CN103151978A - Driving controller for Ethernet stepping motor - Google Patents

Abstract

An Ethernet stepper motor drive controller, the controller is composed of a communication circuit, a microprocessor chip and a motor interface. The invention has the ability of programming and remote control of the Ethernet, and has the advantages of simple structure, practical function, convenient operation, It is easy to realize the control of multiple stepping motors.

Description

Ethernet Stepper Motor Driver Controller

technical field

The present invention relates to a stepping motor, in particular to an Ethernet stepping motor drive controller, which can be used in occasions requiring high-precision control of remote control via Ethernet, especially a large-scale In the field of industrial control systems and other fields, it is a device to complete the adjustment and control of the speed, direction and number of steps of the stepper motor through Ethernet.

Background technique

For the drive and control of stepper motors, the combination of chips and special chips for stepper motors is generally used for control, such as the method mentioned in patent 201010280597, using GL1800D chip as the control processor for command conversion, using RS485 as the communication interface to realize the upper Machine communication, using the A3977 chip as the motor driver chip to realize the drive and control of the stepper motor; or use the method of connecting the computer expansion interface card with the stepper motor driver module for control, such as patents 94223287.9, 200810121354.6, 200820081417.5, etc. The control method of the above-mentioned mode is all controlled by placing a dedicated chip on site as the upper computer or by connecting the local computer with the expansion interface card as the upper computer.

The disadvantages of the above control techniques are:

1. It is difficult to realize multi-axis stepping motor control. The method of using the chip as the upper computer to control can only realize point-to-point control, and a set of chip upper computer can only control one stepping motor; the method of using the local computer as the upper computer can only realize one interface card to control one Stepper motor, limited by expansion slots.

2. It is difficult to realize remote stepping motor control. On the one hand, the chip or local computer is limited by the connection, so it must be arranged around the stepper motor to realize its control. On the other hand, because the communication method mostly uses serial port RS232 or RS485 for communication, the signal is in the process of long-distance transmission. The attenuation is obvious, which limits the distance distribution of the upper computer, so it is difficult to realize the remote control of the stepping motor by means of a chip or a local computer expansion interface card.

3. The control method is single, and the cost of personnel and equipment is high. Due to the single control method of the chip or local computer, only point-to-point control can be realized, so that the control of multiple motors must arrange a large number of upper computers as control terminals on site, which requires investing in multiple sets of upper computer equipment for control. In terms of control methods Only simple motion control can be realized, and the cost is huge.

Contents of the invention

In order to overcome the shortcomings of the above-mentioned existing control technology methods, especially for the communication shortcomings and single-axis control defects of the control method mentioned in the patent 201010280597, the present invention provides a stepping motor drive controller based on Ethernet communication. The stepper motor drive controller has Ethernet communication capability and multi-axis stepper motor control capability, and can realize the characteristics of remote intelligent control of multiple stepper motors.

Technical solution of the present invention is as follows:

A kind of Ethernet stepper motor drive controller, it is characterized in that this controller is made up of communication circuit, microprocessor chip and motor interface, and described communication circuit is made up of RJ45 physical interface, Ethernet transformer chip, Ethernet physical layer chip Composition; the motor interface is composed of a motor control chip, a motor drive chip and a signal sending chip; the microprocessor chip is connected to the Ethernet physical layer chip in the communication circuit, so as to realize the transfer of command data from the upper computer to the microprocessor In the chip; the microprocessor chip is connected with the motor control chip to realize the control command data of the upper computer to be sent to the motor control chip to realize the control of the stepping motor running state; the motor drive chip and the signal The sending chip is connected, and the power amplification of the motor driving pulse signal is completed in the signal sending chip; the signal sending chip is connected with multiple stepping motors to realize the driving work of the motor.

Described microprocessor chip is MCF52259CAG8, and this chip has fast ethernet module, can realize functions such as interpretation, transfer and the preprocessing to input data to Ethernet data packet at data link layer, can provide users including More than 200 reserved words including instructions, functions, and system variables can also provide data storage space for users, including program storage areas, independent variable storage areas, array storage areas, etc. The microprocessor chip has the ability to save The stepper motor drives the function of the physical address number of the controller.

The communication circuit adopts a 10/100M self-adaptive Ethernet interface, the Ethernet transformer isolation chip of the communication circuit selects H1102NL to complete the voltage transformation work of the twisted pair electric signal, and the Ethernet physical layer chip selects DP83848 to realize the work of the Ethernet circuit State switching, reducing the energy consumption of the entire circuit to improve overall performance.

