CN107565861A - Multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers - Google Patents
Multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers Download PDFInfo
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- CN107565861A CN107565861A CN201710932658.XA CN201710932658A CN107565861A CN 107565861 A CN107565861 A CN 107565861A CN 201710932658 A CN201710932658 A CN 201710932658A CN 107565861 A CN107565861 A CN 107565861A
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Abstract
The present invention relates to fully-automatic analyzer technical field, the specifically multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers, including host computer（ARM control systems）, STM32 Series of MCU, power supply unit, L6470H stepper motor drivers, position sensor, motion control commands are directly transmitted by single-chip microcomputer and send stepper motor band dynamic load to after the control commands such as speed, acceleration-deceleration, direction, stroke are carried out into chip internal digital core processing to stepper motor driver, stepper motor driver；On same root SPI communication signal lines, in the case where the transmission rate and transmission quality of signal are unaffected.More plurality of stepping motors is controlled by stepper motor driver（Up to 8）；Realize high accuracy, accurate reliable location functional requirement；Simplify the hardware configuration of driving control system, improve the reliability, security and control accuracy of control system.
Description
Technical field
The present invention relates to fully-automatic analyzer technical field, specifically based on STM32 control L6470H drivers
Multi-Axis Stepper Motor Control System.
Background technology
Stepper motor is used for the instrument of Automated condtrol, is often used in Full-automatic chemiluminescence immunoassay analysis meter
To multiple stepper motors, for example it is used in three-dimensional machinery arm, detecting module, rotating module, liquid relief module, mixing module etc..And
Needed to improve the precision of the positioning of stepper motor and motion control in addition using the stepper motor driver of high subdivision, and
Each installation site sensor of first and last section in every section of stroke is needed to be used cooperatively.The main of more shaft step motors is controlled at present
Method：Single-chip microcomputer is communicated to connect by communication interface and three-axis stepping motor controller, the output control of three-axis stepping motor controller
End processed inputs control terminal with stepper motor driver by photoelectrical coupler and is connected, and three-axis stepping motor controller sampled signal is defeated
Enter end to be connected with photoelectric displacement sensor sampled signal output end, the sampled signal output end of photoelectric displacement sensor was connected with
Press protection module；Stepper motor driver output control terminal is connected with stepper motor input control terminal, stepper motor driver
Control signal input is connected with the signal output part of automatic half flow module.The rotation of three-axis stepping motor is controlled with this；On
The defects of stating prior art is as follows：
1st, in such scheme, operating instruction is sent from single-chip microcomputer, it is necessary to which three-axis stepping motor driver TMC429-L1 is as signal
Terminal, again by Phototube Coupling after conversion signal, stepper motor driver is then transmitted signals to again, is finally just transferred to
Stepper motor.So whole circuit can become complicated, and the transmission rate of signal and transmission quality cannot be guaranteed.
2nd, three-axis stepping motor driver TMC429-L1 can at most control three stepper motors in such scheme, generally
Full-automatic chemiluminescence immunoassay analysis meter needs dozens of stepper motor, and such scheme will not be able to meet well.
3rd, stepper motor driver high-subdividing number is limited in such scheme, it is more difficult to realizes high-precision positioning function.
4th, driving control system hardware circuit is more complicated in such scheme, reliability, the peace of driving control system
Quan Xing, control accuracy cannot be guaranteed.
5th, current motor running state can not obtain effective monitoring in such scheme, lack control system real-time.
The content of the invention
In order to solve technical problem existing for above-mentioned fully-automatic analyzer, the present invention is provided based on STM32 controls L6470H
The multi-Axis Stepper Motor Control System of driver, motion control commands are directly transmitted to stepper motor driver by single-chip microcomputer,
Stepper motor driver passes after the control commands such as speed, acceleration-deceleration, direction, stroke are carried out into chip internal digital core processing
Give stepper motor band dynamic load；On same root SPI communication signal lines, signal transmission rate and transmission quality not by shadow
In the case of sound.More plurality of stepping motors is controlled by stepper motor driver（Up to 8）；Realize high-precision, precisely reliable
Positioning function demand；Simplify the hardware configuration of driving control system, improve the reliability, security and control essence of control system
Degree.
