CN104914766A - Control circuit of microprocessor used for industrial robot teaching - Google Patents
Control circuit of microprocessor used for industrial robot teaching Download PDFInfo
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- CN104914766A CN104914766A CN201510309100.7A CN201510309100A CN104914766A CN 104914766 A CN104914766 A CN 104914766A CN 201510309100 A CN201510309100 A CN 201510309100A CN 104914766 A CN104914766 A CN 104914766A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention relates to a control circuit of a microprocessor used for industrial robot teaching. The control circuit comprises a first module, a second module, a third module, a fourth module, a fifth module and a sixth module, wherein the fifth module is respectively connected with the first module, the third module, the fourth module and the sixth module, the first module is connected with a DDR chip, and the DDR chip is connected with the second module. The control circuit relates to a variety of power supply voltages, and meets the external power supply requirement through the supply of a special power conversion chip; the control circuit adopts the DDR chip to realize storage of image and graphic data; the control circuit comprises an analog-digital conversion module ADC, so as to achieve high-precision analog quantity signal acquisition; and the control circuit adopts an NAND FLASH chip, can store large volume of programs and data information without losing data when power is off, is compatible with 10M, 100M and 1000M Ethernet as well as dual-channel high-speed USB2.0, and greatly improves the speed and effective utilization rate of communication.
Description
Technical field
The present invention relates to industrial robot control technology field, be specifically related to a kind of industrial robot teaching microprocessor-based control circuit.
Background technology
Industrial robot is multi-joint manipulator towards industrial circle or multivariant installations, work can be automatically performed, lean on self power and control ability to realize a kind of machine of various function, mankind commander can be accepted, also can run according to the program of layout in advance, the principle guiding principle action that modern industrial robot can also be formulated according to artificial intelligence technology.
Mostly the teaching control circuit extensively controlling industrial robot operation is at present based on microcontrollers such as FPGA, DSP, ARM9 or ARM11, and in graph and image processing, industrial Application of Interface, performance is not very strong, and price is not cheap yet.How to improve data-handling capacity, CPU usage and cost performance, and the Application of Interface of compatible industrial circle, realize industrial automation, become very important a, urgent problem, and there are wide market outlook.
Summary of the invention
In order to solve in prior art existing deficiency, the present invention propose a kind of reasonable in design, control accuracy is high, widely applicable, the control circuit of industrial robot teaching can be used for, i.e. a kind of industrial robot teaching microprocessor-based control circuit.
Microprocessor-based control circuit is used in a kind of industrial robot teaching, comprise the first module, the second module, the 3rd module, four module, the 5th module and the 6th module, described 5th module is connected with the first module, the 3rd module, four module, the 6th module respectively, described first model calling has DDR chip, and described DDR chip is connected with the second module.Cost performance of the present invention is high, utilizes the first module, the second module, the 3rd module, four module, the 5th module and the 6th module to cooperatively interact formation processor, thus can control industrial robot, and have the function of teaching simultaneously.
The B6 pin of described second module, C7 pin, B7 pin, A7 pin, C8 pin, B8 pin, A8 pin, C9 pin, F3 pin, H1 pin, E4 pin, C3 pin, C2 pin, B1 pin, D5 pin, E2 pin, D4 pin, C1 pin, F4 pin, F2 pin, E3 pin, H3 pin, H4 pin, D3 pin correspondence are connected with DDR chip.
The R1 pin of described 3rd module, R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the first resistance, second resistance, 3rd resistance, 4th resistance, 5th resistance, 6th resistance, 7th resistance, 8th resistance, 9th resistance, tenth resistance, 11 resistance, 12 resistance, 13 resistance, 14 resistance, 15 resistance, 16 resistance, described first resistance, second resistance, 3rd resistance, 4th resistance, 5th resistance, 6th resistance, 7th resistance, 8th resistance, 9th resistance, tenth resistance, 11 resistance, 12 resistance, 13 resistance, 14 resistance, 15 resistance, the equal ground connection of 16 resistance, described R1 pin, R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the 17 resistance, 18 resistance, 19 resistance, 20 resistance, 21 resistance, 22 resistance, 23 resistance, 24 resistance, 25 resistance, 26 resistance, 27 resistance, 28 resistance, 29 resistance, 30 resistance, 31 resistance, become branch line one after 32 resistance.The R13 pin of the 3rd module, V14 pin, U14 pin, T14 pin, R14 pin, V15 pin, U15 pin, T15 pin, V16 pin, U16 pin, V17 pin, U7 pin, V7 pin, R8 pin, T8 pin, U8 pin, R9 pin, T9 pin, U10 pin, T10 pin, T11 pin, U12 pin, T12 pin, R12 pin, V13 pin, U13 pin are connected with NAND FLASH chip;
Branch line two is formed after the C5 pin of described first module is serially connected with pull-up resistor, described branch line two is connected with RTC reset control circuit, described RTC reset control circuit ground connection, the B5 pin of described first module is connected with RTC reset control circuit, the B15 pin of described first module is connected with reset control circuit, described reset control circuit is connected with branch line one, described reset control circuit ground connection, crystal oscillator clock driving circuit one is serially connected with between the V10 pin of described first module and U11 pin, crystal oscillator clock driving circuit two is serially connected with, the G2 pin of described first module between the A6 pin of described first module and A4 pin, G4 pin, F1 pin, B2 pin, G1 pin, D1 pin, G3 pin, D2 pin is connected with DDR chip, and the J4 pin of described first module is connected with DDR chip, and the J4 pin of described first module is serially connected with the rear ground connection of electric capacity one, and the J3 pin of described first module is serially connected with the rear ground connection of pull down resistor one, the D9 pin of described first module, D11 pin, D6 pin, C10 pin respectively correspondence is serially connected with electric capacity two, electric capacity three, electric capacity four, ground connection after electric capacity five, the B4 pin of described first module is serially connected with ground connection after pull down resistor two, and the A10 pin of described first module is serially connected with ground connection after the 33 resistance.
The E16 pin of described four module, E15 pin is connected respectively 3 pin of interface CON1, 2 pin, 1 pin of described interface CON1 connects+3.3V power interface, the 4 pin ground connection of described interface CON1, the reference ground GND_ADC end of ADC is connect after the D8 pin of described four module is connected with electric capacity six, the D7 pin of described four module, A2 pin, E9 pin, D10 pin, R10 pin respectively correspondence is serially connected with electric capacity seven, electric capacity eight, electric capacity nine, electric capacity ten, ground connection after electric capacity 11, the N16 pin of described four module, R16 pin is also connected with electric capacity 12 after connecing formation branch line four, described electric capacity 12 ground connection, the N15 pin of described four module, R15 pin is also connected with electric capacity 13 after connecing formation branch line five, described electric capacity 13 ground connection.
