Servo drive device, control method, drive system, and storage medium

Abstract

The invention discloses a servo driving device, a control method, a driving system and a storage medium, and relates to the field of servo drivers, the device is applied to a programmable logic device, the device comprises a data processing module, an instruction resolving module, a loop feedback module and a loop calculation module, the data processing module processes a received issued instruction, and the loop calculation module calculates the loop feedback module and the loop feedback module; outputting loop feed-forward data and a position instruction; the instruction resolving module is connected with the data processing module, analyzes the position instruction and outputs a loop instruction; the loop feedback module is connected with the servo motor and is used for acquiring operation parameters of the servo motor and outputting loop feedback data; and the loop calculation module is respectively connected with the data processing module, the instruction resolving module and the loop feedback module, performs loop parallel calculation according to the loop instruction, the loop feedforward data and the loop feedback data, and outputs a corresponding motor driving signal to control a servo motor. According to the invention, the overall bandwidth of the device can be improved, and the rapidity and responsiveness of the device are improved.

Description

Technical Field

[0001] The present application relates to the technical field of servo drives, and in particular to a servo drive device, a control method, a drive system and a storage medium. Background Art

[0002] In the related technology, most servo drives use a three-chip architecture of MCU+FPGA+ASIC communication. The problems with this method are: the MCU needs to communicate in time-sharing mode, which prolongs the execution time of the current loop and limits the execution frequency of the current loop, resulting in reduced motor control accuracy and response speed; there is a beat delay in the MCU's data processing process, resulting in delays in both data reception and data transmission, and the delay time is at least one communication cycle; thus, the improvement of system bandwidth is limited. Summary of the invention

[0003] The main purpose of the present application is to provide a servo drive device, a control method, a drive system and a storage medium, aiming to solve the technical problems of low execution frequency of the current loop and communication delay in the servo drive in the related art.

[0004] To achieve the above-mentioned purpose, the present application proposes a servo drive device, which is applied to a programmable logic device and controls a servo motor. The device includes:

[0005] A data processing module is used to process the received instructions and output loop feedforward data and position instructions;

[0006] The instruction solving module is connected with the data processing module, and is used to analyze the position instruction and output the loop instruction;

[0007] A loop feedback module is connected to the servo motor, and the loop feedback module is used to collect operating parameters of the servo motor and output loop feedback data;

[0008] The loop calculation module is connected to the data processing module, the instruction solving module and the loop feedback module respectively. The loop calculation module is used to perform loop parallel calculation according to the loop instruction, the loop feedforward data and the loop feedback data, and output the corresponding motor drive signal to control the servo motor.

[0009] In one embodiment, the apparatus further comprises:

[0010] A data sorting module is connected to the loop feedback module, and is used to analyze and process the loop feedback data and output target data;

[0011] The data processing module is also connected to the data sorting module, and is also used to convert the target data into upload data to provide to the external device.

[0012] In one embodiment, the device is connected to a host computer for communication, and the device further comprises:

[0013] The communication module is connected to the host computer and the data processing module respectively. The communication module is used to download the issuing instructions provided by the host computer, output them to the data processing module, and upload the upload data output by the data processing module to the host computer.

[0014] In one embodiment, the apparatus further comprises:

[0015] The communication control module is respectively connected to the communication module, the data processing module, the instruction solving module, the loop feedback module, the loop calculation module and the data sorting module. The communication control module is used to control the communication module to execute corresponding download and upload actions according to the preset download time and upload time according to the preset communication control logic, and to perform data identification, data division and / or data configuration processing on the data transmitted between the modules, and execute data transmission actions accordingly.

[0016] In one embodiment, the communication control module is also used to provide dual communication channels between the modules, the dual communication channels include a real-time communication channel and a non-real-time communication channel; and is used to control the switching of the real-time communication channel and the non-real-time communication channel to be opened or closed according to the frame header and frame tail of the data frame corresponding to each communication cycle, and the corresponding upload time in each communication cycle.

[0017] In one embodiment, the communication control module is also used to perform data identification and data division on the real-time data transmitted between the modules when the real-time communication channel is opened, to obtain fixed field data and variable field data, and to control the fixed field data to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and fixed field content, and the variable field data is data with a fixed field length but a variable field content.

[0018] In one embodiment, the communication control module is also used to configure the non-real-time data transmitted between the modules when the non-real-time communication channel is opened, obtain the configured data, and transmit the configured data; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

[0019] In one embodiment, the data processing module includes:

[0020] A data processing submodule is connected to the loop calculation module, and is used to extract information from the received instructions and output loop feedforward data to the loop calculation module;

[0021] The parsing submodule is connected to the instruction solving module. The parsing submodule is used to identify the received instructions and output the position instructions to the instruction solving module.

[0022] In one embodiment, the data processing module further includes:

[0023] The encryption submodule is connected to the data sorting module. The encryption submodule is used to perform data type conversion and / or data encryption processing on the target data and output the uploaded data.

[0024] To achieve the above purpose, the present application also proposes a servo drive control method, the method comprising:

[0025] Process the received instructions to obtain loop feedforward data and position instructions;

[0026] Parse the position instruction to obtain the loop instruction;

[0027] Perform calculations based on loop instructions and loop feedforward data, and output motor drive signals to control the operation of the servo motor;

[0028] Collect the operating parameters of the servo motor and obtain loop feedback data;

[0029] The loop parallel operation is performed according to the loop instruction, loop feedforward data and loop feedback data, and the corresponding motor drive signal is output to control and adjust the servo motor.

[0030] In one embodiment, the method further comprises:

[0031] According to the preset communication control logic, the corresponding download action is executed according to the preset download time, or the corresponding upload action is executed according to the preset upload time; and / or,

[0032] Perform data identification, data division and / or data configuration processing on the data transmitted between modules, and execute data transmission actions accordingly.

