Servo drive data adaptation method, device, system, equipment and medium

Abstract

The embodiments of the present application relate to the field of intelligent control, and to a data adaptation method and device, system, equipment and medium for a servo drive. The method is applied to a communication adapter module in a controller, and the servo drive is connected to a control module in the controller through the communication adapter module; the method includes: receiving interactive data between the control module and the servo drive; obtaining the model of the servo drive from a mapping table of the servo drive axis number and model; according to the model of the servo drive, converting the format of the interactive data into a data format that matches the data receiver; and sending the interactive data after the conversion to the data receiver. The embodiments of the present application can identify the model of the servo drive, adapt the data format between the controller and the servo drive, and realize the communication between the controller and servo drives of different models. After replacing the servo drive, there is no need to change the software and hardware of the controller and the communication adapter module, which improves the maintainability and scalability of the system.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a data adaptation method and device, system, equipment and medium for a servo drive. Background Art

[0002] In a servo system, the controller is usually used as the master station and the servo drive is used as the slave station. The master station sends control instructions to the slave station and receives servo data from the slave station. On the slave station side, the servo drive is used to drive the servo motor, so that the machine equipment can be controlled to complete the predetermined action or task. For example, the servo drive can drive the servo motor to control the robot to complete the predetermined action. The servo drive, motor and robot on the slave station side can be called the slave station device.

[0003] Normally, the system can only identify the model of the slave device, but not the model of each servo drive on the slave device. When the slave device is replaced with a new servo drive, if the machine equipment is taught according to the original method, there is a possibility of accidents or dangers. In addition, the different bus protocols integrated in the system require different hardware support, resulting in increased hardware costs and poor maintainability and scalability. If a new communication protocol is developed, both the hardware and software need to be redesigned, increasing development costs. Even if different servo drives use the same bus protocol, the data format during communication may be different, resulting in a long development cycle and high development costs. Summary of the invention

[0004] In view of the above problems in the prior art, the embodiments of the present application provide a data adaptation method and device, system, equipment and medium for a servo drive, which can automatically identify the model of the servo drive through a communication adapter module, and automatically adapt the data format between the controller and the servo drive, thereby achieving the purpose of communication between the controller and servo drives of different models. Even if the model of the servo drive is changed, the software and hardware of the controller and the communication adapter module do not need to be changed, which improves the maintainability and scalability of the system.

[0005] To achieve the above-mentioned object, the first aspect of the present application provides a data adaptation method for a servo drive, the method being applied to a communication adapter module in a controller, the servo drive being connected to a control module in the controller via the communication adapter module; the method comprising:

[0006] Receiving interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module;

[0007] Searching a pre-generated mapping table of servo drive axis numbers and models, and obtaining the model of the servo drive from the mapping table;

[0008] According to the model of the servo drive, the format of the interactive data is converted into a data format matching a data receiver;

[0009] The interactive data after the format conversion is sent to the data receiving party.

[0010] As a possible implementation manner of the first aspect, the step of pre-generating the mapping table includes:

[0011] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive;

[0012] A mapping table of the servo drive axis numbers and models is generated according to the axis numbers and models of the servo drives.

[0013] As a possible implementation manner of the first aspect, the step of pre-generating the mapping table includes:

[0014] receiving and storing device description files;

[0015] A mapping table between the axis number and the model of the servo drive is generated according to the device description file.

[0016] As a possible implementation manner of the first aspect, after generating the mapping table, the method further includes:

[0017] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive in the current state;

[0018] Comparing the axis number and model of each servo drive in the current state with the pre-generated mapping table;

[0019] In the case that the axis numbers and models of the servo drives in the current state do not match the pre-generated mapping table, the mapping table is updated according to the axis numbers and models of the servo drives in the current state.

[0020] As a possible implementation manner of the first aspect, the method further includes:

[0021] The control module and the communication adapter module perform data exchange via a dual-port memory interface.

[0022] As a possible implementation manner of the first aspect, the method further includes:

[0023] monitoring the mapping table;

[0024] When an abnormality is detected in the mapping table, the abnormality information is sent to the control module.

[0025] A second aspect of the present application provides a control system, including a servo drive and a controller; the controller includes a control module and a communication adapter module;

[0026] The servo driver is used to drive the servo motor;

[0027] The control module receives the servo data sent by the servo driver through the communication adapter module, and sends a control instruction to the servo driver through the communication adapter module;

[0028] The communication adaptation module is used to execute the data adaptation method described in any one of the first aspects above, convert the format of the interactive data between the control module and the servo driver into a data format matching a data receiver, and send the converted interactive data to the data receiver.

[0029] In a third aspect of the present application, a data adapter device for a servo drive is provided, wherein the device is arranged in a communication adapter module in a controller, and the servo drive is connected to a control module in the controller via the communication adapter module; the device comprises:

[0030] A receiving unit, configured to receive interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module;

[0031] A search unit, used to search a pre-generated mapping table of servo drive axis numbers and models, and obtain the model of the servo drive from the mapping table;

[0032] A conversion unit, used for converting the format of the interactive data into a data format matching a data receiver according to the model of the servo drive;

[0033] The sending unit is used to send the interactive data after the format conversion to the data receiving party.

