CN106100465B - Driving system and driver - Google Patents
Driving system and driver Download PDFInfo
- Publication number
- CN106100465B CN106100465B CN201610614914.6A CN201610614914A CN106100465B CN 106100465 B CN106100465 B CN 106100465B CN 201610614914 A CN201610614914 A CN 201610614914A CN 106100465 B CN106100465 B CN 106100465B
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- encoder
- interface
- circuit
- driver
- identification element
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Abstract
The invention discloses a driving system and a driver. Wherein the system comprises: a driver, an encoder, and a detection circuit; the driver comprises at least one interface, the encoder or a connecting circuit between the two comprise an identification element, the identification element is used for identifying the interface or the encoder, and the detection circuit is used for detecting whether the connection between the encoder and the interface is matched or not through the identification element when the encoder is connected with the interface. Through the mode, whether the interface of the driver is matched with the encoder or not can be correctly detected, and the serious problems that the servo motor generates time sequence disorder, the motor is out of control and the like due to the fact that the driver is connected with the wrong encoder and receives wrong position information provided by the encoder are avoided.
Description
Technical Field
The invention relates to the technical field of machine control, in particular to a driving system and a driver.
Background
The servo drive technology is one of the key technologies for controlling numerical control machines, industrial robots and other industrial machines, and is generally concerned at home and abroad. In the using process, the servo driver is connected with the encoder corresponding to the servo motor, receives a series of electric signals provided by the encoder to acquire the position information of the servo motor in real time, and controls the time sequence of the servo motor according to the position information and set parameters to realize the closed-loop control of the position.
However, the dual-axis or multi-axis servo driver has two or more encoder interfaces with the same specification for connecting the corresponding encoder of each servo motor. Because the encoder interface specification of servo driver side is completely unanimous, lead to the people to connect wrong encoder easily, when servo driver interface connection wrong encoder, and when receiving another servo motor's that this encoder provided position information, servo motor's chronogenesis will produce the confusion, causes serious problems such as the motor is out of control, has the risk that causes whole servo system to crash even.
Disclosure of Invention
The invention mainly solves the technical problem of providing a driving system and a driver, which can correctly detect whether a driver interface is matched with an encoder.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a drive system including: a driver, an encoder, and a detection circuit; the driver comprises at least one interface, the encoder or a connecting circuit between the two comprise an identification element, the identification element is used for identifying the interface or the encoder, and the detection circuit is used for detecting whether the connection between the encoder and the interface is matched or not through the identification element when the encoder is connected with the interface.
The interface comprises an interface circuit, a first end and a second end, wherein the first end and the second end are respectively positioned at the inner side and the outer side of the interface circuit, the number of the second ends is at least two, and the second ends are respectively connected with one ends of the at least two wires; the other end of the at least two wires is connected with the encoder, and the identification element comprises a first resistor connected between the at least two wires; and the detection circuit is connected with the second end and is used for detecting whether the divided voltage on the first resistor is matched with a preset value or not after the interface circuit is disconnected.
The interface circuit comprises switches, one first end is connected with one second end through the switch, and the other first end is connected with the switch and controls the on-off of the switch.
The driving system further comprises a control circuit, wherein the control circuit is connected with the interface circuit and is used for sending a voltage signal to the interface circuit.
The driving system further comprises an alarm circuit, and the alarm circuit is connected with the control circuit and used for outputting the result of whether the matching is performed or not to the outside.
In order to solve the technical problem, the invention adopts another technical scheme that: there is provided a driver including: an interface and a detection circuit; the detection circuit is used for detecting whether the connection between the encoder and the interface is matched or not through an identification element when the encoder is connected with the interface, wherein the identification element is used for identifying the interface or the encoder and is positioned in the connection circuit between the interface and the encoder or between the interface and the encoder.
The interface comprises an interface circuit, a first end and a second end, wherein the first end and the second end are respectively positioned at the inner side and the outer side of the interface circuit, and the number of the second ends is at least two, and the second ends are respectively connected with one ends of at least two wires in a connecting line; and the detection circuit is connected with the second end and is used for detecting whether the divided voltage of the connecting wire is matched with a preset value or not after the interface circuit is disconnected.