[0033] In one embodiment, before performing data identification, data division and / or data configuration processing on the data transmitted between the modules and correspondingly executing the data transmission action, the method further includes:

[0034] Provide dual communication channels between modules, including real-time communication channels and non-real-time communication channels;

[0035] According to the frame header and frame tail of the data frame corresponding to each communication cycle and the corresponding upload time in each communication cycle, the real-time communication channel and the non-real-time communication channel are controlled to be switched on or off.

[0036] In one embodiment, the steps of performing data identification, data division and / or data configuration processing on the data transmitted between the modules and correspondingly executing the data transmission action include:

[0037] When the real-time communication channel is opened, the real-time data transmitted between the modules is identified and divided to obtain fixed field data and variable field data, and the fixed field data is controlled to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and a fixed field content, and the variable field data is data with a fixed field length but a variable field content; and / or,

[0038] When the non-real-time communication channel is opened, the non-real-time data transmitted between the modules is configured to obtain the configured data, and the configured data is transmitted; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

[0039] In addition, to achieve the above objectives, the present application also proposes a drive system, including the servo drive device and servo motor as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the servo drive control method as described above are implemented.

[0041] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the above-mentioned servo drive control method are implemented.

[0042] One or more technical solutions proposed in this application have at least the following technical effects:

[0043] A servo drive device is proposed, which is applied to a programmable logic device to provide a single-chip system architecture for controlling a servo motor. The device includes a data processing module, an instruction solving module, a loop feedback module and a loop calculation module. The data processing module processes the received instructions and outputs loop feedforward data and position instructions. The instruction solving module parses the position instructions and outputs loop instructions. The loop feedback module collects the operating parameters of the servo motor and outputs loop feedback data. The loop calculation module performs loop parallel calculation according to the loop instructions, loop feedforward data and loop feedback data, and outputs the corresponding motor drive signal to the servo motor, thereby realizing the purpose of integrating multiple control loops and reducing the control loop delay through parallel processing, and specifically reducing the delay of control loops including position loop, speed loop, current loop and the like. The device can integrate all modules into a programmable logic chip. Compared with the related technology, the delay caused by the communication between different chips is reduced, thereby reducing the overall delay of the device, and the execution frequency of the current loop can be increased, providing favorable conditions for improving the overall bandwidth of the device, thereby improving the rapidity and responsiveness of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0046] Figure 1 It is a schematic diagram of the architecture of a servo drive in the related art;

[0047] Figure 2 A schematic diagram of the system architecture of an embodiment of the servo drive device of the present application;

[0048] Figure 3 A schematic diagram of a data frame corresponding to a communication cycle of another embodiment of the servo drive device of the present application;

[0049] Figure 4 This is a structural schematic diagram of a data processing module in another embodiment of the servo drive device of the present application;

[0050] Figure 5 This is a flow chart of an embodiment of a servo drive control method of the present application.

[0051] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application, the directional indication is only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. In addition, if there are descriptions of "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, scheme B, or schemes that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0054] In the automated manufacturing industry, servo drives are important equipment that affects the processing efficiency and precision of the execution side. Among them, the main requirements for high processing efficiency of servo drives are fast response speed and high response bandwidth of the servo; the main requirements for high processing precision of servo drives are accurate communication time, good synchronization and small jitter.

[0055] In the related art, the current loop of the servo drive is the innermost loop, which is generally implemented by a processor with a higher execution frequency, such as FPGA (Field Programmable Gate Array); while the speed loop and position loop, which are relatively outer loops, are generally implemented by a processor with a slower execution speed, such as MCU (Microcontroller Unit). Real-time communication is required between the two processors, and an ASIC (Application Specific Integrated Circuit: integrated circuit for special applications) communication chip with an industrial real-time communication interface is generally used, and an additional interface for the chip to communicate with the MCU is added.

[0056] like Figure 1The figure shows the schematic diagram of the architecture of the servo drive in the related technology. The servo drive adopts a three-chip architecture of MCU+FPGA+ASIC communication. Among them, the ASIC communication chip provides an industrial real-time communication network, such as EtherCAT (EtherControlAutomationTechnology: Ethernet control automation technology), to realize the data interaction between the host computer PLC (Programmable Logic Controller: Programmable Logic Controller) and the MCU; the FPGA realizes current acquisition, position data acquisition and motor control, etc.; the MCU realizes communication processing, position coordinate calculation and provides position and speed motion control loops, etc. The specific working process is that the ASIC communication chip first obtains the position instruction sent by the PLC and passes it to the MCU through the parallel port; then the MCU receives the position instruction, calculates the position coordinate and solves the position instruction, and also obtains the position and speed feedback information sent by the FPGA through the parallel port, performs position feedback solution and speed feedback solution, and uses the position loop and speed loop to realize the position closed loop and speed closed loop, thereby realizing motor control. The problems with this method are:

[0057] 1. Since most MCUs usually have only one parallel port, they need to communicate with the ASIC communication chip and FPAG in a time-sharing manner, which increases the difficulty of MCU timing design, prolongs the execution time of the current loop, limits the execution frequency of the current loop, and reduces the motor control accuracy and response speed;

[0058] 2. The execution program of MCU is a discrete system with beats. In the process of data processing, the data received at the current moment needs to be used in the next beat or the next few beats. There is a beat delay, which can be as short as 1 beat or as long as 2 to 3 beats, resulting in a delay in data reception. Similarly, when the generated data is sent later, it also needs to be sent in the next beat or the next few beats, resulting in a delay in data sending, and the delay time is at least one communication cycle;

[0059] 3. In the process of MCU receiving position instructions for processing and FPAG obtaining position feedback and then passing it to MCU, the increase in the number of beats increases the data delay, and combined with the fact that the current loop is limited in execution frequency, it will also limit the improvement of system bandwidth;

[0060] 4. The transmission of internal data in the system must pass through the MCU before being passed to the FPGA. When the FPGA returns the corresponding data, it must also pass through the MCU, which increases the complexity of data transmission, reduces data transmission efficiency, and increases the probability of transmission errors;

[0061] 5. Since the execution time of the MCU is uncertain depending on the task being executed, the time is unstable and there is jitter in data reception, which makes it impossible to guarantee accurate transmission during communication.

