Multi-axis servo driver

Abstract

The utility model relates to a multi-shaft servo driver, which comprises an interface connector board provided with an interface connector, the interface connector comprises encoder joints and motor joints, and the number of the encoder joints and the number of the motor joints are equal to the number of shafts of the multi-shaft servo driver; the interface driving boards are connected with the interface connector board, and the number of the interface driving boards is smaller than or equal to the number of axes of the multi-axis servo driver; the control boards are connected with the interface driving board, and the number of the control boards is smaller than or equal to the number of axes of the multi-axis servo driver; and the power boards are connected with the control board, and the number of the power boards is smaller than or equal to the axis number of the multi-axis servo driver. The multi-shaft servo driver is high in modularization degree, can flexibly combine all modules, increases reusability of products, and reduces production cost.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of motor control, and in particular to a multi-axis servo driver. Background Art

[0002] Multi-axis servo drives typically use a single control module to control multiple drive modules. Specifically, the control module is typically located on a control board, while multiple drive modules are located on a power board. The number of drive modules corresponds one-to-one with the number of axes in the multi-axis servo drive, but the number of control modules does not. The control module integrates all the signal electronics and interface circuitry required for the servo drive, including network connectivity, power input, and digital I / O. The drive module integrates some of the servo drive's power electronics and current sensing functions.

[0003] Currently, multi-axis servo drives are not highly modularized. Customers may require a wide range of axis counts, as well as interface board functionality (such as network connectivity and power input), connector specifications, seismic ratings, and board dimensions and mounting structure. Consequently, as the number of axes changes and customer requirements change, interface boards must be designed in a variety of specifications. This requires extensive R&D and customization, complicating product management and hindering product reuse and cost reduction. Utility Model Content

[0004] The technical problem to be solved by the present application is to provide a multi-axis servo driver with a high degree of modularity, which can flexibly combine modules, thereby increasing the reusability of the product and reducing production costs.

[0005] The technical solution adopted by the present application to solve the above-mentioned technical problems is a multi-axis servo drive, comprising: an interface connector board, which is provided with an interface connector, the interface connector includes an encoder connector and a motor connector, and the number of encoder connectors and the number of motor connectors are equal to the number of axes of the multi-axis servo drive; an interface driver board, which is connected to the interface connector board, and the number of interface driver boards is less than or equal to the number of axes of the multi-axis servo drive; a control board, which is connected to the interface driver board, and the number of control boards is less than or equal to the number of axes of the multi-axis servo drive; and a power board, which is connected to the control board, and the number of power boards is less than or equal to the number of axes of the multi-axis servo drive.

[0006] In one embodiment of the present application, the interface connector board includes a common area, and each axis of the multi-axis servo drive uses the interface connector of the common area. The interface connector of the common area includes: one or any combination of an upper connector, a power connector, a power feed connector, and a power feed drive module.

[0007] In one embodiment of the present application, the interface connector board includes a custom area, and each axis of the multi-axis servo drive uses the interface connector of the custom area in common, or each axis of the multi-axis servo drive uses an interface connector of a custom area respectively; the interface connector of the custom area includes: one or any combination of an IO connector, an AI connector, and an STO connector.

[0008] In one embodiment of the present application, the number of interface connector boards is less than or equal to the number of axes of the multi-axis servo drive.

[0009] In one embodiment of the present application, the interface driver board includes: one or any combination of an upper driver module, an encoder driver module, an IO driver module, an AI driver module, a first power input module, and a first motor output module.

[0010] In one embodiment of the present application, the control board includes: one or any combination of a power module, a main control module, a second power input module, and a second motor output module.

[0011] In one embodiment of the present application, the power board includes: one or any combination of: a motor drive module, a power module, an analog sensor module, a hardware protection module, a third power input module, and a third motor output module.

[0012] In one embodiment of the present application, the multi-axis servo driver further includes a first heat dissipation portion connected to the power board.

