Encoder protocol conversion method and module applied to servo drive device

Abstract

The application discloses an encoder protocol conversion method and module applied to a servo driving device, and belongs to the technical field of servo control, and comprises the following steps: constructing and storing an analog algorithm, so as to convert first state data of an absolute value encoder obtained through A-Format protocol conversion into second state data output by an SSI encoder according to preset variable parameters; acquiring the first state data output by a current encoder and the preset variable parameters, generating the second state data and sending the second state data to a servo driver supporting an SSI protocol; and the preset variable parameters are respectively used for configuring state data update frequency, position data clipping bit number and setting single-turn or multi-turn working modes. The above scheme can effectively expand the compatibility of a traditional servo driver to an A-Format protocol encoder, the protocol conversion algorithm is realized through hardware, is robust, has low delay, stable data transmission and low power consumption, the encoder parameters are configurable and can be saved, and the compatibility to various absolute value encoders on the market is high.

Description

Technical Field

[0001] This application belongs to the field of servo control technology and relates to an encoder protocol conversion method and module applied to servo drive devices. Background Technology

[0002] In a servo control system, the controller sends command data to the servo driver, which then controls the servo motor to rotate precisely and stably. The servo motor has a built-in encoder to detect real-time status data after actual rotation, such as position and temperature data, and feeds this data back to the servo driver. The servo driver analyzes this real-time status data in conjunction with the received command data and outputs corresponding position control signals, speed control signals, and torque control signals to ensure the servo motor operates stably and precisely.

[0003] As shown in Figure 1, traditional servo motors mostly use SSI encoders and feed back real-time status data (binary code or Gray code) such as position values ​​and status bits to the servo driver according to the SSI communication protocol.

[0004] The Format encoder is a high-reliability absolute encoder developed by Nikon, equipped with a manufacturer-specific communication protocol, namely the A-Format protocol. A-Format encoders offer advantages such as support for high-speed serial communication (up to 16Mbps, with 18-bit / field communication frames), encoder self-diagnostic capabilities for status information acquisition, temperature monitoring, support for bus connections, and reduced system cabling. The A-Format protocol itself is also highly flexible, with different manufacturers customizing it to suit their specific encoder products.

[0005] Traditional servo drives are mostly not fully compatible with the A-Format protocol. Moreover, due to the customized changes made to the protocol by different manufacturers, traditional servo drives are even more difficult to be compatible with the A-Format protocol. The inability to be well compatible with the A-Format protocol also limits the application scenarios of traditional servo drives. Summary of the Invention

[0006] To extend the compatibility of traditional servo drives with encoders supporting the A-Format protocol, the first objective of this application is to provide an encoder protocol conversion method for servo drive devices. This method implements the protocol conversion algorithm in hardware, exhibiting strong robustness, low latency, stable data transmission, and low power consumption. To implement the above encoder protocol conversion method, the second objective of this application is to propose an encoder protocol conversion module for servo drive devices, the specific scheme of which is as follows:

[0007] An encoder protocol conversion method for use in servo drive devices includes:

[0008] A simulation algorithm is constructed and stored to transform the first state data of the absolute encoder obtained by the A-Format protocol into the second state data output by the SSI encoder according to preset variable parameters.

[0009] Obtain the first state data output by the current encoder and the preset variable parameters, generate the second state data according to the simulation algorithm, and send it to the servo driver that supports the SSI protocol;

[0010] The preset variable parameters are used to configure the status data update frequency, the number of bits to be clipped from the position data, and to set the single-loop or multi-loop working mode.

[0011] The first state data and the second state data include location data.

[0012] The above technical solution enables traditional servo drives to be compatible with and support A-Format protocol encoders, and is not affected by the customization of various manufacturers. It has a wide range of applications, low data transmission latency, and strong stability.

[0013] Furthermore, the encoder protocol conversion method also includes:

[0014] Retrieve and associate the A-Format protocol and its corresponding communication parameters and vendor type for each customized version;

[0015] Automatically identify and confirm the A-Format protocol version corresponding to the current first state data, or confirm it according to the selected manufacturer type, and automatically or manually configure the communication parameters;

[0016] The communication parameters include the communication rate.

