CN105242640B - A kind of novel high-speed, high precision multiple-axis servo motion controller circuit - Google Patents
A kind of novel high-speed, high precision multiple-axis servo motion controller circuit Download PDFInfo
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Abstract
本发明属于一种伺服运动控制器电路,具体涉及一种新型的高速高精度多轴伺服运动控制器电路。它包括基于ARM的智能控制单元、SCM智能控制模块、USB总线通讯单元、数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元;其中,USB总线通讯单元与N个单片机智能控制模块连接,USB总线通讯单元还通过USB总线与基于ARM的智能控制单元连接,基于ARM的智能控制单元分别与数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元连接。其优点是:成本低、功耗低、体积小、扩展性强、实时性好、响应快;系统接线简单,高可靠、长寿命、强抗电磁干扰能力。
The invention belongs to a servo motion controller circuit, in particular to a novel high-speed, high-precision multi-axis servo motion controller circuit. It includes ARM-based intelligent control unit, SCM intelligent control module, USB bus communication unit, data storage unit, external network communication unit, power management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit; among them, the USB bus The communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus. The ARM-based intelligent control unit is respectively connected with the data storage unit, external network communication unit, power management unit, debugging The simulation unit, the passive crystal oscillator unit and the human-computer interaction unit are connected. Its advantages are: low cost, low power consumption, small size, strong scalability, good real-time performance, fast response; simple system wiring, high reliability, long life, and strong anti-electromagnetic interference ability.
Description
技术领域technical field
本发明属于一种伺服运动控制器电路,具体涉及一种新型的高速高精度多轴伺服运动控制器电路。The invention belongs to a servo motion controller circuit, in particular to a novel high-speed, high-precision multi-axis servo motion controller circuit.
背景技术Background technique
数控机床是现代制造系统的核心和基础,现代数控机床运动控制系统要求具有高速运算、快速插补、超高速通信、主轴超高速运转、高精度定位等特点。数控机床要实现形状复杂的零器件加工,必须要求运动控制系统能进行插补运动的控制,如直线插补、圆形插补、位插插补和连续插补等。CNC machine tools are the core and foundation of modern manufacturing systems. The motion control system of modern CNC machine tools requires high-speed calculation, fast interpolation, ultra-high-speed communication, ultra-high-speed spindle operation, and high-precision positioning. In order to realize the processing of components with complex shapes, the CNC machine tool must require the motion control system to be able to control interpolation motion, such as linear interpolation, circular interpolation, bit interpolation and continuous interpolation.
我国是制造业大国,而非工业大国。在运动控制领域与发达国家还存在较大的差距,自主创新能力薄弱极大的影响我国制造业技术水平的提升,由于缺乏自主知识产权的核心技术,运动控制系统大部分被国外占领,而运动控制系统的核心运动控制技术更为国外垄断。目前国内的数控市场主要份额的数控系统,多以SCM(单片机)、单片DSP(数字信号处理器)为控制核心或工控机来实现,以单片机和单片DSP为控制核心的数控系统存在系统扩展性低、响应慢、自动化程度低及控制精度低等缺点,而以工控机为控制核心的数控系统存在体积大、灵活性差、扩展性差及硬件研制成本高等缺点。因此,深入研究新一代数控装备运动控制系统具有重要的意义,为解决以上问题,为使多轴伺服运动控制器具有体积小、功能强、精度高、可靠性高、响应块、扩展性强、通用性强的特点,提出一种新型的高速高精度的多轴伺服运动控制器电路,系统采用多种先进信号微处理器协同工作,采用集中控制分层处理的体系结构思想,它集数字智能控制、高速数据采集与信号处理、智能诊断、通信功能于一体,能为各轴伺服电机提供脉冲输出控制、恒速控制、速度控制和位置控制功能,同时,还可实现任意三轴直线插补、两轴圆形插补、三轴位元模式插补等,实现对伺服电机进行位置、速度和加速度控制。该硬件结构充分利用ARM(阶进精简指令集机器)的支持嵌入式系统特性,及强大数据处理能力和多处理器高速协同处理数据的能力,系统最多可控制256轴伺服电机,各轴控制精度可达0.012mm,各轴50us伺服更新率。my country is a manufacturing power, not an industrial power. In the field of motion control, there is still a big gap with developed countries. The weak independent innovation ability greatly affects the improvement of the technological level of my country's manufacturing industry. Due to the lack of core technologies with independent intellectual property rights, most of the motion control systems are occupied by foreign countries. The core motion control technology of the control system is more monopolized by foreign countries. At present, the numerical control system with the main share in the domestic numerical control market is mostly implemented with SCM (single chip microcomputer), single chip DSP (digital signal processor) as the control core or industrial computer, and the numerical control system with single chip microcomputer and single chip DSP as the control core exists in the system There are disadvantages such as low scalability, slow response, low degree of automation, and low control precision, while the CNC system with industrial computer as the control core has disadvantages such as large size, poor flexibility, poor scalability, and high hardware development costs. Therefore, it is of great significance to study the motion control system of the new generation of numerical control equipment in depth. With the characteristics of strong versatility, a new type of high-speed and high-precision multi-axis servo motion controller circuit is proposed. The system uses a variety of advanced signal microprocessors to work together, and adopts the architecture idea of centralized control and layered processing. It integrates digital intelligence. Control, high-speed data acquisition and signal processing, intelligent diagnosis, and communication functions are integrated, and can provide pulse output control, constant speed control, speed control and position control functions for servo motors of each axis. At the same time, any three-axis linear interpolation can also be realized. , two-axis circular interpolation, three-axis bit mode interpolation, etc., to realize the position, speed and acceleration control of the servo motor. The hardware structure makes full use of ARM (Advanced Reduced Instruction Set Machine) to support embedded system features, powerful data processing capabilities and multi-processor high-speed collaborative data processing capabilities. The system can control up to 256 axis servo motors, and the control accuracy of each axis Up to 0.012mm, each axis 50us servo update rate.
发明内容Contents of the invention
本发明的目的是提供一种新型的高速高精度多轴伺服运动控制器电路,该电路系统采用了ARM+双SCM的体系结构,集数据采集、数据处理、智能控制、智能诊断、网络通讯、参数自动调整等功能于一体,实时精确控制多轴伺服电机,该伺服运动控制器可以驱动控制直流伺服电机、直流无刷电机、步进电机及交流伺服电机等。The purpose of the present invention is to provide a new type of high-speed high-precision multi-axis servo motion controller circuit. Automatic adjustment and other functions are integrated, real-time and precise control of multi-axis servo motors, the servo motion controller can drive and control DC servo motors, DC brushless motors, stepper motors and AC servo motors.