The P14 pin of described 5th module, K13 pin, E14 pin, N6 pin, P9 pin, F9 pin, E6 pin also connects rear formation branch line three, and described branch line three is connected with electric capacity 14, electric capacity 15, electric capacity 16 and electric capacity 17, described electric capacity 14, electric capacity 15, electric capacity 16 one end with electric capacity 17 and after connecing is connected with branch line three, described electric capacity 14, electric capacity 15, electric capacity 16 and electric capacity 17 other end ground connection after connecing, described branch line three is also connected with the 7th ferrite bean, one end of described 7th ferrite bean respectively with the H15 pin of four module, E7 pin, R10 pin, D10 pin, E9 pin, branch line 4 10, the branch line three of D8 pin and the 5th module, R11 pin is connected, and the other end of described 7th ferrite bean is connected with+1.8V power interface, the E5 pin of described 5th module, J5 pin, K5 pin, H5 pin, G5 pin, F5 pin, L5 pin also connects formation branch line six, described branch line six, and described branch line six is connected with the 6th ferrite bean, and described 6th ferrite bean is connected with+1.5V power interface, and described branch line six is also connected with electric capacity 18, electric capacity 19, electric capacity 20, electric capacity 21, electric capacity 22, electric capacity 23, electric capacity 24, described electric capacity 18, electric capacity 19, electric capacity 20, electric capacity 21, electric capacity 22, electric capacity 23, electric capacity 24 one end after connecing are connected with branch line six, described electric capacity 18, electric capacity 19, electric capacity 20, electric capacity 21, electric capacity 22 C78, electric capacity 23, electric capacity 24 other end ground connection after connecing.
The A2 pin of described four module and the J13 pin of the 5th module, H13 pin, G13 pin, F13 pin, F12 pin, F11 pin, F10 pin correspondence connects, the A2 pin of described four module is connected with electric capacity 25, electric capacity 26, electric capacity 27, electric capacity 28, electric capacity 29, described electric capacity 25, electric capacity 26, electric capacity 27, electric capacity 28, electric capacity 29 one end after connecing are connected with the A2 pin of four module, described electric capacity 25, electric capacity 26, electric capacity 27, electric capacity 28, electric capacity 29 other end ground connection after connecing, the A2 pin of described four module is also connected with the 5th ferrite bean, described 5th ferrite bean is connected with+1.26V power interface.
The K6 pin of described 5th module, K8 pin, L6 pin, L7 pin, L8 pin, L9 pin, N8 pin, N9 pin, F6 pin, K12 pin, F7 pin, J12 pin, N11 pin, G6 pin, M13 pin, G7 pin, N12 pin, G10 pin, N13 pin, H11 pin also connects formation branch line seven, described branch line seven is connected with electric capacity 30, electric capacity 31, electric capacity 32, electric capacity 33, described electric capacity 30, electric capacity 31, electric capacity 32, electric capacity 33 one end after connecing are connected with branch line seven, described electric capacity 30, electric capacity 31, electric capacity 32, electric capacity 33 other end ground connection after connecing, described branch line seven is also connected with the 4th ferrite bean, described 4th ferrite bean is connected with+1.1V power interface.
The R11 pin of described 5th module is also connected with electric capacity 34, described electric capacity 34 ground connection.
The P7 pin of described 5th module, P8 pin also connects formation branch line eight, the P10 pin of described 5th module, P11 pin also connects formation branch line nine, the P12 pin of described 5th module, P13 pin also connects formation branch line ten, the H14 pin of described 5th module, J14 pin also connects formation branch line 11, the K14 pin of described 5th module, L14 pin also connects formation branch line 12, the N5 pin of described 5th module, E10 pin, E11 pin, E12 pin, E13 pin, P5 pin, P6 pin, F14 pin, G14 pin also connects formation branch line 13, described branch line eight, branch line nine, branch line ten, branch line 12, branch line 13 is also connected with the 8th ferrite bean after connecing, described 8th ferrite bean is connected with branch line one, described branch line 11 is connected with the 3rd ferrite bean, described 3rd ferrite bean is connected with+3.3V power interface interface.
Described branch line eight is also connected with electric capacity 35, electric capacity 36, and described electric capacity 35, electric capacity 36 one end after connecing are connected with branch line eight, described electric capacity 35, electric capacity 36 other end ground connection after connecing.
Described branch line nine is also connected with electric capacity 37, electric capacity 38, and described electric capacity 37, electric capacity 38 one end after connecing are connected with branch line nine, described electric capacity 37, electric capacity 38 other end ground connection after connecing.
Described branch line 10 is also connected with electric capacity 39, electric capacity 40, and described electric capacity 39, electric capacity 40 one end after connecing are connected with branch line ten, described electric capacity 39, electric capacity 40 other end ground connection after connecing.
Described branch line 11 is also connected with electric capacity 41, electric capacity 42, and described electric capacity 41, electric capacity 42 one end after connecing are connected with branch line 11, described electric capacity 41, electric capacity 42 other end ground connection after connecing.
Described branch line 12 is also connected with electric capacity 43, electric capacity 44, and described electric capacity 43, electric capacity 44 one end after connecing are connected with branch line 12, described electric capacity 43, electric capacity 44 other end ground connection after connecing.
Described branch line 13 is also connected with electric capacity 45, electric capacity 46, electric capacity 47, electric capacity 48, described electric capacity 45, electric capacity 46, electric capacity 47, electric capacity 48 one end after connecing are connected with branch line 13, described electric capacity 45, electric capacity 46, electric capacity 47, electric capacity 48 other end ground connection after connecing.
Described branch line five is also connected with the second ferrite bean, and described second ferrite bean is connected with branch line one.
The D8 pin of described four module is also connected with 34 resistance, described 34 resistance are connected with electric capacity 49, electric capacity 50, described electric capacity 49, electric capacity 50 one end after connecing are connected with the B9 pin of 34 resistance, the 6th module, described electric capacity 49, electric capacity 50 reference of another termination ADC after connecing ground GND_ADC end, the A9 pin of described 6th module and reference of ADC GND_ADC hold and be connected.
