Four-axis driving control module based on EtherCAT network

Abstract

The utility model relates to the technical field of industrial automation, and discloses a four-axis drive control module based on an EtherCAT network, which comprises a module, four high-precision intelligent drivers are welded and mounted on the outer wall of the module, and the four high-precision intelligent drivers are welded and mounted on the outer wall of the module. Wherein each high-precision intelligent driver is fixedly provided with a main feedback port, a servo motor connecting port and a high-precision intelligent driver power supply port, and EtherCAT network cascade routing of the four high-precision intelligent drivers is integrated in a compact module, so that the space required by wiring and the number of cables are greatly reduced; the wiring structure of the whole system is clearer and more concise, a user does not need to worry about the problem of communication connection between drivers by integrating cascading routing in the module, so that the complexity of installation and maintenance is reduced, the module can send motion control data to an upper system in real time through the EtherCAT bus, and the control efficiency is improved. And receiving an instruction from an upper system.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial automation, and more specifically, to a 4-axis drive control module based on an EtherCAT network. Background Art

[0002] In the current industrial and technological fields, the single-axis servo control system has become the core driving force for the development of many industries. Its high accuracy and stability enable this system to play a vital role in various precision operations. In the field of electronic semiconductor manufacturing, the single-axis servo control system ensures that every step of chip production is accurate and correct with its extremely high accuracy and reliability, greatly improving production efficiency and product quality. In the laser cutting industry, the high-precision control of the system makes the cutting process more accurate and efficient, meeting the needs of complex graphic cutting. In the field of collaborative robots, the single-axis servo control system provides stable motion control for robots. In the medical industry, the single-axis servo control system provides patients with more accurate and safe treatment plans. In the photovoltaic industry, it is widely used in solar panel tracking systems, which ensure that the solar panels receive the maximum sunlight at different times by precisely controlling the angle of the solar panels. In packaging machinery and printing equipment, the single-axis servo control system ensures the precise positioning and transmission of products during the production process, improving the automation level and production efficiency of the production line. Production efficiency, for mobile robots (AGV), the single-axis servo control system is the core of its navigation and positioning, ensuring the stable operation and precise operation of the robot in complex environments. In the military field, whether it is the guidance system of missiles or the flight control of drones, high-precision servo control is required to ensure the smooth completion of the task. In summary, the single-axis servo control system provides a strong driving force for the development of modern industry and technology with its high accuracy and stability. However, despite its wide application, the system still faces a series of challenges in practical applications. These challenges mainly stem from its design limitations, such as large size, compact structure, large space occupied, and complex wiring. These not only increase the difficulty of equipment installation, but also limit its application in small spaces, especially in those scenarios with strict space requirements, such as medical surgical robots or high-precision manufacturing equipment. In addition, complex wiring not only increases the difficulty of maintenance, but also increases the risk of equipment failure and reduces the overall reliability of the system. Therefore, it needs to be improved and optimized. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the utility model provides a 4-axis drive control module based on an EtherCAT network, which has the advantages of small size and high stability.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a 4-axis drive control module based on EtherCAT network, comprising a module, four high-precision intelligent drivers are welded and installed on the outer wall of the module, wherein each high-precision intelligent driver is fixedly installed with a main feedback port, a servo motor connection port and a high-precision intelligent driver power supply port, an EtherCAT IN communication interface and an EtherCAT OUT communication interface, and the main feedback port, a logic signal interface, a high-speed bus interface 1 and a high-speed bus interface 2 are fixedly welded on the outer wall of the high-precision intelligent driver.

[0005] As a preferred technical solution of the utility model, the main feedback port has strong compatibility, including being configured to be connected to a differential incremental encoder or a multi-bit absolute encoder, or an absolute encoder of multiple protocols, and receiving the main feedback signal provided by the differential incremental encoder or the multi-bit absolute encoder, or the absolute encoder of multiple protocols to the main feedback port.

[0006] As a preferred technical solution of the utility model, the servo motor connection port and the high-precision intelligent driver power supply port are configured to be able to be connected to the servo motor, thereby driving the servo motor to work.

