Double-servo switching control method and system and five-axis galvanometer machine tool

Abstract

The invention discloses a double-servo switching control method and system and a five-axis galvanometer machine tool, and relates to the technical field of motor drive control. The dual-servo switching control method comprises the steps that a first controller controls a first servo driver to drive a controlled motor to execute a first instruction; after execution of the first instruction by the controlled motor is completed, the first controller disconnects servo enabling; a second controller takes over the controlled motor and controls a second servo driver to drive the controlled motor to execute a second instruction; and the controlled motor transmits feedback signals to the first servo driver and the second servo driver respectively. By adopting the technology provided by the invention, the first controller and the second controller can seamlessly switch the control right of the same controlled motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive control, and particularly to a dual servo switching control method, system and five-axis galvanometer machine tool. Background Art

[0002] Traditional five-axis machining machine tools are composed of a machine body, a workbench, three linear axes X, Y, Z and two rotating axes (usually A axis and C axis). The three linear axes X, Y, Z are used to achieve linear motion in three-dimensional space, and the two rotating axes are used to adjust the angles of the cutting tool or workpiece to achieve five-axis linkage machining. Among them, the five-axis galvanometer machine tool is based on the traditional five-axis machining machine tool, replacing the machining tool with a galvanometer, and realizing high-speed and high-precision machining operations by controlling the reflection angle of the laser beam.

[0003] However, the galvanometer linkage of the current five-axis galvanometer machine tool still has certain defects. That is, the five-axis numerical control system and the galvanometer system of the current five-axis galvanometer machine tool are still in a relatively independent state. Specifically: the five-axis numerical control system is responsible for generating machining path commands and driving the movement of each axis. The galvanometer system is integrated in the optical path of the machine tool, enabling the galvanometer to quickly adjust the reflection direction of the laser beam according to the data of the machining pattern and perform scanning machining on the workpiece surface. This separation results in that the current five-axis galvanometer machine tool can only control the five-axis machine tool to a fixed machining position during operation and keep the five-axis machine tool stationary, so that the galvanometer system can control the galvanometer for machining, which limits the machining efficiency.

[0004] Based on this, the Chinese invention patent document (CN113787265A) discloses a linkage cutting control method based on the trajectory of the galvanometer and the platform. It realizes real-time tracking of the position of the X-Y axis machining platform by the ACS main controller and performs position calculation through the pulse signal feedback by the grating scale feedback unit. The upper computer unit obtains the position information through the ACS main controller. At the same time, the RTC6-syncAXIS galvanometer control card performs data interaction with the upper computer unit through the PCIE bus. The upper computer unit obtains the status and position information of the galvanometer unit. The upper computer unit is connected to the ACS SLEC module through the RTC6-syncAXIS galvanometer control card to connect the two systems in series and communicate through the SL2-100 protocol to enter the linkage mode. In the linkage mode, the X-Y axis control in the ACS main controller serves as a slave unit of the RTC6-syncAXIS galvanometer control card. At the same time, the position information of the X-Y axis is used for position parameter calculation and control by the TMS320DM642AZNZ of the galvanometer control card in the linkage mode. The X-Y swing mirror position of the galvanometer unit is also calculated and controlled by the TMS320DM642AZNZ for position parameters. When moving, the RTC6-syncAXIS galvanometer control card distributes the motion trajectory and can set the motion ratio of the X-Y axis and the X-Y swing axis of the galvanometer unit.

[0005] Although the linkage between the galvanometer system and the five-axis machine tool can be initially achieved through the Chinese invention patent document (CN113787265A), in its actual application, due to the excessive number of components involved, the transmission path of the position parameters required in the linkage mode is relatively long, the architecture is relatively complex, and the requirements for the compatibility and communication stability between different components are relatively high. Moreover, before the linkage mode, the ACS main controller needs to be used as the master station first, and then in the linkage mode, the axis control of its X-axis and Y-axis serves as the slave station and is controlled by the RTC6-syncAXIS galvanometer control card. It is difficult to adapt to relatively complex machining risks or dynamic adjustment requirements, highly depends on the performance of the galvanometer control card, and has a relatively high usage cost. Summary of the Invention

[0006] The present invention provides a dual servo switching control method, system and five-axis galvanometer machine tool to solve the problems of complex linkage mode between the galvanometer and the five-axis machine tool and relatively high usage cost in the prior art.