The G8 pin of described 6th module, G9 pin, H6 pin, H7 pin, A1 pin, V18 pin, K7 pin, F8 pin, H8 pin, H9 pin, J6 pin, J7 pin, J8 pin, J9 pin, V1 pin, J11 pin, J10 pin, M14 pin, N14 pin, A5 pin, V11 pin, H12 pin, H10 pin, G12 pin, G11 pin, N11 pin, N10 pin, M12 pin, M10 pin, L13 pin, L12 pin, L11 pin, L10 pin, K11 pin, K10 pin, A18 pin, N7 pin, M9 pin, M8 pin, M7 pin, M6 pin, the equal ground connection of K9 pin, the E8 pin of described 6th module connects the reference ground GND_ADC end of ADC.
The reference ground GND_ADC end of described ADC is connected with the first ferrite bean, described first ferrite bean ground connection.
Described RTC reset control circuit comprises reset resistor one and reset capacitance one, one end of described reset resistor one is connected with branch line two, one end of described reset capacitance one is connected with the B5 pin of the other end of reset resistor one, the first module, the other end ground connection of described reset capacitance one.
Described reset control circuit comprises reset resistor two, reset capacitance two, one end of described reset resistor two is connected with branch line one, one end of described reset capacitance two is connected with the B15 pin of the other end of reset resistor two, the first module, the other end ground connection of described reset capacitance two.
Described crystal oscillator clock driving circuit one comprises crystal oscillator clock resistance one, crystal oscillator one, crystal oscillator clock electric capacity one, crystal oscillator clock electric capacity two, one end after described crystal oscillator clock resistance one, crystal oscillator connect in the lump is connected with one end of crystal oscillator clock electric capacity one, the V10 pin of the first module, the other end after described crystal oscillator clock resistance one, crystal oscillator connect in the lump is connected with one end of crystal oscillator clock electric capacity two, the U11 pin of the first module, the other end of described crystal oscillator clock electric capacity one, the equal ground connection of the other end of crystal oscillator clock electric capacity two.
Described crystal oscillator clock driving circuit two comprises crystal oscillator clock resistance two, crystal oscillator one, crystal oscillator clock electric capacity three, crystal oscillator clock electric capacity four, one end after described crystal oscillator clock resistance two, crystal oscillator connect in the lump is connected with one end of crystal oscillator clock electric capacity three, the A6 pin of the first module, the other end after described crystal oscillator clock resistance two, crystal oscillator connect in the lump is connected with one end of crystal oscillator clock electric capacity four, the A4 pin of the first module, the other end of described crystal oscillator clock electric capacity three, the equal ground connection of the other end of crystal oscillator clock electric capacity four.
The invention has the beneficial effects as follows: the present invention relates to multiple power sources voltage, i.e.+1.1V, 1.26V, 1.5V, 1.8V, 3.3V, supplied by special power conversion chip thus meet extraneous power demands; Adopt the storage of DDR chip realization to image graphic data; There is analog-to-digital conversion module ADC, to realize high precision collecting analog signals; Can external touch liquid crystal display, be mainly used in showing the application message that the state, parameter, coordinate system, speed, program etc. of industrial robot are relevant; The present invention adopts NAND FLASH chip, can store jumbo program and data message, and power down is not lost, the Ethernet of compatible 10M, 100M, 1000M, and two-way high speed USB 2.0, substantially increases speed and the availability of communication.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural drawing of the first module of the present invention;
Fig. 2 is the structural drawing of the second module of the present invention;
Fig. 3 is the structural drawing of the 3rd module of the present invention;
Fig. 4 is the structural drawing of four module of the present invention;
Fig. 5 is the structural drawing of the 5th module of the present invention;
Fig. 6 is the structural drawing of the 6th module of the present invention;
Fig. 7 is the structural drawing that the 3rd module of the present invention is connected with branch line one;
Fig. 8 is the structural drawing that the present invention the 5th module is connected with electric capacity 35, electric capacity 36, electric capacity 37, electric capacity 38, electric capacity 39, electric capacity 40, electric capacity 41, electric capacity 42, electric capacity 43, electric capacity 44, electric capacity 45, electric capacity 46, electric capacity 47, electric capacity 48;
Fig. 9 is the structural drawing that branch line three of the present invention is connected with electric capacity 14, electric capacity 15, electric capacity 16, electric capacity 17;
Figure 10 is the structural drawing that branch line six of the present invention is connected with electric capacity 18, electric capacity 19, electric capacity 20, electric capacity 21, electric capacity 22, electric capacity 23, electric capacity 24;
Figure 11 is the structural drawing that branch line seven of the present invention is connected with electric capacity 30, electric capacity 31, electric capacity 32, electric capacity 33;
Figure 12 is the structural drawing that the R11 pin of the 5th module of the present invention is connected with electric capacity 34;
Figure 13 is the structural drawing that the A2 pin of four module of the present invention is connected with electric capacity 25, electric capacity 26, electric capacity 27, electric capacity 28, electric capacity 29;
Figure 14 is that the reference ground GND_ADC of ADC of the present invention holds the structural drawing be connected with the first ferrite bean;
The structural drawing that Figure 15 is the B8 pin of D8 pin with the second module of four module of the present invention, the A9 pin of the 6th module is connected;
Figure 16 is the wiring diagram of+1.8V power interface of the present invention ,+1.5V power interface ,+1.26V power interface ,+1.1V power interface;
Figure 17 is the structural drawing of branch line one of the present invention ,+3.3V power interface, four module, the 5th model calling;
Figure 18 is the structural representation of entirety of the present invention;
Figure 19 is the structural drawing that four module of the present invention is connected with electric capacity six, electric capacity seven, electric capacity eight, electric capacity nine, electric capacity ten, electric capacity 11;
Figure 20 is the structural drawing of crystal oscillator clock driving circuit one of the present invention;
Figure 21 is the structural drawing of crystal oscillator clock driving circuit two of the present invention;
Figure 22 is the structural drawing of reset control circuit of the present invention;
Figure 23 is the structural drawing of RTC reset control circuit of the present invention;
Figure 24 is the structural drawing that four module of the present invention is connected with interface CON1.
Embodiment
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below the present invention being set forth further.