[0034] As a possible implementation manner of the third aspect, the apparatus further includes a generating unit, which is used to pre-generate the mapping table, specifically to:

[0035] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive;

[0036] A mapping table of the servo drive axis numbers and models is generated according to the axis numbers and models of the servo drives.

[0037] As a possible implementation manner of the third aspect, the apparatus further includes a generating unit, which is used to pre-generate the mapping table, specifically to:

[0038] receiving and storing device description files;

[0039] A mapping table between the axis number and the model of the servo drive is generated according to the device description file.

[0040] As a possible implementation manner of the third aspect, the apparatus further includes an updating unit, which is configured to update the mapping table after generating the mapping table, and is specifically configured to:

[0041] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive in the current state;

[0042] Comparing the axis number and model of each servo drive in the current state with the pre-generated mapping table;

[0043] In the case that the axis numbers and models of the servo drives in the current state do not match the pre-generated mapping table, the mapping table is updated according to the axis numbers and models of the servo drives in the current state.

[0044] As a possible implementation manner of the third aspect, the control module and the communication adapter module exchange data through a dual-port memory interface.

[0045] As a possible implementation manner of the third aspect, the apparatus further includes a monitoring unit, wherein the monitoring unit is configured to:

[0046] monitoring the mapping table;

[0047] When an abnormality is detected in the mapping table, the abnormality information is sent to the control module.

[0048] A fourth aspect of the present application provides a computing device, including:

[0049] Communication interface;

[0050] at least one processor connected to the communication interface; and

[0051] At least one memory is connected to the processor and stores program instructions, and when the program instructions are executed by the at least one processor, the at least one processor executes any method described in the first aspect.

[0052] In a fifth aspect, the present application provides a computer-readable storage medium having program instructions stored thereon, wherein when the program instructions are executed by a computer, the computer executes any of the methods described in the first aspect.

[0053] These and other aspects of the invention will become more apparent from the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The following further illustrates the various features of the present invention and the relationship between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, some features are not shown in actual proportion, and some drawings may omit the conventional features in the field involved in the present application and are not necessary for the present application, or additionally show the features that are not necessary for the present application. The combination of the various features shown in the accompanying drawings is not intended to limit the present application. In addition, throughout this specification, the same figure numerals refer to the same content. The specific description of the drawings is as follows:

[0055] Figure 1 A schematic diagram of a connection method between a controller and a servo driver of a servo system in the prior art;

[0056] Figure 2 A schematic diagram of an embodiment of a data adaptation method for a servo drive provided in an embodiment of the present application;

[0057] Figure 3 A schematic diagram of a connection method between an improved controller and a servo driver according to an embodiment of a data adaptation method for a servo driver provided in an embodiment of the present application;

[0058] Figure 4 A schematic diagram of an embodiment of a data adaptation method for a servo drive provided in an embodiment of the present application;

[0059] Figure 5 An internal architecture diagram of a communication adapter module of a data adaptation method for a servo drive provided in an embodiment of the present application;

[0060] Figure 6 A communication flow chart of an embodiment of a data adaptation method for a servo drive provided in an embodiment of the present application;

[0061] Figure 7 A schematic diagram of an embodiment of a data adaptation device for a servo drive provided in an embodiment of the present application;

[0062] Figure 8 A schematic diagram of an embodiment of a data adaptation device for a servo drive provided in an embodiment of the present application;

[0063] Fig. 9 A schematic diagram of a computing device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0064] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0065] In the following description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the previous and next steps can be interchanged, or they can be executed simultaneously.

[0066] The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Therefore, it should be interpreted as specifying the presence of the features, integers, steps or components mentioned, but does not exclude the presence or addition of one or more other features, integers, steps or components and groups thereof. Therefore, the expression "a device comprising means A and B" should not be limited to a device consisting of components A and B only.

[0067] References to "one embodiment" or "an embodiment" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing in various places in this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the particular features, structures, or characteristics can be combined in any appropriate manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application. In the event of any inconsistency, the meaning described in this specification or the meaning derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application. In order to accurately describe the technical content in this application and to accurately understand the present invention, the following explanations or definitions are given to the terms used in this specification before describing the specific embodiments:

[0069] 1) Servo system: A servo system is an automatic control system that uses a certain component (such as a control rod) to make the state of the system reach or approach a certain predetermined value, and can compare the desired state (required value) with the actual state, and adjust the control component according to their difference (sometimes the rate of change of this difference). The servo system mainly consists of three parts: controller, power drive device, feedback device and motor. The controller adjusts the control quantity according to the difference between the given value of the numerical control system and the actual operating value detected by the feedback device; the power drive device, as the main circuit of the system, on the one hand, applies the electric energy in the power grid to the motor according to the size of the control quantity to adjust the size of the motor torque, and on the other hand, converts the constant voltage and frequency power supply of the power grid into the AC or DC power required by the motor according to the requirements of the motor; the motor drives the machine to operate according to the power supply size. The servo system is an automatic control system that enables the output controlled quantity such as the position, orientation, and state of an object to follow any changes in the input target (or given value). Its main task is to amplify, transform and regulate the power according to the requirements of the control command, so that the torque, speed and position control output by the drive device are very flexible and convenient. In many cases, a servo system refers specifically to a feedback control system in which the controlled quantity (the output of the system) is a mechanical displacement or displacement velocity or acceleration. Its function is to make the output mechanical displacement (or angle of rotation) accurately track the input displacement (or angle of rotation). Its structural composition is no different in principle from other forms of feedback control systems.

