Problems with traditional servo drives

In order to increase productivity and optimize logistics, more and more companies are automating their internal logistics. As a result, from automated guided vehicles (AGVs) to autonomous mobile robots (AMRs), factory floors and warehouses are changing.

However, initial investment and safety concerns still prevent widespread adoption of AGVs or AMRs. Trinamic’s proven design sets the performance standard for motion control, where engineers can address these concerns and easily integrate advanced diagnostics and safety features at no additional cost. Benefit from plug-and-play building blocks that make motion control as easy as 1-2-3.

What is an AGV trolley

There are many kinds of AGV trolleys, which we call handling robots, and their uses and functions are also very extensive. In general large-scale logistics warehouses, we can see that there are ordinary AGV trolleys, which have automatic navigation and positioning, and are responsible for handling shelves or goods to the designated location;

There are intelligent forklift AGVs, automatic detection and powerful moving functions, which are mainly responsible for moving more and neatly stacked items;

There is also a composite AGV, which adds a robotic arm to the mobile AGV trolley, which can identify items and be responsible for the sorting and handling of goods.

challenges

Due to the particularity of the equipment, the AGV car involves life safety, storage operation collision safety and cargo safety during the movement process, so it must have a high-precision positioning, operation and trajectory operation control system. Then to achieve this, there must be a reliable and high-precision servo controller to realize this set of trajectory operation.

For a motion control system with extremely high safety, servo drives are the first choice in most cases. But what is the problem with traditional servo drives? We divide it into three parts:

bulky and expensive

The installation and operation are extremely complicated, which brings a lot of obstacles to the development and production of AGV.

Complex servo algorithms, especially those who want to independently develop traditional servo controllers, and servo algorithms are an insurmountable mountain.

Solutions brought by Trinamic

To address this challenge, Trinamic has introduced a motion control solution specifically aimed at miniaturization, cost reduction and completeness. Trinamic combines its many years of experience in motion control, and TMC4671 came into being. Its feature is to perfectly solve the problem that the FOC soft algorithm cannot be mastered by ordinary enterprises, and provides a simple solution, which can let you in a short time. Build a perfect servo working system.

TMC4671

TMC4671 is a pure FOC chip, which can provide magnetic field vector control for BLDC/PMSM, it improves the algorithm, closed loop of current loop, speed loop and position loop. All the user has to do is to configure a simple register, and then directly send a torque command, a speed command or a position command to the TMC4761, so that there is no need to face complex algorithms.

Main features:

Servo Controller with Field Oriented Control

Torque Control (FOC), Speed ​​Control, Position Control

Feedforward control input

Integrated ADC, delta sigma-ADC front end

Encoder Engine: Hall Analog/Digital, Encoder Analog/Digital

Supports 3-phase PMSM/BLDC, 2-phase stepper motors and DC motors

Advanced PWM Engine (25kHz…1000kHz)

Application SPI + Debug (UART, SPI)

Step direction interface (S/D)

What are the improvements

Miniaturization: The drive is modularized to make the control system smaller

Performance: With Field Vector Control (FOC)

Control: built-in algorithm control, configuration register, easier control

Control function: integrated ADCs, position sensor interface, position difference device

Cost optimization: easier development of low-cost and cost-effective servo control systems

Manufacturing process: QFN76 (10.5×6.5)

Summarize

TMC4671 is a chip that perfectly solves the servo algorithm. Only through simple torque, speed and position commands, combined with conventional pre-drive and MOS tubes, a high-performance and complete servo controller can be realized.

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