As shown in Fig. 1 to Figure 24, microprocessor-based control circuit is used in a kind of industrial robot teaching, comprise the first module 1, second module 2, the 3rd module 3, four module 4, the 5th module 5 and the 6th module 6, described 5th module 5 is connected with the first module 1, the 3rd module 3, four module 4, the 6th module 6 respectively, described first module 1 is connected with DDR chip, and described DDR chip is connected with the second module 2.Cost performance of the present invention is high, utilizes the first module 1, second module 2, the 3rd module 3, four module 4, the 5th module 5 and the 6th module 6 to cooperatively interact formation processor, thus can control industrial robot, and have the function of teaching simultaneously.
The B6 pin of described second module 2, C7 pin, B7 pin, A7 pin, C8 pin, B8 pin, A8 pin, C9 pin, F3 pin, H1 pin, E4 pin, C3 pin, C2 pin, B1 pin, D5 pin, E2 pin, D4 pin, C1 pin, F4 pin, F2 pin, E3 pin, H3 pin, H4 pin, D3 pin correspondence are connected with DDR chip.
The R1 pin of described 3rd module 3, R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the first resistance R01, second resistance R02, 3rd resistance R64, 4th resistance R65, 5th resistance R05, 6th resistance R06, 7th resistance R66, 8th resistance R67, 9th resistance R68, tenth resistance R010, 11 resistance R69, 12 resistance R70, 13 resistance R71, 14 resistance R72, 15 resistance R73, 16 resistance R016, described first resistance R01, second resistance R02, 3rd resistance R64, 4th resistance R65, 5th resistance R05, 6th resistance R06, 7th resistance R66, 8th resistance R67, 9th resistance R68, tenth resistance R010, 11 resistance R69, 12 resistance R70, 13 resistance R71, 14 resistance R72, 15 resistance R73, the equal ground connection of 16 resistance R016, described R1 pin, R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the 17 resistance R58, 18 resistance R59, 19 resistance R03, 20 resistance R04, 21 resistance R60, 22 resistance R61, 23 resistance R07, 24 resistance R08, 25 resistance R09, 26 resistance R62, 27 resistance R011, 28 resistance R012, 29 resistance R013, 30 resistance R014, 31 resistance R015, become branch line 1 after 32 resistance R63.The R13 pin of the 3rd module 3, V14 pin, U14 pin, T14 pin, R14 pin, V15 pin, U15 pin, T15 pin, V16 pin, U16 pin, V17 pin, U7 pin, V7 pin, R8 pin, T8 pin, U8 pin, R9 pin, T9 pin, U10 pin, T10 pin, T11 pin, U12 pin, T12 pin, R12 pin, V13 pin, U13 pin are connected with NAND FLASH chip;
Branch line 28 is formed after the C5 pin of described first module 1 is serially connected with pull-up resistor R25, described branch line 28 is connected with RTC reset control circuit, described RTC reset control circuit ground connection, the B5 pin of described first module 1 is connected with RTC reset control circuit, the B15 pin of described first module 1 is connected with reset control circuit, described reset control circuit is connected with branch line 1, described reset control circuit ground connection, crystal oscillator clock driving circuit one is serially connected with between the V10 pin of described first module 1 and U11 pin, crystal oscillator clock driving circuit two is serially connected with, the G2 pin of described first module 1 between the A6 pin of described first module 1 and A4 pin, G4 pin, F1 pin, B2 pin, G1 pin, D1 pin, G3 pin, D2 pin is connected with DDR chip, and the J4 pin of described first module 1 is connected with DDR chip, and the J4 pin of described first module 1 is serially connected with ground connection after electric capacity one C4, and the J3 pin of described first module 1 is serially connected with ground connection after pull down resistor one R24, the D9 pin of described first module 1, D11 pin, D6 pin, C10 pin respectively correspondence is serially connected with electric capacity two C66, electric capacity three C67, electric capacity four C72, ground connection after electric capacity five C68, the B4 pin of described first module 1 is serially connected with ground connection after pull down resistor two R26, and the A10 pin of described first module 1 is serially connected with ground connection after the 33 resistance R23.
The E16 pin of described four module 4, E15 pin is connected respectively 3 pin of interface CON1, 2 pin, 1 pin of described interface CON1 connects+3.3V power interface, the 4 pin ground connection of described interface CON1, the reference ground GND_ADC end of ADC is connect after the D8 pin of described four module 4 is connected with electric capacity six C150, the D7 pin of described four module 4, A2 pin, E9 pin, D10 pin, R10 pin respectively correspondence is serially connected with electric capacity seven C87, electric capacity eight C81, electric capacity nine C84, electric capacity ten C85, ground connection after electric capacity 11 C86, the N16 pin of described four module 4, R16 pin is also connected with electric capacity 12 C82 after connecing formation branch line 4 10, described electric capacity 12 C82 ground connection, the N15 pin of described four module 4, R15 pin is also connected with electric capacity 13 C83 after connecing formation branch line 5 11, described electric capacity 13 C83 ground connection.
The P14 pin of described 5th module 5, K13 pin, E14 pin, N6 pin, P9 pin, F9 pin, E6 pin also connects rear formation branch line 39, and described branch line 39 is connected with electric capacity 14 C62, electric capacity 15 C63, electric capacity 16 C64 and electric capacity 17 C65, described electric capacity 14 C62, electric capacity 15 C63, electric capacity 16 C64 one end with electric capacity 17 C65 and after connecing is connected with branch line 39, described electric capacity 14 C62, electric capacity 15 C63, electric capacity 16 C64 and electric capacity 17 C65 other end ground connection after connecing, described branch line 39 is also connected with the 7th ferrite bean FB7, one end of described 7th ferrite bean FB7 respectively with the H15 pin of four module 4, E7 pin, R10 pin, D10 pin, E9 pin, branch line 4 10, the branch line 39 of D8 pin and the 5th module 5, R11 pin is connected, and the other end of described 7th ferrite bean FB7 is connected with+1.8V power interface, the E5 pin of described 5th module 5, J5 pin, K5 pin, H5 pin, G5 pin, F5 pin, L5 pin also connects formation branch line 6 12, described branch line 6 12, and described branch line 6 12 is connected with the 6th ferrite bean FB6, and described 6th ferrite bean FB6 is connected with+1.5V power interface, and described branch line 6 12 is also connected with electric capacity 18 C74, electric capacity 19 C75, electric capacity 20 C76, electric capacity 21 C77, electric capacity 22 C78, electric capacity 23 C79, electric capacity 24 C80, described electric capacity 18 C74, electric capacity 19 C75, electric capacity 20 C76, electric capacity 21 C77, electric capacity 22 C78, electric capacity 23 C79, electric capacity 24 C80 one end after connecing are connected with branch line 6 12, described electric capacity 18 C74, electric capacity 19 C75, electric capacity 20 C76, electric capacity 21 C77, electric capacity 22 C78, electric capacity 23 C79, electric capacity 24 C80 other end ground connection after connecing.
