CR215GH87 对故障做初步处理并根据发生故障的类型向用户上报故障代码

Description

CR215GH87 对故障做初步处理并根据发生故障的类型向用户上报故障代码

CR215GH87控制器模块的功能主要包括以下几个方面：

运动控制：这是控制器模块最核心的功能。根据接收到的运动命令，控制器进行运动学解算或轨迹规划运算，得到每个伺服控制周期内各个关节的角度值，并发送到伺服驱动系统，使机器人的末端可以在三维空间中完成指定的路径或姿态变化。

I/O控制：包括机器人控制器的通用I/O端口和EtherCAT扩展I/O板。主要负责对外界信号进行响应或输出，如机器人末端工具启动与停止控制、机器人的急停信号、生产线传感器的检测信号响应等。

故障处理：对故障做初步处理并根据发生故障的类型向用户上报故障代码，或者接受用户输入的故障复位指令。

参数设置：主要是对控制器的配置参数做一些设置，如EtherCAT通信对象映射参数、串口通信波特率等。

数据缓冲与交换：在数据输入和输出时进行缓冲，并实现CPU与控制器之间、控制器与设备之间的数据交换。

差错控制：对由I/O设备传送来的数据进行差错检测，若发现传送中出现了错误，通常是将差错检测码置位，并向CPU报告，CPU将本次传送来的数据作废，并重新进行一次传送，保证数据输入的正确性。

算法操作：控制器模块的作用主要是在获得电机电流、位置信号、斩波电流参考值IRef及占空比Duty等数据后，进行相应的算法操作，生成各相上下功率管的开关控制信号，以合理有序地控制电机正常工作。

CR215GH87 对故障做初步处理并根据发生故障的类型向用户上报故障代码

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.