The interface circuit comprises switches, one first end is connected with one second end through the switch, and the other first end is connected with the switch and controls the on-off of the switch.
Wherein the driver further comprises a control circuit, the control circuit is connected with the interface circuit and is used for sending a voltage signal to the interface circuit.
Wherein, the driver further comprises an alarm circuit which is connected with the control circuit and used for outputting the result of whether the matching is carried out or not to the outside.
Above scheme, through the identification element who detects the connection in driver, encoder or the connecting circuit between the two, confirm whether the interface and the encoder of driver match, and then ensure that the driver can receive the correct position information that the encoder provided for servo motor can normally work, reduce because the artificial wrong encoder that connects brings serious risks such as motor out of control, servo system collapse.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of a drive system of the present invention;
FIG. 2 is a schematic structural diagram of an embodiment of the actuator of the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of the drive system of the present invention;
FIG. 4 is a diagram of one embodiment of a driver and encoder connection according to the present invention;
fig. 5 is a schematic structural diagram of another embodiment of the driver of the present invention.
Detailed Description
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.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a driving system according to the present invention. The driving system includes a driver 10, an encoder 20, and a detection circuit 30. Wherein the drive 10 comprises at least one interface 11; the interface 11, the encoder 20 or a connection circuit (not identified) between the two includes an identification element 40, and the identification element 40 is used for identifying the interface 11 or the encoder 20; the detection circuit 30 is used to detect whether the connection of the encoder 20 and the interface 11 is matched by the identification element 40 when the encoder 20 is connected to the interface 11. In an embodiment, the user measures the resistance value or the voltage value of the resistor through the detection circuit 30 to determine whether the resistor is matched with the encoder 20 connected to the driver 10.
As shown in fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the driver of the present invention. The driver 10 includes an interface 11, a control circuit 12, and an alarm circuit 13. The interface 11 includes an interface circuit 110, and a first terminal and a second terminal respectively located inside and outside the interface circuit 110, where the number of the first terminals is at least two. Further, the interface circuit 110 includes a switch 112, wherein the first terminal of the interface circuit 110 is connected to the second terminal of the interface circuit 110 through the switch 112, and the on/off of the switch 112 is controlled by the control circuit 12. For example, in this embodiment, referring to fig. 1 and fig. 2, before the driver 10 works formally, the control circuit 12 sends a 5V _ EN signal to one of the first terminals of the connection switches 112 in the interface circuit 110, and turns off the 5V power control chip U1, so that the output OUT pin of the U1 is in a high-impedance state, and the switch 112 is turned off. And the other first terminal of the interface circuit 110 is connected to the resistor R2 to form a new circuit. When the detection circuit 30 detects that the connected encoder 20 is the correct encoder, it signals the control circuit 12, and the control circuit 12 controls the 5V _ EN signal to turn on the OUT pin of the power control chip U1, so that the switch 112 is turned on. The 5V power control chip U1 outputs 5V power to the encoder 20, and the encoder 20 and the driver 10 enter a formal operation mode.
Referring further to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of the driving system of the present invention. The connection circuit between the interface 11 of the driver 10 and the encoder 20 includes at least two wires a and b, the interface 11 includes an interface circuit 110 and a first end and a second end respectively located inside and outside the interface circuit 110, the number of the second ends is at least two, and the second ends are respectively connected with one ends of the at least two wires a and b of the connection circuit, and the other ends of the at least two wires a and b are connected with the encoder 20. Wherein, the marking element 40 comprises a first resistor R1 connected between the at least two wires a and b, and a second resistor R2 connected between the first end and the second end inside and outside the interface circuit 110; the detection circuit 30 is connected to the second end of the interface circuit 110, and is configured to detect whether the divided voltage across the first resistor R1 matches a preset value after the interface circuit 110 is disconnected.
