CN101738987A - Five-axis motion control card - Google Patents
Five-axis motion control card Download PDFInfo
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- CN101738987A CN101738987A CN200910311342A CN200910311342A CN101738987A CN 101738987 A CN101738987 A CN 101738987A CN 200910311342 A CN200910311342 A CN 200910311342A CN 200910311342 A CN200910311342 A CN 200910311342A CN 101738987 A CN101738987 A CN 101738987A
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Abstract
The invention discloses a five-axis motion control card, and relates to the technical field of numerical control. The control card comprises a singlechip module, an FPGA module, a system auxiliary module, an expansion interface module, a dual-port communication module, a digital quantity IO expansion module, a DA module, an AD module and an input/output interface module, wherein the system auxiliary module is connected with a singlechip module and the FPGA module; the singlechip module is connected with the expansion interface module; the dual-port communication module is connected with the FPGA module and an upper computer; the DA module is connected with the FPGA module; the AD module is connected with the FPGA module; the digital quantity IO expansion module is connected with the FPGA module; the DA module is connected with the input/output interface module; the AD module is connected with the input/output interface module; and the digital quantity IO expansion module is connected with the input/output interface module. The singlechip and the FPGA are adopted, so the control card has the advantages of improving the interpolation efficiency, reducing external circuit modules, enhancing the stability, reducing the area of the control card and having low cost.
Description
Technical field
What the present invention relates to is a kind of control card of fields of numeric control technique, specifically is a kind of five-axis motion control card.
Background technology
In fields of numeric control technique, motion control card is a core component of realizing movement control technology, it changes expectant control scheme, planning instruction the mechanical motion of expectation into, realizes the control of position control, speed control, Acceleration Control, torque or the power of controlled object precision etc.Motion control card, Industrial PC, servo-driver and motor constitute complete motion control unit together.
Find through literature search prior art, Wang Ting etc. are in " based on motion control card development and the application of C8051 " literary composition that " Chinese journal of scientific instrument " delivered on the phase supplementary issue in 2008 the 8th, provided a kind of framework of the motion control card based on the C8051F060 single-chip microcomputer, but there is following shortcoming in this technology: adopt the C8051F060 single-chip microcomputer to be the control core, interpolation rate is slow; The IO mouth of single-chip microcomputer is less, and the hardware that has limited motion control card can distribute the address; The logical circuit complexity, the cost height.
Summary of the invention
The objective of the invention is to overcome the above-mentioned deficiency of prior art, a kind of five-axis motion control card has been proposed, with the high-speed mixing signal processing single chip is core, adopt FPGA (field programmable gate array) chip to carry out hardware decoding, and carry out communication by dual-port communication module and host computer, low in energy consumption, interface is many, arithmetic capability is strong, and cost is low.
The present invention is achieved by the following technical solutions:
The present invention includes: one-chip computer module, FPGA module, system supplymentary module, expansion connection module, dual-port communication module, digital quantity IO (input and output) expansion module, DA (digital-to-analog conversion) module, AD (analog to digital conversion) module and input/output interface module, wherein: system supplymentary module link to each other with one-chip computer module transfer clock information, power information, control information and repositioning information, system supplymentary module link to each other with the FPGA module transmitting moving steering order, motion feeding data, feedback information and real time kinematics information; The one-chip computer module transmit outer information that links to each other with expansion connection module; Link to each other with the host computer real time kinematics information of positional information, control information and the feedback of transmitting host computer of link to each other with the FPGA module real time kinematics information of positional information, control information and the feedback of transmitting host computer of dual-port communication module, dual-port communication module; The DA module links to each other with the FPGA module, and the DA module is converted to simulating signal with the digital signal of FPGA module transmission; The AD module links to each other with the FPGA module, and the AD module is a digital signal with the analog signal conversion of FPGA module transmission; Digital quantity IO expansion module link to each other with the FPGA module transmitting sports information and feedback information; The DA module link to each other with input/output interface module the transmission of digital input information and the simulation output information; AD module link to each other with input/output interface module transmission of digital output information and analog input information; Digital quantity IO expansion module link to each other with input/output interface module transmitting sports information and feedback information; Input/output interface module links to each other with exterior I O with servo-driver and transmits the real time kinematics information of feedback.
