CN102237836A - Servo driver and control method thereof - Google Patents

Abstract

The servo driver includes a division circuit and a pulse width processing circuit. The division circuit is used to receive the A phase signal and the B phase signal output by the motor encoder, and output the division A phase signal and the division B phase signal. The pulse width processing circuit is provided with a default value, which is used to receive a Z phase signal output by the motor encoder, activate the recording function to record a Z phase schedule, and output a variable width Z phase signal. When the Z phase schedule is equal to the default value, the pulse width processing circuit stops outputting the variable width Z phase signal to the upper controller.

Description

Servo drive and its control method

【Technical field】

The present invention relates to a driver, and in particular to a control method of a servo driver and a servo driver using the same.

【Background technique】

Generally speaking, a motor that drives a load needs a sensing unit that can sense the current speed and position of the motor, which is generally called a motor encoder (Encoder). A common motor encoder (Encoder) will output A-phase signal, B-phase signal and Z-phase signal. Wherein, the Z-phase signal is used to represent the origin signal of the motor, and appears once when the motor rotates one revolution. The traditional cheap processing circuit is to directly output the Z-phase signal to the host controller.

However, as the speed of the application increases and the encoder with a higher resolution is used, the width of the Z-phase signal will be narrowed, and the upper controller will not be able to receive the Z-phase signal. In addition, in the encoder specifications of some manufacturers, if the Z-phase signal itself is too narrow, such as the width of the Z-phase signal is only half the width of the A-phase signal or B-phase signal, it will be more likely to cause host control. The device cannot receive the Z-phase signal.

Therefore, how to improve the lack of the Z-phase signal that the host controller cannot receive due to the Z-phase signal being too narrow is the main improvement subject of the present invention.

【Content of invention】

The invention relates to a servo driver and its control method, which are used to solve the problem that the upper controller cannot read the Z-phase signal in high-speed applications.

According to one aspect of the present invention, a control method of a servo driver is proposed. The control method of the servo drive at least includes the following steps: the pulse width processing circuit receives the Z-phase signal output by the motor encoder, and sets a default value; when the pulse width processing circuit receives the Z-phase signal, activates the recording function to record a Z-phase and output a variable-width Z-phase signal; and when the Z-phase time is equal to a default value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the host controller.

According to another aspect of the present invention, a servo drive is provided. The servo drive includes a cycle circuit and a pulse width processing circuit. The cycle circuit is used for receiving the A-phase signal and the B-phase signal output by the motor encoder, and outputting the cycle-by-phase A signal and the cycle-B phase signal. A default value is set in the pulse width processing circuit to receive a Z-phase signal output by the motor encoder, activate the recording function to record a Z-phase time course, and output a variable-width Z-phase signal. When the Z-phase duration is equal to the default value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the host controller.

In order to make the above content of the present invention more obvious and understandable, a preferred embodiment is specifically cited below, together with the accompanying drawings, and described in detail as follows:

【Description of drawings】

FIG. 1 shows a partial schematic diagram of the servo driver.

Fig. 2 shows the signal waveform diagram of the servo driver.

FIG. 3 is a flowchart of a control method of a servo driver according to the first embodiment of the present invention.

FIG. 4 is a flowchart of a control method of a servo driver according to a second embodiment of the present invention.

FIG. 5 shows a servo driver according to the second embodiment of the present invention.

FIG. 6 is a signal waveform diagram according to a third embodiment of the present invention.

[Description of main component symbols]

10: Motor encoder

20: Host controller

30, 40: Servo drive

310: Weekly circuit

330: Pulse width processing circuit

SA: Phase A signal

SB: Phase B signal

SZ, Z: Z phase signal

PA: A-phase signal divided into cycles

PB: cycle B phase signal

ZW, ZW1, ZW2, ZW3: variable width Z-phase signal

410, 440, 450, 460, 470, 480, 510, 540, 550, 560: steps

【Detailed ways】

In order to solve the problem that the host controller cannot read the Z-phase signal, the following embodiments provide a servo drive and a control method thereof. The servo drive includes a cycle circuit and a pulse width processing circuit. The cycle circuit is used for receiving the A-phase signal and the B-phase signal output by the motor encoder, and outputting the cycle-by-phase A signal and the cycle-B phase signal. A default value is set in the pulse width processing circuit to receive a Z-phase signal output by the motor encoder, and activate the recording function to record a Z-phase time course, and output a variable-width Z-phase signal. When the Z-phase duration is equal to the default value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the host controller.