[0017] The above technical solution allows for the configuration of corresponding communication rates based on different customized versions of the A-Format protocol, ensuring accurate data transmission and greatly expanding the applicability of the encoder protocol conversion module of this application.

[0018] Furthermore, the encoder protocol conversion method also includes:

[0019] Based on each customized version of the A-Format protocol, the response time delay of the encoder responding to the data request of the servo driver and feeding back the second state data to the servo driver is obtained, and the above response time delay is associated with the A-Format protocol version and stored.

[0020] A delayed data processing algorithm is constructed to process the first state data, converting the response delay corresponding to each customized version of the A-Format protocol into at least one standard delay of fixed duration;

[0021] After automatically identifying and confirming, or confirming based on the selected vendor type, the A-Format protocol version corresponding to the current first state data also includes:

[0022] Find or generate the standard latency corresponding to the current A-Format protocol version and output it to the servo driver, or

[0023] The second state data to be output to the servo driver is corrected based on the aforementioned standard delay.

[0024] Through the above technical solution, the data transmission delay corresponding to different customized versions of the A-Format protocol can be fixedly converted into one or more identical values, which makes it convenient for the servo drive to perform control compensation according to the length of the standard delay, or for the encoder protocol conversion module to generate a corresponding delay compensation scheme to correct the second state data, thereby improving the accuracy of the servo drive control timing.

[0025] Furthermore, constructing the delay data processing algorithm includes:

[0026] Set a standard latency, obtain the response latency corresponding to each customized version of the A-Format protocol, and if the above response latency is not greater than the standard latency, then the first state data is not processed;

[0027] If the above response time delay is greater than the standard delay, then:

[0028] Based on the correlation between each data category in the first state data and the servo control accuracy, each data category is divided into several important levels;

[0029] Cut or discard data contained in data categories with low importance levels to obtain new response time extensions until the above response time extensions are no greater than the standard delay.

[0030] Record and store the data pruning or discarding status corresponding to each A-Format protocol version, and store them in association with the A-Format protocol version to form the corresponding delayed data processing algorithm.

[0031] The above technical solution allows for the configuration of corresponding delay data processing algorithms for different versions of the A-Format protocol customized by different manufacturers. This enables the encoder's response delay to be controlled near the standard delay, facilitating the servo drive to perform delay compensation processing on the received feedback data and thereby improving the control accuracy of the servo drive.

[0032] Furthermore, the delayed data processing algorithm also includes a data alternation transmission method:

[0033] The sensitivity of the statistical servo control results to changes in various categories of data in the first state data is used to classify the sensitivity of each category of data.

[0034] Set specific data bits in the first state data as multiplex bits;

[0035] Data in data categories with sensitivity ratings below a set value are written to the reuse bit at set intervals.

[0036] The above technical solution can merge data such as whether there are multiple rotations, temperature status, or other manufacturer-defined data into a specific data bit, reducing the amount of data transmitted and lowering latency without affecting the accuracy of servo control.

[0037] Furthermore, the delay data processing algorithm also includes:

[0038] Obtain the importance level and sensitivity classification of each category of data in the first state data from the manufacturer's manual;

[0039] Based on the aforementioned important levels and sensitivity classifications, a ratio of transmission frequency is set for each low-sensitivity data, and corresponding parameter setting ports are configured.

[0040] The above technical solution can determine the data categories that are of low importance but not important enough to be directly cut off, based on the encoder manufacturer's product manual. Combined with the sensitivity classification of the data categories, a ratio of the transmission frequency is set for different data categories. That is, within a set time, the number of feedback times for different data categories is different. This reduces the amount of data transmission while ensuring that certain important data can be sensed by the servo drive.

[0041] To implement the above-described encoder protocol conversion method for servo drive devices, this application also proposes an encoder protocol conversion module for servo drive devices, comprising:

[0042] The SSI protocol simulation unit is configured to receive and convert the first state data of the absolute encoder obtained by the A-Format protocol into the second state data output by the SSI encoder according to the preset variable parameters, and then output it.

