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Servo driver and Ethercat DC clock synchronization method and device and electronic equipment

A technology of servo driver and synchronizing device, applied in the field of servo system control, can solve the problems of short execution time, easy alarm, and large deviation value, and achieve the effect of small impact and easy alarm avoidance

Active Publication Date: 2020-11-17
JIHUA LAB
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  • Abstract
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  • Application Information

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Problems solved by technology

[0007]1) If the DC synchronization cycle is long, when the Sync0 signal arrives, the deviation between it and the PWM cycle is likely to be large, and it is easy to alarm;
[0008]2) Directly compensate the deviation value for the next PWM cycle, which will easily lead to significantly shorter or longer execution time of the next cycle, and will also affect the motor control

Method used

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  • Servo driver and Ethercat DC clock synchronization method and device and electronic equipment
  • Servo driver and Ethercat DC clock synchronization method and device and electronic equipment
  • Servo driver and Ethercat DC clock synchronization method and device and electronic equipment

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Embodiment Construction

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. The components of the embodiments of the application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Accordingly, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0056] It should ...

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Abstract

The invention provides a synchronization method and device for a servo driver and an Ethercat DC clock, and electronic equipment. The method comprises the steps: obtaining a first Timer value when a Sync0 signal arrives for the first time, and a first counting value when a motor controls the interruption of operation; performing first synchronous calibration according to the first Timer value andthe first count value; when a Sync0 signal arrives, obtaining a deviation value of a slave station CPU clock and a DC clock of the servo driver in a DC synchronization period in real time; and compensating the deviation value to each PWM interruption period in the current DC synchronization period in a dispersed manner. Therefore, the problem that an alarm is easy to give out when the DC synchronization period is long can be avoided, and the influence on motor control is small.

Description

technical field [0001] The invention relates to the technical field of servo system control, in particular to a method, device and electronic equipment for synchronizing a servo driver and an Ethercat DC clock. Background technique [0002] With the development of industrial technology, the requirements for motion control are getting higher and higher, and high-precision, high-response, and high-real-time technologies are needed to meet the requirements of practical applications. However, the traditional bus communication method can no longer meet the occasions of high-precision synchronous processing. . The real-time Ethernet bus Ethecat is more and more widely used in the industrial automation market because of its fast communication speed, stable performance, low cost, and easy expansion. [0003] Industrial automation equipment such as CNC machining equipment and robots generally require high-precision multi-axis synchronization to ensure their control accuracy. Servo d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L7/00H04L29/08
CPCH04L7/0012H04L67/12Y02P90/02
Inventor 邓锦祥王宏马青林
Owner JIHUA LAB
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