CN100468007C - Line-saving optical coder with servo motor recognizing information - Google Patents
Line-saving optical coder with servo motor recognizing information Download PDFInfo
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- CN100468007C CN100468007C CNB2006100664084A CN200610066408A CN100468007C CN 100468007 C CN100468007 C CN 100468007C CN B2006100664084 A CNB2006100664084 A CN B2006100664084A CN 200610066408 A CN200610066408 A CN 200610066408A CN 100468007 C CN100468007 C CN 100468007C
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Abstract
The present invention provides one kind of low-cost optical coder with servo motor recognizing information in low cost transmission mode, and one treating circuit for servo motor recognizing information and coding feedback control signal and its treating method. Low-cost signal transmission circuit consists of a microprocessor with preset information for recognizing servo motors, a multitask unit, an output module connected to the coder feedback signal and a driver. The microprocessor controls the transmission mode switching in the multitask unit, the preset servo motor controlling parameter is first transmitted with firmware in serial output mode to generate servo motor recognizing data and phase changing signal, and the transmission mode is then switched for transmitting rotor operation signal in the identical transmission line in low cost and unchanged structure.
Description
Technical field
The present invention relates to a kind of servo motor, relate in particular to a kind of have line-saving serial output servo motor identifying information and encoder feedback control signal, have the pairing of the diversity of improvement servo motor and driver management and control, misconnection and motor servocontrol problem.
Background technology
Present running drive controlling for servo motor, mainly be by the required relevant informations such as motor rotor position, speed and sense of rotation of servo optical encoder feedback driver, so the good optical scrambler is arranged (promptly, its signal processing circuit design and control method), will improve coupling, control and distribution cost between motor and the driver.
Known application is in the servo optical encoder of servo motor, and primary structure comprises optical transmitting set, optical receiver, rotation code-wheel, regular coding sheet, treatment circuit and mechanism body.And servo optical encoder is with general scrambler difference, removing provides rotor CRANK PULSES (A, B, Z) outside, also utilize the design of getting on the right track of the code-wheel 8 with commutation signal output, as shown in Figure 1, wherein, striped 81 corresponding A, the B signal, and track 82,83,84 corresponding U, V, the W commutation signal, and disc numerical coding according to the different and corresponding different commutation signal distribution of each pole wheel number of servo motor, be illustrated in figure 2 as ten pairing disc numerical codings of magnetic pole servo motor, and further provide commutation signal (U, V, W), its rotor CRANK PULSES (A, B, Z) when the feedback running, make the accurate control position of driver, relevant information such as the speed and the number of turns; Commutation signal (U, V, W) is to feed back position, prestart rotor field so that driver commutation decision-making to be provided, and these signals depend on the design of the disc of encoding, and the distribution meeting of pattern is because of the difference of servo motor number of poles difference to some extent.
In addition, the signal of known servo optical encoder is output in pairs mostly, as shown in Figure 3, comprise the power supply input and need 14 heart yearns altogether, but therein, commutation signal (U, V, W) mainly be to provide the motor rotor position of magnetic pole, make driver be able to along magnetic direction running motor, therefore, commutation signal (U, V, W) only need usually provide and get final product in the motor prestart, in other words, when motor after start running well, in order to paired transmission commutation signal (U, V, W) six transmission lines will be in idle state, cause the waste of transmission line deployment cost, therefore, needing to save distribution reduces cost and distribution.
In No. 5684373 patent of invention of United States Patent (USP), utilization timer (Timer) and multiplexer electronic packages such as (Multiplexer), sending electricity back to be spread out of hundreds of milliseconds the time approximately commutation signal (U, V, W), calculate the back that finishes in biography subsequently and send rotor CRANK PULSES (A, B, Z) by same transmission line, with the required running control relevant information of feedback driver, like this, only need use 8 transmission lines configuration transmission signals, the requirement that reach province's distribution, reduces cost.
Yet, along with the universalness of servo motor, having different drivers and motor combination in the different application occasion, the motor of different qualities has different controlled variable.In order effectively to control motor, especially can will discern the relevant information of motor such as rated speed, power and outward appearance physical dimension etc., include in the signal of servo optical encoder transmission, with related transmitting information, on the one hand driver must be corresponded to relevant parameters of hydraulic motor, so that motor is realized relevant control; Make driver differentiate motor on the other hand and whether mate, to avoid user's misuse.But the information that known encoded servo device and above-mentioned United States Patent (USP) are provided is obviously not enough, there is no motor identification relevant information additionally is provided.Wherein, if use the general distribution way of output of known servo optical encoder, need additionally provide motor identification relevant information, then it sets the line number and can accompany and increase also more raising on distribution and cost certainly.In above-mentioned United States Patent (USP),, then need to reach demand by multiple electronic modules number more if will additionally provide motor identification relevant information not set up the distribution important document again.Therefore, no matter take the treatment circuit framework and the transfer control method of the line-saving optical scrambler in known servo optical encoder or the U.S. Patent application, all can't under the situation that does not change existing framework, change with the difference of using.
