A servo drive control device integrated with a CAN master station function

Abstract

This utility model belongs to the field of industrial automation and motion control technology, specifically a servo drive control device integrating CAN master station function. It includes a main control processing unit and a power drive module, an encoder interface module, and an integrated CAN master station communication module connected to it. The main control processing unit is a microprocessor that integrates a CAN controller, which is directly connected to the integrated CAN master station communication module. This utility model implements the CAN master station protocol stack and bus scheduling function directly within the servo drive, enabling the servo drive to function as both a motion execution unit and to directly manage other CAN slave devices. This reduces external hardware, simplifies wiring, lowers latency, and improves system integration and reliability.

Description

Technical Field

[0001] This utility model belongs to the field of industrial automation and motion control technology. Specifically, it is a servo drive control device with integrated CAN master station function, which is suitable for scenarios that require multi-node real-time bus control, such as AGV (Automated Guided Vehicle), robots, and intelligent logistics sorting equipment. Background Technology

[0002] Most existing industrial servo drives exist as slave nodes using the CANopen or CiA402 protocol, with bus communication managed uniformly by a host computer (PLC, industrial PC, motion controller, etc.) or a dedicated master module. Typical implementation methods include:

[0003] In multi-drive systems such as AGVs, the PLC / main control board acts as the CAN master station, responsible for bus scheduling and node management; each servo drive independently implements the slave protocol, and executes control after receiving instructions from the master station; the master station and servo are connected through multiple CAN buses or gateways, resulting in a relatively complex topology.

[0004] The existing solution has the following shortcomings:

[0005] Hardware redundancy: Requires an additional CAN master module or host controller, which increases the overall cost and space occupation;

[0006] Complex wiring: Additional communication cabling and interfaces are required between the master station and each servo drive, increasing the difficulty of installation and debugging;

[0007] Accumulated delay: Data needs to be forwarded through the main station, which increases communication delay and is not conducive to high-speed synchronous control;

[0008] Decreased reliability: If the master station fails, the entire system communication will be paralyzed;

[0009] Low integration: The servo driver itself cannot directly manage slave devices, resulting in poor scalability. Utility Model Content

[0010] This utility model aims to provide a servo drive control device that integrates CAN master station function. By directly implementing the CAN master station protocol stack and bus scheduling function inside the servo driver, the servo driver can not only act as a motion execution unit, but also directly manage other CAN slave devices, thereby reducing external hardware, simplifying wiring, reducing latency, and improving system integration and reliability.

[0011] The technical solution adopted by this utility model to achieve the above objectives is as follows:

[0012] A servo drive control device integrating CAN master station function, comprising:

[0013] The main control processing unit includes a power drive module, an encoder interface module, and an integrated CAN master communication module connected to it. The main control processing unit is a microprocessor that integrates a CAN controller and is directly connected to the integrated CAN master communication module through the CAN controller.

[0014] It also includes a power supply module that is connected to the main control processing unit and the power drive module respectively. The power supply module consists of a DC / DC conversion unit, a filter unit and a protection circuit connected in sequence. The DC / DC conversion unit is directly connected to a DC power supply, and the protection circuit is connected to the main control processing unit and the power drive module respectively.

[0015] It also includes an extended I / O interface connected to the main control processing unit, which includes: a brake switch interface, a digital input / output port, or an analog input port.

[0016] It also includes a human-machine interaction module connected to the main control processing unit via an RS232 bus, the human-machine interaction module including buttons, LED indicators or touch screen.

[0017] It also includes a heat dissipation structure, on which the power drive module is attached, and the heat dissipation structure includes a heat sink and a fan.

[0018] The power drive module includes a pre-drive chip and an IGBT / MOSFET module connected thereto. The pre-drive chip is connected to the main control processing unit, and the IGBT / MOSFET module is attached to the heat dissipation structure and connected to the power supply module and the motor respectively.

[0019] The encoder interface module connects to an incremental encoder or an absolute encoder.

[0020] The integrated CAN master communication module is connected to an external CAN bus device via a CAN transceiver chip.

