阅读说明：本技术 伺服驱动器和伺服系统 (Servo driver and servo system ) 是由 何定坤 张国平 王光能 高云峰 于 2020-03-30 设计创作，主要内容包括：本发明公开一种伺服驱动器和伺服系统。该伺服驱动器包括控制器模块、功率驱动模块、电机编码器和冗余安全模块；电机编码器用于检测伺服电机的动作,输出动作反馈值；功率驱动模块对伺服电机运行中的电信号进行检测,输出电信号反馈值；控制器模块,用于基于动作反馈值获取动作采样值,基于电信号反馈值获取电信号采样值,将动作采样值和电信号采样值发送给冗余安全模块；冗余安全模块用于基于动作采样值和电信号采样值进行冗余安全检测,形成目标STO信号；功率驱动模块用于基于目标STO信号,形成目标控制信号,基于目标控制信号控制伺服电机工作。该伺服驱动器具有紧急停止功能,避免伺服电机失控,使得人员受伤控制设备损坏的风险。(The invention discloses a servo driver and a servo system. The servo driver comprises a controller module, a power driving module, a motor encoder and a redundant safety module; the motor encoder is used for detecting the action of the servo motor and outputting an action feedback value; the power driving module detects an electric signal in the operation of the servo motor and outputs an electric signal feedback value; the controller module is used for acquiring an action sampling value based on the action feedback value, acquiring an electric signal sampling value based on the electric signal feedback value, and sending the action sampling value and the electric signal sampling value to the redundancy safety module; the redundancy safety module is used for carrying out redundancy safety detection on the basis of the action sampling value and the electric signal sampling value to form a target STO signal; the power driving module is used for forming a target control signal based on the target STO signal and controlling the servo motor to work based on the target control signal. This servo driver has emergency stop function, avoids servo motor out of control for the risk that personnel's injured control equipment damaged.)

1. A servo driver is used for being connected with a servo motor and is characterized by comprising a controller module, a power driving module, a motor encoder and a redundant safety module;

the motor encoder is connected with the servo motor and the controller module and used for detecting the action of the servo motor and outputting an action feedback value to the controller module;

the power driving module is connected with the servo motor and the controller module and used for detecting an electric signal in the operation of the servo motor and outputting an electric signal feedback value to the controller module;

the controller module is connected with the motor encoder, the power driving module and the redundancy safety module and is used for acquiring an action sampling value based on an action feedback value output by the motor encoder; acquiring an electrical signal sampling value based on the electrical signal feedback value output by the power driving module; sending the action sampling value and the electrical signal sampling value to the redundant safety module;

the redundant safety module is connected with the controller module and the power driving module and is used for carrying out redundant safety detection based on the action sampling value and the electric signal sampling value to form a target STO signal and sending the target STO signal to the power driving module;

and the power driving module is also connected with the redundant safety module and is used for forming a target control signal based on a target STO signal output by the redundant safety module and controlling the servo motor to work based on the target control signal.

2. The servo driver of claim 1 wherein the redundant safety module comprises a first processor and a second processor coupled to the first processor;

the first processor is connected with the controller module and the power driving module and is used for acquiring a first comparison result based on the action sampling value and the electric signal sampling value; acquiring a first STO signal based on the first comparison result and a second comparison result sent by the second processor;

the second processor is connected with the controller module and the power driving module and used for obtaining a second comparison result based on the action sampling value and the electric signal sampling value and obtaining a second STO signal based on the second comparison result and the first comparison result sent by the first processor;

wherein the target STO signal comprises a first STO signal and a second STO signal.

3. The servo driver of claim 2 wherein the redundant safety module further comprises a first watchdog circuit coupled to the first processor and a second watchdog circuit coupled to the second processor;

the first watchdog circuit is used for monitoring a first dog feeding signal sent by the first processor in real time and sending a first reset signal to the first processor when the first dog feeding signal is not received in a preset monitoring period;

the second watchdog circuit is used for monitoring a second dog feeding signal sent by the second processor in real time and sending a second reset signal to the second processor when the second dog feeding signal is not received in a preset monitoring period;

the first processor is further configured to send a first dog feeding signal to the first processor within the preset monitoring period, and reset based on the first reset signal sent by the first watchdog circuit;

the second processor is further configured to send a second dog feeding signal to the first processor in the preset listening period, and reset based on the second reset signal sent by the second watchdog circuit.

4. The servo driver of claim 2 wherein the electrical signal feedback values comprise current feedback values and/or voltage feedback values;

the power driving module comprises a driving unit circuit, a current sensor circuit, a voltage sampling circuit and an STO unit circuit;

the driving unit circuit is connected with the controller module and used for carrying out level conversion and isolation processing on a target driving signal input by the controller module and outputting a target control signal for controlling the servo motor to work;

the current sensor circuit is connected with the driving unit circuit and the servo motor and is used for detecting the working current of the servo motor and outputting a current feedback value to the controller module;

the voltage sampling circuit is connected with a direct current bus of the servo motor and the controller module and is used for collecting the bus voltage of the servo motor and outputting a voltage feedback value to the controller module;

and the STO unit circuit is connected with the redundant safety module and the external emergency stop module, and is used for processing a target STO signal input by the redundant safety module and an external STO signal input by the external emergency stop module and outputting a target control signal for controlling the servo motor to work.

5. The servo driver of claim 4 wherein the STO cell circuit comprises a first AND logic gate, a second AND logic gate, a first PWM driver chip, and a second PWM driver chip;

the first AND logic gate is connected with the first processor and the external scram module and is used for forming a first gating signal based on the first STO signal input by the first processor and the external STO signal input by the external scram module;

the second AND logic gate is connected with the second processor and the external scram module and is used for forming a second gating signal based on the second STO signal input by the second processor and the external STO signal input by the external scram module;

the first PWM driving chip is connected with the first AND logic gate and the controller module and is used for outputting a signal to be controlled based on the first gating signal input by the first AND logic gate and the target driving signal input by the controller module;

and the second PWM driving chip is connected with the second AND logic gate and the first PWM driving chip and is used for outputting a target control signal for controlling the servo motor to work based on the second gating signal input by the second AND logic gate and the signal to be controlled input by the first PWM driving chip.

6. The servo driver of claim 4 wherein the controller module comprises a main control unit, an encoder interface circuit, a first analog-to-digital conversion circuit, and a second analog-to-digital conversion circuit;

the encoder interface circuit is connected with the motor encoder and used for outputting an action sampling value to the main control unit based on an action feedback value input by the motor encoder;

the first analog-to-digital conversion circuit is connected with the current sensor circuit and used for acquiring a current sampling value based on a current feedback value input by the current sensor circuit and outputting the current sampling value to the main control unit;

the second analog-to-digital conversion circuit is connected with the voltage sampling circuit and used for acquiring a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit and outputting the voltage sampling value to the main control unit;

the main control unit is connected with the encoder interface circuit, the first analog-to-digital conversion circuit, the second analog-to-digital conversion circuit, the first processor and the second processor, and is used for receiving the action sampling value input by the encoder interface circuit, the current sampling value input by the first analog-to-digital conversion circuit and the voltage sampling value input by the second analog-to-digital conversion circuit, and outputting the action sampling value and the electric signal sampling value to the first processor and the second processor, wherein the electric signal sampling value comprises the current sampling value and/or the voltage sampling value.

