CN101727094A - Multi-axis controller - Google Patents
Multi-axis controller Download PDFInfo
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- CN101727094A CN101727094A CN200810217200A CN200810217200A CN101727094A CN 101727094 A CN101727094 A CN 101727094A CN 200810217200 A CN200810217200 A CN 200810217200A CN 200810217200 A CN200810217200 A CN 200810217200A CN 101727094 A CN101727094 A CN 101727094A
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Abstract
The invention is applied in the field of numerical control, and provides a multi-axis controller. The multi-axis controller comprises a pulse counting module set consisting of a plurality of mutually independent pulse counting modules, wherein the input end of each pulse counting module receives pulse signals, while an output end is connected with a kinematic axis; and the pulse counting module set controls a plurality of kinematic axes to simultaneously work or work in a time-sharing way according to pulse counting results of the plurality of pulse counting modules. As the plurality of pulse counting modules are adopted for counting and each pulse counting module controls the movement of one kinematic axis, the multi-axis controller provided by the embodiment of the invention not only can control the plurality of kinematic axes to simultaneously work according to the results output by the plurality of pulse counting modules, but also can control the plurality of kinematic axes to work in the time-sharing way.
Description
Technical field
The invention belongs to digital control field, relate in particular to a kind of multi-axis controller.
Background technology
Development along with digital control technology, multi-axis controller comprises the multi-axis motion control card based on PC, based on the multi-axis motion controller of single-chip microcomputer (especially dsp chip technology), based on the pulse output function of Programmable Logic Controller and the multi-axis control system by the extension movement control module.
Wherein, multi-axis motion controller and SCM Based multi-axis motion controller based on PC all can be realized complicated motion control, as motion controls such as interpolation, helixes, but deviser's soft, hardware design level are had relatively high expectations, and systematic comparison is huge, the cost height.
Multi-axis controller based on Programmable Logic Controller, utilize the control of the high-speed pulse signal-count realization multiaxis of Programmable Logic Controller output, at present known technology, can only control four at most, if want to control more kinematic axis, then necessary extension movement control module causes cost higher like this.
Granted publication number is CN200976104Y, the patent that the utility model name is called " a kind of multi-axis controller " provides a kind of multi-axis controller, comprise: Programmable Logic Controller, power supply, wherein, this multi-axis controller also comprises shunt circuit, Programmable Logic Controller links to each other with controlled cell by shunt circuit, Programmable Logic Controller is controlled the high-speed pulse signal of its generation by shunt circuit to controlled cell, can realize multiaxis control, but controlled kinematic axis in fact can only time-sharing work, and a plurality of kinematic axiss can not be worked simultaneously.
Summary of the invention
The purpose of the embodiment of the invention is to provide a kind of and both can have controlled a plurality of kinematic axiss and work simultaneously, also can control the multi-axis controller of a plurality of kinematic axis time-sharing works.
The embodiment of the invention is achieved in that a kind of multi-axis controller, comprising:
The pulse counter module group that a plurality of pulse counter modules independent of each other are formed;
The input end received pulse signal of each pulse counter module, output terminal connects a kinematic axis;
Described pulse counter module group is controlled a plurality of kinematic axiss whiles or time-sharing work according to the step-by-step counting result of described a plurality of pulse counter modules.
The multi-axis controller that the embodiment of the invention provides adopts a plurality of pulse counter modules to count, the motion of a kinematic axis of each pulse counter module control, both can control a plurality of kinematic axiss according to the result of a plurality of pulse counter modules output and work simultaneously, also can control a plurality of kinematic axis time-sharing works.
Description of drawings
Fig. 1 is the structural drawing of the multi-axis controller that provides of the embodiment of the invention;
Fig. 2 is the circuit diagram of power supply in the multi-axis controller that provides of the embodiment of the invention;
Fig. 3 is the circuit diagram of Programmable Logic Controller in the multi-axis controller that provides of the embodiment of the invention;
Fig. 4 is the structural drawing of pulse counter module in the multi-axis controller that provides of the embodiment of the invention;
Fig. 5 is the circuit diagram of pulse counter module in the multi-axis controller that provides of the embodiment of the invention.
Embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer,, the present invention is further elaborated below in conjunction with drawings and Examples.Should be appreciated that specific embodiment described herein only in order to explanation the present invention, and be not used in qualification the present invention.
The multi-axis controller that the embodiment of the invention provides adopts a plurality of pulse counter modules to count, the motion of a kinematic axis of each pulse counter module control, can open a plurality of pulse counter modules simultaneously, controlling a plurality of kinematic axiss works simultaneously, also can timesharing unbalanced pulse counting module, control a plurality of kinematic axis time-sharing works.
Fig. 1 shows the structure of the multi-axis controller that the embodiment of the invention provides, and for convenience of explanation, only shows the part relevant with the embodiment of the invention, and details are as follows:
Multi-axis controller comprises by a plurality of pulse counter modules independent of each other, step-by-step counting plate for example, the pulse counter module group 13 that a plurality of pulse counter modules 1,2......n form, the input end received pulse signal of each pulse counter module is counted in the pulse counter module group 13.The output terminal of each pulse counter module respectively is connected with a kinematic axis in the pulse counter module group 13, realizes the control to a plurality of kinematic axiss.In embodiments of the present invention, both can control a plurality of kinematic axiss according to the result of a plurality of pulse counter modules output and work simultaneously, also can control a plurality of kinematic axis time-sharing works.
