CN202230335U - Embedded interface device of servo controller - Google Patents
Embedded interface device of servo controller Download PDFInfo
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- CN202230335U CN202230335U CN2011203174524U CN201120317452U CN202230335U CN 202230335 U CN202230335 U CN 202230335U CN 2011203174524 U CN2011203174524 U CN 2011203174524U CN 201120317452 U CN201120317452 U CN 201120317452U CN 202230335 U CN202230335 U CN 202230335U
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Abstract
The utility model discloses an embedded interface device of a servo controller, which comprises an embedded microprocessor unit as well as a peripheral circuit and an I/O (input/output) interface circuit of the embedded microprocessor unit, wherein the I/O interface circuit comprises an analog quantity output circuit, a switching value output circuit, a switching value input circuit, a position giving circuit and a position feedback circuit which are in signal connection with the servo controller, and the I/O interface circuit further comprises a communication interface circuit used for data communication with an upper computer. The embedded interface device is characterized in that the analog quantity output circuit is at least connected with a speed giving interface and a torque giving interface of the servo controller, the switching value output circuit and the switching value input circuit are respectively connected with a switching value input interface and an output interface of the servo controller, and the position giving circuit and the position feedback circuit are respectively connected with a pulse input interface and a pulse output interface of the servo controller. The embedded interface device is compact in structure, has small volume and lower cost and is convenient to install and debug and easy to popularize.
Description
Technical field
The utility model relates to a kind of servo controller interface arrangement, and particularly a kind of interface arrangement that is directed against the servo controller of different manufacturers production can be used for servomotor control technology field.
Background technology
AC servo is meant carries out system's general name that speed, torque, position are controlled to alternating current generator.On purposes, structure and the usability of system; Servo controller can be divided into two types of universal and tailored versions: the tailored version servo controller be meant those must with the matching used AC servo driver of appointed positions controller (like the numerical control system); The internal buss that adopt are connected more between this quasi-controller and the positioner, and the transmission through data between the latticed form realization, and control system is generally used special bus and communication protocol; Therefore; Opening property is not strong, can not use separately, and cost is very high; And universal servo-driver is compared the scope of being widely used with the former; This quasi-driver adopts the external pulse input instruction to control the position and the speed of servomotor more; Through changing the frequency and the quantity of command pulse, reach the purpose that changes movement velocity and position location, because servo controller is a kind of independently control assembly; Therefore; The servo controller of being produced by different company has nothing in common with each other, and this has just proposed a difficult problem to the exploitation of positioner (supplier of command pulse), is difficult to adopt a position control to satisfy the requirement of most of servo controllers; In addition, because position control general and that General Servo Controller matches is fairly simple, be difficult to accomplish the monitoring of feedback signal and the setting of the parameter of electric machine, the performance of the servo-drive system of therefore forming has been compared certain gap with Dedicated Servo System.
The utility model content
The purpose of the utility model is the servo controller to different manufacturers production; A kind of interface arrangement of standard servo controller has been proposed; Its abundant interface resource can guarantee the compatibility feature good with most of servo controllers; Inner high performance microprocessor can guarantee that on the one hand the high speed of servo controller works in order, also can in time reflect its duty simultaneously, and the good man-machine interaction characteristic is arranged.
For solving above technical matters, realize the foregoing invention purpose, the design of the utility model is following:
The utility model interface arrangement is connected with servo controller through disposing multiple interface shape; Microcontroller by inside sends the given signal in position to servo controller; Meanwhile; Microprocessor also will be gathered the system feedback signal of being sent by servo controller, guarantees the operation that servo-drive system can normal and stable.Through the operation interface of host computer, can realize the parameter setting of servo controllers such as pulse, direction, also can the necessary feedback information of reality, make things convenient for user's operation and observation.
According to the foregoing invention design, the present invention adopts following technical proposals:
A kind of embedded interface device of servo controller; Comprise embedded microprocessor and peripheral circuit thereof and I/O interface circuit; The I/O interface circuit comprises analogue quantity output circuit, switching value output circuit, switching value input circuit, position given circuit and the position feedback circuit that is connected with the servo controller signal; The I/O interface circuit also comprises the communication interface circuit that carries out data communication with host computer; It is characterized in that: analogue quantity output circuit connects the velocity setting interface and the given interface of torque of servo controller at least; Switching value output circuit and switching value input circuit are connected the switch value input interface and the output interface of servo controller respectively, and position given circuit and position feedback circuit are connected the pulse input interface and the output interface of servo controller respectively.