[0007] As a preferred technical solution of the present invention, the module is also provided with a mainboard power supply interface, and the module power supply interface is configured to be connectable to an external DC power supply system, so as to power the module and the high-precision intelligent driver arranged thereon.

[0008] As a preferred technical solution of the utility model, each high-precision intelligent driver is connected to the high-speed bus interface 1 through direct module layout and wiring, so that it can be connected to the upper system bus via the high-speed bus interface 1 to achieve real-time network communication.

[0009] As a preferred technical solution of the utility model, the logic signal interface includes 3 DIs and 3 DOs which can be directly connected to photoelectric switches and relays, and receive or send logic level signals.

[0010] As a preferred technical solution of the utility model, a USB debugging interface and an external security interface are fixedly welded on the outer surface of the module.

[0011] As a preferred technical solution of the present invention, the module supports power supply at different voltage levels.

[0012] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0013] 1. The utility model integrates the EtherCAT network cascade wiring of four high-precision intelligent drivers into a compact module, which greatly reduces the space and number of cables required for wiring, and makes the wiring structure of the entire system clearer and simpler. By integrating the cascade wiring inside the module, users no longer need to worry about the communication connection problems between drivers, thereby reducing the complexity of installation and maintenance. Through the EtherCAT bus, the module can send motion control data to the upper system in real time and receive instructions from the upper system, ensuring the rapid response and precise control of the system and improving the overall performance of the equipment. In addition, the integrated module reduces the risk of communication interference by reducing external wiring. At the same time, since the communication cascade relationship between all drivers is integrated inside the module, the problem of data packet loss caused by long-distance signal transmission is also reduced, thereby improving the reliability of EtherCAT bus communication and reducing the risk of equipment shutdown due to communication problems.

[0014] 2. The utility model integrates four high-precision intelligent servo drivers into a compact module through a highly integrated design, which significantly reduces the overall volume. This design innovation greatly reduces the space occupied by the module inside the electrical cabinet, thereby effectively improving the space utilization of the electrical cabinet. This advantage is particularly critical for many industrial applications that require high integration and compact design. Secondly, the reduction in volume not only brings space savings, but also further improves the convenience of equipment installation and maintenance. Traditional multi-axis servo systems require the installation of multiple servo drivers separately, which not only occupies a large space, but also has a cumbersome installation process. The integrated module of the present invention adopts an integrated design, which simplifies the installation steps and reduces the difficulty of installation. It also reduces the wiring requirements, making the entire system neater.

[0015] 3. The utility model realizes fast wiring by adopting a standard pluggable interface. Now, the user only needs to insert an EtherCAT communication cable into the interface of the integrated module to complete the communication connection of all drivers. This not only simplifies the wiring process, but also reduces the number of cables used, from the original 4 EtherCAT communication cables to the current 1, which greatly saves the wiring time cost. At the same time, since the communication cascade relationship between each driver has been integrated into the module, the user no longer needs to worry about the communication connection problem between the drivers, thereby improving the reliability of the system and reducing the maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 Schematic diagram of the structure of the utility model high-precision intelligent driver;

[0018] Figure 3 A schematic diagram of the side structure of the utility model;

[0019] Figure 4 This is a schematic diagram of the EtherCAT IN communication interface structure of the utility model;

[0020] Figure 5 This is a structural diagram of a high-speed bus interface of the utility model.

[0021] In the figure: 1. High-precision intelligent driver; 2. Main feedback port; 3. Servo motor connection port and high-precision intelligent driver power supply port; 4. USB debugging interface; 5. Logic signal interface; 6. External safety interface; 7. High-speed bus interface 1; 8. High-speed bus interface 2; 9. EtherCAT IN communication interface; 10. EtherCAT OUT communication interface; 11. Module. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] like Figures 1 to 5 As shown, an embodiment of the present invention provides a 4-axis drive control module based on an EtherCAT network, including a module 11, on the outer wall of which four high-precision intelligent drivers 1 are welded and installed, wherein each high-precision intelligent driver 1 is fixedly installed with a main feedback port 2, a servo motor connection port and a high-precision intelligent driver power supply port 3, an EtherCAT IN communication interface 9 and an EtherCAT OUT communication interface 10, and the outer wall of the high-precision intelligent driver 1 is fixedly welded with a main feedback port 2, a logic signal interface 5, a high-speed bus interface 1 7, and a high-speed bus interface 2 8.