Summary of the invention
Fundamental purpose of the present invention, be to solve above-mentioned tradition disappearance, avoid disappearance to exist, the present invention is with serial signal, sharing the transmission line mode designs, and the transmission mode switching controls by microprocessor, the identifying information that to form according to the key parameter of the servo motor that prestores by firmware, commutation signal (U, V, W) and rotor CRANK PULSES (A, B, Z), feed back to driver through same transmission line, and the change by firmware is with according to various variation and multifarious demand, signal to optical encoder carries out feedback processing, improving that its transmission line connects and pairing of more resilient identification motor and control, thereby provide easier for the user, cheap, servo efficiently optical encoder.
To achieve these goals, the line-saving optical scrambler with servo motor identifying information of the present invention comprises optical transmitting set, optical receiver, rotation code-wheel, regular coding sheet, treatment circuit and mechanism body, and wherein, this treatment circuit comprises:
Microprocessor, in a plurality of servo motor controlled variable of having firmware and prestoring, and receive commutation signal from scrambler output;
Multiplexer receives the output signal from microprocessor, and the rotor CRANK PULSES of scrambler output, and connects reception identification drive signal at the input end of multiplexer;
Wiring connector is connected to driver with above-mentioned multiplexer output terminal;
Described microprocessor is carried out signal transfer mode by output signal control multiplexer and is switched, and the identification drive signal transmits servo motor recognition data and the commutation signal that produces with the serial output mode, finish transmission back switching transmission mode, and continuing to transmit the rotor CRANK PULSES by identical signal transmssion line.
Line-saving optical encoder feedback transmission method with servo motor identifying information of the present invention, be to use by microprocessor and multiplexer, commutation signal output precision, rotor CRANK PULSES output precision with link encoder, and the signal transfer control method of the line-saving treatment circuit that driver constituted, this method step comprises:
The processing that prestores handles that by burning a plurality of servo motor controlled variable and firmware are pre-stored in microprocessor;
The power initiation step, microprocessor receives the commutation signal of commutation signal output precision output;
Microprocessor output control signal cooperates the identification drive signal multiplexer is switched on first transmission mode, with serial mode output servo motor recognition data and commutation signal to driver;
Microprocessor is exported control signal again multiplexer is switched on second transmission mode, will be received from the rotor CRANK PULSES of scrambler output, exports driver to through same transmission line feedback.
Brief Description Of Drawings
Fig. 1 is the code-wheel synoptic diagram of the scrambler of prior art.
Fig. 2 is the commutation signal distribution schematic diagram that the scrambler at ten pole wheels of prior art is divided.
Fig. 3 is the treatment circuit framework calcspar of the scrambler of prior art.
Fig. 4 is the treatment circuit framework calcspar of one embodiment of the invention.
Fig. 5 is the flow chart of steps of one embodiment of the invention.
Fig. 6 is the signal sequence synoptic diagram of one embodiment of the invention.
The primary clustering symbol description
Transmission pulse signal (CLK) 12
Data-signal (DATA) 13
Rotor CRANK PULSES 4
Identification drive signal 5
Wiring connector 6
Code-wheel 8
Striped 81
Track 82,83,84
Embodiment
With reference to the accompanying drawings technology contents of the present invention is described in detail.
Figure 4 shows that the calcspar with line-saving optical encoder processing circuit of servo motor identifying information of the present invention.As shown in the figure, what the present invention relates to is the line-saving optical scrambler with servo motor identifying information, the signal processing circuit of this scrambler includes microprocessor 1 and multiplexer 2, commutation signal (the U of the signal input part received code device output of microprocessor 1, V, W) 3, above-mentioned multiplexer 2 input ends receive the output signal of microprocessor 1 output terminal and the rotor CRANK PULSES (A of scrambler output, B, Z) 4 with identification drive signal 5, multiplexer 2 output terminals are tie line connector (Line Driver) 6 then, be supplied in mode signal output to comprise power supply (VCC), connect driver (not illustrating among the figure) by 8 transmission lines and be used for the signal transmission, linking under the situation of configuration at province's line, transmission has servo motor identifying information and encoder feedback control signal, thereby with low cost, the province's line mode that does not change framework is transmitted feedback signal, and correct identification, servo motor is controlled in anti-misconnection etc. effectively.
