WO2015101217A1

WO2015101217A1 - Control card and robot

Info

Publication number: WO2015101217A1
Application number: PCT/CN2014/095056
Authority: WO
Inventors: 姚守强
Original assignee: 深圳市配天智造装备股份有限公司
Priority date: 2013-12-30
Filing date: 2014-12-26
Publication date: 2015-07-09
Also published as: CN204076264U

Abstract

A motion control card (1), comprising: an algorithm module (11) for receiving and parsing a control command of an upper computer (2); a communication module (12) for transmitting the parsed control command to a servo driver (3); the communication module (12) being electrically connected to the algorithm module (11) via a parallel port; and the communication module (12) being provided with a male connector in adaptation connection to a female connector arranged on the algorithm module (11). The motion control card is highly versatile, has a wide range of applications, and is low in replacement cost. Also disclosed is a robot provided with the motion control card.

Description

Control card and robot

【技术领域】[Technical Field]

The present invention relates to the field of mechanical automation technology, and in particular to a motion control card and a robot having the motion control card.

【背景技术】【Background technique】

The motion control card is a control unit based on a PC or industrial PC for various motion control applications, such as control of motion such as displacement, speed, and acceleration. Motion control cards usually use professional motion control chips or high-speed digital signal processors (digital signal) Processor, DSP), as the core of motion control, is mostly used to control stepper motors or servo motors. Generally, the motion control card and the PC constitute a master-slave control structure: the PC is responsible for the management of the human-computer interaction interface and the real-time monitoring of the control system, such as keyboard and mouse management, system status display, and motion trajectory. Planning, control command transmission, external signal monitoring, etc.; control card completes all details of motion control, including pulse and direction signal output, automatic lifting speed processing, origin and limit signal detection.

The inventors of the present invention have found through research that with the continuous development of industrial control communication technology, Industrial Ethernet (based on IEEE802.3 used in the field of industrial control Ethernet bus technology) has gradually become the main communication connection mode of the field bus, each servo driver Manufacturers have introduced servo drives based on high-speed industrial Ethernet interfaces, but have the following drawbacks:

1. Narrow application range: The traditional motion control card only supports a single interface, and the application range is very narrow. Only the servo driver of a specific interface can be connected.

2, high replacement cost: In order to adapt the servo drive of different interfaces, the motion control card has to redesign and replace the entire motion control card according to the connected servo drive interface, and replace the PC software at the same time, resulting in a large amount of design and materials. cost.

3. Poor versatility: Due to the single interface of the motion control card, the servo drive cannot be flexibly replaced according to the requirements of mechanical control, which has great limitations for the upgrade of the product line.

【发明内容】 [Summary of the Invention]

The invention solves the problems of single interface of the motion control card in the prior art, narrow application range, high replacement cost and poor versatility, and provides a motion control card with wide application range, low replacement cost and good versatility.

In order to achieve the above object, the present invention adopts the following technical solutions:

A motion control card comprising:

An algorithm module for receiving a host computer control command and parsing the control command;

Forwarding the control command parsed by the algorithm module to the communication module of the servo driver;

The communication module is provided with a male connector and a female connector disposed on the algorithm module.

Preferably, the algorithm module comprises a DSP processor, and the communication module comprises an ARM processor, and the DSP processor and the ARM processor are electrically connected through a parallel port.

Preferably, the DSP processor is provided with a dual port RAM.

Preferably, the algorithm module comprises a PCI function module connected between the DSP processor and the host computer, and the PCI function module is provided with a connector electrically connected to the upper layer.

Preferably, the algorithm module includes an external memory module connected to the DSP processor, and the external memory module includes an SDRAM for storing upper computer commands and data received by the PCI function module. And the FLASH used to store the firmware program.

Preferably, the algorithm module comprises an ARM communication interface module connected to the DSP processor, and the ARM communication interface module is used for communication with the ARM processor.