[0070] 2) Servo drive: It is a controller used to control the servo motor. Its function is similar to that of a frequency converter on an ordinary AC motor. It is part of the servo system and is mainly used in high-precision positioning systems. Generally, the servo motor is controlled by position, speed and torque to achieve high-precision transmission system positioning.

[0071] The following first introduces the existing method, and then introduces the technical solution of the present application in detail.

[0072] Figure 1 The figure is a schematic diagram of the connection between the controller and the servo driver of the servo system in the prior art. Figure 1In the example, the servo system includes a controller and a servo drive group. The controller and the servo drive group are connected through a communication bus. Servo drives 003, 004, 005, and 006 in the servo drive group are connected to servo motor 1, servo motor 2, servo motor 3, and servo motor n respectively through encoder cables. The controller includes a control module 001 and a communication module 002. In a servo system, the controller is usually used as a master station and the servo drive is used as a slave station. The master station sends control instructions to the slave station and receives servo data from the slave station. On the slave side, the servo drive is used to drive the servo motor, so that the machine equipment can be controlled to complete a predetermined action or task. For example, the servo drive can drive the servo motor to control the robot to complete a predetermined action. The servo drive, motor, and robot as a whole on the slave side can be called a slave device.

[0073] The servo system of the prior art can automatically identify the model of the slave device and start the control interface in the teach pendant that matches the model of the slave device according to the model of the slave device, so as to teach the robot for the predetermined action. In this process, there is no need for the operator to judge the model and install the corresponding teaching system. However, the system can only identify the model of the slave device, but cannot identify the model of each servo driver on the slave device. When the slave device is replaced with a new servo driver, if the machine equipment is taught according to the original method, there is a possibility of accidents or dangers.

[0074] In addition, a CNC system that supports multiple bus communication protocols can achieve the goal of using only one controller to communicate with drives that support different types of communication protocols. It can support multiple bus communication protocols, and when switching from one communication protocol to another, there is no need to redevelop a new control system. However, different bus protocols integrated in the system require different hardware support, which increases hardware costs and has poor maintainability and scalability. If a new communication protocol is developed, both the hardware and software need to be redesigned, increasing development costs. At the same time, see Figure 1 , the controller and communication module are integrated together, with high coupling. Even if different servo drives use the same bus protocol, the data format during communication may be different. Therefore, it is necessary to develop corresponding communication modules for different drives. The communication modules of different models of slave devices or controllers are not universal, resulting in a long development cycle and high development costs.

[0075] The existing technology has the following defects: it cannot identify the model of each servo drive on the slave device. When the slave device is replaced with a new servo drive, there is a possibility of accidents or dangers, and the system safety is poor; different bus protocols integrated in the system require different hardware support, which increases the hardware cost, and has poor maintainability and scalability, and high development costs. At the same time, the controller and the communication module are integrated together, with high coupling; it is necessary to develop corresponding communication modules for different servo drives, resulting in a long development cycle and high development costs.

[0076] Based on the technical problems existing in the above-mentioned prior art, the present application provides a data adaptation method and device, system, equipment and medium for a servo drive, which can automatically identify the model of the servo drive through the communication adapter module, and automatically adapt the data format between the controller and the servo drive, thereby achieving the purpose of communication between the controller and servo drives of different models. Even if the model of the servo drive is changed, there is no need to make any changes to the software and hardware of the controller and the communication adapter module, thereby solving the technical problems of poor safety, maintainability, poor scalability and high development cost mentioned in the prior art. In addition, in the embodiment of the present application, the communication adapter module and the control module are separately set in the controller, and the communication adapter module and the control module, and the communication adapter module and the servo drive communicate with each other through a predetermined channel, which reduces the coupling between the various components in the system, facilitates the development of software and hardware, and thus solves the technical problems of high coupling, long development cycle and high development cost mentioned in the prior art.

[0077] Figure 2 The present invention provides a schematic diagram of a data adaptation method for a servo drive according to an embodiment of the present invention. The method is applied to a communication adapter module in a controller, and the servo drive is connected to a control module in the controller through the communication adapter module. Figure 2 As shown, the method may include:

[0078] Step S110, receiving interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module;

[0079] Step S120, searching a pre-generated mapping table of servo drive axis numbers and models, and obtaining the model of the servo drive from the mapping table;

[0080] Step S130, converting the format of the interactive data into a data format matching a data receiver according to the model of the servo drive;

[0081] Step S140: sending the format-converted interactive data to the data receiver.