[0062] In view of the above problems, the present application provides a servo drive device, a control method, a drive system and a storage medium. The present application and the following embodiments are described below in conjunction with the accompanying drawings.

[0063] The present application provides a servo drive device.

[0064] In one embodiment of the servo drive device, referring to Figure 2 , Figure 2 This is a system architecture diagram of an embodiment of a servo drive device. The servo drive device can be applied to a programmable logic device to control a servo motor. The device may include a data processing module, an instruction solving module, a loop feedback module and a loop calculation module.

[0065] The data processing module is used to process the received instructions and output loop feedforward data and position instructions; the instruction solving module is connected to the data processing module, and the instruction solving module is used to parse the position instructions and output loop instructions; the loop feedback module is connected to the servo motor, and the loop feedback module is used to collect the operating parameters of the servo motor and output loop feedback data; the loop calculation module is respectively connected to the data processing module, the instruction solving module and the loop feedback module, and the loop calculation module is used to perform loop parallel operations according to the loop instructions, loop feedforward data and loop feedback data, and output corresponding motor drive signals to control the servo motor.

[0066] It should be noted that the programmable logic device can be an FPGA (Field Programmable Gate Array), and the device can be applied to an FPGA chip in the form of a system architecture of a virtual device. The instructions received by the data processing module can be instructions issued by a host computer or external device such as a PLC (Programmable Logic Controller), a motor controller, etc., such as instructions for controlling the operation of a motor. The data processing module can specifically perform data extraction processing, data analysis processing and / or data encryption processing on the instructions issued, and can be selected and set according to actual needs. The instruction resolution module can perform instruction resolution on the position instruction, and resolve the instruction form that can be received by the subsequent loop calculation module, that is, the loop instruction required for the loop calculation module to perform specific loop control. The loop feedback module can be connected to the servo motor, detect the operating parameters of the servo motor, and generate feedback data such as current, speed, and position. The loop calculation module can perform loop parallel operation, that is, perform three-loop control calculation in parallel. The three-loop control refers to the three servo control loops of the position loop, the speed loop, and the current loop.

[0067] In a feasible implementation, the loop instructions may include position loop control instructions, speed loop control instructions and / or current loop control instructions; the loop feedforward data may include position coordinate data, speed feedforward data and / or torque feedforward data; the loop feedback data may include position feedback data, speed feedback data and / or current feedback data.

[0068] It should be noted that the instruction solution module can solve the position loop control instruction, the speed loop control instruction and / or the current loop control instruction according to the position instruction, so as to control the loop calculation module to perform three-loop control of the position loop, the speed loop and the current loop, or any two-loop control, or only perform a single loop control, which is specifically set according to needs and is not specifically limited here. The data processing module can extract or calculate the position coordinate data, speed feedforward data and / or torque feedforward data required by the loop calculation module from the received issued instruction, so that the loop calculation module can output the motor drive signal more quickly and accurately to achieve precise control of the servo motor. The specific types of loop feedforward data can be set according to actual needs and are not specifically limited here. The loop feedback module detects the servo motor, and can specifically obtain position feedback data, speed feedback data and / or current feedback data according to the collected values ​​of the sensors, encoders and other devices set on the motor. The specific types of loop feedback data can be set according to actual needs and are not specifically limited here.

[0069] Exemplarily, when the received loop instruction is a position loop control instruction, the loop calculation module can use the position coordinate data obtained after the data processing module performs smoothing filtering and electronic gear calculation on the issued instruction as the input of the position loop, and then adjust the proportional gain in combination with the position feedback data to obtain the position loop output; the position loop output can be used as the input of the speed loop together with the speed feedforward data, and then adjust the proportional gain and integral in combination with the speed feedforward data to obtain the speed loop output; the speed loop output can be used as the input of the current loop together with the torque feedforward data, and then adjust the proportional gain and integral in combination with the current feedback data to obtain the current loop output, that is, the motor drive signal, to control the phase current of the servo motor and realize the torque control of the servo motor. It can be understood that in this example, the torque feedforward data is combined with the current loop to improve the response speed and accuracy of the torque control. Specifically, the torque feedforward directly acts on the input of the current loop, which can realize the rapid adjustment of the motor torque, reduce the delay and error of the intermediate link, and improve the dynamic performance of the three-loop control. In practical applications, torque feedforward can also be combined with the speed loop and position loop to form a more complex loop control calculation. For example, in speed control, torque feedforward can be used to compensate for speed fluctuations caused by load changes; in position control, torque feedforward can be used to improve positioning accuracy and reduce positioning time. In practical applications, the loop control logic in the loop calculation module can be specifically configured as needed, so that the loop calculation module can perform loop parallel operations according to loop instructions, loop feedforward data, and loop feedback data, and output corresponding motor drive signals to control the servo motor. No specific restrictions are made here.