[0043] The A-Format protocol transceiver unit is configured to receive customized versions of the A-Format protocol from various manufacturers. It provides variable parameter input ports for flexible module configuration to achieve compatibility with different customized A-Format protocols.

[0044] The RS232 interface communication unit is configured to enable data transmission between the above-mentioned functional units and external devices used for inputting configuration parameters.

[0045] The data storage unit includes a FLASH submodule, which is data-connected to the RS232 interface communication unit, receives and stores the configuration parameters, and is data-connected to the SSI protocol simulation unit and the A-Format protocol transceiver unit so that the pre-stored configuration parameters can be automatically loaded from the FLASH submodule after the device is powered on or restarted.

[0046] The SSI protocol simulation unit is equipped with at least three variable input ports, and the variable parameters used for configuration include the location data update frequency, the cropping of location data, and the setting of single-loop or multi-loop working mode.

[0047] The variable parameter input port of the A-Format protocol transceiver unit configuration is used to configure parameters including communication rate and vendor type.

[0048] Furthermore, the data storage unit also stores associated storage of various vendor types and their corresponding A-Format protocol versions, standard latency corresponding to each A-Format protocol version, or latency data processing algorithms that convert the response latency of each A-Format protocol version into standard latency;

[0049] The encoder protocol conversion module further includes:

[0050] The A-Format protocol version identification unit is configured to determine the A-Format protocol version and vendor type based on the received first status data.

[0051] The standard delay output unit is configured to be data-connected to the A-Format protocol version identification unit, and is used to find or generate the corresponding standard delay according to the current A-Format protocol version and output it to the servo driver.

[0052] Furthermore, the encoder protocol conversion module is also equipped with a data alternation transmission unit for implementing the data alternation transmission method steps as described above, which is written in a hardware description language and implemented on an FPGA chip.

[0053] Furthermore, the encoder protocol conversion module is written in a hardware description language and implemented on an FPGA chip.

[0054] This application includes at least one of the following beneficial effects:

[0055] It can effectively extend the compatibility of traditional servo drives with encoders that support the A-Format protocol. It implements the protocol conversion algorithm in hardware, which is robust, has low latency, stable data transmission and low power consumption. At the same time, the encoder parameters can be configured and saved, and it has strong compatibility with absolute encoders from major manufacturers on the market. Attached Figure Description

[0056] Figure 1a This is a schematic diagram of traditional servo drive data transmission based on the SSI protocol.

[0057] Figure 1b This is a schematic diagram of servo drive data transmission in the scheme of this application;

[0058] Figure 2 A schematic diagram illustrating the steps involved in constructing a delayed data processing algorithm;

[0059] Figure 3 This is a schematic diagram of the overall modular design of the present application.

[0060] Figure 4 This is a schematic diagram showing the connection of the functional modules of the solution in this application;

[0061] Figure 5 This is a physical diagram of the encoder protocol conversion module of this application.

[0062] Reference numerals in the attached figures: 1. SSI protocol simulation unit; 2. A-Format protocol transceiver unit; 3. RS232 interface communication unit; 4. Data storage unit; 5. A-Format protocol version identification unit; 6. Standard delay output unit. Detailed Implementation

[0063] The embodiments of this application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0064] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0065] An encoder protocol conversion method for servo drive devices mainly includes the following steps:

[0066] Preparation steps: Build and store a simulation algorithm to transform the first state data of the absolute encoder obtained by the A-Format protocol into the second state data output by the SSI encoder according to the preset variable parameters;

[0067] Implementation steps: Obtain the first state data output by the current encoder and the preset variable parameters, generate the second state data according to the above simulation algorithm and send it to the servo drive that supports the SSI protocol.

[0068] In the embodiments of this application, the above simulation algorithm is written in the hardware description language Verilog and implemented on an FPGA (Field Programmable Gate Array) chip. It can stably and quickly process the first state data, and the simulation algorithm can be reconstructed or optimized as needed by reserving ports.

