CN101054014A - Serial multi-axis stepper control method and system for tin paste printing machine - Google Patents
Serial multi-axis stepper control method and system for tin paste printing machine Download PDFInfo
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Abstract
The invention discloses a serial multi-shaft step control method and system used in solder paste printing machine. The invention cooperative controls plural key moving shafts for solder paste printing by plural working conditions of the solder paste printing machine such as initialization, waiting, automatic print, quit, configuration and so on. A DC 4-axis step servo driver in the system drives X-axis stepper motor and scraper Z1-axis stepper motor and scraper Z2-axis stepper motor of camera; a DC 4-axis step servo driver drives platform Y1-axis stepper motor, platform Y2-axis stepper motor, platform X-axis stepper motor and wide rail axis stepper motor; An AC single axis step servo driver drives camera Y-axis stepper motor. The invention can effectively improve cooperative control capacity and alignment accuracy for PCB solder paste printing machine, has less wiring, and high resistance to electromagnetic interference, compact structure and abounding control functions, and is applicable for various PCB solder paste printing machine.
Description
Technical field
The present invention relates to pcb board stencil printer control system field, particularly relate to and a kind ofly be used for stencil printer and use a serial multi-axis step-by-step control system of following the stepping servo instruction VI storehouse of LabVIEW technical standard.
Background technology
The PCB stencil printer is the important electronics manufacturing equipment in the SMT processing procedure.The process of PCB assembling generally comprises optical check behind PCB paste solder printing, printing back optical check, paster, the paster, Reflow Soldering or wave-soldering, six processes of postwelding optical check.And paste solder printing is as the first working procedure of SMT processing procedure, and its printing precision is directly related for paster and welding quality, and the not high PCB that may make of printing quality produces defective modes such as rosin joint.And the PCB paste solder printing generally comprises manual, semi-automatic, full-automatic printing.Along with dwindling of electronic component yardstick, can not satisfy the requirement of SMT assembling by manual, the semi-automatic printing of pin machinery location.And full-automatic stencil printing machine adopts and to carry out accurate silk screen based on machine vision technique and locate with PCB and aim at.Its realization needs platform motion axle and the accurate motion of camera motion axle and control to realize.After finished the accurate location of silk screen and PCB, assurance paste solder printing function realizes also comprising according to certain time sequence carried out motion control to a series of axles, and these motions comprise send plate motion, platform ascending motion etc.Such as, U.S. Pat 5988060 has been introduced a kind of stencil printer printing equipment.
Because stencil printer is a typical multi-shaft motion control system, and need to guarantee the paste solder printing precision that it is very important selecting appropriate control structure.Stencil printer generally comprises the accurately axle of control of eight needs, is respectively camera motion X-axis, camera motion Y-axis, platform Y1 axle, platform Y2 axle, platform X-axis, the wide axle of PCB guide rail accent, tin cream scraper pressure kinematic axis Z1/Z2.This eight axles motion not requiring interlock control, aims at the accurate of silk screen but have requirement, particularly camera motion X-axis, camera motion Y-axis, platform Y1 axle, platform Y2 axle, the platform X-axis kinematic accuracy of Collaborative Control directly to influence PCB.Example of aiming at by optical mode such as U.S. Pat 5060063, RE34615, US5943089.These patents provide some unique optics auxiliary method of aiming at pcb board and printing screen, but the multiaxis of stencil printer is coordinated control ability and function is the basis of guaranteeing print register.Control PLC or the motion control plate card type stepping/servo drive system that adoptable scheme comprises the stepping of bus type intelligent driving system of stepping motor, bus type intelligent stepping servo drive system, bus type PLC control or servo drive system, non-bus type for this multiaxis.The structure of non-bus type is for multiaxial motion control, can adopt PLC directly to send out high-speed pulse or adopts PLC position control module drive, and its control structure requires to be equipped with a plurality of PLC, position control module, servo-driver, makes the wiring complexity.If directly adopt PLC directly to send out pulsed drive, the kinematic error that the system that also makes can't the compensated position pulse missing causes.Bus type motion control structure does not have these problems.Certain stencil printer of Germany is exactly the intelligent driving system of stepping motor that adopts the CANOpen universal serial bus, but cost is higher.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art, a kind of accurate location, anti-electromagnetic interference is strong, reliability is high, cost is low employing state machine control structure and RS485 full duplex or semiduplex serial multi-axis control system are provided and are used for the stepping servo-drive instruction VI storehouse of a kind of LabVIEW of satisfying technical standard of this system, this system can be applicable in the various pcb board stencil printers.