本发明是这样实现的,一种新型的高速高精度多轴伺服运动控制器电路,它包括基于ARM的智能控制单元、SCM智能控制模块、USB总线通讯单元、数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元;其中,USB总线通讯单元与N个单片机智能控制模块连接,USB总线通讯单元还通过USB总线与基于ARM的智能控制单元连接,基于ARM的智能控制单元分别与数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元连接。The present invention is achieved in this way, a novel high-speed and high-precision multi-axis servo motion controller circuit, which includes an ARM-based intelligent control unit, an SCM intelligent control module, a USB bus communication unit, a data storage unit, an external network communication unit, Power management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit; among them, the USB bus communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus, The ARM-based intelligent control unit is respectively connected with the data storage unit, the external network communication unit, the power management unit, the debugging simulation unit, the passive crystal oscillator unit and the human-computer interaction unit.
所述的每个单片机智能控制模块分别与四个基于单片机的解算输出单元连接,每个基于单片机的解算输出单元还与信号调理单元连接,信号调理单元与数字伺服控制信号和数字量控制输出连接,单片机智能控制模块还分别与无源晶振单元、电源管理单元、调试仿真单元和USB通信单元连接,单片机智能控制模块与高速数模转换单元连接,高速数模转换单元与信号调理单元连接,信号调理单元与模拟量控制输出连接,模拟量传感器信息、数字量传感器信息和数字I/O信息输出至信号调理单元,信号调理单元输出至高速数模转换单元和单片机智能控制模块,高速数模转换单元输出至单片机智能控制模块。Each of the single-chip intelligent control modules is respectively connected with four single-chip computer-based solution output units, and each single-chip computer-based solution output unit is also connected with the signal conditioning unit, and the signal conditioning unit is connected with the digital servo control signal and digital quantity control. Output connection, the single-chip intelligent control module is also connected with the passive crystal oscillator unit, power management unit, debugging simulation unit and USB communication unit, the single-chip intelligent control module is connected with the high-speed digital-to-analog conversion unit, and the high-speed digital-to-analog conversion unit is connected with the signal conditioning unit , the signal conditioning unit is connected to the analog control output, the analog sensor information, digital sensor information and digital I/O information are output to the signal conditioning unit, the signal conditioning unit is output to the high-speed digital-to-analog conversion unit and the single-chip intelligent control module, the high-speed digital The analog conversion unit outputs to the intelligent control module of the single chip microcomputer.
所述的信号调理单元包括模拟量传感器信息输入与滤波电路连接,滤波电路与电压跟随电路连接,电压跟随电路与运算放大电路连接;数模转换器信息输出与滤波电路连接,滤波电路与运算放大电路连接,运算放大电路与电压跟随器连接;数字量传感器信息输入与滤波电路连接,滤波电路与差分电路连接,差分电路与光电隔离电路连接;数字量传感器信息输出与滤波电路连接,滤波电路与光电隔离电路连接;数字量控制信息输入与滤波电路连接,滤波电路与光电隔离电路连接;数字量控制信息输出与滤波电路连接,滤波电路与差分电路连接,差分电路与光电隔离电路连接;数字量开关信息输入与滤波电路连接,滤波电路与光电隔离电路连接,光电隔离电路与电平转换电路连接;数字量开关信息输出与滤波电路连接,滤波电路与电平转换电路连接,电平转换电路与光电隔离电路连接。The signal conditioning unit includes that the analog sensor information input is connected with a filter circuit, the filter circuit is connected with a voltage follower circuit, the voltage follower circuit is connected with an operational amplifier circuit; the digital-to-analog converter information output is connected with a filter circuit, and the filter circuit is connected with an operational amplifier circuit. The circuit is connected, the operational amplifier circuit is connected with the voltage follower; the information input of the digital quantity sensor is connected with the filter circuit, the filter circuit is connected with the differential circuit, and the differential circuit is connected with the photoelectric isolation circuit; the information output of the digital quantity sensor is connected with the filter circuit, and the filter circuit is connected with the filter circuit Photoelectric isolation circuit connection; digital quantity control information input is connected with filter circuit, filter circuit is connected with photoelectric isolation circuit; digital quantity control information output is connected with filter circuit, filter circuit is connected with differential circuit, differential circuit is connected with photoelectric isolation circuit; digital quantity The switch information input is connected to the filter circuit, the filter circuit is connected to the photoelectric isolation circuit, the photoelectric isolation circuit is connected to the level conversion circuit; the digital switch information output is connected to the filter circuit, the filter circuit is connected to the level conversion circuit, and the level conversion circuit is connected to the level conversion circuit. Optical isolation circuit connection.
所述的数据存储单元包括ARM外部存储器接口,ARM外部存储器接口与数据总线连接、地址总线和控制线连接,数据总线连接、地址总线和控制线连接均分别与两块SST39VF6401SDRAM芯片和K91G08U0B FLASH芯片连接。Described data storage unit comprises ARM external memory interface, and ARM external memory interface is connected with data bus, address bus and control line, and data bus connection, address bus and control line are connected with two SST39VF6401SDRAM chips and K91G08U0B FLASH chip respectively .
所述的人机交互单元包括ARM总线或I/O数据端口,ARM总线或I/O数据端口通过总线与TFT液晶显示器连接,ARM总线或I/O数据端口通过I/O与发光二极管、按键输入和数码管连接。Described human-computer interaction unit comprises ARM bus or I/O data port, and ARM bus or I/O data port is connected with TFT liquid crystal display through bus line, and ARM bus or I/O data port connects LED, button through I/O The input is connected to the digital tube.
所述的外部网络通信单元包括ARM通信控制器,ARM通信控制器分别与CAN收发器、RS232收发器、RS485收发器、以太网收发器和USB收发器连接,CAN收发器、RS232收发器、RS485收发器、以太网收发器和USB收发器还分别与网络总线通信主机连接。Described external network communication unit comprises ARM communication controller, and ARM communication controller is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver respectively, CAN transceiver, RS232 transceiver, RS485 The transceiver, the Ethernet transceiver and the USB transceiver are also respectively connected to the network bus communication host.
