CN108279617A - A kind of multiple-axis servo driver with Industrial Ethernet communication - Google Patents
A kind of multiple-axis servo driver with Industrial Ethernet communication Download PDFInfo
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- CN108279617A CN108279617A CN201810268023.9A CN201810268023A CN108279617A CN 108279617 A CN108279617 A CN 108279617A CN 201810268023 A CN201810268023 A CN 201810268023A CN 108279617 A CN108279617 A CN 108279617A
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- axis servo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention relates to a kind of multiple-axis servo drivers with Industrial Ethernet communication, by using the communication function of communication device, as long as realizing wherein two communication devices respectively by the communication connection of two network interface connectors and host computer and external servo-driver, and remaining communication device is made to be sequentially connected in series between two communication device, it may make and form communication line between all communication devices, without using more network interface connectors.Therefore, the present invention realizes during Industrial Ethernet communicates, no matter the driving number of axle N of multiple-axis servo driver is how many, the quantity for the network interface connector being applied to can maintain 2 it is constant, that is, a host computer network interface connector and an external network interface connector need to be only applied to, to be effectively saved the wiring space of circuit board, reduce the volume of the wiring difficulty and multiple-axis servo driver of circuit board, and reduces production cost and improve production efficiency.
Description
Technical field
The present invention relates to a kind of multiple-axis servo drivers with Industrial Ethernet communication.
Background technology
Servo-driver is also known as servo controller or servo amplifier, is a kind of control for control servomotor
Device, effect are similar to frequency converter, belong to a part for servo-drive system, be mainly used in high-precision positioning system.Usually
Servo motor is controlled by three kinds of position, speed and torque modes, realizes high-precision transmission system positioning.
To enable servo-driver to carry out the Ethernets such as Industrial Ethernet communication, namely utilization EtherCAT or RTEX
The ethernet communication that auto-control technology is realized, as shown in Figure 1, existing single-axis servo driver generally comprises circuit board
X1 and electrical connection be installed on the circuit board controller x2, communication device x3 and two RJ45 connectors (x4 and x5) and
Other circuit part (such as power circuits, driving circuit；It is being not shown in figure).A wherein RJ45 connectors x4 for receive by
The signal of communication of host computer A outputs, another RJ45 connectors x5 is for exporting signal of communication to other servo-drivers B.Institute
Communication device x3 is stated to receive by described for receiving by the communication of the RJ45 connectors x4 outputs of the host computer A signals of communication exported
Signal, and signal of communication is converted into be generated by controller x2 to controller x2 by output after signal that controller x2 is identified
Corresponding control signal, and exported to motor by driving circuit, realize the control to motor.
But it is conditional to the installation space of servo-driver and wiring space in equipment, it needs pair
When more (two or more) motors are controlled, need to be applied to multiaxis (more than two axis or two axis) servo-drive at this time
Device.For example, referring to Fig. 2, being existing two axis servo-drive when two motors are controlled and realized with Industrial Ethernet communication
Device includes that circuit board and electrical connection are installed on two groups of communication control section of circuit board and other circuit parts.Every group
Communication control section is identical with the communication control section of single-axis servo driver, that is, all including a controller, a communicator
Part, the external use communicated to connect with other servo-drivers with the host computer RJ45 connectors of host computer communication connection and one
RJ45 connectors.Therefore, two axis servo-drivers need 2 × 2 RJ45 connectors.Similarly, four axis servo-drivers need to use
To 2 × 4 RJ45 connectors, as shown in Figure 3.That is, N axis servo-drivers need to use 2 × N number of RJ45 connectors.Then work as N
When more than 3, due to limited, the not enough position of sound production 2 × N number of RJ45 connections of the circuit board or volume of servo-driver
Device, even if there is enough position of sound production, also results in servo simultaneously because there must be certain interval between each connector
The volume of driver increases, and wastes the wiring space of circuit board, be unfavorable for installation space it is smaller when use, and improve life
Produce cost.
Invention content
To solve the disadvantage that the above-mentioned prior art and deficiency, the present invention provides a kind of multiaxises with Industrial Ethernet communication
Servo-driver, realize Industrial Ethernet communication during, no matter multiple-axis servo driver driving number of axle N (N >=2,
And N is integer) be it is how many, the quantity of the network interface connector being applied to can maintain 2 it is constant, that is, need to only be applied to one
Host computer network interface connector and an external network interface connector subtract to be effectively saved the wiring space of circuit board
The volume of the wiring difficulty and multiple-axis servo driver of small circuit board, and reduce production cost and improve production efficiency.