[0082] Figure 3 A schematic diagram of the connection between the improved controller and the servo driver according to an embodiment of the data adaptation method of the servo driver provided in the embodiment of the present application. Figure 3 In the example, the servo system includes a controller and a servo drive group. The controller includes a communication adapter module 009 and a control module 007. The servo drive group includes several servo drives. The servo drive can be referred to as a drive. The servo drive is connected to the control module through the communication adapter module. Among them, the function of the control module includes sending control instructions to the servo drive and receiving servo data from the servo drive; the function of the communication adapter module includes converting the format of the interactive data between the control module and the servo drive into a data format that matches the data receiver, and sending the converted interactive data to the data receiver. Different from the prior art, the control module and the communication adapter module are separately provided and not integrated together. The control module and the communication adapter module communicate interactively through channel 1 (008). The communication adapter module and the servo drive group communicate interactively through channel 2 (010). The servo drives 011, 012, 013, and 014 in the servo drive group are respectively connected to servo motor 1, servo motor 2, servo motor 3, and servo motor n through encoder cables.

[0083] In another embodiment, the communication adapter module can be separated from the controller as an independent module. The servo system includes a controller, a communication adapter module and a servo drive group. The servo drive is connected to the controller through the communication adapter module. The functions of the controller include sending control instructions to the servo drive and receiving servo data from the servo drive; the functions of the communication adapter module include converting the format of the interactive data between the controller and the servo drive into a data format that matches the data recipient, and sending the converted interactive data to the data recipient. In this embodiment, the interactive data between the controller and the servo drive is received in step S110; in steps S120 to S140, the interactive data that matches the format of the data recipient is sent to the data recipient.

[0084] See also Figure 2 and Figure 3In one example, the interactive data between the control module and the servo driver may include a control instruction sent by the control module to the servo driver. The control module and the servo driver perform interactive communication through the communication adapter module. The control module sends the control instruction to the communication adapter module, and then sends it to the servo driver through the communication adapter module. In step S110, the communication adapter module receives the control instruction sent from the control module to the specified servo driver. In step S120, the communication adapter module searches for the specified servo driver in the pre-generated mapping table of the servo driver axis number and model, and obtains the model of the specified servo driver from the mapping table. Among them, the mapping table of the driver axis number and model stores the corresponding relationship between the axis number and model of all servo drivers in the network structure where the controller is located. Servo drivers of different models may use different data formats and communication protocols. In step S130, according to the model of the specified servo driver, the data format and communication protocol adopted by the driver can be known. According to the data format and communication protocol adopted by the driver, the format of the control instruction is converted into a data format matching the specified servo driver. In step S140, the interactive data after the conversion format is sent to the specified servo driver.

[0085] As mentioned above, different types of servo drives may use different data formats. For example, for a bus-type drive, in the control instruction indicating its driven object, it is necessary to indicate the starting position A and the end position B of the movement of its driven object; for a pulse-type drive, in the control instruction indicating its driven object, it is necessary to indicate the distance moved by its driven object in each unit time. Among them, milliseconds can be used as the unit time in the instruction. Specifically, the controller sends a control instruction to the specified drive. The control instruction is used to instruct the drive to drive the servo motor to control the planned path of the movement of the end of the robot arm. The control module sends the control instruction to the communication adapter module. The communication adapter module obtains the model of the specified servo drive from the mapping table. In one case, if the specified drive is a bus-type drive, then according to the data format adopted by the bus-type drive, the control instruction content can be converted into the following form: instruct the drive to drive the servo motor to control the end of the robot arm to move from position A to position B within a time period. In another case, if the designated driver is a pulse type driver, then according to the data format adopted by the pulse type driver, the control instruction content can be converted into the following form: instructing the driver to drive the servo motor to control the distance and direction of movement of the end of the robotic arm in the 1st millisecond, the 2nd millisecond, ... the nth millisecond, and to move from position A to position B within n milliseconds.

[0086] In another example, the interactive data between the control module and the servo driver may include servo data sent by a servo driver to the control module. The servo driver first sends the servo data to the communication adapter module, and then sends it to the control module through the communication adapter module. In step S110, the communication adapter module receives the servo data sent to the control module from the servo driver. In step S120, the communication adapter module searches for the servo driver in a pre-generated mapping table of servo driver axis numbers and models, and obtains the model of the servo driver from the mapping table. In step S130, the data format and communication protocol adopted by the servo driver can be obtained according to the model of the servo driver. The servo data is parsed according to the data format and communication protocol adopted by the servo driver, and the format of the servo data is converted into a data format that matches the control module. In step S140, the interactive data after the converted format is sent to the control module.

[0087] For example, the communication adapter module reads servo data from each servo driver. The read servo data is first received by the communication adapter module. The communication adapter module searches the mapping table to learn the data format and communication protocol of the servo data. In one example, the servo data includes the current position of the driven object, and the communication adapter module extracts the current position from the data packet and sends it to the control module. The above process is the reverse process of the packet sending process. For example, if the data is position data in the EtherCAT communication protocol format, the data finally received by the control module is: "p=1, tp=20000", indicating that the actual position of the current first motor is 20000. During the entire sending and receiving process, the control module only needs to send and receive the data it is concerned about, without having to care about the general protocol for data interaction and the interactive servo model. In the embodiment of the present application, the control module and the servo driver interact and communicate through the communication adapter module, which reduces the coupling between the various components in the system and improves the maintainability and scalability of the system.