本发明的优点是,1采用先进处理器及多轴伺服运动控制器电路,采用模块化结构及集中控制分层处理的体系结构,实现对多轴伺服电机的精确控制;2成本低、功耗低、体积小、扩展性强、实时性好、响应快;3系统接线简单,高可靠、长寿命、强抗电磁干扰能力;4控制与通信方式灵活、接口丰富;5软件升级能力强。The advantages of the present invention are: 1. adopt advanced processor and multi-axis servo motion controller circuit, adopt modular structure and centralized control layered processing system structure to realize precise control of multi-axis servo motor; 2. low cost, low power consumption Low cost, small size, strong scalability, good real-time performance, and fast response; 3. Simple system wiring, high reliability, long life, and strong anti-electromagnetic interference; 4. Flexible control and communication methods, rich interfaces; 5. Strong software upgrade capabilities.
附图说明Description of drawings
图1本发明所提供的一种新型的高速高精度多轴伺服运动控制器电路示意图;A kind of novel high-speed high-precision multi-axis servo motion controller circuit schematic diagram provided by the present invention of Fig. 1;
图2为SCM智能控制模块结构图;Figure 2 is a structural diagram of the SCM intelligent control module;
图3为信号调理单元结构图;Fig. 3 is a structural diagram of the signal conditioning unit;
图4为数据存储单元结构图;Fig. 4 is a structural diagram of a data storage unit;
图5为人机交互单元结构示意图;Fig. 5 is a schematic diagram of the structure of the human-computer interaction unit;
图6为外部网络通信单元结构图。Fig. 6 is a structural diagram of the external network communication unit.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细介绍:The present invention is described in detail below in conjunction with accompanying drawing and specific embodiment:
一种新型的高速高精度多轴伺服运动控制器电路,其中,伺服运动控制器具有64点通用I/O、32点数字光隔输出、32点数字光隔输入、32路模拟输入、4个外部通信接口及1个控制网络总线接口。A new type of high-speed and high-precision multi-axis servo motion controller circuit, in which the servo motion controller has 64 points of general I/O, 32 points of digital optical isolation output, 32 points of digital optical isolation input, 32 analog inputs, 4 External communication interface and a control network bus interface.
如图1所示,硬件电路包括基于ARM的智能控制单元、SCM智能控制模块、USB总线通讯单元、数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元;其中,SCM智能控制模块包括基于单片机的智能控制单元、高速模数转换单元、高速数模转换单元、智能控制解算输出单元、信号调理单元、驱动调理单元、模拟量传感器信息单元、数字量传感器信息单元、数字伺服控制信号单元及数字量输出信息单元。As shown in Figure 1, the hardware circuit includes ARM-based intelligent control unit, SCM intelligent control module, USB bus communication unit, data storage unit, external network communication unit, power management unit, debugging simulation unit, passive crystal oscillator unit and man-machine Interaction unit; wherein, the SCM intelligent control module includes an intelligent control unit based on a single-chip microcomputer, a high-speed analog-to-digital conversion unit, a high-speed digital-to-analog conversion unit, an intelligent control solution output unit, a signal conditioning unit, a drive conditioning unit, an analog sensor information unit, Digital sensor information unit, digital servo control signal unit and digital output information unit.
其中,USB总线通讯单元与N个单片机智能控制模块连接,USB总线通讯单元还通过USB总线与基于ARM的智能控制单元连接,基于ARM的智能控制单元分别与数据存储单元、外部网络通讯单元、电源管理单元、调试仿真单元、无源晶振单元及人机交互单元连接。Among them, the USB bus communication unit is connected with N single-chip intelligent control modules, and the USB bus communication unit is also connected with the ARM-based intelligent control unit through the USB bus. The ARM-based intelligent control unit is connected with the data storage unit, external network communication unit, power supply Management unit, debugging simulation unit, passive crystal oscillator unit and human-computer interaction unit are connected.
如图2所示,每个单片机智能控制模块分别与四个基于单片机的解算输出单元连接,每个基于单片机的解算输出单元还与信号调理单元连接,信号调理单元与数字伺服控制信号和数字量控制输出连接,单片机智能控制模块还分别与无源晶振单元、电源管理单元、调试仿真单元和USB通信单元连接,单片机智能控制模块与高速数模转换单元连接,高速数模转换单元与信号调理单元连接,信号调理单元与模拟量控制输出连接,模拟量传感器信息、数字量传感器信息和数字I/O信息输出至信号调理单元,信号调理单元输出至高速数模转换单元和单片机智能控制模块,高速数模转换单元输出至单片机智能控制模块。As shown in Figure 2, each single-chip intelligent control module is connected to four single-chip-based calculation output units, each single-chip-based calculation output unit is also connected to a signal conditioning unit, and the signal conditioning unit is connected to the digital servo control signal and The digital control output connection, the single-chip intelligent control module is also connected with the passive crystal oscillator unit, the power management unit, the debugging simulation unit and the USB communication unit, the single-chip intelligent control module is connected with the high-speed digital-to-analog conversion unit, and the high-speed digital-to-analog conversion unit is connected to the signal The conditioning unit is connected, the signal conditioning unit is connected to the analog control output, the analog sensor information, digital sensor information and digital I/O information are output to the signal conditioning unit, and the signal conditioning unit is output to the high-speed digital-to-analog conversion unit and the single-chip intelligent control module , the high-speed digital-to-analog conversion unit outputs to the single-chip intelligent control module.
如图3所示,信号调理单元包括模拟量传感器信息输入与滤波电路连接,滤波电路与电压跟随电路连接,电压跟随电路与运算放大电路连接;数模转换器信息输出与滤波电路连接,滤波电路与运算放大电路连接,运算放大电路与电压跟随器连接;数字量传感器信息输入与滤波电路连接,滤波电路与差分电路连接,差分电路与光电隔离电路连接;数字量传感器信息输出与滤波电路连接,滤波电路与光电隔离电路连接;数字量控制信息输入与滤波电路连接,滤波电路与光电隔离电路连接;数字量控制信息输出与滤波电路连接,滤波电路与差分电路连接,差分电路与光电隔离电路连接;数字量开关信息输入与滤波电路连接,滤波电路与光电隔离电路连接,光电隔离电路与电平转换电路连接;数字量开关信息输出与滤波电路连接,滤波电路与电平转换电路连接,电平转换电路与光电隔离电路连接。As shown in Figure 3, the signal conditioning unit includes analog sensor information input connected to the filter circuit, the filter circuit connected to the voltage follower circuit, the voltage follower circuit connected to the operational amplifier circuit; the digital-to-analog converter information output connected to the filter circuit, the filter circuit It is connected with the operational amplifier circuit, and the operational amplifier circuit is connected with the voltage follower; the digital sensor information input is connected with the filter circuit, the filter circuit is connected with the differential circuit, and the differential circuit is connected with the photoelectric isolation circuit; the digital sensor information output is connected with the filter circuit, The filter circuit is connected to the photoelectric isolation circuit; the digital quantity control information input is connected to the filter circuit, and the filter circuit is connected to the photoelectric isolation circuit; the digital quantity control information output is connected to the filter circuit, the filter circuit is connected to the differential circuit, and the differential circuit is connected to the photoelectric isolation circuit ; The digital switch information input is connected to the filter circuit, the filter circuit is connected to the photoelectric isolation circuit, the photoelectric isolation circuit is connected to the level conversion circuit; the digital switch information output is connected to the filter circuit, the filter circuit is connected to the level conversion circuit, and the level The conversion circuit is connected with the photoelectric isolation circuit.
