A servo position storage system

Abstract

The embodiment of the present disclosure provides a servo position storage system, comprising: a power module for powering a circuit; a Beckhoff PLC control module and a single-chip microcomputer connected with the power module through an uninterruptible power supply; wherein, when normal power supply is interrupted, the uninterruptible power supply is used as a backup power supply to power the Beckhoff PLC control module and the single-chip microcomputer; a voltage sensor connected with the power module and the single-chip microcomputer, used to convert the output voltage of the power module into a corresponding voltage signal and send it to the single-chip microcomputer to monitor the output voltage of the power module in real time; wherein, when normal power supply is interrupted, the single-chip microcomputer sends power-off information to the Beckhoff PLC control module, so that the Beckhoff PLC control module acquires motor position information and stores the motor position information to a preset area. The embodiment of the present disclosure can avoid the problem of losing motor position information after the Beckhoff PLC is restarted, and ensure the accuracy and continuity of the motor position information.

Description

Technical Field

[0001] This disclosure relates to the field of semiconductor technology, and more specifically to a servo position storage system. Background Technology

[0002] Beckhoff PLCs (Programmable Logic Controllers) from Germany are widely used in the semiconductor industry due to their strong stability and EtherCAT communication capabilities. However, a common compatibility issue exists between Beckhoff PLCs and servo systems from other manufacturers: the position information of the servo system is stored in a 64-bit memory, divided into high 32 bits and low 32 bits. Because Beckhoff PLCs cannot receive the high 32 bits of the position data stored in other manufacturers' servo systems, if the pulse value recorded after a single-turn absolute encoder motor rotates exceeds the range of the low 32 bits of the memory, and the Beckhoff PLC is powered off and restarted at this time, the motor's position information will be lost. This will cause errors in the position information displayed by the NC (Numerical Control) axis after the Beckhoff PLC is powered on again.

[0003] Against this backdrop, how to provide a servo position storage system to avoid the loss of motor position information after Beckhoff PLC power failure and restart has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the present disclosure provides a servo position storage system to avoid the loss of motor position information after Beckhoff PLC is powered off and restarted.

[0005] To achieve the above objectives, the present disclosure provides the following technical solutions.

[0006] This disclosure provides a servo location storage system, including:

[0007] The power module is used to supply power to the circuit.

[0008] Beckhoff PLC control module and microcontroller are connected to the power module via an uninterruptible power supply; wherein, when the normal power supply is interrupted, the uninterruptible power supply is used as a backup power supply to power the Beckhoff PLC control module and the microcontroller.

[0009] A voltage sensor connected to the power module and the microcontroller is used to convert the output voltage of the power module into a corresponding voltage signal and send it to the microcontroller to monitor the output voltage of the power module in real time.

[0010] In the event of a power outage, the microcontroller sends a power failure message to the Beckhoff PLC control module, enabling the Beckhoff PLC control module to obtain the motor position information and store it in a preset area.

[0011] Optionally, storing the motor position information in a preset area includes:

[0012] The motor position information is stored in the hard disk of the Beckhoff PLC control module by pre-set operation instructions.

[0013] Optionally, the microcontroller communicates with the Beckhoff PLC control module via TCP or EtherCAT communication.

[0014] Optionally, the response time of the uninterruptible power supply is 2 to 4 milliseconds when normal power supply is interrupted.

[0015] Optional, also includes:

[0016] After a normal power supply interruption, if the microcontroller detects that the output voltage of the power module has returned to normal, it will send the power supply recovery information to the Beckhoff PLC control module so that the Beckhoff PLC control module can obtain the motor position information from a preset area.

[0017] Optional, also includes:

[0018] The motor connected to the power module is used to perform motion control tasks according to the instructions issued by the Beckhoff PLC control module.

[0019] Optionally, the motor includes a single-turn absolute encoder mounted on the end of the motor rotor shaft, the single-turn absolute encoder being used to monitor the position and rotation direction of the motor rotor in real time.

[0020] Optional, also includes:

[0021] A miniature circuit breaker connected to the power module is used to control the on / off state of the circuit.

[0022] Optional, also includes:

[0023] A switching power supply located between the uninterruptible power supply and the microcontroller is used to convert the voltage output by the uninterruptible power supply into the voltage required by the microcontroller.

[0024] Optionally, the power supply voltage of the power module is 200 volts to 220 volts.

