Servo driver and method compatible with multiple encoder protocols

Abstract

The present invention discloses a servo driver and method compatible with multiple encoder protocols. The servo driver comprises: a main control unit and a communication interface unit connected to the main control unit, the communication interface unit comprising at least two differential signal generating circuits; the communication interface unit is connected to a target encoder; the main control unit is used to switch the communication state of at least one differential signal generating circuit according to a received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder; by implementing the above scheme, the communication state of at least one differential signal generating circuit can be switched according to the received parameter instruction, so that the communication interface unit of the servo driver can perform data communication with the target encoder that adopts different circuits for communication, thereby improving the compatibility of the servo driver.

Description

Technical Field

[0001] The present invention relates to the field of servo control technology, and in particular to a servo driver and method compatible with multiple encoder protocols. Background Art

[0002] At present, servo drives have been widely used in various industrial fields. In servo control systems, encoders are often used as position detection components. According to design requirements, different application systems will choose different encoders, and different encoders often support different communication protocols. When the servo drive is used in a multi-encoder system and the external encoder needs to be replaced, the drive needs to be replaced. Therefore, in the prior art, the servo drive can usually only support the communication protocol of one encoder. If it needs to adapt to other encoder communication protocols, the hardware circuit needs to be redesigned, which adds additional costs.

[0003] Therefore, how to design a servo drive that is compatible with multiple encoder protocols is an urgent problem to be solved. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned related technologies, the purpose of the present application is to provide a servo drive and method compatible with multiple encoder protocols, aiming to solve the problem that the current servo drive is not compatible with multiple encoder protocols.

[0005] A servo driver compatible with multiple encoder protocols, the servo driver comprising:

[0006] A main control unit and a communication interface unit connected to the main control unit, wherein the communication interface unit includes at least two differential signal generating circuits; the communication interface unit is connected to the target encoder;

[0007] The main control unit is used to switch the communication state of at least one differential signal generating circuit according to a received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder.

[0008] Optionally, the parameter instruction includes: a first parameter instruction indicating that the communication type is communication using a differential signal generating circuit, and the main control unit is specifically used to:

[0009] According to the received first parameter instruction, one of the differential signal generating circuits is switched to serve as a signal transceiver to receive and send data.

[0010] Optionally, the parameter instruction includes: a second parameter instruction indicating that the communication type is RS422 circuit communication, and the main control unit is specifically used for:

[0011] Switching one of the differential signal generating circuits as a signal receiving end to receive data according to the received second parameter instruction;

[0012] Another differential signal generating circuit is controlled to serve as a signal sending end to send data.

[0013] Optionally, the communication interface unit includes three differential signal generating circuits, the parameter instruction includes: a third parameter instruction indicating that the communication type is ABZ circuit communication, and the main control unit is specifically used for:

[0014] According to the third parameter instruction, the three differential signal generating circuits are switched to serve as signal receiving ends for data reception.

[0015] Optionally, the main control unit is further used to control the differential signal generating circuit in the communication interface unit that does not participate in data reception or transmission as a signal floating end.

[0016] Optionally, the main control unit includes an algorithm control unit and a processing unit communicatively connected thereto;

[0017] The processing unit is used to switch the communication state of at least one differential signal generating circuit according to the received parameter instruction;

[0018] The processing unit is also used to receive the data sent by the target encoder from the communication interface unit, and convert the data sent by the target encoder into a target data format and send it to the algorithm control unit;

[0019] The processing unit is also used to receive data sent by the algorithm control unit, convert the data into a data format compatible with the communication interface unit, and send the data to the communication interface unit, so that the communication interface unit sends the data to the target encoder.

[0020] Optionally, the servo driver further includes a memory communicatively connected to the processing unit;

[0021] The memory is used to store a correspondence table between encoder communication protocol types and parameter instructions;

[0022] The processing unit is specifically used to switch the communication state of at least one differential signal generating circuit according to the correspondence table and the received parameter instruction, and convert the data received from the target encoder into a target data format according to the correspondence table and send it to the algorithm control unit.

[0023] Optionally, the differential signal generating circuit is an RS485 circuit.

