Research On Development Of Servo Driver Based On IEC 61131-3 Standard

Most of the current servo drives use DSP chips or ARM chips for C language program development with high platfrom dependercy.And because of the software solidification,users can no longer re-develop the software of the servo drive.IEC 61131-3 standard and soft PLC technology have been widely studied and applied.The application of IEC 61131-3 standard in servo drive development can better meet the demand of modular development,improving openness and facilitating secondary development.This paper summarizes the advantages and application significance of servo driver development based on IEC 61131-3.The vector control algorithm and the IEC 61131-3 standard are described and analyzed.Introduced the soft PLC development platform Beremiz which is used as the IEC 61131-3 programming platform.Two schemes for servo driver development based on IEC 61131-3 standard are proposed and analyzed.The servo driver hardware circuit based on TMS320F28379 and AMIC110 dualcore architecture is designed,and the full-duplex communication between DSP and ARM is realized by SPI communication interface.The EtherCAT slave hardware design uses a solution that integrates the microprocessor and the slave controller.The development of servo drive application library based on IEC 61131-3 is carried out,which mainly includes servo algorithm library,EtherCAT communication library and motion control library.The specific development description is given by taking the position loop function block and the DS402 state machine function block as examples.The overall software implementation includes two parts: EtherCAT slave program implementation and servo control algorithm implementation.The position loop and speed loop are implemented in the AMIC110 based on IEC 61131-3,and only other functions such as current loop and SVPWM are implemented in the DSP.Test platform for testing is built using TwinCAT as the host station,and EtherCAT slave performance and servo drive functions are tested by the test platform.The practical operation results verify the feasibility of the rapid development method of servo driver based on IEC 61131-3.