The technical solution adopted for the present invention to solve the technical problems is：
Based on the multi-Axis Stepper Motor Control System of STM32 control L6470H drivers, including host computer（ARM control systems）、
STM32 Series of MCU, power supply unit, L6470H stepper motor drivers, position sensor, the STM32 series are micro-
Controller passes through SPI interface and five（Or up to 8）L6470H stepper motor drivers are communicatively coupled, and chip selection signal leads to
GPIO is crossed to input into stepper motor driver, position SENSOR by external detection to position signalling input to stepper motor drive
In dynamic device；When chip selection signal 1 is selected, X-axis L6470H stepper motor drivers can receive control command at any time and X-axis walks
Stepper motor is in state to be launched, after X-axis motor is selected, can be gone to seek automatically according to control command when initializing startup optimization
Position SENSOR1 is looked for complete accurately original point position, supply voltage needed for the power supply unit to each functional module offer.
Further, multi-Axis Stepper Motor Control System is by multiple stepper motor driver chip L6470H（It is currently 5）
Form, the common GPIO pin for the STM32 Series of MCU that the chip selection signal uses, five motors then there are five piece choosing letters
Number, it is effective that specifically which chip selection signal is configured by software, that is, which motor will be activated；Status monitoring and fault-signal
Prompting is prompted stepper motor driver chip L6470H running status and fault-signal by FLAG and BUSY pins real-time
STM32 Series of MCU is transferred to, so as to the convenient control process for carrying out next step；The position SENSOR uses correlation type
Optoelectronic switch, accurately original point position can be realized by position SENSOR；By the OUT1A of stepper motor driver chip,
Tetra- pin outputs of OUT2A, OUT1B, OIUT2B are connected to A, B phase winding of stepper motor, and motor drags X respectively by output shaft
Shaft mechanical arm, Y-axis mechanical arm, Z axis mechanical arm, detecting module rotate, covered on detecting module.
Further, the STM32 Series of MCU is by stepper motor 1（MOTOR1）The acceleration of motion, speed, subtract
The parameters such as speed, operation step number are sent to U1 stepper motor driver L6470H chips by SPI interface, and CS1 is chip select terminal (choosing
Select signal end), SCK be that synchronizing clock signals end, SDI are that main equipment data output end, SDO are main equipment data input pins；Institute
State after stepper motor driver L6470H chips receive above-mentioned parameter and handled by L6470H digital cores acceleration, speed
Degree, deceleration are converted into pulse frequency, and operation step number is converted into actual motion distance, passed signal after digital core is handled
H bridges are transported to so as to which Driving Stepping Motor 1, each stepper motor driver connect chip selection signal respectively, when chip selection signal 1 is selected
When, X-axis L6470H stepper motor drivers can receive control command at any time and X-axis stepper motor is in state to be launched；When
Above-mentioned parameter after setting completed, uses programme-control so that motor actively looks for position SENSOER1, when searching out position
During SENSOER1, the SW pins of L6470H chips obtain low level from outside, and now stepper motor is in origin position, from origin
The motion command that position proceeds by complexity causes stepper motor 1（MOTOR1）Output shaft drags X-axis mechanical arm by timing belt,
X-axis mechanical arm is accurately moved to sample application zone, takes liquid zone, detection zone etc..MOTOR2, MOTOR3, MOTOR4, MOTOR5 work are former
Reason is by that analogy.
