Servo driver control module

Abstract

The utility model provides a servo driver control module, and relates to the technical field of servo control. The module comprises a DSP (Digital Signal Processor) controller module, a serial port communication module, a CAN (Controller Area Network) communication module, a reset module, a driver enabling module, a limit switch module, a parallel bus to serial port module and a power supply module, the DSP control module provides six paths of 422 serial ports to the outside, wherein four paths of 422 serial ports are transferred out by utilizing the parallel bus-to-serial port module; the parallel bus-to-serial port module uses a parallel bus-to-serial port chip to expand four paths of serial ports; the driver enabling module utilizes an electromagnetic relay and a relay driver, adopts IO pin weak current of a DSP to control strong current, and controls enabling or disabling of a driver signal. The limit switch module provides the signal of the limit switch for the motor driver after providing up-down pulling of the output signal of the limit switch; the problems that an existing servo driving method is poor in real-time performance and high in computer compatibility requirement, or only one-to-one servo control can be achieved, and expansibility is poor are solved.

Description

Technical Field

[0001] This document relates to the field of servo control technology, and particularly to a servo drive control module. Background Art

[0002] As the center of the servo control system, servo drives are widely used in various industrial fields. The control communication of common industrial servo drives uses the DS402 control protocol based on CANopen, and normal host computers do not have similar interfaces.

[0003] Currently, the common solutions include two types: one is to purchase a corresponding CANopen communication board card on the computer and communicate directly with the drive. Its disadvantage is poor real-time performance and high compatibility requirements for the computer; the other is to use a servo drive control module. The control module and the computer directly use common communication interfaces such as 422 serial ports, and the control module then controls the servo drive to complete corresponding control instructions. The existing servo drive control modules can only achieve one-to-one servo control and have poor scalability;

[0004] Therefore, there is an urgent need for a servo drive control module to solve the problems of poor real-time performance of the existing servo drive methods, high compatibility requirements for the computer, or only being able to achieve one-to-one servo control and poor scalability. Summary of the Invention

[0005] This specification provides a servo drive control module to solve the problems of poor real-time performance of the existing servo drive methods, high compatibility requirements for the computer, or only being able to achieve one-to-one servo control and poor scalability.

[0006] In a first aspect, this specification provides a servo drive control module, including: a DSP controller module, a serial communication module, a CAN communication module, a reset module, a driver enable module, a limit switch module, a parallel bus to serial conversion module, and a power module; where:

[0007] The DSP controller module is connected to the host computer through the serial communication module; the DSP controller module is connected to the motor driver through the CAN communication module; the DSP controller module is respectively connected to the reset module, the driver enable module, the limit switch module, the parallel bus to serial conversion module, and the power module;

[0008] The DSP control module is used to provide 6 channels of 422 serial ports externally, of which 4 channels are converted out by the parallel bus to serial conversion module; among the 6 channels of 422 serial ports, 1 channel is used for communication with the host computer, 1 channel is used for data backup, and 4 channels are used for encoder data acquisition;

[0009] The parallel bus to serial port module uses a parallel bus to serial port chip and combines with the XINTF parallel bus of the DSP control module to expand 4 serial ports;

[0010] The driver enable module uses an electromagnetic relay and a relay driver, and uses the weak electricity of the IO pins of the DSP to control the strong electricity, to control the enabling or disabling of the driver signal;

[0011] The limit switch module is used to supply power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provides the signal of the limit switch to the motor driver;

[0012] The serial port communication module is used to receive instructions from the host computer;

[0013] The CAN communication module is used to control the motor driver;

[0014] The reset module is used to restore the entire servo driver control module to its initial state;

[0015] The power supply module is used to convert the provided voltage of 20 - 36V into stable output voltages of 5V, 3.3V and 1.9V to supply power to other modules.