7. The servo driver of claim 6 wherein the power driver module further comprises a power module circuit and an SBC cell circuit;

the power module circuit is used for power conversion;

the SBC unit circuit is connected with the STO unit circuit and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit;

the controller module also comprises a CAN communication circuit, a digital IO interface circuit and an EtherCAT interface circuit;

the CAN communication circuit is used for connecting a control upper computer and the main control unit and outputting CAN communication signals to the main control unit;

the digital IO interface circuit is used for connecting a control upper computer and the main control unit and outputting a digital communication signal to the main control unit;

the EtherCAT interface circuit is used for connecting and controlling an upper computer and the main control unit and outputting network communication signals to the main control unit.

8. The servo driver of claim 4 wherein the controller module comprises the first processor, the second processor, an encoder interface circuit, a first analog-to-digital conversion circuit, and a second analog-to-digital conversion circuit;

the encoder interface circuit is connected with the motor encoder and used for outputting an action sampling value to the first processor and the second processor based on an action feedback value input by the motor encoder;

the first analog-to-digital conversion circuit is connected with the current sensor circuit and used for acquiring a current sampling value based on a current feedback value input by the current sensor circuit and outputting the current sampling value to the first processor and the second processor;

the second analog-to-digital conversion circuit is connected with the voltage sampling circuit and used for acquiring a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit and outputting the voltage sampling value to the first processor and the second processor;

the first processor is connected to the encoder interface circuit, the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit, and is configured to receive the action sample value input by the encoder interface circuit, the current sample value input by the first analog-to-digital conversion circuit and the voltage sample value input by the second analog-to-digital conversion circuit, and output the first STO signal;

the second processor is connected to the encoder interface circuit, the first analog-to-digital conversion circuit, and the second analog-to-digital conversion circuit, and is configured to receive the action sample value input by the encoder interface circuit, the current sample value input by the first analog-to-digital conversion circuit, and the voltage sample value input by the second analog-to-digital conversion circuit, and output the second STO signal.

9. The servo driver of claim 8 wherein the power driver module further comprises a power module circuit and an SBC cell circuit;

the power module circuit is used for power conversion;

the SBC unit circuit is connected with the STO unit circuit and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit;

the controller module also comprises a CAN communication circuit, a digital IO interface circuit and an EtherCAT interface circuit;

the CAN communication circuit is used for connecting a control upper computer and the first processor and outputting CAN communication signals to the first processor;

the digital IO interface circuit is used for connecting a control upper computer and the first processor and outputting a digital communication signal to the first processor;

the EtherCAT interface circuit is used for connecting and controlling an upper computer and the first processor and outputting network communication signals to the first processor.

10. A servo system comprising a servo motor, a control host computer and a servo driver as claimed in any one of claims 1 to 9, the servo driver being connected to the control host computer and the servo motor.

Technical Field

The invention relates to the technical field of servo systems, in particular to a servo driver and a servo system.

Background

The current servo system is widely applied to the fields of industrial automation equipment, industrial robots, cooperative robots, AGV trolleys and the like. The servo system generally includes a servo motor and a servo driver connected to the servo motor. The servo motor is an engine for controlling mechanical elements to operate in a servo system, is an indirect speed change device of a supplementary motor, can ensure that the control speed and the position precision are very accurate, and can convert voltage signals into torque or rotating speed so as to drive control equipment such as an industrial robot, a cooperative robot, an AGV and the like. The servo driver is a controller used for controlling the servo motor to work, and can control the servo motor in the modes of position, speed, moment and the like so as to realize high-precision positioning of a transmission system.

The servo driver can generally realize the basic function of motion control at present, but does not have the safety function or has incomplete safety function, so that the control process of the servo driver is easy to have safety problems.

Disclosure of Invention

The embodiment of the invention provides a servo driver and a servo system, and aims to solve the problem that potential safety hazards are easy to occur in the process of controlling a servo motor by the conventional servo driver due to the fact that the conventional servo driver does not have a safety function or is incomplete in safety function.

The embodiment of the invention provides a servo driver, which is used for connecting a servo motor and comprises a controller module, a power driving module, a motor encoder and a redundant safety module;

the motor encoder is connected with the servo motor and the controller module and used for detecting the action of the servo motor and outputting an action feedback value to the controller module;

the power driving module is connected with the servo motor and the controller module and used for detecting an electric signal in the operation of the servo motor and outputting an electric signal feedback value to the controller module;

the controller module is connected with the motor encoder, the power driving module and the redundancy safety module and is used for acquiring an action sampling value based on an action feedback value output by the motor encoder; acquiring an electrical signal sampling value based on the electrical signal feedback value output by the power driving module; sending the action sampling value and the electrical signal sampling value to the redundant safety module;

the redundant safety module is connected with the controller module and the power driving module and is used for carrying out redundant safety detection based on the action sampling value and the electric signal sampling value to form a target STO signal and sending the target STO signal to the power driving module;

and the power driving module is also connected with the redundant safety module and is used for forming a target control signal based on a target STO signal output by the redundant safety module and controlling the servo motor to work based on the target control signal.

Preferably, the redundant security module comprises a first processor and a second processor connected to the first processor;

the first processor is connected with the controller module and the power driving module and is used for acquiring a first comparison result based on the action sampling value and the electric signal sampling value; acquiring a first STO signal based on the first comparison result and a second comparison result sent by the second processor;

the second processor is connected with the controller module and the power driving module and used for obtaining a second comparison result based on the action sampling value and the electric signal sampling value and obtaining a second STO signal based on the second comparison result and the first comparison result sent by the first processor;

wherein the target STO signal comprises a first STO signal and a second STO signal.

Preferably, the redundant security module further comprises a first watchdog circuit coupled to the first processor and a second watchdog circuit coupled to the second processor;

the first watchdog circuit is used for monitoring a first dog feeding signal sent by the first processor in real time and sending a first reset signal to the first processor when the first dog feeding signal is not received in a preset monitoring period;

the second watchdog circuit is used for monitoring a second dog feeding signal sent by the second processor in real time and sending a second reset signal to the second processor when the second dog feeding signal is not received in a preset monitoring period;

the first processor is further configured to send a first dog feeding signal to the first processor within the preset monitoring period, and reset based on the first reset signal sent by the first watchdog circuit;

the second processor is further configured to send a second dog feeding signal to the first processor in the preset listening period, and reset based on the second reset signal sent by the second watchdog circuit.