[0007] To solve the above technical problems, the technical solution adopted by the present invention is to provide a dual servo switching control method, and the dual servo switching control method includes: The first controller controls the first servo driver to drive the controlled motor to execute the first instruction; after the controlled motor finishes executing the first instruction, the first controller disconnects the servo enable; the second controller takes over the controlled motor and controls the second servo driver to drive the controlled motor to execute the second instruction; the controlled motor respectively transmits feedback signals to the first servo driver and the second servo driver.

[0008] The beneficial effects brought by the technical solution provided by the present invention compared with the prior art are: By seamlessly connecting and switching the control right of the controlled motor between the first controller and the second controller, the first controller can be used to achieve basic motion control, and the second controller takes over high-precision tasks and galvanometer linkage control, thus ensuring the motion accuracy and synchronization of each axis (the execution end of the controlled motor). Among them, compared with the current method of only one controller for control, the above-mentioned first controller and second controller cooperate to control, which can adapt to more complex machining tasks and dynamic machining requirements, and the second controller can obtain the position information of each axis of the first controller in real time, and can calculate the position data of each axis in real time, so as to make up for the control error of the first controller.

[0009] In some embodiments, the dual servo switching control system further includes: The first controller obtains the feedback signal of the controlled motor, where the feedback signal of the controlled motor includes the current actual position information of the controlled motor; the DISAS register decomposition module of the first controller decomposes the current actual position information of the controlled motor and maps it to the first output register of the first controller.

[0010] The first output register transmits the decomposed current actual position information of the controlled motor to the second controller; the second controller restores the current actual position information of the controlled motor and drives the controlled motor to execute the second instruction according to the current actual position information of the controlled motor.

[0011] In a second aspect, the present application further provides a dual servo switching control system, which applies the above dual servo switching control method and further includes: A controlled motor, which is connected to a relay and is used to execute a first instruction and a second instruction; a first control unit, which includes a first controller and a first servo driver connected to each other, where the first servo driver is connected to the relay through a power line to drive the controlled motor to execute the first instruction.

[0012] A second control unit, which includes a second controller and a second servo driver connected to each other, where the second controller is connected to the first servo driver, and the second servo driver is connected to another interface of the relay through a power line to drive the controlled motor to execute the second instruction.

[0013] In some embodiments, the power line of the controlled motor includes a U line, a V line, and a W line, and the U line, the V line, and the W line are respectively connected to the common end of the relay, where the normally closed contact of the relay is connected to the power output terminals of the U1 end, V1 end, and W1 end corresponding to the first servo driver and the controlled motor; the normally open contact of the relay is connected to the power output terminals of the U2 end, V2 end, and W2 end corresponding to the second servo driver and the controlled motor.

[0014] In some embodiments, the first controller includes a PNP type digital quantity output module, where the power supply terminal of the relay is connected to the contact of the digital quantity output module of the first controller, and the contact can output high-level current and low-level current according to ladder diagram programming, so that the relay can be switched on and off according to the conversion of the high level and / or the low level.

[0015] In some embodiments, the dual servo switching control system further includes an encoder feedback distribution box. The input end of the encoder feedback distribution box is connected to the controlled motor, and the output ends are respectively connected to the first servo driver and the second servo driver.

[0016] In some embodiments, the first controller and the first servo driver are connected through an EC bus; the second controller and the second servo driver are connected through an EC bus; and / or the first servo driver and the second controller are connected through an NCUC bus.

[0017] In a third aspect, the present application further provides a five-axis polarization machine tool, including the above-mentioned dual servo switching system, and further including linear axes, where the linear axes include an X-axis and a Y-axis. Among them, the controlled motor is used to drive the X-axis and the Y-axis; a first controller, the first control is connected to a first servo driver, where the first servo driver includes a first X-axis driver corresponding to the X-axis and a first Y-axis driver corresponding to the Y-axis.

[0018] A second controller, the second controller is respectively connected to the first X-axis driver and the first Y-axis driver. Among them, the second controller is connected to a second servo driver, and the second servo driver includes a second X-axis driver corresponding to the X-axis and a second Y-axis driver corresponding to the Y-axis.

[0019] In some embodiments, the five-axis polarization machine tool further includes a rotary axis, where the rotary axis has a C-axis and an A-axis. Among them, the first servo driver is provided with a C-axis driver corresponding to the C-axis, the C-axis driver is at the end of the control topology of the first controller, and the second controller is connected in series with the C-axis driver and is located at the rear end of the C-axis driver.