A kind of multiple-axis servo driver with Industrial Ethernet communication, the multiple-axis servo driver are N axis servo-drives
Device, N >=2, and N are integer；And the multiple-axis servo driver includes that circuit board and electrical connection are installed on circuit board
N number of communication device, N number of controller, a host computer network interface connector and one external use network interface connector；N number of communication device
It corresponds with N number of controller, and is communicated to connect with a control device per a corresponding communication device respectively；
When N=2, two communication devices respectively by host computer network interface connector and it is external with network interface connector and host computer and
External servo-driver communication connection, and communicated to connect between two communication devices；
When N ＞ 2, wherein two communication devices respectively by host computer network interface connector and it is external with network interface connector with it is upper
Machine and external servo-driver communicate to connect, remaining communication device is sequentially connected in series between two communication device, forms communication
Circuit.
Communication function of the invention by using communication device as a result, as long as realizing that wherein two communication devices pass through respectively
The communication connection of two network interface connectors and host computer and outside servo-driver, and make remaining communication device be sequentially connected in series in this two
Between communication device, you can so that forming communication line between all communication devices, connect without using more network interfaces
Connect device.Therefore, the present invention realizes during Industrial Ethernet communicates, no matter the driving number of axle of multiple-axis servo driver
N be it is how many, the quantity of the network interface connector being applied to can maintain 2 it is constant, that is, need to only be applied to a host computer network interface
Connector and an external network interface connector reduce circuit board to be effectively saved the wiring space of circuit board
Wiring difficulty and multiple-axis servo driver volume, and reduce production cost and improve production efficiency.
Further, N=4；4 communication devices are respectively to be sequentially connected in series the first communication device to form communication line, second
Communication device, third communication device and fourth communication device；First communication device and the fourth communication device respectively with
It host computer network interface connector and external is communicated to connect with network interface connector；And first communication device, the second communication device,
Three communication devices and fourth communication device are set in turn in the circuit board.By limiting herein, watched using four axis herein
Driver is taken, the stability of the reasonability and circuit configuration of the circuit layout to four axis servo-drivers can be improved, be conducive to
Enhance the performance of four axis servo-drivers, while being also more convenient the manufacturing of four axis servo-drivers.
Further, N number of communication device is uniformly arranged on the circuit board.By limiting herein, be conducive to beauty
The wire structures of circuit board, while also avoiding mutually generating interference due to mingling setting between communication device, it further increases
The performance of servo-driver.
Further, N number of communication device is arranged in parallel.By limiting herein, be conducive to further improve communication
Disturbed condition between device.
Further, N number of controller is uniformly arranged on the circuit board.By limiting herein, be conducive to beautiful electricity
The wire structures of base board, while also avoiding mutually generating interference due to mingling setting between controller, further increase servo
The performance of driver.
Further, N number of controller is arranged in parallel.By limiting herein, be conducive to further improve controller
Between disturbed condition.
The host computer network interface connector and the external use network interface connector are arranged in parallel.By limiting herein,
Be conducive to improve the disturbed condition between network connector.
Further, each communication device is Ethernet PHY chip.
Further, each controller is the microprocessor with network communicating function.
Further, the host computer network interface connector is a RJ45 connectors, and, it is described external to be with network interface connector
One RJ45 connectors.
In order to better understand and implement, the invention will now be described in detail with reference to the accompanying drawings.
Description of the drawings
Fig. 1 is the partial structural diagram of the existing single-axis servo driver with Industrial Ethernet communication；
Fig. 2 is the partial structural diagram of the existing two axis servo-drivers with Industrial Ethernet communication；
Fig. 3 is the partial structural diagram of the existing four axis servo-drivers with Industrial Ethernet communication；
Fig. 4 is the partial structural diagram of multiple-axis servo driver of the present invention with Industrial Ethernet communication；
When Fig. 5 is N=2, multiple-axis servo driver and host computer and outside servo that the present invention communicate with Industrial Ethernet
Partial structural diagram when driver communicates to connect；
When Fig. 6 is N=4, multiple-axis servo driver and host computer and outside servo that the present invention communicate with Industrial Ethernet
Partial structural diagram when driver communicates to connect.
Specific implementation mode
Referring to Fig. 4, the present invention provides a kind of multiple-axis servo driver with Industrial Ethernet communication, the multiaxis is watched
Take driver be N axis servo-drivers, N >=2, and N be integer.The multiple-axis servo driver includes circuit board 1, electrical connection
It is installed on N number of communication device of circuit board 1, N number of controller, a host computer network interface connector 2 and one and external uses network interface connection
Device 3 and other circuit part (not shown).N number of communication device is corresponded with N number of controller respectively, and is often corresponded to
A communication device and a control device communication connection.When N=2, referring to Fig. 5, two communication devices 41 and 42 are respectively by upper
Position machine network interface connector 2 and external network interface connector 3 and host computer A and external servo-driver B communication connections, and two communications
It is communicated to connect between device 41 and 42.When N ＞ 2, referring to Fig. 4, wherein two communication devices and being connected respectively by host computer network interface
Device 2 and external network interface connector 3 and host computer and external servo-driver communication connection are connect, remaining communication device is sequentially connected in series
Between two communication device, communication line is formed.
