Servo driver of Ethercat

Abstract

The utility model relates to a servo driver of an Ethercat. The servo driver comprises a control module and a driving module. The MCU and the FPGA are connected with each other; the FPGA is connected with the bus chip; the MCU is respectively connected with the logic control unit and the communication interface; the MCU is also connected with the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module and the power failure detection module; the FPGA is connected with the current sampling module, the brake driving module, the lower bridge protection module, the upper bridge protection module and the six-channel chopping gate driving module; the driving module further comprises a transformer which is a planar transformer. The servo driver which is low in cost, small in size, capable of being applied to multiple occasions and capable of meeting the requirement of a current Ethercat bus is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial automation, in particular to an Ethercat servo driver. Background Art

[0002] In the field of industrial automation, especially in the application scenarios of multi-axis motor drives, the Ethercat bus has been widely used due to its high transmission rate (100Mbps), short communication cycle, high synchronization accuracy, simple electrical topology, and simple wiring.

[0003] Ethercat is a communication technology proposed by Beckhoff, Germany. It is based on standard Ethernet technology and has a flexible network topology. Ethercat adopts a master-slave structure. The master PC uses a standard Ethernet card and the slave uses a dedicated FPGA. Because an FPGA needs to be added to the hardware of the previous servo drive, the servo drives that meet the Ethercat standard are relatively large in size. In some robots, medical equipment and other occasions with limited size, it cannot meet the application requirements. Utility Model Content

[0004] The utility model aims to realize a servo driver with a small volume and multiple applications and to meet the needs of the current bus, and proposes an Ethercat servo driver.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] An Ethercat servo driver, comprising:

[0007] Control module, drive module; the control module includes MCU, FPGA, bus chip, logic control unit, communication interface; the drive module includes current sampling module, dynamic braking module, IGBT temperature rise detection module, 6-way chopper gate drive module, braking drive module, lower bridge protection module, upper bridge protection module, power failure detection module, bus voltage sampling module;

[0008] The MCU is connected to the FPGA; the FPGA is connected to the bus chip; the MCU is connected to the logic control unit and the communication interface respectively; the MCU is also connected to the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module, and the power-off detection module; the FPGA is connected to the current sampling module, the braking drive module, the lower bridge protection module, the upper bridge protection module, and the 6-way chopper gate drive module; the drive module also includes a transformer, which is a planar transformer.

[0009] Preferably, the driving module includes a motor; the motor is connected to a dynamic braking module, the dynamic braking module is connected to a current sampling module, the current sampling module is connected to the 6-way chopper gate driving module and the IGBT temperature rise detection module, the 6-way chopper gate driving module is connected to a braking driving module, and the braking driving module is respectively connected to the lower bridge protection module and the upper bridge protection module.

[0010] Preferably, the driving module includes a planar transformer; the planar transformer is connected to the lower bridge protection module and the upper bridge protection module, and the planar transformer is connected to a bus voltage sampling module.

[0011] Preferably, the driving module includes a rectifier bridge; the rectifier bridge is connected to the transformer, and the rectifier bridge is connected to a power-off detection module.

[0012] Preferably, the rectifier bridge includes a diode D1, a diode D2, a diode D3, a diode D4, and a capacitor C2; the diode D1 and the diode D3 form a first series branch, the diode D2 and the diode D4 form a second series branch, and the first series branch and the second series branch are connected in parallel with the capacitor C2.

[0013] Preferably, the servo drive comprises an AC power supply, and an R terminal and an S terminal of the AC power supply are respectively connected to the first series branch and the second series branch.

[0014] Preferably, the Ethercat servo driver is also provided with an electrostatic discharge circuit.

[0015] Preferably, the electrostatic release circuit includes an IO terminal connector, a PCB trace, and a hard wire; the IO terminal connector is connected to the PCB trace and the hard wire, and the hard wire is grounded.

[0016] Preferably, there are multiple servo drives, and the bus chip receives data transmitted by the previous servo drive node and sends it to the next servo drive to form a multi-node cascade.

