EtherCAT-based direct current common bus servo driving apparatus

Abstract

The invention relates to a DC common bus servo drive device based on EtherCAT. The DC common bus servo drive device includes: a servo drive component, a servo motor component, a control unit and a rectifier unit. Both the rectifier unit and the control unit are connected to the servo drive component. The servo drive The components are connected to the servo motor assembly; the control unit includes an EtherCAT master station module; the servo drive assembly includes at least one servo drive unit connected in sequence, the servo motor assembly includes at least one servo motor, and each servo drive unit is connected to a servo motor; each servo drive The units are connected to the rectification unit; each servo drive unit includes an EtherCAT slave module, and each EtherCAT slave module is connected to the EtherCAT master module. The beneficial effects of the invention are: the EtherCAT real-time industrial Ethernet topology structure is convenient, the cost is low, the volume is small, the number of servo drivers can be increased or decreased according to actual application requirements, and the disassembly and assembly are convenient.

Description

technical field [0001] The invention relates to the technical field of servo drive, in particular to an EtherCAT-based DC common bus servo drive device. Background technique [0002] The existing servo driver is composed of rectification, inverter and control units. This kind of servo driver is equivalent to a driver with a rectifier unit, which is difficult to control in terms of cost. Since the rectifier unit needs a large area of ​​heat dissipation treatment, which makes the volume relatively large, the control cabinet needs more space. . Generally, an industrial robot needs multiple AC servo motors as actuators, and one AC servo motor needs a servo driver for control. The controller sends motion instructions to each drive through the field bus. At present, the traditional field bus is mostly CAN field bus, and the unit price of CAN field bus components is relatively high, which causes the overall cost of the entire control system to be relatively high. The CAN field ...

AI Technical Summary

Problems solved by technology

At present, the traditional field bus is mostly CAN field bus, and the unit price of CAN field bus components is relatively high, which causes the overall cost of the entire control system to be relatively high

The CAN field bus is transmitted by a modular subnetwork field device, and this modular subnetwork device increases the complexity of the system to a certain extent, making the motion system in many aspects such as multi-axis synchronization and real-time There are obvious deficiencies

When using traditional industrial robots, I / O boxes with bus functions need to be specially configured for signal processing such as motor brakes, servo enable, drive alarms, system alarms, joint positive and negative position limits, and joint zero positions. The whole system appears complex and redundant

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