[0088] In summary, the control module sends control instructions to the communication adapter module, which parses the control instructions and generates instruction formats that match the servo drive and sends them to the specified drive; the communication adapter module reads data from each drive and generates data formats that match the control module and sends them to the controller. Through the above interaction, a cycle of receiving and sending data can be completed, and the controller can automatically identify the drive model and communicate with different models of drives.

[0089] The embodiment of the present application can automatically identify the model of the servo drive through the communication adapter module, and automatically adapt the data format between the controller and the servo drive, thereby achieving the purpose of communication between the controller and servo drives of different models. Even if the model of the servo drive is changed, the software and hardware of the controller and the communication adapter module do not need to be changed, which improves the maintainability and scalability of the system.

[0090] In one embodiment, the step of pre-generating the mapping table includes:

[0091] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive;

[0092] A mapping table of the servo drive axis numbers and models is generated according to the axis numbers and models of the servo drives.

[0093] Taking EtherCAT bus as an example, the device numbers of the devices connected to the EtherCAT bus can be automatically numbered starting from 0 according to the connection order. The drive number can also be automatically numbered starting from 0 according to the connection order. The drive connected to the EtherCAT bus needs to use instructions to map the drive's axis number. After the mapping is completed, the BASE instruction can be used to select the drive axis number and send pulses to control the operation of the motor connected to the drive.

[0094] In the embodiment of the present application, after the controller is turned on, the communication adapter module can automatically scan each servo drive in the network topology structure to obtain the axis number, brand and model of each servo drive. According to the corresponding relationship between the axis number and brand and model of each servo drive, a mapping table of the drive axis number and the drive brand and model is generated, that is, a mapping table of the servo drive axis number and model, referred to as a mapping table.

[0095] In one embodiment, the step of pre-generating the mapping table includes:

[0096] receiving and storing device description files;

[0097] A mapping table between the axis number and the model of the servo drive is generated according to the device description file.

[0098] In one example, a PC-side tool can be used to transfer the device description file provided by the drive manufacturer to the communication adapter module. The communication adapter module extracts the axis number, brand, and model of the servo drive from the device description file, and generates a mapping table between the drive axis number and the drive brand and model based on the corresponding relationship between the axis number and brand and model of each servo drive in the network structure.

[0099] Figure 4Schematic diagram of an embodiment of a data adaptation method for a servo drive provided in an embodiment of the present application. Figure 4 As shown, in one embodiment, after generating the mapping table, the method further includes:

[0100] Step S210, scanning all servo drives in the network structure where the controller is located, and obtaining the axis number and model of each servo drive in the current state;

[0101] Step S220, comparing the axis number and model of each servo drive in the current state with the pre-generated mapping table;

[0102] Step S230, when the axis numbers and models of the servo drives in the current state do not match the pre-generated mapping table, update the mapping table according to the axis numbers and models of the servo drives in the current state.

[0103] After the mapping table is generated, the servo drive in the network structure may need to be replaced due to system maintenance, repair, etc. The replaced servo drive may be of a different model than the original drive, so the model information of the originally generated mapping table needs to be updated. In an embodiment of the present application, each time the system is turned on, the communication adapter module automatically scans the axis number, brand, and model of each servo drive in the network topology. The axis number and model of each servo drive in the current state obtained by scanning are then compared with the pre-generated mapping table to confirm whether the model of each servo drive has changed. If the axis number and model of each servo drive in the current state do not match the pre-generated mapping table, the mapping table is updated according to the axis number and model of each servo drive in the current state.

[0104] In one embodiment, the method further comprises:

[0105] The control module and the communication adapter module perform data exchange via a dual-port memory interface.

[0106] Traditional single-port memory has a major drawback: data can only be processed, analyzed or saved after collection is completed. The inevitable result of this is that new data can only be collected again after the collected data has been processed. However, many applications require continuous and uninterrupted monitoring of signals and require the device to work continuously. In contrast, dual-port memory (DPM) refers to the same memory having two sets of independent read and write control lines. Since parallel independent operations are performed, dual-port memory is a high-speed memory. It provides two independent ports, each of which has its own address line, data line and control line. Using dual-port memory to obtain the same signal, because there is no pause, the user can obtain complete data. And the use of dual-port memory can bring twice the memory bandwidth, which is of great benefit to those software that frequently exchanges memory data. In the embodiment of the present application, the control module and the communication adapter module exchange data through the dual-port memory interface, which can shorten the communication delay, improve the communication efficiency, and further improve the system performance.

[0107] In one embodiment, the method further comprises:

[0108] monitoring the mapping table;

[0109] When an abnormality is detected in the mapping table, the abnormality information is sent to the control module.

[0110] In order to further improve the reliability of the system, the mapping table and the system's hardware and software can be monitored. In the event of an abnormality being monitored, the abnormal information can be sent to the control module. For example, the monitored abnormal conditions may include at least one of the following: the mapping table stored in the communication adapter module is lost; a certain model of servo drive is not included in the mapping table file, and the mapping table needs to be updated; the mapping table file does not include a certain new communication protocol, and the protocol conversion logic needs to be updated; the adapter module hardware and software versions are not compatible with the controller. In one example, the error code of the abnormal information can be divided into two types: prompt code and error code. The error code definition and error message meaning between the communication adapter module and the controller can be in a custom format.