Above-mentioned analogue quantity output circuit is made up of D/A converter and signal amplifier; The analog signal output of D/A converter is connected with the signal input part of signal amplifier; The signal output part of amplifier is connected with the given interface of torque with the velocity setting interface of servo controller at least; In the amplifying circuit of amplifier, also insert potentiometer; After the simulating signal that changes output via D/A converter is amplified through amplifier, after regulating by potentiometer simultaneously again, provide-aanalogvoltage of 10V～10V to servo controller.
Above-mentioned switching value output circuit is connected to form by photoelectric isolating circuit and output latch circuit; Output latch circuit is to photoelectric isolating circuit output switching value signal; The signal output part of photoelectric isolating circuit is connected with reset switch amount signal input interface with the startup of servo controller at least, and the switching value output circuit also comprises the servo controller power control circuit.
Above-mentioned switching value input circuit is connected to form by another photoelectric isolating circuit and input buffer circuit; Photoelectric isolating circuit is to input buffer circuit output switching value feedback signal, and the signal input part of photoelectric isolating circuit is connected with positioning switch amount output interface, SBR switching value output interface and the alarm switch amount output interface of servo controller at least.
Above-mentioned position given circuit drives the differential pulse signal generator by line and to servo controller pulse signal is provided.
Above-mentioned line drives the differential pulse signal generator preferably provides pulse signal from two passages to servo controller.
Above-mentioned position feedback circuit drives acceptor circuit by line and NAND gate circuit connects to form; The signal input part that line drives acceptor circuit receives the pulse signal that servo controller is exported, and the signal output part that line drives acceptor circuit is connected with the input end of NAND gate circuit.
Above-mentioned servo controller drives the position feedback pulse signal that acceptor circuit provides two passages to line.
Above-mentioned NAND gate circuit is two input nand gate circuit.
Above-mentioned communication interface circuit changes Ethernet chip by serial ports and forms.
The utility model has following substantive distinguishing features and advantage compared with prior art:
1. the utility model adopts damascene structures, can adopt ARM7, can realize the dominant frequency up to 130MIPS, can satisfy the requirement of high-speed computation dealing with complicated signal, and the three class pipeline structure also makes the operation of system more efficient.
2. the utility model compact conformation, volume are less, are convenient to install and debugging, compare with dedicated location setter such as PLC simultaneously, and cost is lower, is convenient to popularize.
3. the utility model can be connected through Ethernet interface with computing machine, carries out tcp/ip communication, need not to dispose man-machine interface again, through upper computer software servo controller is carried out the setting of parameter and the monitoring of feedback signal, and is easy to operate.
Description of drawings
Fig. 1 is the interface arrangement control structure synoptic diagram of first embodiment of the utility model.
Fig. 2 is the analogue quantity output circuit synoptic diagram of first embodiment of the utility model.
Fig. 3 is the switching value output circuit synoptic diagram of first embodiment of the utility model.
Fig. 4 is the switching value input circuit synoptic diagram of first embodiment of the utility model.
Fig. 5 is the position given circuit synoptic diagram of first embodiment of the utility model.
Fig. 6 is the pulse signal sequential chart that the position given circuit of first embodiment of the utility model generates.
Fig. 7 is the position feedback circuit diagram of first embodiment of the utility model.
Fig. 8 is the communication interface circuit synoptic diagram of first embodiment of the utility model.
Fig. 9 is the switching value output circuit synoptic diagram of second embodiment of the utility model.