[0020] In some embodiments, the OUT end of the second controller is connected to the IN end of the second X-axis driver, and the OUT end of the second X-axis driver is connected to the IN end of the second Y-axis driver. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings, where: Figure 1 is a control flow chart of a dual servo switching control method provided by the present invention; Figure 2It is a connection block diagram of a dual - servo switching control method provided by the present invention; Figure 3 It is an electrical connection schematic diagram of a dual - servo switching control system provided by the present invention; In the figure: 10. First controller; 11. First servo driver; 20. Second controller; 21. Second servo driver; 30. Controlled motor; 40. Relay; 50. Encoder feedback distribution box; 60. IO module. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Combined with Figures 1 to 2 as shown, Figure 1 It shows a control flow chart of a dual - servo switching control method provided by the present application; Figure 2 It shows a connection block diagram of a dual - servo switching control method provided by the present application.

[0024] In some embodiments, the dual - servo switching control method includes: Step S100, the first controller 10 controls the first servo driver 11 to drive the controlled motor 30 to execute the first instruction.

[0025] Exemplarily, in a five - axis polarization machine tool, the first controller 10 can be responsible for the overall motion control of the five - axis machine tool. The first servo driver 11 can be one or both of the X - axis servo driver or the Y - axis servo driver. The first instruction can be a movement instruction required according to the actual processing requirements. For example, the first servo driver 11 drives the controlled motor 30 to move the X - axis to a certain coordinate point or move the Y - axis to a certain coordinate point.

[0026] Step S200, the controlled motor 30 executes the first instruction.

[0027] The controlled motor 30 executes corresponding actions according to the first instruction issued by the first controller 10, and after completing the corresponding actions, it can connect to the subsequent switching second controller 20.

[0028] Step S300, the controlled motor 30 respectively transmits a first feedback signal to the first servo driver 11 and the second servo driver 21.

[0029] The first feedback signal can be the current execution state of the controlled motor 30, such as the position signals of the current X-axis and Y-axis. Exemplarily, the encoder feedback mode of the controlled motor 30 is incremental A / B / Z type feedback. Among them, the A signal and the B signal are two orthogonal pulse signals used to determine the rotation direction and position of the motor, and the Z signal is a single pulse signal, which is usually used to mark the reference point of the motor. Among them, this feedback mode is used to meet the high-precision processing requirements.

[0030] In addition, the controlled motor 30 transmits the first feedback signal to the first servo driver 11 and the second servo driver 21 respectively through the encoder feedback splitter, that is, both paths of signals include complete A / B / Z signals. In some application scenarios, the feedback ends of the encoder feedback splitter (the end facing the first servo driver 11 and the end facing the second servo driver 21) are both 26P standard interfaces.

[0031] Step S400, the first controller 10 disconnects the servo enable, and the second controller 20 takes over the controlled motor 30 and controls the second servo driver 21 to drive the controlled motor 30 to execute the second instruction.

[0032] After the first controller 10 drives the controlled motor 30 to complete the first instruction, the control end of the controlled motor 30 can be switched. Among them, the second controller 20 can obtain the real-time position information of the motor by connecting to the first servo driver 11, and calculate and issue the second instruction by the second servo driver 21 through this real-time position information. Exemplarily, as shown in Figure 2 When the first controller 10 disconnects the enable signal, the relay 40 switches the power line of the motor to the second servo driver 21.

[0033] Step S500, the controlled motor 30 executes the second instruction.

[0034] Exemplarily, the controlled motor 30 can execute the second instruction such as "start galvanometer linkage processing, and at the same time adjust the X-axis - Y-axis position to match the galvanometer trajectory", etc. In other words, compared with the prior art where the X-axis and Y-axis need to be adjusted to the set positions, the seamless switching of the control power of the controlled motor 30 between the first controller 10 and the second controller 20 can realize the linkage between the XY plane and the galvanometer system.

[0035] Step S600, the controlled motor 30 transmits the second feedback signal to the first servo driver 11 and the second servo driver 21 respectively.

[0036] Correspondingly, when the controlled motor 30 executes the second instruction, it still continuously transmits the feedback signal to the first servo driver 11 or the second servo driver 21 to ensure that both servo drivers can obtain the state information of the motor in real time.

