High-speed mobile monitoring control module

Abstract

The utility model aims to provide the high-speed mobile monitoring control module which is small in PLC module usage amount, high in response speed and small in size. The system comprises a PLC master control module, an MCU module, an FPGA module and a motor module, the MCU module is communicated with an upper computer through the PLC master control module, a driving end of the motor module is connected with a servo motor, a control end of the motor module is communicated with the upper computer, the FPGA module collects parameters of the motor module and feeds back the parameters to the MCU module, and the MCU module is connected with the motor module. And a register for storing cam table data is arranged in the FPGA module. The utility model is applied to the technical field of motor control.

Description

Technical Field

[0001] The utility model is applied to the technical field of motor control, and particularly relates to a high-speed mobile monitoring and control module. Background Art

[0002] Most of the manipulators, mobile platforms, etc. are moved by the forward and reverse control of motors, and then drive the working parts at the movable end to move. Different working parts have different requirements for moving speed and accuracy. For example, in order to ensure efficiency and accuracy, the clamping manipulator, camera, etc. will have high requirements for the moving accuracy and speed of the mobile platform. However, the traditional mobile platform control usually uses multiple groups of PLC modules for driving. Although the PLC technology runs stably, has a low failure rate and is technically mature, the communication delay between multiple groups of PLC modules is relatively large, making it difficult to meet the problem of high-efficiency movement. At the same time, the PLC module is usually a finished product after assembly, with a high selling price and a large volume of the equipment.

[0003] If a control module with a small amount of PLC module usage, fast response speed and small size can be provided, the problems of low efficiency, bloated volume and high cost in the prior art can be solved. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a high-speed mobile monitoring and control module with a small amount of PLC module usage, fast response speed and small size.

[0005] The technical solution adopted by the utility model is: the utility model includes a PLC main control module, an MCU module, an FPGA module and a motor module. The MCU module communicates with the upper computer through the PLC main control module. The driving end of the motor module is connected to the servo motor, and the control end of the motor module communicates with the upper computer. The FPGA module collects the servo motor parameters and feeds them back to the MCU module. A register for storing cam table data is arranged in the FPGA module.

[0006] It can be seen from the above solution that the PLC main control module is responsible for communicating with the upper computer and performing data transmission. The MCU module receives the data and transfers it to the FPGA module. The register of the FPGA module stores the cam table data. At the same time, the FPGA module is responsible for collecting the pulse number of the servo motor and counting. The counted value is compared with the stored cam table data, so as to obtain the positions of working parts such as cameras and manipulators. While achieving the real-time position of the working parts with high precision, the use of PLC modules is greatly reduced, the communication efficiency is effectively improved, and the volume of the control module is reduced.

[0007] One preferred solution is that the motor module includes a motor drive module and an Encoder encoder module. The motor drive module communicates with the host computer. The motor drive module outputs working current to the servo motor. The Encoder encoder module is arranged on the servo motor, and the FPGA module collects the pulse signals of the Encoder encoder module.

[0008] One preferred solution is that the MCU module communicates with the PLC main control module through the PHY module. Description of the Drawings

[0009] Figure 1 is the system block diagram of the present utility model. Detailed Embodiment

[0010] As Figure 1 shown, in this embodiment, the present utility model includes a PLC main control module 1, an MCU module 2, an FPGA module 3 and a motor module. The MCU module 2 communicates with the host computer through the PLC main control module 1. The drive end of the motor module is connected to a servo motor 4. The control end of the motor module communicates with the host computer. The FPGA module 3 collects the parameters of the servo motor 4 and feeds them back to the MCU module 2. A register 5 for storing cam table data is arranged in the FPGA module 3. In this embodiment, the MCU module 2 communicates with the PLC main control module 1 through the PHY module 8. The PLC main control module is responsible for managing the MCU module 2 and the FPGA module 3. The PLC main control module 1 performs data transmission through the EtherCAT protocol. The MCU module 2 communicates through the PHY module 8. The PHY module 8 includes a PHY chip of model LAN9253. The MCU module 2 analyzes the data packet sent by the PLC main control module 1, and then distributes the analyzed data packet to the FPGA module 3 according to the specified data frame format. At the same time, it is responsible for reading the working state of the FPGA module 3 and the motor working position collected by the FPGA module 3. The FPGA module 3 is responsible for collecting the pulse signals generated during the rotation of the servo motor 4 and performing pulse counting. Then, after obtaining the current position of the motor movement through the cam table data in the register 5, it uploads it to the MCU module 2.

[0011] In this embodiment, the motor module includes a motor drive module 6 and an Encoder encoder module 7. The motor drive module 6 communicates with the host computer and receives the control instructions of the host computer, and then outputs working current to the servo motor 4 to drive its movement. The Encoder encoder module 7 is arranged at the tail of the servo motor 4. The FPGA module 3 collects the pulse signals of the Encoder encoder module 7.

[0012] Although the embodiments of the present utility model are described with actual solutions, they do not constitute a limitation to the meaning of the present utility model. For those skilled in the art, modifications to its implementation solutions according to this specification and combinations with other solutions are obvious.

Claims

1. A high-speed mobile monitoring control module, comprising a PLC main control module (1), characterized in that: It also comprises an MCU module (2), an FPGA module (3) and a motor module, wherein the MCU module (2) communicates with a host computer via the PLC main control module (1), a drive end of the motor module is connected to a servo motor (4), a control end of the motor module communicates with the host computer, the FPGA module (3) collects parameters of the servo motor and feeds them back to the MCU module (2), and a register (5) for storing cam table data is provided in the FPGA module (3).

2. A high-speed mobile monitoring control module according to claim 1, characterized in that: The motor module comprises a motor drive module (6) and an encoder module (7), the motor drive module (6) communicates with a host computer, the motor drive module (6) outputs a working current to the servo motor (4), the encoder module (7) is arranged on the servo motor (4), and the FPGA module (3) collects pulse signals of the encoder module (7).

3. A high-speed mobile monitoring control module according to claim 1, characterized in that: The MCU module (2) communicates with the PLC main control module (1) via the PHY module (8).

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