Described one-chip computer module is the single-chip microcomputer with high-speed mixing signal Processing of SOC (SOC (system on a chip)) function and 16 bit address buses.
Described input/output interface module comprises: digital quantity IO interface unit, analog quantity IO interface unit, hand pulse signal processing unit and encode axis signal processing unit, wherein: the digital quantity IO interface unit transmitting digital information that links to each other with output terminal, digital quantity IO expansion module and the servo-driver and exterior I O of the input end of DA module, AD module respectively; The analog quantity IO interface unit transportation simulator information that links to each other with input end, digital quantity IO expansion module and the servo-driver and exterior I O of the output terminal of DA module, AD module respectively; The hand pulse signal processing unit hand pulse information of transmit outer that links to each other with hand pulse producer, AD module, DA module and the digital quantity IO expansion module of outside respectively; Link to each other with axis signal generator, AD module, DA module and the digital quantity IO expansion module of the outside respectively encode axis information of transmit outer of encode axis signal processing unit.
Described digital quantity IO expansion module is responsible for the data latching of FPGA module and is outputed to input/output interface module, digital quantity IO expansion module comprises: several data latches, wherein: each data latches respectively with FPGA module link to each other with input/output interface module transmitting sports information and feedback information.
The dual-port communication module reads the immediate status instruction from host computer among the present invention, enter one-chip computer module by the transmission of FPGA module, one-chip computer module is transferred to digital quantity IO expansion module with control information by the FPGA module after treatment, then through input/output interface module control exterior I O mouth; The dual-port communication module reads motion control instruction from host computer, enter one-chip computer module and carry out the relevant interpolation computing of motion control by the transmission of FPGA module, obtain motion feeding data, these data are entered the DA module by the transmission of FPGA module, and the analog signals that obtains is used for controlling servo-driver work.Peripheral driver detects the signal of back feedback and sends into the FPGA module by input/output interface module, and gives one-chip computer module by the FPGA module.The real time kinematics information that one-chip computer module obtains according to feedback information is carried out position correction and sports limiting judgment processing.Simultaneously, one-chip computer module is transferred to host computer to real time kinematics information via the dual-port communication module, feeds back to the user.During the Collaborative Control motion state, the AD module is converted into digital quantity signal with this signal, and sends into one-chip computer module by the FPGA module when there is analog signals the outside, and one-chip computer module is handled according to the adjustment that this signal carries out kinematic parameter.In said process, the system supplymentary module is responsible for one-chip computer module is monitored and safeguarded; The dual-port communication module is responsible for the exchanges data of host computer and motion control card; One-chip computer module is responsible for carrying out the order of host computer, carries out interpolation operation, draws the motion amount of feeding, and the real time kinematics information that obtains in host computer feedback and processing motion process, the line position correction of going forward side by side.
Compared with prior art, the invention has the beneficial effects as follows: the mode that adopts single-chip microcomputer to combine with FPGA, when single-chip microcomputer carried out rough interpolation, FPGA can carry out smart interpolation, has improved interpolation efficient; Adopt the FPGA module that hardware address is deciphered planning, guaranteed the abundance of hardware address, solved in the past that some motion control card hardware can distribute the few problem in address, make motion control card constantly to expand; The use of FPGA module has reduced the design flow of logical circuit widely, has reduced the application of logic circuit module more than 60% in the circuit, has reduced the use of other chip, and cost has been reduced more than 50%, and stability obtains increasing.