Further, the control system of the multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers is soft
Part flow carries out STM32 Series of MCU initiation parameter for system first and set, by SPI communication agreement to L6470H
Parameter setting, realize L6470H Driving Stepping Motors operate, to three-dimensional machinery arm and detect module motion carried out it is program control
System, complete the Automated condtrol of multi-Axis Stepper Motor Control System；During beginning, STM32 Series of MCU initialization, inside it
Register is configured, and determines the current working condition of STM32 Series of MCU, after completion, passes through STM32 series micro-controls
Device processed configures to L6470H, causes each axle to revert to origin position initially by position SENSOR in motor movement
Put, carry out again afterwards complexity motion control commands, so as to improve the movement of Full-automatic chemiluminescence immunoassay analysis meter, sample-adding,
Detect the reliability and positioning accurate accuracy of rotation.
Relative to prior art, the beneficial effects of the invention are as follows：
1st, during this programme is implemented, the multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers communicates speed in SPI
In the case that rate is unaffected, 8 stepper motors can be at most driven on a SPI communication line.Realize that full-automatic chemical is sent out
Cover and rotate on the movement of light immunity analysis instrument three-dimensional machinery arm, positioning and detecting module.
2nd, in this case design using to L6470H inside one share 25 available registers, each register pair answer certain
Kind control function or mode bit, alerted including excessively stream, overvoltage, under-voltage, overheat, step-out etc., outside no longer needs to protect
And detection circuit.
3rd, the L6470H highests used in this case design can set 128 sub-dividing operations, substantially increase stepper motor
Pulse resolution, concussion, noise and torque ripple has been reduced or eliminated, while torque can also increased.
4th, in this case design, more STM32 Series of MCU pin expenses can be saved, internal digital core can
To save STM32 Series of MCU system resources.
5th, in the driving control system of more shaft step motors, the hardware configuration of driving control system is simplified, is improved
Reliability, security and the control accuracy of driving control system.
6th, the real time data realized using USB mechanicss of communication between multi-shaft motion control system and upper PCs is led to
News, improve whole control system real-time and scalability.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the control system overall structure diagram of the present invention；
Fig. 2 is the control system operation principle schematic diagram of the present invention；
Fig. 3 is the stepper motor driver control flow schematic diagram of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figure 1-Figure 3, Fig. 1 is the control system overall structure diagram of the present invention, and Fig. 2 is the control system of the present invention
System operation principle schematic diagram, Fig. 3 are the stepper motor driver control flow schematic diagrames of the present invention.
It is of the present invention based on the more of STM32 control L6470H drivers as a preferred embodiment of the invention
Shaft step motor control system, including host computer（ARM control systems）, STM32 Series of MCU, power supply unit,
L6470H stepper motor drivers, position sensor, the STM32 Series of MCU pass through SPI interface and five（Or up to
8）L6470H stepper motor drivers are communicatively coupled, and chip selection signal is inputted into stepper motor driver by GPIO,
Position SENSOR by external detection to position signalling input into stepper motor driver；When chip selection signal 1 is selected, X
Axle L6470H stepper motor drivers can receive control command at any time and X-axis stepper motor is in state to be launched, X-axis motor
After selected, position SENSOR1 can be looked for automatically according to control command when initializing startup optimization and complete accurately origin
Positioning, supply voltage needed for the power supply unit to each functional module offer.
Further, multi-Axis Stepper Motor Control System is by multiple stepper motor driver chip L6470H（It is currently 5）
Form, the common GPIO pin for the STM32 Series of MCU that the chip selection signal uses, five motors then there are five piece choosing letters
Number, it is effective that specifically which chip selection signal is configured by software, that is, which motor will be activated；Status monitoring and fault-signal
Prompting is prompted stepper motor driver chip L6470H running status and fault-signal by FLAG and BUSY pins real-time
STM32 Series of MCU is transferred to, so as to the convenient control process for carrying out next step；The position SENSOR uses correlation type
Optoelectronic switch, accurately original point position can be realized by position SENSOR；By the OUT1A of stepper motor driver chip,
Tetra- pin outputs of OUT2A, OUT1B, OIUT2B are connected to A, B phase winding of stepper motor, and motor drags X respectively by output shaft
Shaft mechanical arm, Y-axis mechanical arm, Z axis mechanical arm, detecting module rotate, covered on detecting module.