The stepper motor control chip is a GL1800D chip, the driver chip is an A3977 chip, and the signal sending chip is an MC3486 chip as a four-way differential line driver for pulse signal amplification, filtering and sending. The motor interface chip is connected to the signal sending chip, and the signal sending chip is connected to the motor driving chip to realize the driving control of the stepping motor at the same time.

Technical characteristics of the present invention:

1. The stepping motor drive controller of the present invention includes a communication circuit, a microprocessor chip and a stepping motor interface for communication with the upper computer, and the multi-motor connection can be realized through the unique Ethernet address stored in the microprocessor chip. Remote control and centralized control.

2. The stepping motor drive controller of the present invention accepts the instruction packet of the upper computer through the communication circuit, and the instruction packet is decomposed by the microprocessor chip to form control instruction data and send the data to the stepping motor control chip, and the stepping motor control chip The control command is decomposed into several groups of level signals according to the protocol and sent to the designated motor drive chip. The motor drive chip converts the signal into a pulse signal and sends it to the signal sending chip in turn. After receiving the pulse signal, the signal sending chip is amplified by itself Output to the stepper motor interface to realize stepper motor drive.

3. The stepper motor drive controller can interpret the motion control instructions sent by the microprocessor chip, and can send direction signals, speed signals and step signals to the designated motor according to the requirements of the motor identification number in the instruction package driver chip.

Technical effect of the present invention is:

1. Simple structure and easy management. On the one hand, the stepper motor drive controller can be directly connected to the upper computer through the Ethernet interface, and directly connected to the stepper motor through the motor interface, and all functions are concentrated in one.

2. Can realize Ethernet remote control. The Ethernet communication capability provided by the communication interface can realize Ethernet remote control, and with the unique network address (IP address), it can realize remote control function at any distance, and enables the controller to have remote control capability in the intercommunicating LAN.

3. Multi-motor control is easy to implement. The controller itself can realize the simultaneous drive control of 4-axis stepper motors, and then cooperate with the Ethernet interface for communication. The upper computer can manage the stepper motor drive controllers with different physical IP addresses through Ethernet, and it can realize the control of multiple Control of the stepper motor drive controller.

In a word, the present invention has intelligent programmable capability and Ethernet remote control capability, and has the characteristics of simple structure, practical function, convenient operation, and easy control of multiple stepping motors.

Description of drawings

Fig. 1 is the structural representation of Ethernet stepping motor drive controller of the present invention

Fig. 2 is a schematic structural diagram of an embodiment of the Ethernet stepper motor drive controller of the present invention

In the figure: 1-upper control computer; 2-communication port; 201-RJ45 physical interface; 202-Ethernet transformer chip; 203-Ethernet physical layer chip; 3-microprocessor chip; 4-motor interface; 401-motor Control chip; 402-motor drive chip; Fig. 3 is the communication port structural representation of Ethernet stepping motor drive controller of the present invention

In the figure: 201-RJ45 physical interface; 202-Ethernet transformer chip; 203-Ethernet physical layer chip.

Fig. 4 is the main flowchart of data communication in the Ethernet stepper motor drive controller of the present invention

Fig. 5 is the order processing flowchart of software in the Ethernet stepping motor drive controller of the present invention

Detailed ways

The present invention will be further described below in conjunction with examples and accompanying drawings, but the protection scope of the present invention should not be limited thereby.

Please refer to Fig. 1, Fig. 1 is the structure schematic diagram of Ethernet stepper motor drive controller and typical embodiment of the present invention, as can be seen from the figure, Ethernet stepper motor drive controller of the present invention, this controller is controlled by communication circuit 2 , microprocessor chip 3 and motor interface 4, described communication circuit 2 is made up of RJ45 physical interface 201, Ethernet transformer chip 202, Ethernet physical layer chip 203; Described motor interface 4 is made up of motor control chip 401, motor The driver chip 402 and the signal sending chip 403 are composed; the microprocessor chip 3 is connected with the Ethernet physical layer chip 203 in the communication circuit 2, so as to realize that the upper computer instruction data is transmitted to the microprocessor chip; the microprocessor chip The device chip 3 is connected with the motor control chip 401, in order to realize sending the control command data of the upper computer to the motor control chip, to realize the control of the running state of the stepper motor; the motor driver chip 402 is connected with the signal sending chip 403 The power amplification of the motor drive pulse signal is completed in the signal sending chip; the signal sending chip 403 is connected with multiple stepping motors 5 to realize the driving work of the motor.