[0024] Based on the same inventive concept, the present application also provides a method for being compatible with multiple encoder protocols, which is applied to a servo drive, and the servo drive comprises:

[0025] A main control unit and a communication interface unit connected to the main control unit, wherein the communication interface unit includes at least two differential signal generating circuits; the communication interface unit is connected to the target encoder;

[0026] The method comprises:

[0027] The main control unit switches the communication state of at least one of the at least two differential signal generating circuits according to the received parameter instruction, wherein the at least two differential signal generating circuits are communicatively connected to the target encoder, and the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder.

[0028] Optionally, the main control unit includes an algorithm control unit and a processing unit communicatively connected thereto, and the method further includes:

[0029] The processing unit receives the data sent by the target encoder from the communication interface unit, and converts the data sent by the target encoder into a target data format and sends it to the algorithm control unit;

[0030] The processing unit receives the data sent by the algorithm control unit, converts the data into a data format compatible with the communication interface unit, and sends the data to the communication interface unit, so that the communication interface unit sends the data to the target encoder.

[0031] The present invention provides a servo driver and method compatible with multiple encoder protocols. The servo driver comprises: a main control unit and a communication interface unit communicatively connected thereto, the communication interface unit comprising at least two differential signal generating circuits; the communication interface unit is communicatively connected to a target encoder; the main control unit is used to switch the communication state of at least one differential signal generating circuit according to a received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder. By implementing the above scheme, the main control unit of the servo driver can switch the communication state of at least one differential signal generating circuit according to the received parameter instruction, so that the communication interface unit of the servo driver can perform data communication with the target encoder that adopts different circuits for communication, thereby improving the compatibility of the servo driver and thus improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the structure of a servo driver compatible with multiple encoder protocols provided by an embodiment of the present invention;

[0033] Figure 2A schematic diagram of a structure of a main control unit controlling a communication state of a differential signal generating circuit provided by an embodiment of the present invention;

[0034] Figure 3 A schematic structural diagram of another optional main control unit controlling the communication state of a differential signal generating circuit provided in an embodiment of the present invention;

[0035] Figure 4 A schematic structural diagram of another optional main control unit controlling the communication state of a differential signal generating circuit provided in an embodiment of the present invention;

[0036] Figure 5 A schematic structural diagram of another optional servo driver compatible with multiple encoder protocols provided in an embodiment of the present invention.

[0037] Description of reference numerals:

[0038] 10-servo driver compatible with multiple encoder protocols, 11-main control unit, 111-algorithm control unit, 112-processing unit, 12-communication interface unit, 13-memory, 20-target encoder. DETAILED DESCRIPTION

[0039] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0041] In the related art, a servo drive usually can only support one encoder protocol, and for encoders of other communication protocols, the hardware circuit of the servo drive needs to be redesigned. Therefore, the servo drive is not compatible with multiple encoder protocols.

[0042] Based on this, the present application hopes to provide a solution that can solve the above-mentioned technical problems, the details of which will be described in the subsequent embodiments.

[0043] The servo drive illustrated in the embodiment includes a main control unit 11 that can switch the communication state of at least one differential signal generating circuit according to the received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder, so that the communication interface unit 12 of the servo drive can communicate data with the target encoder 20 using different circuits for communication, thereby improving the compatibility of the servo drive. Figure 1 A servo drive 10 compatible with multiple encoder protocols is shown as an example for easy understanding:

[0044] See also Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of a servo driver 10 compatible with multiple encoder protocols provided in this embodiment. The servo driver 10 compatible with multiple encoder protocols includes but is not limited to:

[0045] A main control unit 11 and a communication interface unit 12 connected to the main control unit 11, wherein the communication interface unit 12 includes at least two differential signal generating circuits; the communication interface unit 12 is connected to the target encoder 20;

[0046] The main control unit 11 is used to switch the communication state of at least one differential signal generating circuit according to the received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder 20.

[0047] Specifically, the communication state includes a receiving state, a sending state and a suspended state. The differential signal generating circuit may be an RS485 circuit.

[0048] The main control unit 11 is also used to control the redundant differential signal generating circuits in the communication interface unit 12 as signal floating ends when the number of communication interfaces required by the target encoder 20 is less than the number of differential signal generating circuits included in the communication interface unit 12. It should be understood that the number of differential signal generating circuits included in the communication interface unit 12 may be greater than or equal to the number of communication interfaces required by the target encoder 20. Therefore, when the communication interface unit 12 communicates with the target encoder 20, if the target encoder 20 only occupies part of the differential signal generating circuits included in the communication interface unit 12, it can communicate with the communication interface unit 12. Then, the remaining differential signal generating circuits in the communication interface unit 12 are temporarily idle, and the main control unit 11 can control the idle differential signal generating circuits as signal floating ends.