For realizing purpose of the present invention, the technical solution used in the present invention is as follows:
A kind of serial multi-axis stepper control method that is used for stencil printer, by multiple axes system control being divided into initialization, wait, printing automatically, withdrawing from parameter major state is set, realize the automatic conversion of each state by host computer, finish the multiaxis of stencil printer and coordinate control, the control of its host computer comprises the steps:
(1) control system of moving on host computer executing state word initialize process at first, and be set to initialization and wait for two states;
(2) system enters the state machine circulation in the multiaxis state of a control machine; Judge whether state is original state, if, system will carry out each process that makes zero, the kinematic axis that calls movement instruction VI storehouse returns and instructs VI zero point, by four stepping servo-drivers of direct current, four stepping servo-drivers of direct current with exchange single shaft stepping servo controller and resolve, return zero point to drive corresponding stepper motor; Then, system enters wait, returns recurrent state again;
(3) if non-original state, system further judges whether to be wait state, if, wait for user's input control order or operational order, according to different control instructions, the system call status word is put other state course, realizes that status word is changed to automatic printing state, parameter setting and status word such as withdraws from, and returns recurrent state subsequently;
(4) if state wait state not, system judges whether to be automatic print state, if, system will carry out automatic printing process, by four stepping servo-drivers of direct current, four stepping servo-drivers of direct current with exchange the accurate location that single shaft stepping servo controller drives each kinematic axis respectively, the state that is provided with subsequently returns recurrent state for waiting for;
(5) if system's judgement state is non-automatic printing, then system judges further whether state is that parameter is provided with state, if, system finishes the setting of various systematic parameters, comprise the movement velocity of each, the parameter of vision part, the state that is provided with subsequently returns recurrent state again for waiting for;
(6) if system is judged as nonparametric state is set, then system judges that further whether state is for withdrawing from, if not, system enters wait state; If system withdraws from processing, preserve parameter.
Described init state is mainly finished the initialization of control system, comprises that each motion makes zero, controls parameter initialization etc.; Wait state is mainly waits for that user's operational order, system will turn to pairing control dress attitude according to user's operation; Automatically printing state is the automatic printing state of stencil printer, this state major function be realize that circuit board is sent to, stepped up, camera motion, platform aim at sequentially-operatings such as adjustments, platform risings, scraper motion, what the realization paste solder printing circulated carries out automatically; Exit status is that control system withdraws from, and this state is mainly finished preservation, each action such as make zero of systematic parameter and related data; Parameter is provided with the dress attitude and for the control system parameter state is set, and this state can be finished functions such as each Electric Machine Control parameter, camera parameter, aligning study.
Described movement instruction VI follows the LabVIEW technical standard in the storehouse.
A kind of serial multi-axis step-by-step control system that is used for stencil printer, comprise host computer, RS485 full duplex or half-duplex Serial Control bus, two direct current stepping servo drive systems and exchange the stepping servo drive system that described host computer, direct current stepping servo drive system, interchange stepping servo drive system all are mounted on RS485 full duplex or the half-duplex Serial Control bus; Described host computer comprises multiaxis state of a control machine and movement instruction VI storehouse, and multiaxis state of a control machine calls dependent instruction VI in the movement instruction VI storehouse; Four stepping servo driver drives of direct current camera X-axis stepper motor, scraper Z1 shaft step motor and scraper Z2 shaft step motor in four stepping servo drive systems one of described direct current; Four stepping servo driver drives platform of direct current Y1 shaft step motor, platform Y2 shaft step motor, platform X-axis stepper motor and the wide shaft step motor of rail in four stepping servo drive systems two of described direct current; The interchange single shaft stepping servo driver drives camera y-axis stepper motor of described interchange stepping servo drive system.