Further, the STM32 Series of MCU is by stepper motor 1（MOTOR1）The acceleration of motion, speed, subtract
The parameters such as speed, operation step number are sent to U1 stepper motor driver L6470H chips by SPI interface, and CS1 is chip select terminal (choosing
Select signal end), SCK be that synchronizing clock signals end, SDI are that main equipment data output end, SDO are main equipment data input pins；Institute
State after stepper motor driver L6470H chips receive above-mentioned parameter and handled by L6470H digital cores acceleration, speed
Degree, deceleration are converted into pulse frequency, and operation step number is converted into actual motion distance, passed signal after digital core is handled
H bridges are transported to so as to which Driving Stepping Motor 1, each stepper motor driver connect chip selection signal respectively, when chip selection signal 1 is selected
When, X-axis L6470H stepper motor drivers can receive control command at any time and X-axis stepper motor is in state to be launched；When
Above-mentioned parameter after setting completed, uses programme-control so that motor actively looks for position SENSOER1, when searching out position
During SENSOER1, the SW pins of L6470H chips obtain low level from outside, and now stepper motor is in origin position, from origin
The motion command that position proceeds by complexity causes stepper motor 1（MOTOR1）Output shaft drags X-axis mechanical arm by timing belt,
X-axis mechanical arm is accurately moved to sample application zone, takes liquid zone, detection zone etc..MOTOR2, MOTOR3, MOTOR4, MOTOR5 work are former
Reason is by that analogy.
Further, the control system of the multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers is soft
Part flow carries out STM32 Series of MCU initiation parameter for system first and set, by SPI communication agreement to L6470H
Parameter setting, realize L6470H Driving Stepping Motors operate, to three-dimensional machinery arm and detect module motion carried out it is program control
System, complete the Automated condtrol of multi-Axis Stepper Motor Control System.
At work, STM32 Series of MCU initialization, its internal register is configured the present invention, determines STM32
The current working condition of Series of MCU, after completion, L6470H is configured by STM32 Series of MCU,
Motor movement causes each axle to revert to origin position initially by position SENSOR, carries out the motion control of complexity again afterwards
System order.Specific workflow is as follows:
The first step：The movement of X-axis mechanical arm carries Y-axis mechanical arm and Z axis mechanical arm is moved to TIP Tou Zhenghe areas, Y-axis machinery
Arm, which is moved to, to be prefetched above TIP heads, and Z axis mechanical arm, which highly declines, takes TIP heads.
Second step：Z axis mechanical arm rises to safe altitude region, and the movement of X-axis mechanical arm carries Y-axis mechanical arm and Z axis
Mechanical arm is moved to above sample area, down-sampled sheet under Z axis mechanical arm height, starts imbibition.
3rd step：Z axis mechanical arm rises to safe altitude region, and the movement of X-axis mechanical arm carries Y-axis mechanical arm and Z axis
Mechanical arm is moved to sample application zone, and Z axis mechanical arm declines, starts to tell liquid.
4th step：Z axis mechanical arm rises to safe altitude region, and the movement of X-axis mechanical arm carries Y-axis mechanical arm and Z axis
Mechanical arm is moved to reagent area, and Z axis mechanical arm, which highly declines, takes reagent, starts imbibition.
5th step：Z axis mechanical arm rises to safe altitude region, and the movement of X-axis mechanical arm carries Y-axis mechanical arm and Z axis
Mechanical arm is moved to sample application zone, and Z axis mechanical arm declines, starts to tell liquid.