[0025] Compared with the prior art, the technical solution of the present disclosure has the following advantages:

[0026] This disclosure provides a servo position storage system, including: a power module for supplying power to a circuit; a Beckhoff PLC control module and a microcontroller connected to the power module via an uninterruptible power supply (UPS); wherein, when normal power supply is interrupted, the UPS serves as a backup power supply for the Beckhoff PLC control module and the microcontroller; a voltage sensor connected to the power module and the microcontroller converts the output voltage of the power module into a corresponding voltage signal and sends it to the microcontroller to monitor the output voltage of the power module in real time; wherein, when normal power supply is interrupted, the microcontroller sends a power failure message to the Beckhoff PLC control module, enabling the Beckhoff PLC control module to acquire motor position information and store the motor position information in a preset area.

[0027] As can be seen, the servo position storage system provided in this embodiment of the present disclosure, by setting an uninterruptible power supply, can switch to a backup power supply in a timely manner when the normal power supply is interrupted, so as to continuously supply power to the Beckhoff PLC control module and the microcontroller and ensure the basic operation of the system; at the same time, the voltage sensor is used to monitor the output voltage of the power module in real time, so that when the microcontroller detects a power failure, it can quickly send the power failure information to the Beckhoff PLC control module, triggering it to promptly obtain the motor position information and store it in the preset area, thereby effectively avoiding the problem of losing the motor position information after the Beckhoff PLC restarts after a power failure, and ensuring the accuracy and continuity of the motor position information. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of an optional structure of a servo position storage system provided in an embodiment of this disclosure;

[0030] Figure 2 This is a partial structural diagram of a servo position storage system provided in an embodiment of this disclosure;

[0031] Figure 3 This is a schematic diagram of an optional process for the normal power interruption phase provided in an embodiment of this disclosure;

[0032] Figure 4 This is a schematic diagram of an optional process for the power-on phase after a power outage, provided in an embodiment of this disclosure. Detailed Implementation

[0033] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0034] Beckhoff PLCs (Programmable Logic Controllers) from Germany are widely used in the semiconductor industry due to their strong stability and EtherCAT communication capabilities. However, a common compatibility issue exists between Beckhoff PLCs and servo systems from other manufacturers: the servo system's position information is stored in a 64-bit memory, divided into high 32 bits and low 32 bits. Because Beckhoff PLCs cannot receive the high 32 bits of the position data stored in other manufacturers' servo systems, if the pulse value recorded after a single-turn absolute encoder motor rotates exceeds the range of the low 32 bits of the memory, and the Beckhoff PLC is then powered off and restarted, the motor's position information will be lost. This will cause errors in the position information displayed by the NC (Numerical Control) axes after the Beckhoff PLC is powered on again. For example, this problem occurs when a Beckhoff PLC is paired with an Inovance servo system.

[0035] Currently, there are two main solutions to the problem of servo position information loss after a power outage in Beckhoff PLCs:

[0036] (1) Choose not to actively resolve this issue. Since it is impossible to record the servo position data of Beckhoff PLC before power failure, the system defaults to requiring the motor to perform a return-to-origin operation first after each Beckhoff PLC power failure and restart before it can perform positioning motion.

[0037] (2) Use Beckhoff’s built-in UPS (uninterruptible power supply) to realize the data storage function inside Beckhoff PLC.

[0038] However, the inventors believe that for method (1), in some process scenarios with extremely high positional accuracy requirements, the system must ensure that Beckhoff PLC can directly display the correct position information of the servo after restarting. In this case, this solution obviously cannot meet the actual needs. For method (2), Beckhoff's built-in UPS is only compatible with Beckhoff PLC and cannot power third-party component equipment. However, most semiconductor manufacturers are now equipped with their own UPS systems. This solution is not compatible with the existing UPS systems of semiconductor manufacturers, resulting in one device needing to be configured with two UPSs, occupying more space and causing unnecessary waste of resources.

[0039] It is evident that providing a servo position storage system to prevent Beckhoff PLCs from losing motor position information after a power outage and restart has become a technical problem that urgently needs to be solved by those skilled in the art.