Description of drawings
Fig. 1 is the system architecture diagram of embodiment.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
As shown in Figure 1, present embodiment comprises: one-chip computer module 1, FPGA module 2, system supplymentary module 3, expansion connection module 4, dual-port communication module 5, DA module 6, AD module 7, digital quantity IO expansion module 8, input/output interface module 9, wherein: system supplymentary module 3 link to each other with one-chip computer module 1 transfer clock information, power information, control information and repositioning information, system supplymentary module 3 link to each other with FPGA module 2 transmitting moving steering order, motion feeding data, feedback information and real time kinematics information; The one-chip computer module 1 transmit outer information that links to each other with expansion connection module 4; Link to each other with the host computer 18 real time kinematics information of positional information, control information and the feedback of transmitting host computer 18 of link to each other with the FPGA module 2 real time kinematics information of positional information, control information and the feedback of transmitting host computer 18 of dual-port communication module 5, dual-port communication module 5; DA module 6 links to each other with FPGA module 2, and DA module 6 is converted to simulating signal with the digital signal of FPGA module 2 transmission; AD module 7 links to each other with FPGA module 2, and AD module 7 is a digital signal with the analog signal conversion of FPGA module 2 transmission; Digital quantity IO expansion module 8 link to each other with FPGA module 2 transmitting sports information and feedback information; DA module 6 link to each other with input/output interface module 9 the transmission of digital input information and the simulation output information; AD module 7 link to each other with input/output interface module 9 transmission of digital output information and analog input information; Digital quantity IO expansion module 8 link to each other with input/output interface module 9 transmitting sports information and feedback information; Input/output interface module 9 links to each other with exterior I O19 with servo-driver and transmits the real time kinematics information of feedback.
3 pairs of one-chip computer modules 1 of described system supplymentary module are monitored and are safeguarded, system supplymentary module 3 comprises: JTAG module 10, system clock module 11, power module 12 and house dog and reseting module 13, wherein: system clock module 11 links to each other with one-chip computer module 1, and system clock module 11 provides clock information by outside oscillatory circuit; Power module 12 links to each other with one-chip computer module 1, and power module 12 is passed to one-chip computer module 1 after externally fed is handled; House dog and reseting module 13 link to each other with one-chip computer module 1 control information transmission and repositioning information, whether house dog and reseting module 13 are responsible for monitoring one-chip computer module 1 locked, and the power supply that control power module 12 suspends one-chip computer module 1 when one-chip computer module 1 breaks down, thereby realize restarting of one-chip computer module 1; JTAG module 10 reads the data message of one-chip computer module 1 in real time by FPGA module 2; when exploitation realize PC to one-chip computer module 1 carry out non-intrusion type (not taking resource in the sheet), at full speed, in system debug; support to observe and revise storer and register, support breakpoint, observation point, single step and operation and halt command.
The model that described one-chip computer module 1 adopts CYGNAL company to produce is the chip of C8051F120, be responsible for FPGA module 2 control that conducts interviews, this chip internal contains Flash storer and internal data memory, is responsible for stocking system program and program run data respectively; This chip internal has AD conversion and DA translation function, and corresponding A D module 7 and DA module 6 are carried out analog to digital conversion respectively; This chip calculates exercise data in real time, and data transmission is entered FPGA module 2, simultaneously control information is imported into FPGA module 2.
Described FPGA module 2 adopts the XC3S500E-4PQ208C chip of Xilinx company, this chip is connected with one-chip computer module 1, digital quantity IO expansion module 8 and dual-port communication module 5, according to the logical operation function of chip internal according to the control information of the chip of C8051F120 with the data message that obtains pass to respectively dual-port communication module 5,, in DA module 6, AD module 7, digital quantity IO expansion module 8 and the JTAG module 10; FPGA module 2 peripheral interfaces are many simultaneously, expanded hardware and can distribute the address, and FPGA module 2 and one-chip computer module 1 have constituted the core of The whole control card jointly.
Described expansion connection module 4 is responsible for the communication of one-chip computer module 1 and outer PC, expansion connection module 4 comprises: serial port module 20, usb interface module 21 and Network Interface Module 22, wherein: the serial port module 20 transmit outer Serial Port Information that links to each other with the serial ports of outer PC; The usb interface module 21 transmit outer USB information that links to each other with the USB interface of outside; The Network Interface Module 22 transmit outer network information that links to each other with external ethernet, serial port module 20, usb interface module 21 and the Network Interface Module 22 transmit outer information that links to each other with one-chip computer module 1 respectively.
Described DA module 6 adopts the AD5320 cake core of ADI company, and this chip is 12 DA conversion chips, becomes analog signals after the digital quantity signal conversion of DA module 6 with 2 transmission of FPGA module, and is transferred to input/output interface module 9.
Described AD module 7 adopts the AD7888 cake core of ADI company, and this chip is 12 AD conversion chips, and the external analog amount conversion of signals that AD module 7 is responsible for input/output interface module 9 inputs is a digital quantity signal, and transmission enters FPGA module 2.
IO port in the described input/output interface module 9 responsible single-chip microcomputers and the data interaction of FPGA module 2 and outside servo-driver and exterior I O19.