The control method of the servo driver at least includes the following steps: the pulse width processing circuit receives the Z-phase signal output by the motor encoder, and sets a default value; the pulse width processing circuit activates the recording function to record a Z-phase time course, and outputs a A variable-width Z-phase signal; and when the Z-phase duration is equal to a default value, the pulse width processing circuit stops outputting the variable-width Z-phase signal to the host controller. The "signal" mentioned in the embodiments includes "signal" in English and "signal" in Japanese & simplified Chinese.

first embodiment

Please refer to FIG. 1 and FIG. 2 at the same time. FIG. 1 is a partial schematic diagram of a servo driver according to the first embodiment of the present invention, and FIG. 2 is a signal waveform diagram according to the first embodiment of the present invention. The servo driver 30 is coupled between the motor encoder 10 and the host controller 20, and the host controller 20 is, for example, a Programmable Logic Controller (PLC). The servo driver 30 includes a cycle circuit 310 and a pulse width processing circuit 330 . The cycle dividing circuit 310 is also called a frequency dividing circuit. The cycle dividing circuit 310 receives the information from the motor encoder 10 and transmits the information to the host controller 20 . The division circuit 310 divides the A-phase signal SA into a division A-phase signal PA according to a division ratio, divides the B-phase signal SB into a division B-phase signal PB according to a division ratio, and divides the A-phase signal PA and the divided cycle B-phase signal PB are output to the host controller 20 .

The pulse width processing circuit 330 receives the Z-phase signal SZ output by the motor encoder 10 , and activates the recording function to record a Z-phase time course. The default value and the Z-phase duration are, for example, the number of edges of the phase-A signal PA and the phase-B signal PB or a time value. The pulse width processing circuit 330 outputs a variable width Z-phase signal ZW. When the Z-phase duration is equal to the default value, the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 . When the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 , the pulse width processing circuit 330 stops recording function at the same time, and resets the Z-phase duration to zero.

Since the pulse width processing circuit 330 can adjust the pulse width of the variable-width Z-phase signal ZW, it can solve the problem that the host controller 20 cannot read the Z-phase signal SZ because the pulse width of the Z-phase signal SZ is too small. The variable-width Z-phase signal ZW can be the variable-width Z-phase signal ZW1, the variable-width Z-phase signal ZW2 or the variable-width Z-phase signal ZW3 in Figure 2. In other words, the default value is not limited to a single parameter , which can also contain multiple parameters, which can be set by users according to their needs. When the aforementioned default value is 1, the variable-width Z-phase signal ZW shown in Figure 2 is the variable-width Z-phase signal ZW1, and its width will include the number of edges once. signal or the number of edges of the B-phase signal, and when the second edge number is received, the output of the variable-width Z-phase signal ZW1 is stopped; when the aforementioned default value is 2, the variable-width Z-phase The signal ZW shown in Figure 2 is the variable width Z-phase signal ZW2, whose width will include the second number of edges. As shown in Figure 2, when the third edge number is received, the output of the variable width will be stopped in real time. The width of the Z-phase signal ZW2, so that the width of the variable-width Z-phase signal ZW2 spans at least the number of secondary edges; when the aforementioned default value is 3, the variable-width Z-phase signal ZW has a variable width as shown in Figure 2 The width of the Z-phase signal ZW3 will include the number of edges three times, that is, when the fourth edge number is received, the output of the variable-width Z-phase signal ZW3 will be stopped in real time, so that the variable-width Z-phase signal ZW3 The width spans at least three times the number of edges.