Movement, sample-adding, the detecting rotation of Full-automatic chemiluminescence immunoassay analysis meter can be improved by the above-mentioned course of work
Reliability and positioning accurate accuracy.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technical staff of the industry
It should be appreciated that the present invention is not limited to the above embodiments, simply illustrate the present invention described in above-described embodiment and specification
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
Thing defines.
Claims (4)
1. the multi-Axis Stepper Motor Control System based on STM32 control L6470H drivers, it is characterised in that including host computer
（ARM control systems）, STM32 Series of MCU, power supply unit, L6470H stepper motor drivers, position sensor, institute
State STM32 Series of MCU to be communicatively coupled by SPI interface and five or eight L6470H stepper motor drivers, piece
Select signal to be inputted by GPIO into stepper motor driver, position SENSOR by external detection to position signalling input to step
In stepper motor driver；When chip selection signal 1 is selected, X-axis L6470H stepper motor drivers can receive control life at any time
Order and X-axis stepper motor are in state to be launched, after X-axis motor is selected, can be ordered when initializing startup optimization according to control
Make and look for position SENSOR1 completions accurately original point position automatically, needed for the power supply unit to each functional module offer
Supply voltage.
2. the multi-Axis Stepper Motor Control System according to claim 1 based on STM32 control L6470H drivers, it is special
Sign is：Multi-Axis Stepper Motor Control System is made up of five stepper motor driver chip L6470H, and the chip selection signal uses
STM32 Series of MCU common GPIO pin, five motors then have five chip selection signals, configured by software it is specific which
Individual chip selection signal is effective, that is, which motor will be activated；Status monitoring and fault-signal prompting are drawn by FLAG and BUSY
Stepper motor driver chip L6470H running status and fault-signal prompting are transferred to STM32 series microcontrollers by pin in real time
Device, so as to the convenient control process for carrying out next step；The position SENSOR uses correlation type optoelectronic switch, passes through position
SENSOR can realize accurately original point position；Pass through OUT1A, OUT2A, OUT1B, OIUT2B tetra- of stepper motor driver chip
Pin exports A, B phase winding for being connected to stepper motor, and motor drags X-axis mechanical arm, Y-axis mechanical arm, Z axis by output shaft respectively
Mechanical arm, the rotation of detecting module, detect and covered on module.
3. the multi-Axis Stepper Motor Control System according to claim 1 based on STM32 control L6470H drivers, it is special
Sign is：The STM32 Series of MCU is by stepper motor 1（MOTOR1）The acceleration of motion, speed, deceleration, operation
It is chip select terminal (selection signal that the parameters such as step number are sent to U1 stepper motor driver L6470H chips, CS1 by SPI interface
End), SCK be that synchronizing clock signals end, SDI are that main equipment data output end, SDO are main equipment data input pins；The stepping
Motor driver L6470H chips are handled acceleration, speed, deceleration after receiving above-mentioned parameter by L6470H digital cores
Degree is converted into pulse frequency, and operation step number is converted into actual motion distance, H bridges are transmitted a signal to after digital core is handled
So as to Driving Stepping Motor 1, each stepper motor driver connects chip selection signal respectively, when chip selection signal 1 is selected, X-axis
L6470H stepper motor drivers can receive control command at any time and X-axis stepper motor is in state to be launched；When above-mentioned ginseng
Number after setting completed, uses programme-control so that motor actively looks for position SENSOER1, when searching out position SENSOER1
When, the SW pins of L6470H chips obtain low level from outside, and now stepper motor is in origin position, since origin position
Carry out complicated motion command and cause stepper motor 1（MOTOR1）Output shaft drags X-axis mechanical arm, X-axis machinery by timing belt
Arm is accurately moved to sample application zone, takes liquid zone, detection zone.
