CN206164428U - Servo driver's switch control device - Google Patents

Abstract

The embodiment of the utility model discloses servo driver's switch control device. The device includes: incoming signal level shifting circuit is including optoelectronic coupler for carry out level conversion with incoming signal, the minimum circuit of singlechip, with the incoming signal level shifting circuit electricity is connected for incoming signal to through level conversion handles, carries out the pulse train who controls to the motor with output, pulse train output circuit, with the minimum circuit electricity of singlechip is connected, and it is right to be used for motor output pulse train, output signal level shifting circuit, with the pulse train output circuit electricity is connected, is used for output pulse train carries out level conversion. The embodiment of the utility model provides a cost that servo driver's switch control device can avoid adopting PLC to cause is too high, the volume is too big, the operation is complicated, the extravagant serious problem of performance.

Description

The switching control device of servo-driver

Technical field

The utility model embodiment is related to motor control technology field, more particularly to a kind of switching control of servo-driver Device.

Background technology

Panasonic's MINAS A5 servo-drivers be current domestic application at most, have the call, market coverage highest One of product servo, it has the advantages such as ultrahigh speed response, grade height intelligent, lighter and handier, easy to use, safe.Panasonic MINAS A5 controllers realize most fast speed responsive frequency 2kHz of industry, and positioning is quick, operating lag is low；Using 20 Incremental encoder, vibration when action is smoothed, stopped is low, shortens the hi-Fix time；By calculating motor and control The optimization of method, reduces slot effect, the torque pulsation that speed stability and motor rotation position are brought is improved, so as to significantly carry The high stability of positioning.But under complex application operating mode, Panasonic MINAS A5 controllers need to be matched somebody with somebody with PLC Conjunction is used, so as to realize the precise control to motor operation speed and run location.Fig. 1 shows the logic of above-mentioned application circuit Structure.

In many application scenarios, such as miniature circuit breaker life detecting device only need to be realized high-precision moving back and forth this A kind of relatively simple operating mode；It is serious etc. that PLC has excessive high cost, volume, complex operation, waist performance again Problem.

Utility model content

For above-mentioned technical problem, the utility model embodiment provides a kind of switching control device of servo-driver, With the serious problem of the high cost that avoids causing using PLC, excessive volume, complex operation, waist performance.

The utility model embodiment provides a kind of switching control device of servo-driver, and described device includes：

Incoming signal level change-over circuit, including photoelectrical coupler, for input signal to be carried out into level conversion；

Single-chip microcomputer minimum circuit, electrically connects, for through level conversion with the incoming signal level change-over circuit Input signal is processed, to export the pulse train being controlled to motor；

Pulse train output circuit, electrically connects with the single-chip microcomputer minimum circuit, for exporting the arteries and veins to the motor Rush sequence；

Output signal level change-over circuit, electrically connects with the pulse train output circuit, for the arteries and veins for exporting Rushing sequence carries out level conversion.

The switching control device of the servo-driver that the utility model embodiment is provided, by using exclusively for MINAS A5 The control of servo-driver and the incoming signal level change-over circuit, single-chip microcomputer minimum circuit, the pulse train output circuit that design, And output signal level change-over circuit, effectively avoid using high cost, volume during MINAS A5 controllers it is excessive, behaviour Make the serious problem of complicated, waist performance.

Description of the drawings

It is of the present utility model by reading the detailed description made to non-limiting example made with reference to the following drawings Other features, objects and advantages will become more apparent upon：

Fig. 1 is the schematic diagram of the application circuit of the MINAS A5 servo-drivers that prior art is provided；

Fig. 2 is the circuit theory diagrams of the switching control device of the servo-driver that the utility model embodiment is provided；

Fig. 3 is the circuit theory diagrams of the incoming signal level change-over circuit that the utility model embodiment is provided；

Fig. 4 is the circuit theory diagrams of the crystal oscillator unit that the utility model embodiment is provided；

Fig. 5 is the circuit theory diagrams of the digital simulation ground coupling unit that the utility model embodiment is provided；

Fig. 6 A are a kind of circuit theory diagrams of pulse train output circuit under preferred embodiment；

Fig. 6 B are the circuit theory diagrams of pulse train output circuit under another kind of preferred embodiment；

Fig. 7 is the circuit theory diagrams of the output signal level change-over circuit that the utility model embodiment is provided；

Fig. 8 is the circuit theory diagrams of the condition indication circuit that the utility model embodiment is provided；

Fig. 9 is the circuit theory diagrams of the isolation serial communication circuit that the utility model embodiment is provided；

Figure 10 is the circuit theory diagrams of the electromotor brake control circuit that the utility model embodiment is provided.

Specific embodiment

With reference to the accompanying drawings and examples the utility model is described in further detail.It is understood that herein Described specific embodiment is used only for explanation the utility model, rather than to restriction of the present utility model.Further need exist for It is bright, for the ease of description, the part related to the utility model rather than entire infrastructure are illustrate only in accompanying drawing.