Preferably, the electrical signal feedback value comprises a current feedback value and/or a voltage feedback value;

the power driving module comprises a driving unit circuit, a current sensor circuit, a voltage sampling circuit and an STO unit circuit;

the driving unit circuit is connected with the controller module and used for carrying out level conversion and isolation processing on a target driving signal input by the controller module and outputting a target control signal for controlling the servo motor to work;

the current sensor circuit is connected with the driving unit circuit and the servo motor and is used for detecting the working current of the servo motor and outputting a current feedback value to the controller module;

the voltage sampling circuit is connected with a direct current bus of the servo motor and the controller module and is used for collecting the bus voltage of the servo motor and outputting a voltage feedback value to the controller module;

and the STO unit circuit is connected with the redundant safety module and the external emergency stop module, and is used for processing a target STO signal input by the redundant safety module and an external STO signal input by the external emergency stop module and outputting a target control signal for controlling the servo motor to work.

Preferably, the STO unit circuit includes a first and logic gate, a second and logic gate, a first PWM driving chip and a second PWM driving chip;

the first AND logic gate is connected with the first processor and the external scram module and is used for forming a first gating signal based on the first STO signal input by the first processor and the external STO signal input by the external scram module;

the second AND logic gate is connected with the second processor and the external scram module and is used for forming a second gating signal based on the second STO signal input by the second processor and the external STO signal input by the external scram module;

the first PWM driving chip is connected with the first AND logic gate and the controller module and is used for outputting a signal to be controlled based on the first gating signal input by the first AND logic gate and the target driving signal input by the controller module;

and the second PWM driving chip is connected with the second AND logic gate and the first PWM driving chip and is used for outputting a target control signal for controlling the servo motor to work based on the second gating signal input by the second AND logic gate and the signal to be controlled input by the first PWM driving chip.

Preferably, the controller module includes a main control unit, an encoder interface circuit, a first analog-to-digital conversion circuit, and a second analog-to-digital conversion circuit;

the encoder interface circuit is connected with the motor encoder and used for outputting an action sampling value to the main control unit based on an action feedback value input by the motor encoder;

the first analog-to-digital conversion circuit is connected with the current sensor circuit and used for acquiring a current sampling value based on a current feedback value input by the current sensor circuit and outputting the current sampling value to the main control unit;

the second analog-to-digital conversion circuit is connected with the voltage sampling circuit and used for acquiring a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit and outputting the voltage sampling value to the main control unit;

the main control unit is connected with the encoder interface circuit, the first analog-to-digital conversion circuit, the second analog-to-digital conversion circuit, the first processor and the second processor, and is used for receiving the action sampling value input by the encoder interface circuit, the current sampling value input by the first analog-to-digital conversion circuit and the voltage sampling value input by the second analog-to-digital conversion circuit, and outputting the action sampling value and the electric signal sampling value to the first processor and the second processor, wherein the electric signal sampling value comprises the current sampling value and/or the voltage sampling value.

Preferably, the power driving module further comprises a power module circuit and an SBC unit circuit;

the power module circuit is used for power conversion;

the SBC unit circuit is connected with the STO unit circuit and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit;

the controller module also comprises a CAN communication circuit, a digital IO interface circuit and an EtherCAT interface circuit;

the CAN communication circuit is used for connecting a control upper computer and the main control unit and outputting CAN communication signals to the main control unit;

the digital IO interface circuit is used for connecting a control upper computer and the main control unit and outputting a digital communication signal to the main control unit;

the EtherCAT interface circuit is used for connecting and controlling an upper computer and the main control unit and outputting network communication signals to the main control unit.

Preferably, the controller module comprises the first processor, the second processor, an encoder interface circuit, a first analog-to-digital conversion circuit, and a second analog-to-digital conversion circuit;

the encoder interface circuit is connected with the motor encoder and used for outputting an action sampling value to the first processor and the second processor based on an action feedback value input by the motor encoder;

the first analog-to-digital conversion circuit is connected with the current sensor circuit and used for acquiring a current sampling value based on a current feedback value input by the current sensor circuit and outputting the current sampling value to the first processor and the second processor;

the second analog-to-digital conversion circuit is connected with the voltage sampling circuit and used for acquiring a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit and outputting the voltage sampling value to the first processor and the second processor;

the first processor is connected to the encoder interface circuit, the first analog-to-digital conversion circuit and the second analog-to-digital conversion circuit, and is configured to receive the action sample value input by the encoder interface circuit, the current sample value input by the first analog-to-digital conversion circuit and the voltage sample value input by the second analog-to-digital conversion circuit, and output the first STO signal;

the second processor is connected to the encoder interface circuit, the first analog-to-digital conversion circuit, and the second analog-to-digital conversion circuit, and is configured to receive the action sample value input by the encoder interface circuit, the current sample value input by the first analog-to-digital conversion circuit, and the voltage sample value input by the second analog-to-digital conversion circuit, and output the second STO signal.

Preferably, the power driving module further comprises a power module circuit and an SBC unit circuit;

the power module circuit is used for power conversion;

the SBC unit circuit is connected with the STO unit circuit and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit;

the controller module also comprises a CAN communication circuit, a digital IO interface circuit and an EtherCAT interface circuit;

the CAN communication circuit is used for connecting a control upper computer and the first processor and outputting CAN communication signals to the first processor;

the digital IO interface circuit is used for connecting a control upper computer and the first processor and outputting a digital communication signal to the first processor;

the EtherCAT interface circuit is used for connecting and controlling an upper computer and the first processor and outputting network communication signals to the first processor.

The embodiment of the invention also provides a servo system which comprises a servo motor, a control upper computer and the servo driver, wherein the servo driver is connected with the control upper computer and the servo motor.

In the servo driver and the servo system, the target control signal output by the safety module can be redundant to control the servo motor to continue working or stop working, so that the servo driver has an emergency stop function, and the risk that the servo motor is out of control because the servo motor does not have the emergency stop function and personnel are injured or control equipment connected with the servo motor is damaged is avoided. The redundancy safety module is used for performing redundancy safety detection on an action sampling value formed by an action feedback value detected by the motor encoder and an electric signal sampling value formed by an electric signal feedback value detected by the power driving module to form a target STO signal, so that the formed target STO signal comprehensively considers the working current and the action of the servo motor, the safety monitoring of two dimensions is realized, and the working process of the servo motor driven by the servo motor is safer and more reliable. The power driving module can form a target control signal according to a target STO signal output by the redundant safety module, control the servo motor to continue working or stop working, can not be limited by the controller module, and can still shut off the operation of the servo motor in real time when the controller module breaks down, so that the safety of personnel and equipment is guaranteed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.

FIG. 1 is a schematic block diagram of a servo system according to an embodiment of the present invention;

FIG. 2 is another schematic block diagram of a servo system in an embodiment of the present invention;

FIG. 3 is another schematic block diagram of a servo system in an embodiment of the present invention;

FIG. 4 is a schematic block diagram of the STO cell circuit in one embodiment of the present invention.