[0024] By integrating the EtherCAT network cascade wiring of four high-precision intelligent drives 1 into a compact module 11, the space and number of cables required for wiring are greatly reduced, and the wiring structure of the entire system is made clearer and simpler. By integrating the cascade wiring inside the module 11, users no longer need to worry about communication connection problems between drives, thereby reducing the complexity of installation and maintenance. Through the EtherCAT bus, the module 11 can send motion control data to the upper system in real time and receive instructions from the upper system, ensuring the system's rapid response and precise control, and improving the overall performance of the equipment. In addition, the integrated module reduces external wiring, which not only reduces the risk of communication interference, but also reduces the problem of data packet loss caused by long-distance signal transmission because the communication cascade relationship between all drives is integrated inside the module 11, thereby improving the reliability of EtherCAT bus communication and reducing the risk of equipment downtime due to communication problems.

[0025] The module 11 is also provided with EtherCAT high-speed bus interfaces 7 and 8, and the EtherCAT cascade relationship between each high-precision intelligent driver 1 is directly laid out and wired in the module board. The specific implementation is as follows: the upper system EtherCAT high-speed bus signal, such as Elmo controller, Beckhoff controller, Omron, etc., is input to the EtherCAT IN communication interface 9 via the EtherCAT high-speed bus interface 7 standard RJ45 network port, and then input to the corresponding high-precision intelligent driver 1 EtherCATIN, and output to the EtherCAT OUT communication interface 10 via the corresponding high-precision intelligent driver 1 EtherCAT OUT;

[0026] The corresponding high-precision intelligent driver 1 EtherCAT OUT communication interface 10 outputs a signal which is input to the second high-precision intelligent driver 1 EtherCAT IN communication interface 9 and then to the second high-precision intelligent driver 1 EtherCATIN, and is output to the third high-precision intelligent driver 1 EtherCAT OUT communication interface 10 via the second high-precision intelligent driver 1 EtherCAT OUT;

[0027] The output signal of the second high-precision intelligent driver 1 EtherCAT OUT communication interface 10 is input to the third high-precision intelligent driver 1 EtherCAT IN communication interface 9 and then input to the third high-precision intelligent driver 1 EtherCATIN, and output to the third high-precision intelligent driver 1 EtherCAT OUT communication interface 10 via the third high-precision intelligent driver 1 EtherCAT OUT;

[0028] The output signal of the EtherCAT OUT communication interface 10 of the third high-precision intelligent driver 1 is input into the EtherCAT IN communication interface 9 of the fourth high-precision intelligent driver 1, and then input into the EtherCATIN of the fourth high-precision intelligent driver 1, and output to the EtherCAT OUT communication interface 10 of the fourth high-precision intelligent driver 1 via the fourth high-precision intelligent driver 1;

[0029] The output signal of the fourth high-precision intelligent driver 1EtherCAT OUT communication interface 10 is output to other external devices via the EtherCAT high-speed bus interface 8 or left unconnected, thereby realizing real-time network communication.

[0030] Among them, the main feedback port 2 has strong compatibility, including being configured to be connected to a differential incremental encoder or a multi-bit absolute encoder, or an absolute encoder of multiple protocols, and receiving the main feedback signal provided by the differential incremental encoder or the multi-bit absolute encoder, or an absolute encoder of multiple protocols to the main feedback port 2.

[0031] The design feature of module 11 lies in the strong compatibility of the main feedback port 2, which enables it to be connected to various types of encoders, including differential incremental encoders and multi-bit absolute encoders, as well as absolute encoders that support multiple protocols, thereby providing users with great flexibility and convenience, allowing the module to adapt to different application scenarios and needs. Through the connection of the main feedback port 2, the differential incremental encoder can transmit the differential signal it generates to module 11, and module 11 performs precise position and speed control based on it; the multi-bit absolute encoder is suitable for applications that require frequent reading of position information or high-precision positioning. The multi-bit absolute encoder connection function of the main feedback port 2 enables the module to directly receive the output signals of these encoders and perform fast and accurate position control.

