RU209513U1 - FOUR-CHANNEL STEP MOTOR CONTROL UNIT SDC4STEP - Google Patents

Abstract

The present technical solution relates to the field of computer technology. The stepper motor control device contains interconnected and placed on a single printed circuit board: a DC-DC voltage converter for powering the device; terminal block for connecting the power supply of the device; device status indicator; Ethernet interface block, which in turn consists of: an Ethernet physical layer chip supporting operation in unmanaged switch mode, two 8P8C(RJ-45) connectors; discrete input block for 4 signals 24 V, which in turn consists of: galvanic isolation based on an optocoupler, a terminal block for connecting discrete input signals, status indicators for each input signal; a discrete output unit for 4 signals 24 V, which in turn consists of: galvanic isolation based on an optocoupler, a terminal block for connecting discrete output signals, status indicators for each output signal; a block of discrete inputs for a limit position sensor for each control channel; block of non-volatile memory for storing device settings; a microcontroller that is connected to: an Ethernet interface unit, an input signal unit, an output signal unit, a discrete selective signal unit, a non-volatile memory unit, and an encoder signal decoding unit.

Description

FIELD OF TECHNOLOGY

The utility model relates to the field of computer technology, in particular to a stepper motor control device.

BACKGROUND OF THE INVENTION

The closest analogue is the source of information RU 152584 U1, publ. 06/10/2015. In this solution, a device for controlling stepper motors via a serial port is disclosed, which consists of a microcontroller that receives information from the control computer, processes it to generate control signals in the form of a binary code supplied to transistor amplifiers, characterized in that four digital outputs are allocated in the microcontroller for issuing stepper motor address codes to the decoder, which quasi-simultaneously generates selective signals in the form of level differences that allow recording the data coming from the microcontroller outputs via the data bus common for all D-flip-flops to the corresponding D-flip-flop address information about the direction of rotation of the stepper motor rotors, which directly are controlled via digital-to-analog converters and amplifiers connected to D-flip-flops, which allows for quasi-simultaneous control of sixteen stepper motors.

The disadvantage of the above technical solution is the difficulty in scaling, i.e. the complexity of increasing the number of control channels, as well as the complexity of synchronizing them in time with each other.

The proposed technical solution differs from the solution known from the prior art in that the device allows you to control multi-coordinate systems on stepper motors, without the use of additional software to synchronize several modules simultaneously.

DISCLOSURE OF UTILITY MODEL

The objective of the claimed utility model is to develop a control device for stepper motors.

The technical result of the claimed utility model is the expansion of the arsenal of technical means of the device.

The claimed technical result is achieved by means of a stepper motor control device, which contains interconnected and placed on a single printed circuit board:

DC-DC voltage converter to power the device;

terminal block for connecting the power supply of the device;

device status indicator;

Ethernet interface block, which in turn consists of:

Ethernet physical layer chips with support for operation in unmanaged switch mode;

two connectors 8P8C(RJ-45);

discrete input block for 4 signals 24 V, which in turn consists of:

galvanic isolation based on an optocoupler;

terminal block for connecting discrete input signals;

status indicators for each input signal;

discrete output unit for 4 signals 24 V, which in turn consists of:

galvanic isolation based on an optocoupler;

terminal block for connecting discrete output signals;

status indicators for each output signal;

a block of discrete inputs for a limit position sensor for each control channel;

block of non-volatile memory for storing device settings;

microcontroller that is connected:

with Ethernet interface unit;

with block of input signals;

with block of output signals;

with a block of discrete signals for selective assignment;

with a block of non-volatile memory;

with encoder signal decoding unit.

BRIEF DESCRIPTION OF THE DRAWINGS

The utility model will be better understood from the description, which is not restrictive and given with reference to the accompanying drawings, which show:

figure 1 illustrates a general view of the device;

figure 2 illustrates the functional diagram of the device.

IMPLEMENTATION OF UTILITY MODEL

In the following detailed description of the implementation of the utility model, numerous implementation details are provided in order to provide a clear understanding of the present utility model. However, it will be obvious to one skilled in the art how the present utility model can be used, both with and without these implementation details. In other cases, well-known methods, procedures, and components have not been described in detail so as not to unduly obscure the features of the present utility model.

In addition, it will be clear from the foregoing that the utility model is not limited to the present implementation. Numerous possible modifications, changes, variations and substitutions that retain the essence and form of this utility model will be obvious to those skilled in the subject area.

The present technical solution provides an expansion of the number of controlled axes at a low cost, which can be used for a wide range of tasks in industrial automation, robotics, building automation, controlled by a computing device or an industrial controller with an Ethernet interface. This technical solution also allows you to control multi-coordinate systems on stepper motors without the use of additional software to synchronize several modules at the same time (allow you to vary the number of axes, and allows you to work synchronously in a single time scale).

Detailed description of the stepper motor control device (UUSCHD).

The device contains the following technical elements interconnected.

DC-DC voltage converter to power the device (input voltage range 18-36 V, fixed output voltage 5 V).

Terminal block for connecting the power supply of the device.

Device status indicator.

Ethernet interface block, which in turn consists of:

Ethernet physical layer chips with support for operation in unmanaged switch mode;

two 8P8C(RJ-45) connectors.

The Ethernet interface block serves as an interface between the computing device and the stepper motor control device, and also allows you to expand the number of controlled stepper motors by connecting additional stepper motor control devices through it, thereby eliminating the need for a separate network switch. Through the Ethernet interface, the computing device has the ability to send rotation commands to stepper motors, receive information about the state of the system, and also allows you to adjust the settings of the stepper motor control device (for example, adjust the number of channels controlled by the system (but not more than four for one device), the maximum speed of rotation of engines, the presence of end sensors, etc.).

