A multi-axis servo drive with industrial Ethernet communication

Abstract

The present invention relates to a multi-axis servo driver with industrial Ethernet communication. By utilizing the communication function of the communication device, as long as two of the communication devices are respectively connected to the communication of the host computer and the external servo driver through two network port connectors, and the remaining communication devices are sequentially connected in series between the two communication devices, a communication line can be formed between all the communication devices without using more network port connectors. Therefore, the present invention realizes that in the process of industrial Ethernet communication, no matter how many driving axes N of the multi-axis servo driver are, the number of network port connectors used can be maintained at 2 unchanged, that is, only one host computer network port connector and one external network port connector need to be used, thereby effectively saving the wiring space of the circuit substrate, reducing the wiring difficulty of the circuit substrate and the volume of the multi-axis servo driver, and reducing the production cost and improving the production efficiency.

Description

Technical Field

[0001] The invention relates to a multi-axis servo driver with industrial Ethernet communication. Background Art

[0002] A servo drive, also known as a servo controller or servo amplifier, is a controller used to control a servo motor. It functions similarly to a frequency converter and is part of a servo system. It is mainly used in high-precision positioning systems. Generally, the servo motor is controlled in three ways: position, speed, and torque to achieve high-precision transmission system positioning.

[0003] To enable the servo drive to communicate over industrial Ethernet, that is, to use Ethernet control automation technologies such as EtherCAT or RTEX to achieve Ethernet communication, such as Figure 1 As shown, the existing single-axis servo driver generally includes a circuit substrate x1, a controller x2 electrically connected and installed on the circuit substrate, a communication device x3 and two RJ45 connectors (x4 and x5), and other circuit parts (such as power supply circuit, drive circuit, etc.; not shown in the figure). One RJ45 connector x4 is used to receive the communication signal output by the host computer A, and the other RJ45 connector x5 is used to output the communication signal to other servo drivers B. The communication device x3 receives the communication signal output by the RJ45 connector x4 for receiving the communication signal output by the host computer A, and converts the communication signal into a signal that can be recognized by the controller x2 and outputs it to the controller x2. The controller x2 generates a corresponding control signal and outputs it to the motor through the drive circuit to achieve control of the motor.

[0004] However, if the installation space and wiring space of the servo drive are limited in the equipment, and multiple (two or more) motors need to be controlled, a multi-axis (two or more) servo drive is required. For example, see Figure 2 In order to control two motors and realize industrial Ethernet communication, the existing two-axis servo drive includes a circuit substrate, two groups of communication control parts electrically connected and installed on the circuit substrate, and other circuit parts. Each group of communication control parts is the same as the communication control part of the single-axis servo drive, that is, it includes a controller, a communication device, a host computer RJ45 connector connected to the host computer for communication, and an external RJ45 connector connected to other servo drives for communication. Therefore, a two-axis servo drive requires 2×2 RJ45 connectors. Similarly, a four-axis servo drive requires 2×4 RJ45 connectors, such as Figure 3As shown. That is, an N-axis servo drive requires 2×N RJ45 connectors. When N is greater than 3, due to the limited circuit substrate or volume of the servo drive, there is not enough space to place 2×N RJ45 connectors. At the same time, since there must be a certain interval between each connector, even if there is enough space to place them, the volume of the servo drive will increase, wasting the wiring space of the circuit substrate, which is not conducive to the use of a small installation space and increases the production cost. Summary of the invention

[0005] In order to solve the shortcomings and deficiencies of the above-mentioned prior art, the present invention provides a multi-axis servo driver with industrial Ethernet communication. In the process of realizing industrial Ethernet communication, no matter how many driving axes N (N≥2, and N is an integer) of the multi-axis servo driver is, the number of network port connectors applied can be maintained at 2 unchanged, that is, only one host computer network port connector and one external network port connector are required, thereby effectively saving the wiring space of the circuit substrate, reducing the wiring difficulty of the circuit substrate and the volume of the multi-axis servo driver, and reducing the production cost and improving the production efficiency.

