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Method of Improving Acquisition Speed ​​and Accuracy of Servo Driver Based on Biss Encoder

A technology of servo drive and acquisition speed, which is applied in electric controllers, controllers with pulse train output signals, program-controlled manipulators, etc., can solve the problems of low acquisition speed and control accuracy of collaborative robots, and achieve accuracy and acquisition speed Effect

Active Publication Date: 2020-11-20
CHENGDU CRP ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method for improving the acquisition speed and accuracy of the servo drive based on the BISS encoder, which is used to solve the problem of low acquisition speed and control accuracy of collaborative robots in the prior art

Method used

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  • Method of Improving Acquisition Speed ​​and Accuracy of Servo Driver Based on Biss Encoder
  • Method of Improving Acquisition Speed ​​and Accuracy of Servo Driver Based on Biss Encoder
  • Method of Improving Acquisition Speed ​​and Accuracy of Servo Driver Based on Biss Encoder

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Embodiment

[0031] combined with figure 1 Shown, a kind of method based on BISS coder improves servo drive acquisition speed and precision, comprises servo drive, the master controller that is connected with servo drive, motor and BISS coder, described method comprises:

[0032] Step S100: The main chip of the servo driver is initialized with the InitSYSCtrl() function, and the SPI module is set to two-level receiving interrupt and 16-bit data length; 100us main control ADC control interrupt, use the for statement in the 100us main control process Generates two consecutive 16-bit dummy data to generate the continuous 32-bit clock required to read the BISS encoder.

[0033] Step S200: the BISS encoder uploads 32-bit data to the SPI bus when the 32-bit clock arrives;

[0034] The 32-bit data consists of 5 start bits, 19 data bits, data abnormality alarm bit F0, over-temperature alarm bit F1 and 6-bit parity, thus providing data, abnormal alarm, and over-temperature alarm functions. Abnorm...

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Abstract

The invention discloses a method for improving the acquisition speed and accuracy of a servo driver based on a BISS encoder, which includes a servo driver, a main controller connected to the servo driver, a motor and a BISS encoder. The method includes: the main chip of the servo driver continuously generates two 16 The pseudo data of one bit is given to the BISS encoder to generate the 32-bit clock pulse required by the BISS encoder; when the 32-bit clock arrives, the BISS encoder uploads 32-bit data to the SPI bus; when two bytes of data are received on the SPI bus , according to the pre-set two-level receiving interrupt, the main chip takes out the data for position calculation and speed calculation. The invention adopts an encoder based on the BISS protocol, and by setting the main chip of the collaborative robot servo driver, generates 32-bit clock pulses satisfying the BISS encoder, thereby providing acquisition accuracy and acquisition speed.

Description

technical field [0001] The invention relates to the technical field of industrial robot control, specifically, a method for improving the acquisition speed and precision of a servo driver based on a BISS encoder. Background technique [0002] The position encoder is an important feedback link actuator in industrial automatic control. At present, the position encoder of the collaborative robot servo is divided into two types: absolute type and incremental type according to the working mode. The data output of the absolute position encoder generally adopts the serial communication method. Each position of the absolute encoder corresponds to a certain digital code, so its indication value is only related to the start and end positions of the measurement, but not to the measurement position. The intermediate process is irrelevant; the incremental encoder converts the displacement into a periodic electrical signal, and then converts the electrical signal into a counting pulse, a...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/26B25J9/16
CPCB25J9/161G05B11/26
Inventor 项勤建朱路生邓世海
Owner CHENGDU CRP ROBOT TECH CO LTD