[0013] In one embodiment of the present application, the multi-axis servo driver further includes a second heat dissipation portion, which is connected to the first heat dissipation portion, and the number of the second heat dissipation portions is less than or equal to the number of the first heat dissipation portions.

[0014] In one embodiment of the present application, the power board, the control board, the interface driver board, and the interface connector board are stacked in sequence.

[0015] The technical solution of the present application improves the modularity of the interface board by dividing the functions of the interface board into two parts, namely, the interface connector board and the interface driver board, and the number of interface connector boards and interface driver boards can be set according to the number of axes of the multi-axis servo drive; the present application is equivalent to a modular multi-axis servo drive design with a flexible combination. The present application divides the multi-axis servo drive into four parts: the interface connector board, the interface driver board, the control board, and the power board. This setting can achieve maximum reuse, greatly improving the modularity of the product, not only reducing costs, but also adapting to the design of multi-axis products with various numbers of axes, various connectors, various customer sizes, and various layout requirements, reducing the workload of R&D customization and the difficulty of customer customization, facilitating product management, and improving the producibility of multi-axis servo products. At the same time, it saves the space occupied by the product and improves the usability of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the above-mentioned objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings, wherein:

[0017] Figure 1 This is a schematic diagram of the overall structure of a multi-axis servo driver according to an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of a common area of ​​an interface connector board in one embodiment of the present application;

[0019] Figure 3 2 is a schematic diagram of a custom area of ​​an interface connector board in one embodiment of the present application.

[0020] Description of the accompanying drawings in the specific embodiment:

[0021] 100. Multi-axis servo driver; 110. Interface connector board; 113. Upper connector; 114. IO connector; 115. AI connector; 116. STO connector; 117. Power connector; 118. Feed connector; 119. Feed drive module; 120. Interface driver board; 130. Control board; 140. Power board; 150. First heat sink; 160. Second heat sink; 210. Common area; 220. Custom area. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objectives, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below with reference to the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0024] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0025] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0026] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0027] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0028] Hereinafter, embodiments of the present application will be described based on the accompanying drawings. However, the embodiments shown below are examples of multi-axis servo drives for embodying the technical ideas of the present application, and the multi-axis servo drives of the present application are not specifically the following. Furthermore, in order to facilitate understanding of the scope of the claims, this specification assigns numbers corresponding to the components shown in the embodiments to the components shown in the "Claims" and "Utility Model Contents" columns. However, the components shown in the claims are by no means specific to the components of the embodiments. In particular, the dimensions, materials, shapes, and relative configurations of the constituent components described in the embodiments, unless specifically described, are not intended to limit the scope of the present application to these, but are merely illustrative examples.

[0029] However, the dimensions or positional relationships of the components shown in the drawings are sometimes exaggerated for the purpose of clarifying the description. Furthermore, in the following description, for components that are identical or homogeneous, the same name or symbol indicates that its detailed description will be omitted as appropriate. Furthermore, the various elements constituting the present application may be in the form of multiple elements being constituted by the same component so that one component serves as multiple elements, or conversely, multiple components sharing the function of one component. In addition, the contents described in some embodiments and implementation methods may also be utilized in other embodiments, implementation methods, etc. In addition, in this specification, "on" is not limited to the case where it is formed in contact with the upper surface, but also includes the case where it is formed separately above, and is also used to include the meaning of the presence of an intervening layer between layers.

[0030] This application proposes a multi-axis servo drive that can be used in scenarios where multiple motors need to be controlled and can flexibly meet various layout requirements of customers.

[0031] Figure 1 This is a schematic diagram of the overall structure of a multi-axis servo driver according to an embodiment of the present application. Figure 1 As shown, the multi-axis servo driver 100 of this embodiment includes: an interface connector board 110, which is provided with an interface connector, and the interface connector includes an encoder connector and a motor connector. The number of encoder connectors and the number of motor connectors are equal to the number of axes of the multi-axis servo driver 100; an interface driver board 120, which is connected to the interface connector board 110, and the number of interface driver boards 120 is less than or equal to the number of axes of the multi-axis servo driver 100; a control board 130, which is connected to the interface driver board 120, and the number of control boards 130 is less than or equal to the number of axes of the multi-axis servo driver 100; and a power board 140, which is connected to the control board 130, and the number of power boards 140 is less than or equal to the number of axes of the multi-axis servo driver 100.