Embodiment
The preferred embodiment accompanying drawings of the utility model is following:
Embodiment one:
Referring to Fig. 1; A kind of embedded interface device of servo controller; Comprise embedded microprocessor 6 and peripheral circuit thereof and I/O interface circuit; The I/O interface circuit comprises analogue quantity output circuit 1, switching value output circuit 2, switching value input circuit 3, position given circuit 4 and the position feedback circuit 5 that is connected with servo controller 8 signals; The I/O interface circuit also comprises the communication interface circuit 7 that carries out data communication with host computer 9; It is characterized in that: analogue quantity output circuit 1 connects the velocity setting interface and the given interface of torque of servo controller 8 at least, and switching value output circuit 2 and switching value input circuit 3 are connected the switch value input interface and the output interface of servo controller 8 respectively, and position given circuit 4 and position feedback circuit 5 are connected the pulse input interface and the output interface of servo controller 8 respectively.Present embodiment embedded interface device can with being connected of peace river ε-II series AC servo controller.After servo controller 8 energized, send the startup action command through host computer 9, servo controller 8 can power on.After host computer 9 is set umber of pulse; This embedded interface device sends pulse through position given circuit 4 to the PULS and the SING interface of servo controller 8; Receive the pulse data of the PAO feedback of servo controller 8 simultaneously through position feedback circuit 5; And in host computer 9, show and should feed back, be convenient to the detection system running status.Along with the development of microelectric technique, the application of embedded system very extensively.The inner core microcontroller of interface arrangement in the present embodiment has characteristics such as low-power consumption, volume are little, integrated level height; Integrated abundant interface resource can satisfy the various circuit connection requests of servo controller 8; Therefore; Through utilizing the interface arrangement of embedded system development, can realize control to servo controller 8.The utility model compact conformation, volume are less, are convenient to install and debugging, and cost is lower, is convenient to popularize.
Referring to Fig. 2; Analogue quantity output circuit 1 in the present embodiment is made up of D/A converter 10 and signal amplifier; The analog signal output of D/A converter 10 is connected with the signal input part of signal amplifier; The signal output part of amplifier is connected with the given interface of torque with the velocity setting interface of servo controller 8 at least, in the amplifying circuit of amplifier, also inserts potentiometer, after amplifying through amplifier via the simulating signal of D/A converter 10 transformation outputs; After regulating simultaneously again, provide-aanalogvoltage of 10V～10V to servo controller 8 by potentiometer.Present embodiment can be provided-aanalogvoltage of 10V ~ 10V to servo controller 8 through amplifier by D/A converter 10DAC0832.The D/A change-over circuit connects V-REF, the T-REF interface of servo controller 8; Provide speed/torque to voltage to servo controller 8; Under speed control method; Rotating speed of motor and input voltage are linear, and the slope of driver motor rotating speed-given voltage response can change through the input gain parameter Pn300 of driver.
Referring to Fig. 3; Switching value output circuit 2 in the present embodiment is connected to form by photoelectric isolating circuit 11 and output latch circuit 13; Output latch circuit 13 is to photoelectric isolating circuit output switching value signal; The signal output part of photoelectric isolating circuit is connected with reset switch amount signal input interface with the startup of servo controller 8 at least, and switching value output circuit 2 also comprises the servo controller power control circuit.Switching value output circuit 2 input interfaces+the 24V power supply provides by interface arrangement; Switching value output circuit 2 is provided by photoelectric isolating circuit 11; The output terminal of photoelectric isolating circuit 11 connects the input contact of servo controller 8, when CPU is output as low level, and the photoelectric isolating circuit conducting; The optocoupler of the inside of switching value output circuit 2 is conducting thereupon also, makes input signal ON.This interface arrangement mainly provides S-ON, P-CON, N-CL, P-CL, P-OT, N-OT and seven kinds of switching value signals of ALM-RST to servo controller 8; S-ON is the servo controller enable signal; The inversion pipe of driver is open during for ON, and 2 pairs of servomotors of switching value output circuit are implemented control; ALM-RST is the warning clear signal, removes the alerting signal of servomechanism during input ON; P-OT, N-OT are rotating restriction, forbid during for OFF motor just/counter-rotating.