如图4所示,数据存储单元包括ARM外部存储器接口,ARM外部存储器接口与数据总线连接、地址总线和控制线连接,数据总线连接、地址总线和控制线连接均分别与两块SST39VF6401SDRAM芯片和K91G08U0BFLASH芯片连接。As shown in Figure 4, the data storage unit includes an ARM external memory interface. The ARM external memory interface is connected to the data bus, address bus and control lines. The data bus connection, address bus and control lines are connected to two SST39VF6401SDRAM chips and K91G08U0BFLASH chip connection.
如图5所示,人机交互单元包括ARM总线或I/O数据端口,ARM总线或I/O数据端口通过总线与TFT液晶显示器连接,ARM总线或I/O数据端口通过I/O与发光二极管、按键输入和数码管连接。As shown in Figure 5, the human-computer interaction unit includes an ARM bus or I/O data port, the ARM bus or I/O data port is connected to the TFT liquid crystal display through the bus, and the ARM bus or I/O data port is connected to the light emitting diode through the I/O Diode, key input and digital tube connection.
如图6所示,外部网络通信单元包括ARM通信控制器,ARM通信控制器分别与CAN收发器、RS232收发器、RS485收发器、以太网收发器和USB收发器连接,CAN收发器、RS232收发器、RS485收发器、以太网收发器和USB收发器还分别与网络总线通信主机连接。As shown in Figure 6, the external network communication unit includes an ARM communication controller, and the ARM communication controller is connected with CAN transceiver, RS232 transceiver, RS485 transceiver, Ethernet transceiver and USB transceiver respectively, CAN transceiver, RS232 transceiver The transceiver, the RS485 transceiver, the Ethernet transceiver and the USB transceiver are respectively connected with the network bus communication host.
整个硬件电路由控制板与驱动板组成;控制板包括基于ARM的智能控制单元、电源管理单元、数据存储单元、网络通信单元、调试仿真单元、USB总线通讯单元、无源晶振单元及人机交互单元;驱动板包括SCM智能控制模块(单片机智能控制模块)及USB总线通讯单元,硬件结构方框示意图如图2所示;它们之间的逻辑关系是:驱动板中的SCM智能控制模块采集数字量和模拟量信息后,采用USB总线实现与基于ARM的智能控制单元的通信,基于ARM的智能控制单元将传送来的数据存储到数据存储单元,当调用智能控制算法与智能诊断时,再将数据调出数据存储单元,并结合外部网络通信单元传送的控制指令进行各种复杂的逻辑运算与处理,并将智能推理结果反传送到驱动板SCM智能控制模块及外部网络通信单元。在系统工作中,无源晶振单元提供给基于ARM的智能控制单元工作时针频率;电源管理单元提供给基于ARM的智能控制单元电压信号;调试仿真单元提供给基于ARM的智能控制单元调试仿真接口,实现程序的仿真与下载;外部网络通信单元提供网络通信接口,实现多轴伺服运动控制器与外部通信网络通信,提供系统状态信息及传递控制参数;人机交互单元采用键盘与触摸屏的方式实现系统控制参数的输入及控制功能的选择。驱动板中SCM智能控制模块内各单元的逻辑关系是:数字量传感器信号单元和数字I/O(输入与输出)信息经过数字信号调理单元直接进入基于单片机的智能控制单元;模拟量传感器信号单元进入模拟信号调理单元后进入高速模数转换单元,然后将转换后的数字量传送到基于单片机的智能控制单元。基于单片机的智能控制单元采集数据后,将数据以USB总线形式传到基于ARM的智能控制单元,基于ARM的智能控制单元经过智能逻辑推理后,并将该控制指令以USB总线形式传到驱动板各基于单片机的智能控制单元,后将控制指令传到4个并行的控制解算单元,实现驱动信号的输出,控制伺服电机运行,同时可输出信号到数模转换单元实现模拟控制信号的输出。该硬件系统为复杂算法的控制策略、快速响应及强扩展性等提供了实现的硬件基础。The entire hardware circuit is composed of a control board and a driver board; the control board includes an ARM-based intelligent control unit, power management unit, data storage unit, network communication unit, debugging simulation unit, USB bus communication unit, passive crystal oscillator unit and human-computer interaction unit; the driver board includes an SCM intelligent control module (single-chip microcomputer intelligent control module) and a USB bus communication unit, and the block diagram of the hardware structure is shown in Figure 2; the logical relationship between them is: the SCM intelligent control module in the driver board collects digital After receiving the quantity and analog information, the USB bus is used to communicate with the ARM-based intelligent control unit. The ARM-based intelligent control unit stores the transmitted data in the data storage unit. When the intelligent control algorithm and intelligent diagnosis are called, the The data is called out from the data storage unit, combined with the control instructions sent by the external network communication unit to perform various complex logic operations and processing, and the intelligent reasoning results are transmitted back to the drive board SCM intelligent control module and the external network communication unit. In the system work, the passive crystal oscillator unit provides the working clock frequency for the ARM-based intelligent control unit; the power management unit provides the voltage signal for the ARM-based intelligent control unit; the debugging simulation unit provides the debugging simulation interface for the ARM-based intelligent control unit, Realize the simulation and download of the program; the external network communication unit provides a network communication interface, realizes the communication between the multi-axis servo motion controller and the external communication network, provides system status information and transmits control parameters; the human-computer interaction unit uses the keyboard and touch screen to realize the system Input of control parameters and selection of control functions. The logical relationship of each unit in the SCM intelligent control module in the driver board is: the digital sensor signal unit and digital I/O (input and output) information directly enters the intelligent control unit based on the single-chip microcomputer through the digital signal conditioning unit; the analog sensor signal unit After entering the analog signal conditioning unit, it enters the high-speed analog-to-digital conversion unit, and then transmits the converted digital quantity to the intelligent control unit based on the single-chip microcomputer. After the intelligent control unit based on the single-chip computer collects data, it transmits the data to the intelligent control unit based on ARM in the form of USB bus. Each intelligent control unit based on the single-chip microcomputer transmits the control command to four parallel control solving units to realize the output of the drive signal and control the operation of the servo motor. At the same time, it can output the signal to the digital-to-analog conversion unit to realize the output of the analog control signal. The hardware system provides the hardware basis for the control strategy of complex algorithms, fast response and strong scalability.