In embodiments of the present invention, multi-axis controller can also comprise power supply 11, is connected with pulse counter module group 13, for a plurality of pulse counter modules in the pulse counter module group 13 provide operating voltage respectively.In specific implementation, power supply 11 can integrate with multi-axis controller, as an ingredient of multi-axis controller, also can be used as an independent devices and is connected with multi-axis controller.
As one embodiment of the present of invention, power supply 11 is a direct-current switch power supply, and physical circuit is mainly exported two groups of independently direct supply :+5V as shown in Figure 2, MGND and+24V, FGND.
In embodiments of the present invention, multi-axis controller can also comprise pulse signal generator 12, connects pulse counter module group 13, and output pulse signal is to pulse counter module group 13.In specific implementation, pulse signal generator 12 can integrate with multi-axis controller, as an ingredient of multi-axis controller, also can be used as an independent devices and is connected with multi-axis controller.
As one embodiment of the present of invention, pulse signal generator 12 can adopt Programmable Logic Controller, output pulse signal is to pulse counter module group 13, utilize the powerful logic of Programmable Logic Controller, sequential scheduling control function, can improve the stability of system, the hardware design of simplified system reduces cost.
In embodiments of the present invention, the number of the number of pulse counter module decision kinematic axis in the pulse counter module group 13, promptly pulse counter module can be realized the control of a kinematic axis, and a plurality of pulse counter modules can be realized the control of a plurality of kinematic axiss, and concrete quantity depends on the circumstances.
As one embodiment of the present of invention, if the number of kinematic axis is a lot, the load capacity that has exceeded the pulse signal of pulse signal generator 12 outputs, then can between pulse signal generator 12 and pulse counter module group 13, increase an amplifying circuit, the pulse signal of pulse signal generator 12 outputs is amplified back output, thereby realize the position control of a unlimited kinematic axis.Simultaneously, if pulse signal generator 12 adopts Programmable Logic Controller to realize, not only can realize the position control function, can also realize control function automatically such as logic control, sequential control, improve the stability of system, the hardware design of simplified system reduces cost.
Programmable Logic Controller is the programming controller in the industrial automation system of being applied to that generally uses in the prior art, has the high-speed pulse output function, and concrete circuit as shown in Figure 3.COM0 ground connection MGND, COM2, COM3, the equal ground connection FGND of COM4, COM5, Y0 is a pulse signal output end, connect a pulse counter module respectively by Y0IN1, Y0IN2, Y0IN3......Y0INn, and Y10, Y11 end is exported control signal Y10 and Y11 respectively with the running of controlled motion axle and the running of stop motion axle.
The circuit structure of pulse counter module for convenience of explanation, only shows the part relevant with the embodiment of the invention as shown in Figure 4.
Pulse counter module comprises counting comparator circuit 131, prewired circuit 132 and input/output interface circuit 133.Counting comparator circuit 131 is counted and comparison operation according to pulse signal, prewired circuit 132 is connected with counting comparator circuit 131, be used for the preset count pulse, input/output interface circuit 133 is connected with counting comparator circuit 131, the unlatching of control counting comparator circuit 131, and the result that will count after comparator circuit 131 comparison operations exports to realize the control of multiaxis.
Fig. 5 shows the circuit structure of pulse counter module, for convenience of explanation, only shows the part relevant with the embodiment of the invention.
Is example with Programmable Logic Controller as pulse producer, pulse signal Y0 is leaded up to Y0IN1 end and is inputed to counting comparator circuit 131, counting comparator circuit 131 is by IC5A, IC5B, IC4A, IC4D, IC10A, IC7A, IC8A, IC6A etc. form a decade counter circuit of position, when count pulse arrives ten, input to by IC5B after the pulse signal process IC11C of a rising edge of IC10A output is reverse, IC6C, IC4C, IC4F, IC10B, IC6C, IC7C, ten the decade counter circuit that IC8C etc. form, in like manner can get, when reaching ten, can export the count pulse on ten decade counter circuit of a signal to hundred, and the like.The units that toggle switch SW1 in the prewired circuit 132 carries out the count pulse number presets, and 8,4,2,1 pin of SW1 is connected with 15,13,12,10 pin of IC1 respectively, also is connected with the pull-up circuit of being made up of resistance R 1, R2, R3, R4.In like manner, the pulse number that the circuit of being made up of the toggle switch SW2 in the prewired circuit 132 and resistance R 11, R12, R13, R14 is finished on the tens presets, and the pulse number that the circuit of being made up of the toggle switch SW3 in the prewired circuit 132 and resistance R 21, R22, R23, R24 is finished on hundred figure places presets.