The servo motor recognition data is the servo motor identification code (IDCODE) that produces through firmware code, comprises servo motor pattern, running power, rated speed (KT), voltage constant (KE), armature resistance and armature inductance etc., for example:
When 1, the motor identification code is 0 x 10; Its data content comprises:
The servo motor pattern is 400W (L): 60mm;
Rated speed (Rated Speed (rpm)) is 3000rpm;
Maximum (top) speed (Maximum Speed (rpm)) is 5000rpm;
Rated current (Rated Current (A)) is 2.6A;
Maximum current (Maximum Current (A)) is 7.8A;
Rotor moment of inertia (Rotor Moment of Inertia) is 0.28 * 10
-4
Torque coefficient (Torque Constant-KT (N.m/A)) is 0.50;
Voltage constant (Voltage Constant-KE (mV/RPM)) is 18.5;
Armature resistance (Armature Resistance (Ohm)) is 1.77;
Armature inductance (Armature Inductance (mH)) is 6.71.
When 2, the motor identification code is 0 x 1C; Its data content comprises:
The servo motor pattern is 750W (L): 80mm;
Rated speed (Rated Speed (rpm)) is 3000rpm;
Maximum (top) speed (Maximum Speed (rpm)) is 5000rpm;
Rated current (Rated Current (A)) is 5.0A;
Maximum current (Maximum Current (A)) is 15.0A;
Rotor moment of inertia (Rotor Moment of Inertia) is 1.14 * 10
-4
Torque coefficient (Torque Constant-KT (N.m/A)) is 0.48;
Voltage constant (Voltage Constant-KE (mV/RPM)) is 17.9;
Armature resistance (Armature Resistance (Ohm)) is 0.35;
Armature inductance (Armature Inductance (mH)) is 3.09.
By transmission servo motor identification code, driver can correspond to above-mentioned servo motor identifying information, and then discerns the servo motor that is linked, and is beneficial to the motor management and control and avoids misconnection.
Certain content of parameter that is comprised with above-mentioned servo motor identifying information, be can be according to the servo motor of different types and different demand and specify the different content that prestores, and, be issued to the change of cooperation diversity servo motor in the situation that does not change hardware structure directly by firmware decision and forms the servo motor identification code.
And multiplexer 2 comprises that also carrying out first and second transmission mode of switching by the system signal 11 of microprocessor 1 sets, by same output terminal, the transmission line that promptly links driver by wiring connector 6, at suitable different transmission opportunities, control is the servo motor identification code and the commutation signal (U, V, W) 3 of serial, and rotor CRANK PULSES (A, B, Z) feeds back respectively and is sent to driver.
Optical encoder of forming according to the foregoing circuit framework and treatment circuit thereof see also steps flow chart shown in Fig. 5,6 and signal sequence synoptic diagram for the transfer control method of servo motor identifying information and feedback signal.As shown in the figure, the line-saving optical scrambler transfer control method with servo motor identifying information of the present invention comprises:
The processing that prestores as step 700, handles that by burning a plurality of servo motor controlled variable and firmware are pre-stored in the above-mentioned microprocessor 1;
The power initiation step, as step 702, the commutation signal (U, V, W) that microprocessor 1 receives from scrambler output;
The transmission mode switch step, as step 704, behind hundreds of milliseconds (ms) behind the power initiation, microprocessor 1 is sent control signal 11, and multiplexer 2 is switched to first transmission mode;
By the transmission mode switch step, as step 708, microprocessor 1 is sent control signal 11 again to multitask device 2 after data-signal 13 transmission finish, make it switch to second transmission mode again;
Because the signal that above-mentioned scrambler and treatment circuit thereof fed back also has the servo motor identifying information, so driver is before servo motor starts, on each transmission pulse signal 12, read the servo motor identification code, and collocation identification drive signal 5 can be distinguished the motor of different types, when the unmatched motor of user's misconnection, driver can show error message, then corresponds to the servo motor parameter of different model during as if coupling at the motor identification code that is read.Like this, can allow the arrange in pairs or groups scrambler of different identification codes of the servo motor of different model, thereby help the management and the control of servo motor, and form by firmware for the servo motor identification code, non-hardware constitutes, it can specify different contents according to different demands, but elasticity changes and need not change hardware.