[0016] In a second aspect, this specification provides a method for controlling a servo driver control module, including:

[0017] After power-on, the servo driver control module initializes the serial port communication module, the parallel bus to serial port module and the CAN communication module;

[0018] After 60s of initialization completion, send a driver enable signal, attempt a driver self-check instruction, and control the driver servo to return to the zero position;

[0019] After the self-check is completed, enable the serial port communication module to receive instructions from the host computer.

[0020] In a third aspect, this specification provides a method for self-checking a servo driver control module, including:

[0021] The servo driver control module controls each driver to perform absolute position closed-loop, and initializes the current limit, speed limit, and position limit protection information;

[0022] Send an enable signal to each driver;

[0023] Read the real-time position information of each driver, according to the actual usage requirements of the user, set the specified position as the zero position, calculate the zero position deviation, and the module enters the zero calibration mode;

[0024] After the zero position calibration is completed, the driver cuts into the position closed-loop mode and controls the servo to move to the physical zero position;

[0025] When the servo feedback position is within ±0.5°, it is determined that the self-check is successful; otherwise, the self-check is determined to be failed.

[0026] In a fourth aspect, this specification provides a method for switching modes of a servo driver control module, including:

[0027] In speed mode, the servo driver control module controls the servo to perform speed closed-loop according to the speed information sent by the host computer;

[0028] In position mode, it controls the servo to perform position closed-loop according to the position and speed information sent by the host computer;

[0029] When the host computer sends a software disable instruction, the drive enable signal is turned off, and the drive shuts down the power supply.

[0030] After sending the software disable instruction, it does not respond to the speed mode and position mode instructions.

[0031] Based on the software enable instruction, the drive enable signal is sent, and the response to the speed mode and position mode instructions is restarted. The beneficial effects of the present invention are as follows:

[0032] This specification provides a servo driver control module, which includes: a DSP controller module, a serial communication module, a CAN communication module, a reset module, a drive enable module, a limit switch module, a parallel bus to serial conversion module, and a power supply module; the DSP control module provides 6 channels of 422 serial ports externally, and 4 of them are converted out by using the parallel bus to serial conversion module; the parallel bus to serial conversion module uses a parallel bus to serial conversion chip and combines with the XINTF parallel bus of the DSP control module to expand 4 channels of serial ports; the drive enable module uses an electromagnetic relay and a relay driver, and uses the IO pins of the DSP to control the high-power electricity weakly to control the enable or disable of the drive signal; the limit switch module supplies power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provides the signal of the limit switch to the motor driver; this module is used to perform closed-loop control of the current loop, speed loop, and position loop for multi-dimensional servo. The module can achieve 6-channel serial communication, support the control of up to 4 servos at most, 1-channel CANopen drive control bus communication, 4-channel 24V drive enable, and 9-channel limit switch input. The position feedback of the sensor can be connected to the DSP controller module through the parallel port to serial conversion module, or directly connected to the drive. This servo driver control module has better scalability under the same size and can achieve multi-channel servo control. Description of the Drawings

[0033] The accompanying drawings described herein are used to provide a further understanding of the present specification and form a part of the present specification. The illustrative embodiments of the present specification and their descriptions are used to explain the present specification and do not constitute an improper limitation of the present specification. In the drawings:

[0034] Figure 1 It is a schematic diagram of the structure of a servo drive control module provided in an embodiment of the present specification;

[0035] Figure 2 It is a schematic diagram of the front of a servo drive control module provided in an embodiment of the present specification;

[0036] Figure 3 It is a schematic diagram of the back of a servo drive control module provided in an embodiment of the present specification;

[0037] Figure 4 It is a schematic diagram of the control flow after the servo drive control module is powered on provided in an embodiment of the present specification;

[0038] Figure 5 It is a schematic diagram of the self-check of a servo drive control module provided in an embodiment of the present specification;

[0039] Figure 6 It is a schematic diagram of the mode switching of a servo drive control module provided in an embodiment of the present specification.