基于ARM的智能控制单元是运动控制器电路的核心,ARM处理器采用三星公司高性能S3C6410芯片,S3C6410是16/32位RISC微处理器,采用32/64位内部总线架构,工作主频高达667MHz,具有188个GPIO端口,具有体积小、功耗低、功能强、稳定性高、抗干扰性强、运算速度快的优点,支持Windows和Linux操作系统,是一款浮点运算的高集成处理器,具有I2C、UART、以太网、USB等接口。它负责控制整个伺服控制系统流程,具有高速的信号处理能力。基于ARM的智能控制单元由ARM芯片、电源转换电路、无源晶振电路、仿真调试电路构成。其之间的关系是:电源转换电路提供ARM芯片所需要的标准3.3V和1.3V电压,无源晶振电路提供ARM芯片所需要的工作频率12MHz,仿真调试电路提供ARM程序软件下载和仿真接口。电源转换电路由电源转换芯片、高精度电阻、瓷片电容及电感组成。ARM芯片以数据总线和地址总线方式分别与数据存储单元实现数据传输,以USB总线实现与基于单片机的智能控制单元通信。基于ARM的智能控制单元负责整个系统控制、数据处理及智能诊断,并能通过网络总线通信单元实现与外部总线网络实现通信。The ARM-based intelligent control unit is the core of the motion controller circuit. The ARM processor uses Samsung's high-performance S3C6410 chip. S3C6410 is a 16/32-bit RISC microprocessor with a 32/64-bit internal bus architecture and a working frequency up to 667MHz. , with 188 GPIO ports, has the advantages of small size, low power consumption, strong function, high stability, strong anti-interference, and fast operation speed. It supports Windows and Linux operating systems. It is a highly integrated processing of floating point operations. Device, with I2C, UART, Ethernet, USB and other interfaces. It is responsible for controlling the entire servo control system process and has high-speed signal processing capabilities. The ARM-based intelligent control unit is composed of an ARM chip, a power conversion circuit, a passive crystal oscillator circuit, and a simulation debugging circuit. The relationship between them is: the power conversion circuit provides the standard 3.3V and 1.3V voltage required by the ARM chip, the passive crystal oscillator circuit provides the operating frequency 12MHz required by the ARM chip, and the simulation debugging circuit provides ARM program software download and simulation interface. The power conversion circuit is composed of a power conversion chip, high-precision resistors, ceramic capacitors and inductors. The ARM chip communicates with the data storage unit through the data bus and the address bus, and communicates with the intelligent control unit based on the single-chip microcomputer through the USB bus. The ARM-based intelligent control unit is responsible for the entire system control, data processing and intelligent diagnosis, and can communicate with the external bus network through the network bus communication unit.
SCM智能控制模块以PIC24FJ64GA002型16位单片机作为主处理器,该单片机体积小,仅有28个引脚,其中包含64K闪存,8K静态存储器,5路PWM(比较/捕捉/脉宽调制器)输出,5个16位定时器,具有I2C、UART、USB等接口,16个可复用引脚,控制灵活,完全能满足系统控制需要。SCM智能控制模块由基于单片机的智能控制单元、电源管理单元、无源晶振单元、仿真调试单元、网络通信单元构成,其硬件结构如图2所示;其之间的关系是:基于单片机的智能控制单元采集经过信号调理单元处理和模数转换器转换后的数据,以及经过信号调理单元处理后的数字量数据,该单片机智能控制单元调用采集的数据采用先进控制算法完成电气、机械状态参数计算,并将特征量以USB网络通信单元传送到基于ARM的智能控制单元,同时,接受基于ARM的智能控制单元控制指令,传递智能控制输出信号。电源管理单元由电源转换芯片、高精度电阻、瓷片电容及电感组成。基于单片机的智能控制单元负责整个系统数据采集与数据处理,提取信号特征量,同时接受基于ARM的智能控制单元输出的控制指令,每个SCM智能控制模块配置4个控制解算单元。The SCM intelligent control module uses PIC24FJ64GA002 16-bit microcontroller as the main processor. The microcontroller is small in size and has only 28 pins, including 64K flash memory, 8K static memory, and 5-way PWM (comparison/capture/pulse width modulator) output. , 5 16-bit timers, with I2C, UART, USB and other interfaces, 16 reusable pins, flexible control, fully meet the needs of system control. The SCM intelligent control module is composed of an intelligent control unit based on a single-chip microcomputer, a power management unit, a passive crystal oscillator unit, a simulation debugging unit, and a network communication unit. Its hardware structure is shown in Figure 2; The control unit collects the data processed by the signal conditioning unit and converted by the analog-to-digital converter, as well as the digital data processed by the signal conditioning unit. The single-chip intelligent control unit calls the collected data and uses advanced control algorithms to complete the calculation of electrical and mechanical state parameters. , and transmit the feature quantity to the ARM-based intelligent control unit through the USB network communication unit, and at the same time, accept the control instruction of the ARM-based intelligent control unit and transmit the intelligent control output signal. The power management unit consists of a power conversion chip, high-precision resistors, ceramic capacitors and inductors. The intelligent control unit based on the single-chip microcomputer is responsible for the data acquisition and data processing of the whole system, extracts the signal characteristic quantity, and accepts the control instructions output by the intelligent control unit based on the ARM. Each SCM intelligent control module is equipped with 4 control solving units.