Please refer to FIG. 1 and FIG. 3 at the same time. FIG. 3 is a flowchart of a control method of a servo driver according to a first embodiment of the present invention. The control method of the servo drive includes the following steps:

First, as shown in step 410 . The pulse width processing circuit 330 receives the Z-phase signal SZ output by the motor encoder 10 . Next, as shown in step 440 , the pulse width processing circuit 330 activates the recording function to record a Z-phase time course, and outputs a variable-width Z-phase signal ZW. The Z-phase time course is the number of edges of the cycle-by-cycle A-phase signal PA and the cycle-by-cycle B-phase signal PB. Next, as shown in step 450 , the pulse width processing circuit 330 detects the edge of the divided phase A signal PA or the divided phase B signal PB.

Then, as shown in step 460, the Z-phase time history is accumulated. Then, as shown in step 470, it is judged whether the Z-phase time course is equal to the default value. Wherein the default value is equal to 3, for example. If the Z-phase duration is equal to the default value, go to step 480 . In step 480 , the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 . When the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 , the pulse width processing circuit 330 stops recording function at the same time, and resets the Z-phase duration to zero. After step 480 is executed, step 410 is repeatedly executed.

second embodiment

Please refer to FIG. 4 and FIG. 5 at the same time. FIG. 4 shows a flow chart of a control method of a servo driver according to the second embodiment of the present invention, and FIG. 5 shows a flow chart of a control method according to the second embodiment of the present invention. server Driver. The difference between the servo drive 40 of this embodiment and the first embodiment is that: in this embodiment, the default value and the Z-phase time course are time values. Its control method of the servo drive of this embodiment comprises the following steps:

First, as shown in step 510 . The pulse width processing circuit 330 receives the Z-phase signal SZ output by the motor encoder 10 . Next, as shown in step 540 , the pulse width processing circuit 330 activates the recording function to record a Z-phase time course, and outputs a variable-width Z-phase signal ZW. The default value is a time value, and the Z-phase time history is to record the running time. Next, as shown in step 550, it is judged whether the Z-phase time course is equal to the default value. If the Z-phase duration is equal to the default value, go to step 560 . In step 560 , the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 . When the pulse width processing circuit 330 stops outputting the variable-width Z-phase signal ZW to the host controller 20 , the pulse width processing circuit 330 stops recording function at the same time, and resets the Z-phase duration to zero. After step 560 is executed, step 510 is repeatedly executed.

It should be noted that the default value of the second embodiment depends on the maximum rotational speed of the motor and the resolution of the motor encoder 10 . The ratio of the reciprocal of the maximum motor speed to the resolution is equal to one clock period. The default value can be preset to be less than this clock period or to be less than one-half of this clock period, the clock period of this half = 60/(resolution*maximum speed), but not limited to this .

third embodiment

Please refer to FIG. 6 . FIG. 6 is a signal waveform diagram according to a third embodiment of the present invention. The control method of the servo driver in the first embodiment and the second embodiment is to stop outputting the variable-width Z-phase signal ZW when the Z-phase duration is equal to the default value. However, when the width of the Z-phase signal SZ output by the motor encoder 10 is greater than the variable width Z-phase signal ZW set by the pulse width processing circuit 330, the pulse width processing circuit 330 does not process the Z-phase signal SZ, but Directly output the Z-phase signal SZ to the host controller 20 . Wherein, the default value and the Z-phase duration may be the number of edges of the phase-A signal PA and the phase-B signal PB or a time value.

When the aforementioned default value is 1, its variable width Z-phase signal ZW is shown in Figure 6 as the variable width Z-phase signal ZW1; when the aforementioned default value is 2, its variable width Z-phase signal ZW is shown in Figure 6 The variable width Z-phase signal ZW2 shown; when the aforementioned default value is 3, the variable width Z-phase signal ZW is the variable width Z-phase signal ZW3 shown in FIG. 6 .

For example, the Z-phase signal SZ shown in FIG. 1 and FIG. 5 is represented by the Z-phase signal Z in FIG. 6 . When the width of the Z-phase signal Z is greater than the variable-width Z-phase signal ZW1 , the pulse width processing circuit 330 directly outputs the Z-phase signal Z to the host controller 20 . Similarly, when the width of the Z-phase signal Z is greater than the variable-width Z-phase signal ZW2 , the pulse width processing circuit 330 directly outputs the Z-phase signal Z to the host controller 20 . Conversely, when the width of the Z-phase signal Z is smaller than the variable-width Z-phase signal ZW3 , the pulse width processing circuit 330 continues to output the variable-width Z-phase signal ZW3 until the Z-phase duration is equal to the default value.