[0070] The servo drive device provided in this embodiment is applied to a programmable logic device to provide a single-chip system architecture for controlling a servo motor. The device includes a data processing module, an instruction solving module, a loop feedback module and a loop calculation module. The data processing module processes the received instructions and outputs loop feedforward data and position instructions. The instruction solving module parses the position instructions and outputs loop instructions. The loop feedback module collects the operating parameters of the servo motor and outputs loop feedback data. The loop calculation module performs loop parallel calculation according to the loop instructions, loop feedforward data and loop feedback data, and outputs the corresponding motor drive signal to the servo motor, thereby achieving the purpose of integrating multiple control loops and reducing the control loop delay through parallel processing, and can specifically reduce the delay of control loops including position loop, speed loop, current loop, etc.; the device can integrate all modules into a programmable logic chip. Compared with the related art, the delay caused by communication between different chips is reduced, thereby reducing the overall delay of the device, and the execution frequency of the current loop can be increased, providing favorable conditions for improving the overall bandwidth of the device, thereby improving the rapidity and responsiveness of the device.

[0071] In one possible implementation, refer to Figure 2 The servo drive device may further include a data sorting module.

[0072] The data sorting module is connected to the loop feedback module, and is used to analyze and process the loop feedback data and output target data; the data processing module is also connected to the data sorting module, and is used to convert the target data into upload data to provide to external devices.

[0073] It should be noted that all loop feedback data obtained by the loop feedback module can be analyzed and processed by the data sorting module, and specifically, data analysis and processing such as calculation, sorting and / or extraction can be performed, and the target data can be output to the data processing module. The data processing module then converts the actual data in the target data into corresponding communication data, i.e., upload data, to provide it to the external device.

[0074] For example, the device is applied to FPGA, and the external device is a host computer. The host computer provides instructions to the data processing module, which processes the instructions and outputs loop feedforward data and position instructions; the instruction solving module analyzes the position instructions, solves them into loop instructions required by the loop and outputs them; the loop feedback module collects the operating parameters of the servo motor and outputs loop feedback data such as position, speed, and current; the loop calculation module performs three-loop control calculations based on the loop instructions, using the loop feedforward data and loop feedback data, calculates and generates corresponding motor drive signals, and drives the servo motor to work accordingly; at the same time, the data sorting module analyzes and processes the loop feedback data and outputs the target data to the data processing module; after the data processing module converts the uploaded data, it provides it to the host computer to form a complete closed loop.

[0075] It can be understood that during the entire execution process of the device, since each module can run simultaneously in the FPGA, and high-speed parallel bus communication is used inside the FPGA, there is no delay in each loop when obtaining the required loop instructions and the required loop feedback data, thereby greatly improving the response speed of the device.

[0076] In this embodiment, while realizing the control of the servo motor, the parameters related to the operation of the servo motor are also fed back, so that the staff can know the control status of the motor by the device in time; the processing of the issued instructions and the processing of the feedback data are realized by the data processing module, which makes full use of the characteristics of FPGA that can perform parallel operations, reduces the number of modules, and reduces the time delay of communication between modules, which can further improve the overall delay of the device, so as to further improve the overall bandwidth of the device.

[0077] In one possible implementation, refer to Figure 2The servo drive device can be connected to the host computer for communication, and the device can also include a communication module.

[0078] The communication module is connected to the host computer and the data processing module respectively. The communication module is used to download the issuing instructions provided by the host computer, output them to the data processing module, and upload the upload data output by the data processing module to the host computer.

[0079] For example, the device is applied to FPGA, and the external device is a host computer. The communication module can receive the downlink instruction sent by the host computer and give it to the data processing module; and can receive the upload data output by the data processing module and return it to the host computer so that the host computer can perform subsequent operations such as display or fault detection.

[0080] In this embodiment, a complete single FPGA chip servo drive architecture is provided. Compared with the traditional MCU+FPGA+ASIC chip software architecture, the device integrates motion loop control, motor control, data acquisition and other functions into a single FPGA chip. The FPGA chip provides parallel processing operations, and each module can perform calculations almost simultaneously, so that the calculation delay and communication delay between modules can be basically ignored, thereby improving the calculation speed and feedback speed of the entire device.

[0081] In another embodiment of the servo drive device, the same or similar contents as those in the above embodiment can be referred to the above description, and will not be described in detail later. On this basis, the servo drive device can also include a communication control module.

[0082] The communication control module is respectively connected to the communication module, the data processing module, the instruction solving module, the loop feedback module, the loop calculation module and the data sorting module. The communication control module is used to control the communication module to execute corresponding download and upload actions according to the preset download time and upload time according to the preset communication control logic, and to perform data identification, data division and / or data configuration processing on the data transmitted between the modules according to the preset communication control logic, and execute data transmission actions accordingly.

[0083] It should be noted that the communication control module can be an independent module in the device, integrated with other modules in a single FPGA chip, or integrated in the communication module to achieve complete communication control and communication operation. The communication control module implements two control functions, one is the upload and download communication control between the device and external devices such as a host computer, and the other is the data transmission communication control between the modules in the device, wherein the data transmission communication control can also be applied to the transmission between the host computer and the communication module. That is to say, when the communication control module controls the communication module to perform corresponding download and upload actions according to the preset download time and upload time according to the preset communication control logic, the data transmitted between the communication module and the external device such as the host computer can also be identified, divided and / or configured according to the communication control logic, and the corresponding data transmission action, i.e., the download action or the upload action, is executed.

[0084] For example, Figure 3 The data frame schematic diagram corresponding to a communication cycle of the present embodiment is shown, taking the nth data frame and the n+1th data frame as examples, n is a positive integer, the frame header of the nth data frame is the nth frame header, the frame header of the n+1th data frame is the n+1th frame header, and the period between the nth frame header and the n+1th frame header is a communication cycle, i.e., the nth communication cycle. In this communication cycle, the download time and the upload time can be set in advance, so that the communication module performs the download action when the download time arrives, specifically receives the instruction issued by the host computer and sends it to the data processing module, performs the upload action when the upload time arrives, and specifically sends the upload data output by the data processing module to the host computer. Among them, the setting of the specific time point corresponding to the upload time and the download time can be calculated by the system axis number, communication cycle, physical position and other parameters of the servo drive device, and the specific calculation method can select a suitable existing algorithm according to actual needs, which is not specifically limited here. For example, directly set a certain moment in the time period as the specific time point of the upload time according to the time period of the communication cycle, and set another moment in the time period earlier than the upload time as the download time.