[0037] In the embodiments of the present application, by configuring two relatively independent controllers (the first controller 10 and the second controller 20), they are respectively and independently used to control the first servo driver 11 and the second servo driver 21. At the same time, the first servo driver 11 and the second servo driver 21 can respectively switch to control a controlled motor 30, so that when the first controller 10 drives the controlled motor 30 to move to a specified position, it can seamlessly switch to the second controller 20, and the second controller 20 can finely adjust the position of the motor to achieve relay control and meet the requirements of further refined processing, enabling the controlled motor 30 to be linked with the galvanometer processing, and the second controller 20 can compensate for the system tracking error.

[0038] In some embodiments, the dual-servo switching control method further includes: The first controller 10 acquires the feedback signal of the controlled motor 30. Among them, the feedback signal of the controlled motor 30 includes the current actual position information of the controlled motor 30. The DISAS register decomposition module of the first controller 10 decomposes the current actual position information of the controlled motor 30 and maps it to the first output register of the first controller 10.

[0039] The first output register transmits the decomposed current actual position information of the controlled motor 30 to the second controller 20. The second controller 20 restores the current actual position information of the controlled motor 30 and drives the controlled motor 30 to execute the second instruction according to the current actual position information of the controlled motor 30.

[0040] In the embodiments of the present application, the second controller 20 actually operates as a slave station of the first controller 10, enabling the second controller 20 to receive the data and instructions of the first controller 10. Exemplarily, the first controller 10 and the second controller 20 are connected through an EC (Ethernet for Control Automation Technology) bus. The PLC end of the first controller 10 acquires the actual position information of the controlled motor 30 and uses the DISAS register decomposition module to decompose the current actual position information of the controlled motor 30. For example, the 32-bit data position information in the conventional form is decomposed into 4 8-bit data (1 byte), where the 8-bit data is the minimum transmission unit. Then, the second controller 20 uses the corresponding writing function module in the ST language to read the data and obtains the actual position information through high-low bit conversion. Thus, it is ensured that the first controller 10 and the second controller 20 are in a data synchronization state.

[0041] In some application scenarios, the second controller 20 performs further calculations (such as error compensation, motion trajectory adjustment, etc.) based on the restored position data to control the motor to drive the movement of the X-axis, Y-axis, and galvanometer, realizing high-precision linked processing of the X-axis, Y-axis, and galvanometer.

[0042] In a second aspect, the present application further provides a dual servo switching control system, which applies the above dual servo switching control method, and further includes: a controlled motor 30, a first control unit, and a second control unit.

[0043] The controlled motor 30 is connected to a relay 40 and is used to execute a first instruction and a second instruction; the first control unit includes a first controller 10 and a first servo driver 11 connected to each other, wherein the first servo driver 11 is connected to the relay 40 through a power line to drive the controlled motor 30 to execute the first instruction.

[0044] The second control unit includes a second controller 20 and a second servo driver 21 connected to each other, wherein the second controller 20 is connected to the first servo driver 11, and the second servo driver 21 is connected to another interface of the relay 40 through a power line to drive the controlled motor 30 to execute the second instruction.

[0045] Exemplarily, when the above dual servo switching control system is introduced into a five-axis galvanometer machine tool, it will not affect the independent processing of the original five-axis galvanometer machine tool. That is, when the first controller 10 controls the original X-axis, Y-axis, Z-axis, etc. to execute the processing steps, it can still operate according to the original control mode, and the second controller 20 only continuously obtains the current position information and does not switch the operation right of the controlled motor 30, ensuring the functional integrity of the original five-axis machine tool. When it is necessary to adopt the linkage mode, it can be switched to the second controller 20 at any time. Thereby increasing the processing accuracy of the five-axis galvanometer machine tool and enabling it to have a richer processing mode and adapt to more fields and more types of processing requirements.

[0046] The first control unit and the second control unit respectively rely on the corresponding controllers to achieve independent control, enabling the second control unit to effectively compensate for the control errors that may be generated by the first control unit, ensuring that the second controller 20 after switching can compensate for the original control errors.

[0047] See Figure 3 as shown Figure 3 shows an electrical connection schematic diagram of a dual servo switching control system provided by the present application.

[0048] In some embodiments, the power line of the controlled motor 30 includes a U line, a V line, and a W line, and the U line, the V line, and the W line are respectively connected to the common terminal of the relay 40, wherein the normally closed contact of the relay 40 is connected to the power output terminals of the U1 end, the V1 end, and the W1 end corresponding to the first servo driver 11 and the controlled motor 30; the normally open contact of the relay 40 is connected to the power output terminals of the U2 end, the V2 end, and the W2 end corresponding to the second servo driver 21 and the controlled motor 30.