Described dual-port communication module 5 adopts the IDT7024 chip, this communication chip is responsible for the FPGA module 2 of one-chip computer module 1 control and the communication between the host computer 18, this communication chip has two covers fully independently data line, address wire, read-write control line, can realize that host computer 18 and one-chip computer module 1 operate this chip simultaneously; This chip has fully independently interrupt logic, can realize the control of shaking hands of one-chip computer module 1 and host computer 18, as Single-chip Controlling FPGA during to communication chip left side write data, can send look-at-me to host computer 18, allow host computer 18 to read the data of dual-port communication module 5, when the write data of 18 pairs of communication chip right sides of host computer, can send look-at-me to single-chip microcomputer, allow Single-chip Controlling FPGA to read the data of dual-port communication module 5; This chip also has fully independently busy logic, can guarantee that 18 pairs of same unit of communication chip of one-chip computer module 1 and host computer carry out the correctness of read-write operation.This chip is divided into four districts, (slave computer is write to be respectively the status information district, host computer 18 is read, 100*16bit), (startup of host computer 18 stops pause command etc., and the IO information relevant with PLC in the immediate command district, host computer 18 is write, 10*16bit), (host computer 18 is write, and is the next machine-readable, 50*16bit), configuration parameter data piece district (systematic parameter in G code buffered data piece district, write by host computer 18,700*16bit).Dual-port communication module 5 is undertaken by the sempahore mode with the exchanges data of single-chip microcomputer and host computer 18, principle is as follows, in the DPRAM of this model, provide semaphore amount, earlier in the semaphore district of correspondence, write 0 during communication, if what read is 0, district's locked (being not physically to lock) that expression is corresponding can carry out read-write operation to the corresponding region then, write 1 after read-write is finished, expression unlocks; If writing 0 back retaking of a year or grade is 1, represent that then this district is locked by the opposing party, we can not carry out read-write operation.Data stream between host computer 18 and the dual-port communication chip and semaphore transmission are transmitted by the PCl04 bus.The communication modes of dual-port communication module 5 has guaranteed the efficiently and accurately communication of motion control card and host computer 18 systems.
Described digital quantity IO expansion module 8, comprise: six data latchs, be responsible for handling main switching value signal in the motion control, comprise servo driving start-stop, spacing, just change counter-rotating, deceleration, return signal such as zero, bus data is 8, and per eight switching value signals are exported by an output data latch, represent a switching signal amount for one.
Described data latches adopts the 74HC377 chip, and data latches all is 8, and 8 bit data in the corresponding bus are carried out gating output by the chip selection signal in the address wire.
Described input/output interface module 9 comprises: digital quantity IO interface unit 14, analog quantity IO interface unit 15, hand pulse signal processing unit 16, encode axis signal processing unit 17, be responsible for the IO port in the single-chip microcomputer, the data interaction of FPGA module 2 parts such as grade and external circuit and servo-driver, wherein: the IO port that digital quantity IO interface unit 14 is responsible in the one-chip computer module 1, the digital quantity signal of digital quantity IO expansion module 8 and external circuit is mutual, digital quantity IO interface unit 14 receives the signal of the IO port in digital quantity IO expansion module 8 and the one-chip computer module 1, through light-coupled isolation, be transferred to servo-driver and exterior I O19 after amplifying through overdriving again; It is mutual that the analog signals of DA module 6, AD module 7 and external circuits is responsible in analog quantity IO interface unit 15, and the analog quantity input in the external circuit drives by analog quantity IO interface unit 15 and is transferred to the analog signals that AD module 7, DA module 6, AD module 7, DA module 6 produce after the processing and amplifying is transferred to external circuit after analog quantity IO interface unit 15 drives processing and amplifying; Hand pulse signal processing unit 16 is transferred to FPGA module 2 with the hand pulse producer signal in outside through difference processing, enters one-chip computer module 1 at last; Encode axis signal processing unit 17 is transferred to FPGA module 2 with the external shaft signal through difference processing, and uses for one-chip computer module 1.