[0111] Figure 5 This is an internal architecture diagram of the communication adapter module of the data adaptation method of the servo drive provided in the embodiment of the present application. Figure 3 and Figure 5 , the internal architecture of the communication adapter module is as follows:

[0112] 1) Channel 1( Figure 5015): The control module and the communication adapter module communicate via channel 1. In one example, channel 1 between the control module and the communication adapter module uses a dual-port memory interface for communication. The data format of the communication between the control module and the communication adapter module can be a custom format.

[0113] 2) Channel 2( Figure 5 The communication adapter module and the driver communicate via channel 2. In one example, the communication protocol between the communication adapter module and the driver may use the EtherCAT communication protocol.

[0114] 3) The control module can set the communication cycle of the communication adapter module. In one example, the communication cycle between the sending module in the communication adapter module and the driver is determined by the value set by the control module, in ms, and the specific implementation can set the cycle to 4ms; the communication cycle between the receiving module in the communication adapter module and the driver is the same as the communication cycle between the sending module and the driver, in ms, and the specific implementation can set the cycle to 4ms.

[0115] 4) Use the PC tool to transfer the device description file provided by the driver manufacturer to the communication adapter module ( Figure 5 In one example, the space for storing the driver device description file in the communication adapter module is set to 5M bytes, which can store about 1024 device description files. The FTP (File Transfer Protocol) software on the PC (Personal Computer) side can be used to import the device description file of the servo driver into the communication adapter module through channel 1.

[0116] 5) Communication protocol stack module ( Figure 5 The label 024 in the communication adapter module): The network communication protocol stack is implemented inside the communication adapter module to implement the communication protocol with the servo drive. In one example, the sending module and the receiving module package the data through the communication protocol stack module, and receive and send the data through the network card.

[0117] 6) Downlink data buffer ( Figure 5 The communication adapter module sets a downlink data buffer to cache the instructions sent by the controller. In one example, the size of the downlink data buffer in the communication adapter module is set to 2M bytes.

[0118] 7) Driver scanning module ( Figure 5 Number 023): The communication adapter module automatically scans the servo drive brand and model in the network topology when it is powered on.

[0119] 8) Mapping table management module ( Figure 5 The communication adapter module generates an axis number-drive brand and model mapping table according to the stored device description file. The specific process can be found in the above description of the steps of pre-generating the mapping table, which will not be repeated here.

[0120] 9) Matching drive command generation module ( Figure 5 Label 018): The communication adapter module converts the controller command into a command format that matches the drive according to the mapping table.

[0121] 10) Sending module ( Figure 5 Number 019 in the communication adapter module): The sending module in the communication adapter module sends the command to the specified servo drive.

[0122] 11) Uplink data buffer ( Figure 5 026): The communication adapter module is provided with an uplink data buffer to cache the servo data. In one example, the size of the uplink data buffer in the communication adapter module is set to 2M bytes.

[0123] 12) Receiving module ( Figure 5 Number 029): The receiving module of the communication adapter module reads data from the servo drive.

[0124] 13) Data generation module matching controller ( Figure 5 Label 028): The communication adapter module converts the read servo data into a data format that matches the controller according to the mapping table.

[0125] 14) Data Packaging Module ( Figure 5 Label 027): The communication adapter module sends the converted data to the uplink data buffer.

[0126] 15) Abnormal monitoring module ( Figure 5 The communication adapter module has an alarm prompt function and gives a warning message when an abnormal situation is monitored.

[0127] See also Figure 5 For example, the downlink data communication process is as follows:

[0128] Step A1: Channel 1 (015) receives control instructions from the control module and stores them in the downlink data buffer (016);

[0129] Step A2: the instruction parsing module (017) parses the control instruction;

[0130] Step A3: The instruction generation module (018) matching the driver obtains the model, adopted protocol, data format and other contents of the driver from the driver description file management module (021) and the mapping table management module (022), and converts the control instructions issued by the control module into control instructions matching the driver; wherein, the driver description file (020) can be updated to the driver description file management module (021) through channel 1 (015); and the servo driver brand and model in the network topology structure are automatically scanned by the driver scanning module (023) when the machine is turned on, and a mapping table is generated and saved in the mapping table management module (022).

[0131] Step A4: The sending module (019) sends the control instruction matching the driver to the designated servo driver through the communication protocol stack module (024) and channel 2 (025).

[0132] See also Figure 5 For example, the uplink data communication process is as follows:

[0133] Step B1: Channel 2 (025) receives servo data from the servo driver, performs protocol conversion through the communication protocol stack module (024), and is received by the receiving module (029);

[0134] Step B2: The data generation module (028) of the matching controller obtains the model, adopted protocol, data format and other contents of the driver from the driver description file management module (021) and the mapping table management module (022), and converts the read servo data into a data format matching the controller; wherein, the driver description file (020) can be updated to the driver description file management module (021) through channel 1 (015); and the servo driver brand and model in the network topology structure are automatically scanned by the driver scanning module (023) when the machine is turned on, and a mapping table is generated and saved in the mapping table management module (022).