Preferably, the algorithm module further includes a first power module for providing power to the algorithm module, a reset module for resetting the DSP processor, and the first power module and the first reset module are both connected to the DSP processor.

Preferably, the communication module comprises a DSP communication interface module connected to the ARM processor, and the DSP communication interface module is used for communication with the DSP processor.

Preferably, the communication module comprises a bus interface module connected between the ARM processor and the servo driver, and the bus interface module comprises a pulse interface, a Mechatrolink-III interface, an EtherCAT interface and a CANopen interface.

Preferably, the communication module further includes a second power module for providing power to the communication module, a reset module for resetting the ARM processor, and a second power module and a second reset module both connected to the ARM processor.

Preferably, the DSP processor includes a DSP signal processing unit for receiving a host computer control command and parsing the control command, and the ARM processor includes an ARM communication for transmitting a control command parsed by the DSP signal processing unit to a servo driver. Processing unit.

Preferably, the DSP signal processing unit includes a DSP communication interface command processing module connected to the state feedback module and the command processing module, and is configured to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit.

Preferably, the ARM communication processing unit includes an ARM communication interface command processing module connected to the DSP communication interface command processing module, Used to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit.

Preferably, the DSP signal processing unit further includes a host computer communication module and a command processing module, wherein one end of the upper computer communication module is connected to the upper computer, and the other end is connected to the processing module and the state feedback module. Receiving the communication command of the upper computer and uploading status information of the servo driver, the command processing module is configured to parse the control command of the upper computer.

Preferably, the DSP signal processing unit further includes an algorithm library module, and the algorithm library module is connected to the command processing module, and is configured to provide an analysis algorithm to the command processing module to implement a motion control function.

Preferably, the male connector is a pin, and the female connector is a connecting hole adapted to the pin.

A robot includes the motion control card, and the motion control card includes:

The invention provides a motion control card. By setting a male connector on the communication module, a female connector is arranged on the algorithm module, so that the communication module and the algorithm module of the motion control card can be separated, and the communication module can be replaced. Therefore, the same motion control card can select and install the corresponding communication module according to different servo driver interfaces. Therefore, the servo driver adapting to different interfaces can be realized without replacing the entire motion control card, and the utility of the motion control cartoon is enhanced, and the utility model is expanded. Application range, reducing the cost of motion control card replacement.

【附图说明】 [Description of the Drawings]

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic diagram of a working principle of a motion control card according to an embodiment of the present invention;

2 is a structural block diagram of a motion control card according to an embodiment of the present invention;

3 is a logic block diagram of a motion control card according to an embodiment of the present invention.

【具体实施方式】【detailed description】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

As shown in FIG. 1 , FIG. 1 is a schematic diagram of a working principle of a motion control card according to an embodiment of the present invention; the present invention provides a motion control card 1 , and the host computer 2 and the motion control card 1 form a master-slave control structure, and the motion control card is based on a PC. The bus (PCI bus) is connected to the servo driver 3 to realize multi-axis coordinated control of a plurality of servo motors. The host computer is responsible for the management of the human-computer interaction interface and the real-time monitoring of the control system, such as keyboard and mouse management, system status display, motion trajectory planning, control command transmission, external signal monitoring, etc.; motion control The card completes all the details of motion control, including the output of pulse and direction signals, motion trajectory planning, automatic lifting speed processing, detection of signals such as origin and limit, and so on. The motion control card includes functions such as pulse output, pulse counting, digital input, digital output, D/A output, pulse output mode including pulse/direction, pulse/pulse mode, pulse counting for position feedback of the encoder, and machine preparation. Position, correct the error generated in the transmission process, digital input / output for the limit, the origin switch.