In the figure:

10. a controller module; 11. a main control unit; 12. an encoder interface circuit; 13. a first analog-to-digital conversion circuit; 14. a second analog-to-digital conversion circuit; 15. a CAN communication circuit; 16. a digital IO interface circuit; 17. an EtherCAT interface circuit;

20. a power driving module; 21. a driving unit circuit; 22. a current sensor circuit; 23. an STO cell circuit; 231. a first AND logic gate; 232. a second AND logic gate; 233. a first PWM driving chip; 234. a second PWM driving chip; 24. a power module circuit; 25. a voltage sampling circuit; 26. an SBC unit circuit;

30. a motor encoder;

40. a redundant security module; 41. a first processor; 42. a second processor; 43. a first watchdog circuit; 44. a second watchdog circuit;

50. a servo motor;

60. controlling an upper computer;

70. an external scram module.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, the size and relative sizes of layers and regions may be exaggerated for clarity to indicate like elements throughout.

It will be understood that when an element or layer is referred to as being "on" …, "adjacent to …," "connected to" or "coupled to" other elements or layers, it can be directly on, adjacent to, connected to or coupled to the other elements or layers or intervening elements or layers may be present. In contrast, when an element is referred to as being "directly on …," "directly adjacent to …," "directly connected to" or "directly coupled to" other elements or layers, there are no intervening elements or layers present. It will be understood that, although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the present invention.

Spatial relationship terms such as "under …", "under …", "below", "under …", "above …", "above", and the like, may be used herein for ease of description to describe the relationship of one element or feature to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, then elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "below …" and "below …" can encompass both an orientation of up and down. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In the following description, for purposes of explanation, specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

As shown in fig. 1, the servo system provided in the embodiment of the present invention includes a servo motor 50, a control upper computer 60, and a servo driver, where the servo driver is connected to the control upper computer 60 and the servo motor 50. The servo motor 50 is an engine that controls the operation of mechanical elements in a servo system. The servo driver is a controller for controlling the operation of the servo motor 50, and can control the servo motor 50 by means of position, speed, torque, and the like. The control upper computer 60 is connected with a servo driver and is used for realizing the equipment of operations such as writing and downloading of control parameters, displaying of motion state waveforms, compiling of motor control algorithms, displaying of error reporting information and the like.

The embodiment of the invention provides a servo driver, which is used for being connected with a servo motor 50 to control the servo motor 50 to work. As shown in fig. 1, the servo driver includes a controller module 10, a power driving module 20, a motor encoder 30, and a redundant safety module 40; the motor encoder 30 is connected with the servo motor 50 and the controller module 10 and used for detecting the action of the servo motor 50 and outputting an action feedback value to the controller module 10; the power driving module 20 is connected with the servo motor 50 and the controller module 10, and is used for detecting an electric signal generated during the operation of the servo motor 50 and outputting an electric signal feedback value to the controller module 10; the controller module 10 is connected with the motor encoder 30, the power driving module 20 and the redundancy safety module 40, and is used for acquiring an action sampling value based on an action feedback value output by the motor encoder 30; acquiring an electrical signal sampling value based on the electrical signal feedback value output by the power driving module 20; sending the action sample value and the electrical signal sample value to the redundant safety module 40; the redundancy safety module 40 is connected with the controller module 10 and the power driving module 20, and is used for performing redundancy safety detection based on the action sampling value and the electric signal sampling value to form a target STO signal and sending the target STO signal to the power driving module 20; and the power driving module 20 is further connected to the redundant safety module 40, and is configured to form a target control signal based on the target STO signal output by the redundant safety module 40, and control the servo motor 50 to operate based on the target control signal.

The controller module 10 is a functional module in the servo driver for executing a motor control algorithm to control the other modules to work. As an example, the controller module 10 is connected to the control upper computer 60, and is configured to receive a trajectory control command including a control parameter input by the control upper computer 60, process the trajectory control command to form a target driving signal, and send the target driving signal to the power driving module 20, so that the power driving module 20 performs signal conversion processing according to the target driving signal to control the servo motor 50 to operate; and sends the trajectory control command to the redundant safety module 40 when the servo system is powered on. In this example, the trajectory control command generated by the controller module 10 includes control parameters such as an electrical signal set value, a maximum speed set value, a maximum acceleration set value, an operation position set value, and an operation direction set value, wherein the electrical signal set value includes a current set value and/or a voltage set value.

The power driving module 20 is a module for connecting the controller module 10 and the servo motor 50, and can receive and process the target driving signal input by the controller module 10 to form a target control signal, so as to control the servo motor 50 to operate based on the target control signal. The target control signal is a signal formed by the power driving module 20 processing the target driving signal input by the controller module 10 and used for controlling the operation of the servo motor 50. In this example, the power driving module 20 may control the servo motor 50 to operate, and during the operation of the servo motor 50, a current flows through the power driving module 20 and the dc bus of the servo motor 50, at this time, the power driving module 20 may detect an electrical signal during the operation of the servo motor 50 to form an electrical signal feedback value, and send the electrical signal feedback value to the controller module 10. The electric signal feedback value is an analog value corresponding to an electric signal collected by the power driving module 20 and used for feeding back a working current and/or a bus voltage during the operation of the servo motor 50, and specifically includes a current feedback value and/or a voltage feedback value.

The motor encoder 30 is a sensor mounted on the servo motor 50 for measuring a magnetic pole position, a rotation angle of the servo motor 50, and a rotation speed. In this example, when the servo motor 50 operates, the motion of the servo motor 50 is detected in real time by the motor encoder 30 to obtain a motion feedback value, and the motion feedback value is transmitted to the controller module 10. The motion feedback value is an analog value acquired by the motor encoder 30 to reflect the magnetic pole position, the motor rotation angle, and the motor rotation speed of the servo motor 50.

The controller module 10 is further connected to the power driving module 20 and the motor encoder 30 module, and is capable of receiving the electrical signal feedback value input by the power driving module 20 and the motion feedback value input by the motor encoder 30 module, performing signal conversion on the electrical signal feedback value and the motion feedback value, obtaining a digitized electrical signal sampling value and a digitized motion sampling value, and sending the electrical signal sampling value and the motion sampling value to the redundant safety module 40. The electric signal sampling value is a digital signal obtained after the electric signal feedback value is subjected to signal conversion. The action sample value is a digital signal obtained after the action feedback value is subjected to signal conversion, and the action sample value includes, but is not limited to, an operation position sample value, an operation speed sample value, and an operation direction sample value as an example.

The target STO (Safe Torque Off) signal is a signal for turning Off the output Torque of the servo motor 50 output by the redundant safety module 40 to stop the emergency brake without powering Off the servo motor 50.

The redundant safety module 40 is connected with the controller module 10 and the power driving module 20, and can receive an electrical signal sampling value and an action sampling value sent by the controller module 10, compare the electrical signal sampling value with an electrical signal set value pre-stored in the redundant safety module 40, and obtain an electrical signal comparison result; comparing the action sampling value with an action set value pre-stored in the redundant safety module 40 to obtain an action comparison result; based on the electric signal comparison result and the motion comparison result, a target STO signal is output and transmitted to the power driving module 20. The target control signal output by the safety module 40 may be redundant to control the servo motor 50 to continue to operate or stop operating, so that the servo driver has an emergency stop function, and the risk that the servo motor 50 is out of control due to the fact that the servo driver does not have the emergency stop function, so that personnel are injured or control equipment connected with the servo motor 50 is damaged is avoided.