[0040] The symbols in the figure are marked as:

[0041] 1 - Limit switch channel, 2 - Parallel bus to serial port channel, 3 - Serial communication channel, 4 - Driver enable channel, 5 - Power supply channels respectively, 6 - CAN communication channel, 7 - Program upgrade channel, 8 - Main processor. Detailed implementation manners

[0042] To make the purpose, technical solutions, and advantages of the present specification clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with the specific embodiments of the present application and their corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by this document.

[0043] The following will detail the technical solutions provided in each embodiment of the present specification in conjunction with the drawings. Specific embodiment one:

[0045] This embodiment provides a servo drive control module for performing closed-loop control of the current loop, speed loop, and position loop of multi-dimensional servo. See Figure 1, including: DSP controller module, serial communication module, CAN communication module, reset module, driver enable module, limit switch module, parallel bus to serial module, power module; among which:

[0046] The DSP controller module is connected to the host computer through the serial communication module; the DSP controller module is connected to the motor driver through the CAN communication module; the DSP controller module is respectively connected to the reset module, the driver enable module, the limit switch module, the parallel bus to serial module, and the power module;

[0047] Specifically, the servo driver control module is connected to external devices through 6 connectors, see Figure 2 , Figure 3 , which are limit switch channel 1, parallel bus to serial channel 2, serial communication channel 3, driver enable channel 4, power supply channel 5, and CAN communication channel 6 respectively;

[0048] Among them, the limit switch channel 1 is used to supply power to the limit switch and provide pull-up and pull-down;

[0049] The parallel bus to serial channel is used to provide 6-way 422 serial communication externally;

[0050] Specifically, the parallel bus to serial channel 2 communicates with the parallel bus to serial chip in combination with the XINTF parallel bus of the DSP control module, and the parallel bus to serial chip provides 4 serial ports externally; the serial communication channel 3 leads out the 2-way serial port module of the DSP control module and provides 2 serial ports externally.

[0051] The driver enable channel 4 is used to provide enable signals for four drivers;

[0052] The power supply channel 5 is a 1*2 connector with a 3.81mm pitch, used to provide electrical signals for each module;

[0053] The CAN communication channel 6 is a CANopen driver control bus, used to send driver control instructions.

[0054] Based on the above connection relationship, first, the control module communicates with the host computer through a 422 serial port for data communication, and the control circuit decodes the control signal; then, the CAN communication module of the DSP transmits it to the driver through the CANopen communication protocol according to the DS402 control protocol; finally, the driver controls the motor to move.

[0055] The functions of each module are described as follows:

[0056] The DSP control module is used to externally provide 6 channels of 422 serial ports, among which 4 channels are converted by the parallel bus to serial port module; among the 6 channels of 422 serial ports, 1 channel is used for communication with the host computer, 1 channel is used for data backup, and 4 channels are used for encoder data acquisition;

[0057] The parallel bus to serial port module is used to expand 4 channels of serial ports by using a parallel bus to serial port chip and combining with the XINTF parallel bus of the DSP control module;

[0058] The driver enable module is used to control the enable or disable of the driver signal by using an electromagnetic relay and a relay driver, and using the weak electricity of the IO pin of the DSP to control the strong electricity;

[0059] The limit switch module is used to supply power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provide the signal of the limit switch to the motor driver;

[0060] The serial port communication module is used to receive host computer instructions;

[0061] The CAN communication module is used to control the motor driver; and realizes the protocol control of the CANopen driver of SDO and PDO;

[0062] The reset module is used to restore the entire servo driver control module to its initial state;

[0063] The power supply module is used to convert the provided voltage of 20 - 36V into stable output voltages of 5V, 3.3V and 1.9V to supply power to other modules.

[0064] Specifically, each module will be described in detail below:

[0065] The driver control module uses the driver enable module to expand the serial port number to 6 channels, realizes the closed-loop control of 5 motors, and supports the control of 4 servos;

[0066] The baud rates of the 6 serial ports of the DSP control module can be set by itself, and the setting range is 9600 - 460800. The baud rate of the CANopen communication with the driver can be set by itself, and the setting range is 1000 - 50000.

