An integrated multi-axis drive and control device based on an internal CAN bus

Abstract

This utility model discloses an integrated multi-axis drive and control device based on an internal CAN bus, comprising a metal housing and an integrated main control circuit board fixed within the metal housing. The integrated main control circuit board includes: a PLC processing unit for generating advanced motion commands; a master servo drive unit connected to the PLC processing unit to receive advanced motion commands and generate synchronous motion commands; a slave servo drive module including several slave servo drive units, all connected to the master servo drive unit via the CAN bus to receive synchronous motion commands and provide feedback; and a motor power output interface including one master path and several slave paths for connecting the servo drive units and servo motors. This utility model, by integrating a single-chip PLC and master servo drive, and utilizing an internal CAN bus printed on the board to connect slave servo units, completely revolutionizes the system architecture, achieving an optimal balance between performance, cost, and reliability.

Description

Technical Field

[0001] This utility model relates to the field of industrial automation control technology, and in particular to an integrated multi-axis drive and control device based on an internal CAN bus. Background Technology

[0002] In traditional industrial automation equipment (such as CNC machine tools and industrial robots), the control system typically adopts... Figure 1 The distributed structure shown is as follows: an independent PLC (or industrial computer) acts as the host controller, which is connected to multiple independent servo drivers through pulse / direction signals or external fieldbuses (such as EtherCAT, CANopen, etc.), and the drivers then drive the servo motors.

[0003] The traditional solution has the following inherent defects: (1) The system structure is complex and occupies a lot of space: PLC, multiple drivers, terminal blocks and other components are installed separately, occupying a lot of control cabinet space; (2) There are many wires, resulting in high cost and failure rate: The number of power lines, encoder lines, communication buses and other cables is huge, the material and labor costs are high, and there are many connection points, which reduces the reliability of the system; (3) Signal delay and interference: There is an inherent delay in the long-distance external bus signal transmission between the controller and the driver, and the pulse signal is easily affected by electromagnetic interference, which affects the control accuracy and stability; (4) Debugging and maintenance are cumbersome: The parameters of PLC and multiple drivers need to be set and programmed separately, and it is difficult to troubleshoot cross-device problems. Utility Model Content

[0004] The purpose of this invention is to solve the problems in the existing technology and provide a highly integrated, minimally simplifies wiring, ensures reliable communication, and facilitates easy maintenance of the drive and control integrated device. Its core is the integration of a PLC and master servo drive on a single chip, and the connection of slave servo units via an internal CAN bus printed on the board. This represents a complete overhaul of the system architecture, achieving an optimal balance between performance, cost, and reliability.

[0005] The technical solution adopted by this utility model to solve its technical problem is: providing an integrated multi-axis drive and control device based on an internal CAN bus, including a metal housing and an integrated main control circuit board fixed inside the metal housing; the integrated main control circuit board is provided with:

[0006] The PLC processing unit is used to generate advanced motion instructions;

[0007] The master station servo drive unit is connected to the PLC processing unit to receive advanced motion commands and generate synchronous motion commands based on the advanced motion commands.

[0008] The slave servo drive module includes several slave servo drive units, all of which are connected to the master servo drive unit via a CAN bus to receive synchronous motion commands and feed back information to the master servo drive unit.

[0009] The motor power output interface includes a master station path and several slave station paths; the master station path is used to connect the master station servo drive unit and the master station servo motor; the several slave station paths are used to connect the corresponding slave station servo drive unit and slave station servo motor respectively.

[0010] Preferably, the PLC processing unit and the master station servo drive unit are integrated on a single chip, and the two interact directly through shared memory.

[0011] Preferably, it also includes: a power supply module, which is mounted on the integrated main circuit board and is used to power the PLC computing core and all servo drive units.