In this example, the electrical signal sampling value is compared with the electrical signal set value, and if the electrical signal sampling value is matched with the electrical signal set value, the obtained electrical signal comparison result is that the electrical signal is normal, which indicates that the working current and/or the working voltage of the servo motor 50 are normal; on the contrary, if the sampled value of the electrical signal is not matched with the set value of the electrical signal, the obtained comparison result of the electrical signal is an electrical signal abnormality, which indicates that the working current and/or the working voltage of the servo motor 50 are abnormal.

In this example, the action sampling value is compared with the action set value, and if the action sampling value is matched with the action set value, the obtained action comparison result is that the action is normal, which indicates that the operation action of the servo motor 50 is normal; on the contrary, if the operation sampling value does not match the operation set value, the acquired operation comparison result is an operation abnormality, which indicates that the operation of the servo motor 50 is abnormal.

In a specific embodiment, the operation position sampling value, the operation speed sampling value, the operation direction sampling value and other operation sampling values can be matched with preset maximum speed set values, maximum acceleration set values, operation position set values, operation direction set values and other operation set values one by one, and if all the operation sampling values are matched with all the operation set values, the obtained operation comparison result is that the operation is normal; and if one of the action sampling values is not matched with one of the action set values, the obtained action comparison result is an action abnormity. It can be understood that the safety function of the safety control device is more comprehensive when the safety control is performed based on the formed action comparison result by comparing all the action sampling values with all the action set values, so as to solve the problem that the existing safety function is not comprehensive. For example, the problem that the runaway cannot be timely shut down and diagnosed when the controller module 10 fails when a certain speed limit operation is needed can be solved; for another example, the problem that if the controller module 10 fails when a certain torque is needed to operate, the torque may be too large, and the controller module cannot be turned off and diagnosed in time can be solved.

In this example, outputting the target STO signal based on the electrical signal comparison result and the motion comparison result specifically includes: if the electric signal comparison result is that the electric signal is normal and the action comparison result is that the action is normal, outputting a target STO signal which does not need emergency stop; if the electric signal comparison result is an electric signal abnormality or the operation comparison result is an operation abnormality, a target STO signal requiring an emergency stop is output. For example, the target STO signal requiring an emergency stop and the target STO signal not requiring an emergency stop may be referred to by a high level signal and a low level signal, respectively.

The power driving module 20 is further connected to the redundant safety module 40, receives the target STO signal output by the redundant safety module 40, performs signal conversion processing on the target STO signal, obtains a target control signal, and controls the servo motor 50 to operate based on the target control signal. The target control signal is a signal outputted from the power driving module 20 for controlling the operation of the servo motor 50. In this example, the target control signal includes a motor control signal for controlling the servo motor 50 to continue to operate and a band-type brake control signal for controlling the servo motor 50 to stop operating.

In the servo system, the process of controlling the servo motor 50 by the servo driver to realize safe operation includes the following steps:

(1) when the servo system is powered on, the controller module 10 obtains a track control command, sends the track control command to the redundant safety module 40, processes the track control command to form a target driving signal, and sends the target driving signal to the power driving module 20, so that the power driving module 20 performs signal conversion processing according to the target driving signal to control the servo motor 50 to work.

(2) During the operation of the servo motor 50, the motion feedback value is detected in real time by the motor encoder 30 and is transmitted to the controller module 10, and the electrical signal feedback value is detected in real time by the power driving module 20 and is transmitted to the controller module 10.

(3) The controller module 10 receives the electrical signal feedback value input by the power driving module 20 and the motion feedback value input by the motor encoder 30 module, performs signal conversion on the electrical signal feedback value and the motion feedback value, obtains a digitized electrical signal sampling value and a digitized motion sampling value, and sends the electrical signal sampling value and the motion sampling value to the redundant safety module 40.

(4) The redundant safety module 40 receives the electrical signal sampling value and the action sampling value sent by the controller module 10, and compares the electrical signal sampling value with an electrical signal set value pre-stored in the redundant safety module 40 to obtain an electrical signal comparison result; comparing the action sampling value with an action set value pre-stored in the redundant safety module 40 to obtain an action comparison result; based on the electric signal comparison result and the motion comparison result, a target STO signal is output and transmitted to the power driving module 20.

(5) The power driving module 20 receives the target STO signal, performs signal conversion processing on the target STO signal to obtain a target control signal, and controls the servo motor 50 to work based on the target control signal, so as to achieve the purpose of safety monitoring in the process of controlling the servo motor 50 to work. The power driving module 20 may form a target control signal according to the target STO signal output by the redundant safety module 40, control the servo motor 50 to continue to work or stop working, may not be limited by the controller module 10, and may still shut down the operation of the servo motor 50 in real time when the controller module 10 fails, thereby ensuring the safety of personnel and equipment.

In the servo driver provided in this embodiment, the target control signal output by the safety module 40 may be redundant to control the servo motor 50 to continue to operate or stop operating, so that the servo driver has an emergency stop function, and a risk that the servo motor 50 is out of control due to the fact that the servo driver does not have the emergency stop function, so that a person is injured or a control device connected to the servo motor 50 is damaged is avoided. The redundant safety module 40 performs redundant safety detection on an action sampling value formed by an action feedback value detected by the motor encoder 30 and an electrical signal sampling value formed by an electrical signal feedback value detected by the power driving module 20 to form a target STO signal, so that the formed target STO signal comprehensively considers the working current and the action of the servo motor 50, thereby realizing safety monitoring of two dimensions and ensuring that the servo motor 50 is driven by the target STO signal to work more safely and reliably. The power driving module 20 may form a target control signal according to the target STO signal output by the redundant safety module 40, control the servo motor 50 to continue to work or stop working, may not be limited by the controller module 10, and may still shut down the operation of the servo motor 50 in real time when the controller module 10 fails, thereby ensuring the safety of personnel and equipment.

In one embodiment, as shown in FIG. 2, redundant security module 40 includes a first processor 41 and a second processor 42 coupled to first processor 41; the first processor 41 is connected with the controller module 10 and the power driving module 20, and is configured to obtain a first comparison result based on the action sampling value and the electrical signal sampling value; acquiring a first STO signal based on the first comparison result and a second comparison result sent by second processor 42; a second processor 42, connected to the controller module 10 and the power driving module 20, for obtaining a second comparison result based on the motion sampling value and the electrical signal sampling value, and obtaining a second STO signal based on the second comparison result and the first comparison result sent by the first processor 41; wherein the target STO signal includes a first STO signal and a second STO signal.

In this example, the first processor 41 and the second processor 42 are independent processors capable of performing security detection.