More than, the Principle of Communication for the multiple-axis servo driver that illustratively present invention is communicated with Industrial Ethernet：
First, the network interface interface corresponding with host computer of host computer network interface connector 2 is connected, and network interface connection is used by external
The network interface interface corresponding with the current desired external servo-driver to be communicated of device 3 connects.And by the electricity of multiple-axis servo driver
Machine signal output end is respectively connected to the multiple electric motors for needing to control.After completing all wiring, power supply, host computer network interface connection are opened
Device 2 exports the signal of communication that host computer is sent to communication device connected to it, and by the communication device that signal of communication is defeated
Go out to communication device connected to it, thus signal of communication conveys successively along communication line, and external network interface is used until being delivered to
Connector 3；Since communication device itself has physical layer address, after signal transmission, host computer can identify successively
Go out each axis servomotor.In the process, received signal of communication is also converted into controller energy by each communication device simultaneously
The signal enough identified, and transformed signal is exported to corresponding controller, it is handled to obtain and export control letter by controller
Number, it can realize the control to multiple electric motors.After motor controlled actuation, it is electric that controller can read rotating speed and torque of motor etc.
Machine signal, and motor signal is fed back to by host computer by communication device, at this point, can confirm every motor by host computer
Working condition.In the present embodiment, communication is real time bidirectional, even if motor is failure to actuate, motor is in addition to rotating speed and torque
When other relevant parameters change, controller can also read out and feed back to host computer by communication device.
In the present embodiment, other circuit parts part phase corresponding with multiple-axis servo driver in the prior art
Together, and since other circuit parts are not the improvement objects of the present invention, therefore herein without repeating.Also, the present embodiment
In circuit board 1 be the circuit board 1 that is formed after being operated by complete wiring, as long as above-mentioned each device electricity
It is mounted on 1 corresponding position of circuit board, you can utilize electrically connecting between the wiring realization related device in circuit board 1
It connects.
For the wire structures of beautiful circuit board 1, while also avoiding mutually generating due to mingling setting between communication device
Interference, further increases the performance of servo-driver, and as one kind, more preferably technical solution, N number of communication device are uniformly set
It is placed in the circuit board 1, and/or, N number of communication device is arranged in parallel.
For the wire structures of further beautiful circuit board 1, while also avoiding between communication device because mingling setting due to phase
Interference is mutually generated, the performance of servo-driver is further increased, more preferably technical solution, N number of controller are equal as one kind
It is even to be set to the circuit board 1, and/or, N number of controller is arranged in parallel.
For the disturbed condition for improving between network connector, it is preferable that the host computer network interface connector 2 and described external
It is arranged in parallel with network interface connector 3.
In the present embodiment, each communication device is Ethernet PHY chip；Each controller is with network communication work(
The microprocessor of energy；Host computer network interface connector 2 and external use network interface connector 3 are all RJ45 connectors.
Hereinafter, briefly describing as N=4, the four axis servos provided by the present invention with Industrial Ethernet communication are driven
The structure of dynamic device.At this point, referring to Fig. 6, the amount controller of four axis servo-drivers is 4, the quantity of communication device is 4
A and network interface connector quantity or two, also or a host computer network interface connector 2 and one external use network interface connection
Device 3.At this point, 4 communication devices are respectively to be sequentially connected in series the first communication device 4a, the second communication device to form communication line
4b, third communication device 4c and fourth communication device 4d.The first communication device 4a and fourth communication device 4d difference
With host computer network interface connector 2 and the external communication connection of network interface connector 3.And the first communication device 4a, the second communication
Device 4b, third communication device 4c and fourth communication device 4d are set in turn in the circuit board 1 with corresponding wiring line
Opposite sides on one side.
Compared with the existing technology, the multiple-axis servo driver that the present invention is communicated with Industrial Ethernet, by using communicator
The communication function of part, as long as realizing wherein two communication devices respectively by two network interface connectors and host computer and external servo-drive
The communication connection of device, and remaining communication device is made to be sequentially connected in series between two communication device, you can so that all communication devices
Between form communication line, without using more network interface connectors.Therefore, the present invention is realized in Industrial Ethernet
During communication, no matter the driving number of axle N of multiple-axis servo driver is how many, and the quantity for the network interface connector being applied to is all
Can maintain 2 it is constant, that is, need to only be applied to a host computer network interface connector and one it is external use network interface connector, to
It has been effectively saved the wiring space of circuit board, has reduced the volume of the wiring difficulty and multiple-axis servo driver of circuit board,
And it reduces production cost and improves production efficiency.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Range.