[0017] Compared with the existing technology,

[0018] In an embodiment of the utility model, the Ethercat servo driver includes a control module and a drive module; the control module includes an MCU, an FPGA, a bus chip, a logic control unit, and a communication interface; the drive module includes a current sampling module, a dynamic braking module, an IGBT temperature rise detection module, a 6-way chopper gate drive module, a braking drive module, a lower bridge protection module, an upper bridge protection module, a power-off detection module, and a bus voltage sampling module; the MCU is interconnected with the FPGA; the FPGA is connected to the bus chip; the MCU is respectively connected to the logic control unit and the communication interface; the MCU is also connected to the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module, and the power-off detection module; the FPGA is connected to the current sampling module, the braking drive module, the lower bridge protection module, the upper bridge protection module, and the 6-way chopper gate drive module; the drive module also includes a transformer, which is a planar transformer; through the planar transformer, thanks to the small size of the planar transformer, the volume of the entire driver is greatly reduced, thereby realizing a low-cost, small-volume, multi-application servo driver that meets the current Ethercat bus requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present disclosure will become readily understood. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0020] Figure 1 A schematic diagram of an Ethercat servo driver proposed in the utility model;

[0021] Figure 2 A circuit diagram of a rectifier bridge proposed in the utility model;

[0022] Figure 3 A schematic diagram of an electrostatic discharge circuit proposed by the utility model;

[0023] Figure 4 A multi-node cascade schematic diagram of an Ethercat servo drive proposed by the utility model;

[0024] Figure 5 A schematic diagram of a bus driver proposed by the utility model;

[0025] Figure 6 This is a signal diagram of a bus driver proposed by the utility model;

[0026] Figure 7A schematic diagram showing the volume ratio of the transformer in the bus driver proposed by the utility model;

[0027] Figure 8 It is a schematic diagram showing the actual volume comparison between the conventional skeleton transformer of the utility model and the planar transformer used in the present application. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0029] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0030] Reference Figure 1 , shows a schematic diagram of an Ethercat servo driver according to an embodiment of the utility model, including:

[0031] Control module, drive module; the control module includes MCU, FPGA, bus chip, logic control unit, communication interface; the drive module includes current sampling module, dynamic braking module, IGBT temperature rise detection module, 6-way chopper gate drive module, braking drive module, lower bridge protection module, upper bridge protection module, power failure detection module, bus voltage sampling module;

[0032] Specifically applied to the present utility model, the MCU is connected to the FPGA; the FPGA is connected to the bus chip; the MCU is respectively connected to the logic control unit and the communication interface; the MCU is also connected to the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module, and the power-off detection module; the FPGA is connected to the current sampling module, the braking drive module, the lower bridge protection module, the upper bridge protection module, and the 6-way chopper gate drive module; the drive module also includes a transformer, and the transformer is a planar transformer.

[0033] The MCU can be an MCU (ARM) STM32H723ZGT6 chip, and the embodiment of the utility model does not impose too many restrictions on this; in addition, the model of the FPGA can be FPGA LFE5U-25F-6BG256C, and the embodiment of the utility model does not impose too many restrictions on this; the two can communicate with each other through a parallel bus; on the other hand, the bus chip can be LAN9254, which uses an Ethercat slave communication chip and is added to the architecture of the servo drive. The slave chip uses LAN9254, which is connected to the FPGA and ARM, and both the FPGA and ARM communicate data with the LAN9254.

[0034] In the actual application of the embodiment of the utility model, the logic control unit may include multiple logic switches; further, the communication interface may include communication modules such as USB TYPE-C interface, isolated RS485 interface, and of course, other communication modules may also be included, such as CAN bus communication module, 232 communication module, etc. The embodiment of the utility model does not impose too many restrictions on this.

[0035] In addition, the MCU can also be connected to other data interfaces, such as a ±10V analog output (16-bit) interface, etc. The embodiment of the utility model also does not limit the type of data interface.

[0036] In the present utility model, the servo driver of the Ethercat mainly includes a control module and a drive module. The control module refers to the above-mentioned MCU, FPGA, LAN9254 and other control chips, and the drive module can include a current sampling module, a dynamic braking module, an IGBT temperature rise detection module, a 6-way chopper gate drive module, a braking drive module, a lower bridge protection module, an upper bridge protection module, a power-off detection module, a bus voltage sampling module, etc., and the embodiment of the utility model does not limit this.

[0037] like Figure 1 As shown, the drive module may include a motor; the motor is connected to a dynamic braking module, communicates with an external node through Ethercat, exchanges information, and then controls the operation of the motor; the dynamic braking module is connected to a current sampling module, the current sampling module is connected to the 6-way chopper gate drive module and the IGBT temperature rise detection module, the 6-way chopper gate drive module is connected to a braking drive module, and the braking drive module is respectively connected to the lower bridge protection module and the upper bridge protection module.

[0038] Furthermore, the driving module includes a planar transformer; the planar transformer is connected to the lower bridge protection module and the upper bridge protection module, and the planar transformer is connected to a bus voltage sampling module.

[0039] In a specific example of an embodiment of the utility model, the driving module may further include a rectifier bridge; the rectifier bridge is connected to the planar transformer, and the rectifier bridge is connected to a power-off detection module.