Present embodiments provide a kind of technical scheme of the switching control device of servo-driver.Fig. 2 drives there is provided servo The circuit theory diagrams of the switching control device of dynamic device.Referring to Fig. 2, the switching control device of servo-driver includes：Input signal Level shifting circuit 21, single-chip microcomputer minimum circuit 22, pulse train output circuit 23, and output signal level change-over circuit 24。

Incoming signal level change-over circuit 21 is used to carry out level conversion to input signal.Need to carry out electricity to input signal The reason for flat turn is changed is that the output signal internal structure of MINAS A5 servo-drivers is defeated for the Darlington transistor of open collector Go out.And voltage during Darlington transistor connection between colelctor electrode and emitter stage is about 1V or so.Such level character does not simultaneously meet The requirement of TTL circuits, thus input signal can not directly with the present embodiment provide servo-driver switching control device Connection, needs the level conversion for carrying out input signal.

Fig. 3 shows the circuit theory of such incoming signal level change-over circuit.Referring to Fig. 3, above-mentioned input signal electricity Flat change-over circuit includes a photoelectrical coupler N1.Using circuit illustrated in fig. 3, the incoming signal level change-over circuit 21 Input signal with different low and high level pressure reduction can be changed by with the signal for meeting subsequent voltage pressure reduction specification.

Single-chip microcomputer minimum circuit 22 is the control core of the switching control device of the servo-driver that the present embodiment is provided.It is single Under premise of the piece machine minimum circuit 22 in satisfaction to the demand for control of MINAS A5 servo-drivers, to general single-chip microcomputer system The component number and systemic-function of system is simplified, the original system scale of diminution as far as possible.Due to monolithic after improvement The circuit scale of machine minimum circuit 22 significantly reduces, therefore relative to generally controlling to MINAS A5 servo-drivers For the PLC adopted when processed, the volume reduction of whole control device, scale are reduced, cost is also reduced accordingly.

Single-chip microcomputer minimum circuit 22 includes：Single chip control unit, crystal oscillator unit, digital simulation ground coupling unit, guard the gate Dog unit, and artificial debugging unit.

Single chip control unit is the control circuit unit of single-chip microcomputer to adopt as core.Wherein, in the present embodiment Single-chip microcomputer adopts STM32 series monolithics.

Crystal oscillator unit is that single-chip microcomputer minimum circuit 22 provides clock signal.Fig. 4 shows the circuit theory of crystal oscillator unit.

Digital simulation ground coupling unit is used for by digitally coupling with simulation in single-chip microcomputer minimum circuit 22, to avoid Data signal in single-chip microcomputer minimum unit 22 influences each other with analog signal.Fig. 5 shows digital simulation ground coupling unit Circuit theory.Referring to Fig. 5, in the circuit illustrated in figure, by the digital ground wire of circuit and simulation ground wire magnetic bead carried out every From.

Program operation of the watchdog unit to single-chip microcomputer is monitored, when program fleet or other failures occurs in single-chip microcomputer When, watchdog unit resets to single-chip microcomputer.

Artificial debugging unit is used for debugging single chip control unit.Specifically, artificial debugging unit generates right Whether the simulation input signal that single chip control unit is debugged, the output signal for testing single chip control unit is correct.

Pulse train output circuit 23 is used for exporting the pulse train for being controlled motor.Such pulse train can be with It is pulsewidth modulation (Pulse width modulation, PWM) sequence.Pulse train output circuit 23 can be that differential line drives Dynamic chip, or open collector drive circuit.

When Fig. 6 A are shown using differential line driving chip, the circuit theory diagrams of pulse train output circuit.Referring to figure 6A, pulse train output circuit employs a piece of differential line driving chip.Specifically, differential line driving chip is adopted AM26LV31 chips, pulse sequence signal allows highest frequency for 4Mpps, and this type of drive is difficult by noise jamming, letter Number transmission reliability it is higher.

When Fig. 6 B are shown using open collector drive circuit, the circuit theory diagrams of pulse train output circuit.Referring to Fig. 6 B, using two open collector drive circuits mutually not the output of pulse train is entered.

The input signal internal structure of MINAS A5 controllers is the photoelectrical coupler with 4.7k pull-up resistors, by Fig. 6 A Or the pulse train that the pulse train output circuit 23 shown in Fig. 6 B is produced can not be directly inputted into MINAS A5 controllers. Accordingly, it would be desirable to carry out level conversion to pulse train using output signal level change-over circuit 24.Fig. 7 shows output signal electricity The circuit theory of flat change-over circuit.Referring to Fig. 7, triode Q7 is pulled down into photoelectrical coupler, when triode Q7 base voltages are Gao Shi, triode Q7 are turned on, and controller collects high level；When triode Q7 base voltages are low, triode Q7 disconnects, control Device processed collects low level.The level of single-chip microcomputer is changed by the triode Q7 of outside addition so as to disclosure satisfy that list The level demand of piece machine.

In addition to each above-mentioned circuit module, the switching control device of servo-driver also includes：State instruction electricity Road, isolation serial communication circuit, and electromotor brake control circuit.