[0021] This utility model has the following beneficial effects and advantages:

[0022] 1. Reduced hardware: No external CAN master controller is required, reducing cost and size;

[0023] 2. Simplified cabling: The servo driver acts directly as the master station, reducing intermediate connections and interfaces;

[0024] 3. Low latency: Data processing is completed directly within the driver, reducing intermediate latency;

[0025] 4. High reliability: A single driver can independently manage slave stations and has master control fault tolerance capability;

[0026] 5. Flexible expansion: Supports multiple protocols and custom scheduling, adaptable to different industrial sites;

[0027] 6. Easy to maintain: The status of slave devices can be directly monitored and diagnosed through the master station function. Attached Figure Description

[0028] Figure 1 A general block diagram of a servo driver integrating CAN master station functionality;

[0029] Figure 2 A diagram of a servo drive control device integrating CAN master station functionality. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0031] A servo drive control device integrating CAN master station function, comprising:

[0032] 1. Main Control Processing Unit

[0033] Composed of a high-speed DSP or ARM processor, it executes servo algorithms (current loop, speed loop, position loop) and CAN master station protocol stack.

[0034] 2. Integrated CAN master communication module

[0035] It has built-in dual CAN controller channels, with the first channel used for master bus management and the second channel used for communication with the host computer or other drivers; it supports standard protocols such as CANopen, CiA301, and CiA402, and can be expanded to include custom message scheduling mechanisms.

[0036] 3. Main Station Task Scheduling and Node Management Unit

[0037] Implement master station functions in the firmware, including node scanning, PDO / SDO management, heartbeat monitoring, and anomaly recovery; support dynamic node allocation and topology self-test.

[0038] 4. Power drive unit

[0039] Similar to traditional servo motors, it includes PWM drive, power MOSFET / IGBT module, drive protection circuit, etc., to achieve precise control of the motor.

[0040] 5. Expand I / O interface module

[0041] It includes digital input / output and analog interfaces for expanding sensors, actuators and other devices, and these peripherals can be directly scheduled through the main station function.

[0042] The key technical features of this invention are: integrating a CAN master protocol stack into the firmware of the servo driver; using dual CAN channels to enable one side to act as a master station to manage slave stations while communicating with the host computer; allowing the master station task scheduling and servo control tasks to run in parallel without interfering with each other; achieving synchronous control of multiple nodes with a lower latency than traditional external master station solutions; and automatically switching to independent control mode when the master station control fails.

[0043] Example

[0044] like Figure 1 As shown, this invention proposes a servo control device with integrated CAN master station functionality to solve the problem in existing servo control systems where the host computer lacks CANopen master station capabilities or cannot meet servo real-time requirements (e.g., a 4-20ms control cycle). This invention improves system integration and real-time performance by integrating an independent CAN master station module within the servo driver, enabling instruction parsing, periodic scheduling, and real-time control.

[0045] like Figure 2 As shown, a servo drive control device integrating CAN master station function includes:

[0046] Main control processing unit (1): It adopts a high-performance 32-bit microprocessor (such as STM32F4 or DSP), which integrates a CAN controller to be responsible for the operation of servo drive control logic and bus communication management.

[0047] Power module (2): Provides stable DC power to the main control unit, drive power module and peripherals, including DC / DC conversion unit, filter unit and protection circuit. The protection circuit in the power module provides hardware protection for the main control processing unit (1) and power drive module (3).

[0048] Power drive module (3): used to drive a three-phase servo motor, including IGBT / MOSFET module, drive optocoupler, current sampling circuit, overcurrent / overvoltage protection circuit, etc.

[0049] Encoder interface module (4): Used to receive encoder feedback signals from servo motors, supports incremental and absolute encoders, and can realize high-precision position and speed closed-loop control.

[0050] Integrated CAN master communication module (5): directly connected to the CAN controller of the master control unit, and connected to external CAN bus devices through CAN transceiver chip to realize centralized management and scheduling control of slave servo drivers or other nodes, and supports CANopen, CiA402 and other protocols.

[0051] Extended I / O interface (6): Provides digital input / output ports, which can be used to connect limit switches, emergency stop buttons, external start signals, etc.

[0052] Human-machine interaction module (7): including buttons, LED indicators or touch screen, used for device parameter setting, status display and fault alarm.