[0069] In this embodiment, the preset variable parameters are used to configure the status data update frequency, the number of bits to be clipped from the position data, and to set the single-cycle or multi-cycle working mode to be fully compatible with servo drives that support the SSI protocol.

[0070] In the Nikon A-Format absolute encoder and its corresponding A-Format protocol manufactured by Nikon, the encoder output data includes position data, temperature monitoring data, and other anomaly detection data. Different manufacturers customize the aforementioned A-Format protocol according to their needs, resulting in different first-state data for each manufacturer, but the most crucial position data is always present. Therefore, in the embodiments of this application, the first-state data and second-state data include, but are not limited to, position data, and may also include temperature anomaly monitoring data, power supply anomaly monitoring data, etc., depending on control requirements.

[0071] In practical applications, the encoder protocol conversion module cannot know in advance the type of encoder vendor to be adapted, i.e., it cannot know the A-Format protocol version in advance. Therefore, in this embodiment, the preparation step of the encoder protocol conversion method further includes: acquiring and associating storage of each customized version of the A-Format protocol and its corresponding communication parameters and vendor type. Correspondingly, the implementation steps also include: automatically identifying and confirming, or confirming based on the selected vendor type, the A-Format protocol version corresponding to the current first state data, and automatically or manually configuring the communication parameters.

[0072] The aforementioned method for automatically identifying the A-Format protocol version includes analyzing the length and structure of the data frame. For example, in the standard version of the A-Format protocol, each frame contains 2-4 fields, each consisting of 18 bits. Excluding the start and stop bits, each field contains 16 data bits (D0-D15). The final field includes a CRC bit with a fixed number of bits. By analyzing this data structure, the A-Format protocol version and vendor corresponding to the current data can be determined. Different vendors may customize the data format as needed, such as reducing the number of fields per frame from 4 to 2, or defining new data categories within the data bits.

[0073] The communication parameters configured manually mentioned above mainly refer to the communication rate. The implementation of this method involves reserving variable parameters during the functional code writing process after analyzing the A-Format protocols of mainstream manufacturers, allowing for flexible module configuration to achieve compatibility with different customized versions of the A-Format protocol.

[0074] Combination Figure 1a and Figure 1b As shown, compared to Figure 1a The status data of the servo motor is directly acquired by the SSI encoder and then directly output to the SSI protocol interface of the servo driver in binary or Gray code form. Figure 1b The status data collected by the A-Format encoder needs to be output to the encoder protocol conversion module (built on FPGA) first, and then processed before being fed back to the servo driver. Clearly, the latter includes not only the encoder's own response delay but also the delay of the data feedback link. Analysis shows that, under the same baud rate, the response time delay of the aforementioned data feedback link is mainly related to the amount of data transmitted and the time required for data conversion.

[0075] In the prior art, for the fixed response delay of the encoder, the servo driver can predict and compensate for it in the control algorithm to ensure the control accuracy of the servo motor during high-speed movement. To facilitate the servo driver in compensating and correcting the second state data in the embodiments of this application, the encoder protocol conversion method described in this application further includes:

[0076] In the preparation step, encoder products from major manufacturers and their corresponding customized versions of the A-Format protocol are obtained. Then, the response time delay of the encoder in responding to a data request from the servo drive and outputting second-state data back to the servo drive is obtained through testing. This response time delay is associated with and stored in relation to the A-Format protocol version and manufacturer type. The testing process specifically involves: the servo drive outputting a data request signal (pulse signal), recording the output time of the request signal, and then monitoring the response signal fed back by the encoder and its corresponding time. Multiple tests are performed, and the average value is calculated to obtain the response delay length.

[0077] A delayed data processing algorithm is constructed to process the first state data, converting the response delay corresponding to each customized version of the A-Format protocol into at least one standard delay of fixed duration, such as 100µs.