[0049] In the embodiment of the present application, a relay 40 is provided to realize the conversion of the power line of the controlled motor 30 between the first servo driver 11 and the second servo driver 21. Among them, the relay 40 includes at least 3 normally open contacts and 3 normally closed contacts to meet the power line switching requirements of a three-phase motor (U, V, and W phases). Exemplarily, when the controlled motor 30 is an X-axis motor, the U-line, V-line, and W-line of the power line of the X-axis motor are respectively connected to the common contacts of the relay 40, and three-phase power lines are led out from the normally open contacts of the relay 40 using different-colored flexible wires and connected to the corresponding U1 terminal, V1 terminal, and W1 terminal interfaces of the first servo driver 11; correspondingly, three-phase power lines are led out from the normally closed contacts of the relay 40 using different-colored flexible wires and connected to the corresponding U2 terminal, V2 terminal, and W2 terminal interfaces of the second servo driver 21.

[0050] Exemplarily, when the controlled motor 30 is a Y-axis motor, the U-line, V-line, and W-line of the power line of the Y-axis motor are respectively connected to the common contacts of another relay 40, and three-phase power lines are led out from the normally open contacts of the relay 40 using different-colored flexible wires and connected to the corresponding U1 terminal, V1 terminal, and W1 terminal interfaces of the first servo driver 11; correspondingly, three-phase power lines are led out from the normally closed contacts of the relay 40 using different-colored flexible wires and connected to the corresponding U2 terminal, V2 terminal, and W2 terminal interfaces of the second servo driver 21.

[0051] In some embodiments, the first controller 10 includes a digital output module of the PNP type. Among them, the power supply terminal of the relay 40 is connected to the contact of the digital output module of the first controller 10, and the contact can realize the output of high-level current and low-level current according to ladder diagram programming, so that the relay 40 can be attracted and disconnected according to the conversion of high level and / or low level.

[0052] In the embodiment of the present application, PNP type represents an industrial control module, and its output method is "current output". As shown in combination Figure 3 , the GND terminal of the relay 40 is connected to the GND terminal of the 24V power supply to ensure the integrity of the electrical circuit, and the 24V of the relay 40 is connected to the output point of the digital output module. When the digital output module outputs a high level (24V), the relay 40 is attracted, and the common contact is conducted with the normally open contact; when the digital output module outputs a low level (0V), the relay 40 is disconnected, and the common contact is conducted with the normally closed contact.

[0053] Exemplarily, the IO output of the digital output module can be controlled by a ladder diagram program to realize the attraction and disconnection of the relay 40. Among them, when the digital output module realizes the output of high-level current and low-level current according to ladder diagram programming, the first servo driver 11 or the second servo driver 21 is in a disabled state.

[0054] In some embodiments, the enabling of the first servo driver 11 and the second servo driver 21 respectively corresponds to a coil output in the ladder diagram. Among them, the numerical control system of the first controller 10 controls the enabling state of the servo driver through the ladder diagram program. This coil output is controlled by other contactors. This coil output is controlled by a control contactor. By connecting a normally closed contactor in series before the coil output in the ladder diagram, when it is necessary to switch the control right, the control contactor can be disconnected to implement the precise control of the X-axis and Y-axis by the first servo driver 11.

[0055] In other words, through the change of the received level signal, the relay 40 can quickly and reliably switch the power line from the first servo driver 11 to the second servo driver 21, so as to realize the transfer of the control right. When the second controller 20 finishes processing, the control right can be transferred to the first controller 10 again according to the above high and low level changes until the next galvanometer linkage processing is carried out.

[0056] In some embodiments, the dual-servo switching control system further includes an encoder feedback distribution box 50. The input end of the encoder feedback distribution box 50 is connected to the controlled motor 30, and the output ends are respectively connected to the first servo driver 11 and the second servo driver 21.

[0057] In the embodiment of the present application, in combination with Figure 3 As shown, the encoder feedback distribution box 50 and the corresponding relay cables are set. Specifically, the encoder feedback line of the X-axis motor is connected to the first female head of the encoder feedback distribution box 50. One end of the two encoder feedback relay cables is respectively inserted into the second and third female heads of the encoder feedback distribution box 50, and the other ends are respectively connected to the corresponding motor feedback interfaces of the first servo driver 11 and the second servo driver 21. The Y-axis motor is set correspondingly. The above design can ensure sufficient electrical isolation between the two paths of signals inside the encoder feedback distribution box 50, so as to avoid signal interference and improve the reliability of the system.

