CN104760049B - RS485 bus based embedded type lightweight mechanical arm control system - Google Patents
RS485 bus based embedded type lightweight mechanical arm control system Download PDFInfo
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- CN104760049B CN104760049B CN201510148176.6A CN201510148176A CN104760049B CN 104760049 B CN104760049 B CN 104760049B CN 201510148176 A CN201510148176 A CN 201510148176A CN 104760049 B CN104760049 B CN 104760049B
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- 230000011218 segmentation Effects 0.000 claims 1
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Abstract
The invention discloses an RS485 bus based embedded type lightweight mechanical arm control system. The system comprises a mechanical arm embedded controller, a demonstrator and at least one node device, wherein the mechanical arm controller is in communication connection with the demonstrator; the mechanical arm embedded controller is in communication connection with the at least one node device through a 4-20Mbps RS485 bus. According to the system, the control frequency is increased according to the speed advantage of the high-speed RS485 bus; meanwhile, the embedded system framework is adopted to greatly improve the reliability and cost advantages of the control system.
Description
Technical field
The present invention relates to a kind of mechanical arm control system, more particularly to a kind of embedded light-duty machine based on RS485 buses
Tool arm control system.
Background technology
Light-duty mechanical arm have the advantages that it is lightweight, be easy to it is mobile, combine flexible, with low cost, be especially suitable for multi items,
The modern mode of production of small lot, and adopt modular combination mode, the advantage with batch production.Existing light-duty machinery
Arm control system adopts the supervisory controller and CAN based on PC mostly, due to the problems such as PC cost and power consumption, radiating
It is and many masters of CAN are more from cellular logic structure, when the control of light-duty mechanical arm is applied to, not very good.With
As a example by CAN, a 6 shaft mechanical arms, additional 2 general I/O modules, add up to 8 nodes, each node data amount be 8 bytes, CAN
Communication packet is about 110, even if calculating according to the most fast 1Mbps of CAN, a complete 8 nodes communication is at least needed
Want 2 milliseconds.In real work, due to considering reliability and CAN conflict avoiding problem, 4 to 5 milliseconds are generally required.Not only
High-precision Torque Control is difficult to, high-precision high speed TRAJECTORY CONTROL is all difficult to.
The content of the invention
It is an object of the invention to the above-mentioned deficiency in the presence of overcoming prior art, there is provided a kind of to be based on RS485 buses
Embedded light mechanical arm control system, improve control frequency using the speed advantage of 485 bus of High-Speed RS, while using embedding
Embedded system framework greatly improves the reliability and cost advantage of control system.
To achieve these goals, the invention provides technical scheme below：
A kind of embedded light mechanical arm control system based on RS485 buses, it is characterised in that embedding including a mechanical arm
Enter formula controller, a demonstrator and at least one node apparatus, the mechanical arm controller is communicated to connect with demonstrator, the machine
Tool arm embedded controller is connected by the RS485 bus communications of 4-20Mbps with least one node apparatus.
Preferably, the mechanical arm embedded controller includes a flush bonding processor, a programmable core logic
RS485 protocol processes chip and a RS485 high-speed isolated transceivers.
Preferably, MCIMX6Q6AVT10AC multinuclear embedded processing of the flush bonding processor using Freescale
Device, the RS485 protocol processes chip of the programmable core logic adopt the EP4CE6E22I7 FPGA cores of Altera
Piece, the RS485 high-speed isolateds transceiver adopt ISO3088 chips.
Preferably, the node apparatus are made up of node module and application module, and the node module includes that one may be programmed
The RS485 protocol processes chip of logical device core and a RS485 high-speed isolated transceivers, the application module are servo-drive
Module, digital input and output modules or simulation input output module.
Preferably, the RS485 protocol processes chip of the programmable core logic can using the iCE40LP1K of Lattice
Programmed logic chip, the RS485 high-speed isolateds transceiver adopt ISO3088 chips.
Preferably, parallel bus and serial bus communication are adopted between the node module and application module.
Preferably, STM32F405RG processor chips of the servo-driven module using ST.
Preferably, the mechanical arm embedded controller transmits man machine interface display information to demonstrator by LVDS signals
Show, while the keyboard of demonstrator and touch input information pass through RS422 bus transfers to mechanical arm embedded controller.
Preferably, it is characterised in that the RS485 buses adopt 10Mbps traffic rates.
Preferably, it is characterised in that the node apparatus are 1-32.
Compared with prior art, beneficial effects of the present invention：
1. the control system superior performance of the present invention, as a result of 485 bus of High-Speed RS that may be up to 10Mbps, and makes
Accelerate protocol processes with FPGA and CPLD, controlling cycle is shortened within 1 millisecond by 4-5 milliseconds, while number of nodes can be with
32 are increased to, with good extended capability；
2. the control system of the present invention makes controller software and demonstrator using the controller core of real time embedded system
Running software on same polycaryon processor eliminates the somewhat complex design of demonstrator, simplifies between controller and demonstrator
Complicated communication protocol, not only increases reliability, and cost is cheaper.