[0012] Preferably, it also includes: a heat dissipation system, which is a heat dissipation aluminum plate disposed on the back of the main housing, the heat dissipation aluminum plate is fixedly connected to the main housing by screws, and the heat dissipation aluminum plate is tightly attached to the power devices on the main control circuit board for heat dissipation of the entire device;

[0013] Preferably, it also includes: an interface module, including:

[0014] The digital input / output circuit is an integrated I / O interface used to connect the PLC processing core to external devices. The electrical interface is a pluggable terminal block.

[0015] An RS485 communication interface is used to connect external devices with an RS-485 interface, including touch screens, sensors, or host computers.

[0016] The USB Type-C interface is used to connect to a computer for program downloading and online debugging, as well as to connect to storage devices for fast program uploading, downloading, and data backup.

[0017] Preferably, the servo drive unit uses a high-speed serial communication interface based on the RS-485 physical layer to communicate with the encoder of the servo motor.

[0018] Preferably, it also includes: an operation panel disposed on the outer surface of the main housing, including an LED digital tube display and function buttons;

[0019] The digital display is used to show the status parameters, alarm codes, and menu information of the servo drive;

[0020] The function keys include a mode switch key, an increment key, a decrement key, a bit selection key, and an confirmation key, used to perform mode switching, parameter modification, cursor movement, and parameter storage functions. Among them, the mode switch key is used to switch between different display modes or servo drives; the increment and decrement keys are used to adjust the value of the selected parameter; the bit selection key is used to make the currently modified bit on the LED digital tube flash to indicate the editing position; and the confirmation key is used to enter the next level menu or execute the parameter setting value storage command.

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

[0022] (1) Communication is more reliable; This utility model integrates the most core PLC and the master station servo with the highest real-time requirements into a single chip, which ensures the compactness and efficiency of the core control; At the same time, the slave station is extended through the standard internal CAN bus, which has better synchronization and real-time data interaction. Since the master station and slave station are located on the same board, the internal CAN bus distance is extremely short, the signal quality is high, and the communication delay is much lower than that of the discrete driver connected by the external cable. Therefore, high-precision multi-axis synchronous control can be achieved.

[0023] (2) High integration and compact structure; This utility model integrates the traditionally separate PLC and three servo drives into a main control circuit board in a main housing, which greatly reduces the size of the equipment and the internal connection lines, and saves the installation space of the control cabinet.

[0024] (4) Simplify wiring and reduce costs; The internal wiring of this utility model uses CAN bus for high-speed data exchange. Externally, only the main power supply, motor wires and necessary input / output IO lines and communication lines need to be connected, which greatly reduces the number and complexity of wiring in the cabinet, and reduces wiring costs and error rate.

[0025] (5) Easy to install and maintain; As a whole, this utility model is easy to install and has clear wiring, which greatly shortens the installation and commissioning time of the equipment, and also facilitates later maintenance and replacement. It has rich external interfaces and excellent expandability and convenience.

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments, but the present invention is not limited to the embodiments. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a traditional distributed architecture;

[0028] Figure 2 This is a schematic diagram of the architecture of an embodiment of the present utility model;

[0029] Figure 3 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0030] Figure 4 This is a schematic diagram of the heat dissipation module according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0032] like Figure 2 and Figure 3 As shown in the figure, an integrated multi-axis drive and control device based on an internal CAN bus according to an embodiment of the present invention includes:

[0033] (1) Housing, an integrated metal housing that provides electromagnetic shielding and physical protection.

[0034] (2) Core Main Control Board: An integrated main control circuit board is fixed inside the housing. The core of the main control circuit board is a system main chip, which simultaneously runs a PLC processing unit and a master station servo drive unit. The PLC processing unit is a programmable logic controller (PLC) computing core, located on the integrated main circuit board, used to execute user programs, perform logic operations, and generate motion control instructions. The master station servo drive unit is responsible for core motion planning and multi-axis collaborative control. Located on the same integrated main circuit board as the PLC unit, the master station servo drive unit and the PLC logic processing unit directly interact with each other through the chip's internal shared memory. Since all data exists in the memory and registers of the same chip, the instruction transmission between the PLC and the master station servo is instantaneous, and the data interaction is direct, achieving unprecedented synchronization. The PLC processing unit and the master station servo drive unit directly interact with each other through the chip's internal shared memory, achieving zero-latency instruction transmission and data sharing, solving the communication latency bottleneck between the controller and the driver in the traditional architecture.