[0085] In this embodiment, the communication control module can control the communication module to execute corresponding download and upload actions according to the preset download time and upload time, strictly control the upload time and download time of real-time communication, and automatically set the most appropriate upload time and download time by the built-in algorithm without user participation, thereby ensuring the rapid responsiveness of the device.

[0086] In one possible implementation, refer to Figure 3The communication control module can also be used to provide dual communication channels between modules, the dual communication channels include real-time communication channels and non-real-time communication channels; and to control the switching of real-time communication channels and non-real-time communication channels on or off according to the frame header and frame tail of the data frame corresponding to each communication cycle, and the corresponding upload time in each communication cycle.

[0087] It should be noted that when the communication control module controls data transmission between modules, it can perform specific data transmission communication control based on the dual communication channels provided between the modules. The dual communication channels include a real-time communication channel and a non-real-time communication channel, and the two channels are switched on and off and will not be opened at the same time.

[0088] For example, Figure 3 As shown, the corresponding upload time in each communication cycle is used as the first switching time point, at which the real-time communication channel is controlled to switch from the open state to the closed state, and the non-real-time communication channel is controlled to switch from the closed state to the open state, and the frame header of the data frame corresponding to each communication cycle, that is, the frame tail of the previous data frame, is used as the second switching time point, at which the real-time communication channel is controlled to switch from the closed state to the open state, and the non-real-time communication channel is controlled to switch from the open state to the closed state. The corresponding result is that for each communication cycle, in the time period from the frame header of the data frame corresponding to each communication cycle to the corresponding upload time in the communication cycle, the real-time communication channel is opened and the non-real-time communication channel is closed; in the time period from the corresponding upload time in each communication cycle to the frame tail of the data frame corresponding to the communication cycle, the non-real-time communication channel is opened and the real-time communication channel is closed. In this way, the data frames corresponding to each communication cycle are divided into real-time communication data frame segments and non-real-time communication data frame segments.

[0089] It should also be noted that the real-time communication channel can have a fixed transmission time point and transmission content. Among them, the fixed transmission time point refers to relying on an accurate clock synchronization algorithm to transmit at a preset accurate time point, and the fixed transmission content refers to the transmission data being a fixed data frame length. In this embodiment, for the data transmission control between the communication module and the host computer, when the host computer is used as the data sender and the communication module is used as the data receiver, the data transmission between the host computer and the communication module can also have a fixed transmission time point, that is, when the host computer transmits and issues instructions to the communication module, the communication control module can also provide a dual communication channel between the two, and use the preset download time as the transmission time point in the real-time communication channel. At this time, the communication module in the servo drive device integrated on the FPGA chip can not perform frame recognition, and can not distinguish station numbers. It can only obtain the data transmitted by the host computer through the real-time communication channel (i.e., issuing instructions) through absolute time. This method can reduce the data length and increase the effective communication volume.

[0090] In this embodiment, dual communication channels can be provided between modules in the device, and real-time communication channels and non-real-time communication channels can be switched and opened as needed, and a complete communication cycle can be divided into real-time communication data frame segments and non-real-time communication data frame segments, and different data can be transmitted separately. Real-time data such as important data and necessary data can be transmitted preferentially through the real-time communication channel, and other data can be transmitted after the non-real-time communication channel is opened; a dedicated transmission time period is divided for the real-time channel, which is only used for real-time data that needs to be transmitted in real time. This specific method can ensure the complete transmission of all data and the timeliness of the transmission of real number data. In addition, a real-time communication channel can be provided between the host computer and the communication module of the device to ensure the timeliness of the transmission between the device and the external device.

[0091] In a specific embodiment, referring to Figure 3 The communication control module can also be used to identify and divide the real-time data transmitted between the modules when the real-time communication channel is opened, to obtain fixed field data and variable field data, and to control the fixed field data to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and a fixed field content, and the variable field data is data with a fixed field length but a variable field content.

[0092] It should be noted that data identification refers to identifying the type of data to be transmitted, so as to facilitate data division at the subsequent stage. The types of real-time data may include one or more of position instructions, loop instructions, loop feedback data, and other data types with high timeliness requirements (such as function codes, control commands, function commands). Fixed field data refers to data with a fixed field length and fixed field content, such as necessary data and key data required for the operation of some devices. Transmitting fixed field data through the real-time communication channel first can reduce the delay of these data. Variable field data refers to data with a fixed field length but not fixed field content, such as some optional parameter data. Variable field data is transmitted after the real-time communication channel, but before the non-real-time data transmission, which not only ensures the punctuality of real-time data transmission, but also takes into account data diversity.

[0093] For example, Figure 3As shown, the real-time communication data frame segment is divided into a data frame segment corresponding to a fixed field and a data frame segment corresponding to a variable field, so as to transmit the fixed field data and the variable field data in the corresponding time period. The fixed field data may include the start flag of the data frame corresponding to each communication cycle, and valid data 1, which may include data corresponding to loop information with fixed content such as position instructions, loop instructions, loop feedback data (such as position feedback data, speed feedback data, current feedback data, etc.); the variable field data may include valid data 2, which may include data corresponding to parameter information with unfixed content such as function codes, control commands, and function commands.