With reference to fig. 2, 3 and 4, in an embodiment of the present invention, as shown in fig. 4, the interface a corresponding to the driver is matched with the ENCODER a, in order to identify whether the driver is correctly connected to the ENCODER a, an identification element a is provided in the connection circuit between the ENCODER a and the driver interface a, in an application example, a resistor R1 with a resistance value of 1K is used, wherein the resistor R2 of the interface circuit of the driver is 20K, when the control circuit sends a 5V _ EN signal, the switch of the interface circuit is opened, R1, R2 form a series circuit, according to the principle of voltage division of the series circuit resistor, the voltage of the resistor R1 paired with the ENCODER a is U1 5V ＊ R2/(R1+ R2) is 0.23V, if the load of the series circuit is ignored, the power supply voltage (VCC-DET) input by the ENCODER a is about 0.23V, if the load of the series ENCODER is considered, the voltage of VCC-GND should be less than 0.23V, if the voltage of the load of the series ENCODER a is considered, the voltage should be less than 0.23V, the voltage of the power supply voltage of the input by the ENCODER b is not lower than the voltage of the input by the input of the ENCODER b, the input by the ENCODER b, the output of the interface circuit, the ENCODER a is not lower than the impedance of the output of the ENCODER b when the ENCODER a, the ENCODER b is detected by the input of the interface circuit, the ENCODER b 2, the interface circuit, the output of the interface circuit, the ENCODER a is not connected to the ENCODER a, the ENCODER a is not connected to the ENCODER a, the interface circuit, the output of the ENCODER a, the ENCODER b is not connected to the output of the ENCODER b 2 is.
Similarly, an identification element B, such as a resistor R3 having a resistance value of 5K, is provided in the connection circuit of the encoder B. When the ENCODER B is connected to the interface A of the driver, the voltage value of the ENCODER B _ DET is measured to be 1V and is larger than 0.23V through the detection circuit, the fact that the ENCODER B connected with the identification element R3 is not matched with the interface A of the driver is shown, the alarm circuit of the driver sends alarm information to remind a user, monitoring is continued until the interface A of the driver is connected with a correct ENCODER, the alarm is stopped, a 5V _ EN signal is controlled, the switch of the interface circuit is opened, a 5V power supply is output to the ENCODER, and a formal working mode is entered.
It should be noted that in the above embodiment, the values of the resistors R1 and R2 can be set arbitrarily, each resistor R1 can uniquely identify the same type of encoder, and by adjusting the size of R1, different matching encoders can be identified. The invention can not only confirm whether the interface of the driver is matched with the encoder by detecting the identification element in the connecting circuit connected with the driver, the encoder or the connecting circuit between the driver and the encoder, but also can identify the error that the encoder is not connected or the connection is unreliable, and the principle is as above.
As shown in fig. 5, fig. 5 is a schematic structural diagram of another embodiment of the driver of the present invention. The driver 100 comprises an interface 101 and a detection circuit 102. The detection circuit 102 is configured to detect whether the connection between the encoder 200 and the interface 101 is matched through an identification element 300 when the encoder 200 is connected to the interface 101, where the identification element 300 is configured to identify the interface 101 or the encoder 200 and is located in the interface 101, the encoder 200, or a connection circuit between the interface 101 and the encoder 200.
In other embodiments, the identification element is not limited to a resistor, but may be a capacitor, an inductor, a circuit storing identification information, or even an identification signal, a combination of any two or more of the above, and the like. The position of the marking element is not limited to the connection circuit between the driver and the encoder, and may be provided at the encoder or the driver. When the marking element is arranged on the driver, the detection circuit is arranged on the encoder.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (6)
1. A drive system, comprising:
the device comprises a driver, an encoder, a control circuit and a detection circuit;
the driver comprises at least one interface, the encoder or a connection circuit between the interface and the encoder comprises an identification element, the identification element is used for identifying the interface or the encoder, and the detection circuit is used for detecting whether the connection between the encoder and the interface is matched or not through the identification element when the encoder is connected with the interface;
the connecting circuit comprises at least two wires, the interface comprises an interface circuit, a first end and a second end, the first end and the second end are respectively positioned at the inner side and the outer side of the interface circuit, the number of the second ends is at least two, and the second ends are respectively connected with one ends of the at least two wires;
the other end of the at least two wires is connected with the encoder, and the identification element comprises a first resistor connected between the at least two wires;
the detection circuit is connected with the second end and is used for detecting whether the divided voltage on the first resistor is matched with a preset value or not after the interface circuit is disconnected;
the control circuit is connected with the interface circuit and used for sending a voltage signal to the interface circuit.