[0032] The servo motor connection port and the high-precision intelligent driver power supply port 3 are configured to be connected to the servo motor, thereby driving the servo motor to work.

[0033] Through the integrated design of the servo motor connection port and the high-precision intelligent driver power supply port 3, module 11 realizes direct drive and control of the servo motor, reduces intermediate links, and enables the control signal to be directly and efficiently transmitted to the servo motor, thereby improving the response speed and control accuracy of the system.

[0034] The module 11 is also provided with a mainboard power supply interface, and the module power supply interface is configured to be connected to an external DC power supply system, so as to supply power to the module and the high-precision intelligent driver 1 arranged thereon.

[0035] By directly connecting to the external DC power supply system, the module 11 can obtain a stable and pure DC power supply. This stable power supply is essential to ensure the stable operation of the high-precision intelligent driver 1. The stable power supply can not only reduce the failure of the driver due to power fluctuations, but also ensure that the driver provides precise torque output when needed, thereby meeting the needs of high-precision control. Since all drivers are connected to the external DC power supply system through a unified power supply interface, the power supply can be controlled and managed more accurately, while also reducing unnecessary energy waste, thereby further improving energy utilization efficiency.

[0036] Each high-precision intelligent driver 1 is directly connected to the high-speed bus interface 7 through the module 11, so that it can be connected to the upper system bus via the high-speed bus interface 7 to achieve real-time network communication.

[0037] By directly connecting the high-precision intelligent driver 1 to the high-speed bus interface 7 of the module 11, direct communication with the upper system bus is achieved. This direct connection reduces the intermediate links in the communication link and reduces the delay in data transmission, thereby significantly improving the communication efficiency and real-time performance. The integrated design reduces the number of failure points in the communication link. In addition, the module 11 can also provide additional protection mechanisms, such as overcurrent protection, overvoltage protection, etc., to ensure the stable operation of the system, improve the reliability and stability of the system, and reduce the risk of downtime due to communication failures.

[0038] The logic signal interface 5 includes 3 DIs and 3 DOs, which can be directly connected to photoelectric switches and relays, and receive or send logic level signals.

[0039] Through the 3-way DI and 3-way DO interfaces, the module can be directly connected to external devices such as photoelectric switches or relays without the need for additional conversion or adaptation equipment, which allows the module to be easily integrated into various applications in the fields of industrial automation, robotics, medical equipment, etc., to meet the needs of different scenarios. Secondly, direct connection to photoelectric switches or relays enables the module to detect and control external devices in real time. The photoelectric switch can detect the presence or absence of an object by using the obstruction or reflection of the light beam by the object being detected, thereby realizing automatic control, while the relay can control the controlled quantity in the electrical output circuit according to the change of the input signal to realize the switch control of the circuit. Through the logic signal interface 5, the module can receive the logic level signals sent by the photoelectric switch or relay, and perform corresponding processing and control based on these signals.

[0040] The USB debugging interface 4 and the external security interface 6 are fixedly welded on the outer surface of the module 11 .

[0041] By setting up the USB debugging interface 4, developers can be allowed to connect the device to a computer to perform operations such as application debugging, data transmission and performance analysis, so that developers can directly run and debug applications on the device, greatly improving development efficiency. The external safety interface 6 enables operators to more conveniently control the power output of the device. Through simple operations, the device can be started, stopped, and power cut off, etc., which improves the convenience and safety of operation.

[0042] Among them, module 11 supports power supply at different voltage levels.

[0043] Supporting power supply at different voltage levels means a more convenient, efficient and reliable servo control solution. Users do not need to worry about the limitations and complexity of power supply conditions. They only need to connect the module to the corresponding power supply to achieve rapid deployment and stable operation. This not only improves the user's work efficiency, but also reduces the user's maintenance costs and risks, improves the module's flexibility and adaptability, simplifies power supply configuration, reduces failure risks and improves user experience, giving it a wider application prospect and higher market competitiveness.

