DRIVE SYSTEM AND METHOD FOR OPERATION THEREOF

Description

[0001] The invention relates to a drive system comprising a motor unit, a motor controller connected to the motor unit and at least one peripheral device.

[0002] In mechatronic drive systems, it is already common practice today to record, in addition to motor data related to the primary functionality of the drive system, so-called additional data, which may be generated, for example, by one or more peripheral devices connected to the respective drive system. Such additional data includes, for example, vibration data provided by an internal or external vibration sensor.

[0003] In existing drive systems, however, data transmission usually only occurs in one direction: from the respective peripheral device to a data acquisition unit of the respective drive system. The data acquisition unit therefore usually only acquires and evaluates the additional data without transmitting data to the respective peripheral device. Therefore, the peripheral devices that can usually be connected to drive systems are usually very simple in design. The integration of a more complex peripheral device, which, for example, requires communication with the data acquisition unit or a motor controller with a transmission of data from the data acquisition unit to the peripheral device, is usually not provided for or can only be implemented with increased effort.

[0004] US 2022 / 0103449 A1 describes a drive system and a method having the features according to the respective preambles of claims 1 and 11, respectively.

[0005] EP 4 044 560 A1 describes a drive system with features according to a related technology.

[0006] US 2021 / 0311458 A1 also describes a drive system with features according to a related technology.

[0007] An object of the invention is to provide a drive system that allows flexible and efficient integration of a peripheral device.

[0008] This object is achieved by a drive system and a method having the features of the independent claims. Advantageous developments of the invention are specified in the subclaims, the description, and the drawings.

[0009] The drive system comprises a motor unit having a data acquisition unit, a motor controller connected to the motor unit via a motor cable, and at least one peripheral device. The data acquisition unit is configured to receive primary data from one or more components of the motor unit and secondary data from the peripheral device, to merge the primary data with the secondary data, and to transmit the merged data to the motor controller via the motor cable. Furthermore, the data acquisition unit is configured to receive control and configuration data from the motor controller via the motor cable and to selectively transmit the control and configuration data to the one or more components of the motor unit and / or to the peripheral device.

[0010] The motor unit and the motor controller can jointly enable the "normal" operation of the drive system, i.e., the primary motion functionality of the drive system. The motor unit is, for example, a servo motor. In this case, motor data such as the servo motor's rotational position and / or rotational speed is transmitted to the motor controller.

[0011] Since the data acquisition unit is not only designed to receive, process and forward the primary and secondary data from the motor unit and the peripheral device, but also receives and forwards the control and configuration data from the motor controller, the data acquisition unit has a bidirectional functionality, in contrast to the unidirectional functionality of known acquisition units, in which only acquired measurement data from the motor unit and the peripheral device is transmitted to the motor controller.In addition to this acquisition and transmission of the primary and secondary data, the data acquisition unit transmits the control and configuration data from the motor controller to the motor unit and the peripheral device, thus creating bidirectional communication on the one hand between the data acquisition unit and the motor unit and the peripheral device and on the other hand between the data acquisition unit and the motor controller.

[0012] This bidirectional communication and the transmission of control and configuration data make it possible to integrate complex peripheral devices into the drive system that require such transmission of control and configuration data. Since the necessary configuration data can be transmitted via the data acquisition unit, virtually any peripheral device can be connected to the data acquisition unit and integrated into the drive system, provided the peripheral device uses a common data protocol suitable for the data acquisition unit. Consequently, various peripheral devices can be flexibly integrated into the drive system.

[0013] Merging the primary data and the secondary data may involve transmitting them together, for example, in common or consecutive data packets over an HDSL line. In this context, the term HDSL stands for "HIPERFACE DSL," and the HDSL line specifically refers to a DSL-like line of the HIPERFACE system from Sick AG. The HDSL line is therefore a proper name based on a DSL-like transmission technology with a plurality of carrier frequencies. A DSL line (digital subscriber line), for example, is also designed to transmit data using a plurality of carrier frequencies.