[0040] In an embodiment of the utility model, the servo driver of the Ethercat includes a control module and a drive module; the control module includes an MCU, an FPGA, a bus chip, a logic control unit, and a communication interface; the drive module includes a current sampling module, a dynamic braking module, an IGBT temperature rise detection module, a 6-way chopper gate drive module, a braking drive module, a lower bridge protection module, an upper bridge protection module, a power-off detection module, and a bus voltage sampling module; the MCU is interconnected with the FPGA; the FPGA is connected to the bus chip; the MCU is connected to the logic control unit and the communication interface respectively; the MCU is also connected to the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module, and the power-off detection module; the FPGA is connected to the current sampling module, the braking drive module, the lower bridge protection module, the upper bridge protection module, and the 6-way chopper gate drive module; the drive module also includes a transformer, which is a planar transformer; a servo driver with low cost, small size, and multiple applications that meets the current needs of the Ethercat bus is realized.

[0041] Reference Figure 2 , shows a circuit diagram of a rectifier bridge of an embodiment of the utility model, the rectifier bridge includes a diode D1, a diode D2, a diode D3, a diode D4, and a capacitor C2; the diode D1 and the diode D3 form a first series branch, the diode D2 and the diode D4 form a second series branch, the first series branch, the second series branch and the capacitor C2 are connected in parallel.

[0042] Further applied to the embodiment of the utility model, the servo driver includes an AC power supply, and the R terminal and the S terminal of the AC power supply are respectively connected to the first series branch and the second series branch.

[0043] In a preferred embodiment of the present invention, the Ethercat servo driver is further provided with an electrostatic discharge circuit. Figure 3 , shows a schematic diagram of an electrostatic release circuit of an embodiment of the utility model. Specifically, the electrostatic release circuit includes an IO terminal connector, a PCB trace, and a hard wire; the IO terminal connector is connected to the PCB trace and the hard wire, and the hard wire is grounded.

[0044] In the embodiment of the utility model, the electrostatic discharge function is realized by hard wiring and PCB routing. The specific function is realized as follows: when electrostatic interference interferes with the IO terminal connector from the outside, a large amount of net charge will accumulate in the terminal part, thereby causing interference to the subsequent circuit. The circuit of this scheme introduces an electrostatic release path, through PCB routing and hard wiring, the electrostatic interference charge is discharged to GND along the release path through the hardware line, thus achieving the effect of stabilizing the circuit and improving the anti-interference ability.

[0045] Reference Figure 4 , showing a schematic diagram of a multi-node cascade of an Ethercat servo driver according to an embodiment of the utility model, including: a node cascade of multiple servo drivers.

[0046] In a specific implementation of an embodiment of the utility model, there are multiple servo drivers, and the bus chip receives data transmitted by the previous servo driver node and sends it to the next servo driver to form a multi-node cascade.

[0047] Specifically, the LAN9254 bus chip receives the data transmitted by the previous driver, sends it to the ARM and FPGA for processing, and also transmits it to the next servo driver node. In this way, multiple nodes are cascaded to form a multi-axis control function; specifically, Figure 6 As shown, the two servo drive nodes are connected through a bus chip, and the control module is respectively connected to the power supply module, current sampling module, IGBT temperature rise detection module, brake drive module, lower bridge protection module, upper bridge protection module, power-off detection module, bus voltage sampling module, and IGBT temperature rise detection module implemented by the planar transformer; the current sampling module is also connected to the motor and the power supply module, and the IGBT temperature rise detection module, brake drive module, lower bridge protection module, upper bridge protection module, power-off detection module, and bus voltage sampling module are also connected to the motor and the power supply module.

[0048] Specifically, Figure 7 As shown, in the present application, the volume of the power supply module accounts for 40%, the volume of the drive module accounts for 30%, and the volume of the control module accounts for 30%.

[0049] Reference Figure 5 , shows a schematic diagram of a bus driver of an embodiment of the utility model, including: the bus driver is composed of four modules: a bus communication module, an inverter module, an MCU module and a power module. These four modules are combined to form a driver with overall functions; however, the power modules are relatively large in size. The fundamental reason is that the power module uses a skeleton transformer. Figure 8As shown, the power module of the present application adopts a power module designed with a planar transformer. The power module with a planar transformer makes the volume of the whole machine smaller, thus meeting some smaller volume occasions in the industry.