The present invention compared with prior art has following advantage and beneficial effect:
(1) the present invention is convenient to structure, debugging, the modification of control system to the multi-axis control system of PCB stencil printer employing multiaxial state machine structure, can carry out multiaxis simultaneously better and coordinate control;
(2) multi-axis control system based on RS485 full duplex or half duplex serial bus of the present invention, have that few, the anti-electromagnetic interference of wiring is strong, motion control accurately, high reliability features;
(3) the present invention has the strong characteristics of control function to the movement instruction VI storehouse of PCB stencil printer employing based on the structure of the LabVIEW of NI company technical standard;
(4) the instruction VI in the stepping servo-drive instruction database that the present invention created adopts hierarchical structure, and each instructs VI to have similar input/output interface, makes things convenient for the developer to use;
(5) the instruction VI in the stepping servo-drive of the present invention instruction VI storehouse has adopted flow control technology, and its inner instruction sequencing has adopted the grading control technology, has usability and flexibility more easily.
Description of drawings
Fig. 1 is the structure of steel mesh stencil printer and the connection diagram of multi-axis control system and steel mesh stencil printer;
Fig. 2 is the multi-axis control system schematic diagram of the PCB stencil printer based on RS485 full duplex or half-duplex Serial Control bus of the present invention;
Fig. 3 is the stencil printer multiaxis control flow chart based on state machine approach of the present invention;
Fig. 4 is the level schematic diagram of stepping servo-drive instruction database of the present invention;
Fig. 5 is the instruction VI input/output interface schematic diagram in each word bank;
Fig. 6 is the internal work flow process schematic diagram of stepping servo-drive instruction VI.
The specific embodiment
In order to understand the present invention better, below in conjunction with accompanying drawing the present invention is further described, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, a typical pcb board silk screen stencil printer mainly comprises steel mesh 75, platform 71, platform lifting device 72, pcb board conveyer 73, camera apparatus 74, preceding scraper 76-1, back scraper 76-2, scraper transmission device 76-3, platform X-axis transmission device 81, platform Y1 shaft drive 79-1, platform Y2 shaft drive 79-2, the wide transmission device 78 of PCB rail, camera X-axis transmission device 80, camera Y-axis transmission device 77 and multi-axis control system of the present invention.Scraper Z1 stepper motor 5, the scraper Z2 stepper motor 6 of stencil printer multi-axis control system of the present invention are connected with scraper transmission device 76-3 respectively, to finish the driving of scraper; Camera X-axis stepper motor 4, camera y-axis stepper motor 7 are connected with camera X-axis transmission device 80, camera Y-axis transmission device 77 respectively, to finish the accurate setting movement of camera apparatus 74; Platform X-axis stepper motor 10, platform Y1 shaft step motor 8 and platform Y2 shaft step motor 9 are connected with platform X-axis transmission device 81, platform Y1 shaft drive 79-1 and platform Y2 shaft drive 79-2 respectively, to finish platform relatively and the accurate motion positions of pcb board; Platform Z axis AC servomotor 16 is connected with platform lifting device 72, to finish the perpendicular positioning motion of platform; The wide adjustment stepper motor 11 of PCB rail is connected with the wide transmission device 78 of PCB rail, with the clamping of finishing pcb board with unclamp action.This is the schematic diagram that a kind of multi-axis control system of the present invention is used for the stencil printer of platform adjusting type structure, and this multi-axis control system also can be used in the stencil printer of steel mesh adjusting type structure.
