At the 7th China International Robotics Summit Forum on Industrial Robots, Qingnengde created a representative company in the field of core components and parts for industrial robots. It showed the audience how the domestic servo drive helped the development of domestic robots through product iteration. In addition to the series of products developed by the company since its inception, the vice president of Qingneng Degen Electric Technology (Beijing) Co., Ltd. Tang Xiaoping also shared how to help customers' industrial robots to achieve precise, fast, safe, and stable control. (The following text is based on shorthand, for reference only)

Good afternoon, ladies and gentlemen, the teachers in front were talking about the innovation and application of industrial robots. Our company is the core component of robots. The topic that I share for everyone is “to develop domestic robots with innovative servo drive technology”.

Let us briefly introduce the general situation of our company. Our company is headquartered in Beijing, has a branch in Shanghai, and has offices in Chengdu and Shenzhen. This is our current organizational structure. As soon as you see the purple in our company LOGO, you will guess that we have something to do with Tsinghua. Indeed, our core team is from the Department of Electrical Engineering of Tsinghua University, with 20 years of experience in the industry and product development. experience. We are a R&D type company, 50% are technical personnel, and we are currently establishing an innovative cooperative alliance with domestic universities and research institutes such as Tsinghua University, Beihang University and Chinese Academy of Sciences. We currently have three major series of products, from the middle purple A8 to the left R series to the slightly smaller RC series. Our driver products have been widely used in domestic industrial robots. Currently domestic manufacturers of industrial robots do not use their own servo drives as long as they do not use their own drives.

The servo driver is one of the core components of the robot. Our company was positioned as a core component supplier of smart equipment when it was established. According to our 2016 statistics, the entire application currently has more than 30,000 axes in this industry. In addition to industrial robots, the industries in which our products were initially positioned include machine tools, textile machinery, and so on.

Our product brand is CoolDrive. This is our first product, the A8 series. At the time when our products came out, many domestic colleagues in the servo industry felt that they were all eyes bright. Before seeing the servos were similar to Panasonic Yaskawa, suddenly it came out completely different, a bit like the servo of the European brand. In fact, we are not only similar in shape but also like God. We first applied the EtherCAT bus technology in the A8, and then integrated the synchronous servo drive technology. A8's product power is from 2.5 to 20 kilowatts, corresponding to robots from 50 to 210 kilograms. This is the approximate system architecture diagram of A8. This is a common DC bus architecture. There are two busbars. The top one is the control busbar. The bottom is the power busbar. Theoretically, it can be extended without restrictions. On the left is the power supply module, which connects the modules together via the EtherCAT bus. After we launched the A8 in the field of industrial robots, our users liked it very much. We followed this R series product around 2015. The R series also inherits the characteristics of the A8 series. Why is the R series, specifically designed for robots? We have integrated six-axis or four-axis robot-specific servo drives in one product.

The R series products, as a robot servo, supplement the A8 series, A8 is for more than 50 kilograms, R series is for 20 kilograms or less. We have six-axis, four-axis, three-axis R-series actuators here. This is our R6. We have made a transparent effect and the internal structure of the module. In the early days, our customers used ordinary pulsed servos. The volume of this servo was relatively large and the number of lines was large. After replacing our R servos, the volume was reduced, and the reliability of the entire system was greatly improved.

Following in 2016, we launched an RC series based on market demand. The servo is for 6 kg and 3 kg desktop robots. The size of this robot is very small, and the entire six axes add up to the size of one A4 paper. The current of the RC series is smaller. We designed it to be 5A and now it can be expanded to 8A. Another difference is that the RC series uses high-speed DI/DO. If users do not need to expand, we can do it directly.

This year we will exhibit our latest product at the Industry Fair, called the CoolDriveMini series. The following is shelled, the above is unshelled, we have two installation methods, one is to provide the whole machine, and the other is to use a single module. Current design is less than 30A. EtherCAT is standard with all products and supports multiple encoders. Mini series servos are used on cooperative robots and AGV carts.

This is the approximate size of CoolDriveMini, we compared with the iphone, the height direction is probably almost as high as the Apple 8puls, the size of the low voltage module is smaller than this, this we can see. The right side is its main parameter, which is currently the power range from 5A to 30A, the low-power is more than three times the overload, the high-power is twice the overload, and the continuous overload time is three seconds. The bottom is CDEM series products, the embedded module, can have a mother board, can install the embedded module in the mother board can form the multi-axle series.

As a core component, how can we help our customers achieve accurate, fast, safe, and stable control of industrial robots? I can share it from the following points.

The first is precision. Regarding accuracy, there may be many indicators or many technologies to achieve precise control of robot operation. I have selected one here. The robot is a multi-axis system. We have to carry out multi-axis coordinated control. How do we do it? We used EtherCAT's high-speed industrial Ethernet at that time. The EtherCAT technology has a very good feature: fast transmission speed, bidirectional transmission rate of 100 megabits, Its typical control cycle can be done in milliseconds. We can do it as fast as 250 microseconds. The third point is that the synchronization error can be less than 1 microsecond. And there is a synchronous clock inside EtherCAT, multi-axis synchronous control is very good, so EtherCAT is the standard of our products at the beginning, EtherCAT has become the gene of our products.

With regard to the issue of rapid control, this is a typical indicator of our products. The three-loop control cycle is better at home. Our current loop response frequency is 3KHz, the maximum overload ratio is three times overload, and our communication cycle can be done in 250 microseconds, so we can adapt to a variety of controllers, whether the controller is one millisecond or five hundred Microsecond control cycle, our driver can match.

The other one is a good horse with a good saddle. Even though our drive has such a fast response performance, it needs a motor to exert its performance. The motors we now support are manufactured in China by European design and are fully automated production lines. This motor has a fast response speed, and at the same time it can do very high speeds, with a maximum speed of 6,000 rpm and an overload of more than three times.

Let's talk a bit about encoders. All our drivers come standard with absolute encoders. Incremental encoders record relative positions and can easily lose pulses when disturbed, affecting the accuracy of the encoder and causing cumulative errors. Absolute encoders have an absolute origin. All values ​​are relative to the origin, so there is no cumulative error. In addition, absolute encoders can transmit at speeds of 4 and 2 megabits, enabling long-distance transmission. This is an encoder that our driver can adapt, including Tamagawa, Hiperface, Nikon, etc.

Let's talk about security. I just mentioned that our company first introduced the security function to the driver. From my perspective, when you want to implement a function, you must consider the unreliability of the system. You may issue an instruction. Due to hardware and software failures and other reasons have not been reached. To realize the safety function, to say nothing of redundancy, software redundancy and hardware redundancy, such as safe torque off is hardware redundancy, that is, STO function. The safety functions that we currently implement include safety stop one, safety stop two, safety brake control, etc...

Finally, talk about stability. For the industrial robot industry application, we did some software processing in the servo. First there is a static balance torque compensation. The robot will drop a moment when the brake is opened due to gravity, commonly known as “nodding”, this time the servo system To hold the robot very fast, this is static balance torque compensation. The other is the robot's inertia recognition, as well as the jitter elimination function. We hope that the robot will run quickly and steadily. This requires that there should be no jitter. In this case, one is to perform jitter elimination during quick positioning, and the other is to prevent jitter when large-angle is shifted. This is a video of our customer's site. The sudden stop of the rapid movement of the robot can make the motionless.

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