Claims (10)
1. a kind of multiple-axis servo driver with Industrial Ethernet communication, it is characterised in that：The multiple-axis servo driver is N axis
Servo-driver, N >=2, and N are integer；And the multiple-axis servo driver includes that circuit board and electrical connection are installed on electricity
N number of communication device of base board, N number of controller, a host computer network interface connector and one external use network interface connector；It is described N number of
Communication device is corresponded with N number of controller respectively, and is communicated to connect with a control device per a corresponding communication device；
When N=2, two communication devices pass through host computer network interface connector and external use network interface connector and host computer and outside respectively
Servo-driver communicates to connect, and is communicated to connect between two communication devices；
When N ＞ 2, wherein two communication devices respectively by host computer network interface connector and it is external with network interface connector and host computer and
External servo-driver communication connection, remaining communication device are sequentially connected in series between two communication device, form communication line.
2. the multiple-axis servo driver according to claim 1 with Industrial Ethernet communication, it is characterised in that：N=4；4
Communication device be respectively be sequentially connected in series the first communication device to form communication line, the second communication device, third communication device and
Fourth communication device；First communication device and the fourth communication device respectively with host computer network interface connector and external use
Network interface connector communicates to connect；And first communication device, the second communication device, third communication device and fourth communication device
It is set in turn in the circuit board.
3. the multiple-axis servo driver according to claim 1 with Industrial Ethernet communication, it is characterised in that：It is described N number of
Communication device is uniformly arranged on the circuit board.
4. the multiple-axis servo driver according to claim 2 with Industrial Ethernet communication, it is characterised in that：It is described N number of
Communication device is arranged in parallel.
5. according to the multiple-axis servo driver that claim 1,3~4 any one of them are communicated with Industrial Ethernet, feature exists
In：N number of controller is uniformly arranged on the circuit board.
6. the multiple-axis servo driver according to claim 5 with Industrial Ethernet communication, it is characterised in that：It is described N number of
Controller is arranged in parallel.
7. the multiple-axis servo driver according to claim 1 with Industrial Ethernet communication, it is characterised in that：It is described upper
Machine network interface connector and the external use network interface connector are arranged in parallel.
8. the multiple-axis servo driver according to claim 1 with Industrial Ethernet communication, it is characterised in that：Each communication
Device is all Ethernet PHY chip.
9. the multiple-axis servo driver with Industrial Ethernet communication according to claim 1 or 8, it is characterised in that：Each
Controller is all the microprocessor with network communicating function.
10. the multiple-axis servo driver with Industrial Ethernet communication according to claim 1 or 8, it is characterised in that：It is described
Host computer network interface connector is a RJ45 connectors, and, the external use network interface connector is a RJ45 connectors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810268023.9A CN108279617A (en) | 2018-03-29 | 2018-03-29 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810268023.9A CN108279617A (en) | 2018-03-29 | 2018-03-29 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
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| Publication Number | Publication Date |
|---|---|
| CN108279617A true CN108279617A (en) | 2018-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810268023.9A Pending CN108279617A (en) | 2018-03-29 | 2018-03-29 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045392A (en) * | 2019-12-06 | 2020-04-21 | 广东工业大学 | Servo motion control card interface circuit based on FPGA |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744376A (en) * | 2013-12-26 | 2014-04-23 | 清能德创电气技术（北京）有限公司 | Servo driver and multi-shaft control system using the same |
| CN204287906U (en) * | 2014-12-23 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | The servo-driver that a kind of multiaxis is integrated |
| CN106647573A (en) * | 2016-11-01 | 2017-05-10 | 清能德创电气技术（北京）有限公司 | Synchronous control system for servo driver |
| CN208092485U (en) * | 2018-03-29 | 2018-11-13 | 珠海松下马达有限公司 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
-
2018
- 2018-03-29 CN CN201810268023.9A patent/CN108279617A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744376A (en) * | 2013-12-26 | 2014-04-23 | 清能德创电气技术（北京）有限公司 | Servo driver and multi-shaft control system using the same |
| CN204287906U (en) * | 2014-12-23 | 2015-04-22 | 清能德创电气技术（北京）有限公司 | The servo-driver that a kind of multiaxis is integrated |
| CN106647573A (en) * | 2016-11-01 | 2017-05-10 | 清能德创电气技术（北京）有限公司 | Synchronous control system for servo driver |
| CN208092485U (en) * | 2018-03-29 | 2018-11-13 | 珠海松下马达有限公司 | A kind of multiple-axis servo driver with Industrial Ethernet communication |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111045392A (en) * | 2019-12-06 | 2020-04-21 | 广东工业大学 | Servo motion control card interface circuit based on FPGA |
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