As shown in Figure 1, 2, the serial multi-axis step-by-step control system that is used for stencil printer comprises host computer 15, RS485 full duplex or half-duplex Serial Control bus 14, direct current stepping servo drive system one A, direct current stepping servo drive system two B and exchanges the stepping servo drive system.Host computer 15 comprises multiaxis state of a control machine 1 and movement instruction VI storehouse 2, and multiaxis state of a control machine 1 calls dependent instruction VI in the movement instruction VI storehouse 2.Four stepping servo drive system one A of direct current comprise four stepping servo-drivers 3 of direct current, camera X-axis stepper motor 4, scraper Z1 shaft step motor 5 and scraper Z2 shaft step motor 6, difference drives camera X-axis stepper motor 4, scraper Z1 shaft step motor 5, scraper Z2 shaft step motor 6 on four stepping servo-drivers 3 of direct current.Four stepping servo drive system two B of direct current comprise four stepping servo-drivers 12 of direct current, platform Y1 shaft step motor 8, platform Y2 shaft step motor 9, platform X-axis stepper motor 10 and the wide shaft step motor 11 of rail; Four stepping servo-drivers 12 of direct current drive platform Y1 shaft step motor 8, platform Y2 shaft step motor 9, platform X-axis stepper motor 10, the wide shaft step motor 11 of rail respectively.Exchange the stepping servo drive system and comprise interchange single shaft stepping servo-driver 13 and camera y-axis stepper motor 7, exchange single shaft stepping servo-driver 13 drives camera y-axis stepper motors 7.Articulate host computer 15, four stepping servo-drivers 3 of direct current, four stepping servo-drivers 12 of direct current on RS485 full duplex or the half-duplex Serial Control bus respectively and exchange single shaft stepping servo controller 13.
The serial multi-axis step-by-step control system that is used for stencil printer is taked multiaxis state of a control machine control structure, send motion control instruction by the stepping servo instruction VI storehouse based on the LabVIEW of M company technical standard, the The whole control system framework is on RS485 full duplex or half-duplex Serial Control bus.Its control method as shown in Figure 3, by multiple axes system control being divided into initialization (Initialize), waiting for (Wait), printing (Autoprint) automatically, withdrawing from (Exit), parameter setting (Setting) major state, finish the multiaxis of stencil printer and coordinate control.Wherein, the Initialize state is mainly finished the initialization of control system, comprises that each motion makes zero, controls parameter initialization etc.; The Wait state is mainly waits for that user's operational order, system will turn to pairing control dress attitude according to user's operation; The Autoprint state is the automatic printing state of stencil printer, this state major function be realize that circuit board is sent to, stepped up, camera motion, platform aim at sequentially-operatings such as adjustments, platform risings, scraper motion, what the realization paste solder printing circulated carries out automatically; The Exit state is that control system withdraws from, and this state is mainly finished preservation, each action such as make zero of systematic parameter and related data; Setting dress attitude is provided with state for the control system parameter, and this state can be finished functions such as each Electric Machine Control parameter, camera parameter, aligning study.Specifically comprise the steps:
(1) the control system executing state word initialize process 51 at first of operation on the host computer 15, this process realizes the initialization of status word State, and inserts initial status word Initialize and two states of Wait.
(2) system enters the state machine circulation 52 in the multiaxis state of a control machine 1.Judge whether state is original state, the uppermost state of status word State is ejected in this state machine circulation, promptly eject for the first time Initialize, system is through the condition judgment process then, if determine that system enters initialization (Initialize) state for the first time, system will carry out each process 53 that makes zero, the kinematic axis that this process will be called movement instruction VI storehouse returns and instructs VI zero point, send back zero motion control instruction by RS485 full duplex or half-duplex Serial Control bus 14, and by four stepping servo-drivers 3 of direct current, four stepping servo-drivers 12 of direct current with exchange single shaft stepping servo controller 13 and resolve, (comprise platform adjustment motor 8 to drive corresponding stepper motor, 9,10, camera motor 4,7, scraper motor 5,6 etc.) return zero point.Then, system will carry out configuration state word process 54-1, and configuration state word State=Wait returns step 52 subsequently.