[0032] Exemplarily, the interface connector board 110 is used to realize the welding of the interface connector, and the interface driver board 120 is used to realize the chip welding of the interface circuit. In actual applications, a local debugging interface (such as a local USB debugging connector) can be set on the interface connector board 110 and the interface driver board 120 to facilitate the testing and debugging of the multi-axis servo driver 100. The encoder connector is used to realize the connection of an external encoder. The types of encoders include incremental, absolute, digital Hall, analog Hall, rotary transformer, etc. The motor connector is used to realize the output connection of the external motor drive. The types of motor connectors include connectors, pin headers, terminals, copper bars, etc. The encoder connector, motor connector and local USB debugging connector can be set to one for each axis of the multi-axis servo controller.

[0033] refer to Figure 1 As shown, for example, the multi-axis servo driver 100 shown in this embodiment has two axes, and the number of encoder connectors, the number of motor connectors, the number of interface driver boards 120, the number of control boards 130, and the number of power boards 140 are equal to 2. When setting the interface connector board 110, the encoder connector 1111 is connected to the external axis 1 encoder, and the motor connector 1121 is connected to the external axis 1 motor; the encoder connector 1112 is connected to the external axis N encoder, and the motor connector 1122 is connected to the external axis N motor. Wherein, N is an integer greater than or equal to 1, Figure 1 In the embodiment shown, N may be considered to be equal to 2. The present application does not impose any restrictions on the number of axes of the multi-axis servo driver 100 and the number of component modules.

[0034] Exemplarily, the present application physically connects the interface connector board 110 and the interface driver board 120, physically connects the interface driver board 120 and the control board 130, and physically connects the control board 130 and the power board 140, thereby realizing signal transmission, energy transmission and structural fixation between the components. The forms of physical connection include connectors, pin headers, terminals, solder pins, screws, copper columns, copper bars, silver needles, etc. The interface driver board 120, the control board 130 and the power board 140 can be set as standard product modules for easy reuse. In actual applications, connections can be made between the four plates of the interface connector board 110, the interface driver board 120, the control board 130 and the power board 140, or between any two plates, and this application does not impose any restrictions.

[0035] Continue to refer Figure 1As shown, for example, the multi-axis servo driver 100 can realize the input of the upper master control, encoder input, analog signal and digital signal, and realize the control and drive of the servo motor. Among them, for the external components of the multi-axis servo driver 100, the power supply is used to realize the input of electrical energy. The motor is used to realize the conversion of electrical energy and mechanical energy. The encoder is used to realize the feedback of the motor position signal. The upper master control is used to realize the given motion command. The IO (Input / Output) signal is used to realize the input and output of digital signals. The AI ​​(Analog Input) signal is used to realize the input and output of analog signals.

[0036] For example, the multi-axis servo drive 100 is connected to an external servo motor via an external cable. The multi-axis servo drive 100 is connected to an external encoder via an external cable. The multi-axis servo drive 100 is connected to a host controller via an external cable or wirelessly. The multi-axis servo drive 100 is connected to a power supply via an external cable. The multi-axis servo drive 100 is connected to an I / O signal via an external cable. The multi-axis servo drive 100 is connected to an AI signal via an external cable. The multi-axis servo drive 100 is connected to a feed resistor via an external cable.

