方案概述

　　随着目前智能设备和机器人的发展，伺服系统的应用也越来越广泛。我们对指标功能要求更加多样化，不同的应用对结构也有不同的需求。本文为迎合中小功率的书本式架构的伺服系统提供了高指标、结构紧凑、可提高设备散热能力的解决方案。

　　器件优势

　　• 中小功率书本式IGBT模块(FLOW90系列)，使约1000-5000W功率的伺服系统的主板和散热器间成90度，呈书架式架构，易通风散热且小型化;

　　• 具有R4F内核的32位MCU(R7S910001CFP)，最高600MHz主频，内部集成工业以太网Ether CAT控制器、编码器接口(可支持多种协议的编码器)、单相和三相伺服逆变控制功能。

【R7S910001CFP】

300 MHz/450 MHz/600 MHz, MCU with ARM Cortex®-R4 and -M3*1, on-chip FPU, 498/747/996DMIPS, up to 1 Mbyte of on-chip extended SRAM, Ethernet MAC, EtherCAT*1, USB 2.0 high-speed,CAN, various communications interfaces such as an SPI multi-I/O bus controller, ΔΣ interface, safetyfunctions, encoder interfaces*1, and security functions*1

Features

■ On-chip 32-bit ARM Cortex-R4 processor

• High-speed realtime control with maximum operating frequency of300/450/600 MHzCapable of 498/747/996 DMIPS (in operation at 300/450/600MHz)

• On-chip 32-bit ARM Cortex-R4 (revision r1p4)

• Tightly coupled memory (TCM) with ECC: 512 Kbytes/32 Kbytes

• Instruction cache/data cache with ECC: 8 Kbytes per cache • High-speed interrupt

• The FPU supports addition, subtraction, multiplication, division,

multiply-and-accumulate, and square-root operations at singleprecision

and double-precision.

• Harvard architecture with 8-stage pipeline

• Supports the memory protection unit (MPU)

• ARM CoreSight architecture, includes support for debugging

through JTAG and SWD interfaces

■ On-chip 32-bit ARM Cortex-M3 processor

(in products incorporating an R-IN engine)

• 150-MHz operating frequency • On-chip 32-bit ARM Cortex-M3 (revision r2p1) • RISC Harvard architecture with 3-stage pipeline • Supports the memory protection unit (MPU)

■ Low power consumption

• Standby mode, sleep mode, and module stop function

■ On-chip extended SRAM

• Up to 1 Mbyte of the on-chip extended SRAM with ECC

• 150 MHz

■ Data transfer

• DMAC: 16 channels × 2 units

• DMAC for the Ethernet controller: 1 channel

■ Event link controller

• Module operations can be started by event signals rather than byinterrupt handlers.

• Linked operation of modules is available even while the CPU is in

the sleep state.

■ Reset and power supply voltage control

• Four reset sources including a pin reset

• Dual power-voltage configuration: 3.3 V (I/O unit), 1.2 V(internal)

■ Clock functions

• External clock/oscillator input frequency: 25 MHz

• CPU clock frequency: Up to 300/450/600 MHz

• Low-speed on-chip oscillator (LOCO): 240 kHz

■ Independent watchdog timer

• Operated by a clock signal obtained by frequency-dividing theclock signal from the low-speed on-chip oscillator: Up to 120 kHz

■ Safety functions

• Register write protection, input clock oscillation stop detection,CRC, IWDTa, and A/D self-diagnosis

• An error control module is incorporated to generate a pin signaloutput, interrupt, or internal reset in response to errors originatingin the various modules.

■ Security functions (optional)*2

• Boot mode with security through encryption

■ Encoder interfaces (optional)*3

• EnDat 2.2, BiSS-C, FA-CODER, A-format, and HIPERFACEDSL-compliant interfaces*4

• Frequency-divided output from an encoder

■ Various communications interfaces • Ethernet

- EtherCAT slave controller: 2 ports (optional) - Ethernet MAC: 1 port (an Ethernet switch is not used) or

- Ethernet MAC: 1 port (an Ethernet switch to support 2 ports is used) • USB 2.0 high-speed host/function : 1 channel • CAN (compliant with ISO11898-1): 2 channels (max.) • SCIFA with 16-byte transmission and reception FIFOs: 5 channels

• I2C bus interface: 2 channels for transfer at up to 400 kbps

• RSPIa: 4 channels

• SPIBSC: Provides a single interface for multi-I/O compatibleserial flash memory

■ External address space

• Buses for high-speed data transfer at 75 MHz (max.) • Support for up to 6 CS areas • 8-, 16-, or 32-bit bus space is selectable per area

■ Up to 33 extended-function timers

• 16-bit TPUa (12 channels), MTU3a (9 channels), GPTa (4channels): Input capture, output compare, PWM waveform output

• 16-bit CMT (6 channels), 32-bit CMTW (2 channels)

■ Serial sound interface (1 channel)

■ ΔΣ interface

• Up to 4 ΔΣ modulators are connectable externally.

■ 12-bit A/D converters

• 12 bits × 2 units (max.)(8 channels for unit 0; 16 channels for unit 1)

• Self diagnosis

• Detection of analog input disconnection

■ Temperature sensor for measuring temperature within the chip

■ General-purpose I/O ports

• 5-V tolerance, open drain, input pull-up

■ Multi-function pin controller

• The locations of input/output functions for peripheral modules areselectable from among multiple pins.

■ Operating temperature range

• Tj = -40°C to +125°C

Tj: Junction temperature

　　简单的系统主要由驱动器和伺服电机以及上位PLC组成。复杂的需要加上运动控制器，用于协调多轴之间的运动关系。

　　1，驱动器根据不同的工艺以及所需求的过载能力来选择功率及附件，如总线卡和制动电阻等，当然不同的驱动器可能有针对不同行业的程序工艺包。

　　2，伺服电机有同步伺服和异步伺服，由电机本身和编码器组成，而编码器又分为增量和绝对值两种，用于反馈速度和位置，有的机械结构可能容易产生相对滑动，会额外增加外部的编码器，比如光栅尺，用于位置环。

　　3，PLC主要用于处理逻辑，针对伺服控制器来说一般输出有IO信号，模拟量以及总线控制字等。

　　4，运动控制器主要处理多轴之间的关系，对于有严格位置关系的工艺来说是必不可少的。