[0135] Step B3: the data packaging module (027) sends the servo data after format conversion to the uplink data buffer (026);

[0136] Step B4: Send the format-converted servo data to the control module via channel 1 (015).

[0137] Figure 6 A communication flow chart of an embodiment of the data adaptation method of the servo drive provided in the embodiment of the present application. Figure 6 As shown, the system workflow is as follows:

[0138] S001 The system is powered on.

[0139] The S002 communication adapter module automatically scans the servo and obtains the brand and model of the drive.

[0140] The S003 communication adapter module generates a mapping table between the axis number and the drive brand and model.

[0141] S004 The control module sends a control instruction to the communication adapter module.

[0142] The S005 communication adapter module parses the control instructions.

[0143] The S006 communication adapter module generates control instructions that match the drive.

[0144] S007 The sending module in the communication adapter module sends the control instruction to the protocol stack module.

[0145] After the S008 protocol stack module adds communication control information to the instruction, it sends the data to the driver through channel 2.

[0146] The S009 protocol stack module removes the communication control information from the servo data received from channel 2.

[0147] The S010 receiving module retrieves the servo data from the protocol stack.

[0148] The S011 communication adapter module generates servo data that matches the controller.

[0149] The S012 control module receives servo data through channel 1.

[0150] In summary, in the embodiment of the present application, the data format of the communication between the communication adapter module and the driver can be automatically and dynamically adjusted according to the different brands and models of the driver. The data adaptation method of the servo driver provided in the embodiment of the present application has the following beneficial effects:

[0151] 1. Reduce the maintenance and repair costs of slave equipment. Figure 3 , drivers 011~014 can be a combination of drivers of different brands and models. Even if the brand or model of the motor or driver is changed, the control module and communication module software and hardware do not need to be changed, and the user does not need to perform additional operations.

[0152] 2. Improve module reusability. The communication adapter module can be used in control systems with different functions and models.

[0153] 3. Reduce the cost of new product development. The control module and the communication adapter module are set independently. During the development process, you only need to focus on the implementation of other functional modules of the controller without paying attention to the communication part, which can enable rapid product iteration.

[0154] 4. Improve module maintainability. For new types of drivers that appear later, you only need to download the device description file provided by the driver manufacturer to the communication adapter module, and no changes are required to the software or hardware.

[0155] 5. Improve the flexibility of slave device design. Servo devices of different brands and models can be used together to give full play to the advantages of each driver.

[0156] 6. Reduce R&D risks. Product development is no longer subject to factors such as the supply capacity of a certain supplier or the inventory of a certain model of products in the factory.

[0157] 7. Improve safety. It can effectively prevent operators from ignoring the drive model and causing operational safety problems.

[0158] A second aspect of the present application provides a control system, including a servo drive and a controller; the controller includes a control module and a communication adapter module;

[0159] The servo driver is used to drive the servo motor;

[0160] The control module receives the servo data sent by the servo driver through the communication adapter module, and sends a control instruction to the servo driver through the communication adapter module;

[0161] The communication adapter module is used to execute the data adaptation method of the servo drive described in any of the above items, convert the format of the interactive data between the control module and the servo drive into a data format matching a data receiver, and send the interactive data in the converted format to the data receiver.

[0162] The architecture of the control system provided in the embodiment of the present application can be found in Figure 3 The connection diagram of the controller and servo drive in the servo system is shown in the figure. Figures 2 to 6 Regarding the beneficial effects of the control system or the technical problems it solves, please refer to the description in the data adaptation method of the servo drive mentioned above, or refer to the description in the content of the invention, which will not be repeated here.

[0163] like Figure 7 As shown, the present application also provides an embodiment of a corresponding data adapter device for a servo drive. The device is arranged in a communication adapter module in a controller, and the servo drive is connected to a control module in the controller through the communication adapter module. For the beneficial effects or technical problems solved by the device, please refer to the description in the methods corresponding to each device, or refer to the description in the content of the invention, which will not be repeated here.

[0164] In an embodiment of the data adaptation device of the servo drive, the device comprises:

[0165] The receiving unit 100 is used to receive interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module;

[0166] A search unit 200 is used to search a pre-generated mapping table of servo drive axis numbers and models, and obtain the model of the servo drive from the mapping table;

[0167] The conversion unit 300 is used to convert the format of the interactive data into a data format matching a data receiver according to the model of the servo drive;

[0168] The sending unit 400 is used to send the interactive data after the format conversion to the data receiving party.

[0169] like Figure 8 As shown, in one embodiment, the device further includes a generating unit 500, and the generating unit 500 is used to pre-generate the mapping table, specifically for:

[0170] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive;

[0171] A mapping table of the servo drive axis numbers and models is generated according to the axis numbers and models of the servo drives.

[0172] In one implementation, the device further includes a generating unit 500, and the generating unit 500 is used to pre-generate the mapping table, specifically:

[0173] receiving and storing device description files;

[0174] A mapping table between the axis number and the model of the servo drive is generated according to the device description file.

