Position control synchronization method of servo drive based on canopen
A technology of servo drive and current position, which is applied in the direction of comprehensive factory control, electrical program control, comprehensive factory control, etc. It can solve the problems of unable to execute data synchronously, and achieve the effect of realizing synchronous execution, improving synchronous performance, and ensuring synchronousness
Active Publication Date: 2019-01-25
SHANGHAI STEP ELECTRIC +1
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Problems solved by technology
However, the servo interrupt may interrupt the communication synchronous interrupt, unable to execute the data synchronously
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[0025] According to a CANopen-based servo driver position control synchronization method according to an embodiment of the present invention, the servo driver is provided with a slave node based on the CANopen bus, and the CANopen-based servo driver position control synchronization method comprises the following steps:
[0026] a. The slave node obtains the serial number Psync of the current position ring and the position ring time Csync of the current position ring every time the SYNC synchronization object arrives, and calculates the time offset Toffset between the current position ring and the preset target position ring , where, when Psync*Tperiod+Csync-(Ptarget*Tperiod+Ctarget)≤Tsync / 2, Toffset=Psync*Tperiod+Csync-(Ptarget*Tperiod+Ctarget), when Psync*Tperiod+Csync-(Ptarget*Tperiod +Ctarget)>Tsync / 2, Toffset=Psync*Tperiod+Csync-(Ptarget*Tperiod+Ctarget)-Tsync. Tsync is the synchronization period, Tperiod is the default position loop period, Ptarget is the sequence number ...
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The invention relates to a CANopen-based servo driver position control synchronizing method. A CANopen bus-based slave node is arranged on a servo driver. The method comprises the following steps of: a) acquiring a serial number Psync of a present position loop and a position loop moment Csync of the present position loop of the slave node when SYNC synchronizing object arrives at each time and calculating a time offset Toffset between the present position loop and a preset target position loop; b) calculating an adjusted position loop period Tperiod_new by the slave node according to the time offset Toffset calculated in the step a); and c) adjusting the periods of N continuous position loops after the present position loop and adjacent to the present position loop to Tperiod_new, wherein N is the quotient of the synchronizing period and the position loop period. According to the method, the shaking compensation at the receiving moment of each communication slave node synchronizing object can be realized and the synchronous update of the position data can be guaranteed.
Description
technical field [0001] The invention relates to a CANopen-based servo driver position control synchronization method. Background technique [0002] The development level of the motion control system determines the level of a country's equipment manufacturing industry. With the development of field bus and network technology, distributed motion control system is an important development direction of CNC system. A high-level distributed motion control system needs to realize high-precision current, speed and position full-closed-loop control, and needs to realize efficient and high-speed information exchange. [0003] The traditional servo drive interface needs to be equipped with an additional motion control card, and the motion control card and the servo drive are connected by pulse commands and analog signals. This method has complex wiring, low communication rate, complex centralized control method, and poor scalability, which seriously restricts the development and appl...
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IPC IPC(8): G05B19/418
CPCY02P90/02
Inventor 柳竹青严彩忠王科丁信忠
Owner SHANGHAI STEP ELECTRIC