[0049] Figure 2 A schematic diagram of another optional structure of the main control unit 11 controlling the communication state of the differential signal generating circuit provided in an embodiment of the present invention is shown in FIG. Figure 2As shown, when the target encoder 20 is an encoder that uses a differential signal generating circuit for communication, that is, the parameter instruction includes: a first parameter instruction that indicates that the communication type is a differential signal generating circuit for communication, the main control unit 11 is specifically used to: switch one of the differential signal generating circuits as a signal transceiver for data reception and transmission according to the first parameter instruction received, and control the remaining differential signal generating circuits as signal floating ends. For example, if the communication interface unit 12 includes two differential signal generating circuits, the main control unit 11 switches one differential signal generating circuit for data reception and transmission according to the first parameter instruction received; and controls another differential signal generating circuit as a signal floating end. Alternatively, if the communication interface unit 12 includes three differential signal generating circuits, one of the differential signal generating circuits is controlled as a signal transceiver for data reception and transmission, and the remaining two differential signal generating circuits are controlled as signal floating ends.

[0050] It should be noted that the differential signal generation circuit uses balanced transmission and differential reception, so it has the ability to suppress common mode interference. It uses a pair of twisted pairs, one of which is defined as A and the other as B. The differential level signal of the two lines A and B is transmitted as a data signal. Both transmission and reception are transmitted by these two lines, that is, only transmission or reception can be performed at a time, that is, half-duplex network communication, and the reception and transmission of data are controlled by timing.

[0051] Therefore, when the communication interface unit 12 has multiple differential signal generating circuits, one of the differential signal generating circuits can be controlled as a signal transceiver to receive and send data, and the remaining differential signal generating circuits can be used as signal floating ends, so that the communication interface unit 12 of the servo drive can communicate with the encoder that uses the differential signal generating circuit to communicate.

[0052] Figure 3 A schematic diagram of another optional structure of the main control unit 11 controlling the communication state of the differential signal generating circuit provided in an embodiment of the present invention is shown in FIG. Figure 3 As shown, when the communication interface unit 12 includes at least two differential signal generating circuits, and the target encoder 20 is an encoder that uses RS422 circuit communication, that is, the parameter instruction includes: the communication type characterized by the second parameter instruction using RS422 circuit communication. The main control unit 11 is specifically used to switch a differential signal generating circuit as a signal receiving end for data reception according to the received second parameter instruction; control another differential signal generating circuit as a signal sending end for data transmission, and control the remaining differential signal generating circuits as signal floating ends to realize communication with the encoder that uses RS422 circuit communication. If there are remaining differential signal generating circuits, the remaining differential signal generating circuits are controlled as signal floating ends.

[0053] It should be noted that RS422 has four signal lines, two inputs (Y, Z) and two outputs (A, B), that is, one differential signal generating circuit controls the output data and the other differential signal generating circuit controls the input data.

[0054] Since the reception and transmission of RS422 are separate, it can receive and transmit at the same time, that is, full-duplex communication.

[0055] For example, when the communication interface unit 12 has two differential signal generating circuits, the main control unit 11 switches one differential signal generating circuit as a signal receiving end to receive data according to the second parameter instruction received; controls another differential signal generating circuit as a signal sending end to send data, thereby communicating with an encoder that uses RS422 circuit communication, and there is no idle differential signal generating circuit. Alternatively, when the communication interface unit 12 has three differential signal generating circuits, the first differential signal generating circuit is switched as a signal receiving end to receive data according to the second parameter instruction received; controls the second differential signal generating circuit as a signal sending end to send data, and controls the third differential signal generating circuit as a signal floating end, thereby communicating with an encoder that uses RS422 circuit communication.