As shown in FIG. 2, FIG. 2 is a structural block diagram of a motion control card according to an embodiment of the present invention. In the embodiment of the motion control card 1 of the present invention, the motion control card 1 includes:

An algorithm module 11 for receiving a control command of the host computer 2 and parsing the control command, which provides a unified control interface for the upper computer 2; the control command parsed by the algorithm module 11 is forwarded to the communication module 12 of the servo driver 3; the communication The module 12 is electrically connected to the algorithm module 11 through a parallel port; the communication module 12 is provided with a male connector and a female connector disposed on the algorithm module 11 to be connected.

The present invention sets the male connector on the communication module 12 as a pin, and sets the female connector of the algorithm module 11 as a connection hole adapted to the pin, but the male connector and the female terminal according to the present invention The connector is not limited to the shape and size of the pin and its associated connecting hole, but also includes other conventional techniques of the connector.

The algorithm module 11 includes a DSP processor 110, which is selected as the TMS320DM642. The communication module 12 includes an ARM processor 120, and the STM32F405ZG is selected. The DSP processor 110 and the ARM processor 120 are electrically connected through a parallel port, and the transmission speed is faster. .

The algorithm module 11 further includes the following modules: a first power module 111, a first reset module 112, an ARM communication interface module 113, and an external memory module 114.

The first power module 111 provides power for the algorithm module 11, and selects the TPS54310 chip, which has three voltages of 1.8V, 3.3V and 5V, and the 5V power supply is provided from the PCI interface;

The first reset module 112 is responsible for resetting the circuit, and selects the TPS386000 chip, and is connected to the Reset pin of the DSP processor 110 for resetting the DSP processor 110;

The ARM communication interface module 113 is configured to communicate with the ARM processor 120, and uses the EMIF interface CE2 address space of the TMS320DM642;

The PCI function module 115 is connected between the DSP processor 110 and the host computer to complete command transmission from the host computer (for example, the industrial computer IPC) and status transmission of the driver, and the PCI function module includes the upper computer (the industrial computer) IPC) slot electrical connection connector, this module through the DSP PCI / HPI interface, through the three PCI bus buffer to provide the external PCI connector, use this connector can be connected to the host computer (IPC IPC) PCI plug In the slot.

The external memory module 114 is connected to the DSP processor 110. The external memory module includes an SDRAM for storing the upper computer command and data received by the PCI function module 115 and real-time status information during the running of the program. The TMS320DM642 EMIF interface CE0 address space is used, and the external memory module further includes a FLASH for storing the firmware program, which realizes self-starting, and uses the EMIF interface CE1 address space of the TMS320DM642;

The DSP processor 110 is provided with a dual port RAM for solving the driving capability problem between the DSP processor 110 and the ARM processor 120.

The communication module 12 further includes the following modules: a second power module 121, a second reset module 122, a DSP communication interface module 123, and a bus interface module 124.

The second power module 121 selects the TPS62291 chip and the TPS62290 chip to provide 2.5V and 3.3V voltages, and is the basis for the normal operation of the ARM processor 120 and its peripheral devices;

The second reset module 122, the reset chip selects the TPS386000 to be connected to the reset pin of the ARM processor 120, and resets the entire circuit;

The DSP communication interface module 123 is configured to communicate with the DSP processor 110, and the DSP communication interface module 123 is connected to the ARM communication interface module 113 to implement communication between the DSP processor 110 and the ARM processor 120. The DSP processor 110 can directly access the memory space of the ARM processor 120 through 10 address lines and 16 data lines. The STM32F405ZG uses the FSMC interface.

The bus interface module 124 is connected between the ARM processor 120 and the servo driver 3. The circuit of the bus interface module 124 is formed into a series according to different protocols, including a pulse plus direction interface, a Mechatrolink-III interface, an EtherCAT interface, and a CANopen interface. .

As shown in FIG. 3, FIG. 3 is a logic block diagram of a motion control card according to an embodiment of the present invention; the DSP processor 110 includes a DSP signal processing unit 1101 for receiving a host computer control command and parsing the control command, the ARM processor. 120 includes an ARM communication processing unit 1201 that transmits a control command parsed by the DSP signal processing unit 1101 to a servo driver.