[0078] In the specific implementation steps, after automatically identifying and confirming or confirming the A-Format protocol version corresponding to the current first state data based on the selected vendor type, the following steps are also included:

[0079] In one embodiment, the standard delay corresponding to the current A-Format protocol version is found or generated and output to the servo driver. The servo driver then modifies the control algorithm based on the standard delay to compensate for the delay. In another embodiment, a delay compensation algorithm is configured in the encoder protocol conversion module to modify the second state data to be output to the servo driver based on the standard delay. In specific applications, different implementation methods can be selected depending on the data transmission mode: request-response mode or continuous transmission mode.

[0080] Detailed, such as Figure 2 As shown, the steps for constructing the above-mentioned delayed data processing algorithm include:

[0081] S100, sets a standard time extension;

[0082] S200, obtain the response time extension corresponding to each customized version of the A-Format protocol;

[0083] S300, comparing response time delay with standard time delay:

[0084] S310, if the above response delay is not greater than the standard delay, then the first state data will not be processed;

[0085] S320, if the above response delay is greater than the standard delay, then:

[0086] S321, Based on the correlation between each data category in the first state data and the servo control accuracy, each data category is divided into multiple important levels;

[0087] S322, trim or discard data contained in data categories with low importance levels, obtain a new response time extension, until the above response time extension is no greater than the standard time extension;

[0088] S400 records and stores the data pruning or discarding status corresponding to each A-Format protocol version, and stores it in association with the A-Format protocol version to form its corresponding delayed data processing algorithm.

[0089] In this application's implementation, the standard for determining the standard latency is: based on the customized A-Format protocols of various mainstream manufacturers, the minimum latency achievable by the data feedback link under the condition that the status data is compressed and optimized without affecting the servo control accuracy. It should be noted that setting the standard latency here is not for reducing latency, but to ensure that the latency of status data transmission under different versions of the A-Format protocol remains consistent, facilitating latency compensation processing by the servo driver.

[0090] In practical applications, the short-term loss of certain monitoring data will not affect the overall servo control accuracy. For example, temperature anomaly monitoring data will not show a sudden change at a specific point in time because the temperature change inside the servo motor is continuous. Similarly, the rotation mode does not need to be specified in every data frame. Therefore, in this embodiment, the delayed data processing algorithm further includes a data alternation transmission method:

[0091] A100, statistically analyzes the sensitivity of the servo control results to changes in various categories of data in the first state data, and classifies the sensitivity of each category of data accordingly;

[0092] A200 sets a specific data bit in the first state data as a multiplex bit;

[0093] A300 writes data contained in data categories with sensitivity levels below a set value into the multiplexed bits at set intervals.

[0094] The aforementioned response sensitivity refers to the response speed of the servo drive's control parameters as the feedback data changes. For example, in the encoder's feedback monitoring data, position data has the highest response sensitivity, while temperature monitoring data has the lowest. In step A300, writing the multiplexed bit according to a set interval period means writing data at the same sensitivity level to the data bit at a set time period or data transmission period. For easy verification, 1-2 flag bits can be set before writing the multiplexed bit to indicate the data category of subsequent data bits. In a specific embodiment, the aforementioned interval period is non-uniformly set. For example, the importance level and sensitivity level of each category of data in the first state data are obtained from the manufacturer's manual. Based on the importance level and sensitivity level, a ratio of transmission frequency is set for each low-sensitivity data, and a corresponding parameter setting port is configured so that the user can configure the parameters. For example, temperature anomaly monitoring data and power anomaly monitoring data are periodically transmitted according to ABB's sorting, that is, within a certain period of time, the transmission volume of power anomaly monitoring data is twice that of temperature anomaly monitoring data. In practical applications, the user can customize the ratio range through the aforementioned parameter setting port.

[0095] To implement the above-mentioned encoder protocol conversion method applied to servo drive devices, combined with Figure 3 and Figure 4 As shown, this application also proposes an encoder protocol conversion module for servo drive devices. The encoder protocol conversion module is written in the hardware description language Verilog and implemented on an FPGA chip. It mainly includes an SSI protocol simulation unit 1, an A-Format protocol transceiver unit 2, an RS232 interface communication unit 3, and a data storage unit 4.

