CN214335705U

CN214335705U - EtherCAT bus servo system with programmable IO

Info

Publication number: CN214335705U
Application number: CN202120506980.8U
Authority: CN
Inventors: 刘炼; 李金禹
Original assignee: Wuxi Xinje Electric Co Ltd
Current assignee: Wuxi Xinje Electric Co Ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2021-10-01
Anticipated expiration: 2031-03-10

Abstract

The utility model belongs to the technical field of automated control, especially, an EtherCAT bus servo system with IO able to programme, to the problem with high costs, now propose following scheme, including EtherCAT controller and EtherCAT driver, EtherCAT controller and EtherCAT driver link to each other, EtherCAT driver and actuating mechanism link to each other with the motor unit; the EtherCAT driver comprises an EtherCAT bus unit, an IO expansion unit, a servo function unit and a drive control part, wherein the EtherCAT bus unit and the IO expansion unit are connected with the drive control part, and the IO expansion unit and the drive control part are connected with the servo function unit. The utility model discloses save equipment cost, simplify the installation and the debugging degree of difficulty in the industrial field, reduced the project implementation cost.

Description

EtherCAT bus servo system with programmable IO

Technical Field

The utility model relates to an automatic control technical field especially relates to an etherCAT bus servo with IO able to programme.

Background

The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output.

EtherCAT (ethernet control automation technology) is an open architecture, ethernet-based field bus system, and its name CAT is an abbreviation for the prefix of control automation technology. EtherCAT is a deterministic industrial ethernet network, first developed by Beckhoff, germany. EtherCAT has a short cycle time and all program material is handled by the slave station controller hardware. The characteristic is matched with the functional principle of EtherCAT, so that the EtherCAT can become a high-performance distributed I/O system: the process data exchange involving one thousand distributed digital inputs/outputs requires only 30us, corresponding to 125 bytes of data transmitted over 100Mbit/s Ethernet. A system that reads and writes one hundred servo axes can be updated at a rate of 10kHz, with typical update rates being about 1-30 kHz.

In a conventional EtherCAT bus scheme, a servo drive system and peripheral IO serve as independent functional units, the cost is directly increased due to the increase of the number of the functional units, the cost of an EtherCAT controller is increased, the installation and debugging difficulty in an industrial field is high, and the reliability and the maintainability of the system are low.

SUMMERY OF THE UTILITY MODEL

Based on the technical problem who proposes in the background art, the utility model provides an etherCAT bus servo with IO able to programme.

The utility model provides an EtherCAT bus servo system with IO able to programme, including EtherCAT controller and EtherCAT driver, EtherCAT controller and EtherCAT driver link to each other, EtherCAT driver and actuating mechanism link to each other, EtherCAT driver and motor element link to each other;

the EtherCAT driver comprises an EtherCAT bus unit, an IO expansion unit, a servo function unit and a drive control part, wherein the EtherCAT bus unit is connected with the IO expansion unit, the EtherCAT bus unit is connected with the drive control part, the EtherCAT controller controls the IO expansion unit and the drive control part to work through the EtherCAT bus unit, the IO expansion unit and the drive control part are connected with the servo function unit, and the IO expansion unit and the drive control part are connected with each other.

Preferably, the EtherCAT controller is connected to the EtherCAT bus unit via the EtherCAT POD.

Preferably, the IO expansion unit is connected with the actuator, the drive control unit is connected with the motor unit, and the IO expansion unit and the drive control unit control the actuator and the motor unit to execute corresponding operations, so as to realize various functions in the servo functional unit.

Preferably, the IO extension unit is configured to input a signal to a driving control portion, and the driving control portion is configured to output a signal to the IO extension unit.

Preferably, the IO expansion unit comprises DI/0, AI/O, RS485 extensions and the like.

Preferably, the motor unit includes a servo motor.

Preferably, the actuator includes sensors and other actuators.

Preferably, the servo function unit comprises functions of torque control, speed regulation, command completion, fault alarm and the like.

The utility model provides a beneficial effect does:

1. according to the EtherCAT bus servo system with the programmable IO, the servo driving system and the peripheral IO are combined into one functional unit, the body integration IO and the extensible IO mode are supported, and the cost investment in partial industrial scenes is remarkably reduced.