[0058] Among them, by setting the encoder feedback distribution box 50, the feedback signal of the controlled motor 30 is completely distributed to the first servo driver 11 and the second servo driver 21, so as to ensure that during the switching process of the control right of the controlled motor 30, the position information of the controlled motor 30 can be received by the first servo driver 11 and the second servo driver 21 at the same time, and seamless switching and high-precision control are realized.

[0059] In some embodiments, the first controller 10 and the first servo driver 11 are connected through an EC bus; the second controller 20 and the second servo driver 21 are connected through an EC bus; and / or the first servo driver 11 and the second controller 20 are connected through an NCUC (Network Control Unit Connection) bus.

[0060] In a third aspect, the present application also provides a five-axis polarization machine tool, including the above-mentioned dual servo switching system, and further including linear axes, where the linear axes include an X-axis and a Y-axis. Among them, the controlled motor 30 is used to drive the X-axis and the Y-axis; a first controller 10 is connected to a first servo driver 11 in a control manner. Among them, the first servo driver 11 includes a first X-axis driver corresponding to the X-axis and a first Y-axis driver corresponding to the Y-axis.

[0061] A second controller 20, the second controller 20 is respectively connected to the first X-axis driver and the first Y-axis driver. Among them, the second controller 20 is connected to a second servo driver 21, and the second servo driver 21 includes a second X-axis driver corresponding to the X-axis and a second Y-axis driver corresponding to the Y-axis.

[0062] In the embodiment of the present application, by adding a second controller 20, the original five-axis galvanometer processing machine tool is modified, and by additionally adding components such as a second X-axis driver and a second Y-axis driver with the same parameters or the same model, the relay control of the original motor can be realized. Compared with the current method of the five-axis galvanometer machine tool that needs to control the five-axis machine tool to move below the galvanometer and adjust the position of the workpiece to be processed and then remain stationary, the above-mentioned relay control can switch the control right of the X-axis - Y-axis to the second controller 20 after the current five-axis machine tool moves to a certain coordinate position, so that the second controller 20 can simultaneously control the XY plane of the five-axis machine tool and the galvanometer control card, thereby realizing the galvanometer linkage processing of the five-axis machine tool. Exemplarily, the first controller 10 and the second controller 20 are also control cards. Compared with the current method of the five-axis machine tool that needs to be stationary to make up for the tracking error, adding the second controller 20 and the first controller 10 simultaneously obtain the position of the controlled motor 30, thereby effectively making up for the tracking error of the five-axis machine tool, eliminating the need for the step of stationary the five-axis machine tool, and thus improving the processing speed.

[0063] In some application scenarios, the above-mentioned switching control is mainly applicable to the X-Y plane, and is mainly applicable to electronic component manufacturing, optical lens processing, etc. that have extremely high requirements for the accuracy and efficiency of plane processing. However, the present application does not limit this, and the above-mentioned switching control can still be applicable to other planes (such as the X-Z plane).

[0064] In some embodiments, the five-axis polarization machine tool further includes rotary axes, where the rotary axes have a C-axis and an A-axis. Among them, the first servo driver 11 is provided with a C-axis driver corresponding to the C-axis, and the C-axis driver is at the end of the control topology of the first controller 10. The second controller 20 is connected in series with the C-axis driver and is located at the rear end of the C-axis driver.

[0065] In the embodiment of the present application, the linear axis further includes a Z axis. The linear axis is used to realize the linear motion of the tool in three-dimensional space. Exemplarily, the second controller 20 is connected to the C-axis driver through the NCUC bus, so that it can be used as the last slave station, and further realize that the second controller 20 can read the position information of each axis (X axis, Y axis, Z axis, A axis, and C axis) of the first controller 10 in real time. In some application scenarios, the position of the X axis is transmitted to the Y-axis driver, and the position information of the X axis and Y axis is transmitted to the Z-axis driver, and the transmission is carried out in sequence until the position information of each axis is transmitted to the second controller 20.

[0066] In some embodiments, the OUT terminal of the second controller 20 is connected to the IN terminal of the second X-axis driver, and the OUT terminal of the second X-axis driver is connected to the IN terminal of the second Y-axis driver.