Referring to Fig. 4; Switching value input circuit 3 in the present embodiment is connected to form with input buffer circuit 14 by another photoelectric isolating circuit 12; Photoelectric isolating circuit is to input buffer circuit 14 output switching value feedback signals, and the signal input part of photoelectric isolating circuit is connected with positioning switch amount output interface, SBR switching value output interface and the alarm switch amount output interface of servo controller 8 at least.Switching value input signal 3 is to be received by photoelectric isolating circuit 12; The input end of photoelectric isolating circuit 12 connects the output contact of driver; When switching value input circuit 3 internal output enable signals change, thereby cause the break-make of photoelectric isolating circuit 12 change the state of input circuit signal.The present embodiment interface arrangement mainly receives V-CMP, S-RDY, ALM and the four kinds of signals of ALO1/2/3 that come from servomotor; Wherein V-CMP is that the output signal is accomplished in the location; In position control, after the position pulse transmission of servo controller 8 finished, the V-CMP of switching value input circuit 3 was ON; Photoelectric isolating circuit 12 conductings receive the signal that puts in place; S-RDY is that servo controller 8 is ready to output order, this instruction of inquiry after servo controller 8 powers on, if there is not alarm failure, then S-RDY is ON, and servo controller 8 can be worked; ALM is an alerting signal, and this signal is caught pin through the timer of photoelectric isolating circuit 12 direct coupling arrangement CPU, and when alerting signal, timer captures the saltus step of a negative edge, produces immediately and interrupts, and system is out of service; ALO1/2/3 is an alarm code output signal, can judge through the state of inquiring about these three pins to produce the reason of reporting to the police.
Referring to Fig. 5, the position given circuit 4 in the present embodiment drives differential pulse signal generator 15 by line and to servo controller 8 pulse signal is provided.
Line in the present embodiment drives differential pulse signal generator 15 preferably provides pulse signal from two passages to servo controller 8.Position given circuit 4 is to drive difference channel 15 by line to servo controller 8 pulse signal of two passages to be provided, the CLR error dumping signal of PULS and SING and a passage, and the wherein pulse of PULS transmission positive polarity, SING is the direction pulse.Referring to Fig. 6, be the sequential requirement of PULS and two pulse signals of SING, and system stipulates equally, behind the servo enabling signal S-ON of input, pass through the time-delay of 40ms, could send position pulse signal.
Referring to Fig. 7; Position feedback circuit 5 in the present embodiment drives acceptor circuit 16 by line and connects to form with NAND gate circuit 17; The signal input part that line drives acceptor circuit 16 receives the pulse signal that servo controller 8 is exported, and the signal output part that line drives acceptor circuit 16 is connected with the input end of NAND gate circuit 17.
Referring to Fig. 8, the communication interface circuit 7 in the present embodiment changes Ethernet chip by serial ports and forms.Serial ports by embedded microprocessor 6 sends communication data, through the TCP telecommunication circuit, communication data is sent to host computer 9.This device is communicated by letter with host computer 9 and is adopted ICP/IP protocol, and application layer protocol is self-defined.Through the data communication of Ethernet and host computer, thereby realize the setting of servocontrol parameter and the detection of duty.
Embodiment two:
The technical scheme of present embodiment and first embodiment is basic identical, and difference is:
Referring to Fig. 9, in the present embodiment, this instance embedded interface device can with being connected of the servo controller of Mitsubishi.With in switching value output circuit 2, increased the reset signal RES of servo controller 8, after signal ON keeps more than the 50ms, can remove the driver alerting signal, when the alarm free signal, can close servomechanism 8 or servomechanism 8 is resetted.Also increased main story/counter-rotating enabling signal ST1/ST2, in speed control method, the ST1 signal is ON, and servomotor starts and just changes, and ST2 is that ON starts counter-rotating equally, and motor stops when two signals are 0 or 1 simultaneously.This servo controller 8 has also increased RS422 and USB interface, can directly carry out data communication with host computer 9, when machine 9 pairs of servo controllers 8 in position are debugged in the use, and the MR_configurater software that can use this product to provide.
Combine accompanying drawing that the utility model embodiment is illustrated above; But the utility model is not limited to the foregoing description; Can also make multiple variation according to the purpose that the utility model of the utility model is created; Change, the modification of making under all spirit and principles according to the utility model technical scheme, substitute, combination, simplify, all should be the substitute mode of equivalence, like the selection of the interface contact of multiple I/O interface type, input and output several data etc.; As long as meet the structural principle of the embedded interface device of servo controller, all belong to the protection domain of the utility model.
Claims (10)
1. the embedded interface device of a servo controller; Comprise embedded microprocessor (6) and peripheral circuit thereof and I/O interface circuit; Said I/O interface circuit comprises analogue quantity output circuit (1), switching value output circuit (2), switching value input circuit (3), position given circuit (4) and the position feedback circuit (5) that is connected with servo controller (8) signal; Said I/O interface circuit also comprises the communication interface circuit (7) that carries out data communication with host computer (9); It is characterized in that: said analogue quantity output circuit (1) connects the velocity setting interface and the given interface of torque of said servo controller (8) at least; Said switching value output circuit (2) and switching value input circuit (3) are connected the switch value input interface and the output interface of said servo controller (8) respectively, and said position given circuit (4) and position feedback circuit (5) are connected the pulse input interface and the output interface of said servo controller (8) respectively.