4. the multi-Axis Stepper Motor Control System according to claim 1 based on STM32 control L6470H drivers, it is special
Sign is：The Control System Software flow of multi-Axis Stepper Motor Control System is that system carries out STM32 Series of MCU first
Initiation parameter is set, the parameter setting by SPI communication agreement to L6470H, realizes that L6470H Driving Stepping Motors operate,
Process control is carried out to three-dimensional machinery arm and the motion for detecting module, completes the automation control of multi-Axis Stepper Motor Control System
System；During beginning, STM32 Series of MCU initialization, its internal register is configured, and determines STM32 Series of MCU
Current working condition, after completion, L6470H is configured by STM32 Series of MCU, the one of motor movement
Position SENSOR is begun through so that each axle revert to origin position, carries out the motion control commands of complexity again afterwards, so as to
Improve reliability and the positioning accurate accuracy that movement, sample-adding, the detecting of Full-automatic chemiluminescence immunoassay analysis meter rotate.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108471262A (en) * | 2018-03-30 | 2018-08-31 | 重庆吾萌科技有限公司 | Multi-shaft motion control system based on network communication |
| CN108762146A (en) * | 2018-05-30 | 2018-11-06 | 杭州电子科技大学 | Stepper motor low latency synchronizes interior networking kinetic control system |
| CN108776216A (en) * | 2018-08-09 | 2018-11-09 | 苏州长光华医生物医学工程有限公司 | Electric-control system and method suitable for chemical illumination immunity analysis instrument |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
| CN109889109A (en) * | 2019-04-24 | 2019-06-14 | 苏州易德龙科技股份有限公司 | A kind of multichannel stepper motor driver |
| CN112526938A (en) * | 2020-03-26 | 2021-03-19 | 江苏世之高智能装备有限公司 | CAN bus stepping motor driving device |
| CN116938051A (en) * | 2023-09-19 | 2023-10-24 | 山东乐康电器科技有限公司 | High-precision intelligent constant-rotation-speed source and implementation method thereof |
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2017
- 2017-10-10 CN CN201710932658.XA patent/CN107565861A/en not_active Withdrawn
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108471262A (en) * | 2018-03-30 | 2018-08-31 | 重庆吾萌科技有限公司 | Multi-shaft motion control system based on network communication |
| CN108814714A (en) * | 2018-04-17 | 2018-11-16 | 成都博恩思医学机器人有限公司 | A kind of more mechanical arm motion control methods of laparoscopic surgery robot |
| CN108762146A (en) * | 2018-05-30 | 2018-11-06 | 杭州电子科技大学 | Stepper motor low latency synchronizes interior networking kinetic control system |
| CN108762146B (en) * | 2018-05-30 | 2020-01-21 | 杭州电子科技大学 | Low-delay synchronous internal networking motion control system of stepping motor |
| CN108776216A (en) * | 2018-08-09 | 2018-11-09 | 苏州长光华医生物医学工程有限公司 | Electric-control system and method suitable for chemical illumination immunity analysis instrument |
| CN109889109A (en) * | 2019-04-24 | 2019-06-14 | 苏州易德龙科技股份有限公司 | A kind of multichannel stepper motor driver |
| CN112526938A (en) * | 2020-03-26 | 2021-03-19 | 江苏世之高智能装备有限公司 | CAN bus stepping motor driving device |
| CN116938051A (en) * | 2023-09-19 | 2023-10-24 | 山东乐康电器科技有限公司 | High-precision intelligent constant-rotation-speed source and implementation method thereof |
| CN116938051B (en) * | 2023-09-19 | 2023-12-19 | 山东乐康电器科技有限公司 | High-precision intelligent constant-rotation-speed source and implementation method thereof |
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Effective date of registration: 20190318 Address after: 215151 No. 8 Keling Road, Science and Technology City, Suzhou High-tech Zone, Jiangsu Province Applicant after: Suzhou Guoke Junhao Biotechnology Co., Ltd. Address before: 215151 No. 8 Keling Road, Science and Technology City, Suzhou High-tech Zone, Jiangsu Province Applicant before: Junqiang Machinery (Suzhou) Co., Ltd. |
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Application publication date: 20180109 |