Described digital quantity IO interface unit 14 comprises: the optocoupler and first driving amplifier, wherein: the optocoupler transmitting digital information that links to each other with first driving amplifier, first driving amplifier transmit outer numerical information that links to each other with servo-driver and exterior I O19, optocoupler respectively with the output terminal of the input end of DA module 6, AD module 7 transmitting digital information that links to each other with digital quantity IO expansion module 8.
Described optocoupler adopts the TLP521-4 chip.
Described first driving amplifier adopts AM26LS31 four road differential line drivers.
Described analog quantity IO interface unit 15 is second driving amplifiers, and this driving amplifier adopts AM26LS31 four road differential line drivers.
Described hand pulse signal processing unit 16 is first differential comparators, and this differential comparator adopts LMl39 No. four differential comparators.
Described encode axis signal processing unit 17 is second differential comparators, and this differential comparator adopts LMl39 No. four differential comparators.
The course of work of present embodiment: dual-port communication module 5 reads the immediate status instruction from host computer 18, as the lubricating pump steering order, enter one-chip computer module 1 by 2 transmission of FPGA module, one-chip computer module 1 is transferred to digital quantity IO expansion module 8 with control information by FPGA after treatment, then through input/output interface module 9 control exterior I O mouths; Dual-port communication module 5 reads motion control instruction from host computer 18, enter one-chip computer module 1 and carry out the relevant interpolation computing of motion control by 2 transmission of FPGA module, obtain motion feeding data, these data are entered DA module 6 by 2 transmission of FPGA module, and the analog signals that obtains is used for controlling servo-driver work.Peripheral driver detects the signal of back feedback and sends into FPGA module 2 by input/output interface module 9, and gives one-chip computer module 1 by FPGA module 2.The real time kinematics information that one-chip computer module 1 obtains according to feedback information is carried out position correction and sports limiting judgment processing.Simultaneously, one-chip computer module 1 is transferred to host computer 18 to real time kinematics information via dual-port communication module 5 and feeds back to the user.During the Collaborative Control motion state, AD module 7 is converted into digital quantity signal with this signal, and sends into one-chip computer module 1 by FPGA module 2 when there is analog signals the outside, and one-chip computer module 1 is handled according to the adjustment that this signal carries out kinematic parameter.In said process, system supplymentary module 3 is responsible for one-chip computer module 1 is monitored and safeguarded; Dual-port communication module 5 is responsible for the exchanges data of host computer 18 and motion control card; One-chip computer module 1 is responsible for carrying out the order of host computer 18, carries out interpolation operation, draws the motion amount of feeding, and the real time kinematics information that obtains in host computer 18 feedbacks and processing motion process, the line position correction of going forward side by side.
Present embodiment adopts the C8051F120 single-chip microcomputer with SOC function as microprocessor, and processing speed is faster; The mode that adopts the C8051F120 single-chip microcomputer to combine with FPGA, when single-chip microcomputer carried out rough interpolation, FPGA can carry out smart interpolation, has improved interpolation efficient; Adopt the FPGA technology that hardware address is deciphered planning, guaranteed the abundance of hardware address, and FPGA can replace traditional circuit, reduce the components and parts number, dwindle volume, reduce whole cost, and improved the stability of system.
Claims (3)
1. five-axis motion control card, it is characterized in that, comprise: one-chip computer module, FPGA module, system supplymentary module, expansion connection module, dual-port communication module, digital quantity IO expansion module, DA module, AD module and input/output interface module, wherein: system supplymentary module link to each other with one-chip computer module transfer clock information, power information, control information and repositioning information, system supplymentary module link to each other with the FPGA module transmitting moving steering order, motion feeding data, feedback information and real time kinematics information; The one-chip computer module transmit outer information that links to each other with expansion connection module; Link to each other with the host computer real time kinematics information of positional information, control information and the feedback of transmitting host computer of link to each other with the FPGA module real time kinematics information of positional information, control information and the feedback of transmitting host computer of dual-port communication module, dual-port communication module; The DA module links to each other with the FPGA module, and the DA module is converted to simulating signal with the digital signal of FPGA module transmission; The AD module links to each other with the FPGA module, and the AD module is a digital signal with the analog signal conversion of FPGA module transmission; Digital quantity IO expansion module link to each other with the FPGA module transmitting sports information and feedback information; The DA module link to each other with input/output interface module the transmission of digital input information and the simulation output information; AD module link to each other with input/output interface module transmission of digital output information and analog input information; Digital quantity IO expansion module link to each other with input/output interface module transmitting sports information and feedback information; Input/output interface module links to each other with exterior I O with servo-driver and transmits the real time kinematics information of feedback;
Described one-chip computer module is the single-chip microcomputer with high-speed mixing signal Processing of SOC function and 16 bit address buses.