[0006] A multi-axis servo driver with industrial Ethernet communication, the multi-axis servo driver is an N-axis servo driver, N≥2, and N is an integer; and the multi-axis servo driver includes a circuit substrate, and N communication devices electrically connected and installed on the circuit substrate, N controllers, a host computer network port connector and an external network port connector; the N communication devices correspond to the N controllers one by one, and each corresponding communication device is communicatively connected to a control device;

[0007] When N=2, the two communication devices are connected to the host computer and the external servo driver through the host computer network port connector and the external network port connector respectively, and the two communication devices are connected to each other;

[0008] When N>2, two of the communication devices are respectively connected to the host computer and the external servo driver through the host computer network port connector and the external network port connector, and the remaining communication devices are sequentially connected in series between the two communication devices to form a communication line;

[0009] After all wiring is completed, turn on the power supply, and the upper computer network port connector outputs the communication signal sent by the upper computer to the communication device connected to it, and the communication device outputs the communication signal to the communication device connected to it, so that the communication signal is transmitted in sequence along the communication line until it is transmitted to the external network port connector; since the communication device itself has a physical layer address, after the signal is transmitted, the upper computer can identify each servo axis in sequence. In this process, each communication device also converts the communication signal it receives into a signal that can be recognized by the controller, and outputs the converted signal to the corresponding controller, which processes and outputs the control signal to realize the control of multiple motors;

[0010] When N=4, the four communication devices are respectively a first communication device, a second communication device, a third communication device and a fourth communication device which are connected in series in sequence to form a communication line; the first communication device and the fourth communication device are respectively communicatively connected to the host computer network port connector and the external network port connector; and the first communication device, the second communication device, the third communication device and the fourth communication device are sequentially arranged on the circuit substrate.

[0011] Therefore, the present invention utilizes the communication function of the communication device to realize that as long as two of the communication devices are respectively connected to the host computer and the external servo driver through two network port connectors, and the remaining communication devices are sequentially connected in series between the two communication devices, a communication line can be formed between all the communication devices without using more network port connectors. Therefore, the present invention realizes that in the process of industrial Ethernet communication, no matter how many driving axes N of the multi-axis servo driver are, the number of network port connectors used can be maintained at 2 unchanged, that is, only one host computer network port connector and one external network port connector need to be used, thereby effectively saving the wiring space of the circuit substrate, reducing the wiring difficulty of the circuit substrate and the volume of the multi-axis servo driver, and reducing the production cost and improving the production efficiency.

[0012] Furthermore, the N communication devices are evenly arranged on the circuit substrate. The definition here is conducive to the aesthetic wiring structure of the circuit substrate, while also avoiding interference between the communication devices due to the mixed arrangement, further improving the performance of the servo driver.

[0013] Furthermore, the N communication devices are arranged in parallel with each other. By defining it here, it is helpful to further improve the interference between the communication devices.

[0014] Furthermore, the N controllers are evenly arranged on the circuit substrate. The definition here is conducive to a beautiful wiring structure of the circuit substrate, while also avoiding interference between the controllers due to mixed arrangement, further improving the performance of the servo driver.

[0015] Furthermore, the N controllers are arranged in parallel with each other. By defining it here, it is helpful to further improve the interference between the controllers.

[0016] The host computer network port connector and the external network port connector are arranged in parallel with each other. By defining it here, it is helpful to improve the interference between network connectors.

[0017] Furthermore, each communication device is an Ethernet PHY chip.

[0018] Furthermore, each controller is a microprocessor with network communication function.

[0019] Furthermore, the host computer network port connector is an RJ45 connector, and the external network port connector is an RJ45 connector.

[0020] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a partial structural diagram of an existing single-axis servo drive with industrial Ethernet communication;

[0022] Figure 2 It is a partial structural diagram of an existing two-axis servo driver with industrial Ethernet communication;

[0023] Figure 3 It is a partial structural diagram of an existing four-axis servo drive with industrial Ethernet communication;

[0024] Figure 4 It is a partial structural schematic diagram of a multi-axis servo driver with industrial Ethernet communication of the present invention;

[0025] Figure 5 When N=2, a schematic diagram of the local structure of the multi-axis servo driver with industrial Ethernet communication of the present invention when communicating with a host computer and an external servo driver;

[0026] Figure 6 When N=4, a schematic diagram of the local structure of the multi-axis servo driver with industrial Ethernet communication of the present invention when communicating with a host computer and an external servo driver. DETAILED DESCRIPTION