[0035] The master station servo drive unit functions to receive advanced motion commands from the PLC logic processing unit; execute multi-axis coordinated motion; periodically send synchronous motion commands to the two slave station servo drive modules via the internal CAN bus; and receive slave station status and feedback information via the same bus.

[0036] (3) Slave servo drive module: The slave servo drive module of this embodiment includes two slave servo drive units connected to the master servo drive unit on the CAN bus. The master servo drive unit acts as the master node of the internal CAN network, and the two slave servo drive modules act as slave nodes. The three exchange data according to the standard CAN communication protocol. The master servo unit is configured to execute the core motion planning algorithm and directly distribute synchronous motion commands to the two slave servo units. The slave servo units are configured to receive commands from the master servo unit and run closed-loop control algorithms such as current loop and speed loop of their respective axes. The entire device appears as a single CAN master node to the outside world, while the two internal slave servo units do not directly interact with the external CAN bus. The PLC logic processing unit does not directly interfere with the distribution of synchronous commands between servos, but instead sends high-level motion enable, mode selection, and target parameters to the master servo unit, which then interacts with the two slave servo units via CAN communication.

[0037] The master station and slave station communicate via an internal CAN bus printed on a circuit board. The master station, acting as the CAN master node, periodically distributes synchronization commands to the slave station; the slave station, acting as the slave node, is responsible for closed-loop control of its own axis, including current and speed loops. Compared to traditional solutions using external CAN or EtherCAT buses, this design eliminates the risks of signal attenuation, poor contact, and electromagnetic interference associated with external wiring. Due to the extremely short bus distance (centimeter-level), high communication speed (≥2.5Mbps), and stability unaffected by the external environment, it achieves synchronization accuracy and reliability far superior to external buses.

[0038] (4) Power supply module, which is located on the integrated main circuit board and is used to power the PLC computing core and all servo drive units.

[0039] (5) Motor power output interface: A three-channel motor power output interface (one master and two slaves) is adopted, which is connected one-to-one with the servo drive unit for connecting external servo motors. Each interface includes three-phase power terminals (U, V, and W) and a grounding terminal. The interface adopts pluggable fence-type terminal blocks with high current and high voltage withstand capability. The terminals are electrically connected to the main control circuit board by pressure welding and are reinforced by internal structure to meet the current surge withstand requirements of frequent start-stop and dynamic operation of servo motors.

[0040] (6) Encoder Module. The communication between the servo drive unit (including master and slave stations) and the servo motor encoder adopts a high-speed serial communication interface based on the RS-485 physical layer, which can directly read the encoder's position feedback. The main control circuit board integrates an independent encoder signal processing circuit for each servo drive unit. This circuit is designed specifically for high-speed RS-485 communication and includes: High-speed RS-485 transceiver chip: A dedicated chip that supports a communication baud rate of at least 2.5Mbps or higher (such as MAX13487E, ADM3065E, etc.) is selected, and its slew rate is optimized to ensure signal integrity at a rate of 2.5Mbps.

[0041] (7) Heat dissipation system, such as Figure 4 As shown, a heat dissipation aluminum plate is installed on the back of the main housing. The heat dissipation aluminum plate is fixed to the main housing by screws and is closely attached to the power devices on the main control circuit board to dissipate heat for the entire device.

[0042] (8) Digital input / output circuit, an integrated I / O interface, connected to the PLC computing core, used to connect external sensors, buttons, relays and other field devices, and the electrical interface is a pluggable terminal block.