[0056] Figure 4 A schematic diagram of a structure of a main control unit 11 controlling the communication state of a differential signal generating circuit provided in an embodiment of the present invention, such as Figure 4 As shown, when the communication interface unit 12 includes at least three differential signal generating circuits, and the target encoder 20 is a differential encoder, that is, the parameter instruction includes: a third parameter instruction representing the communication type as communication using an ABZ circuit, the main control unit 11 is specifically used to switch the three differential signal generating circuits as signal receiving ends for data reception according to the third parameter instruction, that is, to receive data from the differential encoder, that is, the differential incremental encoder outputs signals of A+, A-, B+, B-, Z+, and Z-. If there are idle differential signal generating circuits, the idle differential signal generating circuits are controlled to be used as signal floating ends.

[0057] Figure 5 A schematic diagram of the structure of another optional servo driver 10 compatible with multiple encoder protocols provided in an embodiment of the present invention is shown in FIG. Figure 5As shown, the main control unit 11 may also include an algorithm control unit 111 and a processing unit 112 communicatively connected thereto; the processing unit 112 is used to switch the communication state of at least one differential signal generating circuit according to the received parameter instructions; the processing unit 112 is also used to receive data sent by the target encoder 20 from the communication interface unit 12, and convert the data sent by the target encoder 20 into a target data format and send it to the algorithm control unit 111. The processing unit 112 may also be used to receive data from the algorithm control unit 111, and convert it into a data format compatible with the communication interface unit 12 and send it to the communication interface unit 12, and the communication interface unit 12 then sends the data to the target encoder 20.

[0058] The algorithm control unit 111 may be a MCU (Microcontroller Unit), and the processing unit 112 may be a CPLD (Complex Programmable Logic Device).

[0059] The servo driver also includes a memory 13 in communication connection with the processing unit 112; the memory 13 is used to store a correspondence table between encoder communication protocol types and parameter instructions; the processing unit 112 is specifically used to switch the communication state of at least one differential signal generating circuit according to the correspondence table, and convert the data received from the target encoder 20 into a target data format according to the correspondence table and send it to the algorithm control unit 111. The algorithm control unit 111 is compatible with multiple communication protocols and can perform algorithm control on the data of the target encoder 20 with different communication protocols.

[0060] The present embodiment provides a servo driver 10 compatible with multiple encoder protocols, comprising: a main control unit 11 and a communication interface unit 12 communicatively connected thereto, the communication interface unit 12 comprising at least two differential signal generating circuits; the communication interface unit 12 is communicatively connected to a target encoder 20; the main control unit 11 is used to switch the communication state of at least one differential signal generating circuit according to a received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder 20; by implementing the above scheme, the main control unit 11 of the servo driver can switch the communication state of at least one differential signal generating circuit according to the received parameter instruction, so that in hardware, the communication interface unit 12 of the servo driver can communicate data with the target encoder 20 that uses different circuits for communication, thereby improving the compatibility of the servo driver; in software, the processing unit 112 of the main control unit 11 can receive data sent by the target encoder 20 from the communication interface unit 12 and convert it into a target data format, and then transmit it to the algorithm control unit 111 for algorithm control, thereby realizing that the servo driver is compatible with multiple communication protocols and can communicate with encoders that support different communication protocols, thereby improving the compatibility of the servo driver.

[0061] Another optional embodiment of the present invention:

[0062] A method for being compatible with multiple encoder protocols provided in this embodiment is applied to the servo drive as described above, and the method includes:

[0063] The main control unit 11 switches the communication state of at least one differential signal generating circuit of at least two differential signal generating circuits included in the communication interface unit 12 according to the received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder 20.

[0064] Specifically, the communication state includes a receiving state, a sending state and a suspended state. The differential signal generating circuit may be an RS485 circuit.

[0065] Switching the communication state of at least one differential signal generating circuit of at least two differential signal generating circuits included in the communication interface unit 12 according to the received parameter instruction specifically includes: when the target encoder 20 is an encoder that uses a differential signal generating circuit for communication, that is, the parameter instruction includes: a first parameter instruction that characterizes the communication type as using a differential signal generating circuit for communication, switching one of the differential signal generating circuits as a signal transceiver for data reception and transmission according to the received first parameter instruction, and controlling the remaining differential signal generating circuits as signal floating ends. For example, if the communication interface unit 12 includes two differential signal generating circuits, then switching one differential signal generating circuit for data reception and transmission according to the received parameter instruction; controlling another differential signal generating circuit as a signal floating end. Alternatively, if the communication interface unit 12 includes three differential signal generating circuits, then controlling one of the differential signal generating circuits as a signal transceiver for data reception and transmission, and controlling the remaining two differential signal generating circuits as signal floating ends.

