Multi-axis bus link method and drive system for robot drive and control integrated machine
A robot and all-in-one technology, applied in the transmission system, bus network, digital transmission system, etc., can solve the problems of increasing the calculation amount of the motion controller and reducing the cycle time of the position control, so as to reduce the physical connection cables and prevent pulse loss , Strong anti-electromagnetic interference ability
Inactive Publication Date: 2020-09-22
广州市韦德电气机械有限公司 +1
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Problems solved by technology
It is necessary to reduce the position control cycle time, for example, from 4ms to 1ms, or even 500us, which will greatly increase the amount of calculation of the motion controller, requiring a higher level of CPU to complete the calculation
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[0053] In order to introduce the technical solution of the present invention in more detail, it will be described below in conjunction with the accompanying drawings.
[0054] A multi-axis bus linking method of a robot driving and controlling integrated machine of the present invention comprises the following steps:
[0055] 1) Connect the drive-control integrated motion controller and the servo drive with bus communication;
[0056] 2) After the motion trajectory undergoes cycle decomposition and trajectory calculation, the absolute position that the robot needs to move in this cycle is obtained;
[0057] 3) Send the absolute position coordinates obtained in step 2) to the servo driver through the bus to realize the positioning of the robot.
[0058] Specifically, such as figure 2 As shown, in the above technical solution, in the bus mode connection adopted in step 1), the motion controller is used as the master station of the bus, and the servo driver is used as the slave...
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The invention relates to a multi-axis bus link method for a robot drive and control integrated machine. The method includes the following steps that a drive and control integrated motion controller isin communication connection with servo drivers through a bus mode; a motion trajectory is subjected to periodic decomposition and trajectory calculation to obtain an absolute position where a robot needs to move in a current period; and obtained absolute position coordinates are sent to the servo drivers through the bus mode to realize localization of the robot. The invention further provides a corresponding hardware system. According to the technical scheme, by changing a pulsed quantity transmission control mode in a traditional technology and adopting the bus mode, the problem that pulsesare lost or increased when transmitted through an opto-isolator in the traditional method is solved, the motion localization of the robot is more accurate and free of velocity fluctuation, the reliability of motion controller and servo connection is improved, the data size bandwidth is increased, and a position control period less than 1 ms is realized.
Description
technical field [0001] The invention relates to the technical field of robot driving and control, in particular to a multi-axis bus linking method of a robot driving and controlling integrated machine and a driving system thereof. Background technique [0002] In the existing robot drive and control integrated system, the connection between the motion controller and the servo drive is generally controlled by conventional pulse quantities. After the motion trajectory is decomposed into cycles and trajectory calculations, the displacement and speed that the robot needs to move in this cycle are obtained. The number and frequency of pulses are adjusted through the pulse generator and sent to the servo driver to realize the control of displacement and speed. as attached figure 1 shown. [0003] In this existing method, in the software, the motion trajectory is decomposed periodically, and complex trajectory calculations are required to obtain the displacement and speed that th...
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Login to View More IPC IPC(8): B25J9/16B23P19/06H04L1/00H04L12/40H04W4/029
CPCB25J9/16B23P19/06H04L1/0061H04L12/40H04W4/029
Inventor 张文彬徐东桂郑建福王献伟
Owner 广州市韦德电气机械有限公司