Discrete input block for 4 signals 24 V, which in turn consists of:

galvanic isolation based on an optocoupler;

terminal block for connecting discrete input signals;

status indicators for each input signal.

Discrete input block for 4 signals 24 V is used to connect additional discrete sensors (for example, an emergency stop sensor), and can also be used to issue external discrete commands without the participation of a computing device.

Discrete output block for 4 signals 24 V, which in turn consists of:

galvanic isolation based on an optocoupler;

terminal block for connecting discrete output signals;

status indicators for each output signal.

The discrete output unit for 4 signals 24 V is used to issue control signals to additional actuators (for example, a pneumatic valve or a pneumatic cylinder), or to control an additional external light or sound alert.

The block of discrete inputs for the limit position sensor for each control channel is used for an emergency stop of the engines when the limit point is reached, and is also used to calibrate the system.

Block of non-volatile memory for storing device settings.

Microcontroller that is connected:

with Ethernet interface unit;

with block of input signals;

with block of output signals;

with a block of discrete signals for selective assignment;

with a block of non-volatile memory;

with encoder signal decoding unit.

The microcontroller decodes commands from the control computing device, generates system statuses to notify the control computing device, calculates acceleration, uniform motion and deceleration polynomials for subsequent generation of stepper motor control signals. The microcontroller polls the state of digital inputs, inputs of limit sensors, the position of the rotors of stepper motors based on signals from encoders.

The stepper motor control device may include an additional set of signal control commands.

Synchronous start of rotation of stepper motors for all axes controlled by this device, as well as for all such devices included in a single Ethernet network.

Individual setting of the trajectory of acceleration, movement and deceleration for each channel of the device.

Control of the current position for each control channel.

Saving the current position values for each control channel to non-volatile memory after the movement is completed.

Possibility to choose a calibration method from three available ones: calibration by the Z-mark of the motor encoder, calibration against the stop, calibration by the end sensor.

Example of device operation.

By means of a computing device (computer), it is possible to adjust the device parameters, such as the number of connected motors, the maximum rotational speed of the motors, the presence of end sensors, etc. The computing device sends USD commands via the Ethernet interface containing the motion trajectory for each motor in the form of polynomials. The computer periodically polls the execution status of the previously sent command, as well as the system status statuses. The microcontroller included in the UUShD calculates the polynomials received from the computer. Based on the results of the calculation of polynomials, the microcontroller generates control signals for the rotation of the engine. In parallel, the microcontroller controls the positions of the rotors of stepper motors according to the signals from the encoders, as well as the state of the digital inputs. If the position of the rotor of at least one of the stepper motors differs from the calculated values, then the microcontroller calculates the trajectory for an emergency stop and performs an emergency stop of all motors. If one of the limit switches connected to the UUShD is triggered, the microcontroller also calculates the trajectory for an emergency stop and performs an emergency stop of all motors. If an emergency stop safety signal is connected to one of the digital inputs, then when it is triggered, the microcontroller will also calculate the emergency stop trajectory and perform an emergency stop of all motors. In each of the above cases, the microcontroller will record the status of the system. In the future, this status will be transmitted at the request of the computer. Also, the computer has the ability to send commands UUSHD to enable or disable the digital output.

The number of controlled motors can be increased by connecting several UUShD to a computer via an Ethernet network. At the same time, when setting up, one of the UUShD connected to the computer is assigned as the master, and the rest as slaves. This is necessary for accurate synchronization of the internal time between all UUShD connected to the computer. UUShD, assigned as the master, independently transmits commands to the Ethernet network, with the help of which the exact synchronization of the internal time of all UUShDs located in the network is carried out. Accurate time synchronization between UUShD is necessary for all UUShD to work in a single time grid.

All elements of the device are interconnected, located on the same printed circuit board and are in structural unity.

In these application materials, a preferred disclosure of the implementation of the claimed technical solution was presented, which should not be used as limiting other, private embodiments of its implementation, which do not go beyond the scope of the requested legal protection and are obvious to specialists in the relevant field of technology.

Claims (4)

1. A stepper motor control device containing interconnected and placed on a single printed circuit board: a DC-DC voltage converter to power the device; terminal block for connecting the power supply of the device; device status indicator; Ethernet interface block, which in turn consists of: an Ethernet physical layer chip supporting operation in unmanaged switch mode, two 8P8C(RJ-45) connectors; discrete input block for 4 signals 24 V, which in turn consists of: galvanic isolation based on an optocoupler, a terminal block for connecting discrete input signals, status indicators for each input signal; a discrete output unit for 4 signals 24 V, which in turn consists of: galvanic isolation based on an optocoupler, a terminal block for connecting discrete output signals, status indicators for each output signal; a block of discrete inputs for a limit position sensor for each control channel; block of non-volatile memory for storing device settings; a microcontroller that is connected to: an Ethernet interface unit, an input signal unit, an output signal unit, a discrete selective signal unit, a non-volatile memory unit, and an encoder signal decoding unit. 2. The stepper motor control device according to claim 1, wherein the DC-DC voltage converter for powering the device has an input voltage range of 18-36V, while the fixed output voltage is 5V. 3. The stepper motor control device according to claim 1, in which the microcontroller decrypts commands from the control computer, generates system statuses to notify the control computer, calculates acceleration, uniform motion and deceleration polynomials for subsequent generation of stepper motor control signals. 4. The stepper motor control device according to claim 1, in which the microcontroller polls the state of digital inputs, inputs of limit sensors, the position of the rotors of stepper motors based on signals from encoders.

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