of the upper computer.
- The motion control card of claim 14, wherein: the DSP signal processing unit also comprises an algorithm library module which is connected with the command processing module and used for providing an analysis algorithm for the command processing module and realizing a function of motion control.
- The motion control card of claim 1, wherein: the male end connector is a contact pin, and the female end connector is a connecting hole matched with the contact pin.
- A robot comprising the motion control card of any of claims 1-16, the motion control card comprising:the algorithm module is used for receiving the upper computer control command and analyzing the control command;forwarding the control command analyzed by the algorithm module to a communication module of the servo driver;the communication module is provided with a male end connector which is in adaptive connection with a female end connector arranged on the algorithm module.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/095056 WO2015101217A1 (en) | 2013-12-30 | 2014-12-26 | Control card and robot |
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| CN105682864A true CN105682864A (en) | 2016-06-15 |
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| CN201480034950.4A Pending CN105682864A (en) | 2014-12-26 | 2014-12-26 | Control card and robot |
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| CN109062056A (en) * | 2018-09-17 | 2018-12-21 | 长安大学 | A kind of electric bicycle intelligence control system and its control method |
| CN109463037A (en) * | 2017-05-26 | 2019-03-12 | 深圳配天智能技术研究院有限公司 | Servo-system, motor, absolute type encoder and its signal processing circuit |
| CN113534746A (en) * | 2020-04-21 | 2021-10-22 | 国奥科技(深圳)有限公司 | Motion control card based on 5G communication, control method thereof and drive control system |
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Application publication date: 20160615 |