[0067] It should be noted that the conventional DSP control module can only provide two serial port communications and can implement closed-loop control of at most 1 motor, and the sensors used for motor closed-loop are all serial port communications; in this embodiment, the parallel bus to serial port module uses a parallel bus to serial port chip, and expands 4 serial ports through the XINTF parallel bus of the DSP control module, expanding the number of serial ports of the entire driver control module to 6. Therefore, the driver control module can implement closed-loop control of at most 5 motors; more sensors and peripherals can be externally connected;

[0068] The position feedback of the sensor can be directly connected to the driver; when the driver does not support the position protocol of the sensor, the position feedback of the sensor can also be connected to the DSP controller module through the parallel port to serial port module.

[0069] The driver enable module is specifically used for:

[0070] Connect the IO pin of the DSP controller module to the control end of the electromagnetic relay, and the output end of the electromagnetic relay to the enable end of the motor driver;

[0071] When the IO pin of the DSP controller module is at a high level, the electromagnetic relay is closed, the output end of the electromagnetic relay is 28V, and the motor driver is enabled;

[0072] When the IO controller module pin is at a high level, the electromagnetic relay is open, the output end of the electromagnetic relay is floating, and the motor driver is disabled;

[0073] The driver enable module controls the enable or disable of at most 5 motor drivers.

[0074] Based on this, through the driver enable module, the weak electricity controls the strong electricity by using the electromagnetic relay and the relay drive circuit, and controls the enable signal of the 24V driver through the IO pin of the DSP;

[0075] The limit switch outputs a high level when the servo moves to the limit, and is input to the DSP controller module through the limit switch module (DB50).

[0076] Based on this, through the compatible design of the limit switch module, the requirements of 24V and 5V power supply limit switches and switch pull-up and pull-down are met;

[0077] Furthermore, the control module in this embodiment also provides four control modes, namely speed mode, position mode, software enable and software disable.

[0078] The hardware size of the servo driver is 150mm * 110mm, meeting the limitations of low power consumption, small volume and light weight of electronic devices;

[0079] In summary, in this embodiment, the DSP control module provides 6 channels of 422 serial ports externally, among which 4 channels are converted out by the parallel bus to serial port module; the parallel bus to serial port module uses the parallel bus to serial port chip and combines with the XINTF parallel bus of the DSP control module to expand 4 channels of serial ports; the driver enable module uses the electromagnetic relay and the relay driver, and uses the weak current of the IO pin of the DSP to control the strong current to control the enable or disable of the driver signal; the limit switch module supplies power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provides the signal of the limit switch to the motor driver; this module is used for closed-loop control of the current loop, speed loop and position loop of multi-dimensional servo. The module can realize 6-channel serial communication, support the control of up to 4 servos at most, 1-channel CANopen driver control bus communication, 4-channel 24V driver enable, and 9-channel limit switch input. The position feedback of the sensor can be connected to the DSP controller module through the parallel port to serial port module, or directly connected to the driver. This servo driver control module has better scalability under the same size and can realize multi-channel servo control. Specific Embodiment Two:

[0081] This embodiment provides a control method for a servo driver control module, and its flow is shown in Figure 4 , and specifically includes the following steps:

[0082] After power-on, the servo driver control module initializes the serial communication module, the parallel bus to serial port module and the CAN communication module;

[0083] 60 seconds after the initialization is completed, send the driver enable signal, try the driver self-check instruction, and control the driver servo to return to the zero position;

[0084] After the self-check is completed, enable the serial communication module and receive the instructions from the host computer.

[0085] In summary, in this embodiment, by initializing the control process after power-on of the servo driver control module, the control of each driver is realized. Specific Embodiment Three:

[0087] This embodiment provides a self-check method for a servo driver control module, and its flow is shown in Figure 5 , and specifically includes the following steps:

[0088] The servo driver control module controls each driver to perform absolute position closed-loop, and initializes the current limit, speed limit, and position limit protection information;

[0089] Send the enable signal to each driver;

[0090] Read the real-time position information of each driver. According to the actual usage requirements of the user, set the specified position as the zero position, calculate the zero position deviation, and the module enters the zero calibration mode;

[0091] After the zero position calibration is completed, the driver switches to the position closed-loop mode and controls the servo to move to the physical zero position;

[0092] When the servo feedback position is within ±0.5°, it is determined that the self-check is successful; otherwise, it is determined that the self-check fails.