The A2 pin of described four module 4 and the J13 pin of the 5th module 5, H13 pin, G13 pin, F13 pin, F12 pin, F11 pin, F10 pin correspondence connects, the A2 pin of described four module 4 is connected with electric capacity 25 C53, electric capacity 26 C54, electric capacity 27 C55, electric capacity 28 C56, electric capacity 29 C57, described electric capacity 25 C53, electric capacity 26 C54, electric capacity 27 C55, electric capacity 28 C56, electric capacity 29 C57 one end after connecing are connected with the A2 pin of four module 4, described electric capacity 25 C53, electric capacity 26 C54, electric capacity 27 C55, electric capacity 28 C56, electric capacity 29 C57 other end ground connection after connecing, the A2 pin of described four module 4 is also connected with the 5th ferrite bean FB5, described 5th ferrite bean FB5 is connected with+1.26V power interface.
The K6 pin of described 5th module 5, K8 pin, L6 pin, L7 pin, L8 pin, L9 pin, N8 pin, N9 pin, F6 pin, K12 pin, F7 pin, J12 pin, N11 pin, G6 pin, M13 pin, G7 pin, N12 pin, G10 pin, N13 pin, H11 pin also connects formation branch line 7 13, described branch line 7 13 is connected with electric capacity 30 C33, electric capacity 31 C34, electric capacity 32 C35, electric capacity 33 C36, described electric capacity 30 C33, electric capacity 31 C34, electric capacity 32 C35, electric capacity 33 C36 one end after connecing are connected with branch line 7 13, described electric capacity 30 C33, electric capacity 31 C34, electric capacity 32 C35, electric capacity 33 C36 other end ground connection after connecing, described branch line 7 13 is also connected with the 4th ferrite bean FB4, described 4th ferrite bean FB4 is connected with+1.1V power interface.
The R11 pin of described 5th module 5 is also connected with electric capacity 34 C73, described electric capacity 34 C73 ground connection.
The P7 pin of described 5th module 5, P8 pin also connects formation branch line 8 14, the P10 pin of described 5th module 5, P11 pin also connects formation branch line 9 15, the P12 pin of described 5th module 5, P13 pin also connects formation branch line 10, the H14 pin of described 5th module 5, J14 pin also connects formation branch line 11, the K14 pin of described 5th module 5, L14 pin also connects formation branch line 12, the N5 pin of described 5th module 5, E10 pin, E11 pin, E12 pin, E13 pin, P5 pin, P6 pin, F14 pin, G14 pin also connects formation branch line 13, described branch line 8 14, branch line 9 15, branch line 10, branch line 12, branch line 13 is also connected with the 8th ferrite bean FB8 after connecing, described 8th ferrite bean FB8 is connected with branch line 1, described branch line 11 is connected with the 3rd ferrite bean FB3, described 3rd ferrite bean FB3 is connected with+3.3V power interface interface.
Described branch line 8 14 is also connected with electric capacity 35 C42, electric capacity 36 C43, described electric capacity 35 C42, electric capacity 36 C43 one end after connecing are connected with branch line 8 14, described electric capacity 35 C42, electric capacity 36 C43 other end ground connection after connecing.
Described branch line 9 15 is also connected with electric capacity 37 C44, electric capacity 38 C45, described electric capacity 37 C44, electric capacity 38 C45 one end after connecing are connected with branch line 9 15, described electric capacity 37 C44, electric capacity 38 C45 other end ground connection after connecing.
Described branch line 10 is also connected with electric capacity 39 C46, electric capacity 40 C47, and described electric capacity 39 C46, electric capacity 40 C47 one end after connecing are connected with branch line 10, described electric capacity 39 C46, electric capacity 40 C47 other end ground connection after connecing.
Described branch line 11 is also connected with electric capacity 41 C48, electric capacity 42 C49, described electric capacity 41 C48, electric capacity 42 C49 one end after connecing are connected with branch line 11, described electric capacity 41 C48, electric capacity 42 C49 other end ground connection after connecing.
Described branch line 12 is also connected with electric capacity 43 C50, electric capacity 44 C51, described electric capacity 43 C50, electric capacity 44 C51 one end after connecing are connected with branch line 12, described electric capacity 43 C50, electric capacity 44 C51 other end ground connection after connecing.
Described branch line 13 is also connected with electric capacity 45 C58, electric capacity 46 C59, electric capacity 47 C60, electric capacity 48 C61, described electric capacity 45 C58, electric capacity 46 C59, electric capacity 47 C60, electric capacity 48 C61 one end after connecing are connected with branch line 13, described electric capacity 45 C58, electric capacity 46 C59, electric capacity 47 C60, electric capacity 48 C61 other end ground connection after connecing.
Described branch line 5 11 is also connected with the second ferrite bean FB2, and described second ferrite bean FB2 is connected with branch line 1.
The D8 pin of described four module 4 is also connected with 34 resistance R269, described 34 resistance R269 are connected with electric capacity 49 C31, electric capacity 50 C32, described electric capacity 49 C31, electric capacity 50 C32 one end after connecing are connected with the B9 pin of 34 resistance R269, the 6th module 6, described electric capacity 49 C31, electric capacity 50 C32 the reference of another termination ADC after connecing ground GND_ADC end, the A9 pin of described 6th module 6 and reference of ADC GND_ADC hold and be connected.
Described in module 6 G8 G9, 6, H6 foot, H7 feet, A1 V18,, K7 F8,, H8 foot, H9, J6 foot, foot J7 feet, J8 J9,, V1, J11 foot, foot J10 M14,, N14 foot, A5 V11,, H12 foot, H10 feet, a G12 G11,, next 11 feet, N10 M12,, M10 feet, L13 L12,, L11 feet, L10 K11,,, A18 foot, N7 k10/19 dated the feet, M9 M8, and M6 and M7 the feet, K9 feet are grounded, described in module 6 E8 6 feet after ADC reference GND_ADC side.