As an example, the first processor 41 executes the following security detection logic: (A1) and receiving the electrical signal sampling value and the action sampling value sent by the controller module 10, and comparing the electrical signal sampling value with an electrical signal set value pre-stored in the redundant safety module 40 to obtain an electrical signal comparison result. (A2) The operation sampling value is compared with an operation set value stored in advance in the redundant safety module 40, and an operation comparison result is obtained. (A3) Based on the electrical signal comparison result and the action comparison result, a first comparison result is obtained, where the first comparison result is a result of comparing and determining the electrical signal set value and the action set value determined by the first processor 41 based on the trajectory control command sent when the controller module 10 is powered on, and the electrical signal sampling value and the action sampling value detected and sent in real time by the controller module 10. (A4) If the first comparison result is that the electrical signal comparison result is an electrical signal abnormality or the motion comparison result is a motion abnormality, the first processor 41 outputs a first STO signal that needs to be stopped urgently, so as to meet the functional requirement of turning off the motor driving signal in real time. (A5) If the electrical signal comparison result is that the electrical signal is normal and the action comparison result is that the action is normal, a second comparison result sent by the second processor 42 is obtained, and whether the first comparison result is consistent with the second comparison result is determined. (A6) If the first comparison result is inconsistent with the second comparison result, the first processor 41 and the second processor 42 both output the first STO signal and the second STO signal that require the emergency stop, so as to achieve the functional requirement of turning off the motor driving signal in real time.

Accordingly, the second processor 42 executes the following security detection logic: (B1) and receiving the electrical signal sampling value and the action sampling value sent by the controller module 10, and comparing the electrical signal sampling value with an electrical signal set value pre-stored in the redundant safety module 40 to obtain an electrical signal comparison result. (B2) The operation sampling value is compared with an operation set value stored in advance in the redundant safety module 40, and an operation comparison result is obtained. (B3) Based on the electrical signal comparison result and the action comparison result, a second comparison result is obtained, where the second comparison result is a result of comparing the electrical signal set value and the action set value determined by the second processor 42 based on the trajectory control command sent when the controller module 10 is powered on, and the electrical signal sampling value and the action sampling value sent by the controller module 10 through real-time detection. (B4) If the second comparison result is that the electrical signal comparison result is an electrical signal abnormality or the motion comparison result is a motion abnormality, the second processor 42 outputs a second STO signal that needs an emergency stop, so as to meet the functional requirement of turning off the motor driving signal in real time. (B5) If the electrical signal comparison result is that the electrical signal is normal and the action comparison result is that the action is normal, a first comparison result sent by the first processor 41 is obtained, and whether the first comparison result is consistent with the second comparison result is determined. (A6) If the first comparison result is inconsistent with the second comparison result, the first processor 41 and the second processor 42 both output the first STO signal and the second STO signal that require the emergency stop, so as to achieve the functional requirement of turning off the motor driving signal in real time.

In this example, the first processor 41 and the second processor 42 will output the first STO signal and the second STO signal that do not need to be stopped urgently only if the first comparison result and the second comparison result are both the electrical signal and the comparison result is the electrical signal is normal, the action comparison result is the action is normal, and the first comparison data and the second comparison data are consistent.

In this example, the redundant safety module 40 respectively performs safety detection on the action sampling value and the action sampling value by using the first processor 41 and the second processor 42 to form a first comparison result and a second comparison result, and based on the first comparison result and the second comparison result, the first processor 41 and the second processor 42 respectively output a first STO signal and a second STO signal, so as to control the servo motor 50 to stop emergently according to the first STO signal and/or the second STO signal, so as to implement dual-channel redundant safety detection and safety monitoring, so that when external factors interfere or self-failure, at least one safety detection channel can be ensured to perform safety detection, and the operation of the redundant safety module 40 is maintained.

In one embodiment, as shown in FIG. 2, redundant security module 40 further comprises a first watchdog circuit 43 coupled to first processor 41 and a second watchdog circuit 44 coupled to second processor 42; the first watchdog circuit 43 is configured to monitor a first dog feeding signal sent by the first processor 41 in real time, and send a first reset signal to the first processor 41 when the first dog feeding signal is not received in a preset monitoring period; the second watchdog circuit 44 is configured to monitor a second dog feeding signal sent by the second processor 42 in real time, and send a second reset signal to the second processor 42 when the second dog feeding signal is not received in a preset monitoring period; the first processor 41 is further configured to send a first dog feeding signal to the first processor 41 in a preset listening period, and reset based on a first reset signal sent by the first watchdog circuit 43; the second processor 42 is further configured to send a second dog feeding signal to the first processor 41 in a preset listening period, and reset based on a second reset signal sent by the second watchdog circuit 44.

Wherein the preset listening period is a preset time period.

In this example, when the first processor 41 works normally, a first feeding-dog signal is sent to the first watchdog circuit 43 at a fixed time within a preset listening period, so that the first watchdog circuit 43 knows that the first processor 41 operates normally; if the first watchdog circuit 43 does not receive the first dog feeding signal in the preset monitoring period, it indicates that the first processor 41 is abnormal in operation, and at this time, a first reset signal is sent to the first processor 41 to reset the first processor 41, so as to avoid that when the application is applied in the field of industrial automation control with strong electromagnetic interference or in other fields, the first processor 41 is halted due to electromagnetic interference or other processors execute abnormal conditions, which affects the implementation of the security detection function of the first processor 41.

Similarly, when the second processor 42 works normally, a second dog feeding signal is sent to the second watchdog circuit 44 at a fixed time within a preset monitoring period, so that the second watchdog circuit 44 knows that the second processor 42 operates normally; if the second watchdog circuit 44 does not receive the second dog feeding signal in the preset monitoring period, it indicates that the second processor 42 is abnormal in operation, and at this time, a second reset signal is sent to the second processor 42 to reset the second processor 42, so as to avoid that the second processor 42 is halted due to electromagnetic interference or other processors execute abnormal conditions when the second processor is applied in the industrial automation control field with strong electromagnetic interference characteristic or other fields, and the realization of the security detection function of the first processor 41 is affected.

In one embodiment, as shown in fig. 2 and 3, the electric signal feedback value comprises a current feedback value and/or a voltage feedback value; the power driving module 20 includes a driving unit circuit 21, a current sensor circuit 22, and an STO unit circuit 23; a driving unit circuit 21 connected to the controller module 10, for performing level conversion and isolation processing on a target driving signal input by the controller module 10, and outputting a target control signal for controlling the operation of the servo motor 50; the current sensor circuit 22 is connected with the driving unit circuit 21 and the servo motor 50 and is used for detecting the working current of the servo motor 50 and outputting a current feedback value to the controller module 10; the voltage sampling circuit 25 is connected with a direct-current bus of the servo motor 50 and the controller module 10, and is used for acquiring the bus voltage of the servo motor 50 and outputting a voltage feedback value to the controller module 10; and the STO unit circuit 23 is connected with the redundant safety module 40 and the external emergency stop module 70, and is configured to process a target STO signal input by the redundant safety module 40 and an external STO signal input by the external emergency stop module 70 and output a target control signal for controlling the servo motor 50 to operate.