[0066] Switching the communication state of at least one of the at least two differential signal generating circuits included in the communication interface unit 12 according to the received parameter instruction, specifically includes: when the communication interface unit 12 includes at least two differential signal generating circuits, and the target encoder 20 is an encoder that uses RS422 circuit communication, that is, the parameter instruction includes: a second parameter instruction characterizing the communication type as using RS422 circuit communication, switching a differential signal generating circuit as a signal receiving end to receive data according to the received second parameter instruction; controlling another differential signal generating circuit as a signal sending end to send data, and controlling the remaining differential signal generating circuits as signal floating ends, to achieve communication with the encoder that uses RS422 circuit communication, if there are remaining differential signal generating circuits, then controlling the remaining differential signal generating circuits as signal floating ends.

[0067] The communication state of at least one differential signal generating circuit of at least two differential signal generating circuits included in the communication interface unit 12 is switched according to the received parameter instruction, specifically including: when the communication interface unit 12 includes at least three differential signal generating circuits, and the target encoder 20 is a differential encoder, that is, the parameter instruction includes: the third parameter instruction representing the communication type as communication using ABZ circuit, according to the third parameter instruction, the three differential signal generating circuits are switched as signal receiving ends for data reception, that is, data from the differential encoder is received, that is, the differential incremental encoder outputs signals of A+, A-, B+, B-, Z+, and Z-; if there are idle differential signal generating circuits, the idle differential signal generating circuits are controlled to be the signal floating end.

[0068] The method also includes: the processing unit 112 receives data sent by the target encoder 20 from the communication interface unit 12, and converts the data sent by the target encoder 20 into a target data format according to a correspondence table between the communication protocol type and the parameter instruction, and sends it to the algorithm control unit 111; the processing unit 112 receives the data sent by the algorithm control unit 111, converts it into a data format compatible with the communication interface unit 12, and sends it to the communication interface unit 12, so that the communication interface unit 12 sends the data to the target encoder 20.

[0069] A method for being compatible with multiple encoder protocols provided in this embodiment includes: switching the communication state of at least one differential signal generating circuit of at least two differential signal generating circuits included in a communication interface unit 12 according to a received parameter instruction, wherein the parameter instruction is used to characterize the encoder communication protocol type supported by the target encoder; by implementing the above scheme, the servo drive can switch the communication state of at least one differential signal generating circuit of at least two differential signal generating circuits included in the communication interface unit 12 according to the received parameter instruction, so that the communication interface unit 12 of the servo drive can communicate data with the target encoder 20 that adopts the corresponding circuit for communication, thereby improving the compatibility of the servo drive, and can also receive data sent by the target encoder 20 from the communication interface unit 12, and convert the data sent by the target encoder 20 into a target data format, thereby realizing algorithmic control of the data sent by the target encoder 20, realizing that the servo drive is compatible with multiple communication protocols, and can communicate with encoders supporting different communication protocols, thereby improving the compatibility of the servo drive.

[0070] The present embodiment also provides a computer-readable storage medium, which includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer.

[0071] The computer-readable storage medium in this embodiment can be used to store one or more computer programs, and the one or more computer programs stored therein can be executed by a processor to implement at least one step performed by the above-mentioned servo driver.

[0072] This embodiment also provides a computer program (or computer software), which can be distributed on a computer-readable medium and executed by a computing device to implement at least one step performed by the above-mentioned industrial control adapter; and in some cases, at least one of the steps shown or described can be executed in an order different from that described in the above-mentioned embodiment.

[0073] This embodiment further provides a computer program product, including a computer readable device, on which the computer program as shown above is stored. In this embodiment, the computer readable device may include the computer readable storage medium as shown above.

[0074] It can be seen that those skilled in the art should understand that all or some of the steps, systems, and functional modules / units in the above disclosed methods can be implemented as software (which can be implemented with computer program code executable by a computing device), firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component can have multiple functions, or a function or step can be performed by several physical components in cooperation. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit.

[0075] In addition, it is well known to those skilled in the art that communication media generally contain computer readable instructions, data structures, computer program modules or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery media. Therefore, the present invention is not limited to any specific hardware and software combination.