[0040] In view of this, this disclosure provides a servo position storage system, including: a power module for supplying power to a circuit; a Beckhoff PLC control module and a microcontroller connected to the power module via an uninterruptible power supply (UPS); wherein, when normal power supply is interrupted, the UPS serves as a backup power supply for the Beckhoff PLC control module and the microcontroller; a voltage sensor connected to the power module and the microcontroller, for converting the output voltage of the power module into a corresponding voltage signal and sending it to the microcontroller to monitor the output voltage of the power module in real time; wherein, when normal power supply is interrupted, the microcontroller sends a power failure message to the Beckhoff PLC control module, so that the Beckhoff PLC control module obtains motor position information and stores the motor position information in a preset area.

[0041] As can be seen, the servo position storage system provided in this embodiment of the present disclosure, by setting an uninterruptible power supply, can switch to a backup power supply in a timely manner when the normal power supply is interrupted, so as to continuously supply power to the Beckhoff PLC control module and the microcontroller and ensure the basic operation of the system; at the same time, the voltage sensor is used to monitor the output voltage of the power module in real time, so that when the microcontroller detects a power failure, it can quickly send the power failure information to the Beckhoff PLC control module, triggering it to promptly obtain the motor position information and store it in the preset area, thereby effectively avoiding the problem of losing the motor position information after the Beckhoff PLC restarts after a power failure, and ensuring the accuracy and continuity of the motor position information.

[0042] The technical solutions of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments.

[0043] refer to Figure 1 , Figure 1 This is a schematic diagram of an optional structure of a servo location storage system provided in an embodiment of this disclosure. For example... Figure 1 As shown, the servo location storage system may include:

[0044] Power module 10 is used to supply power to the circuit. In an optional implementation, the power supply voltage of the power module is 200 volts to 220 volts. For example, it can be 208 volts.

[0045] The Beckhoff PLC control module 12 and the microcontroller 13 are connected to the power module 10 via an uninterruptible power supply 11. In the event of a power outage, the uninterruptible power supply 11 serves as a backup power source for the Beckhoff PLC control module 12 and the microcontroller 13. Therefore, this disclosure demonstrates that a single uninterruptible power supply can power both the Beckhoff PLC control module 12 and the microcontroller 13.

[0046] An uninterruptible power supply (UPS) is a constant voltage and frequency power supply containing an energy storage device and primarily composed of an inverter. During normal power supply, the UPS stabilizes the received voltage and supplies it to the load, functioning as a voltage regulator while simultaneously charging its internal battery. When normal power supply is interrupted, the UPS immediately uses the energy from its internal battery to continue supplying power to the load through an inverter, ensuring the load continues to operate normally. In specific implementations, the response time of the UPS during a normal power supply interruption is 2 to 4 milliseconds. That is, when normal power supply is interrupted, the UPS can automatically switch to backup power within 2 to 4 milliseconds, ensuring the continuous and stable operation of the Beckhoff PLC control module 12 and the microcontroller 13.

[0047] This disclosure reconnects the power line originally supplied directly to the Beckhoff PLC control module 12 to the input terminal of the uninterruptible power supply (UPS) 11 via a cable, and then connects the output terminal of the UPS 11 to the Beckhoff PLC control module 12. This disclosure supports the use of UPSs from brands other than Beckhoff, significantly improving equipment selection flexibility and cost control while ensuring power supply reliability. In practical implementation, since many FAB clients in the semiconductor industry are equipped with UPSs, the client's UPS can be directly used, simply connecting the FAB client's UPS directly to the Beckhoff PLC control module. Here, FAB clients refer to client systems or equipment related to semiconductor manufacturing plants (FABs).

[0048] The voltage sensor 14, which is connected to the power module 10 and the microcontroller 13, is used to convert the output voltage of the power module 10 into a corresponding voltage signal and send it to the microcontroller 13 to monitor the output voltage of the power module 10 in real time.

[0049] In specific implementations, such as Figure 2As shown, the voltage sensor 14 can proportionally convert the output voltage of the power module 10 into a corresponding voltage signal and send it to the microcontroller for real-time monitoring of the power supply stability of the power module 10. Specifically, when normal power supply is interrupted, the microcontroller 13 sends a power failure message to the Beckhoff PLC control module 12, enabling the Beckhoff PLC control module 12 to acquire motor position information and store it in a preset area.