[0093] In summary, through the self-check process of the servo driver control module in this embodiment, the self-check judgment of each driver is realized. Specific Embodiment Four:

[0095] This embodiment provides a method for mode switching of a servo driver control module, and its flow is shown in Figure 6 It should be noted that in this embodiment, the control module also provides four control modes, namely speed mode, position mode, software enable and software disable;

[0096] The method specifically includes the following steps:

[0097] In the speed mode, the servo driver control module controls the servo to perform speed closed-loop according to the speed information sent by the host computer;

[0098] In the position mode, control the servo to perform position closed-loop according to the position and speed information sent by the host computer;

[0099] When the host computer sends a software disable instruction, turn off the driver enable signal, and the driver turns off the power supply;

[0100] After sending the software disable instruction, do not respond to the speed mode and position mode instructions;

[0101] Based on the software enable instruction, send the driver enable signal and restart to respond to the speed mode and position mode instructions.

[0102] In summary, through the servo driver control module in this embodiment, the state switching in each mode is realized. In the software disable mode, the instructions are no longer responded to, saving resources. Specific Embodiment Five:

[0104] This embodiment provides a servo driver control module for performing closed-loop control of the current loop, speed loop, and position loop of multi-dimensional servo. The hardware components of the module include: a DSP controller module, a host computer communication module, a CAN communication module, a driver enable module, a limit switch module, a power supply module, a reset module, and a parallel bus to serial port module. The control module communicates with the host computer through a 422 serial port. After the control signal is decoded by the control circuit, the CAN communication module of the DSP transmits it to the driver through the CANopen communication protocol according to the DS402 control protocol, and the driver controls the movement of the motor. The position feedback of the sensor can be connected to the DSP controller module through the parallel port to serial port module or directly to the driver. This control module supports the control of up to 4 servos.

[0105] The power supply module converts the externally provided voltage of 20 - 36V into stable output voltages of 5V, 3.3V, and 1.9V to supply power to other modules; the driver control module provides 6 422 serial ports externally, 4 of which are converted out by the parallel bus to serial port module, where 1 is used for host computer communication (DB9), 1 is used for data backup (DB9), and 4 are used for encoder data acquisition (DB25); it is connected to multiple drivers through a CAN bus interface (DB15 interface) for communicating with the motor driver to control the motor; the driver enable module uses an electromagnetic relay to implement the control of the driver enable signal through the IO pins of the DSP; the limit switch outputs a high level when the servo moves to the limit position and is input to the DSP controller module through the limit switch module (DB50).

[0106] The serial port module is used to receive instructions from the host computer; the CAN communication module is used to control the motor driver; the reset module is used to restore the entire system to its initial state; the power supply module is used to supply power to the system; the function of the parallel bus to serial port module is as follows: a normal DSP control module can only provide two-way serial communication, while the sensors used in the motor closed-loop are all serial communication; the parallel bus to serial port module uses a parallel bus to serial port chip, and expands 4 serial ports through the XINTF parallel bus of the DSP control module, expanding the number of serial ports of the entire driver control module to 6; therefore, the driver control module can implement closed-loop control of up to 5 motors; the function of the driver enable module is as follows: connect the IO pin of the DSP to the control end of the electromagnetic relay, and connect the output end of the electromagnetic relay to the enable end of the motor driver. When the IO pin of the DSP is at a high level, the electromagnetic relay is energized, the output end of the electromagnetic relay is 28V, and the motor driver is enabled; when the IO pin is at a high level, the electromagnetic relay is open, the output end of the electromagnetic relay is floating, and the motor driver is disabled. The driver enable module controls the enable and disable of up to 5 motor drivers. The function of the limit switch module is: supply power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provide the signal of the limit switch to the motor driver.