The DSP signal processing unit 1101 includes a host computer communication module 11011, a command processing module 11012, an algorithm library module 11014, a state feedback module 11013, and a DSP communication interface command processing module 11015.

The host computer communication module 11011 has one end connected to the upper computer 2 and the other end connected to the command processing module 11012 and the state feedback module 11013, and mainly receives the communication command of the upper computer 2 and the status information of the upload servo driver 3, and the SDRAM connected thereto. Four data address spaces and one command address space are opened in the command address space for receiving control commands sent from the host computer, such as servo driver connection, servo driver power-on, etc., four data address spaces are used for storing The track information sent from the host computer, two are used to store the servo drive running status information;

The command processing module 11012 is configured to parse the host computer 2 control command, and process corresponding operations according to different instructions received from the host computer communication module 11011, for example, when the interpolated instruction is received, the interpolation in the algorithm library module 11014 is invoked. Function, interpolating and speed planning the trajectory, and then sending the data command to the communication module 12;

The algorithm library module 11014 is connected to the command processing module 11012, and the algorithm library module 11014 is configured to provide an analysis algorithm to the command processing module 11012 to implement a motion control function, including T-type velocity planning, S-type velocity planning, linear interpolation, Arc interpolation and other algorithm functions.

The state feedback module 11013 is configured to acquire the motion state information of the servo driver 3, obtain the real-time state of the servo driver 3 from the communication module 12, such as the axis position information, the axis speed information, etc., and send it to the upper computer for display. ;

The DSP communication interface command processing module 11015 is connected to the state feedback module 11013 and the command processing module 11012 for implementing signal transmission between the DSP signal processing unit 1101 and the ARM communication processing unit 1201, and the DSP signal processing unit 1101 and the ARM communication processing are agreed. The communication address space between units 1201.

The ARM communication processing unit 1201 includes an ARM communication interface command processing module 12011, a bus application layer module 12012, and a bus link layer module 12013.

The ARM communication interface command processing module 12011 is connected with the DSP communication interface command processing module for realizing signal transmission between the DSP signal processing unit and the ARM communication processing unit, and realizing the data read/write function with the algorithm module 11.

The bus application layer module 12012, the bus application layer module 12012 connected to the ARM communication interface command processing module 12011, the bus application layer module 12012 is configured to encapsulate the data information sent by the ARM communication interface command processing module 12011 according to the protocol structure of the bus, specifically The application layer of the field bus is implemented, and according to the format of the periodic data communication and the aperiodic data communication, the position signal or the speed information after the interpolation of the algorithm board is encapsulated according to the protocol structure of the bus, and then sent to the data of the bus protocol. Link layer function;

a bus link layer module 12013, a bus link layer module 12013 connected to the bus application layer module 12012, the bus link layer module 12013 is configured to receive data information sent by the ARM communication interface command processing module 12011 and perform a bus according to the information. The initialization of the protocol chip, specifically, the initialization of the bus protocol chip, configuration related parameters, some bus protocol protocol chips will do a part of the data link layer function, here mainly to achieve its related initialization work.

An embodiment of the present invention also provides an industrial robot including the above motion control card 1.

In terms of hardware, the algorithm module of the motion control card is made into a bottom plate, the communication module is made into a gusset plate, the communication module is provided with a pin, and the algorithm module is provided with a pin-fitted connection hole, and the same algorithm The module board can support different communication module boards, making the connection flexible and the system upgrade convenient. The motion control card provided by the invention can set the female connector on the algorithm module by setting the male connector on the communication module, so that the communication module and the algorithm module of the motion control card can be separated, and the communication module can be replaced. The same motion control card can select the corresponding communication module according to different servo driver interfaces. Therefore, the servo driver adapting to different interfaces can be realized without replacing the entire motion control card, which enhances the use of motion control cartoons and expands the application range. Reduce the cost of replacement of the motion control card.

