GB/T 38560-2020Interface of universal driver module for industrial robots (English PDF)

3.1 Industrialrobot

Automatic control, repeatable programming, multi-purpose operating machine, can program three or more axes. It can be fixed or

Mobile. Used in industrial automation.

[GB/T 12643-2013, definition 2.9]

3.2 Drivermodule

In industrial robots, they are composed of servo motors, reducers, brakes, position feedback encoders, servo drives, etc., with independent functions.

Powerful drive unit.

3.3 Communicationbus

The bus used for communication between drive modules and between drive modules and controllers.

3.4 Integrated uniform

Integrate power supply and communication bus in the drive module and unify the external interface.

3.5 Reconfigurable

According to the requirements of different given tasks, industrial robots can be constructed with different configuration designs and functions based on universal drive modules.

5.1 Overview

Each universal drive module should contain a complete mechanical structure and control circuit, and can achieve mechanical and electrical plug and play.

The internal memory of each servo drive module should save configuration, calibration, location and other information to ensure its pluggability and quick replacement.

The design of the integrated universal drive module mainly includes the housing and supporting structure, servo motor, position sensor, electronic brake or mechanical brake

Car/brake, servo driver (to achieve servo control, built-in current sensor, realize current loop control algorithm, with overheating, overcurrent, overvoltage/under

Voltage protection function, and connect out the communication interface or high-speed field bus, such as CAN, RS232 and EtherCAT, etc.) and deceleration mechanism. With

See Appendix A for body examples.

5.2 Mechanical interface

The universal drive module should have a unified mechanical interface to facilitate the connection between drive modules and the interconnection of drive modules and connectors, and

Ensure that the physical connection between the modules, the interface connection corresponding to the data and the power supply are not easily damaged during the assembly and disassembly process, and avoid the use of the drive module.

Performance and safety risks arise during the application process. Refer to Appendix B for the relevant parameter requirements of the mechanical interface of the drive module.

In order to ensure the effectiveness of the connection and function between the modules, the mechanical interface of the universal drive module should follow the following principles.

a) Use appropriate mechanical design methods, such as limit switches or mechanical limit interfaces, to ensure the alignment and positioning of the universal drive modules

Position, and the strength of the connection under static and dynamic motion conditions;

b) Ensure that the electrical and power connections between modules are not easily damaged;

c) Appropriate use of coaxial and/or conical structural design to minimize angular and radial movement errors and prevent damage to the connection point;

d) The mechanical interface should adopt a ring structure, and provide a certain distribution of connection points to ensure the accuracy of the drive module connection.

Other electrical and mechanical connections shall meet the requirements of IEC 61076-1.2006.

In addition, according to the application scenario of the robot, the material of the universal drive module should have specific properties, including strength, toughness, quality, and shape

And thermoelectric parameters. Material selection should follow the following principles.

a) The materials used must not cause chemical pollution to the surrounding environment;

b) The materials used should be fireproof to avoid fire, and the specific requirements should comply with IEC 61076-1.2006;

c) The materials used should have a certain degree of fatigue resistance in a specific operating environment;

d) When selecting materials, consider the possibility of the servo drive module caused by falling, stretching and squeezing during the operation of the robot damage.

5.3 Electrical interface

The electrical interface of the universal drive module should include power supply and sensor interface, etc., under the premise of ensuring the function of the drive module, try to simplify the electrical

Connect to the greatest extent to prevent damage to the line caused by robot movement and reduce potential safety hazards. In addition, the electrical interface between different modules should be easy to

The connection can be completed manually without any tools, which is convenient for robot integration and module replacement.

According to actual application requirements, the universal drive module power supply can be DC 12V~48V, 100V~240V single-phase or three-phase AC, etc.

The electrical mode, serial mode, is convenient for the expansion and maintenance of the universal drive module. Related cables should be routed in hollow holes to avoid power

Or the communication line is exposed outside the drive module and interferes with other peripherals during operation. Also consider EMC and EMI issues, and

Use appropriate measuring equipment to ensure that there is no mutual interference between power lines and communication signal lines. EMC and EMI specific requirements should meet

GB/T 5226.1-2019 and IEC 61076-1.2006.

In addition to the above-mentioned power and communication electrical interfaces, the drive module should be equipped with position, acceleration, current and temperature detection sensors for the module

Control and status observation. The motor current sensor should determine the values according to the joint model.

Electrical connectors should consider the durability of mechanical operations, as well as electrical performance indicators such as insulation and voltage resistance. As industrial machine

The differences in the working environment of robots should consider the parameters such as temperature resistance, humidity resistance, salt spray resistance, vibration resistance and impact resistance of the connector. Specific requirements should meet

GB/T 5226.1-2019 and IEC 61076-1.2006.

5.4 Communication protocol interface

The communication interface can support one or more international general standard bus protocols, and RS232, CAN, dual CAN, EtherCAT general

It also provides API support and open communication protocol, which is convenient for users to develop independently.

5.5 Module safety requirements

Each universal drive module requires a risk assessment to confirm possible design errors and defects, as well as possible hazards. For mechanical safety

For specific information and guidance on risk assessment and reduction, see GB/T 15706-2012.See GB/T 16855.1-2018 for risk assessment of control functions

And IEC 62061.Electrical safety should meet the requirements of GB/T 5226.1-2019.

Another key part of module security is functional verification and validation. The drive module should be tested to verify and confirm whether it meets

Safety requirements. It is advisable to use a combination of simulation, test cases and formal verification to fully verify the drive module to ensure its safety.

Fullness.

Appendix B (Informative appendix)

Drive module mechanical interface related parameter requirements

Under the maximum rated load, the maximum geometric deformation of a single drive module cannot exceed 0.1mm. Under the maximum rated torque condition, the maximum rotation

The transformation deformation is less than 0.01rad.

In order to ensure the physical connection of the drive module, the alignment, positioning and locking of the drive module should be considered in the design. Lateral rotation and diameter after connection

The error of the moving direction should be controlled within the range of less than 0.5° and 10mm.