[0037] The technical solution of the present application improves the modularity of the interface board by dividing the functions of the interface board into two parts, namely, the interface connector board 110 and the interface driver board 120, and the number of the interface connector boards 110 and the interface driver board 120 can be set according to the number of axes of the multi-axis servo driver 100; the present application is equivalent to a modular multi-axis servo driver design with a flexible combination. The present application divides the multi-axis servo driver 100 into four parts: the interface connector board 110, the interface driver board 120, the control board 130, and the power board 140. This setting can achieve maximum reuse, greatly improving the modularity of the product, not only reducing costs, but also adapting to the design of multi-axis products with various numbers of axes, various connectors, various customer sizes, and various layout requirements, reducing the workload of R&D customization and the difficulty of customer customization, facilitating product management, and improving the producibility of multi-axis servo products. At the same time, it saves the space occupied by the product and improves the usability of the product.

[0038] Figure 2 This is a schematic diagram of the common area of ​​the interface connector board in one embodiment of the present application, with reference to Figure 2 As shown, in some embodiments, the interface connector board 110 includes a common area 210, and each axis of the multi-axis servo drive 100 uses the interface connector of the common area 210 in common. The interface connector of the common area 210 includes: one or any combination of an upper connector 113, a power connector 117, a power feeding connector 118, and a power feeding drive module 119.

[0039] Exemplarily, the upper joint 113 is used to realize the connection of the upper command and communication, the upper command including EtherCAT, CANopen, Modbus, pulse, analog quantity, etc. The power joint 117 is used to realize the input connection of the power supply, the implementation form of the power joint 117 including connector, pin, terminal, copper bar, etc. The energy feedback joint 118 is used to realize the connection of the energy feedback energy output, and the energy feedback driving module 119 is used to realize the output of the energy feedback, the form of the energy feedback including resistance energy feedback, etc. The implementation form of the energy feedback joint 118 includes connector, pin, terminal, copper bar, etc. In actual application, the upper joint 113, the power joint 117, the energy feedback joint 118, and the energy feedback driving module 119 can be set as one for multiple axes of the multi-axis servo driver 100.

[0040] Figure 3 is a schematic diagram of the custom area of the interface connector plate in an embodiment of the present application, and Figure 3 as shown, in some embodiments, the interface connector plate 110 includes a custom area 220, and the interface connector of the custom area 220 is used by each axis of the multi-axis servo driver 100 in common or by each axis of the multi-axis servo driver 100 respectively; the interface connector of the custom area 220 includes one or any combination of the IO joint 114, the AI joint 115, and the STO (Safe Torque Off) joint 116.

[0041] Exemplarily, the IO joint 114 is used to realize the connection of the digital signal, and the form of the IO signal including +5V (volt) to +24V TTL (Transistor-Transistor Logic), Open D, etc. The AI joint 115 is used to realize the connection of the analog signal, and the form of the AI signal including +1V to +12V analog signal, etc. The STO joint 116 is used to realize the enable of the STO input signal, and this joint can be selected to be welded or not welded according to the customer. In actual application, the IO joint 114, the AI joint 115, and the STO joint 116 can be set as one set of joints for multiple axes of the multi-axis servo driver 100 or one set of joints for each axis.

[0042] In some embodiments, the number of the interface connector plates 110 is less than or equal to the number of axes of the multi-axis servo driver 100. Exemplarily, such setting can realize more compact and efficient connection and control, reduce redundancy, and optimize the layout of the multi-axis servo driver 100.

[0043] Referring to Figure 1As shown, in some embodiments, the interface driver board 120 includes: one or any combination of an upper driver module, an encoder driver module, an IO driver module, an AI driver module, a first power input module, and a first motor output module.

[0044] For example, the host driver module is used to drive host commands and communications. Host commands include EtherCAT, CANopen, Modbus, pulse, and analog signals. The encoder driver module is used to drive encoders. Encoder types include incremental, absolute, digital Hall, analog Hall, and resolver. The IO driver module is used to drive digital signals. IO signal formats include +5V to +24V TTL and Open D. The AI ​​driver module is used to drive analog signals. AI signal formats include +1V to +12V analog signals.

