Control system for multi-shaft servo driver synchronizing system
A technology of servo drive and synchronous control, which is applied in the field of synchronous control of multi-axis servo drives and servo motors, and can solve the problems that the servo clock and the slave station clock are not synchronized, and the servo interrupt program is not synchronized, etc.
Active Publication Date: 2017-05-10
清能德创电气技术(北京)有限公司
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Problems solved by technology
[0007] For multi-axis servo drives, in the above two modes, in the prior art, the application layer control module is usually used to calculate the Tset of the multi-axis servo drive when it enters the synchronous interrupt for the first time, and then calculates it every time it enters the synchronous interrupt Interrupt response delay Δt1 and adjust the timing cycle of the servo program according to Tset. However, Tset works with reference to the servo clock, and the servo clock and the slave clock are not synchronized. As time goes by, the Tset of each axis will change differently
Therefore, there is no synchronization between the servo interrupt programs of each axis
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[0018] The present invention will be described in detail in combination with specific embodiments as follows:
[0019] In the multi-axis servo drive synchronization control method of the present invention, there are three kinds of clocks, which are master clock, slave clock and servo clock. Both the master clock and the slave clock serve the industrial Ethernet protocol. Specifically, the master clock serves the upper controller, the slave clock serves the industrial Ethernet protocol processing module of the servo drive, and the servo clock serves the servo drive's Main control module. In the main control module of the servo drive, there are two interrupt programs, namely the servo interrupt program and the synchronous interrupt program.
[0020] Such as image 3 As shown, the main control module of the servo drive triggers the synchronization interrupt program after receiving the synchronization signal SYNCEVT generated by the synchronization control module of the servo drive. ...
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The invention aims at providing a control system for a multi-shaft servo driver synchronizing system, and the method comprises the steps: resetting servo clocks of servo drivers when a synchronizing signal SYNCEVT arrives; enabling the servo clock of each shaft to trigger a servo interrupt program after the time of Tsync_off; achieving the synchronization of a main station clock, a slave station clock of each shaft and the servo clock of each shaft through the reasonable setting of the value of the time of Tsync_off, thereby guaranteeing that the servo interrupt programs of all shafts are synchronous after adjustment.
Description
Technical field [0001] The invention relates to the field of servo motors, in particular to the field of synchronous control of multi-axis servo drives. Background technique [0002] Servo drives, also known as "servo controllers" and "servo amplifiers", are a kind of controllers used to control servo motors and are mainly used in high-precision positioning systems. Generally, the servo motor is controlled by three methods of position, speed and torque to achieve high-precision transmission system positioning. It is currently a high-end product of transmission technology and an important core component for high-precision numerical control of mechanical equipment. [0003] In recent years, real-time industrial Ethernet technology was born. This technology not only has fast transmission speed, large data packet capacity, long transmission distance, and flexible topology structure, but also can guarantee high real-time and synchronization performance, thus becoming a new solution to...
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Login to View More IPC IPC(8): G05B19/048
CPCG05B19/048
Inventor 刘葵刘波汤小平
Owner 清能德创电气技术(北京)有限公司