IC1 is a kind of comparison IC with preparatory function, when preset signal is consistent with the signal of IC5A output, 6 pin of IC1 are exported a high level signal to IC15B, in like manner can get, work as IC2, IC3 is at preset signal and IC5B, export a high level signal respectively to IC15B when the IC12A output signal is consistent, via IC15B, IC11A, output one signal changed the output state of IC17A after the logical circuit that IC16B forms carried out logical operation, the output signal of IC17A is delivered to IC6A respectively, IC6C, IC11D, finishing the zero clearing of counting circuit prepares for count next time, export a signal simultaneously to the light lotus root IC20 in the input/output interface circuit 133, light lotus root IC20 conducting, blocked the Enable Pin of axis controller, kinematic axis is shut down, realize first position control function.
In like manner, second position control function can be realized by second pulse counter module Y0IN2 end in another road of pulse signal Y0, and the like, can realize the 3rd, the 4th ... the position control function of n axle, concrete principle repeats no more as mentioned above.Result by the output of a plurality of pulse counter modules both can control a plurality of kinematic axiss and work simultaneously, also can control a plurality of kinematic axis time-sharing works.
Consider the fan-out capability of pulse signal output end Y0, if the number of kinematic axis is a lot, the load capacity that has exceeded the pulse signal of pulse signal generator 12 outputs, then need between pulse signal generator 12 and pulse counter module group 13, increase an amplifying circuit, the pulse signal of pulse signal generator 12 outputs is amplified back output, thereby realize the position control of a unlimited kinematic axis.
Input/output interface circuit 133 is mainly finished the startup of pulse counter module tally function and is stopped, and exports a signal when finishing in the location and give stepping or servo-driver, stops the running of controlled motion axle.When only needing kinematic axis of control, Y10 end output one control signal by Programmable Logic Controller makes light lotus root IC18 conducting, outputs signal to counting comparator circuit 131 starting impulses counting, removes the blockade of stepping or servo-driver simultaneously, makes to drive to enable.When occurring unusual or needing the running of stop motion axle, Y11 end output one control signal by Programmable Logic Controller makes light lotus root IC19 conducting, thereby counting comparator circuit 131 output states are overturn, and exports a signal and blocks the driver Enable Pin.
As one embodiment of the present of invention, light lotus root IC18, IC19 can be TLP181 or TLP521, can also be single channel or hyperchannel, are mainly used in the interference free performance that circuit is isolated the raising system.
In embodiments of the present invention, multi-axis controller adopts a plurality of pulse counter modules to count, the motion of a kinematic axis of each pulse counter module control, and the result who exports according to a plurality of pulse counter modules controls a plurality of kinematic axiss whiles or time-sharing work.Simultaneously, adopt the Programmable Logic Controller output pulse signal, utilize the powerful logic of Programmable Logic Controller, sequential scheduling control function, can improve the stability of system, the hardware design of simplified system reduces cost.
The above only is preferred embodiment of the present invention, not in order to restriction the present invention, all any modifications of being done within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a multi-axis controller is characterized in that, described multi-axis controller comprises:
The pulse counter module group that a plurality of pulse counter modules independent of each other are formed;
The input end received pulse signal of each pulse counter module, output terminal connects a kinematic axis;
Described pulse counter module group is controlled a plurality of kinematic axiss whiles or time-sharing work according to the step-by-step counting result of described a plurality of pulse counter modules.
2. multi-axis controller as claimed in claim 1 is characterized in that, described multi-axis controller also comprises:
Pulse signal generator is connected with described pulse counter module group, produces the multiplex pulse signal, exports to described pulse counter module group.
3. multi-axis controller as claimed in claim 2 is characterized in that, described pulse signal generator is a Programmable Logic Controller.
4. multi-axis controller as claimed in claim 1 is characterized in that, described multi-axis controller also comprises:
Power supply is connected with described pulse counter module group, provides operating voltage to described pulse counter module group.
5. multi-axis controller as claimed in claim 1 is characterized in that, described multi-axis controller also comprises:
Amplifying circuit is connected with described pulse counter module group, exports to described pulse counter module group after pulse signal is amplified.
6. multi-axis controller as claimed in claim 1 is characterized in that, described pulse counter module comprises:
The counting comparator circuit is counted and comparison operation according to described pulse signal;
Prewired circuit is connected with described counting comparator circuit, is used for the preset count pulse; And
Input/output interface circuit is connected with described counting comparator circuit, controls the unlatching of described counting comparator circuit, and the result after the comparison operation of described counting comparator circuit is exported.
7. multi-axis controller as claimed in claim 6 is characterized in that, described counting comparator circuit is a decimal system counting comparator circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810217200A CN101727094A (en) | 2008-10-29 | 2008-10-29 | Multi-axis controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200810217200A CN101727094A (en) | 2008-10-29 | 2008-10-29 | Multi-axis controller |
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| CN101727094A true CN101727094A (en) | 2010-06-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107092215A (en) * | 2017-06-13 | 2017-08-25 | 浙江大学 | A kind of multi-axis motion controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107092215A (en) * | 2017-06-13 | 2017-08-25 | 浙江大学 | A kind of multi-axis motion controller |
| CN107092215B (en) * | 2017-06-13 | 2019-11-05 | 浙江大学 | A kind of multi-axis motion controller |
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Application publication date: 20100609 |