Fig. 2 is the structural representation of the embodiment of Ethernet stepper motor drive controller of the present invention, the composition of Ethernet stepper motor controller of the present invention comprises RJ45 physical interface chip 201, Ethernet transformer chip 202, Ethernet physical layer chip 203, Microprocessor chip 3 and motor interface 4, described motor interface 4 includes a plurality of motor control chips 401 and a plurality of motor drive chips 402, in the figure 40201-motor drive chip A; 40202-motor drive chip B; 40203-motor Driver chip C; 40204-motor driver chip D; signal sending chip A40301-; 40302-signal sending chip B; 40303-signal sending chip C; 40304-signal sending chip D; Sending chip B; 40303-signal sending chip C; 40304-signal sending chip D is connected to the 501-stepping motor A; 502-stepping motor B; 503-stepping motor C; 504-stepping motor D .

The stepping motor driver chip 402 includes a signal sending chip 403 and is integrated on a circuit board, and has the functions of Ethernet communication, motor control and driving at the same time.

The Ethernet communication interface circuit of described Ethernet stepper motor drive controller is made up of RJ45 physical interface chip 201, Ethernet transformer chip 202, Ethernet physical layer chip 203, microprocessor chip 3 that expand connection usefulness, so The above-mentioned RJ45 physical interface 201 is used to realize the physical connection with the Ethernet interface of the upper computer 1, and twisted pair wire is usually used as the connection medium to realize the electrical transmission between the upper computer and the Ethernet communication interface.

Please refer to Fig. 3, the specific implementation of the Ethernet communication is: the Ethernet transformer chip 202 selects the H1102NL Ethernet transformer chip to realize the voltage amplification of the data signal so that the signal can be transmitted farther, and the inside and outside of the chip are isolated, Greatly improve the anti-interference ability, the amplified data signal is sent to the Ethernet physical layer chip 203 through the pin to realize the physical layer transmission of network data, and the Ethernet physical layer chip 203 uses the DP83848 Ethernet physical controller chip to realize the physical layer interface , since the chip has fully solidified the protocols required from the physical layer, the network layer to the transport layer, it can realize the data communication of the Ethernet data protocol on the physical layer. After the above work is completed, the Ethernet physical layer chip 203 will send the instruction data The fast Ethernet module (FEC: Fast Ethernet Channel) packaged inside the microprocessor chip 3 can realize the data exchange capability of the link layer and the network layer to perform command operations. The link layer is mainly used to complete the Ethernet data frame encapsulation And decapsulation, the main function of the network layer is to translate the network address (IP) into the corresponding physical address (MAC), and decide how to route the data from the sender to the receiver. The physical address is unique, and when the IP address is set in the microprocessor chip 3, the mapping relationship between the IP address and the physical address is realized, so that the Ethernet stepping motor drive controller has Ethernet communication capability.

The most commonly used twisted pair wiring standards for RJ45 physical interface 201 are T568A standard and T568B standard. In this example, T568B standard is used, and the order of pins described in it is from left to right: 1-white orange, 2-orange , 3-white-green, 4-blue, 5-white-blue, 6-green, 7-white-brown, 8-brown, where No. 1 stands for TX+, No. 2 stands for TX-, No. 3 stands for RX+, and No. 6 stands for RX- , respectively connected to No. 09, No. 11, No. 14 and No. 16 pins of the Ethernet transformer chip (202), and need to connect No. 2, No. 7, No. 10 and No. 15 pins of the Ethernet transformer chip 202 to the connection place, to achieve common signal terminal grounding. The data information of the upper computer 1 is transmitted to the Ethernet transformer chip 202 through the RJ45 physical interface 201, and then amplified by the power amplification circuit in the chip, and then output by pins 1, 3, 6 and 8 to the Ethernet physical layer chip 203 The 13th, 14th, 16th and 17th pins of the DP83848, of which No. 17 TD+, No. 16 represents TD-, No. 14 represents RD+, and No. 13 represents RD-, using voltage differential signals to realize data transmission to Ethernet physical layer chip 203 . The Ethernet physical layer chip 203 acts as a communication judgment controller and a physical layer transceiver in this communication circuit, and determines whether the current Ethernet communication enters a normal working state by judging the energy of the input signal. When no valid activity level is detected, the device can enter a low-power state of sleep, which provides an intelligent power-saving mode of operation. When the Ethernet physical layer chip 203 judges that there is a normal signal input on the twisted pair, the signal is transmitted by the voltage difference between its No. 3, No. 4, No. 5, No. 6, No. 43, No. 44, No. 45 and No. 46 pins. Signal output realizes data transmission, among which No. 3 TXD_0, No. 4 represents TXD_1, No. 5 represents TXD_2, No. 6 represents TXD_3, No. 43 RXD_0, No. 44 represents RXD_1, No. 45 represents RXD_2, and No. 46 represents RXD_3 are respectively connected to the microprocessor No. 113, No. 112, No. 110, No. 109, No. 122, No. 123, No. 126 and No. 127 pins of the device chip (3), the data is transmitted to the microprocessor chip for processing, in order to ensure the synchronization of data signals, Also draw TX_CLK clock signal and RX_CLK clock signal to No. 117 and No. 120 pins of microprocessor chip 3 from No. 1 and No. 38 pins of Ethernet physical layer chip 203, when Ethernet is 100MB/S pattern, The clock frequency is set to 25MHZ, when the Ethernet is in 10MB/S mode, the clock frequency is set to 2.5MHZ. The TX_EN enabling signal is drawn from the No. 2 pin of the Ethernet physical layer chip (203) to the No. 116 pin of the microprocessor chip 3 for the processor to judge whether the TXD[3:0] pin signal is a valid signal.