[0043] (9) Digital tube and operation panel circuit, which is an operation panel located on the front of the main housing. The operation panel includes:

[0044] A 5-digit 8-segment LED digital tube display is used to display the status parameters, alarm codes, and menu information of the servo driver;

[0045] Five function keys, including a mode switch key, an increment key, a decrement key, a bit selection key, and an confirmation key, are used to switch modes, modify parameters, move the cursor, and store parameters. Specifically: the mode switch key is used to switch between different display modes or servo drives; the increment and decrement keys are used to adjust the value of the selected parameter; the bit selection key causes the currently modified digit on the LED digital tube to flash to indicate the editing position; and the confirmation key is used to enter the next menu level or execute the command to store parameter settings.

[0046] (10) Communication circuit, wherein the main servo drive unit and the two slave servo units exchange data via an internal CAN bus, which is printed on the integrated main circuit board to achieve high-speed and reliable transmission of control commands and feedback data. Two RS485 communication interfaces are used to connect external devices with RS-485 interfaces, such as touch screens, sensors or host computers; one USB Type-C interface is configured to connect to a computer for program download and online debugging, and also to connect to storage devices such as USB flash drives to achieve fast program upload, download and data backup.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated multi-axis drive control integrated device based on internal CAN bus, comprising a metal shell and an integrated main control circuit board fixed in the metal shell; characterized in that, The integrated main control circuit board is equipped with: The PLC processing unit is used to generate advanced motion instructions; The master station servo drive unit is connected to the PLC processing unit to receive advanced motion commands and generate synchronous motion commands based on the advanced motion commands. The slave servo drive module includes several slave servo drive units, all of which are connected to the master servo drive unit via a CAN bus to receive synchronous motion commands and feed back information to the master servo drive unit. The motor power output interface includes one master station path and several slave station paths; The master station path is used to connect the master station servo drive unit and the master station servo motor; several slave station paths are used to connect the corresponding slave station servo drive units and slave station servo motors.

2. The integrated multi-axis drive control all-in-one device based on internal CAN bus according to claim 1, characterized in that, The PLC processing unit and the master station servo drive unit are integrated on a single chip, and the two interact directly through shared memory.

3. The integrated multi-axis drive control all-in-one device based on internal CAN bus according to claim 1, characterized in that, Also includes: The power supply module, located on the integrated main circuit board, is used to power the PLC computing core and all servo drive units.

4. The integrated multi-axis drive control all-in-one device based on internal CAN bus according to claim 1, characterized in that, Also includes: The heat dissipation system consists of a heat dissipation aluminum plate located on the back of the main housing. The heat dissipation aluminum plate is fixed to the main housing with screws and is in close contact with the power devices on the main control circuit board to dissipate heat for the entire device.

5. The integrated multi-axis drive control all-in-one device based on internal CAN bus according to claim 1, characterized in that, Also includes: The interface module includes: The digital input / output circuit is an integrated I / O interface used to connect the PLC processing core to external devices. The electrical interface is a pluggable terminal block. An RS485 communication interface is used to connect external devices with an RS-485 interface, including touch screens, sensors, or host computers. The USB Type-C interface is used to connect to a computer for program downloading and online debugging, as well as to connect to storage devices for fast program uploading, downloading, and data backup.

6. The integrated multi-axis drive control device based on internal CAN bus according to claim 5, characterized in that, The servo drive unit uses a high-speed serial communication interface based on the RS-485 physical layer to communicate with the encoder of the servo motor.

7. The integrated multi-axis drive control all-in-one device based on internal CAN bus according to claim 5, characterized in that, Also includes: The operation panel, located on the outer surface of the main housing, includes an LED digital tube display and function buttons; The digital display is used to show the status parameters, alarm codes, and menu information of the servo drive; The function keys include a mode switch key, an increment key, a decrement key, a bit selection key, and an confirmation key, used to perform mode switching, parameter modification, cursor movement, and parameter storage functions. Among them, the mode switch key is used to switch between different display modes or servo drives; the increment and decrement keys are used to adjust the value of the selected parameter; the bit selection key is used to make the currently modified bit on the LED digital tube flash to indicate the editing position; and the confirmation key is used to enter the next level menu or execute the parameter setting value storage command.

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