描述

CR215GH87 對(duì)故障做初步處理并根據(jù)發(fā)生故障的類型向用戶上報(bào)故障代碼

CR215GH87控制器模塊的功能主要包括以下幾個(gè)方面：

運(yùn)動(dòng)控制：這是控制器模塊最核心的功能。根據(jù)接收到的運(yùn)動(dòng)命令，控制器進(jìn)行運(yùn)動(dòng)學(xué)解算或軌跡規(guī)劃運(yùn)算，得到每個(gè)伺服控制周期內(nèi)各個(gè)關(guān)節(jié)的角度值，并發(fā)送到伺服驅(qū)動(dòng)系統(tǒng)，使機(jī)器人的末端可以在三維空間中完成指定的路徑或姿態(tài)變化。

I/O控制：包括機(jī)器人控制器的通用I/O端口和EtherCAT擴(kuò)展I/O板。主要負(fù)責(zé)對(duì)外界信號(hào)進(jìn)行響應(yīng)或輸出，如機(jī)器人末端工具啟動(dòng)與停止控制、機(jī)器人的急停信號(hào)、生產(chǎn)線傳感器的檢測(cè)信號(hào)響應(yīng)等。

故障處理：對(duì)故障做初步處理并根據(jù)發(fā)生故障的類型向用戶上報(bào)故障代碼，或者接受用戶輸入的故障復(fù)位指令。

參數(shù)設(shè)置：主要是對(duì)控制器的配置參數(shù)做一些設(shè)置，如EtherCAT通信對(duì)象映射參數(shù)、串口通信波特率等。

數(shù)據(jù)緩沖與交換：在數(shù)據(jù)輸入和輸出時(shí)進(jìn)行緩沖，并實(shí)現(xiàn)CPU與控制器之間、控制器與設(shè)備之間的數(shù)據(jù)交換。

差錯(cuò)控制：對(duì)由I/O設(shè)備傳送來(lái)的數(shù)據(jù)進(jìn)行差錯(cuò)檢測(cè)，若發(fā)現(xiàn)傳送中出現(xiàn)了錯(cuò)誤，通常是將差錯(cuò)檢測(cè)碼置位，并向CPU報(bào)告，CPU將本次傳送來(lái)的數(shù)據(jù)作廢，并重新進(jìn)行一次傳送，保證數(shù)據(jù)輸入的正確性。

算法操作：控制器模塊的作用主要是在獲得電機(jī)電流、位置信號(hào)、斬波電流參考值IRef及占空比Duty等數(shù)據(jù)后，進(jìn)行相應(yīng)的算法操作，生成各相上下功率管的開關(guān)控制信號(hào)，以合理有序地控制電機(jī)正常工作。

CR215GH87 對(duì)故障做初步處理并根據(jù)發(fā)生故障的類型向用戶上報(bào)故障代碼

The functions of CR215GH87 controller module mainly include the following aspects:

Motion control: This is the most core function of the controller module. According to the received motion commands, the controller performs kinematic calculation or trajectory planning operation, obtains the Angle value of each joint in each servo control cycle, and sends it to the servo drive system, so that the end of the robot can complete the specified path or attitude change in three-dimensional space.

I/O control: Includes a universal I/O port for the robot controller and EtherCAT extended I/O board. Mainly responsible for the response or output of external signals, such as robot end tool start and stop control, robot emergency stop signal, production line sensor detection signal response, etc.

Troubleshooting: Perform preliminary troubleshooting and report the fault code to the user based on the fault type, or accept the fault reset instruction entered by the user.

Parameter setting: Mainly set some configuration parameters of the controller, such as EtherCAT communication object mapping parameters and serial port communication baud rate.

Data buffering and exchange: buffering during data input and output, and data exchange between CPU and controller, controller and device.

Error control: Error detection is performed on the data transmitted by the I/O device. If an error is found in the transmission, the error detection code is set and reported to the CPU. The CPU invalidates the data and transmits it again to ensure the correctness of the data input.

Algorithm operation: The function of the controller module is to carry out the corresponding algorithm operation after obtaining the data of the motor current, position signal, chopper current reference value IRef and Duty cycle duty, etc., to generate the switch control signal of the upper and lower power tube of each phase, so as to control the normal operation of the motor in a reasonable and orderly way.

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公司介紹：
成都陽(yáng)光不斷創(chuàng)新致力于提升停產(chǎn)的自動(dòng)化零件供應(yīng)水平，無(wú)論客戶身處何地，無(wú)論所需配件多么稀有，我們總能將客戶與所需產(chǎn)品緊密連接 ，成都陽(yáng)光零部件覆蓋廣泛。
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Company Introduction:
Chengdu Sunshine Xihe Co., Ltd. specializes in one-stop procurement consulting for imported industrial spare parts, offering original equipment and professional discontinued parts services. We are committed to providing efficient and reliable automation solutions for our customers. Customer support fast responseThe network of partners spans all continentsGlobal partner networkAlways achieve more delivery, be it parts, service or speed



始終實(shí)現(xiàn)更多的交付，無(wú)論是零件、服務(wù)還是速度