2. five-axis motion control card according to claim 1, it is characterized in that, described input/output interface module comprises: digital quantity IO interface unit, analog quantity IO interface unit, hand pulse signal processing unit and encode axis signal processing unit, wherein: the digital quantity IO interface unit transmitting digital information that links to each other with output terminal, digital quantity IO expansion module and the servo-driver and exterior I O of the input end of DA module, AD module respectively; The analog quantity IO interface unit transportation simulator information that links to each other with input end, digital quantity IO expansion module and the servo-driver and exterior I O of the output terminal of DA module, AD module respectively; The hand pulse signal processing unit hand pulse information of transmit outer that links to each other with hand pulse producer, AD module, DA module and the digital quantity IO expansion module of outside respectively; Link to each other with axis signal generator, AD module, DA module and the digital quantity IO expansion module of the outside respectively encode axis information of transmit outer of encode axis signal processing unit.
3. five-axis motion control card according to claim 1, it is characterized in that, described digital quantity IO expansion module is responsible for the data latching of FPGA module and is outputed to input/output interface module, digital quantity IO expansion module comprises: several data latches, wherein: each data latches respectively with FPGA module link to each other with input/output interface module transmitting sports information and feedback information.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102489874A (en) * | 2011-11-25 | 2012-06-13 | 江苏大学 | Laser pulse control card of laser micro-processing equipment and control method |
| CN102540982A (en) * | 2011-12-30 | 2012-07-04 | 北京配天大富精密机械有限公司 | Motion control card and motion control method |
| WO2013013523A1 (en) * | 2011-07-22 | 2013-01-31 | Jiang Junfeng | Movement control port and port controller |
| CN103488126A (en) * | 2013-09-30 | 2014-01-01 | 天津市中环电子计算机有限公司 | Multi-axis motion control system development platform |
| CN104750029A (en) * | 2015-03-30 | 2015-07-01 | 深圳市威科达科技有限公司 | Five-axis motion controller and control method thereof |
| CN105974889A (en) * | 2016-04-13 | 2016-09-28 | 上海柏楚电子科技有限公司 | Method for improving disturbance resisting capacity and restraining temperature drift in numerical control system |
| CN109240178A (en) * | 2018-11-12 | 2019-01-18 | 中车永济电机有限公司 | The functional cards of a variety of input/output signals |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2013013523A1 (en) * | 2011-07-22 | 2013-01-31 | Jiang Junfeng | Movement control port and port controller |
| CN102489874A (en) * | 2011-11-25 | 2012-06-13 | 江苏大学 | Laser pulse control card of laser micro-processing equipment and control method |
| CN102540982A (en) * | 2011-12-30 | 2012-07-04 | 北京配天大富精密机械有限公司 | Motion control card and motion control method |
| CN102540982B (en) * | 2011-12-30 | 2014-12-10 | 北京配天技术有限公司 | Motion control card and motion control method |
| CN103488126A (en) * | 2013-09-30 | 2014-01-01 | 天津市中环电子计算机有限公司 | Multi-axis motion control system development platform |
| CN103488126B (en) * | 2013-09-30 | 2015-10-07 | 天津市中环电子计算机有限公司 | The method of multi-shaft motion control system development platform and exploitation platform courses machine operation |
| CN104750029A (en) * | 2015-03-30 | 2015-07-01 | 深圳市威科达科技有限公司 | Five-axis motion controller and control method thereof |
| CN105974889A (en) * | 2016-04-13 | 2016-09-28 | 上海柏楚电子科技有限公司 | Method for improving disturbance resisting capacity and restraining temperature drift in numerical control system |
| CN109240178A (en) * | 2018-11-12 | 2019-01-18 | 中车永济电机有限公司 | The functional cards of a variety of input/output signals |
| CN109240178B (en) * | 2018-11-12 | 2021-04-23 | 中车永济电机有限公司 | Function board card for multiple input and output signals |
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Open date: 20100616 |