The principles and embodiments of the present invention are described herein with reference to specific examples. The description of the above embodiments is only for the purpose of understanding the method of the present invention and the core idea thereof. Meanwhile, those skilled in the art according to the present invention The present invention is not limited by the scope of the present invention.

Claims

A motion control card, comprising:

An algorithm module for receiving a host computer control command and parsing the control command;

Forwarding the control command parsed by the algorithm module to the communication module of the servo driver;

The communication module is provided with a male connector and a female connector disposed on the algorithm module.
The motion control card according to claim 1, wherein the algorithm module comprises a DSP processor, and the communication module comprises an ARM processor, and the DSP processor and the ARM processor are electrically connected through a parallel port.
The motion control card of claim 2 wherein said DSP processor is provided with a dual port RAM.
The motion control card according to claim 2, wherein the algorithm module comprises a PCI function module connected between the DSP processor and the host computer, and the PCI function module is provided with a connection with an upper electromechanical connection. Device.
The motion control card according to claim 4, wherein said algorithm module comprises an external memory module coupled to said DSP processor, said external memory module comprising means for storing a higher level received by said PCI function module Machine instruction and data SDRAM And the FLASH used to store the firmware program.
The motion control card according to claim 5, wherein the algorithm module comprises an ARM communication interface module connected to the DSP processor, and the ARM communication interface module is configured to communicate with the ARM processor.
The motion control card according to claim 6, wherein the algorithm module further comprises a first power module for providing power to the algorithm module, and a reset module for resetting the DSP processor, the first power module And the first reset module is connected to the DSP processor.
The motion control card according to claim 2, wherein the communication module comprises a DSP communication interface module connected to the ARM processor, and the DSP communication interface module is configured to communicate with the DSP processor.
The motion control card according to claim 8, wherein the communication module comprises a bus interface module connected between the ARM processor and the servo driver, the bus interface module comprising a pulse interface, a Mechatrolink-III interface, and an EtherCAT. Interface and CANopen interface.
The motion control card according to claim 9, wherein the communication module further comprises a second power module for providing power to the communication module, and a reset module for resetting the ARM processor, the second power module And the second reset module is connected to the ARM processor.
The motion control card according to claim 2, wherein said DSP processor comprises a DSP signal processing unit for receiving a host computer control command and parsing the control command, said ARM processor comprising transmitting to said servo driver The ARM communication processing unit of the control command parsed by the DSP signal processing unit.
The motion control card according to claim 11, wherein the DSP signal processing unit comprises a DSP communication interface command processing module connected to the state feedback module and the command processing module, and is configured to implement DSP signal processing unit and ARM communication processing. Signal transmission between units.
The motion control card according to claim 12, wherein said ARM communication processing unit comprises an ARM communication interface command processing module connected to a DSP communication interface command processing module, Used to implement signal transmission between the DSP signal processing unit and the ARM communication processing unit.
The motion control card according to claim 13, wherein the DSP signal processing unit further comprises a host computer communication module and a command processing module, wherein one end of the upper computer communication module is connected to the upper computer, and the other end is The processing module and the state feedback module are connected to receive a communication command of the upper computer and upload status information of the servo driver, and the command processing module is configured to parse the control command of the upper computer.
The motion control card according to claim 14, wherein said DSP signal processing unit further comprises an algorithm library module, said algorithm library module being coupled to said command processing module for said command processing module Provides an analytical algorithm that implements motion control functions.
The motion control card of claim 1 wherein said male connector is a pin and said female connector is a connector aperture adapted for said pin.
A robot comprising the motion control card according to any one of claims 1 to 16, the motion control card comprising:

An algorithm module for receiving a host computer control command and parsing the control command;

Forwarding the control command parsed by the algorithm module to the communication module of the servo driver;

The communication module is provided with a male connector and a female connector disposed on the algorithm module.