[0027] See also Figure 4The present invention provides a multi-axis servo driver with industrial Ethernet communication, wherein the multi-axis servo driver is an N-axis servo driver, where N≥2 and N is an integer. The multi-axis servo driver comprises a circuit substrate 1, N communication devices electrically connected and mounted on the circuit substrate 1, N controllers, a host computer network port connector 2 and an external network port connector 3, and other circuit parts (not shown). The N communication devices correspond to the N controllers one by one, and each corresponding communication device is connected to a control device for communication. When N=2, please refer to Figure 5 , the two communication devices 41 and 42 are connected to the host computer A and the external servo drive B through the host computer network port connector 2 and the external network port connector 3 respectively, and the two communication devices 41 and 42 are connected to each other. When N>2, please refer to Figure 4 The two communication devices are connected to the host computer and the external servo driver through the host computer network port connector 2 and the external network port connector 3 respectively, and the remaining communication devices are connected in series between the two communication devices in sequence to form a communication line.

[0028] The communication principle of the multi-axis servo driver with industrial Ethernet communication of the present invention is described above:

[0029] First, connect the host computer network port connector 2 with the corresponding network port interface of the host computer, and connect the external network port connector 3 with the corresponding network port interface of the external servo driver that needs to communicate at present. And connect the motor signal output end of the multi-axis servo driver to the multiple motors that need to be controlled. After completing all the wiring, turn on the power supply, the host computer network port connector 2 outputs the communication signal sent by the host computer to the communication device connected to it, and the communication device outputs the communication signal to the communication device connected to it, so that the communication signal is transmitted in sequence along the communication line until it is transmitted to the external network port connector 3; because the communication device itself has a physical layer address, after the signal is transmitted, the host computer can identify each servo axis in turn. In this process, each communication device also converts the communication signal it receives into a signal that can be recognized by the controller, and outputs the converted signal to the corresponding controller, which is processed by the controller to obtain and output the control signal, so that the control of multiple motors can be realized. After the motor is controlled to move, the controller can read the motor signals such as the motor speed and torque, and feed the motor signals back to the host computer through the communication device. At this time, the host computer can confirm the working condition of each motor. In this embodiment, the communication is real-time and bidirectional. Even when the motor is not moving, when other relevant parameters of the motor except the speed and torque change, the controller can also read them and feed them back to the host computer through the communication device.

[0030] In this embodiment, the other circuit parts are the same as the corresponding parts of the multi-axis servo driver in the prior art, and since the other circuit parts are not the improvement object of the present invention, they are not described here. In addition, the circuit substrate 1 in this embodiment is a circuit substrate 1 that has been formed after a complete circuit wiring operation. As long as the above-mentioned various devices are electrically mounted at the corresponding positions of the circuit substrate 1, the wiring on the circuit substrate 1 can be used to realize the electrical connection between the related devices.

[0031] In order to beautify the wiring structure of the circuit substrate 1 and avoid mutual interference between communication devices due to mixed settings, and further improve the performance of the servo drive, as a more optimal technical solution, the N communication devices are evenly arranged on the circuit substrate 1, and / or the N communication devices are arranged in parallel with each other.

[0032] In order to further beautify the wiring structure of the circuit substrate 1, and at the same time avoid interference between communication devices due to mixed settings, and further improve the performance of the servo drive, as a more optimal technical solution, the N controllers are evenly arranged on the circuit substrate 1, and / or the N controllers are arranged in parallel with each other.

[0033] In order to improve the interference between network connectors, preferably, the host computer network port connector 2 and the external network port connector 3 are arranged in parallel with each other.

[0034] In this embodiment, each communication device is an Ethernet PHY chip; each controller is a microprocessor with network communication function; the host computer network port connector 2 and the external network port connector 3 are both RJ45 connectors.