[0044] Working principle and usage process:

[0045] The upper system EtherCAT high-speed bus signal, such as Elmo controller, Beckhoff controller, Omron, etc., inputs the signal to the EtherCAT IN communication interface 9 through the EtherCAT high-speed bus interface 7 standard RJ45 network port, and then inputs it to the corresponding high-precision intelligent drive 1 EtherCAT IN, and outputs it to the EtherCAT OUT communication interface 10 through the corresponding high-precision intelligent drive 1 EtherCAT OUT;

[0046] The corresponding high-precision intelligent driver 1 EtherCAT OUT communication interface 10 outputs a signal which is input to the second high-precision intelligent driver 1 EtherCAT IN communication interface 9 and then to the second high-precision intelligent driver 1 EtherCATIN, and is output to the third high-precision intelligent driver 1 EtherCAT OUT communication interface 10 via the second high-precision intelligent driver 1 EtherCAT OUT;

[0047] The output signal of the second high-precision intelligent driver 1 EtherCAT OUT communication interface 10 is input to the third high-precision intelligent driver 1 EtherCAT IN communication interface 9 and then input to the third high-precision intelligent driver 1 EtherCATIN, and output to the third high-precision intelligent driver 1 EtherCAT OUT communication interface 10 via the third high-precision intelligent driver 1 EtherCAT OUT;

[0048] The output signal of the EtherCAT OUT communication interface 10 of the third high-precision intelligent driver 1 is input into the EtherCAT IN communication interface 9 of the fourth high-precision intelligent driver 1, and then input into the EtherCATIN of the fourth high-precision intelligent driver 1, and output to the EtherCAT OUT communication interface 10 of the fourth high-precision intelligent driver 1 via the fourth high-precision intelligent driver 1;

[0049] The output signal of the fourth high-precision intelligent driver 1EtherCAT OUT communication interface 10 is output to other external devices via the EtherCAT high-speed bus interface 8 or left unconnected, thereby realizing real-time network communication.

[0050] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0051] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A 4-axis drive control module based on an EtherCAT network, comprising a module (11), characterized in that: Four high-precision intelligent drivers (1) are welded and mounted on the outer wall of the module (11), wherein each high-precision intelligent driver (1) is fixedly mounted with a main feedback port (2), a servo motor connection port and a high-precision intelligent driver power supply port (3), an EtherCAT IN communication interface (9) and an EtherCAT OUT communication interface (10), and the main feedback port (2), a logic signal interface (5), a high-speed bus interface 1 (7) and a high-speed bus interface 2 (8) are fixedly welded on the outer wall of the high-precision intelligent driver (1).

2. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: The main feedback port (2) has strong compatibility, including being configured to be connected to a differential incremental encoder or a multi-bit absolute encoder, or an absolute encoder of multiple protocols, and receiving a main feedback signal provided by the differential incremental encoder or the multi-bit absolute encoder, or an absolute encoder of multiple protocols to the main feedback port (2).

3. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: The servo motor connection port and the high-precision intelligent driver power supply port (3) are configured to be connected to the servo motor, thereby driving the servo motor to work.

4. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: The module (11) is also provided with a mainboard power supply interface, and the module power supply interface is configured to be connected to an external DC power supply system to supply power to the module and the high-precision intelligent driver (1) arranged thereon.

5. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: Each high-precision intelligent driver (1) is directly connected to the high-speed bus interface (7) through the module (11) by layout and wiring, and is connected to the upper system bus through the high-speed bus interface (7).

6. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: The logic signal interface (5) comprises 3 DIs and 3 DOs which can be directly connected to photoelectric switches and relays, and receive or send logic level signals.

7. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: A USB debugging interface (4) and an external security interface (6) are fixedly welded on the outer surface of the module (11).

8. The 4-axis drive control module based on EtherCAT network according to claim 1, characterized in that: The module (11) supports power supply at different voltage levels.

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