[0014] The motor controller may have a connection to a network, in particular a fieldbus connection such as EtherCAT, EIP, and the like. This connection allows the transmission or output of secondary data from the peripheral device to the network and, conversely, the transmission of data from the network to the peripheral device.

[0015] This eliminates the need for an additional or separate connection of the peripheral device to a bus system to which the motor controller is also connected, and for its configuration. Instead, the transmission of secondary data described here can also be implemented in such a way that the peripheral device appears to other participants in the network or fieldbus as if it were a direct part of the network or fieldbus.

[0016] According to the invention, the drive system comprises at least two peripheral devices, and the data acquisition unit is configured to transmit secondary data between the at least two peripheral devices. The bidirectional communication of the data acquisition unit thus encompasses not only communication between the data acquisition unit and a single peripheral device, but also bidirectional communication between at least two peripheral devices. This can enable the flexible integration of peripheral devices into the drive system that have a predefined interdependence with respect to certain functionalities and require communication between the at least two peripheral devices.

[0017] For example, the data acquisition unit can be configured to acquire the secondary data of the at least two peripheral devices based on one another or at the same time. The secondary data based on one another can, for example, require a chronological order for the provision of the data. Likewise, it may be necessary for the secondary data of two peripheral devices to be acquired at the same time to enable certain functionalities of the two peripheral devices. Furthermore, it may also be possible for at least two peripheral devices to interact first before a third peripheral device performs a predetermined action or data acquisition.Since the data acquisition unit can thus be designed to organize an interaction based on a data exchange between two or more peripheral devices, peripheral devices can consequently be integrated into the drive system which provide complex functionalities individually or in cooperation.

[0018] According to one embodiment, the data acquisition unit can be configured to use the control and configuration data to configure the motor unit and / or the peripheral device. Consequently, the data acquisition unit can not only be provided for transmitting the control and configuration data, but can also itself assume an active role in communicating with the motor unit and / or the peripheral device in order to configure them. In other words, part of the control and configuration functionality of the motor controller can be relocated to the data acquisition unit.

[0019] The data acquisition unit can further be configured to send a signal to the peripheral device for querying specific data, receive the queried specific data, and process it for transmission to the engine control unit. The data acquisition unit can, for example, previously receive the signal to query specific data from the engine control unit. Thus, the peripheral device can be specifically integrated into the control of certain functions of the drive system through the ability to query specific data. This can enable improved or expanded control functions for the drive system.

[0020] According to a further embodiment, the data acquisition unit may comprise an engine data acquisition module, an additional data acquisition module, and a signal conditioning module. The engine data acquisition module may be configured to receive the primary data at a primary data interface, convert it for the signal conditioning module, and transmit it to the signal conditioning module via an engine data interface. Similarly, the additional data acquisition module may be configured to receive the secondary data at a secondary data interface, convert it for the signal conditioning module, and transmit it to the signal conditioning module via an additional data interface.

[0021] In this embodiment, the primary and secondary data can therefore first be acquired in separate modules and converted into a data format suitable for the signal conditioning module. For example, if an existing peripheral device is to be replaced with another peripheral device that uses a different data format than the previous peripheral device, only a reconfiguration of the additional data acquisition module may be required to integrate the other peripheral device into the drive system. The replacement of peripheral devices can therefore be supported by the modular design of the data acquisition unit.Furthermore, the motor data acquisition module and the additional data acquisition module can be additionally configured to transmit respective control and configuration data, which originate from the motor control and are selectively processed and forwarded by the signal conditioning module, in a suitable manner to the one or more components of the motor unit or to the peripheral device.

[0022] The engine data acquisition module and the auxiliary data acquisition module can be configured as a common acquisition module. In such a case, the common acquisition module can also be referred to as a sensor hub. The common acquisition module can simplify the structure of the data acquisition unit.

[0023] Alternatively, the motor data acquisition module and the auxiliary data acquisition module can each be implemented as separate units. In this case, the motor data acquisition module and the auxiliary data acquisition module can even be separate devices physically located outside the signal conditioning module. Designing the motor data and auxiliary data acquisition modules as separate units or devices can be advantageous for maintenance and replacement of these modules. This can also facilitate the replacement of the peripheral device.