[0175] In one implementation, the apparatus further includes an updating unit 600, and the updating unit 600 is configured to update the mapping table after generating the mapping table, specifically, to:

[0176] Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive in the current state;

[0177] Comparing the axis number and model of each servo drive in the current state with the pre-generated mapping table;

[0178] In the case that the axis numbers and models of the servo drives in the current state do not match the pre-generated mapping table, the mapping table is updated according to the axis numbers and models of the servo drives in the current state.

[0179] In one implementation, the control module and the communication adapter module perform data exchange via a dual-port memory interface.

[0180] In one embodiment, the device further includes a monitoring unit 700, and the monitoring unit 700 is used to:

[0181] monitoring the mapping table;

[0182] When an abnormality is detected in the mapping table, the abnormality information is sent to the control module.

[0183] Fig. 9 9 is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0184] It should be understood that Fig. 9 The communication interface 930 in the computing device 900 shown in FIG. 9 may be used to communicate with other devices.

[0185] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit inside the processor 910, or an external storage unit independent of the processor 910, or a component including a storage unit inside the processor 910 and an external storage unit independent of the processor 910.

[0186] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via a bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc.

[0187] It should be understood that in the embodiment of the present application, the processor 910 may adopt a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. Alternatively, the processor 910 may adopt one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiment of the present application.

[0188] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a nonvolatile random access memory. For example, the processor 910 may also store information on the device type.

[0189] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform the operating steps of the above method.

[0190] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subjects in the methods according to the embodiments of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0191] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0192] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0193] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0194] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0196] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0197] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute a method for generating diversified questions, which includes at least one of the solutions described in the above embodiments.

[0198] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples (non-exhaustive lists) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, computer-readable storage media can be any tangible medium containing or storing programs, which can be used by instruction execution systems, devices or devices or used in combination with them.

[0199] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0200] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0201] Computer program code for performing the operation of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0202] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application is described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may also include more other equivalent embodiments without departing from the concept of the present invention, all of which belong to the protection scope of the present invention.

Claims

1. A data adaptation method for a servo drive, characterized in that: The method is applied to a communication adapter module in a controller, and the servo drive is connected to a control module in the controller via the communication adapter module; the method comprises: Receiving interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module; Searching a pre-generated mapping table of servo drive axis numbers and models, and obtaining the model of the servo drive from the mapping table; According to the model of the servo drive, the data format and communication protocol adopted by the servo drive are obtained, and accordingly the format of the interactive data is converted into a data format matching a data receiver; The interactive data after the format conversion is sent to the data receiving party.

2. The method according to claim 1, characterized in that Before receiving the interactive data between the control module and the servo driver, the mapping table is also generated, and the generating steps include: Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive; A mapping table of the servo drive axis numbers and models is generated according to the axis numbers and models of the servo drives.

3. The method according to claim 1, characterized in that Before receiving the interactive data between the control module and the servo driver, the mapping table is also generated, and the generating steps include: receiving and storing device description files; A mapping table between the axis number and the model of the servo drive is generated according to the device description file.

4. The method according to any one of claims 2 to 3, characterized in that After generating the mapping table, the method further includes: Scan all servo drives in the network structure where the controller is located to obtain the axis number and model of each servo drive in the current state; Comparing the axis number and model of each servo drive in the current state with the pre-generated mapping table; In the case that the axis numbers and models of the servo drives in the current state do not match the pre-generated mapping table, the mapping table is updated according to the axis numbers and models of the servo drives in the current state.

5. The method according to any one of claims 1 to 3, characterized in that The method further comprises: The control module and the communication adapter module perform data exchange via a dual-port memory interface.

6. The method according to any one of claims 1 to 3, characterized in that The method further comprises: monitoring the mapping table; When an abnormality is detected in the mapping table, the abnormality information is sent to the control module.

7. A control system, characterized in that: It includes a servo drive and a controller; the controller includes a control module and a communication adapter module; The servo driver is used to drive the servo motor; The control module receives the servo data sent by the servo driver through the communication adapter module, and sends a control instruction to the servo driver through the communication adapter module; The communication adaptation module is used to execute the data adaptation method as described in any one of claims 1 to 6, convert the format of the interactive data between the control module and the servo driver into a data format that matches the data recipient, and send the interactive data in the converted format to the data recipient.

8. A data adapter device for a servo drive, characterized in that: The device is arranged in a communication adapter module in the controller, and the servo drive is connected to the control module in the controller through the communication adapter module; the device comprises: A receiving unit, configured to receive interactive data between the control module and the servo driver; the interactive data includes a control instruction sent by the control module to the servo driver, or servo data sent by the servo driver to the control module; A search unit, used to search a pre-generated mapping table of servo drive axis numbers and models, and obtain the model of the servo drive from the mapping table; A conversion unit, used for obtaining the data format and communication protocol adopted by the servo drive according to the model of the servo drive, and converting the format of the interactive data into a data format matching the data receiving party accordingly; The sending unit is used to send the interactive data after the format conversion to the data receiving party.

9. A computing device, characterized in that include: Communication interface; at least one processor connected to the communication interface; as well as At least one memory connected to the processor and storing program instructions, wherein when the program instructions are executed by the at least one processor, the at least one processor executes the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having program instructions stored thereon, characterized in that: When the program instructions are executed by a computer, the computer executes the method according to any one of claims 1 to 6.

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