[0094] In this embodiment, the real-time data transmitted by the real-time communication channel is identified and divided, which not only ensures the timeliness of the transmission of real-time data, but also ensures the diversity of real-time data. It also ensures the adaptability of the device on the basis of reducing the delay of the entire control loop to improve the bandwidth of the device.

[0095] In another specific embodiment, referring to Figure 3 The communication control module can also be used to configure the non-real-time data transmitted between the modules when the non-real-time communication channel is opened, obtain the configured data, and transmit the configured data; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

[0096] It should be noted that the types of non-real-time data may include one or more types of data with low timeliness requirements, such as time synchronization data, response data, parameter acquisition data, and oscilloscope function setting data. Data configuration for non-real-time data may be to divide the non-real-time data into multiple data packets according to data frame length, data priority, and / or data type, etc., to obtain configured data, and then transmit these data packets in a certain order. Therefore, non-real-time data may be transmitted separately according to different data frame lengths, or may be transmitted separately according to different priorities, or may be transmitted separately according to different data types, or may even be transmitted separately according to different data frame lengths, priority situations, and data types of different data in combination.

[0097] For example, Figure 3As shown, the non-real-time communication data frame segment is divided into multiple data frame segments required for configuration operations, so as to perform corresponding configuration operations and transmit corresponding data in corresponding time periods. In this example, data configuration includes data frame length configuration, data priority configuration and data type configuration. In actual application, specific configuration and transmission operations can be performed on the above non-real-time data to meet more practical needs. For example, in the non-real-time communication data frame segment, a verification feedback mechanism is added to the data receiver to ensure data comprehensiveness and avoid non-real-time data loss.

[0098] In this implementation, for non-real-time data, data configuration can be performed before transmission, and then transmission control can be performed in a targeted manner, so that the device can meet more practical needs.

[0099] In order to clarify the effects that can be achieved by the servo drive device of this embodiment, Figure 1 By conducting comparative tests and analyzing the results of the servo drive in the related art and the servo drive device of the present embodiment, it can be found that, compared with the servo drive in the related art, the servo drive device of the present embodiment can reduce the communication cycle to within 15.625us (microseconds), reduce the communication time jitter to within 100ns (nanoseconds), and reduce the transmission time jitter of data reception and transmission to within 1us.

[0100] The servo drive device provided in this embodiment divides the communication cycle into segments, and then divides the segments into slices, proposing a new communication control and communication data distribution scheme. Since the real-time communication channel and the non-real-time communication channel are separated in the time period corresponding to the communication cycle and switched on, the transmission of non-real-time data in the non-real-time communication channel will not affect the transmission of real-time data in the real-time communication channel, thus achieving efficient transmission of real-time data, and non-real-time data can be transmitted at a slow speed so that it will not be lost without affecting the real-time data transmission. Therefore, the device provides an accurate communication time network, supports a smaller communication cycle, improves the response speed of data transmission, reduces communication time jitter, can avoid communication congestion, and improves the real-time and comprehensiveness of data transmission.

[0101] In another embodiment of the servo drive device, referring to Figure 4 , Figure 4 The structure diagram of the data processing module in this embodiment is as follows. For the same or similar contents as those in the above embodiment, please refer to the above introduction and will not be described in detail later. On this basis, in the servo drive device, the data processing module may include a data processing submodule and an analysis submodule.

[0102] The data processing submodule is connected to the loop calculation module, and the data processing submodule is used to extract information from the received issued instructions and output loop feedforward data to the loop calculation module; the parsing submodule is connected to the instruction solution module, and the parsing submodule is used to identify the received issued instructions and output position instructions to the instruction solution module.

[0103] It should be noted that the data processing submodule obtains loop feedforward data according to the issued instruction and gives it to the loop calculation module so that the loop calculation module performs loop parallel operation according to the loop instruction, loop feedforward data and loop feedback data. The issued instruction sent by the host computer may be more than just the position instruction, but the instruction resolution module is a module that parses the position instruction. Therefore, when the parsing submodule recognizes that the issued instruction is a position instruction, it can give the position instruction to the instruction resolution module so that the instruction resolution module can parse the position instruction.

[0104] Exemplarily, the loop feedforward data may include position coordinate data, speed feedforward data and / or torque feedforward data, and the way in which the data processing submodule extracts information from the issued instructions may include: for the issued instructions in the form of a pulse train, the coordinates of the target position are calculated based on the total number of pulses representing the positioning amount and the frequency of the pulses representing the positioning speed to obtain the position coordinate data; according to the issued instructions, the ideal speed required to get from the current position to the next position is calculated to obtain the speed feedforward data; according to the issued instructions, the compensation torque required for torque control is calculated to obtain the torque feedforward data.

[0105] In this embodiment, two independent submodules are used to receive the issued instructions respectively, and then correspondingly generate loop feedforward data and position instructions provided to subsequent modules, so that the functions of the data processing module are clearly differentiated and the reliability of the data processing module is ensured.

[0106] In one possible implementation, refer to Figure 4 , the data processing module may also include an encryption submodule.

[0107] The encryption submodule is connected to the data sorting module, and is used to perform data type conversion and / or data encryption processing on the target data, and output the uploaded data.

[0108] It should be noted that the data sorting module analyzes and processes the loop feedback data, outputs the target data to the data processing module, and the data processing module converts the target data into upload data to provide to the external device. This part of the function can also be implemented in an independent sub-module. Among them, the processing between the target data and the uploaded data can be a data type conversion process and / or a data encryption process. The data type conversion can ensure that the uploaded data is adapted to the data recipient; for data encryption, since the uploaded data is to be transmitted to an external device outside the device, for data security, the target data output by the data sorting module can be directly encrypted, or the target data after the data type conversion can be encrypted to obtain the uploaded data.