Fig. 8 shows the circuit theory of condition indication circuit.Referring to Fig. 8, condition indication circuit is with four light emitting diodes Indicate respectively the current rotating forward of motor, reversion, failure, and the state of communication.For example, when motor is in rotating forward state, light Diode is lit；Or, when motor is in malfunction, light emitting diode is lit.

Fig. 9 shows the circuit theory of isolation serial communication circuit.Referring to Fig. 9, in isolation serial communication circuit, adopt Serial communication chip ADM2587.By above-mentioned serial communication chip, realize single-chip microcomputer minimum circuit 22 and host computer it Between serial communication.

Figure 10 shows the circuit theory of electromotor brake control circuit.Referring to Figure 10, by clicking on brake control electricity Road, single-chip microcomputer minimum circuit 22 can be realized being braked control to the motor that it drives.

In software aspects, the program run on single-chip microcomputer includes main program and interrupt service routine.Main program is main The not high task of some requirement of real-time is realized, and interrupt service subroutine then processes the high control program of requirement of real-time.It is main Program is initialized first after starting to chip：Clock and reset initialization, interruption and vector initialising, IO are initialized, determined When device function initialization etc..System break is then turned on, is started timer and is started counting up.Wait it is to be interrupted during perform with The program of upper machine communication, uploads control system running status and receives the control information of host computer.When timer count value with Program is interrupted into timer period when cycle set value is matched, the various functions of execution system into interrupt service routine, The backed off after random performed in interrupt service routine interrupts, and continues executing with wait-for-response interrupt signal next time.

Into after interrupt service subroutine, system break is first shut off, it is ensured that the promptness of interrupt response, then basis is pressed Key detection data judges present mode of operation.If manual work pattern, then can be rotated and reverse by button Operation, until being satisfied with position, sets it to the zero position of system.The zero position of system is the position of upper electricity acquiescence, i.e., each When secondary upper electricity and normal power down, motor can all go to zero position.Then carry out rotating forward extreme position setting, pin rotating forward button, Until motor belt motor is started building, part stops rotating forward to extreme position is rotated forward, and clicks on and determines, setting rotates forward limit position.Inversion limitation position Setting process it is identical.Carry out certainly if parameters such as automatic operation mode, then set point number, rotating speeds according to upper machine communication Dynamic operation：Run to extreme position is rotated forward, stop；Run to inversion limitation position, stop；And complete one cycle.Last When secondary circulation is finished, motor is gone into zero position, it is ensured that what is worked on power each time is normal.

Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this area For technical staff, the utility model can have various changes and change.All institutes within spirit of the present utility model and principle Any modification, equivalent substitution and improvements of work etc., should be included within protection domain of the present utility model.

Claims (9)

1. the switching control device of a kind of servo-driver, it is characterised in that include：

Incoming signal level change-over circuit, including photoelectrical coupler, for input signal to be carried out into level conversion；

Single-chip microcomputer minimum circuit, electrically connects, for the input through level conversion with the incoming signal level change-over circuit Signal is processed, to export the pulse train being controlled to motor；

Pulse train output circuit, electrically connects with the single-chip microcomputer minimum circuit, for exporting the pulse sequence to the motor Row；

Output signal level change-over circuit, electrically connects with the pulse train output circuit, for the pulse sequence for exporting Row carry out level conversion.

2. the switching control device of servo-driver according to claim 1, it is characterised in that the minimum electricity of the single-chip microcomputer Road includes：

Single chip control unit, including single-chip microcomputer, for processing the input signal, and export the pulse train；

Crystal oscillator unit, is connected with the single chip control unit, for providing clock signal to the single chip control unit；

Digital simulation ground coupling unit, the digital ground signal for the single chip control unit is coupled with simulation ground wire signal Get up；

Watchdog unit, is connected with the single chip control unit, for carrying out reset control to the single chip control unit；

Artificial debugging unit, is connected with the single chip control unit, for carrying out emulation tune to the single chip control unit Examination.

3. the switching control device of servo-driver according to claim 1, it is characterised in that the pulse train output Circuit includes：Differential line driving chip, or open collector drive circuit.

4. the switching control device of the servo-driver according to Claims 2 or 3, it is characterised in that also include：

Condition indication circuit, including for indicating the light emitting diode of running status, for indicating turning for the servo-driver Connect the running status of control device.

5. the switching control device of the servo-driver according to Claims 2 or 3, it is characterised in that also include：

Isolation serial communication circuit, for carrying out isolating communication by universal serial bus and host computer.

6. the switching control device of servo-driver according to claim 5, it is characterised in that the universal serial bus is RS485 buses.

7. the switching control device of servo-driver according to claim 5, it is characterised in that the isolation serial communication Circuit realizes the serial bus communication and host computer between by serial communication chip ADM2587.

8. the switching control device of the servo-driver according to Claims 2 or 3, it is characterised in that also include：

Electromotor brake control circuit, for being braked control to controlled motor.

9. the switching control device of the servo-driver according to Claims 2 or 3, it is characterised in that the pulse train For pulse-width modulation PWM sequence.