[0024] The signal conditioning module can be configured to receive the converted primary data and the converted secondary data at a respective input interface, merge the converted primary data and the converted secondary data, and send the merged data to the motor controller via an HDSL line integrated into the motor cable. The signal conditioning module thus merges the primary and secondary data so that they can be transmitted via the HDSL line and received by the motor controller.

[0025] Furthermore, the HDSL line can comprise at least two lines arranged in the motor cable together with power supply lines for the motor unit. The motor unit can thus be connected to the motor controller via a single cable ("single-cable connection"), which provides both the power supply for the motor unit and data transmission via HDSL. The motor unit and the motor controller can thus be connected to each other with little effort.

[0026] The signal conditioning module can further be configured to transmit data to the motor controller via the HDSL line using a plurality of carrier frequencies. During this data transmission, the fused primary and secondary data can be encoded at the plurality of carrier frequencies using orthogonal frequency division multiplexing (OFDM) to obtain a data signal for transmission. The spectral occupancy of this data signal can be limited to the frequency range between approximately 10 MHz and approximately 30 MHz. With an upper limit of 30 MHz, the use of expensive components and critical or vulnerable processing can be avoided while still achieving good transmission quality of the lines. A lower limit of 10 MHz allows the use of physical components with a high-pass behavior that provide noise suppression.In this case, the corresponding cable can also be used to supply direct current, for example to power the sensor.

[0027] The motor controller may further comprise a receiving interface and be configured to extract the motor data and the additional data from the fused data received at the receiving interface. For this purpose, the data transmitted to the motor controller via the HDSL line may contain information on how the motor data and the additional data are to be extracted from the fused data. The motor controller may therefore perform bidirectional communication with the motor unit and the peripheral device, in which the motor controller can respond appropriately to the extracted motor data and additional data and, in turn, send appropriate control and configuration data to the motor unit and / or the peripheral device.

[0028] The peripheral device can, in particular, be a gear sensor, as described herein. Furthermore, the peripheral device can be an IO-Link sensor, which is designed, for example, according to SDCI ("Single-drop digital communication interface for small sensors and actuators"), or another rotary encoder. The peripheral device can generally also be an actuator, for example, for a robot arm. Likewise, the peripheral device can be a communication master, e.g., an IO-Link master, a fieldbus master, and the like.

[0029] It is also possible to control several peripheral devices in such a way that data acquisition by the peripheral devices is carried out depending on the previously acquired data or that the data acquisition is synchronized in time.

[0030] According to a further embodiment, the peripheral device can be integrated into the data acquisition unit. Specifically, such a peripheral device can be implemented on a single microchip in the data acquisition unit. This allows peripheral device functionalities to be installed with minimal space requirements.

[0031] According to an alternative embodiment, the motor unit may comprise a servo motor with an encoder, and the primary data may comprise a rotational position and / or a rotational speed of the servo motor, while the peripheral device may be a transmission sensor and the secondary data may comprise transmission-specific data. The drive system may further comprise, in addition to the motor unit, a transmission unit coupled to the motor unit.

[0032] The signal conditioning module can also be integrated into the encoder, and data acquired by the encoder can comprise the primary data. The encoder can thus perform the fusion of the primary and secondary data and their conversion, for example, according to the HDSL protocol, so that the fused data can be transmitted to the motor controller via the HDSL line.

[0033] In addition, the encoder can also convert the motor controller's control and configuration data from the HDSL protocol, for example, to the UART (Universal Asynchronous Receiver Transmitter) protocol, which is suitable for the motor data acquisition module and the auxiliary data acquisition module. These modules, in turn, can convert the control and configuration data into a suitable data format for the components of the motor unit or servo motor, as well as for the respective peripheral device.

[0034] Converting data can generally mean changing the protocol used for transmission, meaning the data can be compiled differently after conversion and / or transmitted with other protocol-specific data. It is also possible that only the physical transmission principle is changed.