[0076] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A servo driver compatible with multiple encoder protocols, characterized in that: The servo drive comprises: A main control unit and a communication interface unit connected to the main control unit, wherein the communication interface unit includes at least two differential signal generating circuits; the communication interface unit is connected to the target encoder; The main control unit is used to switch the communication state of at least one of the differential signal generating circuits according to the received parameter instructions, wherein the parameter instructions are used to characterize the encoder communication protocol type supported by the target encoder, and the communication state includes a receiving state, a sending state and a suspended state.

2. The servo driver compatible with multiple encoder protocols as claimed in claim 1, characterized in that: The parameter instruction includes: a first parameter instruction indicating that the communication type is communication using a differential signal generating circuit, and the main control unit is specifically used for: According to the received first parameter instruction, one of the differential signal generating circuits is switched to serve as a signal transceiver to receive and send data.

3. The servo driver compatible with multiple encoder protocols as claimed in claim 1, characterized in that: The parameter instruction includes: a second parameter instruction indicating that the communication type is RS422 circuit communication, and the main control unit is specifically used for: Switching one of the differential signal generating circuits as a signal receiving end to receive data according to the received second parameter instruction; Another differential signal generating circuit is controlled to serve as a signal sending end to send data.

4. The servo driver compatible with multiple encoder protocols as claimed in claim 1, characterized in that: The communication interface unit includes three differential signal generating circuits, the parameter instruction includes: a third parameter instruction indicating that the communication type is ABZ circuit communication, and the main control unit is specifically used for: According to the third parameter instruction, the three differential signal generating circuits are switched to serve as signal receiving ends for data reception.

5. The servo driver compatible with multiple encoder protocols as described in any one of claims 1 to 4, characterized in that: The main control unit is also used to control the differential signal generating circuit in the communication interface unit that does not participate in data reception or transmission as a signal floating end.

6. The servo driver compatible with multiple encoder protocols as claimed in claim 1, characterized in that: The main control unit includes an algorithm control unit and a processing unit connected in communication therewith; The processing unit is used to switch the communication state of at least one differential signal generating circuit according to the received parameter instruction; The processing unit is also used to receive the data sent by the target encoder from the communication interface unit, and convert the data sent by the target encoder into a target data format and send it to the algorithm control unit; The processing unit is also used to receive data sent by the algorithm control unit, convert the data into a data format compatible with the communication interface unit, and send the data to the communication interface unit, so that the communication interface unit sends the data to the target encoder.

7. The servo driver compatible with multiple encoder protocols as claimed in claim 6, characterized in that: The servo drive also includes a memory in communication connection with the processing unit; The memory is used to store a correspondence table between encoder communication protocol types and parameter instructions; The processing unit is specifically used to switch the communication state of at least one differential signal generating circuit according to the correspondence table and the received parameter instruction, and convert the data received from the target encoder into a target data format according to the correspondence table and send it to the algorithm control unit.

8. The servo driver compatible with multiple encoder protocols according to any one of claims 1 to 4 or any one of claims 6 to 7, characterized in that: The differential signal generating circuit is an RS485 circuit.

9. A method for being compatible with multiple encoder protocols, applied to a servo drive, characterized in that: The servo drive comprises: A main control unit and a communication interface unit connected to the main control unit, wherein the communication interface unit includes at least two differential signal generating circuits; the communication interface unit is connected to the target encoder; The method comprises: The main control unit switches the communication state of at least one of the at least two differential signal generating circuits according to the received parameter instructions, wherein the at least two differential signal generating circuits are communicatively connected to the target encoder, the parameter instructions are used to characterize the encoder communication protocol type supported by the target encoder, and the communication states include a receiving state, a sending state and a suspended state.

10. The method for being compatible with multiple encoder protocols as claimed in claim 9, characterized in that: The main control unit includes an algorithm control unit and a processing unit in communication with the algorithm control unit, and the method further includes: The processing unit receives the data sent by the target encoder from the communication interface unit, and converts the data sent by the target encoder into a target data format and sends it to the algorithm control unit; The processing unit receives the data sent by the algorithm control unit, converts the data into a data format compatible with the communication interface unit, and sends the data to the communication interface unit, so that the communication interface unit sends the data to the target encoder.

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