[0096] SSI protocol simulation unit 1 is configured to receive and convert the first state data of the absolute encoder obtained through the A-Format protocol, and then convert it into the second state data output by the SSI encoder according to preset variable parameters before outputting it. A-Format protocol transceiver unit 2 is configured to receive customized versions of the A-Format protocol from various manufacturers, and provides a variable parameter input port for flexible module configuration to achieve compatibility with different customized A-Format protocols. RS232 interface communication unit 3 is configured to realize data transmission between the above functional units and external devices used to input configuration parameters. Data storage unit 4 includes a FLASH submodule integrated on the FPGA, which is data-connected to the RS232 interface communication unit 3, receives and stores the configuration parameters, and is data-connected to the SSI protocol simulation unit 1 and the A-Format protocol transceiver unit 2 so that the pre-stored configuration parameters are automatically loaded from the FLASH submodule after the device is powered on or restarted.

[0097] As detailed above, the SSI protocol simulation unit 1 is equipped with at least three variable input ports for configuring variable parameters, including the location data update frequency, location data clipping, and setting single-loop or multi-loop operating mode. The variable parameter input ports configured in the A-Format protocol transceiver unit 2 are used to configure parameters including communication rate and vendor type.

[0098] In this embodiment, the data storage unit 4 also stores associated storage of various vendor types and their corresponding A-Format protocol versions, standard latency corresponding to each A-Format protocol version, or latency data processing algorithms that convert the response latency of each A-Format protocol version into standard latency. Correspondingly, the encoder protocol conversion module further includes: an A-Format protocol version identification unit 5 and a standard latency output unit 6.

[0099] The A-Format protocol version identification unit 5 is configured to determine the A-Format protocol version and vendor type based on the received first status data. The standard delay output unit 6 is configured to be data-connected to the A-Format protocol version identification unit 5, and is used to find or generate the corresponding standard delay based on the current A-Format protocol version and output it to the servo driver.

[0100] In this embodiment of the application, the encoder protocol conversion module is further configured with a data alternation transmission unit for implementing the data alternation transmission method steps described above, which is written in a hardware description language and implemented on an FPGA chip.

[0101] The aforementioned algorithms, or functional units, are also written using a hardware description language and implemented on an FPGA chip.

[0102] like Figure 5 The image shown is a physical diagram of the encoder protocol conversion module applied to a servo drive device according to an embodiment of this application. Figure 5 As shown, the physical encoder protocol conversion module includes a housing and a PCB board containing various functional units, with an FPGA chip in the center of the PCB board. Combined with... Figure 5 As shown, the encoder protocol conversion module described in this application has a compact and small structure and is applicable to a wide range of scenarios.

[0103] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An encoder protocol conversion method applied to a servo drive device, characterized in that, include: A simulation algorithm is constructed and stored to transform the first state data of the absolute encoder obtained by the A-Format protocol into the second state data output by the SSI encoder according to preset variable parameters. Obtain the first state data output by the current encoder and the preset variable parameters, generate the second state data according to the simulation algorithm, and send it to the servo driver that supports the SSI protocol; The preset variable parameters are used to configure the status data update frequency, the number of bits to be clipped from the position data, and to set the single-loop or multi-loop working mode. The first state data and the second state data include location data; The encoder protocol conversion method further includes: Retrieve and associate the A-Format protocol and its corresponding communication parameters and vendor type for each customized version; Automatically identify and confirm the A-Format protocol version corresponding to the current first state data, or confirm it according to the selected manufacturer type, and automatically or manually configure the communication parameters; The communication parameters include the communication rate.

2. The encoder protocol conversion method according to claim 1, characterized in that, The encoder protocol conversion method further includes: Based on each customized version of the A-Format protocol, the response time delay of the encoder responding to the data request of the servo driver and feeding back the second state data to the servo driver is obtained, and the above response time delay is associated with the A-Format protocol version and stored. A delayed data processing algorithm is constructed to process the first state data, converting the response delay corresponding to each customized version of the A-Format protocol into at least one standard delay of fixed duration; After automatically identifying and confirming, or confirming based on the selected vendor type, the A-Format protocol version corresponding to the current first state data also includes: Find or generate the standard latency corresponding to the current A-Format protocol version and output it to the servo driver, or The second state data to be output to the servo driver is corrected based on the aforementioned standard delay.