The reference ground GND_ADC end of described ADC is connected with the first ferrite bean FB1, described first ferrite bean FB1 ground connection.
Described RTC reset control circuit comprises reset resistor one R20 and reset capacitance one C29, one end of described reset resistor one R20 is connected with branch line 28, one end of described reset capacitance one C29 is connected with the B5 pin of the other end of reset resistor one R20, the first module 1, the other end ground connection of described reset capacitance one C29.
Described reset control circuit comprises reset resistor two R21, reset capacitance two C28, one end of described reset resistor two R21 is connected with branch line 1, one end of described reset capacitance two C28 is connected with the B15 pin of the other end of reset resistor two R21, the first module 1, the other end ground connection of described reset capacitance two C28.
Described crystal oscillator clock driving circuit one comprises crystal oscillator clock resistance one R19, crystal oscillator one Y2, crystal oscillator clock electric capacity one C27, crystal oscillator clock electric capacity two C25, described crystal oscillator clock resistance one R19, crystal oscillator one Y2 one end of one end after connecing and crystal oscillator clock electric capacity one C27, the V10 pin of the first module 1 connects, described crystal oscillator clock resistance one R19, crystal oscillator one Y2 one end of the other end after connecing and crystal oscillator clock electric capacity two C25, the U11 pin of the first module 1 connects, the other end of described crystal oscillator clock electric capacity one C27, the equal ground connection of the other end of crystal oscillator clock electric capacity two C25.
Described crystal oscillator clock driving circuit two comprises crystal oscillator clock resistance two R18, crystal oscillator one Y1, crystal oscillator clock electric capacity three C26, crystal oscillator clock electric capacity four C24, described crystal oscillator clock resistance two R18, crystal oscillator one Y1 one end of one end after connecing and crystal oscillator clock electric capacity three C26, the A6 pin of the first module 1 connects, described crystal oscillator clock resistance two R18, crystal oscillator one Y1 one end of the other end after connecing and crystal oscillator clock electric capacity four C24, the A4 pin of the first module 1 connects, the other end of described crystal oscillator clock electric capacity three C26, the equal ground connection of the other end of crystal oscillator clock electric capacity four C24.
During real work, utilize the first module 1, second module 2, the 3rd module 3, four module 4, cooperatively interacting between the 5th module 5 and the 6th module 6, thus the control to industrial robot can be realized, possessed the function of teaching simultaneously; The present invention utilizes the first ferrite bean FB1, the second ferrite bean FB2, the 3rd ferrite bean FB3, the 4th ferrite bean FB4, the 5th ferrite bean FB5, the 6th ferrite bean FB6, the 7th ferrite bean FB7, the 8th ferrite bean FB8 can filtering, eliminate part interference, with power conditioner, also ensure that degree of accuracy and the sensitivity of control.
More than show and describe ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; the just principle of the present invention described in above-described embodiment and instructions; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (5)
1. microprocessor-based control circuit is used in an industrial robot teaching, comprise the first module (1), the second module (2), the 3rd module (3), four module (4), the 5th module (5) and the 6th module (6), it is characterized in that: described 5th module (5) is connected with the first module (1), the 3rd module (3), four module (4), the 6th module (6) respectively, described first module (1) is connected with DDR chip, and described DDR chip is connected with the second module (2);
The B6 pin of described second module (2), C7 pin, B7 pin, A7 pin, C8 pin, B8 pin, A8 pin, C9 pin, F3 pin, H1 pin, E4 pin, C3 pin, C2 pin, B1 pin, D5 pin, E2 pin, D4 pin, C1 pin, F4 pin, F2 pin, E3 pin, H3 pin, H4 pin, D3 pin correspondence are connected with DDR chip;
The R1 pin of described 3rd module (3), R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the first resistance (R01), second resistance (R02), 3rd resistance (R64), 4th resistance (R65), 5th resistance (R05), 6th resistance (R06), 7th resistance (R66), 8th resistance (R67), 9th resistance (R68), tenth resistance (R010), 11 resistance (R69), 12 resistance (R70), 13 resistance (R71), 14 resistance (R72), 15 resistance (R73), 16 resistance (R016), described first resistance (R01), second resistance (R02), 3rd resistance (R64), 4th resistance (R65), 5th resistance (R05), 6th resistance (R06), 7th resistance (R66), 8th resistance (R67), 9th resistance (R68), tenth resistance (R010), 11 resistance (R69), 12 resistance (R70), 13 resistance (R71), 14 resistance (R72), 15 resistance (R73), 16 resistance (R016) is ground connection all, described R1 pin, R2 pin, R3 pin, R4 pin, T1 pin, T2 pin, T3 pin, T4 pin, U1 pin, U2 pin, U3 pin, U4 pin, V2 pin, V3 pin, V4 pin, T5 pin has been connected respectively the 17 resistance (R58), 18 resistance (R59), 19 resistance (R03), 20 resistance (R04), 21 resistance (R60), 22 resistance (R61), 23 resistance (R07), 24 resistance (R08), 25 resistance (R09), 26 resistance (R62), 27 resistance (R011), 28 resistance (R012), 29 resistance (R013), 30 resistance (R014), 31 resistance (R015), 32 resistance (R63) afterwards and become branch line one (7), the R13 pin of the 3rd module (3), V14 pin, U14 pin, T14 pin, R14 pin, V15 pin, U15 pin, T15 pin, V16 pin, U16 pin, V17 pin, U7 pin, V7 pin, R8 pin, T8 pin, U8 pin, R9 pin, T9 pin, U10 pin, T10 pin, T11 pin, U12 pin, T12 pin, R12 pin, V13 pin, U13 pin is connected with NANDFLASH chip,
The C5 pin of described first module (1) is serially connected with pull-up resistor (R25) and forms branch line two (8) afterwards, described branch line two (8) is connected with RTC reset control circuit, described RTC reset control circuit ground connection, the B5 pin of described first module (1) is connected with RTC reset control circuit, the B15 pin of described first module (1) is connected with reset control circuit, described reset control circuit is connected with branch line one (7), described reset control circuit ground connection, crystal oscillator clock driving circuit one is serially connected with between the V10 pin of described first module (1) and U11 pin, crystal oscillator clock driving circuit two is serially connected with between the A6 pin of described first module (1) and A4 pin, the G2 pin of described first module (1), G4 pin, F1 pin, B2 pin, G1 pin, D1 pin, G3 pin, D2 pin is connected with DDR chip, the J4 pin of described first module (1) is connected with DDR chip, the J4 pin of described first module (1) is serially connected with electric capacity one (C4) ground connection afterwards, the J3 pin of described first module (1) is serially connected with pull down resistor one (R24) ground connection afterwards, the D9 pin of described first module (1), D11 pin, D6 pin, C10 pin respectively correspondence is serially connected with electric capacity two (C66), electric capacity three (C67), electric capacity four (C72), electric capacity five (C68) ground connection afterwards, the B4 pin of described first module (1) is serially connected with pull down resistor two (R26) ground connection afterwards, the A10 pin of described first module (1) is serially connected with the 33 resistance (R23) ground connection afterwards,