[0107] Among them, the hardware size of the servo driver control module is 150mm * 110mm, meeting the limitations of low power consumption, small volume, and light weight of electronic devices.

[0108] The servo driver control module integrates a driver enable module and a limit switch module, and supports the control requirements of up to 4 CANopen drivers at most; uses the CAN communication module of the DSP controller to implement the protocol control of the CANopen driver for SDO and PDO;

[0109] Use the electromagnetic relay and relay driver to control the strong electricity with the weak electricity of the IO pin of the DSP to realize the enabling of the driver signal;

[0110] The limit switch module has a compatible design, which can meet the requirements of 24V and 5V power supply limit switches and switch pull-up and pull-down;

[0111] The baud rates of a total of 6 serial ports can be set independently, and the setting range is 9600 - 460800; the CANopen communication baud rate with the driver can be set independently, and the setting range is 1000 - 50000.

[0112] The servo driver control module is connected to external devices through 6 connectors, namely power supply channel 5, driver enable channel 4, serial communication channel 3, parallel bus to serial channel 2, limit switch channel 1, and CAN communication channel 6. Among them, the power supply channel 5 is a 1*2 connector with a pitch of 3.81mm, and an external power supply voltage of 20V - 36V is provided; the driver enable channel 4 provides enable signals for four drivers; the serial communication channel 3 and the parallel bus to serial channel 2 can provide a total of 6-way 422 serial communication externally; the limit switch channel 1 supplies power to the limit switch and provides pull-up and pull-down; the CAN communication channel is used to send driver control instructions.

[0113] Furthermore, this embodiment also provides the control process after the servo driver control module is powered on, specifically as follows:

[0114] After power-on, initialize the serial communication module, parallel bus to serial module, and CAN communication module;

[0115] After 60s of initialization completion, send a driver enable signal, attempt the driver self-check instruction, and control the driver servo to return to the zero position;

[0116] After self-check completion, enable the serial communication module and receive upper computer instructions to implement related functions.

[0117] Furthermore, this embodiment also provides the control process for the self-check of the servo driver control module, specifically as follows:

[0118] Control each driver to perform absolute position closed-loop and initialize protection information such as current limit, speed limit, and position limit;

[0119] The control module sends an enable signal to each driver;

[0120] Read the real-time position information of each driver. According to the actual usage requirements of the user, the control module can set any position as the zero position, calculate the zero position deviation, and the module enters the zero calibration mode;

[0121] After zero position calibration is completed, the driver cuts into the position closed-loop mode and controls the servo to move to the physical zero position.

[0122] When the servo feedback position is within ±0.5°, it is considered that the self-check is successful, otherwise it is considered that the self-check fails.

[0123] Furthermore, this embodiment also provides the control process for the state switching of the servo driver control module, specifically as follows:

[0124] In the speed mode, the control module controls the servo to perform speed closed-loop according to the speed information sent by the upper computer;

[0125] In the position mode, the control module controls the servo to perform position closed-loop according to the position and speed information sent by the host computer.

[0126] When the host computer sends a software inhibit instruction, the control module turns off the enable signal of the driver, and the driver turns off the power supply. After sending the software inhibit instruction, the control module will no longer respond to the speed mode and position mode instructions; after sending the software inhibit instruction, if the user wants to continue to complete the functions of the speed module and position module, the user must first send a software enable instruction, the control module sends the driver enable signal, and normally responds to the speed mode and position mode instructions.

[0127] In summary, the servo driver control module of this embodiment adds a module for converting parallel bus to serial port, enabling the servo control driver module to use 6 serial ports with a single DSP processor, and more sensors and peripherals can be externally connected; the weak electricity controls the strong electricity by using an electromagnetic relay and a relay drive circuit, and the enable signal of the 24V driver is controlled through the IO pins of the DSP; the compatibility design of the limit switch module allows the selection of 5V or 24V power supply for the limit switch, and the resistance of the limit switch signal is pulled up and down; the CANopen bus control based on SDO is realized by using the CAN communication module of the DSP, and multiple servo drivers can be externally controlled. The servo driver control module has better scalability and can achieve multi-channel servo control under the same size.