The target driving signal is a driving signal output by the controller module 10 and used for driving the servo motor 50 to operate, where the driving signal is generally a PWM signal, and specifically includes a motor driving signal and a brake driving signal. The target control signal is a signal output by the power driving module 20 and used for controlling the operation of the servo motor 50, and generally is a control signal used for controlling a power switching transistor (such as a MOS transistor) corresponding to the servo motor 50 to be turned on or turned off, and specifically includes a motor control signal and a band-type brake control signal. STO unit circuit 23 is a circuit for performing an emergency stop operation in accordance with a received target STO signal. The external scram module 70 is a module for inputting an external STO signal for implementing an emergency stop control.

In this example, when the servo system is powered on, the controller module 10 may output a target driving signal to the power driving module 20 according to an operation of an operator, so that the driving unit circuit 21 in the power driving module 20 performs level conversion and isolation on the target driving signal to control the operation of the servo motor 50. At this time, the current sensor circuit 22 disposed between the driving unit circuit 21 and the servo motor 50 detects in real time, and outputs the collected current feedback value to the controller module 10, so that the controller module 10 forms a current sampling value based on the current feedback value and outputs the current sampling value to the redundant safety module 40. Meanwhile, a voltage feedback value is collected and outputted to the controller module 10 through a voltage sampling circuit 25 disposed between the dc bus of the servo motor 50 and the controller module 10, so that the controller module 10 forms a voltage sampling value based on the voltage feedback value and outputs the voltage sampling value to the redundant safety module 40.

The STO unit circuit 23 may process a target STO signal and an external STO signal input from the redundant safety module 40, and output a target control signal for controlling the operation of the servo motor 50, so as to implement emergency stop control according to the target STO signal and/or the external STO signal, implement safety monitoring control, and ensure the comprehensiveness of the safety monitoring function. For example, the STO unit circuit 23 may receive a target STO signal and an external STO signal input from the redundant safety module 40, and shut down a motor control signal and a brake control signal output from the controller module 10 when an emergency stop is required, thereby controlling the servo motor 50 to be emergently stopped.

In one embodiment, as shown in fig. 4, STO unit circuit 23 includes a first and logic gate 231, a second and logic gate 232, a first PWM driving chip 233, and a second PWM driving chip 234; a first and logic gate 231 connected to the first processor 41 and the external scram module 70, for forming a first strobe signal based on the first STO signal input from the first processor 41 and the external STO signal input from the external scram module 70; a second and logic gate 232, connected to the second processor 42 and the external emergency stop module 70, for forming a second strobe signal based on the second STO signal input by the second processor 42 and the external STO signal input by the external emergency stop module 70; a first PWM driving chip 233, connected to the first and logic gate 231 and the controller module 10, for outputting a signal to be controlled based on a first gating signal input by the first and logic gate 231 and a target driving signal input by the controller module 10; and the second PWM driving chip 234 is connected to the second and logic gate 232 and the first PWM driving chip 233, and is configured to output a target control signal for controlling the operation of the servo motor 50 based on a second gating signal input by the second and logic gate 232 and a signal to be controlled input by the first PWM driving chip 233.

The first and logic gate 231 performs a logical and operation based on the first STO signal input by the first processor 41 and the external STO signal input by the external scram module 70; if both the first strobe signal and the second strobe signal are high level signals, the output first strobe signal is a high level signal; if at least one of the two signals is a low-level signal, the output first gating signal is a low-level signal, and the first gating signal is sent to the first PWM driving chip 233 to trigger the first PWM driving chip 233 to turn off the target driving signal, that is, to turn off the motor driving signal and the internal contracting brake driving signal.

The second and logic gate 232 performs a logical and operation based on the second STO signal input by the second processor 42 and the external STO signal input by the external scram module 70; if both the first strobe signal and the second strobe signal are high level signals, the output second strobe signal is a high level signal; if at least one of the two signals is a low-level signal, the output second gating signal is a low-level signal, and the second gating signal is sent to the second PWM driving chip 234 to trigger the second PWM driving chip 234 to turn off the target driving signal, that is, turn off the motor driving signal and the band-type brake driving signal.

The first PWM driving chip 233 is connected to the first and logic gate 231 and the controller module 10, and configured to receive the first gating signal of the first and logic gate 231 and the diagnostic signal and the target driving signal (including the motor driving signal and the brake driving signal) of the controller module 10, and output a signal to be controlled to the second PWM driving chip 234, where the signal to be controlled includes the motor control signal and the brake control signal. The second PWM driving chip 234 is connected to the first PWM driving chip 233 and the second and logic, and is configured to receive a signal to be controlled and a second gating signal, and output a target control signal, where the target control signal includes a motor control signal and a brake control signal. For example, the STO unit circuit 23 is connected to six three-phase upper and lower bridge MOS transistors of the servo motor 50, and controls the six three-phase upper and lower bridge MOS transistors to operate according to a motor control signal; and the STO unit circuit 23 is connected with the band-type brake MOS tube and controls the suction and the turn-off of the band-type brake MOS tube according to the band-type brake control signal.

In the STO unit circuit 23 provided in this example, when at least one of the first STO signal input by the first processor 41, the second STO signal input by the second processor 42, and the external STO signal input by the external emergency stop module 70 is valid, the target driving signal of the controller module 10, that is, the motor driving signal and the band-type brake driving signal, may be turned off, so as to control the servo motor 50 to implement an emergency stop, thereby avoiding a problem that the emergency stop function cannot be implemented when a part of the signals fails.

In one embodiment, as shown in fig. 2, the controller module 10 includes a main control unit 11, an encoder interface circuit 12, a first analog-to-digital conversion circuit 13, and a second analog-to-digital conversion circuit 14; the encoder interface circuit 12 is connected with the motor encoder 30 and used for outputting an action sampling value to the main control unit 11 based on the action feedback value input by the motor encoder 30; the first analog-to-digital conversion circuit 13 is connected with the current sensor circuit 22, and is used for acquiring a current sampling value based on a current sampling value input by the current sensor circuit 22 and outputting the current sampling value to the main control unit 11; the second analog-to-digital conversion circuit 14 is connected with the voltage sampling circuit 25 and is used for acquiring a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit 25 and outputting the voltage sampling value to the main control unit 11; and the main control unit 11 is connected to the encoder interface circuit 12, the first analog-to-digital conversion circuit 13, the second analog-to-digital conversion circuit 14, the first processor 41 and the second processor 42, and is configured to receive an action sample value input by the encoder interface circuit 12, a current sample value input by the first analog-to-digital conversion circuit 13, and a voltage sample value input by the second analog-to-digital conversion circuit 14, and output the action sample value and an electrical signal sample value to the first processor 41 and the second processor 42, where the electrical signal sample value includes a current sample value and/or a voltage sample value.

The encoder interface circuit 12 is an interface circuit for connecting the motor encoder 30 and the main control unit 11, and is mainly used for performing signal conversion on an action feedback value input by the motor encoder 30 and converting the action feedback value into an action sampling value which can be identified and processed by the main control unit 11.

The first analog-to-digital conversion circuit 13 is a conversion circuit for connecting the current sensor circuit 22 and the main control unit 11, and is mainly used for performing analog-to-digital conversion on a current sample value input by the current sensor circuit 22 to convert the current sample value into a current sample value that can be recognized by the main control unit 11.