[0053] Heat dissipation structure (8): The combination of aluminum alloy heat sink and fan is adopted to ensure that the power module can work stably for a long time under rated power.

[0054] Working principle:

[0055] After power-on initialization, the main control processing unit (1) establishes the CAN bus master station control logic and sends control commands to multiple CAN slave devices (such as servo drivers, IO modules, sensors, etc.) through the integrated CAN master station communication module (5), and receives feedback information. At the same time, the main control unit performs closed-loop control of current, speed and position based on the real-time position and speed data of the motor obtained by the encoder interface module (4) and the power drive module (3), thereby realizing the integration of high-precision servo drive and multi-node bus control.

[0056] Compared with the traditional solution of separating "external CAN master station + servo driver", this device integrates the CAN master station function directly into the servo driver, which reduces the hardware cost of independent controllers and communication interfaces, shortens the signal link, reduces communication latency, and improves system response speed and reliability.

[0057] Compared to traditional industrial servo drives, this invention has the following innovations:

[0058] 1. Dual-channel CAN architecture

[0059] The master station function and external communication can be run in parallel within the same servo driver, realizing a two-way high-speed channel for control and data exchange.

[0060] 2. Parallel scheduling mechanism

[0061] The master station control task and the servo algorithm are executed in parallel. Real-time scheduling technology is used to ensure that the two do not interfere with each other, thus ensuring the stability and real-time performance of motion control.

[0062] 3. Built-in dynamic node management

[0063] It supports plug-and-play access for slave devices, automatically identifies and configures node parameters, and reduces system deployment and maintenance time.

[0064] 4. Bus self-test and fault-tolerant switching

[0065] An integrated bus health monitoring mechanism can automatically switch to a backup channel when a link is abnormal, significantly improving communication reliability.

[0066] 5. Integrated control and communication design

[0067] By deeply integrating the motion control core with the communication core, external interfaces and module dependencies are reduced, improving system compactness and integration.

Claims

1. A servo drive control device integrating CAN master station function, characterized in that, include: The main control processing unit (1) and the power drive module (3), encoder interface module (4) and integrated CAN master station communication module (5) connected to it respectively, wherein the main control processing unit (1) is a microprocessor, which integrates a CAN controller and is directly connected to the integrated CAN master station communication module (5) through the CAN controller.

2. The servo drive control device integrating CAN master station function according to claim 1, characterized in that, It also includes a power supply module (2) that is connected to the main control processing unit (1) and the power drive module (3) respectively. The power supply module (2) consists of a DC / DC conversion unit, a filter unit and a protection circuit connected in sequence. The DC / DC conversion unit is directly connected to a DC power supply, and the protection circuit is connected to the main control processing unit (1) and the power drive module (3) respectively.

3. The servo drive control device integrating CAN master station function according to claim 1, characterized in that, It also includes an extended I / O interface (6) connected to the main control processing unit (1), the extended I / O interface (6) including: a brake switch interface, a digital input / output port or an analog input port.

4. The servo drive control device integrating CAN master station function according to claim 1, characterized in that, It also includes a human-machine interaction module (7) connected to the main control processing unit (1) via an RS232 bus, the human-machine interaction module (7) including buttons, LED indicators or touch screen.

5. A servo drive control device integrating CAN master station function according to claim 1, characterized in that, It also includes a heat dissipation structure (8), on which the power drive module (3) is attached, and the heat dissipation structure (8) includes a heat sink and a fan.

6. A servo drive control device integrating CAN master station function according to claim 1, characterized in that, The power drive module (3) includes a pre-drive chip and an IGBT / MOSFET module connected thereto. The pre-drive chip is connected to the main control processing unit (1). The IGBT / MOSFET module is attached to the heat dissipation structure (8) and is connected to the power supply module (2) and the motor respectively.

7. A servo drive control device integrating CAN master station function according to claim 1, characterized in that, The encoder interface module (4) is connected to an incremental encoder or an absolute encoder.

8. A servo drive control device integrating CAN master station function according to claim 1, characterized in that, The integrated CAN master communication module (5) is connected to an external CAN bus device through a CAN transceiver chip.

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