2. This etherCAT bus servo system with able to programme IO through with servo function unit and IO extension unit integration, has greatly simplified field installation and wiring construction cycle.

3. The EtherCAT bus servo system with the programmable IO is transmitted based on the PDO object of the EtherCAT bus, and the body IO or the expandable peripheral is connected with the servo driver, so that a user is allowed to access the driver reliably and in real time while performing simple logic programming in the driver.

4. This etherCAT bus servo system with able to programme IO can be directly connected on servo body is from the IO terminal of taking through etherCAT distributed IO's mode, and PLC is given in rethread etherCAT bus passback, and the high speed transmission rate of bus itself has guaranteed that whole system can not appear delaying the scheduling problem.

The parts of the system not involved are the same as or can be implemented using existing technology.

Drawings

Fig. 1 is a first system diagram of an EtherCAT bus servo system with programmable IO according to the present invention;

fig. 2 is a system diagram two of an EtherCAT bus servo system with programmable IO according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1-2, an EtherCAT bus servo system with programmable IO includes an EtherCAT controller and an EtherCAT driver, the EtherCAT controller is connected to the EtherCAT driver, the EtherCAT driver is connected to an execution mechanism, and the EtherCAT driver is connected to a motor unit;

The utility model discloses in, the EtherCAT controller passes through EtherCAT POD and links to each other with EtherCAT bus unit.

The utility model discloses in, IO extends unit and actuating mechanism and links to each other, and drive control part and electrical unit link to each other, thereby IO extends unit and drive control part control actuator and electrical unit carry out each item function in the corresponding operation back realization servo function unit.

The utility model discloses in, IO extends the unit and is used for to drive control part input signal, and drive control part is used for extending unit output signal to IO.

The utility model discloses in, IO extends the unit and includes DI/0, AI/O, RS485 extension etc..

The utility model discloses in, the motor element includes servo motor.

The utility model discloses in, actuating mechanism includes sensor and other executive device.

The utility model discloses in, servo function unit includes functions such as torque control, speed regulation, instruction completion, malfunction alerting.

Peripheral AI/0 and DI/O of the existing servo system are used for internal logic operation processing, so that the functions of torque control, speed regulation, instruction completion, fault alarm and the like are realized; the peripheral and the internal logic function are combined, a user is allowed to configure the peripheral into a high-performance distributed I/O system of an EtherCAT bus for connecting an external sensor or an execution device, the equipment purchase cost is saved, the installation and debugging difficulty in an industrial field is simplified, the project implementation cost is reduced, and the reliability and the maintainability of the system are improved.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

Claims

1. An EtherCAT bus servo system with programmable IO comprises an EtherCAT controller and an EtherCAT driver, and is characterized in that the EtherCAT controller is connected with the EtherCAT driver, the EtherCAT driver is connected with an execution mechanism, and the EtherCAT driver is connected with a motor unit;

2. The EtherCAT bus servo system with programmable IO of claim 1 wherein said EtherCAT controller is connected to the EtherCAT bus unit via EtherCAT POD.

3. The EtherCAT bus servo system with programmable IO as claimed in claim 1, wherein the IO expansion unit is connected to the actuator, the driving control portion is connected to the motor unit, and the IO expansion unit and the driving control portion control the actuator and the motor unit to perform corresponding operations so as to implement various functions in the servo functional unit.

4. The EtherCAT bus servo system with programmable IO according to claim 1, wherein the IO expansion unit is used for inputting signals to a driving control part, and the driving control part is used for outputting signals to the IO expansion unit.

5. The EtherCAT bus servo system with programmable IO according to claim 1, wherein the IO expansion unit comprises DI/0, AI/O, RS485 expansion, and the like.

6. An EtherCAT bus servo with programmable IO as claimed in claim 1 wherein the motor unit comprises a servo motor.

7. The EtherCAT bus servo system with programmable IO of claim 1 wherein the actuators include sensors and other actuators.

8. The EtherCAT bus servo system with programmable IO according to claim 1, wherein the servo functional units include torque control, speed regulation, command completion, fault alarm, and the like.