Simultaneously, servo motor identifying information and feedback control signal are all exported signal by wiring connector 6, and the transmission line of output is eight heart yearns.Economize the line mode by this kind, help driver and only changed firmware and do not change under the situation of hardware and line-saving encoded servo device compatibility.
Above-mentioned is preferred embodiment of the present invention only, is not to be used for limiting the scope of the present invention.Be that all equalizations of being done according to the present patent application claim change and modification, be all claim of the present invention and contain.
Claims (10)
1, a kind of line-saving optical scrambler with servo motor identifying information comprises optical transmitting set, optical receiver, rotation code-wheel, regular coding sheet, treatment circuit and mechanism body, and wherein, described treatment circuit comprises:
Microprocessor receives the commutation signal that described scrambler is exported, and produces the servo motor recognition data by inside;
Multiplexer, the output signal of reception microprocessor, and the rotor CRANK PULSES of above-mentioned scrambler output;
The identification drive signal links with the input signal of the input end of above-mentioned multiplexer;
Wherein, described microprocessor is carried out signal transfer mode by output signal control multiplexer and is switched, and the identification drive signal transmits servo motor recognition data and the commutation signal that produces with the serial output mode, finish transmission back switching transmission mode, and continuing to transmit the rotor CRANK PULSES by identical signal transmssion line.
2, line-saving optical scrambler as claimed in claim 1, wherein, described treatment circuit also comprises: wiring connector, be connected with described multiplexer output terminal, form the 8 core transmission lines that comprise power supply input and feedback signal output in pairs and link driver.
3, line-saving optical scrambler as claimed in claim 1, wherein, described microprocessor is any in micro controller, the digital signal microprocessor.
4, line-saving optical scrambler as claimed in claim 3 wherein, by burning technology and program a plurality of motor controlled variable that prestore, cooperates built-in firmware to produce the output of servo motor recognition data in the described microprocessor.
5, line-saving optical scrambler as claimed in claim 4, wherein, described servo motor recognition data is produced according to the servo motor controlled variable that prestores by firmware, and is can be by the motor identification code of multiplexer transmission.
6, line-saving optical scrambler as claimed in claim 1, wherein, described microprocessor links the output signal that is sent to multiplexer and comprises control signal, transmission pulse signal and data-signal.
7, line-saving optical scrambler as claimed in claim 1, wherein, described output signal comprises: by the servo motor identification code of firmware code generation, and the data-signal of exporting the commutation signal serial composition that receives from scrambler.
8, line-saving optical scrambler as claimed in claim 1, wherein, described multiplexer comprises that having first and second transmission mode of switching by the microprocessor control signal execution pattern sets, in described first transmission mode, the identification drive signal of arranging in pairs or groups feedback transmits the identification drive signal and the servo motor identification code reaches and commutation signal; In second transmission mode, transmit the rotor CRANK PULSES by identical signal transmssion line.
9, a kind of line-saving optical encoder feedback transmission method with servo motor identifying information comprises:
A), the processing that prestores, handle that by burning a plurality of servo motor controlled variable and firmware are pre-stored in microprocessor;
B), the power initiation step, microprocessor receives the commutation signal of commutation signal output precision output;
C), microprocessor output control signal to be to switch on multiplexer first transmission mode, according to identification drive signal and transmission pulse signal, servo motor recognition data and commutation signal is sent to driver by the wiring connector feedback;
D), microprocessor exports control signal again multiplexer being switched on second transmission mode, exports the rotor CRANK PULSES of received code device output to driver by the same transmission line feedback of wiring connector.
10, method as claimed in claim 9, wherein, described motor recognition data and commutation signal are exported with serial.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101858757B (en) * | 2009-04-09 | 2011-09-21 | 武汉迈信电气技术有限公司 | Device and method being capable of changing output line number of encoder |
| CN106253764A (en) * | 2015-08-28 | 2016-12-21 | 沈阳工业大学 | The novel sensor signal processing method of polyphase machine rotor magnetic pole position detection |
| TWI554022B (en) * | 2015-09-23 | 2016-10-11 | 金寶電子工業股份有限公司 | Method for setting identification code of smart motor and multi-axis control apparatus using the same |
| CN105953824B (en) * | 2016-06-08 | 2018-10-26 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of photoelectric code disk and encoder |
| CN106248117B (en) * | 2016-08-29 | 2018-11-30 | 珠海格力电器股份有限公司 | Determine grating and photoelectric encoder |
| CN111795710A (en) * | 2020-07-09 | 2020-10-20 | 赛卓微电子(深圳)有限公司 | Method for outputting UVW signal in incremental encoder IC |
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