(3) if the previous step state is not an original state, system judges whether to be wait state 60-2, if determine that current state is wait state (Wait), represents that promptly system will enter the state of waiting for user instruction; When the Wait state is ejected in the state machine circulation, system will carry out the user instruction process 55 of waiting for, promptly wait for user's input control order or operational order, according to different control instructions, step 56 carry out in system, call status word and put other state course, realize that status word is changed to status words such as AutoPrint, Exit, Setting, return step 52 subsequently.
(4) if state is not to be wait state, system judges whether to be automatic printing state 60-3, if, when the AutoPrint state is ejected in the state machine circulation, system will carry out automatic printing process 57, this process will be called the relative parameters setting instruction VI in movement instruction VI storehouse, send motion control instruction chronologically by RS485 bus full duplex or half-duplex Serial Control bus 14, and by four stepping servo-drivers 3 of direct current, four stepping servo-drivers 12 of direct current with exchange single shaft stepping servo controller 13 and resolve, finish the parameter setting of corresponding axis.According to the instruction analysis result, by four stepping servo-drivers 3 of direct current, four stepping servo-drivers 12 of direct current with exchange the accurate location that single shaft stepping servo controller 13 drives each kinematic axis respectively.And the lifting setting movement of platform Z axle will be sent movement instruction by the RS232 interface to PLC18 by system, be resolved by PLC18, send high-speed pulse to AC servo driver, to drive platform Z axis AC servomotor 16.Send by above movement instruction, by the coordination control of system control program realization multiaxis, comprise the setting movement of the adjustment axle of guide rail width, the accurate location of camera X/Y axle, the accurate location of platform X/Y1/Y2 axle, the fast lifting and the accurately motion of location, scraper motor axle Z1/Z2 axle of platform Z axle.Automatically after printing process 57 is finished, call status word and put other state course, step 54-2 is provided with status word State=Wait, returns step 52 subsequently.
(5) if system's judgement state is non-automatic printing, then system judges further whether state is that parameter is provided with state, if, when status word Setting is ejected in the state machine circulation, system is provided with process 58 with execution parameter, this process is finished the setting of various systematic parameters, comprises the movement velocity of each, the parameter of vision part etc.Parameter is provided with process 58 finish after, the system call status word is put other state course, step 54-4 is provided with status word State=Wait, returns step 52 subsequently.
(6) if system is judged as nonparametric state is set, then system judges that further whether state is for withdrawing from, if not, system enters step 54-4 wait state; If when status word Exit was ejected in the state machine circulation, system withdrawed from executive system from treatment progress 59, this process realizes the processing of withdrawing from of system, comprises parameter preservation etc.The whole state machine of jumping out of system circulates then.
The circuit board of stencil printer clamps, aims at, the motion positions of camera, and the printing movements of scraper etc. are finished the working cycles of whole stencil printer automatically according to the job order of strictness under the multiaxis state of a control machine control of this serial multi-axis step-by-step system.
The LabVIEW technique construction is adopted in stepping servo-drive instruction VI storehouse in the multi-axis control system of the present invention.As shown in Figure 4, instruction VI storehouse 21 comprises System instruction VI word bank 22, Direct instruction VI word bank 23, multiaxis instruction VI word bank 24 and system mode 25 4 parts of VI word bank that read instruction.The instruction VI26 of each word bank has similar input/output interface, the parallel tissue of each word bank.Wherein, System instruction VI word bank 22 comprises system configuration VI such as Initialization, Parameter setting, Soft Switch, and the function VI that this word bank provides mainly realizes the parameter configuration of stepping servo-driver; Direct instruction VI word bank 23 comprises relatively, definitely single shaft movement instruction VI, axle move and stop VI, axle motion crawl VI and various servo-driver state control instruction VI etc., and the function VI that this word bank provides mainly realizes the function of the single shaft motion control and the state of a control control thereof of stepping servo-driver; Multiaxis instruction VI word bank 24 comprises four relative, absolute movement control instruction VI, and the function VI that this word bank provides mainly realizes four Synchronization Control; The system mode VI word bank 25 that reads instruction comprises function VI such as Parameter Read, servo-driver movement position read, communication state is read, and the function VI that this word bank provides realizes that mainly positional information, status information of stepping servo-driver etc. reads.The instruction VI that each word bank comprised has similar interface, its interface relationship as shown in Figure 5, instruction VI26 comprises that serial ports is quoted into 34, axle address 33, director data 32,31 4 input ports of error portal, and serial ports quotes out 27, command status 28, return data 29 and 30 4 output ports of error exit.