[0045] Exemplarily, the first power input module is used to realize the input of power supply, and the implementation forms of power supply input include low voltage below DC 100V, medium voltage below DC 400V, high voltage below DC 800V, AC 220V, AC 380V, etc. The first motor output module is used to realize the output of the motor, and the motor types include rotary AC servo motor, direct-drive linear motor, voice coil motor, direct-drive rotary motor, frameless motor, hollow cup motor, brushed DC motor, brushless DC motor, stepper motor, etc. In actual applications, the first motor output module, upper drive module, IO drive module, AI drive module, encoder drive module, and first motor output module can be set to use one for each axis of the multi-axis servo driver 100.

[0046] refer to Figure 1 As shown, in some embodiments, the control board 130 includes: one or any combination of a power supply module, a main control module, a second power input module, and a second motor output module (not shown). For example, the power supply module is used to realize power conversion and provide power supply for system control and drive. The power supply is implemented in power electronic topologies such as buck, boost, and flyback. The second power input module and the second motor output module are used to realize power input and motor drive output. The connectors of these two modules are implemented in the form of connectors, pin headers, terminals, copper bars, etc.

[0047] For example, the main control module, also known as the control module, is used to process signals, implement motor control operations, output motor control commands, and provide system software protection. Signals processed by the main control module include analog sensor signals, digital signals, analog signals, and communication signals. Commands output by the main control module include pulse signals, communication signals, and analog signals. The main control module can also perform software protection, including short-circuit protection, overload protection, overvoltage protection, overtemperature protection, and overspeed protection.

[0048] refer to Figure 1 As shown, in some embodiments, the power board 140 includes: one or any combination of: a motor drive module, a power module, an analog sensor module, a hardware protection module, a third power input module, and a third motor output module (not shown). Exemplarily, the motor drive module is used to drive the power module according to the control command of the motor to realize energy conversion, and the implementation form of the motor drive module includes a non-isolated circuit, an isolated circuit, etc. The power module receives power input and realizes energy conversion according to the drive signal of the motor drive module. The forms of realizing energy conversion include MOSFET (Metal Oxide Semiconductor Field Effect Transistor), IGBT (Insulated Gate Bipolar Transistor), Sic, GaN (Gallium Nitride), IPM (Intelligent Power Modules), etc.

[0049] Exemplarily, the analog sensing module is used to detect analog signals and output them to the main control module. The detected signals include phase current, bus current, temperature, voltage, etc., and the detection methods include Hall sensing and resistance sensing. The hardware protection module is used to perform hardware protection actions based on the signals from the analog sensing module. The protection contents include short-circuit protection, overload protection, overvoltage protection, over-temperature protection, etc. The third power input module and the third motor output module are used to realize the input of power and the output of motor drive. The connectors of these two modules are realized in the form of connectors, pin headers, terminals, copper busbars, etc.

[0050] In some embodiments, the multi-axis servo driver 100 further includes a first heat dissipation portion 150, and the first heat dissipation portion 150 is connected to the power board 140. For example, the number of the first heat dissipation portions 150 can be set to be equal to the number of axes of the multi-axis servo driver 100, and the first heat dissipation portions 150 and the power board 140 are connected one-to-one. The power board 140 and the first heat dissipation portion 150 are physically connected to achieve heat transfer and structural fixation, and the physical connection forms include: the power module on the power board 140 is connected to the first heat dissipation portion 150 through a heat dissipation material; the power board 140 is connected to the heat dissipation material through a heat dissipation via, and then connected to the first heat dissipation portion 150; the power board 140 is connected to the first heat dissipation portion 150 by immersing it in a thermally conductive material, etc. The present application can realize the flexible combination of the heat dissipation structure as the number of axes changes, and can improve the heat dissipation effect of the power board 140.

[0051] In some embodiments, the multi-axis servo driver 100 further includes a second heat dissipation portion 160, which is connected to the first heat dissipation portion 150, and the number of the second heat dissipation portions 160 is less than or equal to the number of the first heat dissipation portions 150. For example, the multi-axis servo driver 100 can share the first heat dissipation portion 150 or the second heat dissipation portion 160. The first heat dissipation portion 150 and the second heat dissipation portion 160 of the present application can be referred to as a heat dissipation mechanism, which is used to dissipate heat from the power module. The implementation forms of the heat dissipation mechanism include aluminum sheet heat dissipation, copper sheet heat dissipation, silver powder sintering heat dissipation, water cooling heat dissipation, etc.