控制解算单元采用8位单片机PIC16F882作为主控芯片,PIC16F882是一款哈佛结构、精简指令集的微处理器。由于其数据总线和指令总线分开,仅有35条单字指令、30M的时钟速度,所以其运算速度和抗干扰性能都非常出色,具有2K字长的FLASH程序空间、24个可单独控制的I/O口、3个定时/计数器、8个10位A/D口、2个PWM和8个中断源。单片机智能解算控制单元通过数据总线和地址总线与基于单片机的智能控制单元连接,它是解算基于ARM的智能控制单元执行智能逻辑推理的指令,它输出控制伺服电机运行的输出结果,其输出由数字伺服控制信息输出和数字量控制I/O信号输出组成。数字伺服控制信息输出由PWM信号输出接口、光电隔离电路、信号驱动电路组成。数字量控制I/O信息输出由光电隔离电路、数据驱动电路组成。其之间的关系是:单片机处理器输出数字伺服控制信息,该数字信号经光电隔离电路进行信号隔离,电压转换电路进行电压转换实现与外设驱动器电平匹配,避免了电机驱动时产生的干扰对控制系统的影响。数字量控制I/O信息输出直接对外设备输出I/O信号,主要包括刹车信号、报警信号、数码显示信号等。The control solution unit adopts 8-bit single-chip microcomputer PIC16F882 as the main control chip, and PIC16F882 is a microprocessor with Harvard structure and simplified instruction set. Because its data bus and instruction bus are separated, there are only 35 single-word instructions and a clock speed of 30M, so its operation speed and anti-interference performance are excellent. It has a 2K-word-long FLASH program space and 24 individually controllable I/O O port, 3 timers/counters, 8 10-bit A/D ports, 2 PWMs and 8 interrupt sources. The single-chip intelligent calculation control unit is connected with the single-chip-based intelligent control unit through the data bus and the address bus. It is the instruction for solving the intelligent logic reasoning performed by the ARM-based intelligent control unit. It outputs the output result of controlling the operation of the servo motor. Its output It consists of digital servo control information output and digital quantity control I/O signal output. Digital servo control information output is composed of PWM signal output interface, photoelectric isolation circuit and signal drive circuit. The digital quantity control I/O information output consists of a photoelectric isolation circuit and a data drive circuit. The relationship between them is: the single-chip processor outputs digital servo control information, the digital signal is isolated by the photoelectric isolation circuit, and the voltage conversion circuit performs voltage conversion to match the level of the peripheral driver, avoiding the interference generated when the motor is driven impact on the control system. Digital control I/O information output directly outputs I/O signals to external equipment, mainly including brake signals, alarm signals, digital display signals, etc.
高速模数转换单元由四片高速模数转换器(AD7606)和基准电压转换芯片组成。四片高速模数转换器并联组成32通道模拟信号输入接口,将分别用于模拟量信息采集,各输入通道软件可配置。AD7606芯片一款高精度8通道16位高速模数转换器,各模拟通道的转换频率为200kSPS,满足系统控制要求。电源基准电路由高精度电压转换芯片AD584和瓷片电容组成,瓷片电容并联电压转换芯片输出。它们之间的关系是:电源基准电路提供高速模数转换器基准+2.5V电压,四片模数转换器采用地址总线和数据总线实现与16位单片机的数据和命令通信。The high-speed analog-to-digital conversion unit is composed of four high-speed analog-to-digital converters (AD7606) and a reference voltage conversion chip. Four high-speed analog-to-digital converters are connected in parallel to form a 32-channel analog signal input interface, which will be used for analog information collection respectively, and the software of each input channel can be configured. The AD7606 chip is a high-precision 8-channel 16-bit high-speed analog-to-digital converter. The conversion frequency of each analog channel is 200kSPS, which meets the system control requirements. The power reference circuit is composed of a high-precision voltage conversion chip AD584 and a ceramic capacitor, and the ceramic capacitor is connected in parallel to the voltage conversion chip for output. The relationship between them is: the power supply reference circuit provides the reference +2.5V voltage of the high-speed analog-to-digital converter, and the four-chip analog-to-digital converter uses the address bus and data bus to realize data and command communication with the 16-bit microcontroller.
高速数模转换单元由2片高速模数转换器(TLC5618)和基准电压转换芯片组成。2片高速模数转换器并联组成4通道模拟信号输出接口,将分别用于控制模拟量信息输出,各输入通道软件可配置,每驱动板4路伺服电机各配1路模拟量输出。TLC5618芯片带有缓冲基准输入的双通道数模转换器,具有高精度、低温漂、低噪声的特点,满足系统控制要求。高速模数转换器输出电压范围为基准电压的2倍,选用MC1403作为基准电源。它们之间的关系是:基准电源提供高速数模转换器需要的基准+2.5V电压,2片数模转换器采用SPI串行实现与16位单片机的数据和命令通信。The high-speed digital-to-analog conversion unit consists of two high-speed analog-to-digital converters (TLC5618) and a reference voltage conversion chip. 2 pieces of high-speed analog-to-digital converters are connected in parallel to form a 4-channel analog signal output interface, which will be used to control the output of analog information. The software of each input channel can be configured. Each drive board has 4 servo motors with 1 analog output. The TLC5618 chip has a dual-channel digital-to-analog converter with buffered reference input, which has the characteristics of high precision, low temperature drift, and low noise, and meets the system control requirements. The output voltage range of the high-speed analog-to-digital converter is twice the reference voltage, and MC1403 is selected as the reference power supply. The relationship between them is: the reference power supply provides the reference +2.5V voltage required by the high-speed digital-to-analog converter, and the two digital-to-analog converters use SPI serial to realize data and command communication with the 16-bit microcontroller.