Shown in Figure 6, at the current control requirement in the communications protocol,, need to finish a complete instruction communication process according to the following steps flow process in order to finish Electric Machine Control based on the RS485 universal serial bus.
(1) after the beginning, at first quotes, this serial ports is carried out transmission reception buffering area empty, finish buffering area and empty (step 35) according to the serial ports of input;
(2) carry out transmission and open the reception pass, enter transmission state (step 36);
(3) input parameter (axle address, director data) the execution command main body according to instruction VI generates (step 43);
(4) to the instruction that generates carry out verification and, obtain having verification and control instruction (step 42);
(5) after having finished above-mentioned steps (36) and step (42), execution command sends, and instruction is sent (step 37) by the RS485 universal serial bus;
When (6) instruction sends, carry out time-delay step 38.And delay time obtains (step 39) by the grading automatical generation module of routine call.
(7) after delay time arrives, put to send to close to receive and open (step 41);
(8) program enters and receives treatment step 40, and this step receives the response of motion controller, and the requirement output necessary processing result according to instruction VI output parameter comprises miscommunication etc.
The present invention adopt with multiaxis state of a control machine, movement instruction VI storehouse and RS485 full duplex or half-duplex Serial control bus is the PCB stencil printer multiaxis serial step-by-step control system of core, can carry out multiaxis The characteristics that coordinate control, have compact conformation, few, the anti-electromagnetic interference of wiring are strong, reliability is high can be used for In the various PCB stencil printers.
Claims (4)
1, a kind of serial multi-axis stepper control method that is used for stencil printer is characterized in that comprising the steps:
(1) control system of moving on host computer executing state word initialize process at first, and be set to initialization and wait for two states;
(2) system enters the state machine circulation in the multiaxis state of a control machine; Judge whether state is original state, if, system will carry out each process that makes zero, the kinematic axis that calls movement instruction VI storehouse returns and instructs VI zero point, by four stepping servo-drivers of direct current, four stepping servo-drivers of direct current with exchange single shaft stepping servo controller and resolve, return zero point to drive corresponding stepper motor; Then, system enters wait, returns recurrent state again;
(3) if non-original state, system further judges whether to be wait state, if, wait for user's input control order or operational order, according to different control instructions, the system call status word is put other state course, realizes that status word is changed to automatic printing state, parameter setting and status word such as withdraws from, and returns recurrent state subsequently;
(4) if state wait state not, system judges whether to be automatic print state, if, system will carry out automatic printing process, by four stepping servo-drivers of direct current, four stepping servo-drivers of direct current with exchange the accurate location that single shaft stepping servo controller drives each kinematic axis respectively, the state that is provided with subsequently returns recurrent state for waiting for;
(5) if system's judgement state is non-automatic printing, then system judges further whether state is that parameter is provided with state, if, system finishes the setting of various systematic parameters, comprise the movement velocity of each, the parameter of vision part, the state that is provided with subsequently returns recurrent state again for waiting for;
(6) if system is judged as nonparametric state is set, then system judges that further whether state is for withdrawing from, if not, system enters wait state; If system withdraws from processing, preserve parameter.