The E16 pin of described four module (4), E15 pin is connected respectively 3 pin of interface CON1, 2 pin, 1 pin of described interface CON1 connects+3.3V power interface, the 4 pin ground connection of described interface CON1, the reference ground GND_ADC end of ADC is connect after the D8 pin of described four module (4) is connected with electric capacity six (C150), the D7 pin of described four module (4), A2 pin, E9 pin, D10 pin, R10 pin respectively correspondence is serially connected with electric capacity seven (C87), electric capacity eight (C81), electric capacity nine (C84), electric capacity ten (C85), electric capacity 11 (C86) ground connection afterwards, the N16 pin of described four module (4), R16 pin is also connected with electric capacity 12 (C82) after connecing formation branch line four (10), described electric capacity 12 (C82) ground connection, the N15 pin of described four module (4), R15 pin is also connected with electric capacity 13 (C83) after connecing formation branch line five (11), described electric capacity 13 (C83) ground connection,
The P14 pin of described 5th module (5), K13 pin, E14 pin, N6 pin, P9 pin, F9 pin, E6 pin also connects rear formation branch line three (9), and described branch line three (9) is connected with electric capacity 14 (C62), electric capacity 15 (C63), electric capacity 16 (C64) and electric capacity 17 (C65), described electric capacity 14 (C62), electric capacity 15 (C63), electric capacity 16 (C64) one end with electric capacity 17 (C65) and after connecing is connected with branch line three (9), described electric capacity 14 (C62), electric capacity 15 (C63), electric capacity 16 (C64) and electric capacity 17 (C65) other end ground connection after connecing, described branch line three (9) is also connected with the 7th ferrite bean (FB7), one end of described 7th ferrite bean (FB7) respectively with the H15 pin of four module (4), E7 pin, R10 pin, D10 pin, E9 pin, branch line four (10), the branch line three (9) of D8 pin and the 5th module (5), R11 pin is connected, and the other end of described 7th ferrite bean (FB7) is connected with+1.8V power interface, the E5 pin of described 5th module (5), J5 pin, K5 pin, H5 pin, G5 pin, F5 pin, L5 pin also connects formation branch line six (12), described branch line six (12), described branch line six (12) is connected with the 6th ferrite bean (FB6), described 6th ferrite bean (FB6) is connected with+1.5V power interface, and described branch line six (12) is also connected with electric capacity 18 (C74), electric capacity 19 (C75), electric capacity 20 (C76), electric capacity 21 (C77), electric capacity 22 (C78), electric capacity 23 (C79), electric capacity 24 (C80), described electric capacity 18 (C74), electric capacity 19 (C75), electric capacity 20 (C76), electric capacity 21 (C77), electric capacity 22 (C78), electric capacity 23 (C79), electric capacity 24 (C80) one end after connecing are connected with branch line six (12), described electric capacity 18 (C74), electric capacity 19 (C75), electric capacity 20 (C76), electric capacity 21 (C77), electric capacity 22 (C78), electric capacity 23 (C79), electric capacity 24 (C80) other end ground connection after connecing,
The A2 pin of described four module (4) and the J13 pin of the 5th module (5), H13 pin, G13 pin, F13 pin, F12 pin, F11 pin, F10 pin correspondence connects, and the A2 pin of described four module (4) is connected with electric capacity 25 (C53), electric capacity 26 (C54), electric capacity 27 (C55), electric capacity 28 (C56), electric capacity 29 (C57), described electric capacity 25 (C53), electric capacity 26 (C54), electric capacity 27 (C55), electric capacity 28 (C56), electric capacity 29 (C57) one end after connecing are connected with the A2 pin of four module (4), described electric capacity 25 (C53), electric capacity 26 (C54), electric capacity 27 (C55), electric capacity 28 (C56), electric capacity 29 (C57) other end ground connection after connecing, the A2 pin of described four module (4) is also connected with the 5th ferrite bean (FB5), and described 5th ferrite bean (FB5) is connected with+1.26V power interface,
The K6 pin of described 5th module (5), K8 pin, L6 pin, L7 pin, L8 pin, L9 pin, N8 pin, N9 pin, F6 pin, K12 pin, F7 pin, J12 pin, N11 pin, G6 pin, M13 pin, G7 pin, N12 pin, G10 pin, N13 pin, H11 pin also connects formation branch line seven (13), described branch line seven (13) is connected with electric capacity 30 (C33), electric capacity 31 (C34), electric capacity 32 (C35), electric capacity 33 (C36), described electric capacity 30 (C33), electric capacity 31 (C34), electric capacity 32 (C35), electric capacity 33 (C36) one end after connecing are connected with branch line seven (13), described electric capacity 30 (C33), electric capacity 31 (C34), electric capacity 32 (C35), electric capacity 33 (C36) other end ground connection after connecing, described branch line seven (13) is also connected with the 4th ferrite bean (FB4), described 4th ferrite bean (FB4) is connected with+1.1V power interface,
The R11 pin of described 5th module (5) is also connected with electric capacity 34 (C73), described electric capacity 34 (C73) ground connection;
The P7 pin of described 5th module (5), P8 pin also connects formation branch line eight (14), the P10 pin of described 5th module (5), P11 pin also connects formation branch line nine (15), the P12 pin of described 5th module (5), P13 pin also connects formation branch line ten (16), the H14 pin of described 5th module (5), J14 pin also connects formation branch line ten one (17), the K14 pin of described 5th module (5), L14 pin also connects formation branch line ten two (18), the N5 pin of described 5th module (5), E10 pin, E11 pin, E12 pin, E13 pin, P5 pin, P6 pin, F14 pin, G14 pin also connects formation branch line ten three (19), described branch line eight (14), branch line nine (15), branch line ten (16), branch line ten two (18), branch line ten three (19) is also connected with the 8th ferrite bean (FB8) after connecing, described 8th ferrite bean (FB8) is connected with branch line one (7), described branch line ten one (17) is connected with the 3rd ferrite bean (FB3), and described 3rd ferrite bean (FB3) is connected with+3.3V power interface interface,