[0067] In the embodiment of the present application, through the second X-axis drive shaft and the second Y-axis controller of the second controller 20 are connected in sequence, and a new control link can still be constructed subsequently.

[0068] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included within the protection scope of the present invention.

Claims

1. A dual servo switching control method, characterized in that: include: The first controller controls the first servo driver to drive the controlled motor to execute the first instruction; After the controlled motor executes the first instruction, the first controller disconnects the servo enable; The second controller takes over the controlled motor and controls the second servo driver to drive the controlled motor to execute a second instruction; The controlled motor transmits feedback signals to the first servo driver and the second servo driver respectively.

2. The dual servo switching control method according to claim 1, characterized in that: The dual servo switching control method further includes: The first controller acquires a feedback signal of the controlled motor, wherein the feedback signal of the controlled motor includes current actual position information of the controlled motor; The DISAS register decomposition module of the first controller decomposes the current actual position information of the controlled motor and maps it to the first output register of the first controller; The first output register transmits the decomposed current actual position information of the controlled motor to the second controller; The second controller restores the current actual position information of the controlled motor, and drives the controlled motor to execute the second instruction according to the current actual position information of the controlled motor.

3. A dual servo switching control system, characterized in that: The dual servo switching control method according to any one of claims 1 to 2 comprises: A controlled motor, wherein the controlled motor is connected to a relay and is used to execute the first instruction and the second instruction; A first control unit, the first control unit comprising a first controller and a first servo driver connected to each other, wherein the first servo driver is connected to the relay through a power line to drive the controlled motor to execute the first instruction; A second control unit, the second control unit includes a second controller and a second servo driver connected to each other, wherein the second controller is connected to the first servo driver, and the second servo driver is connected to another interface of the relay through a power line to drive the controlled motor to execute the second instruction.

4. The dual servo switching control system according to claim 3, characterized in that: The power line of the controlled motor includes a U line, a V line and a W line, and the U line, the V line and the W line are respectively connected to the common end of the relay, wherein the normally closed contact of the relay is connected to the power output terminals of the U1 end, the V1 end and the W1 end corresponding to the first servo drive and the controlled motor; the normally open contact of the relay is connected to the power output terminals of the U2 end, the V2 end and the W2 end corresponding to the second servo drive and the controlled motor.

5. The dual servo switching control system according to claim 4, characterized in that: The first controller includes a PNP type digital output module, wherein the power supply end of the relay is connected to the contacts of the digital output module of the first controller, and the contacts can output high-level current and low-level current according to ladder diagram programming, so that the relay can be closed and disconnected according to the high level and / or the low level conversion.

6. The dual servo switching control system according to claim 3, characterized in that: The dual-servo switching control system further comprises an encoder feedback junction box, the input end of the encoder feedback junction box is connected to the controlled motor, and the output end is respectively connected to the first servo driver and the second servo driver.

7. The dual servo switching control system according to any one of claims 3 to 6, characterized in that: The first controller is connected to the first servo driver via an EC bus; the second controller is connected to the second servo driver via an EC bus; and / or the first servo driver is connected to the second controller via an NCUC bus.

8. A five-axis polarization machine tool, comprising the dual servo switching system according to any one of claims 3 to 7, characterized in that: Also includes: A linear axis, the linear axis includes an X-axis and a Y-axis, wherein the controlled motor is used to drive the X-axis and the Y-axis; A first controller, the first controller being connected to a first servo driver, wherein the first servo driver comprises a first X-axis driver corresponding to the X-axis and a first Y-axis driver corresponding to the Y-axis; A second controller, wherein the second controller is connected to the first X-axis driver and the first Y-axis driver respectively, wherein the second controller is connected to a second servo driver, and the second servo driver includes a second X-axis driver corresponding to the X-axis and a second Y-axis driver corresponding to the Y-axis.

9. The five-axis polarization machine tool according to claim 8, characterized in that: The five-axis polarization machine tool also includes a rotating axis, which has a C-axis and an A-axis, wherein the first servo drive is provided with a C-axis drive corresponding to the C-axis, and the C-axis drive is located at the end of the control topology structure of the first controller, and the second controller is connected in series with the C-axis drive and is located at the rear end of the C-axis drive.

10. The five-axis polarization machine tool according to claim 8, characterized in that: The OUT terminal of the second controller is connected to the IN terminal of the second X-axis driver, and the OUT terminal of the second X-axis driver is connected to the IN terminal of the second Y-axis driver.

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