The servo drive and its control method disclosed in the above embodiments of the present invention can solve the problem that the host controller cannot read the Z-phase signal, so as to ensure the normal operation of the motor.

In addition, as disclosed in the embodiments, the motor driver applying this proposed technology can cooperate with various encoders, and can be applied to common communication type motor encoders, pulse wave type motor encoders, and the like.

In summary, although the present invention has been disclosed as above with a preferred embodiment, it is not intended to limit the present invention. Those skilled in the art of the present invention can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be defined by the scope of the appended patent application.

Claims (10)

1. the control method of a servo-driver comprises:

The pulsewidth treatment circuit receives the Z phase signals that a motor encoder is exported, and in establish a default value;

This pulsewidth treatment circuit activation record function to be writing down a Z phase time-histories, and exports a variable-width Z phase signals; And

When this Z phase time-histories equals this default value, this pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to.

2. Z phase signals method of adjustment according to claim 1 is characterized in that, when this pulsewidth treatment circuit stops to export this variable-width Z phase signals, and stops writing function simultaneously, and this Z phase time-histories is made zero.

3. Z phase signals method of adjustment according to claim 2 is characterized in that, more comprises:

All according to one minute than an A phase signals being divided Zhou Weiyi divide all A phase signals and all than dividing Zhou Weiyi to divide all B phase signals one B phase signals according to this branch; And

Detecting this divides all A phase signals maybe this divides the edge of all B phase signals; And

Maybe this divides the edge of all B phase signals to be detected when this divides all A phase signals, and this Z phase time-histories adds up;

Wherein this default value system is smaller or equal to 3.

4. Z phase signals method of adjustment according to claim 1 is characterized in that this default value depends on a resolution of a motor maximum speed and this motor encoder;

Wherein the ratio of the inverse of this motor maximum speed and resolution equals a clock pulse cycle;

Wherein this default value is less than this clock pulse cycle;

Wherein this Z phase time-histories is the record duration of runs.

5. Z phase signals method of adjustment according to claim 1 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.

6. servo-driver comprises:

One fen all circuit is in order to receive A phase signals and the B phase signals that motor encoder is exported, with one fen all A phase signals of output and one fen all B phase signals; And

Be provided with a default value in the one pulsewidth treatment circuit, in order to receive the Z phase signals that motor encoder is exported, and the activation record function is to note down a Z phase time-histories, and export this variable-width Z phase signals, when this Z phase time-histories equals this default value, the pulsewidth treatment circuit stops to export level controller on this variable-width Z phase signals to.

7. servo-driver according to claim 6 is characterized in that, when this pulsewidth treatment circuit stops to export this variable-width Z phase signals, and stops writing function simultaneously, and this Z phase time-histories is made zero.

8. servo-driver according to claim 7, it is characterized in that, this divides all circuit all than an A phase signals being divided Zhou Weiyi divide all A phase signals and all than dividing Zhou Weiyi to divide all B phase signals one B phase signals according to this branch according to one minute, this pulsewidth treatment circuit is judged and this is divided all A phase signals maybe whether this divides the edge of all B phase signals to be detected, maybe this divides the edge of all B phase signals to be detected when this divides all A phase signals, and this Z phase time-histories adds up;

Wherein this default value system is smaller or equal to 3.

9. servo-driver according to claim 6 is characterized in that, this default value depends on a resolution of a motor maximum speed and this motor encoder;

Wherein the ratio of the inverse of this motor maximum speed and resolution equals a clock pulse cycle;

Wherein this default value is less than this clock pulse cycle;

Wherein this Z phase time-histories is the record duration of runs.

10. servo-driver according to claim 6 is characterized in that, when the width of this Z phase signals greater than this variable-width Z phase signals, this pulsewidth treatment circuit is exported this Z phase signals to going up level controller.

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