[0035] The invention further relates to a method for operating a drive system in which a motor controller is connected to a motor unit via a motor cable, and a data acquisition unit receives primary data from one or more components of the motor unit and secondary data from a peripheral device, fuses the primary data with the secondary data, transmits the merged data to the motor controller via the motor cable, receives control and configuration data from the motor controller via the motor cable, and selectively transmits the control and configuration data to the one or more components of the motor unit and / or to the peripheral device.

[0036] The statements regarding the drive system according to the invention apply accordingly to the method according to the invention. This applies in particular with regard to advantages and embodiments.

[0037] The invention is described below by way of example using an advantageous embodiment with reference to the accompanying figures. They show, schematically: Fig. 1 is a block diagram of a first embodiment of a drive system according to the invention and Fig. 2 is a block diagram of a second embodiment of the drive system according to the invention.

[0038] Fig. 1 shows a schematic block diagram of a first embodiment of a drive system 100 according to the invention. The drive system 100 comprises a motor unit 110, a motor controller 130, and a peripheral device 140. The motor unit 110 comprises a data acquisition unit 111, which includes a signal conditioning module 113, a motor data acquisition module 114, and an additional data acquisition module 115. The motor unit 110 further comprises a position sensor 116, which is communicatively connected to the motor data acquisition module 114 and provides primary data in the form of position data of the motor unit 110 to a primary data interface 124 of the motor data acquisition module 114.

[0039] The peripheral device 140 is communicatively connected to the additional data acquisition module 115 via a line connection 141. The peripheral device 140 provides secondary data or additional data to the additional data acquisition module 115 at a secondary data interface 125.

[0040] The motor data acquisition module 114 and the auxiliary data acquisition module 115 convert the primary data and the secondary data, respectively, from an I 2<C (inter-integrated circuit) protocol to a UART (universal asynchronous receiver transmitter) protocol suitable for the signal conditioning module 113. The converted primary data, originating from the position sensor 116, is transmitted to the signal conditioning module 113 via a motor data interface 128, while the converted secondary data, originating from the peripheral device 140, is transmitted to the signal conditioning module 113 via an auxiliary data interface 127.

[0041] The signal conditioning module 113 receives the converted primary data and the converted secondary data at a respective input interface 123-1, 123-2. The signal conditioning module 113 then fuses the converted primary data and the converted secondary data, so that the signal conditioning module 113 is able to output fused data.

[0042] The motor unit 110 is connected to the motor controller 130 via a motor cable 131, which is connected to the signal processing module 113 of the data acquisition unit 111. The signal processing module 113 sends the fused data to the motor controller 130 via an HDSL line integrated into the motor cable 131. The term HDSL stands for "HIPERFACE DSL," and the HDSL line refers to a DSL-like line of the HIPERFACE system from Sick AG. The HDSL line is therefore a proper name based on a DSL-like transmission technology with a plurality of carrier frequencies. A DSL line (digital subscriber line), for example, is also designed to transmit data using a plurality of carrier frequencies. The engine control unit in turn has a receiving interface 132 at which the fused data is received in order to extract the engine data and the additional data from it and then output them.

[0043] The data transmission described above runs from the motor sensor 116 and from the peripheral device 140 exclusively in the direction of the motor controller 130, whereby ultimately the primary data of the motor unit 110, ie the position sensor 116, and the secondary data of the peripheral device 140 are transmitted to the motor controller 130. However, the drive system 100 is provided for bidirectional data transmission, as indicated by the double arrows between the modules in Fig. 1 is illustrated.

[0044] Specifically, the data acquisition unit 111 or its signal conditioning module 113 receives control and configuration data from the motor controller 130 via the motor cable 131. The signal conditioning module 113 converts the control and configuration data from the HDSL protocol to the UART protocol and transmits the converted control and configuration data selectively to the motor data acquisition module 114 and the additional data acquisition module 115, which transmit the respective control and configuration data to the motor sensor 116 of the motor unit 110 or to the peripheral device 140.