[0052] In some embodiments, the power board 140, the control board 130, the interface driver board 120, and the interface connector board 110 are stacked in sequence. This arrangement can reduce the overall size of the multi-axis servo driver 100, improve the signal transmission efficiency between the boards, and enhance the compatibility and scalability of the multi-axis servo driver 100.

[0053] Although the above disclosure discusses some currently believed useful utility model embodiments through various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the spirit and scope of the embodiments of the application. For example, although the system components described above can be implemented using hardware devices, they can also be implemented using software solutions, such as installing the described system on an existing server or mobile device.

[0054] Similarly, it should be noted that, in order to simplify the description of the present disclosure and thus facilitate understanding of one or more utility model embodiments, the foregoing description of the present embodiment sometimes combines multiple features into a single embodiment, figure, or description thereof. However, this disclosure method does not mean that the subject matter of the present application requires more features than those recited in the claims. In fact, the features of an embodiment may be fewer than the total features of a single embodiment disclosed above.

[0055] In some embodiments, numbers are used to describe the quantity of components and attributes. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise stated, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the description and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the settings of such numerical values ​​are as accurate as possible within the feasible range.

[0056] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions can be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the scope of the essential spirit of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A multi-axis servo drive, characterized in that: include: An interface connector board is provided with an interface connector, wherein the interface connector includes an encoder connector and a motor connector, and the number of the encoder connector and the number of the motor connector are equal to the number of axes of the multi-axis servo drive; An interface driver board connected to the interface connector board, wherein the number of the interface driver boards is less than or equal to the number of axes of the multi-axis servo driver; A control board connected to the interface driver board, wherein the number of control boards is less than or equal to the number of axes of the multi-axis servo driver; A power board is connected to the control board, and the number of the power boards is less than or equal to the number of axes of the multi-axis servo driver.

2. The multi-axis servo driver according to claim 1, wherein: The interface connector board includes a common area, and each axis of the multi-axis servo drive uses the interface connector of the common area. The interface connector of the common area includes: one or any combination of an upper connector, a power connector, a power feed connector, and a power feed drive module.

3. The multi-axis servo driver according to claim 1 or 2, characterized in that: The interface connector plate includes a custom area, and each axis of the multi-axis servo drive uses a common interface connector in the custom area, or each axis of the multi-axis servo drive uses an interface connector in the custom area; The interface connectors in the custom area include: one or any combination of IO connectors, AI connectors, and STO connectors.

4. The multi-axis servo driver according to claim 1, wherein: The number of interface connector boards is less than or equal to the number of axes of the multi-axis servo drive.

5. The multi-axis servo driver according to claim 1, wherein: The interface driver board includes: one or any combination of an upper driver module, an encoder driver module, an IO driver module, an AI driver module, a first power input module, and a first motor output module.

6. The multi-axis servo driver according to claim 1, wherein: The control board includes: one or any combination of a power supply module, a main control module, a second power input module, and a second motor output module.

7. The multi-axis servo driver according to claim 1, wherein: The power board includes: one or any combination of: a motor drive module, a power module, an analog sensor module, a hardware protection module, a third power input module, and a third motor output module.

8. The multi-axis servo driver according to claim 1, wherein: It also includes a first heat dissipation portion connected to the power board.

9. The multi-axis servo driver according to claim 8, wherein: It also includes a second heat dissipation part, which is connected to the first heat dissipation part, and the number of the second heat dissipation parts is less than or equal to the number of the first heat dissipation parts.

10. The multi-axis servo driver according to claim 1, wherein: The power board, the control board, the interface driver board, and the interface connector board are stacked in sequence.

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