[0050] In the above description of this specification, unless otherwise clearly specified and limited, the terms "fixed", "installed", "connected" or "connected" should be understood in a broad sense. For example, with regard to the term "connection", it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements. Therefore, unless otherwise clearly defined in this specification, those skilled in the art can understand the specific meanings of the above terms in this utility model according to the specific circumstances.

[0051] According to the above description of this specification, those skilled in the art may also understand that the terms used below, such as "up", "down", "front", "back", "left", "right", "length", "width", "thickness", "vertical", "horizontal", "top", "bottom", "inside", "outside", "axial", "radial", "circumferential", "center", "longitudinal", "lateral", "clockwise" or "counterclockwise", etc., which indicate the orientation or position relationship, are based on the orientation or position relationship shown in the drawings of this specification, and are only for the purpose of facilitating the explanation of the scheme of the utility model and simplifying the description, rather than explicitly or implicitly indicating that the device or element involved must have the specific orientation, be constructed and operate in a specific orientation. Therefore, the above-mentioned orientation or position relationship terms cannot be understood or interpreted as limitations on the scheme of the utility model.

[0052] In addition, the terms "first" or "second" used in this specification to refer to numbers or ordinals are only used for descriptive purposes and cannot be understood as explicitly or implicitly indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this specification, the meaning of "plurality" is at least two, such as two, three or more, etc., unless otherwise clearly and specifically defined.

[0053] Although this specification has shown and described a plurality of embodiments of the utility model, it is obvious to those skilled in the art that such embodiments are provided by way of example only. Those skilled in the art will think of many changes, modifications and alternatives without departing from the idea and spirit of the utility model. It should be understood that in the process of practicing the utility model, various alternatives to the embodiments of the utility model described herein may be adopted. The attached claims are intended to define the scope of protection of the utility model, and therefore cover the modular composition, equivalent or alternatives within the scope of these claims.

Claims

1. An Ethercat servo driver, characterized in that: include: Control module, drive module; the control module includes MCU, FPGA, bus chip, logic control unit, and communication interface; The drive module includes a current sampling module, a dynamic braking module, an IGBT temperature rise detection module, a 6-way chopper gate drive module, a braking drive module, a lower bridge protection module, an upper bridge protection module, a power-off detection module, and a bus voltage sampling module; The MCU is connected to the FPGA; the FPGA is connected to the bus chip; the MCU is connected to the logic control unit and the communication interface respectively; the MCU is also connected to the bus voltage sampling module, the dynamic braking module, the IGBT temperature rise detection module, and the power-off detection module; the FPGA is connected to the current sampling module, the braking drive module, the lower bridge protection module, the upper bridge protection module, and the 6-way chopper gate drive module; the drive module also includes a transformer, which is a planar transformer.

2. The Ethercat servo driver according to claim 1, characterized in that: The driving module includes a motor; the motor is connected to a dynamic braking module, the dynamic braking module is connected to a current sampling module, the current sampling module is connected to the 6-way chopper gate driving module and the IGBT temperature rise detection module, the 6-way chopper gate driving module is connected to a braking driving module, and the braking driving module is respectively connected to the lower bridge protection module and the upper bridge protection module.

3. The Ethercat servo driver according to claim 2, characterized in that: The driving module includes a planar transformer; the planar transformer is connected to the lower bridge protection module and the upper bridge protection module, and the planar transformer is connected to a bus voltage sampling module.

4. The Ethercat servo driver according to claim 3, characterized in that: The driving module includes a rectifier bridge; the rectifier bridge is connected to the transformer, and the rectifier bridge is connected to a power-off detection module.

5. The Ethercat servo driver according to claim 4, characterized in that: The rectifier bridge includes a diode D1, a diode D2, a diode D3, a diode D4, and a capacitor C2; the diode D1 and the diode D3 form a first series branch, the diode D2 and the diode D4 form a second series branch, and the first series branch and the second series branch are connected in parallel with the capacitor C2.

6. The Ethercat servo driver according to claim 5, characterized in that: The servo driver includes an AC power supply, and an R terminal and an S terminal of the AC power supply are respectively connected to the first series branch and the second series branch.

7. The Ethercat servo driver according to claim 3, characterized in that: The Ethercat servo driver is also provided with an electrostatic discharge circuit.

8. The Ethercat servo driver according to claim 7, characterized in that: The electrostatic discharge circuit includes an IO terminal connector, a PCB trace, and a hard wire; the IO terminal connector is connected to the PCB trace and the hard wire, and the hard wire is grounded.

9. The Ethercat servo driver according to claim 7, characterized in that: There are multiple servo drivers, and the bus chip receives data transmitted by the previous servo driver node and sends it to the next servo driver to form a multi-node cascade.

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