[0128] The above are only the preferred embodiments of this specification and are not used to limit this specification. For those skilled in the art, this specification can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification shall be included within the protection scope of this specification.

Claims

1. A servo drive control module, characterized in that, Including: DSP controller module, serial communication module, CAN communication module, reset module, driver enable module, limit switch module, parallel bus to serial module, power supply module; where: The DSP controller module is connected to the host computer through the serial communication module; the DSP controller module is connected to the motor driver through the CAN communication module; the DSP controller module is respectively connected to the reset module, the driver enable module, the limit switch module, the parallel bus to serial module, and the power supply module; The DSP controller module is used to externally provide 6 channels of 422 serial ports, of which 4 channels are output through the parallel bus to serial module; among the 6 channels of 422 serial ports, 1 channel is used for host computer communication, 1 channel is used for data backup, and 4 channels are used for encoder data acquisition; The parallel bus to serial module is used to expand 4 channels of serial ports by using a parallel bus to serial chip and combining with the XINTF parallel bus of the DSP control module; The driver enable module is used to use an electromagnetic relay and a relay driver to control the enable or disable of the driver signal by using the weak electricity of the IO pins of the DSP to control the strong electricity; The limit switch module is used to supply power to the limit switches at both ends of the maximum stroke of the motor, and after providing the pull-up and pull-down of the limit switch output signal, provide the signal of the limit switch to the motor driver; The serial communication module is used to receive host computer instructions; The CAN communication module is used to control the motor driver; The reset module is used to restore the entire servo driver control module to its initial state; The power supply module is used to convert the provided voltage of 20 - 36V into stable output voltages of 5V, 3.3V, and 1.9V to supply power to other modules.

2. The servo driver control module according to claim 1, wherein The servo driver control module is connected to external devices through 6 connectors, namely limit switch channel (1), parallel bus to serial channel (2), serial communication channel (3), driver enable channel (4), power supply channel (5), and CAN communication channel (6); Among them, the limit switch channel (1) is used to supply power to the limit switch and provide pull-up and pull-down; Parallel bus to serial channels (2, 3) are used to externally provide 6 channels of 422 serial communication; The driver enable channel (4) is used to provide enable signals for four drivers; The power supply channel (5) is a 1*2 connector with a pitch of 3.81mm; The CAN communication channel (6) is a CAN bus interface used to send driver control instructions.

3. The servo driver control module according to claim 1, characterized in that, The hardware size of the servo driver is 150mm * 110mm.

4. The servo driver control module according to claim 1, wherein, The driver control module uses the driver enable module to expand the number of serial ports to 6, realizes the closed-loop control of 5 motors, and supports the control of 4 servos; The baud rates of the 6 serial ports of the DSP control module can be set by itself, and the setting range is 9600 - 460800, and the CANopen communication baud rate with the driver can be set by itself, and the setting range is 1000 - 50000.

5. The servo driver control module according to claim 1, wherein The driver enable module is specifically used for: Connect the IO pins of the DSP controller module to the control terminal of the electromagnetic relay, and connect the output terminal of the electromagnetic relay to the enable terminal of the motor driver; When the IO pin of the DSP controller module is at a high level, the electromagnetic relay closes, the output terminal of the electromagnetic relay is 28V, and the motor driver is enabled; When the pin of the IO controller module is at a high level, the electromagnetic relay opens, the output terminal of the electromagnetic relay is floating, and the motor driver is disabled; The said driver enable module can control the enabling or disabling of up to 5 motor drivers at most.

6. The servo driver control module according to claim 1, wherein When the driver supports the position protocol of the sensor, the position feedback of the sensor is directly connected to the driver; When the driver does not support the position protocol of the sensor, the position feedback of the sensor is connected to the DSP controller module through the parallel-to-serial port module.

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