[0109] In this implementation, the data processing module transmits the upper data to the upper computer directly or through the communication module, which can ensure the security of data transmission between the device and the upper computer and ensure that the upper computer can receive data normally.

[0110] The present application also proposes a servo drive control method.

[0111] In one embodiment of the servo drive control method, referring to Figure 5 , Figure 5 The servo drive control method is a flow chart of an embodiment of the servo drive control method. The servo drive control method may include steps S10 to S50:

[0112] Step S10, processing the received instruction to obtain loop feedforward data and position instruction;

[0113] Step S20, parsing the position instruction to obtain a loop instruction;

[0114] Step S30, performing calculations according to the loop instruction and the loop feedforward data, and outputting a motor drive signal to control the operation of the servo motor;

[0115] Step S40, collecting the operating parameters of the servo motor to obtain loop feedback data;

[0116] Step S50, performing loop parallel operation according to the loop instruction, loop feedforward data and loop feedback data, and outputting a corresponding motor drive signal to control and adjust the servo motor.

[0117] In an optional implementation, after step S40, the method may further include steps S60 to S70:

[0118] Step S60, analyzing and processing the loop feedback data to obtain target data;

[0119] Step S70: convert the target data into upload data to provide to an external device.

[0120] In an optional implementation, before step S10, the method may further include step S01:

[0121] Step S01, downloading the issuing instruction provided by the host computer;

[0122] After step S70, the method may further include step S80:

[0123] Step S80, uploading the uploaded data to the host computer.

[0124] In an optional implementation, step S10 may include step S11:

[0125] Step S11, extracting information from the received instruction to obtain loop feedforward data;

[0126] Step S12 is used to identify the received issued instruction and obtain a position instruction.

[0127] In an optional implementation, step S70 may include step S71:

[0128] Step S71, performing data type conversion and / or data encryption processing on the target data to obtain uploaded data.

[0129] In another embodiment of the servo drive control method, the same or similar contents as those in the above embodiment can be referred to the above description, and will not be described in detail later. On this basis, the servo drive control method can also include step S90 and / or step S100:

[0130] Step S90, according to the preset communication control logic, the corresponding download action is executed according to the preset download time, or the corresponding upload action is executed according to the preset upload time.

[0131] In an optional implementation, before step S01, the method may further include step S01':

[0132] Step S01', according to the preset communication control logic, the corresponding download action is executed according to the preset download time to receive the sending instruction;

[0133] In an optional implementation, before step S80, the method may further include step S80':

[0134] Step S80', according to the preset communication control logic, the corresponding upload action is performed according to the preset upload time to provide the upload data to the external device; wherein the upload data is obtained by analyzing and processing the loop feedback data to obtain the target data, and then converting the target data.

[0135] Step S100, performing data identification, data division and / or data configuration processing on the data transmitted between the modules, and executing data transmission actions accordingly.

[0136] It should be noted that, specifically, according to the preset communication control logic, any two modules in the servo drive device can be controlled to perform data identification, data division and / or data configuration processing on the data to be transmitted between the any two modules before executing the data transmission action, and then execute the data transmission action accordingly.

[0137] In an optional implementation, before step S100, the method may further include steps S101 to S102:

[0138] Step S101, providing dual communication channels between modules, the dual communication channels including a real-time communication channel and a non-real-time communication channel;

[0139] Step S102, according to the frame header and frame tail of the data frame corresponding to each communication cycle and the corresponding upload time in each communication cycle, the real-time communication channel and the non-real-time communication channel are controlled to be switched on or off.

[0140] In an optional implementation, step S100 may include step S110 and / or step S120:

[0141] Step S110, when the real-time communication channel is opened, the real-time data transmitted between the modules is identified and divided to obtain fixed field data and variable field data, and the fixed field data is controlled to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and fixed field content, and the variable field data is data with a fixed field length but a variable field content;

[0142] Step S120, when the non-real-time communication channel is opened, the non-real-time data transmitted between the modules is configured to obtain the configured data, and the configured data is transmitted; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

[0143] It should be noted that the servo drive control method provided by the present application can solve the technical problems of low execution frequency of the current loop and communication delay in the related art. Compared with the related art, the specific implementation of each step in the servo drive control method provided by the present application can refer to the description of the specific implementation of the servo drive device in the above embodiment. The beneficial effects of the servo drive control method are the same as the beneficial effects of the servo drive device provided by the above embodiment, and will not be repeated here.

[0144] The application also proposes a driving system.

[0145] In an embodiment of the drive system, the drive system may include a servo drive device and a servo motor as described in the above embodiment, wherein the servo drive device may be carried on a programmable logic device (such as FPGA) to control the servo motor.

[0146] It should be noted that the specific architecture of the servo drive device can refer to the description of the specific implementation methods in the above embodiments. Since the drive system adopts all the technical solutions of all the above embodiments, it at least has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0147] The present application also proposes a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, wherein the computer-readable program instructions are used to execute the servo drive control method in the above-mentioned embodiment.

[0148] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: a portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, etc., or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system or device, or a combination of the two. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0149] The computer-readable storage medium may be included in the servo drive, or may exist independently without being assembled into the servo drive. The computer-readable storage medium carries one or more programs, and when the one or more programs are executed by the servo drive, the servo drive can realize the functions defined in the servo drive control method disclosed in the embodiment of the present application.

[0150] Computer program code for performing the operations of the present application may 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" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may 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 to an external computer, such as an Internet connection provided by an Internet service provider.

[0151] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the device, system, method and computer program product according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0152] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0153] The storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned servo drive control method, and can solve the technical problems of low execution frequency of the current loop and communication delay in the related art. Compared with the related art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the servo drive control method provided in the above-mentioned embodiment, and will not be repeated here.