3. The encoder protocol conversion method according to claim 2, characterized in that, The delay data processing algorithm includes: Set a standard latency, obtain the response latency corresponding to each customized version of the A-Format protocol, and if the above response latency is not greater than the standard latency, then the first state data is not processed; If the above response time delay is greater than the standard delay, then: Based on the correlation between each data category in the first state data and the servo control accuracy, each data category is divided into several important levels; Cut or discard data contained in data categories with low importance levels to obtain new response time extensions until the above response time extensions are no greater than the standard delay. Record and store the data pruning or discarding status corresponding to each A-Format protocol version, and store them in association with the A-Format protocol version to form the corresponding delayed data processing algorithm.

4. The encoder protocol conversion method according to claim 3, characterized in that, The delayed data processing algorithm also includes a data alternation transmission step: The sensitivity of the statistical servo control results to changes in various categories of data in the first state data is used to classify the sensitivity of each category of data. Set specific data bits in the first state data as multiplex bits; Data in data categories with sensitivity ratings below a set value are written to the reuse bit at set intervals.

5. The encoder protocol conversion method according to claim 4, characterized in that, The delayed data processing algorithm further includes: Obtain the importance level and sensitivity classification of each category of data in the first state data from the manufacturer's manual; Based on the aforementioned important levels and sensitivity classifications, a ratio of transmission frequency is set for each low-sensitivity data, and corresponding parameter setting ports are configured.

6. An encoder protocol conversion module for use in servo drive devices, characterized in that, include: The SSI protocol simulation unit (1) is configured to receive and convert the first state data of the absolute encoder obtained by the A-Format protocol into the second state data output by the SSI encoder according to the preset variable parameters and then output it. The A-Format protocol transceiver unit (2) is configured to receive customized versions of the A-Format protocol from various manufacturers and provides variable parameter input ports for flexible configuration of the module to achieve compatibility with different customized A-Format protocols. The RS232 interface communication unit (3) is configured to enable data transmission between the above-mentioned functional units and an external device for inputting configuration parameters. The data storage unit (4) includes a FLASH submodule, which is connected to the RS232 interface communication unit (3) to receive and store the configuration parameters, and is connected to the SSI protocol simulation unit (1) and the A-Format protocol transceiver unit (2) so that the pre-stored configuration parameters can be automatically loaded from the FLASH submodule after the device is powered on or restarted. The SSI protocol simulation unit (1) is equipped with at least three variable input ports, and the variable parameters used for configuration include the location data update frequency, the location data clipping, and the setting of single-loop or multi-loop working mode. The variable parameter input port configured in the A-Format protocol transceiver unit (2) is used to configure parameters including communication rate and manufacturer type.

7. The encoder protocol conversion module according to claim 6, characterized in that, The data storage unit (4) also stores the types of each manufacturer and their corresponding A-Format protocol versions, the standard latency corresponding to each A-Format protocol version, or a latency data processing algorithm that converts the response latency of each A-Format protocol version into the standard latency. The encoder protocol conversion module further includes: The A-Format protocol version identification unit (5) is configured to determine the A-Format protocol version and vendor type based on the received first status data. The standard delay output unit (6) is configured to be connected to the A-Format protocol version identification unit (5) for finding or generating the corresponding standard delay according to the current A-Format protocol version and outputting it to the servo driver.

8. The encoder protocol conversion module according to claim 6, characterized in that, The encoder protocol conversion module is further configured with a data alternation transmission unit for implementing the method steps as described in claim 4 or 5, which is written in a hardware description language and implemented on an FPGA chip.

9. The encoder protocol conversion module according to claim 6, characterized in that, The encoder protocol conversion module is written in a hardware description language and implemented on an FPGA chip.

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