Described branch line eight (14) is also connected with electric capacity 35 (C42), electric capacity 36 (C43), described electric capacity 35 (C42), electric capacity 36 (C43) one end after connecing are connected with branch line eight (14), described electric capacity 35 (C42), electric capacity 36 (C43) other end ground connection after connecing;
Described branch line nine (15) is also connected with electric capacity 37 (C44), electric capacity 38 (C45), described electric capacity 37 (C44), electric capacity 38 (C45) one end after connecing are connected with branch line nine (15), described electric capacity 37 (C44), electric capacity 38 (C45) other end ground connection after connecing;
Described branch line ten (16) is also connected with electric capacity 39 (C46), electric capacity 40 (C47), described electric capacity 39 (C46), electric capacity 40 (C47) one end after connecing are connected with branch line ten (16), described electric capacity 39 (C46), electric capacity 40 (C47) other end ground connection after connecing;
Described branch line ten one (17) is also connected with electric capacity 41 (C48), electric capacity 42 (C49), described electric capacity 41 (C48), electric capacity 42 (C49) one end after connecing are connected with branch line ten one (17), described electric capacity 41 (C48), electric capacity 42 (C49) other end ground connection after connecing;
Described branch line ten two (18) is also connected with electric capacity 43 (C50), electric capacity 44 (C51), described electric capacity 43 (C50), electric capacity 44 (C51) one end after connecing are connected with branch line ten two (18), described electric capacity 43 (C50), electric capacity 44 (C51) other end ground connection after connecing;
Described branch line ten three (19) is also connected with electric capacity 45 (C58), electric capacity 46 (C59), electric capacity 47 (C60), electric capacity 48 (C61), described electric capacity 45 (C58), electric capacity 46 (C59), electric capacity 47 (C60), electric capacity 48 (C61) one end after connecing are connected with branch line ten three (19), described electric capacity 45 (C58), electric capacity 46 (C59), electric capacity 47 (C60), electric capacity 48 (C61) other end ground connection after connecing;
Described branch line five (11) is also connected with the second ferrite bean (FB2), and described second ferrite bean (FB2) is connected with branch line one (7);
The D8 pin of described four module (4) is also connected with 34 resistance (R269), described 34 resistance (R269) are connected with electric capacity 49 (C31), electric capacity 50 (C32), described electric capacity 49 (C31), electric capacity 50 (C32) one end after connecing and 34 resistance (R269), the B9 pin of the 6th module (6) is connected, described electric capacity 49 (C31), electric capacity 50 (C32) the reference of another termination ADC after connecing ground GND_ADC end, the A9 pin of described 6th module (6) is held with the reference ground GND_ADC of ADC and is connected,
Described in module 6 (6) of the G8, G9 foot, foot H6 H7,, A1 V18, and K7 F8,, H8 foot, H9, J6 foot, foot J7 feet, J8 J9,, V1, J11 foot, foot, M14 foot, N14 J10 the feet, the A5 foot, V11, H12 foot, foot H10 feet, a G12 G11,, next 11 feet, N10 M12,, M10 feet, L13 L12,, L11 feet, L10 K11,,, A18 foot, N7 k10/19 dated the feet, M9 M8, and M6 and M7 the feet, K9 feet are grounded, described in module 6 (6) of E8 foot after ADC reference GND_ADC end;
The reference ground GND_ADC end of described ADC is connected with the first ferrite bean (FB1), described first ferrite bean (FB1) ground connection.
2. a kind of industrial robot teaching microprocessor-based control circuit according to claim 1, it is characterized in that: described RTC reset control circuit comprises reset resistor one (R20) and reset capacitance one (C29), one end of described reset resistor one (R20) is connected with branch line two (8), one end of described reset capacitance one (C29) is connected with the B5 pin of the other end of reset resistor one (R20), the first module (1), the other end ground connection of described reset capacitance one (C29).
3. a kind of industrial robot teaching microprocessor-based control circuit according to claim 1, it is characterized in that: described reset control circuit comprises reset resistor two (R21), reset capacitance two (C28), one end of described reset resistor two (R21) is connected with branch line one (7), one end of described reset capacitance two (C28) is connected with the B15 pin of the other end of reset resistor two (R21), the first module (1), the other end ground connection of described reset capacitance two (C28).
4. a kind of industrial robot teaching microprocessor-based control circuit according to claim 1, it is characterized in that: described crystal oscillator clock driving circuit one comprises crystal oscillator clock resistance one (R19), crystal oscillator one (Y2), crystal oscillator clock electric capacity one (C27), crystal oscillator clock electric capacity two (C25), described crystal oscillator clock resistance one (R19), crystal oscillator one (Y2) one end of one end after connecing and crystal oscillator clock electric capacity one (C27), the V10 pin of the first module (1) connects, described crystal oscillator clock resistance one (R19), crystal oscillator one (Y2) one end of the other end after connecing and crystal oscillator clock electric capacity two (C25), the U11 pin of the first module (1) connects, the other end of described crystal oscillator clock electric capacity one (C27), the equal ground connection of the other end of crystal oscillator clock electric capacity two (C25).
5. a kind of industrial robot teaching microprocessor-based control circuit according to claim 1, it is characterized in that: described crystal oscillator clock driving circuit two comprises crystal oscillator clock resistance two (R18), crystal oscillator one (Y1), crystal oscillator clock electric capacity three (C26), crystal oscillator clock electric capacity four (C24), described crystal oscillator clock resistance two (R18), crystal oscillator one (Y1) one end of one end after connecing and crystal oscillator clock electric capacity three (C26), the A6 pin of the first module (1) connects, described crystal oscillator clock resistance two (R18), crystal oscillator one (Y1) one end of the other end after connecing and crystal oscillator clock electric capacity four (C24), the A4 pin of the first module (1) connects, the other end of described crystal oscillator clock electric capacity three (C26), the equal ground connection of the other end of crystal oscillator clock electric capacity four (C24).
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