Microprocessor chip 3 selects MCF52259AG80 chip, with on-chip USB control module (USB2.0), Fast Ethernet module (FEC: Fast Ethernet Channel), CAN control module (support CAN2.0B), universal asynchronous transceiver module (UART) and Encryption module, the chip has a processing speed of 80MHZ, with 512KB Flash ROM and 64KB SRAM, so it can not only realize the dynamic reading and writing of control commands, but also solidify the working software and identification number in SRAM. In this example, the fast Ethernet function (FEC) module of the microprocessor chip is mainly used to intelligently control the receiving and sending of data. After processing according to the data flow in Figure 2, the control instructions of the host computer are stored in the microprocessor The dedicated RAM area of the Ethernet module inside the chip 3 is used as a dedicated channel for FEC data transmission of the chip, with a total of 512 bytes. It is logically divided into two parts: the sending stack and the receiving stack, but physically It is still a continuous storage space. After the control command is received from the receiving pin of the FEC, it is stored in the receiving area of the RAM, and then the data is sent through the three UART blocks on the chip. In this example, the 16th UTXD0 pin and the 17th URXD0 pin are used to transmit the data received by the host computer to the motor control chip 401 . After the above data flow transfer is completed, the Ethernet stepping motor drive controller has the ability of Ethernet communication.

In this example, the microprocessor chip 3 is not only used to solidify existing programs and process various control instructions, but also to perform communication interruption control and management. There are two interrupt controllers inside the chip, each The interrupt controller manages up to 63 interrupt sources and can manage a total of 119 interrupt sources. The main interrupt control process of the microprocessor chip 3 is shown in Figure 4. First, the input IO of the FEC module will automatically detect whether the received data message contains a valid check code. If it is a valid check code, the FEC module's Input IO will remove the data header from the data message and store the data content in RAM, and set the value of the interrupt flag bit to 1 to indicate that there is normal data arrival. If the data header does not contain a valid check code, this time will end work, the interrupt controller continues to wait for the interrupt signal to enter the next working cycle.

The output IO of the microprocessor chip 3FEC module will periodically scan the value of the interrupt flag bit. When the communication interrupt flag bit is read as 1, the data in the RAM will be sent to the motor control chip 401 using the "first in first out" principle . The motor control chip 401 uses the GL1800D chip to complete the interpretation and conversion of the control data. The chip first reads the data content and judges it. If the data content contains one of the motor identification numbers (A, B, C, D) or a few, then the chip will be responsible for converting the received data content into the actual control pulse of the stepper motor (such as running direction, running speed, running subdivision, etc.), and then output and send it according to the IO port corresponding to the motor identification number. To one or more of the corresponding four motor drive chips 402; if the sent data does not contain the motor identification number, the default is to output instructions to the four IO ports simultaneously. The stepper motor drive chip 402 is realized by using the two-phase stepper motor drive chip A3977, the I/O port of the motor control chip 401 is directly connected to the motor drive chip 402 through pins, and the motor drive chip 402 sends signals to the signal sending chip 403 After the power is amplified, it is output to the stepping motor, and the motor driver chip 402 sends the signal A+, B+ signal to the first and seventh pins of the signal sending chip 403. At the same time, it is also necessary to send the signal to the two enabling pins of the signal sending chip 403. 4. Set the 8th pin to high level so that the input signal is an effective value. After the internal power of the signal sending chip 403 is amplified, the A+ and B+ signals are sent to the two-phase stepping motor 5 through the 2nd and 6th pins. The A+, B+, wiring pins of the three-phase stepper motor (5) are connected to the A-, B-, wiring pins of the three-phase stepper motor (5) through the 3rd and 5th pins to realize the connection. Stepper motor drive.