2, according to claim 1 described a kind of serial multi-axis stepper control method that is used for stencil printer, it is characterized in that described init state mainly finishes the initialization of control system, comprise that each motion makes zero, controls parameter initialization etc.; Wait state is mainly waits for that user's operational order, system will turn to pairing control dress attitude according to user's operation; Automatically printing state is the automatic printing state of stencil printer, this state major function be realize that circuit board is sent to, stepped up, camera motion, platform aim at sequentially-operatings such as adjustments, platform risings, scraper motion, what the realization paste solder printing circulated carries out automatically; Exit status is that control system withdraws from, and this state is mainly finished preservation, each action such as make zero of systematic parameter and related data; Parameter is provided with the dress attitude and for the control system parameter state is set, and this state can be finished functions such as each Electric Machine Control parameter, camera parameter, aligning study.
3, a kind of serial multi-axis stepper control method that is used for stencil printer according to claim 1 is characterized in that described movement instruction VI storehouse follows the LabVIEW technical standard.
4, a kind of serial multi-axis step-by-step control system that is used for stencil printer, it is characterized in that comprising host computer (15), RS485 full duplex or half-duplex Serial Control bus (14), two direct current stepping servo drive systems (A, B) and exchange the stepping servo drive system that described host computer (15), direct current stepping servo drive system (A, B), interchange stepping servo drive system all are mounted on RS485 full duplex or the half-duplex Serial Control bus (14); Described host computer (15) comprises multiaxis state of a control machine (1) and movement instruction VI storehouse (2), and multiaxis state of a control machine (1) calls dependent instruction VI in the movement instruction VI storehouse (2); Four stepping servo-drivers of direct current in four stepping servo drive systems one of described direct current (A) (3) drives camera X-axis stepper motors (4), scraper Z1 shaft step motor (5) and scraper Z2 shaft step motor (6); Four stepping servo-drivers of direct current in four stepping servo drive systems two of described direct current (B) (12) drive platform Y1 shaft step motor (8), platform Y2 shaft step motor (9), platform X-axis stepper motor (10) and the wide shaft step motor of rail (11); Interchange single shaft stepping servo-driver (13) the drives camera y-axis stepper motor (7) of described interchange stepping servo drive system.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216437A (en) * | 2015-11-05 | 2016-01-06 | 东莞市科隆威自动化设备有限公司 | Alignment light source image deviation adjustment self-calibration method |
| CN106341959A (en) * | 2016-10-21 | 2017-01-18 | 珠海格力电器股份有限公司 | Printed circuit board past coating apparatus |
| CN109669384A (en) * | 2017-10-17 | 2019-04-23 | 凌云光技术集团有限责任公司 | A kind of control circuit of rewinding machine, control method and device |
| CN112965436A (en) * | 2021-01-27 | 2021-06-15 | 深圳精智达技术股份有限公司 | Single-thread multi-axis control method and related device |
-
2007
- 2007-05-30 CN CNB2007100282883A patent/CN100558554C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105216437A (en) * | 2015-11-05 | 2016-01-06 | 东莞市科隆威自动化设备有限公司 | Alignment light source image deviation adjustment self-calibration method |
| CN106341959A (en) * | 2016-10-21 | 2017-01-18 | 珠海格力电器股份有限公司 | Printed circuit board past coating apparatus |
| CN106341959B (en) * | 2016-10-21 | 2018-10-19 | 珠海格力电器股份有限公司 | A kind of printed circuit board plaster coating device |
| CN109669384A (en) * | 2017-10-17 | 2019-04-23 | 凌云光技术集团有限责任公司 | A kind of control circuit of rewinding machine, control method and device |
| CN109669384B (en) * | 2017-10-17 | 2020-10-13 | 凌云光技术集团有限责任公司 | Control circuit, control method and device of rewinding machine |
| CN112965436A (en) * | 2021-01-27 | 2021-06-15 | 深圳精智达技术股份有限公司 | Single-thread multi-axis control method and related device |
| CN112965436B (en) * | 2021-01-27 | 2022-01-21 | 深圳精智达技术股份有限公司 | Single-thread multi-axis control method and related device |
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| Publication number | Publication date |
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| CN100558554C (en) | 2009-11-11 |
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