Servo Slave Unit Synchronization via Internal Status Copying
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Solution Overview
Problem
Existing servo driving systems face increased costs, delayed response times, and performance degradation when driving multiple servo motors or motors with multiple windings due to the need for dedicated units and high communication loads.
Innovation Solution
A CiA402-compatible slave unit that includes a servo internal status copying judgment unit, execution unit, monitoring unit, and control unit, which determines and synchronizes servo internal statuses across amplifiers to reduce communication and processing loads by allowing simultaneous updates and outputs to amplifiers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a dedicated unit is used to synchronize multiple amplifiers, then synchronization precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent merges the synchronization function into the slave unit itself, eliminating the need for a separate dedicated synchronization unit. The slave unit now integrates both status management and synchronization capabilities, reducing device complexity while maintaining synchronization precision through internal coordinate transformation mechanisms.
Solution Approach 2:
The slave unit is designed to perform multiple functions: managing servo internal statuses for multiple amplifiers and simultaneously performing coordinate transformations for synchronization. This multi-functionality eliminates the need for separate dedicated units, reducing overall system complexity while maintaining precise synchronization.
2Loss of information
If communication packets include detailed servo internal statuses for all amplifiers, then status information completeness is improved, but communication load increases
Solution Approach 1:
The patent extracts only the essential synchronization status information from the complete servo internal statuses and transmits only this extracted data in communication packets. This reduces communication load while maintaining sufficient status information completeness for synchronization control purposes.
Solution Approach 2:
Instead of transmitting complete status information and filtering at the receiver, the system inverts the approach by selectively extracting and transmitting only necessary synchronization data at the source, reducing communication bandwidth requirements while maintaining information completeness for the specific synchronization function.
3Measurement precision
If the high-order controller manages all synchronization operations, then control precision is improved, but processing load and response time deteriorate
Solution Approach 1:
The patent segments the synchronization control function from the high-order controller and assigns it to the slave unit. This segmentation allows the high-order controller to focus on high-level motion planning while the slave unit handles real-time synchronization operations, improving response time while maintaining control precision through distributed intelligence.
Solution Approach 2:
The slave unit acts as an intermediary between the high-order controller and multiple amplifiers, handling the computationally intensive coordinate transformation and synchronization tasks. This intermediary role relieves the high-order controller's processing load, improving overall system response time while maintaining precision through the intermediary's specialized synchronization algorithms.
Data Source
AI summary
To avoid cost increase, delay of response, time, and performance degradation in driving a power source including a plurality of servo motors and/or a servo motor with a plurality of windings. A slave unit drives a power source including a plurality of servo motors and/or a servo motor with a plurality of windings using a plurality of amplifiers on the basis of a command from a high-order controller. The slave unit includes: a storage unit stores servo internal statuses of the respective servo motors and/or the respective windings, judgment data, and resource data; a servo internal status copying judgment unit determines a copying source and a copying destination, and judges whether to copy a servo internal status of the copying source to the copying destination to commonalize therebetween on the basis of the judgment data and the resource data; a servo internal status copying execution unit copies the servo internal status of the copying source to the copying destination; and a servo control unit outputs each of the plurality of servo internal statuses to the respective amplifiers to control driving of the power source.