[0050] In an optional implementation, storing the motor position information to a preset area includes: storing the motor position information to the hard drive of the Beckhoff PLC control module using preset operation instructions (e.g., CSV (Comma-Separated Values) file operation instructions). Alternatively, the real-time acquired motor position information (such as coordinate values, angles, or encoder pulse counts) can be organized into text lines in CSV format (fields separated by commas) and written to the Beckhoff PLC's hard drive using the CSV file operation instruction set in the Beckhoff PLC (such as the file read / write function block in the TwinCAT system), thereby recording the motor's operating status.

[0051] In optional implementations, the microcontroller 13 can communicate with the Beckhoff PLC control module 12 via TCP or EtherCAT communication. TCP communication is a general communication method based on standard Ethernet and TCP / IP protocols. By establishing a reliable connection-oriented transmission channel, it enables data interaction between the microcontroller and the Beckhoff PLC control module, suitable for non-real-time or low-speed scenarios (such as status monitoring and parameter configuration). EtherCAT communication is a high-performance real-time Ethernet protocol designed specifically for industrial automation. Through hardware-level distributed clock synchronization and an efficient "process data object" transmission mechanism, it achieves high-speed deterministic communication between the microcontroller and the Beckhoff PLC control module within microsecond cycles, suitable for scenarios with stringent real-time requirements such as motion control and multi-axis synchronization. In other optional implementations, the microcontroller 13 can also use other communication methods to communicate with the Beckhoff PLC control module 12, and this disclosure does not impose any limitations on this.

[0052] In an optional implementation, after a normal power supply interruption, if the microcontroller 13 detects that the output voltage of the power module has returned to normal, it sends the power supply recovery information to the Beckhoff PLC control module 12 so that the Beckhoff PLC control module 12 can obtain the motor position information from a preset area.

[0053] Understandably, when the device restarts after a power outage, the microcontroller 13 checks whether the output voltage of the power module is stable. Once the power supply is confirmed to be normal, it sends the power restoration information to the Beckhoff PLC control module 12. During the first scan cycle after initialization and resumption of operation, the Beckhoff PLC control module 12 reads the motor position information recorded after the power outage from its hard drive using its built-in CSV file operation instruction set. Subsequently, the Beckhoff PLC control module 12 sets the motor position information into the NC through motion control instructions, thereby achieving precise motor position reset and ultimately forming a closed-loop position control process of "power-out storage - power-on reading - automatic recovery".

[0054] In an optional implementation, the servo position storage system may further include:

[0055] The switching power supply 15, located between the uninterruptible power supply 11 and the microcontroller 13, is used to convert the voltage output by the uninterruptible power supply 11 into the voltage required by the microcontroller 13.

[0056] In an optional implementation, the servo position storage system may further include:

[0057] The motor 16, connected to the power module 10, is used to perform motion control tasks (such as position movement) according to the instructions issued by the Beckhoff PLC control module 12. The motor 16 includes a single-turn absolute encoder mounted on the end of the motor rotor shaft, which is used to monitor the position and rotation direction of the motor rotor in real time.

[0058] In this disclosure, the Beckhoff PLC control module is paired with a single-turn absolute encoder from another manufacturer. When the pulse recording value after the motor rotation exceeds the lower 32 bits of the position memory, the motor position information will not be lost after the Beckhoff PLC control module is powered off and restarted. Similarly, using an incremental encoder can also ensure that the motor position information is not lost after the Beckhoff PLC control module is powered off and restarted.

[0059] In an optional implementation, the servo position storage system may further include:

[0060] The miniature circuit breaker 17 connected to the power module 10 is used to control the on / off state of the circuit so that the power can be manually cut off in case of maintenance or emergency, thus ensuring the safety of equipment and personnel.

[0061] The following is a detailed explanation of the procedures for different processing stages of this disclosure.

[0062] (1) Normal power supply phase

[0063] The voltage output from the power module is supplied to the motor, the uninterruptible power supply (UPS), and the voltage sensor after passing through a miniature circuit breaker. The voltage sensor converts the output voltage of the power module into a corresponding voltage signal and sends it to the microcontroller for real-time monitoring of the power module's output voltage.

[0064] (2) Normal power outage phase

[0065] In the event of a power outage, the uninterruptible power supply (UPS) serves as a backup power source for the Beckhoff PLC control module and the microcontroller, ensuring their continuous and stable operation. Specifically, the power output from the UPS can be converted by a switching power supply before supplying power to the microcontroller, ensuring its continued operation. At this time, if... Figure 3 As shown, firstly, the voltage sensor detects a power outage in the device. Then, the microcontroller acquires the voltage information fed back by the voltage sensor. Next, the microcontroller communicates with the Beckhoff PLC control module, sending the power outage information to the Beckhoff PLC control module so that the PLC control module can acquire the motor position information and store it in a preset area. After the motor position information is stored, the Beckhoff PLC control module executes an automatic shutdown command.