[0035] The following briefly describes the structure of the four-axis servo driver with industrial Ethernet communication provided by the present invention when N=4. Figure 6 , the number of controllers of the four-axis servo drive is 4, the number of communication devices is 4, and the number of network port connectors is still two, which is still a host computer network port connector 2 and an external network port connector 3. At this time, the four communication devices are respectively a first communication device 4a, a second communication device 4b, a third communication device 4c and a fourth communication device 4d which are sequentially connected in series to form a communication line. The first communication device 4a and the fourth communication device 4d are respectively connected to the host computer network port connector 2 and the external network port connector 3 for communication. And the first communication device 4a, the second communication device 4b, the third communication device 4c and the fourth communication device 4d are sequentially arranged on the opposite sides of the side with corresponding wiring in the circuit substrate 1.

[0036] Compared with the prior art, the multi-axis servo driver with industrial Ethernet communication of the present invention utilizes the communication function of the communication device to realize that as long as two of the communication devices are respectively connected to the host computer and the external servo driver through two network port connectors, and the remaining communication devices are sequentially connected in series between the two communication devices, a communication line can be formed between all the communication devices without using more network port connectors. Therefore, the present invention realizes that in the process of industrial Ethernet communication, no matter how many driving axes N of the multi-axis servo driver are, the number of network port connectors used can be maintained at 2 unchanged, that is, only one host computer network port connector and one external network port connector need to be used, thereby effectively saving the wiring space of the circuit substrate, reducing the wiring difficulty of the circuit substrate and the volume of the multi-axis servo driver, and reducing the production cost and improving the production efficiency.

[0037] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A multi-axis servo drive with industrial Ethernet communication, characterized in that: The multi-axis servo driver is an N-axis servo driver, N≥2, and N is an integer; and the multi-axis servo driver includes a circuit substrate, and N communication devices electrically connected and installed on the circuit substrate, N controllers, a host computer network port connector and an external network port connector; the N communication devices correspond to the N controllers one by one, and each corresponding communication device is communicatively connected to a control device; When N=2, the two communication devices are connected to the host computer and the external servo driver through the host computer network port connector and the external network port connector respectively, and the two communication devices are connected to each other; When N>2, two of the communication devices are respectively connected to the host computer and the external servo driver through the host computer network port connector and the external network port connector, and the remaining communication devices are sequentially connected in series between the two communication devices to form a communication line; After all wiring is completed, turn on the power supply, and the upper computer network port connector outputs the communication signal sent by the upper computer to the communication device connected to it, and the communication device outputs the communication signal to the communication device connected to it, so that the communication signal is transmitted in sequence along the communication line until it is transmitted to the external network port connector; since the communication device itself has a physical layer address, after the signal is transmitted, the upper computer can identify each servo axis in sequence. In this process, each communication device also converts the communication signal it receives into a signal that can be recognized by the controller, and outputs the converted signal to the corresponding controller, which processes and outputs the control signal to realize the control of multiple motors; When N=4, the four communication devices are respectively a first communication device, a second communication device, a third communication device and a fourth communication device which are connected in series in sequence to form a communication line; the first communication device and the fourth communication device are respectively communicatively connected to the host computer network port connector and the external network port connector; and the first communication device, the second communication device, the third communication device and the fourth communication device are sequentially arranged on the circuit substrate.

2. The multi-axis servo driver with industrial Ethernet communication according to claim 1, characterized in that: The N communication devices are evenly arranged on the circuit substrate.

3. The multi-axis servo driver with industrial Ethernet communication according to claim 1, characterized in that: The N communication devices are arranged in parallel with each other.

4. The multi-axis servo driver with industrial Ethernet communication according to any one of claims 1 to 3, characterized in that: The N controllers are evenly arranged on the circuit substrate.

5. The multi-axis servo driver with industrial Ethernet communication according to claim 4, characterized in that: The N controllers are arranged in parallel with each other.

6. The multi-axis servo driver with industrial Ethernet communication according to claim 1, characterized in that: The host computer network port connector and the external network port connector are arranged in parallel with each other.

7. The multi-axis servo driver with industrial Ethernet communication according to claim 1, characterized in that: Each communication device is an Ethernet PHY chip.

8. The multi-axis servo driver with industrial Ethernet communication according to claim 1 or 7, characterized in that: Each controller is a microprocessor with network communication capabilities.

9. The multi-axis servo driver with industrial Ethernet communication according to claim 1 or 7, characterized in that: The host computer network port connector is an RJ45 connector, and the external network port connector is an RJ45 connector.

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