信号调理单元包括模拟传感器信号输入与模拟量输出调理、数字传感器信号输入调理以、数字量控制信息调理、数字量开关I/O信号调理。信号调理单元主要由滤波电路、差分电路、光电隔离电路、运放电路四部分组成。滤波电路由电阻、瓷片电容、钽电容及电感组成的滤波电路;光电隔离电路由高速光藕HCPL4504、限流电阻、瓷片电容组成;运放电路由四通道运算放大器OP747芯片、精密电阻、瓷片电容组成的电压跟随器及运算放大器组成,信号调理单元电路结构如图3所示。它们之间的关系是:模拟量传感器输入信息经过滤波电路后,输入到由电压跟随器和运算放大器组成的运放电路,将模拟量传感器输出的信号缩放到高速模数转换单元要求的输入范围及高速数模转换单元的输出范围。模拟量传感器信息主要指位置信息、模拟控制信息、伺服电机电流及电压信息等。模拟量输出信息输入信息经过滤波电路后,输入到由运算放大器和电压跟随器组成的运放电路,调整到外设需要的控制电压范围。数字量传感器输入信息经过滤波电路后,输入到差分电路实现信号耦合或光电隔离电路实现信号隔离及电平转换后,输入基于单片机的智能控制单元实现信号采集。数字量传感器信息主要指编码器信息、位置霍尔传感器信息及温度信息,该驱动控制电路可接增量式差分编码器和单极性编码器两种形式的编码器。数字量控制输出信息经过滤波电路后,输入到差分电路实现信号耦合或光电隔离电路实现信号隔离及电平转换后,输出到外设需要的信号。数字I/O经过滤波电路后,输入到光电隔离电路实现信号隔离及电平转换,后输入到基于单片机的智能控制单元。数字开关量信息主要指外部控制I/O输入信息、拨码开关信息等。The signal conditioning unit includes analog sensor signal input and analog output conditioning, digital sensor signal input conditioning, digital control information conditioning, and digital switch I/O signal conditioning. The signal conditioning unit is mainly composed of filter circuit, differential circuit, photoelectric isolation circuit and operational amplifier circuit. The filter circuit is composed of resistors, ceramic capacitors, tantalum capacitors and inductors; the photoelectric isolation circuit is composed of high-speed optical coupling HCPL4504, current limiting resistors, and ceramic capacitors; the operational amplifier is routed by four-channel operational amplifier OP747 chips, precision resistors, A voltage follower composed of ceramic capacitors and an operational amplifier are composed. The circuit structure of the signal conditioning unit is shown in Figure 3. The relationship between them is: after the input information of the analog sensor passes through the filter circuit, it is input to the operational amplifier circuit composed of a voltage follower and an operational amplifier, and the signal output by the analog sensor is scaled to the input range required by the high-speed analog-to-digital conversion unit And the output range of the high-speed digital-to-analog conversion unit. Analog sensor information mainly refers to position information, analog control information, servo motor current and voltage information, etc. After the input information of the analog output information passes through the filter circuit, it is input to the operational amplifier circuit composed of the operational amplifier and the voltage follower, and adjusted to the control voltage range required by the peripherals. After the digital sensor input information passes through the filter circuit, it is input to the differential circuit to realize signal coupling or the photoelectric isolation circuit to realize signal isolation and level conversion, and then input to the intelligent control unit based on the single-chip microcomputer to realize signal acquisition. Digital sensor information mainly refers to encoder information, position Hall sensor information and temperature information. The drive control circuit can be connected to two types of encoders: incremental differential encoder and unipolar encoder. After the digital control output information passes through the filter circuit, it is input to the differential circuit to realize signal coupling or the photoelectric isolation circuit realizes signal isolation and level conversion, and then outputs the signal required by the peripheral. After the digital I/O passes through the filter circuit, it is input to the photoelectric isolation circuit to realize signal isolation and level conversion, and then input to the intelligent control unit based on the single-chip microcomputer. Digital switch information mainly refers to external control I/O input information, DIP switch information, etc.
数据存储单元由FLASH(闪存)和SDRAM(同步动态随机存取存储器)两种存储器组成,它们之间的位置连接关系是:通过地址总线和数据总线与ARM外部存储器接口连接。FLASH采用1片FLASH芯片共128兆位,采用用来固化引导程序和嵌入式应用程序。SDRAM采用2片SDRAM芯片共128兆位,用来存储与处理数据,以及实现上电后的嵌入式应用程序加载。1片FLASH芯片和两片SDRAM芯片通过地址总线和数据总线与ARM外部存储器接口连接。基于ARM的智能控制单元通过ARM外部存储器接口实现与数据存储单元数据的读写,其存储操作结构如图4所示。The data storage unit is composed of FLASH (flash memory) and SDRAM (synchronous dynamic random access memory), and the position connection relationship between them is: it is connected with the ARM external memory interface through the address bus and the data bus. FLASH uses a FLASH chip with a total of 128 megabits, which is used to solidify the bootloader and embedded applications. SDRAM uses 2 SDRAM chips with a total of 128 megabits, which are used to store and process data, and to load embedded applications after power-on. One FLASH chip and two SDRAM chips are connected with ARM external memory interface through address bus and data bus. The ARM-based intelligent control unit realizes the reading and writing of data with the data storage unit through the ARM external memory interface, and its storage operation structure is shown in Figure 4.
驱动调理单元是驱动系统电平转换部分。它包括信号输入与信号输出2部分。主要由数据驱动芯片SM74LS245、差分译码芯片AM26LS32、电阻及瓷片电容组成。其之间的关系是:智能解算控制单元输出信号一部分信号经过数据驱动芯片增加驱动能力后,输出给外设伺服驱动器驱动电机;另一部分信号经过数据驱动芯片增加驱动能力后,再通过差分译码芯片实现差分信号输出,提供给伺服驱动器驱动电机。外设电机驱动器输入到运动控制器的信号主要由光电隔离芯片、肖特基二极管、电阻组成。其之间的关系是:驱动器输出的信号经过由肖特基二极管、电阻及瓷片电容组成的限流限压信号后,输入到光电隔离芯片输入侧,光电隔离芯片输出侧经过上拉限流电阻调理后接基于单片机的解算控制单元对应的输入端。The drive conditioning unit is the level conversion part of the drive system. It includes signal input and signal output 2 parts. It is mainly composed of data driver chip SM74LS245, differential decoding chip AM26LS32, resistors and ceramic capacitors. The relationship between them is: part of the signal output by the intelligent calculation control unit passes through the data driver chip to increase the driving capability, and then outputs to the peripheral servo driver to drive the motor; The code chip realizes differential signal output, which is provided to the servo driver to drive the motor. The signal input from the peripheral motor driver to the motion controller is mainly composed of a photoelectric isolation chip, a Schottky diode, and a resistor. The relationship between them is: the signal output by the driver passes through the current-limiting and voltage-limiting signal composed of Schottky diodes, resistors and ceramic capacitors, and then is input to the input side of the photoelectric isolation chip, and the output side of the photoelectric isolation chip is pulled up to limit the current. After the resistance conditioning, the input end corresponding to the solution control unit based on the single-chip microcomputer is connected.
USB总线驱动单元由S1R72U16芯片和晶振电路组成,通信速率为12Mbps,用于实现各SCM智能控制模块与基于ARM的智能控制单元通信。通过USB总线驱动,基于ARM的智能控制单元通信可驱动多达64个SCM智能控制模块,每个SCM配置4个解算控制单元,各驱动板之间通过6位方型USB总线接口进行连接。The USB bus drive unit is composed of S1R72U16 chip and crystal oscillator circuit, and the communication rate is 12Mbps, which is used to realize the communication between each SCM intelligent control module and the ARM-based intelligent control unit. Driven by the USB bus, the ARM-based intelligent control unit communication can drive up to 64 SCM intelligent control modules, each SCM is equipped with 4 solving control units, and each driver board is connected through a 6-bit square USB bus interface.