[0045] Since control and configuration data are thus transmitted from the motor controller 130 to both the position sensor 116 and the peripheral device 140, it is possible to integrate complex peripheral devices 140 into the drive system 100. These peripheral devices require communication or interaction with the motor controller 130 in the form of a mutual data exchange and require the control and configuration data from the motor controller 130 for their operation. The motor controller 130 also sends a signal for querying specific data, initially to the data acquisition unit 111, which sends this signal to the peripheral device 140 and receives the requested specific data, subsequently processing it and transmitting it in a suitable form to the motor controller 130.

[0046] In Fig. 2 A second embodiment of the drive system 100 is shown as a schematic block diagram. In Fig. 1 and 2Like reference numerals generally designate like components and elements of the drive system 100, so that the above description of the elements and components of the first embodiment of Fig. 1 also for the second embodiment of Fig. 2 is valid.

[0047] The drive system 100 comprises in the embodiment of Fig. 2 In addition to the motor unit 110, which is designed as a servo motor, and the motor controller 130, there is also a gear unit 160, which is designed as a servo gear. The motor unit 110 and the gear unit 160 are mechanically connected to one another, so that a drive shaft 150 of the motor unit 110 is connected to the gear unit 160. The gear unit 160 has a gear sensor 161, which is connected to a peripheral device 140 according to the embodiment of Fig. 1 The transmission sensor 161 is connected to an additional data acquisition module 115 via a cable connection 162.

[0048] The second embodiment of the drive system 100, which is shown in Fig. 2 , further comprises an additional peripheral device 140, which is designed as a temperature sensor 170. Therefore, the data acquisition unit 111 comprises a second additional data acquisition module 115. Furthermore, the two additional data acquisition modules 115 are integrated into a common acquisition module 112, which is also referred to as sensor hub 112.

[0049] The Fig. 2 The second embodiment of the drive system 100 shown further differs from that shown in Fig. 1 illustrated first embodiment, that the signal conditioning module 113 is integrated into an encoder 117.

[0050] The encoder 117 detects the rotational position and / or the rotational speed of the servo motor as primary data using an encoder detection module 118. Subsequently, the motor data detection module 114 performs the above-described conversion of the primary data for the signal conditioning module 113.

[0051] Since the signal conditioning module 113 is integrated into the encoder 117, the data acquired by the encoder 117 thus includes both the primary data and the secondary data provided by the two additional data acquisition modules 115. In addition, the signal conditioning module 113 integrated into the encoder performs the functions described above, i.e., fusing the primary and secondary data and transmitting the fused data via the motor cable 131 to the motor controller 130.

[0052] The signal conditioning module 113 or the encoder 117 is further connected to the motor controller 130 via the sensor hub 112 and the motor cable 131. However, a modification of the fused data provided by the signal conditioning module 113 does not take place in the sensor hub 112. The data acquisition unit 111 comprises Fig. 2 illustrated second embodiment of the drive system 100 also the one in connection with Fig. 1 described interfaces 123-1 to 128, which for the sake of clarity are Fig. 2 are not explicitly shown. The same applies to the receiving interface 132 of the motor control 130.

[0053] The Fig. 2 The second embodiment of the drive system 100 shown in FIG. 1 allows, similar to the first embodiment of Fig. 1 a bidirectional communication between the engine control 130 and the two peripheral devices 140, i.e. the transmission sensor 161 and the temperature sensor 170. For the transmission sensor 161, the electrical and electronic components of the data acquisition unit 111 already present in the engine unit 110 are therefore used to connect the transmission sensor 161 to the engine control 130 and to enable the above-described communication between the engine control 130 and the transmission sensor 161. The same applies to the temperature sensor 170. As a result, the effort involved in wiring the drive system 100 is Fig. 2 lower than in a comparable system in which the transmission sensor 161 requires a separate connection, for example to a bus system. Bezugszeichenliste