[0066] (3) Power-on phase after power failure

[0067] like Figure 4 As shown, firstly, the voltage sensor detects that the device is powered on. Then, the microcontroller obtains the voltage information fed back by the voltage sensor. Next, the microcontroller communicates with the Beckhoff PLC control module and sends the power restoration information to the Beckhoff PLC control module so that the Beckhoff PLC control module can obtain the motor position information from the preset area.

[0068] As can be seen, the servo position storage system provided in this embodiment of the present disclosure, by setting an uninterruptible power supply, can switch to a backup power supply in a timely manner when the normal power supply is interrupted, so as to continuously supply power to the Beckhoff PLC control module and the microcontroller and ensure the basic operation of the system; at the same time, the voltage sensor is used to monitor the voltage of the uninterruptible power supply in real time, so that when the microcontroller detects a power failure, it can quickly send the power failure information to the Beckhoff PLC control module, triggering it to promptly obtain the motor position information and store it in the preset area, thereby effectively avoiding the problem of losing the motor position information after the Beckhoff PLC restarts after a power failure, and ensuring the accuracy and continuity of the motor position information.

[0069] The foregoing describes multiple embodiment schemes provided by the present disclosure. The optional methods described in each embodiment scheme can be combined and cross-referenced with each other without conflict, thereby extending to a variety of possible embodiment schemes. These can all be considered as the embodiment schemes disclosed and made public by the present disclosure.

[0070] While the embodiments disclosed herein are as described above, this disclosure is not limited thereto. Any person skilled in the art can make various alterations and modifications without departing from the spirit and scope of this disclosure; therefore, the scope of protection of this disclosure should be determined by the scope defined in the claims.

Claims

1. A servo position storage system, characterized in that, include: The power module is used to supply power to the circuit. Beckhoff PLC control module and microcontroller are connected to the power module via an uninterruptible power supply; wherein, when the normal power supply is interrupted, the uninterruptible power supply is used as a backup power supply to power the Beckhoff PLC control module and the microcontroller. A voltage sensor connected to the power module and the microcontroller is used to convert the output voltage of the power module into a corresponding voltage signal and send it to the microcontroller to monitor the output voltage of the power module in real time. In the event of a power outage, the microcontroller sends a power failure message to the Beckhoff PLC control module, enabling the Beckhoff PLC control module to obtain the motor position information and store it in a preset area.

2. The servo position storage system according to claim 1, characterized in that, The step of storing the motor position information to a preset area includes: The motor position information is stored in the hard disk of the Beckhoff PLC control module by pre-set operation instructions.

3. The servo position storage system according to claim 1, characterized in that, The microcontroller communicates with the Beckhoff PLC control module via TCP or EtherCAT communication.

4. The servo position storage system according to claim 1, characterized in that, When normal power supply is interrupted, the response time of the uninterruptible power supply is 2 to 4 milliseconds.

5. The servo position storage system according to claim 1, characterized in that, Also includes: After a normal power supply interruption, if the microcontroller detects that the output voltage of the power module has returned to normal, it sends the power supply recovery information to the Beckhoff PLC control module so that the Beckhoff PLC control module can obtain the motor position information from a preset area.

6. The servo position storage system according to claim 1, characterized in that, Also includes: The motor connected to the power module is used to perform motion control tasks according to the instructions issued by the Beckhoff PLC control module.

7. The servo position storage system according to claim 6, characterized in that, The motor includes a single-turn absolute encoder mounted on the end of the motor rotor shaft, which is used to monitor the position and rotation direction of the motor rotor in real time.

8. The servo position storage system according to claim 1, characterized in that, Also includes: A miniature circuit breaker connected to the power module is used to control the on / off state of the circuit.

9. The servo position storage system according to claim 1, characterized in that, Also includes: A switching power supply located between the uninterruptible power supply and the microcontroller is used to convert the voltage output by the uninterruptible power supply into the voltage required by the microcontroller.

10. The servo position storage system according to claim 1, characterized in that, The power supply module is supplied with a voltage of 200 volts to 220 volts.

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