[0154] The present application also proposes a computer program product, comprising a computer program, which implements the steps of the servo drive control method as described above when executed by a processor.

[0155] The computer program product provided by the present application can solve the technical problems of low execution frequency of the current loop and communication delay in the related art. Compared with the related art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the servo drive control method provided by the above embodiment, which will not be elaborated here.

[0156] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A servo drive device, characterized in that: Applied to a programmable logic device, the device controls a servo motor, and the device comprises: A data processing module is used to process the received instructions and output loop feedforward data and position instructions; An instruction solving module, connected to the data processing module, and used for analyzing the position instruction and outputting a loop instruction; A loop feedback module is connected to the servo motor, and is used to collect operating parameters of the servo motor and output loop feedback data; The loop calculation module is connected to the data processing module, the instruction solution module and the loop feedback module respectively. The loop calculation module is used to perform loop parallel calculation according to the loop instruction, the loop feedforward data and the loop feedback data, and output a corresponding motor drive signal to control the servo motor.

2. The servo drive device according to claim 1, characterized in that: The device also includes: A data sorting module, connected to the loop feedback module, and configured to analyze and process the loop feedback data and output target data; The data processing module is also connected to the data sorting module, and the data processing module is also used to convert the target data into upload data to provide to an external device.

3. The servo drive device according to claim 2, characterized in that: The device is connected to the host computer for communication, and the device also includes: The communication module is connected to the host computer and the data processing module respectively, and is used to download the sending instructions provided by the host computer, output them to the data processing module, and upload the uploaded data output by the data processing module to the host computer.

4. The servo drive device according to claim 3, characterized in that: The device also includes: The communication control module is respectively connected to the communication module, the data processing module, the instruction solving module, the loop feedback module, the loop calculation module and the data sorting module. The communication control module is used to control the communication module to execute corresponding download and upload actions according to preset download time and upload time according to preset communication control logic, and to perform data identification, data division and / or data configuration processing on the data transmitted between the modules, and execute data transmission actions accordingly.

5. The servo drive device according to claim 4, characterized in that: The communication control module is also used to provide dual communication channels between the modules, and the dual communication channels include a real-time communication channel and a non-real-time communication channel; and is used to control the switching of the real-time communication channel and the non-real-time communication channel to be opened or closed according to the frame header and frame tail of the data frame corresponding to each communication cycle, and the corresponding upload time in each communication cycle.

6. The servo drive device according to claim 5, characterized in that: The communication control module is also used to perform data identification and data division on the real-time data transmitted between the modules when the real-time communication channel is opened, to obtain fixed field data and variable field data, and to control the fixed field data to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and fixed field content, and the variable field data is data with a fixed field length but a variable field content.

7. The servo drive device according to claim 5, characterized in that: The communication control module is also used to configure the non-real-time data transmitted between the modules when the non-real-time communication channel is opened, obtain the configured data, and transmit the configured data; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

8. The servo drive device according to claim 2, characterized in that: The data processing module comprises: A data processing submodule, connected to the loop calculation module, the data processing submodule is used to extract information from the received issued instruction and output the loop feedforward data to the loop calculation module; The parsing submodule is connected to the instruction solving module, and is used to perform instruction recognition on the received issued instruction and output the position instruction to the instruction solving module.

9. The servo drive device according to claim 8, characterized in that: The data processing module also includes: An encryption submodule is connected to the data sorting module, and is used to perform data type conversion and / or data encryption processing on the target data and output the uploaded data.

10. A servo drive control method, characterized in that: The method comprises: Process the received instructions to obtain loop feedforward data and position instructions; Parsing the position instruction to obtain a loop instruction; Performing calculations according to the loop instructions and the loop feedforward data, and outputting a motor drive signal to control the operation of the servo motor; Collecting operating parameters of the servo motor to obtain loop feedback data; A loop parallel operation is performed according to the loop instruction, the loop feedforward data and the loop feedback data, and a corresponding motor drive signal is output to control and adjust the servo motor.

11. The servo drive control method according to claim 10, characterized in that: The method further comprises: According to the preset communication control logic, the corresponding download action is executed according to the preset download time, or the corresponding upload action is executed according to the preset upload time; and / or, Perform data identification, data division and / or data configuration processing on the data transmitted between modules, and execute data transmission actions accordingly.

12. The servo drive control method according to claim 11, characterized in that: Before the step of performing data identification, data division and / or data configuration processing on the data transmitted between the modules and correspondingly executing the data transmission action, the method further includes: Providing dual communication channels between modules, wherein the dual communication channels include real-time communication channels and non-real-time communication channels; According to the frame header and frame tail of the data frame corresponding to each communication cycle and the corresponding upload time in each communication cycle, the real-time communication channel and the non-real-time communication channel are controlled to be switched on or off.

13. The servo drive control method according to claim 12, characterized in that: The steps of performing data identification, data division and / or data configuration processing on the data transmitted between the modules and executing the data transmission action accordingly include: When the real-time communication channel is opened, data identification and data division are performed on the real-time data transmitted between the modules to obtain fixed field data and variable field data, and the fixed field data is controlled to be transmitted before the variable field data; wherein the fixed field data is data with a fixed field length and fixed field content, and the variable field data is data with a fixed field length but a variable field content; and / or, When the non-real-time communication channel is opened, data configuration is performed on the non-real-time data transmitted between the modules to obtain the configured data, and the configured data is transmitted; wherein the data configuration includes data frame length configuration, data priority configuration and / or data type configuration.

14. A drive system, characterized in that: The invention comprises a servo drive device and a servo motor as claimed in any one of claims 1 to 9.

15. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the servo drive control method according to any one of claims 10 to 13 are implemented.

16. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the servo drive control method according to any one of claims 10 to 13 are implemented.

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