Please refer to Fig. 5, the specific control flow of the motor control chip 401 is: first in the main program, after initializing the relevant variables of the whole program, the relevant flag bits and the interrupt identification bit of the microprocessor chip 3, it begins to wait for the interrupt and judge the interrupt flag bit Whether it is 1, once the interrupt program is generated, first turn off the interrupt, the motor control chip 401 starts to receive the data buffer area data sent by the output IO of the FEC module, and sets the motor rotation speed, number of steps and rotation direction according to the contents of the buffer area. The direction I/O port of the control chip 401 sends a logic signal of the direction of rotation, and the pulse signal of the stepper motor is sent at the pulse I/O port of the motor control chip 401. The number of pulses is determined by the number of steps of the stepper motor. The time is determined by the rotation speed of the motor. After processing the above work, start the communication interruption wait, and return from the command processing subroutine.

In order to realize the remote control of multiple stepping motors, it is only necessary to use multiple Ethernet stepping motor drive controllers, and then set different networks in the microprocessor chip (3) of each Ethernet stepping motor drive controller The IP address and the different identification numbers are solidified, and then connected to the host computer 1 in parallel through the communication circuit 2, and the instruction sent by the host computer 1 is used to find the corresponding Ethernet stepper motor drive controller through the network IP address and the identification number, In order to realize the control of multiple stepper motors.

The specific embodiments described herein are only for illustrating the spirit of the present invention. Those skilled in the art to which the present invention belongs may make various modifications or supplements to the described specific examples, or replace them in similar ways, but they will not deviate from the spirit of the present invention or go beyond the scope defined in the appended claims .

Claims (5)

1. Ethernet driving controller of stepping motor, it is characterized in that this controller is comprised of telecommunication circuit (2), microprocessor chip (3) and motor interface (4), described telecommunication circuit (2) is comprised of RJ45 physical interface (201), Ethernet transformer chip (202), ethernet physical layer chip (203); Described motor interface (4) sends chip (403) by motor control chip (401), motor drive ic (402) and signal and forms; Described microprocessor chip (3) is connected with ethernet physical layer chip (203) in telecommunication circuit (2), is passed in microprocessor chip in order to realize the host computer director data; Described microprocessor chip (3) is connected with motor control chip (401), in order to realization, the PC control director data is issued in motor control chip, realizes the control to the stepping motor running status; Described motor drive ic (402) sends chip (403) with signal and is connected, and completes the power amplification work of motor-driven pulse signal in signal sends chip; Described signal sends chip (403) and is connected with many stepping motors (5), in order to realize the driving work to motor.

2. Ethernet driving controller of stepping motor according to claim 1, is characterized in that described microprocessor chip (3) is MCF52259CAG8.

3. Ethernet driving controller of stepping motor according to claim 1, it is characterized in that described telecommunication circuit (2) is the 10/100M Ethernet interface, the Ethernet transformer chip (202) of telecommunication circuit (2) is selected H1102NL, and ethernet physical layer chip (203) is selected DP83848.

4. Ethernet driving controller of stepping motor according to claim 1, the motor control chip (401) that it is characterized in that described motor interface (4) is the GL1800D chip, this chip has multiaxis step motor control ability, can control command be transferred to the output of different I/O pin according to user's input; Described motor drive ic (402) is the A3977 chip, it is the MC3486 chip that described signal sends chip (403), described motor interface chip sends chip (403) with described signal and is connected, described signal transmission chip (403) is connected and is connected with motor drive ic (402), in order to realization, the driving to the multiaxis stepping motor is simultaneously controlled.

5. the described Ethernet driving controller of stepping motor of according to claim 1 to 4 any one, is characterized in that described telecommunication circuit (2), microprocessor chip (3) and motor interface (4) are integrated on a circuit board.

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