2. the embedded interface device of servo controller according to claim 1; It is characterized in that; Said analogue quantity output circuit (1) is made up of D/A converter (10) and signal amplifier; The analog signal output of said D/A converter (10) is connected with the signal input part of said signal amplifier; The signal output part of said amplifier is connected with the given interface of torque with the velocity setting interface of said servo controller (8) at least, in the amplifying circuit of said amplifier, also inserts potentiometer, after amplifying through amplifier via the simulating signal of said D/A converter (10) transformation output; After regulating simultaneously again, provide-aanalogvoltage of 10V～10V to said servo controller (8) by said potentiometer.
3. the embedded interface device of servo controller according to claim 1; It is characterized in that; Said switching value output circuit (2) is connected to form by photoelectric isolating circuit (11) and output latch circuit (13); Said output latch circuit (13) is to said photoelectric isolating circuit output switching value signal; The signal output part of said photoelectric isolating circuit is connected with reset switch amount signal input interface with the startup of said servo controller (8) at least, and said switching value output circuit (2) also comprises the servo controller power control circuit.
4. the embedded interface device of servo controller according to claim 1; It is characterized in that; Said switching value input circuit (3) is connected to form by another photoelectric isolating circuit (12) and input buffer circuit (14); Said photoelectric isolating circuit is to said input buffer circuit (14) output switching value feedback signal, and the signal input part of said photoelectric isolating circuit is connected with positioning switch amount output interface, SBR switching value output interface and the alarm switch amount output interface of said servo controller (8) at least.
5. the embedded interface device of servo controller according to claim 1 is characterized in that, said position given circuit (4) drives differential pulse signal generator (15) by line and to said servo controller (8) pulse signal is provided.
6. the embedded interface device of servo controller according to claim 5 is characterized in that, said line drives differential pulse signal generator (15) provides pulse signal from two passages to said servo controller (8).
7. the embedded interface device of servo controller according to claim 1; It is characterized in that; Said position feedback circuit (5) drives acceptor circuit (16) by line and NAND gate circuit (17) connects to form; The signal input part that said line drives acceptor circuit (16) receives the pulse signal that said servo controller (8) is exported, and the signal output part that said line drives acceptor circuit (16) is connected with the input end of said NAND gate circuit (17).
8. the embedded interface device of servo controller according to claim 7 is characterized in that, said servo controller (8) drives the position feedback pulse signal that acceptor circuit (16) provides two passages to said line.
9. the embedded interface device of servo controller according to claim 6 is characterized in that, said NAND gate circuit (17) is two input nand gate circuit.
10. according to the embedded interface device of any described servo controller in the claim 1～7, it is characterized in that said communication interface circuit (7) changes Ethernet chip by serial ports and forms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203174524U CN202230335U (en) | 2011-08-29 | 2011-08-29 | Embedded interface device of servo controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203174524U CN202230335U (en) | 2011-08-29 | 2011-08-29 | Embedded interface device of servo controller |
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| CN202230335U true CN202230335U (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011203174524U Expired - Fee Related CN202230335U (en) | 2011-08-29 | 2011-08-29 | Embedded interface device of servo controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573255A (en) * | 2016-02-19 | 2016-05-11 | 西安秦川数控***工程有限公司 | Interface circuit of numerical control system for controlling servo drive |
| CN105897087A (en) * | 2016-05-19 | 2016-08-24 | 安徽旭辰达电子科技有限公司 | Two-phase four-wire system stepping motor driver |
-
2011
- 2011-08-29 CN CN2011203174524U patent/CN202230335U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573255A (en) * | 2016-02-19 | 2016-05-11 | 西安秦川数控***工程有限公司 | Interface circuit of numerical control system for controlling servo drive |
| CN105897087A (en) * | 2016-05-19 | 2016-08-24 | 安徽旭辰达电子科技有限公司 | Two-phase four-wire system stepping motor driver |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120523 Termination date: 20130829 |