The second analog-to-digital conversion circuit 14 is a conversion circuit for the voltage sampling circuit 25 and the main control unit 11, performs analog-to-digital conversion on the input voltage feedback value of the voltage sampling circuit 25, obtains a voltage sampling value, and sends the voltage sampling value to the main control unit 11, so that the main control unit 11 determines whether an overvoltage phenomenon or an undervoltage phenomenon exists according to the voltage sampling value and the voltage setting value, and if the overvoltage phenomenon or the undervoltage phenomenon exists, outputs a fault-reporting diagnosis signal to control the servo motor 50 to stop operating. For example, when the servo motor 50 brakes, the bus voltage may rise, and if the energy release circuit of the servo system fails or the controller module 10 fails, the bus voltage may rise to exceed a preset voltage setting value of the power driving module 20, so that the power driving module 20 fails, and therefore, the voltage sampling value may be sent to the redundant safety module 40 through the second analog-to-digital conversion circuit 14 for redundant safety detection, so as to further ensure the safety of the servo motor 50 during the operation process

In this example, the main control unit 11 is a processor independently provided to execute a motor control algorithm to output a trajectory control command or a target drive signal. In this example, the main control unit 11 may receive the action sample value input by the encoder interface circuit 12, the current sample value input by the first analog-to-digital conversion circuit 13, and the voltage sample value input by the second analog-to-digital conversion circuit 14, and forward the action sample value, the current sample value input by the first analog-to-digital conversion circuit 13, and the voltage sample value to the redundancy safety module 40, and specifically forward the action sample value to the first processor 41 and the second processor 42, so as to ensure the implementation of the redundancy safety.

In one embodiment, as shown in fig. 2, the power driving module 20 further includes a power module circuit 24, and an SBC cell circuit 26; a power module circuit 24 for performing power conversion; the SBC unit circuit 26 is connected with the STO unit circuit 23 and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit 23; the controller module 10 further includes a CAN communication circuit 15, a digital IO interface circuit 16, and an EtherCAT interface circuit 17; the CAN communication circuit 15 is used for connecting the control upper computer 60 and the main control unit 11 and outputting CAN communication signals to the main control unit 11; the digital IO interface circuit 16 is used for connecting the control upper computer 60 and the main control unit 11 and outputting a digital communication signal to the main control unit 11; and the EtherCAT interface circuit 17 is used for connecting the control upper computer 60 and the main control unit 11 and outputting network communication signals to the main control unit 11.

The power module circuit 24 is a circuit for providing power isolation and conversion, among other things. Since different types of voltages are required to be supplied to different components inside the controller module 10, the control power and the control power need to be electrically isolated from each other to prevent interference and meet safety requirements.

The SBC unit circuit 26 is a circuit for performing a safety brake control based on a target control signal output from the STO unit circuit 23, and has functions of detecting an overload, a temperature, a voltage, and an open-circuit error.

In one embodiment, as shown in fig. 3, the controller module 10 includes a first processor 41, a second processor 42, an encoder interface circuit 12, a first analog-to-digital conversion circuit 13, and a second analog-to-digital conversion circuit 14; an encoder interface circuit 12 connected to the motor encoder 30, and configured to output an operation sample value to the first processor 41 and the second processor 42 based on the operation feedback value input by the motor encoder 30; a first analog-to-digital conversion circuit 13 connected to the current sensor circuit 22, and configured to obtain a current sample value based on the current sample value input by the current sensor circuit 22, and output the current sample value to the first processor 41 and the second processor 42; the second analog-to-digital conversion circuit 14 is connected to the voltage sampling circuit 25, and is configured to obtain a voltage sampling value based on a voltage feedback value input by the voltage sampling circuit 25, and output the voltage sampling value to the first processor 41 and the second processor 42; the first processor 41 is connected to the encoder interface circuit 12, the first analog-to-digital conversion circuit 13, and the second analog-to-digital conversion circuit 14, and configured to receive an action sample value input by the encoder interface circuit 12, a current sample value input by the first analog-to-digital conversion circuit 13, and a voltage sample value input by the second analog-to-digital conversion circuit 14, and output a first STO signal; and the second processor 42 is connected to the encoder interface circuit 12, the first analog-to-digital conversion circuit 13, and the second analog-to-digital conversion circuit 14, and is configured to receive the operation sample value input by the encoder interface circuit 12, the current sample value input by the first analog-to-digital conversion circuit 13, and the voltage sample value input by the second analog-to-digital conversion circuit 14, and output a second STO signal.

In this example, the second processor 42 is directly connected to the encoder interface circuit 12, the first analog-to-digital conversion circuit 13, and the second analog-to-digital conversion circuit 14, and the second processor 42 is connected to the first processor 41, so that the second processor 42 can forward the received current sample value, the voltage sample value, and the action sample value to the first processor 41, so that the first processor 41 and the second processor 42 can perform a safety redundancy check based on the received current sample value, the received voltage sample value, and the received action sample value, and output the first STO signal and the second STO signal, respectively.

In this example, the controller module 10 may be the first processor 41 and the second processor 42 in the redundant safety module 40, even if the first processor 41 and the second processor 42 are integrated with safety detection logic, implementing dual-channel redundant safety detection; and integrates a motor control algorithm in the main control unit 11 to control the servo motor 50 to work. The encoder interface circuit 12 and the first analog-to-digital conversion circuit 13 in this example have the same implementation functions as the encoder interface circuit 12 and the first analog-to-digital conversion circuit 13 shown in fig. 2, and are not repeated here to avoid repetition.

In one embodiment, as shown in fig. 3, the power driving module 20 further includes a power module circuit 24 and an SBC cell circuit 26; a power module circuit 24 for performing power conversion; the SBC unit circuit 26 is connected with the STO unit circuit 23 and is used for carrying out safe internal contracting brake control according to a target control signal output by the STO unit circuit 23; the controller module 10 further includes a CAN communication circuit 15, a digital IO interface circuit 16, and an EtherCAT interface circuit 17; the CAN communication circuit 15 is used for connecting the control upper computer 60 and the first processor 41 and outputting CAN communication signals to the first processor 41; the digital IO interface circuit 16 is used for connecting the control upper computer 60 and the first processor 41, and outputting a digital communication signal to the first processor 41; the EtherCAT interface circuit 17 is used for connecting the control upper computer 60 and the first processor 41, and is used for outputting a network communication signal to the first processor 41.

In this example, the main control unit 11 in fig. 2 is replaced by a first processor 41 and a second processor 42 connected to the first processor 41, and the first processor 41 is connected to the control upper computer 60 through the CAN communication circuit 15, the digital IO interface circuit 16, and the EtherCAT interface circuit 17, and is configured to execute a motor control algorithm according to communication signals such as CAN communication signals, digital communication signals, and network communication signals, to form corresponding motor driving signals, and send the motor driving signals to the second processor 42. The second processor 42 is connected to the first processor 41 and to the power driving module 20, and is used for controlling the operation of the servo motor 50 through the power driving module 20.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.