Method of controlling slave station servo driver synchronization master station

A technology of servo driver and master station, applied in program control, computer control, general control system, etc., can solve problems such as servo motor jitter

Active Publication Date: 2016-08-03
SHENZHEN LEADSHINE INTELLIGENT CONTROL CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the ESC controller and the MCU processor use their own clock signals. When the two clocks are not synchronized, the controlled servo motor will vibrate.

Method used

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  • Method of controlling slave station servo driver synchronization master station
  • Method of controlling slave station servo driver synchronization master station
  • Method of controlling slave station servo driver synchronization master station

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Embodiment Construction

[0019] The present invention will be described in further detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0020] Such as figure 1 Shown is a schematic structural diagram of the drive control system in this specific embodiment. The drive control system includes EtherCAT master station controller, EtherCAT servo drive and servo motor. Wherein, the EtherCAT servo driver includes a hardware chip containing an ESC controller (in this specific embodiment, the hardware chip of ET1100), which is mainly used for communicating with the EtherCAT master station controller and performing data interaction with the first core of the dual-core MCU. The first core in the dual-core MCU is used to interact with the ESC controller to receive real-time position, speed, and torque commands, and transmit the received real-time position, speed, and torque commands to the second core after analyzing them. The second core in the dual-core MCU i...

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Abstract

The invention discloses a method of controlling a slave station servo driver synchronization master station. The method of controlling a synchronization master station comprises the following steps: after a second core detects a SYNC signal, acquiring the current value of a CNT signal, wherein the CNT signal is the real-time count value of PWM triangular carriers generated in a PWM interrupt processing module; comparing the current value of the CNT signal with K/2, wherein K is a PWM triangular carrier count value corresponding to a set allowable time drift value between the starting moment of PWM interrupt and the rising edge of the SYNC signal; when the current value of the CNT signal is greater than or equal to K/2, judging the counting direction, and setting the value of CNT to an interrupt value or an integer value which is a set threshold range from the interrupt value according to the counting direction; and making the PWM interrupt processing module generate PWM interrupt at each starting moment of the PWM triangular carriers. Through the control method of the invention, the problem of abnormal real-time instruction reception caused by non-synchronization is avoided, and a controlled servo motor is jitter-free.

Description

【Technical field】 [0001] The invention relates to the field of servo drive control, in particular to a control method for synchronizing a master station of an EtherCAT bus-type slave station servo driver. 【Background technique】 [0002] In the field of motion control, with the "Industry 4.0" and "Made in China 2025" slogan policies, the market competition is becoming increasingly fierce. As far as the servo drive is concerned, this competition is not only reflected in the traditional requirements for the stability and reliability of motor control, excellent dynamic performance and application of various complex loads, but also in the communication between the servo drive and the host computer. Fast speed, small delay, simple multi-axis control wiring, simple centralized control mode, strong scalability and other requirements. [0003] The traditional pulse-type servo system can no longer meet the above current requirements, and the bus-type servo system has gradually become...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25033
Inventor 覃海涛龙世鹏吴立田天胜李卫平
Owner SHENZHEN LEADSHINE INTELLIGENT CONTROL CO LTD
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