[0054] 100 Drive system 110 Motor unit 111 Data acquisition unit 112 Common acquisition module, sensor hub 113 Signal conditioning module 114 Motor data acquisition module 115 Additional data acquisition module 116 Position sensor 117 Encoder 118 Encoder acquisition module 123-1 Input interface 123-2 Input interface 124 Primary data interface 125 Secondary data interface 127 Additional data interface 128 Motor data interface 130 Motor controller 131 Motor cable 132 Receive interface 140 Peripheral device 141 Wire connection 150 Drive shaft 160 Gear unit 161 Gear sensor 162 Wire connection 170 Temperature sensor

Claims

1. A drive system (100) comprising: a motor unit (110) which has a data acquisition unit (111), a motor control (130) which is connected to the motor unit (110) via a motor cable (131), and at least one peripheral device (140), wherein the data acquisition unit (111) is configured: to receive primary data from one or more components (116, 118) of the motor unit (110) and secondary data from the at least one peripheral device (140), to fuse the primary data with the secondary data, to transmit the fused data to the motor control (130) via the motor cable (131), to receive control and configuration data from the motor control (130) via the motor cable (131), and to selectively transmit the control and configuration data to the one or more components (116, 118) of the motor unit (110) and / or to the at least one peripheral device (140), wherein the drive system (100) comprises at least two peripheral devices (140), characterized in that the data acquisition unit (111) is configured to transmit secondary data between the at least two peripheral devices (140).

2. A drive system (100) according to claim 1, characterized in that the data acquisition unit (111) is configured to use the control and configuration data to perform a configuration of the motor unit (110) and / or the peripheral device (140).

3. A drive system (100) according to claim 1 or 2, characterized in that the data acquisition unit (111) is configured to send a signal for querying specific data to the peripheral device (140), to receive the queried specific data and to process said data for a transmission to the motor control (130).

4. A drive system (100) according to any one of the preceding claims, characterized in that the data acquisition unit (111) comprises a motor data acquisition module (114), an additional data acquisition module (115) and a signal processing module (113), the motor data acquisition module (114) is configured to receive the primary data at a primary data interface (124), to convert the primary data for the signal processing module (113) and to transmit said primary data to the signal processing module (113) via a motor data interface (128), the additional data acquisition module (115) is configured to receive the secondary data at a secondary data interface (125), to convert the secondary data for the signal processing module (113) and to transmit said secondary data to the signal processing module (113) via an additional data interface (127).

5. A drive system (100) according to claim 4, characterized in that the motor data acquisition module (114) and the additional data acquisition module (115) are formed as a common acquisition module (112).

6. A drive system (100) according to claim 4, characterized in that the motor data acquisition module (114) and the additional data acquisition module (115) are formed as separate units.

7. A drive system (100) according to any one of the preceding claims, characterized in that the data acquisition unit (111) is configured to acquire the secondary data of the at least two peripheral devices (140) based on one another or at the same time.

8. A drive system (100) according to any one of the preceding claims, characterized in that the peripheral device (140) is integrated into the data acquisition unit (111).

9. A drive system (100) according to any one of the preceding claims, characterized in that the motor unit (110) comprises a servomotor having an encoder (117), the primary data comprise a rotational position and / or a rotational speed of the servomotor, the peripheral device (140) is a gear sensor (161), and the secondary data comprise gear-specific data.

10. A drive system (100) according to claim 9, characterized in that a signal processing module (113) of the data acquisition unit (111) is incorporated into the encoder (117) and data acquired by the encoder (117) comprise the primary data.

11. A method of operating a drive system (100) in which: a motor control (130) is connected to a motor unit (110) via a motor cable (131), a data acquisition unit (111) receives primary data from one or more components (116, 118) of the motor unit (110) and secondary data from at least one peripheral device (140), fuses the primary data with the secondary data, transmits the fused data to the motor control (130) via the motor cable (131), receives control and configuration data from the motor control (130) via the motor cable (131), and selectively transmits the control and configuration data to the one or more components (116, 118) of the motor unit (110) and / or to the at least one peripheral device (140), wherein the drive system (100) comprises at least peripheral devices (140), characterized in that the data acquisition unit (111) transmits secondary data between the at least two peripheral devices (140).