Description of the drawings
Fig. 1 is the embedded light mechanical arm control system architecture figure of the present invention
Fig. 2 is the mechanical arm embedded controller structure chart of the present invention
Fig. 3 is the node module structure chart of node of the present invention
Fig. 4 is the RS485 communication processes of the present invention
Specific embodiment
With reference to test example and specific embodiment, the present invention is described in further detail.But this should not be understood
Scope for above-mentioned theme of the invention is only limitted to below example, and all technologies realized based on present invention belong to this
The scope of invention.
The architecture of the present invention is as shown in figure 1, be made up of 3 big ingredients：Mechanical arm controller body, demonstrator and
Node, number of nodes are relevant with the mechanical arm number of axle and IO quantity, and maximum node is determined by RS485 traffic rates, when RS485 buses
When running on 10Mbsp, node is up to 32.
As shown in Fig. 2 controller body is made up of two parts core：Based on Freescale companies MCIMX6Q6AVT10AC
The core control circuit of multinuclear flush bonding processor and based on altera corp's EP4CE6E22I7 field programmable gate arrays
RS485 communication protocols accelerate processing unit.MCIMX6Q6AVT10AC runs real-time Linux operating system and robot motion's control
Related algorithm processed and I/O logical process softwares, and the human interface software based on QT environment, aforesaid operations system and correlation
Algorithm and software are it is known in the art, will not be described here.The display information of man machine interface is transmitted by LVDS signals
Show to demonstrator, while the input information such as the keyboard of demonstrator, touch passes through RS422 bus transfers to controller body.Fortune
Dynamic control and I/O controls relevant information are sent to after FPGA by processor, and FPGA packs to data, transmission, and automatic reception comes
From the reply data bag of each node, it is stored in internal buffer and reads for processor.FPGA is changed into sending after data packing
1bit data flows, through into high-speed isolated RS485 transceiver ISO3088.The isolation of ISO3088 highests, transmitting-receiving speed are
20Mbps, fully meets the requirement of 10Mbps.
Demonstrator is responsible for display man machine interface information, and by user key-press information transmission to controller, as controller is adopted
It is real time operating system, therefore demonstrator only has the change-over circuit of the TTL signal that LVDS used to liquid crystal display screen, structure letter
Single, reliability is high.
Node is divided into several type, and most basic is the servo-drive node of controlled motor, followed by general digital
Inport And Outport Node and simulation input output node etc..Although node concrete function is different, constituted by two parts：Section
Point module and application module.
Each node uses identical node module, all public by high-speed isolated RS485 transceiver ISO3088 and Lattice
The iCE40LP1K-QN84 CPLD composition of department.ICE40LP1K-QN84 is responsible for receiving the data in bus,
And determine whether to be sent to the data of this node, then this node state or input information are sent in bus for control
Device processed is received.The data of iCE40LP1K-QN84 transmitting-receivings, finally by the processor on node being processed.Node module and should
With parallel and serial bus communication is used between module, and open protocol is adopted, user can be manufactured and designed with oneself and meet
The application module of standard.
The application module of node, is divided into several classes according to final application difference, such as drives the low voltage motor of DC brushless motor
Drive module, the digital I/O modules for realizing digital quantity input and output, realize simulation I/O modules of analog input and output etc..Section
STM32F4 series processors STM32F405RG of the point processor from ST companies, dominant frequency 168MHz refer to single-precision floating point
Order, is especially suitable for Motor drive.Which is encapsulated as QFP64 simultaneously, and small volume coordinates the iCE40LP1K-QN84 of QFN84 encapsulation, section
The main control portion circuit level of point is high, it is little to take board area, is especially suitable for space-constrained motor/driving one
Change design.
To improve controller communication efficiency, processor time loss is reduced, RS485 buses are using the time by the communication being segmented
Mode, each node can only communication in the stipulated time again, therefore using controller end FPGA and node side CPLD accelerating
Protocol processes, do not need CPU interventions in agreement process, and after only protocol processes are finished, FPGA or CPLD is just produced
Interrupt logic, notifies that CPU carries out data processing.RS485 protocol processes are carried out using PLD and belongs to this area institute
It is known, will not be described here.
Communication process is as shown in Figure 4：First, each communication cycle is made up of main website synchronized broadcast and some time, often
In the individual time period, by being divided into, main website sends order to slave station and slave station responds two parts.In the system, main website is exactly
Controller, slave station are exactly each node.After main website sends order, slave station will be responded in 1 gsec of regulation, be otherwise
It is considered as communication failure.To ensure that slave station is responded in 1us, slave station will be accelerated using CPLD.If communication failure, that
Main website needs to record the slave station sequence number, is once remedied communication in time period n+1.If two slave station communication failures,
So also the slave station of second failure to be carried out remedying communication in time period n+1.As, in a communication cycle, main website will
Repeatedly send and order and receive response, will also judge whether to remedy communication, it is therefore desirable to carry out at acceleration using FPGA
Reason, it is to avoid frequently produce and interrupt the time for taking CPU.