人机交互单元由数码管、指示灯、TFT液晶显示器及按键组成。数码管采用4位共阳极数码管,指示灯采用普通发光二极管,TFT液晶显示器采用5寸、分辨率为480(RGB)*272液晶屏。人机交互单元的示意图如图5所示,其之间的关系是:数码管和TFT液晶显示器显示当前多轴伺服运动控制器的工作状态参数信息及人机交互信息;指示灯指示伺服运动控制器的工作状态;外部操作可通过按键调整伺服运动控制器系统参数。The human-computer interaction unit consists of digital tubes, indicator lights, TFT liquid crystal displays and buttons. The digital tube adopts 4 common anode digital tubes, the indicator light adopts ordinary light-emitting diodes, and the TFT liquid crystal display adopts a 5-inch LCD screen with a resolution of 480 (RGB)*272. The schematic diagram of the human-computer interaction unit is shown in Figure 5, and the relationship between them is: the digital tube and the TFT liquid crystal display display the working status parameter information and human-computer interaction information of the current multi-axis servo motion controller; the indicator light indicates the servo motion control The working state of the controller; the external operation can adjust the parameters of the servo motion controller system through the buttons.
外部网络总线通讯单元包括CAN总线、RS485总线、以太网、RS232总线及USB2.0总线五种网络总线。CAN通信单元对应CAN总线82C200收发器,RS485总线对应MAX485总线收发器,RS232总线对应MAX3232总线收发器,USB总线对应S1R72U16总线收发器。外部网络总线通讯结构示意图如图6所示,网络总线通讯负责基于ARM的智能控制单元与工控机之间的通信数据的发送和接受。The external network bus communication unit includes five network buses: CAN bus, RS485 bus, Ethernet, RS232 bus and USB2.0 bus. The CAN communication unit corresponds to the CAN bus 82C200 transceiver, the RS485 bus corresponds to the MAX485 bus transceiver, the RS232 bus corresponds to the MAX3232 bus transceiver, and the USB bus corresponds to the S1R72U16 bus transceiver. The schematic diagram of the external network bus communication structure is shown in Figure 6. The network bus communication is responsible for the sending and receiving of communication data between the ARM-based intelligent control unit and the industrial computer.
电源管理单元由多种电源转换模块组成,主要将系统输入电压转换为ARM处理器、单片机处理器、传感器电路及控制输入输出电路所需要的电压,电压等级主要分为+24V、+15V、-15V、+12V、-12V、+5V、+3.3V、+1.9V、+1.5V九种类型,系统输入电压为+18V~+48V。The power management unit is composed of a variety of power conversion modules, which mainly convert the system input voltage to the voltage required by the ARM processor, single-chip processor, sensor circuit and control input and output circuits. The voltage levels are mainly divided into +24V, +15V, - 15V, +12V, -12V, +5V, +3.3V, +1.9V, +1.5V nine types, the system input voltage is +18V~+48V.
无源晶振单元主要由无源晶振芯片和瓷片电容组成,电路提供ARM芯片所需要的工作频率12MHz、单片机工作需要的32MHz及USB工作需要的30MHz时针信号。The passive crystal oscillator unit is mainly composed of a passive crystal oscillator chip and a ceramic capacitor. The circuit provides the operating frequency 12MHz required by the ARM chip, 32MHz required by the MCU, and 30MHz clock signal required by the USB operation.
调试仿真单元主要由调试存储芯片、调试接口、电阻及瓷片电容组成,调试仿真单元提供给基于ARM的智能控制单元及SCM智能控制模块调试仿真接口,实现程序的仿真与下载。The debug simulation unit is mainly composed of a debug memory chip, a debug interface, resistors and ceramic capacitors. The debug simulation unit provides a debug simulation interface for the ARM-based intelligent control unit and the SCM intelligent control module to realize program simulation and download.
安装连接方式如下:The installation and connection method is as follows:
1.运动控制器壳采用铝合金材料,长宽高分别为325mm*210mm*200mm,长度可扩展。1. The motion controller shell is made of aluminum alloy, the length, width and height are 325mm*210mm*200mm respectively, and the length can be extended.
2.控制板与驱动板以插槽形式固定于控制器内壳,并行插在控制器内壳上,控制板置于箱体内左边,从左到右依次为多层驱动板,可依据轴数进行扩展,最多可扩展到256轴。2. The control board and the drive board are fixed on the inner shell of the controller in the form of slots, and are inserted in parallel on the inner shell of the controller. For expansion, it can be expanded up to 256 axes.
3.运动控制器控制电源输入端口接外部电源正负端口,电压范围+18V~+72V。3. The input port of the control power supply of the motion controller is connected to the positive and negative ports of the external power supply, and the voltage range is +18V~+72V.
4.控制器控制板智能I/O信号通过12针软排线与控制器壳上人机交互单元按键和数码管相连;通过24针软排线与TFT真彩显示屏连接;TFT真彩显示屏、键盘、数码管及指示灯置于控制器外壳面板同一侧。4. The intelligent I/O signal of the controller control board is connected to the human-computer interaction unit button and digital tube on the controller shell through a 12-pin flexible cable; it is connected to the TFT true-color display screen through a 24-pin flexible cable; TFT true-color display The screen, keyboard, digital tube and indicator light are placed on the same side of the controller shell panel.
5.控制板通过DB9端口1、DB9端口2、USB端口及以太网端口实现与外部通信网络外设相连。5. The control board is connected to external communication network peripherals through DB9 port 1, DB9 port 2, USB port and Ethernet port.
6.侧面板通过DB26端口1和DB26端口2实现与外设I/O外设相连。6. The side panel is connected to peripheral I/O peripherals through DB26 port 1 and DB26 port 2.
7.侧面板通过DB26端口3和DB26端口4实现与外部传感器外设相连。7. The side panel is connected to external sensor peripherals through DB26 port 3 and DB26 port 4.
8.控制器外壳上面板通过2线开关实现与外部电源的通断连接。8. The upper panel of the controller shell realizes the on-off connection with the external power supply through a 2-wire switch.
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CN103722556A (en) * | 2013-12-16 | 2014-04-16 | 北京自动化控制设备研究所 | High-precision and light driving control circuit of multiple-degree-of-freedom mechanical arm of robot |
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