2. The drive system of claim 1,
the number of the first ends is at least two, the interface circuit comprises switches, one first end is connected with one second end through the switch, and the other first end is connected with the switch and controls the on-off of the switch.
3. The drive system of claim 1,
the device further comprises an alarm circuit, wherein the alarm circuit is connected with the control circuit and is used for outputting the result of whether the matching is performed or not to the outside.
4. A driver, comprising:
the device comprises an interface, a control circuit and a detection circuit;
the detection circuit is used for detecting whether the connection between the encoder and the interface is matched or not through an identification element when the encoder is connected with the interface, wherein the identification element is used for identifying the interface or the encoder and is positioned in the connection circuit between the interface and the encoder or between the interface and the encoder;
the interface comprises an interface circuit, a first end and a second end, wherein the first end and the second end are respectively positioned at the inner side and the outer side of the interface circuit, the number of the second ends is at least two, and the second ends are respectively connected with one ends of at least two wires of the connecting circuit;
the other end of the at least two wires is connected with the encoder, and the identification element comprises a first resistor connected between the at least two wires;
the detection circuit is connected with the second end and is used for detecting whether the divided voltage of the first resistor is matched with a preset value or not after the interface circuit is disconnected;
the control circuit is connected with the interface circuit and used for sending a voltage signal to the interface circuit.
5. The driver of claim 4,
the number of the first ends is at least two, the interface circuit comprises switches, one first end is connected with one second end through the switch, and the other first end is connected with the switch and controls the on-off of the switch.
6. The driver of claim 4,
the device further comprises an alarm circuit, wherein the alarm circuit is connected with the control circuit and is used for outputting the result of whether the matching is performed or not to the outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610614914.6A CN106100465B (en) | 2016-07-29 | 2016-07-29 | Driving system and driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610614914.6A CN106100465B (en) | 2016-07-29 | 2016-07-29 | Driving system and driver |
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| Publication Number | Publication Date |
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| CN106100465A CN106100465A (en) | 2016-11-09 |
| CN106100465B true CN106100465B (en) | 2020-01-17 |
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| CN201610614914.6A Active CN106100465B (en) | 2016-07-29 | 2016-07-29 | Driving system and driver |
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| CN2702530Y (en) * | 2004-02-18 | 2005-05-25 | 北京和利时电机技术有限公司 | Control device for controlling multiple servo motors with single master control chip |
| CN103107750A (en) * | 2012-11-15 | 2013-05-15 | 沈阳洪达信息科技有限公司 | Control method for brushless direct current motor |
| CN103441712A (en) * | 2013-07-29 | 2013-12-11 | 武汉迈信电气技术有限公司 | Fault self-diagnosis method for encoder in servo driving system |
| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08205556A (en) * | 1995-01-25 | 1996-08-09 | Sankyo Seiki Mfg Co Ltd | Multiaxis motor controller |
| CN103609014B (en) * | 2011-06-14 | 2016-06-15 | 株式会社安川电机 | Multiaxial motor drive system and multiaxial motor drive device |
| WO2013136515A1 (en) * | 2012-03-16 | 2013-09-19 | 三菱電機株式会社 | Motor control system |
| CN105191112B (en) * | 2013-05-09 | 2018-05-18 | 株式会社安川电机 | Motor driven systems, motor driver, multi-axle motor drive system and multi-axle motor driving device |
| CN205986684U (en) * | 2016-07-29 | 2017-02-22 | 福建睿能科技股份有限公司 | Actuating system, connecting wire and driver |
-
2016
- 2016-07-29 CN CN201610614914.6A patent/CN106100465B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2702530Y (en) * | 2004-02-18 | 2005-05-25 | 北京和利时电机技术有限公司 | Control device for controlling multiple servo motors with single master control chip |
| CN103107750A (en) * | 2012-11-15 | 2013-05-15 | 沈阳洪达信息科技有限公司 | Control method for brushless direct current motor |
| CN103441712A (en) * | 2013-07-29 | 2013-12-11 | 武汉迈信电气技术有限公司 | Fault self-diagnosis method for encoder in servo driving system |
| CN103825527A (en) * | 2014-03-07 | 2014-05-28 | 东莞易步机器人有限公司 | Motor encoder positioning method and system |
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| CN106100465A (en) | 2016-11-09 |
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