Claims (4)
1. the embedded light mechanical arm control system based on RS485 buses, it is characterised in that including the embedded control of a mechanical arm
Device processed, a demonstrator and at least one node apparatus, the mechanical arm embedded controller are communicated to connect with demonstrator, the machine
Tool arm embedded controller is connected by the RS485 bus communications of 10-20Mbps with node apparatus, and RS485 buses adopt the time
By the communication mode of segmentation, each node apparatus is communicated at the appointed time, and the mechanical arm embedded controller includes that one is embedding
Enter formula processor, the RS485 protocol processes chip of a programmable core logic and a RS485 high-speed isolated transceivers, it is described
Flush bonding processor adopts MCIMX6Q6AVT10AC multinuclear flush bonding processors, the RS485 agreements of the programmable core logic
Process chip adopts EP4CE6E22I7 programmable logic chips, the node apparatus to be made up of node module and application module, institute
Stating node module includes RS485 protocol processes chip and the 2nd RS485 high-speed isolateds transmitting-receiving of a PLD core
Device, the RS485 protocol processes chip of the PLD core adopt iCE40LP1K programmable logic chips, described
First and second RS485 high-speed isolateds transceivers adopt ISO3088 chips, and the application module is servo-driven module, numeral
Input/output module or simulation input output module, the servo-driven module adopt STM32F405RG processors, using machinery
The EP4CE6E22I7 programmable logic chips at arm embedded controller end and the iCE40LP1K FPGAs at node apparatus end
Chip does not need MCIMX6Q6AVT10AC multinuclears embedded accelerating RS485 protocol processes, in RS485 agreement process
Processor and STM32F405RG processors intervention, after RS485 protocol processes are finished, EP4CE6E22I7 programmable logic chips or
Person iCE40LP1K programmable logic chips produce interrupt logic, notify MCIMX6Q6AVT10AC multinuclears flush bonding processor or
STM32F405RG processors carry out data processing.
2. the embedded light mechanical arm control system based on RS485 buses according to claim 1, it is characterised in that
Parallel bus and serial bus communication are adopted between the node module and application module.
3. the embedded light mechanical arm control system based on RS485 buses according to claim 1, it is characterised in that
The mechanical arm embedded controller transmits man machine interface display information by LVDS signals and shows to demonstrator, while demonstrator
Keyboard and touch input information by RS422 bus transfers to mechanical arm embedded controller.
4. the embedded light mechanical arm control system based on RS485 buses according to claim 1, it is characterised in that
The node apparatus are 1-32.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510148176.6A CN104760049B (en) | 2015-03-31 | 2015-03-31 | RS485 bus based embedded type lightweight mechanical arm control system |
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| CN201510148176.6A CN104760049B (en) | 2015-03-31 | 2015-03-31 | RS485 bus based embedded type lightweight mechanical arm control system |
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| CN104760049B true CN104760049B (en) | 2017-04-12 |
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| CN109143936B (en) * | 2018-10-09 | 2021-02-26 | 陕西海嵘工程试验检测股份有限公司 | Tunnel detection vehicle control system with bus control and communication functions |
| JP2023062350A (en) * | 2021-10-21 | 2023-05-08 | セイコーエプソン株式会社 | Robot control method, robot control system, and robot control program |
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| US7194321B2 (en) * | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN1818817A (en) * | 2006-03-08 | 2006-08-16 | 天津成科自动化工程技术有限公司 | Bus-style controller |
| CN100544899C (en) * | 2007-10-26 | 2009-09-30 | 昆山华恒工程技术中心有限公司 | An open robot system |
| CN202199900U (en) * | 2011-07-21 | 2012-04-25 | 广州数控设备有限公司 | Welding controller based on DeviceNet mode and RS485 mode |
| CN203250190U (en) * | 2013-03-27 | 2013-10-23 | 深圳市生命之泉科技发展有限公司 | Industrial Robot Controller |
| CN103722556B (en) * | 2013-12-16 | 2016-01-20 | 北京自动化控制设备研究所 | A kind of high accuracy lightweight robotic multi-degree-of-freemechanical mechanical arm Drive and Control Circuit |
| CN204748631U (en) * | 2015-03-31 | 2015-11-11 | 南通艾利特自动化有限公司 | Embedded light -duty arm control system based on RS485 bus |
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Effective date of registration: 20150724 Address after: Jiangsu province Nantong City Chongchuan road 226019 No. 58 Industrial Technology Research Institute Building 3, Room 405 Applicant after: Nantong Ai Lite Automation Co., Ltd Applicant after: NANTONG INDUSTRY TECHNOLOGY RESEARCH INSTITUTE CO., LTD. Address before: Jiangsu province Nantong City Chongchuan road 226019 No. 58 Industrial Technology Research Institute Building 3, Room 405 Applicant before: Nantong Ai Lite Automation Co., Ltd |
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Effective date of registration: 20210517 Address after: 215000 Suzhou Industrial Park and 28 Heshun Road, Jiangsu Province Patentee after: SUZHOU ELITE ROBOT Co.,Ltd. Address before: 226019 Room 405, 3 Building, Industrial Technology Research Institute, 58 Chongchuan Road, Nantong City, Jiangsu Province Patentee before: NANTONG AILITE AUTOMATION Co.,Ltd. Patentee before: NANTONG INDUSTRY TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |