CN100341238C - Step motor network control apparatus applicable to medical robot - Google Patents
Step motor network control apparatus applicable to medical robot Download PDFInfo
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- CN100341238C CN100341238C CNB2005101325162A CN200510132516A CN100341238C CN 100341238 C CN100341238 C CN 100341238C CN B2005101325162 A CNB2005101325162 A CN B2005101325162A CN 200510132516 A CN200510132516 A CN 200510132516A CN 100341238 C CN100341238 C CN 100341238C
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Abstract
The present invention discloses a stepping motor network control apparatus applicable to a medical robot. A stepping motor uses a modular control apparatus which realizes the communication with a supervisory computer (7) through a field bus (9), and the control apparatus and the stepping motor use the distribution control mode respectively; the control apparatus is composed of an SCM (5), a communication interface circuit (6), a pulse generating circuit (4), a motor driving circuit (2) and a power circuit (3), wherein the communication interface circuit (6) receives a control instruction sent by the supervisory computer (7). The SCM (5) receives the control instruction, and the control instruction is processed by address match to obtain the address information of the stepping motor (1) needing driving. Then, the SCM (5) receives the control instruction, and then the control instruction is processed by parameter decoding to obtain the address information of the step motor (1) needing driving; the control information is carried out with the generation processing of the acceleration/deceleration curve of the stepping motor, and consequently, a square signal generated by the pulse generating circuit (4) is controlled. The motor driving circuit (2) receives the address information of the stepping motor (1) needing driving and the square signal to drive the stepping motor (1) to operate.
Description
Technical field
The present invention relates to a kind of device of control step motor, specifically, be meant a kind ofly to be applicable to that stepping motor that the medical machine philtrum uses is based on the step motor network control apparatus under the fieldbus condition.
Background technology
At present, Robotics extensively applies to aspects such as medical surgery surgery planning, the accurate positioning action of micro-damage, not damaged diagnosis and detection, novel operation therapeutic treatment method.With the physiognomy ratio, robot has accurate positioning, non-jitter, advantage such as Keep away from radioactive and infection not.Robotics combines with medical skill, will fundamentally change operating looks, causes the new change of field of medical technology, has been subjected to general attention.
Stepping motor, DC servo motor and AC servo motor are three kinds of driving elements commonly used in the digital control system, and DC servo motor is in dominant position with its good control performance at numerical control field always.In recent years, the progress of AC Servo Technology makes AC servo motor that the trend that progressively replaces DC servo motor be arranged.Advantages such as but the open loop that stepping motor has control can realize accurate localization, and system is simple, and control is convenient are adopted in Robotics in a large number.
General step motor control system by the host computer that sends command information, generate control wave control card, finish that electric current distributes and the driver and the stepping motor that amplify are formed, the employing cable joins between each equipment.The system expandability can be poor, can not satisfy the requirement of modularized design; Separate each parts installation site, and wiring is loaded down with trivial details, and the wiring difficulty is big, and system bulk is big, and under the limited situation of installing space, such system also is difficult to use.
Therefore, a kind of compact conformation, volume is little, has quite wide application prospect based on the controllor for step-by-step motor of standard computer bus.
Summary of the invention
The purpose of this invention is to provide a kind of step motor network control apparatus that is applicable to medical robot, this step motor network control apparatus is with Electric Machine Control and drives integrated, rely on field bus communication simultaneously, realize the drive controlling of single or multiple stepping motors.This control device volume is little, and Scalable Performance is good, can be used in the distributed step motor control system.
The present invention is applicable to the step motor network control apparatus of medical robot, and described medical robot receives by host computer and issues control command behind adapter, fieldbus, and by each intelligent mechanism of the described medical robot of a plurality of step motor drive; Described stepping motor adopts modular control device, and described control device is to realize communication by fieldbus and host computer; Described control device and stepping motor adopt the distribution control model; Described control device is to be made of single-chip microcomputer, communication interface circuit, pulse generating circuit, motor-drive circuit and power circuit; The communication interface circuit receives the control command that described host computer issues; Single-chip microcomputer receives above-mentioned control command and handles the stepping motor address information that obtains required driving through matching addresses; Then, single-chip microcomputer receives above-mentioned control command and obtains the Stepping Motor Control information of required driving through the parameter decoding processing, and the generation of stepping motor acceleration and deceleration curves is carried out in above-mentioned control information handled, thus the square-wave signal that control pulse generation circuit produces; Wherein, stepping motor generation acceleration and deceleration curves method is:
Motor-drive circuit receives the Stepping Motor Control information and the operation of above-mentioned square-wave signal drive stepping motor of above-mentioned required driving.
The present invention is applicable to that the advantage of the step motor network control apparatus of medical robot is: 1) introduce distributed control strategy, the host computer that this controller connected is as main control computer, a plurality of controllers are formed slave computer, and slave computer can be expanded a plurality of controllers as required.2) be the centralized control unit that core is formed controller with high performance single-chip microcomputer, design stepping motor speed governing and positional control algorithm, and the signal procedure of controller and upper main control computer, make controller have the autonomous operation ability and with host computer on-line execute ability.3) be core with integrated step motor drive chip, form stepper motor driving circuit, adopt one pole constant current segmentation to drive.4) with Timer 82C54 be the step motor control pulse generator of core.
Description of drawings
Fig. 1 is the structural representation of step motor network control apparatus of the present invention.
Fig. 2 is a kind of host computer and control device, Stepping Motor Control pattern block diagram.
Fig. 3 A is the drive circuit schematic diagram of stepping motor.
Fig. 3 B is the circuit theory diagrams of communication interface circuit.
Fig. 3 C is the circuit theory diagrams of pulse generator.
Fig. 3 D is the circuit theory diagrams of single-chip microcomputer and latch, reset circuit and interface.
Among the figure: 1. stepping motor 2. motor-drive circuits 3. power circuits 4. pulse generating circuits 5. single-chip microcomputers 6. communication interface circuit 7. host computers 8. adapters 9. fieldbus
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also Fig. 1, shown in Figure 2, the present invention is a kind of step motor network control apparatus that is applicable to medical robot, described medical robot receives by host computer 7 and issues control command behind adapter 8, fieldbus 9, and by each intelligent mechanism of the described medical robot of a plurality of step motor drive; Described stepping motor adopts modular control device, and described control device is to realize communication by fieldbus 9 and host computer 7; Described control device and stepping motor adopt the distribution control model; Described control device is to be made of single-chip microcomputer 5, communication interface circuit 6, pulse generating circuit 4, motor-drive circuit 2 and power circuit 3;
Single-chip microcomputer 5 receives above-mentioned control command and handles stepping motor 1 address information that obtains required driving through matching addresses; Then,
Single-chip microcomputer 5 receives above-mentioned control command and obtains the control information of the stepping motor 1 of required driving through the parameter decoding processing, and the generation of stepping motor acceleration and deceleration curves is carried out in above-mentioned control information handled, thus the square-wave signal that control pulse generation circuit 4 produces; Wherein, stepping motor 1 generation acceleration and deceleration curves method is:
K represents the total progression of accelerating sections, and t represents the accelerating time, C
iThe indicating impulse cycle parameter, f
XTALThe expression crystal oscillator frequency, v
0The expression initial velocity, s
iExpression level step number, T
pThe expression processing time, s represented corner at interval, and sa represents the accelerating sections total step number;
Motor-drive circuit 2 receives the Stepping Motor Control information and 1 operation of above-mentioned square-wave signal drive stepping motor of above-mentioned required driving.
In the present invention, the network of stepping motor is realized, and to be the control command that will carry out with the control device of a plurality of distribution control step motors 1 be published to (as shown in Figure 2) of carrying out on separately the required driven object by RS485 fieldbus 9, stepping motor A101 is controlled by control device A111, stepping motor B102 is controlled by control device B112, be docile and obedient time, then have stepping motor N104 to control by control device N114.Each control device is identical to Stepping Motor Control, at first carries out the address and judge stepping motor pointed behind the command information that receives under the host computer 7, and the impulse wave that this stepping motor is carried out acceleration and deceleration curves is controlled its operation then.The terminal that part is not pointed out in its circuit is connected to conventional the connection, each specific terminal connects as follows, the least-significant byte data 60 of single-chip microcomputer U1,59,58,57,56,55,54,3 of 53 ends and latch U6,4,7,8,13,14,17,18 ends connect, address 48 ends of single-chip microcomputer U1 are connected with 1 end of latch U6, single-chip microcomputer U1 is connected with 11 ends of latch U6 with imitating 40 ends, the output 2 of latch U6,5,6,9 of 15 ends and motor-drive circuit U2,13,12,15 ends connect, the output 9 of latch U6,16 ends are series limiting resistor R4 respectively, R6, output 12 ends of latch U6 are connected with 16 ends with 11 ends of pulse generating circuit U4, and output 19 ends of latch U6 are connected with 3 ends with 2 ends of communication interface circuit U3; Least-significant byte data 60～53 ends of single-chip microcomputer U1 are connected with 8～1 ends of pulse generating circuit U4, address 51～49 ends of single-chip microcomputer U1 are connected with 19～21 ends of pulse generating circuit U4, single-chip microcomputer U1 is connected with 23 ends of pulse generating circuit U4 with imitating 40 ends, effective 61 ends of reading of single-chip microcomputer U1 are connected with 22 ends of pulse generating circuit U4, clock 65 ends of single-chip microcomputer U1 are connected with 9 ends of pulse generating circuit U4, input 24 ends of single-chip microcomputer U1 are connected with 18 ends with 13 ends of pulse generating circuit U4, input 25 ends of single-chip microcomputer U1 are connected with 17 ends of pulse generating circuit U4, and 10 ends of pulse generating circuit U4 are connected with 10 ends of motor-drive circuit U2 with 15 ends; 12 of single-chip microcomputer U1,14,36 end ground connection, 1,13,37 termination powers, 62 ends of single-chip microcomputer U1 are connected with 7 ends of reset circuit U7, input 16 ends that reset of single-chip microcomputer U1 are connected with 6 ends of reset circuit U7, the serial 17 of single-chip microcomputer U1,1 of 18 ends and communication interface circuit U3,4 ends connect, low 5 19～23 ends of the P1 mouth of single-chip microcomputer U1 are connected with 1～5 end of interface J5, high 3 30～32 ends of the P1 mouth of single-chip microcomputer U1 are connected with 6～4 ends of toggle switch S1, the memory address of single-chip microcomputer U1 selects input 2 ends to be connected with 2 ends of interface JP1, the 16 termination driving power VDD of motor-drive circuit U2,11 end ground connection.The peripheral controllers spare of motor-drive circuit U2 comprises: reset circuit, reference voltage circuit, current of electric sampling resistor RSA and RSB and filter capacitor CA.Reset circuit is made up of capacitor C 111 and resistance R 3, and capacitor C 111 1 ends link to each other with power supply VCC, and the other end links to each other resistance R 3 other end ground connection simultaneously with 8 ends of resistance R 3 and U2.Reference voltage circuit is by two positive-negative-positive triode Q1, Q2, and 4 resistance R 1, R4, R5, R6 and potentiometer R2 form.Series connection is between power supply VCC and ground successively for R1, R2, R5, and the front end of R5 is connected with 7 ends of U2.The Q1 emitter links to each other with the R1 front end, and collector electrode is connected with the rear end of R1, and base stage is connected with resistance R 4.The Q2 emitter is connected with the R2 front end, and collector electrode is connected with the R2 rear end, and base stage is connected with resistance R 4.Current sample RSA is connected between 5 and 11 ends of U2, and RSB is connected between 17 and 11 ends of SLA7062.Filter capacitor is directly parallel between 16 and 11 ends of U2.Reset circuit, reference voltage circuit, current of electric sampling resistor and power supply become star ground in 11 terminations of U2, output 1 end of motor-drive circuit U2 is connected with 2 ends of interface J2 with 2 ends, exporting 3 ends is connected with 3 ends of interface J2 with 4 ends, exporting 18 ends is connected with 5 ends of interface J2 with 19 ends, export 20 ends and be connected with 6 ends of interface J2 with 21 ends, 10,15 ends of pulse generating circuit U4 are connected with 10 ends of motor-drive circuit U2 simultaneously.
The centralized control unit of controller of the present invention is made up of a high performance single-chip microcomputer and peripheral data latching chip, and single-chip microcomputer is selected 16 single-chip microcomputer 87C196KC20 of Intel Company for use, and the data latching chip adopts monolateral 8D data latches 74HC377.The brilliant shake of 87C196KC20 frequency can reach 20M, have standard input/output port and full duplex asynchronous and synchronous serial I/O port, internal processes memory access 16K has high speed input interface HSI etc., and abundant system resource makes only needs expansion device seldom can satisfy the requirement of system.Data latches 74HC377 directly links to each other with single-chip microcomputer low data bus, for system provides 8 control signals:
CW/CCW---motor traffic direction control.0: motor just changes, and 1: the motor counter-rotating
M1, M2---motor-driven segmentation number is selected.
Table 1 signal condition is selected the logical relation table of comparisons with segmentation
| M1 | M2 | The segmentation number | |
| H | H | 2 | |
| H | L | 4 | |
| L | H | 8 | |
| | L | 16 |
Motor-driven segmentation number, can onlinely be regulated in motor operation course by program setting.Therefore, when the motor speed of service is low, can select bigger segmentation, effectively suppress low-frequency oscillation; And when the motor speed of service is higher, select less segmentation, satisfy the high-speed cruising requirement.
Sleep and Reduce---motor operational mode control signal
Resting state: the motor windings electric current is zero, no location torque output, and motor is in free state.
Throttle: motor windings current ratio motion state is little, certain locking ability is arranged, but energy consumption is littler, and caloric value is littler.
At the robot duration of work, when not needing motor movement, motor is adjusted to resting state or throttle, can save energy resource consumption, reduce the caloric value of motor simultaneously.
Table 2 signal condition and the motor operational mode logical relation table of comparisons
| Sleep | Reduce | Running status |
| H | H | Throttling |
| L | H | Work |
| L | L | Dormancy |
| H | L | Indefinite |
Sync---PWM modulating mode expansion.1: synchronous modulation, 0: asynchronous modulation.The random noise that the PWM debugging produced when synchronous modulation can reduce motor and stops, but the vibration when synchronous modulation will aggravate motor and be moved.Therefore, be necessary when motor moves, to adopt asynchronous modulation, transfer synchronous modulation when motor stops to.
Gate---control impuls generation control end.1: the pulse generator operate as normal, 0: pulse generator quits work.The start and stop of control motor in proper order.
R/W---serial port read-write control signal.0: with effect, controller can send data to host computer; 1: read effectively, controller can read the host computer order
Motor drive module is that core is formed with the one pole constant-current driven chip SLA7062M of Japanese SANKEN company.This chip provides 4 complete phase step motors to drive and controlled function, and serial control interface is provided, and the user only need provide driving pulse and direction two path control signal at least, and it is convenient to use.By the setting of control signal, can obtain multiple segmentation, by changing reference voltage V
Ref, can adjust the output-current rating of chip for driving, make controller can drag the motor of the different rated current of 0.3A～3A.In the working control device, adjust V by the value of adjusting potentiometer R2
Ref, realize the adjusting of rated current.For reducing energy consumption, reduce the heating of motor, increase the service life, motor has three kinds of operational modes: mode of operation, throttle pattern, park mode.The operational mode of motor can be provided with flexibly by program control.These control signals make that the control flexibility of motor is very strong, are suitable for multiple application.
Stepper motor driver of the present invention adopts the constant current subdivision drive method, need the very high control impuls of frequency, and need complicated speed and Position Control, therefore adopt expansion Timer 82C54 to provide control impuls for motor-driven in conjunction with the method for the high speed input function of 87C196KC.The combined circuit schematic diagram, the operation principle of this clamp-pulse generator is described: 8254 counters 0 are operated in the square-wave generator pattern, export after the pulse frequency division to the clk0 input.Counter 1 is operated in count mode, on one side the pulse of counter 0 output is delivered to the step motor drive module as control impuls, delivers to counter 1 pulse input end simultaneously, the step-by-step counting of 1 pair of counter of counter, 0 output.Counting initial value by control counter 0 can be controlled the motor speed of service.In this system, after single-chip microcomputer configures the parameter of 82C54, produce pulse and automatic count pulse number automatically, do not need the intervention of single-chip microcomputer.When the pulse number that counter 0 sends reached the set point of counter 1, counter 1 interrupted to the single-chip microcomputer application, and request is handled.Single-chip microcomputer receives interrupt signal, carries out corresponding operating, and 82C54 is according to new parameter operation.Utilize this method, MCU does not need directly to be responsible for the generation and the counting of pulse, and as long as ability is controlled the work of pulser in advance when needs are revised 8254 running parameter, thereby improved the operational efficiency of pulse frequency and MCU, can carry out complicated speed and Position Control easily.
Motor will experience acceleration, constant speed, moderating process in motion process.Handle through discretization, the acceleration track is stepped.Motor keeps the regular hour on each step velocity, motor moves a segment distance, arrive the operation step number of this grade after, 8254 send interrupt signal, and MCU responds interruption, the initial value of the counter 1,2 of change 8254, regulate the speed and the follow-up reforwarding row of displacement, up to stopping.In the real system, before the electric motor starting, primary control program at first calculates the tables of data of the operation step number of running frequency and corresponding frequencies level according to operational factor, and carries out a grade step number compensation, running frequency and the level step number found from tables of data in service is provided with 82C54.Utilize look-up table and the compensation of level step number, controllor for step-by-step motor of the present invention has reached high orientation precision.
Communication system of the present invention is that expansion RS485 interface constitutes on the full duplex serial input/output port of 87C196KC.When needs are controlled a plurality of, directly on 485 networks, articulate a plurality of control unit interfaces and get final product, system extension is quite easy.The address of each controller in network set by the address choice toggle switch, and 3 can be arranged to 0～7 totally 8 addresses for toggle switch.System is to read the address of the value of this toggle switch as oneself at power-up initializing.The communication of system has utilized the multi computer communication method of 87C196KC, cooperates self-defining communications protocol to finish, the communication efficiency height, and reliable type is good, applying flexible.System provides api function for the user, supports the MFC programming, convenient exploitation.
The I/O interface provides 5 manual control signals: stop, displacement controls, resets, just changes, reverses.Manually control makes controller can break away from upper main control computer independent operating, and a kind of control mode of redundancy is provided for the operation of system.When the system failure, but the controller isolated operation has improved the reliability of control system.
On the basis of advanced person's stepper motor Drive Control Technique, introduce distributed control strategy, the computer bus of employing standard, control card in traditional step motor control system and driver are integrated on the integrated circuit board, so that this controller has compact conformation, volume is little, the characteristics that Scalable Performance is good.
Claims (6)
1, a kind of step motor network control apparatus that is applicable to medical robot, described medical robot receives by host computer (7) and issues control command behind adapter (8), fieldbus (9), and by each intelligent mechanism of the described medical robot of a plurality of step motor drive; Described stepping motor adopts modular control device, it is characterized in that: described control device is to realize communication by fieldbus (9) and host computer (7); Described control device and stepping motor adopt the distribution control model; Described control device is to be made of single-chip microcomputer (5), communication interface circuit (6), pulse generating circuit (4), motor-drive circuit (2) and power circuit (3);
Communication interface circuit (6) receives the control command that described host computer (7) issues;
Single-chip microcomputer (5) receives above-mentioned control command and handles stepping motor (1) address information that obtains required driving through matching addresses; Then,
Single-chip microcomputer (5) receives above-mentioned control command obtains the stepping motor (1) of required driving through the parameter decoding processing control information, and the generation of stepping motor acceleration and deceleration curves is carried out in above-mentioned control information handled, thereby the square-wave signal that control pulse generation circuit (4) produces; Wherein, stepping motor (1) generation acceleration and deceleration curves method is:
K represents the total progression of accelerating sections, and t represents the accelerating time, C
iThe indicating impulse cycle parameter, f
XTALThe expression crystal oscillator frequency, v
0The expression initial velocity, s
iExpression level step number, T
pThe expression processing time, s represented corner at interval, and sa represents the accelerating sections total step number;
Motor-drive circuit (2) receives the Stepping Motor Control information and above-mentioned square-wave signal drive stepping motor (1) operation of above-mentioned required driving.
2, step motor network control apparatus according to claim 1 is characterized in that: the drive current of stepping motor (1) is 0.3A～3A.
3, step motor network control apparatus according to claim 1 is characterized in that: described adapter (8) is chosen the RS232/RS485 adapter.
4, step motor network control apparatus according to claim 1 is characterized in that: fieldbus (9) is the RS485 bus.
5, step motor network control apparatus according to claim 1, it is characterized in that: single-chip microcomputer (5) is selected the 87C196KC chip for use, communication interface circuit (6) is selected the MAX485 chip for use, and pulse generating circuit (4) is selected the P82C54 chip for use, and motor-drive circuit (2) is selected the SLA7062M chip for use.
6, step motor network control apparatus according to claim 1, it is characterized in that: each terminal of circuit is connected to: the least-significant byte data 60 of single-chip microcomputer U1,59,58,57,56,55,54,3 of 53 ends and latch U6,4,7,8,13,14,17,18 ends connect, address 48 ends of single-chip microcomputer U1 are connected with 1 end of latch U6, single-chip microcomputer U1 is connected with 11 ends of latch U6 with imitating 40 ends, the output 2 of latch U6,5,6,9 of 15 ends and motor-drive circuit U2,13,12,15 ends connect, the output 9 of latch U6,16 ends are series limiting resistor R4 respectively, R6, output 12 ends of latch U6 are connected with 16 ends with 11 ends of pulse generating circuit U4, and output 19 ends of latch U6 are connected with 3 ends with 2 ends of communication interface circuit U3;
Least-significant byte data 60～53 ends of single-chip microcomputer U1 are connected with 8～1 ends of pulse generating circuit U4, address 51～49 ends of single-chip microcomputer U1 are connected with 19～21 ends of pulse generating circuit U4, single-chip microcomputer U1 is connected with 23 ends of pulse generating circuit U4 with imitating 40 ends, effective 61 ends of reading of single-chip microcomputer U1 are connected with 22 ends of pulse generating circuit U4, clock 65 ends of single-chip microcomputer U1 are connected with 9 ends of pulse generating circuit U4, input 24 ends of single-chip microcomputer U1 are connected with 18 ends with 13 ends of pulse generating circuit U4, input 25 ends of single-chip microcomputer U1 are connected with 17 ends of pulse generating circuit U4, and 10 ends of pulse generating circuit U4 are connected with 10 ends of motor-drive circuit U2 with 15 ends;
12,14, the 36 end ground connection of single-chip microcomputer U1,1,13,37 termination powers,
62 ends of single-chip microcomputer U1 are connected with 7 ends of reset circuit U7, and input 16 ends that reset of single-chip microcomputer U1 are connected with 6 ends of reset circuit U7,
Serial 17,18 ends of single-chip microcomputer U1 are connected with 1,4 ends of communication interface circuit U3,
Low 5 19～23 ends of the P1 mouth of single-chip microcomputer U1 are connected with 1～5 end of interface J5,
High 3 30～32 ends of the P1 mouth of single-chip microcomputer U1 are connected with 6～4 ends of toggle switch S1,
The memory address of single-chip microcomputer U1 selects input 2 ends to be connected with 2 ends of interface JP1,
The 16 termination driving power VDD of motor-drive circuit U2,11 end ground connection,
The peripheral controllers spare of motor-drive circuit U2 comprises: reset circuit, reference voltage circuit, current of electric sampling resistor RSA and RSB and filter capacitor CA, reset circuit is made up of capacitor C 111 and resistance R 3, capacitor C 111 1 ends link to each other with power supply VCC, the other end links to each other with 8 ends of resistance R 3 and U2 simultaneously, resistance R 3 other end ground connection, reference voltage circuit is by two positive-negative-positive triode Q1, Q2,4 resistance R 1, R4, R5, R6 and a potentiometer R2 form, R1, R2, R5 successively series connection between power supply VCC and ground, the front end of R5 is connected with 7 ends of U2, the Q1 emitter links to each other with the R1 front end, collector electrode is connected with the rear end of R1, base stage is connected with resistance R 4, the Q2 emitter is connected with the R2 front end, collector electrode is connected with the R2 rear end, base stage is connected with resistance R 6, current sample RSA is connected between 5 and 11 ends of U2, RSB is connected between 17 and 11 ends of SLA7062, filter capacitor is directly parallel between 16 and 11 ends of U2, reset circuit, reference voltage circuit, the current of electric sampling resistor becomes star ground with power supply in 11 terminations of U2
Output 1 end of motor-drive circuit U2 is connected with 2 ends of interface J2 with 2 ends, exports 3 ends and is connected with 3 ends of interface J2 with 4 ends, exports 18 ends and is connected with 5 ends of interface J2 with 19 ends, and export 20 ends and be connected with 6 ends of interface J2 with 21 ends,
10,15 ends of pulse generating circuit U4 are connected with 10 ends of motor-drive circuit U2 simultaneously, and all the other each terminals are conventional the connection.
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| CN102624308B (en) * | 2011-01-30 | 2014-09-10 | 上海优爱宝机器人技术有限公司 | Integrated control driver of stepping motor and control driving method |
| CN103872963A (en) * | 2012-12-18 | 2014-06-18 | 苏州工业园区新宏博通讯科技有限公司 | Position control method for servo motor |
| CN105227041B (en) * | 2015-10-30 | 2018-02-06 | 深圳市嘉昱机电有限公司 | The control method and motor driven systems of motor driver |
| CN105511328B (en) * | 2016-01-11 | 2018-10-26 | 华东理工大学 | Nuclear power station mechanical arm and radiation hardness two-phase stepping motor driver |
| CN106175936B (en) * | 2016-08-31 | 2018-09-04 | 北京术锐技术有限公司 | A kind of operating robot fully operational status fault detection method |
| KR102263570B1 (en) | 2016-08-31 | 2021-06-14 | 베이징 서제리 테크놀로지 씨오., 엘티디. | How to detect malfunction of surgical robot operation status |
| CN110829911B (en) * | 2018-08-09 | 2021-08-24 | 航天信息股份有限公司 | Driving method and driving equipment for stepping motor |
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| CN112087535B (en) * | 2020-09-17 | 2022-10-28 | 山东科大机电科技股份有限公司 | Bus address automatic detection device, system and method |
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| CN1452312A (en) * | 2003-05-23 | 2003-10-29 | 南开大学 | Full-digital subdivision high-accuracy stepper motor controller |
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