CN108847789A - Safe torque breaking circuit and system for AC servo driver - Google Patents
Safe torque breaking circuit and system for AC servo driver Download PDFInfo
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- CN108847789A CN108847789A CN201810959297.2A CN201810959297A CN108847789A CN 108847789 A CN108847789 A CN 108847789A CN 201810959297 A CN201810959297 A CN 201810959297A CN 108847789 A CN108847789 A CN 108847789A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
Abstract
The present invention provides a kind of safe torque breaking circuit and system for AC servo driver, and wherein circuit includes two signal input parts, one first optocoupler input circuit, one second optocoupler input circuit, a buffering prevention circuit, STO failure output optocoupler and a STO fault-signal output end；The input terminal of the first optocoupler input circuit and the second optocoupler input circuit is separately connected a signal input part, and the first optocoupler input circuit connects the buffering with the output end of the second optocoupler input circuit and prevents circuit；The buffering prevents STO failure described in circuit connection from exporting optocoupler, and the output end of the STO failure output optocoupler connects the STO fault-signal output end.A kind of safe torque breaking circuit and system for AC servo driver of the invention is, it can be achieved that reach the safe torque turn-off function of SIL3 authentication grade with host control device combined application, and guarantee production efficiency of equipment and Homes Using TV.
Description
Technical field
The present invention relates to safe torque breaking circuit fields more particularly to a kind of safety for AC servo driver to turn
Square breaking circuit and system.
Background technique
When an emergency situation is encountered for mechanical equipment, servo motor is needed to stop working immediately, cut off output torque, guarantees equipment
Safety；When progress overhaul of the equipments needs someone to enter equipment operation area, needs to prevent servo motor accidental activation, avoid sending out
The raw accident with personal injury.Generally use the following two kinds way：(1) by pressing emergency stop switch, servo-driver is turned off
A.C. contactor on input power cuts off input power, so that the output torque of servo motor turns off；(2) by switching signal
It is connected to the I/O mouth of servo-driver, or by communication interface, servo-driver is turned round by the output of software switching-off servo motor
Square.
For above scheme (1), the power supply of driver is cut off in this way, and the electric current that can not often rapidly switch off driver is defeated
It is exported out with the torque of motor.Because certain energy can be stored on the DC bus of driver, disconnected in driver main power source
Afterwards, the energy of a part of DC bus remnants still can allow driver to rerun a period of time, until DC bus-bar voltage mistake
Until low.Meanwhile as mechanical complexity improves, transmission and the movement number of axle are continuously increased, and are necessarily made in this way
Whole system becomes more sophisticated, also therefore quantity, the wiring quantity of component, and therefore bring engineering design implementation amount
And increase.In addition, cutting off input source of driver, the equipment after each safe shutdown is resumed production, it has to repeat driver
Power up initialization process, further extend equipment fault shutdown time, affect production efficiency of equipment and Homes Using TV.
For above scheme (2), in the case that there is program exception in servo-driver, it is difficult to guarantee that servo motor exports
Torque reliable turn-off, it cannot be guaranteed that the safety of equipment and operator.
The IEC61800-5-2 standard of International Electrotechnical Commission's publication《The part electrical equipment standard 5-2 of adjustable speed:Function
It can safety requirements》, functional safety requirement is proposed for systems such as servo-driver, servo motors, meets functional safety technology
It is required that servo-driver will support safe torque shutdown (STO) etc. security functions.IEC61508 standard (《Electrical/electronic/can
Program the functional safety of electronic safety system》) concept of safety integrity level (SIL) is proposed to measure the reliable of security function
Degree, is divided into 4 grades, and the highest level of industrial circle is SIL3.Meet SIL3 STO function can bring it is higher
Safety, be development trend.
Summary of the invention
In view of the deficiency of the prior art, the present invention provides a kind of safe torque pass for AC servo driver
Deenergizing and system, it can be achieved that reach the safe torque turn-off function of SIL3 authentication grade with host control device combined application,
And guarantee production efficiency of equipment and Homes Using TV.
To achieve the goals above, the present invention provides a kind of safe torque breaking circuit for AC servo driver,
Circuit, STO event are prevented including two signal input parts, one first optocoupler input circuit, one second optocoupler input circuit, a buffering
Barrier output optocoupler and a STO fault-signal output end；The first optocoupler input circuit and the second optocoupler input circuit
Input terminal is separately connected a signal input part, the first optocoupler input circuit and the second optocoupler input circuit it is defeated
Outlet connects the buffering and prevents circuit；The buffering prevents STO failure described in circuit connection from exporting optocoupler, the STO failure
The output end for exporting optocoupler connects the STO fault-signal output end.
Preferably, the first optocoupler input circuit and the second optocoupler input circuit respectively include：
The first end of one first resistor, the first resistor connects a signal input part；
One two-way photoelectrical coupler, a first input end of the two-way photoelectrical coupler connect the of the first resistor
Two ends, one second input end grounding of the two-way photoelectrical coupler, one first output termination of the two-way photoelectrical coupler
Ground；
One second resistance, the second resistance are connected to the first input end of the two-way photoelectrical coupler and described
Between second input terminal；
One 3rd resistor, the 3rd resistor are connected to first-class potential end and the one second of the two-way photoelectrical coupler defeated
Between outlet；
The input terminal of one first schmitt inverter, first schmitt inverter connects the two-way photoelectrical coupler
The second output terminal；
One second schmitt inverter and a third schmitt inverter, second schmitt inverter and the third
The input terminal of schmitt inverter connects the output end of first schmitt inverter, the third schmitt inverter it is defeated
Outlet connects the buffering and prevents circuit；
One the 4th resistance, first end connection second schmitt inverter of the 4th resistance and the third are applied close
The input terminal of special phase inverter, the second end ground connection of the 4th resistance；With
One the 5th resistance, the 5th resistance are connected to the equipotential end and the one of the third schmitt inverter defeated
Between outlet.
Preferably, the first optocoupler input circuit and the second optocoupler input circuit further include a RC filter circuit；It is described
RC filter circuit includes a filter resistance and one first filter capacitor, and the filter resistance is connected to the two-way photoelectrical coupler
The second output terminal and first schmitt inverter input terminal between, the first end of first filter capacitor connects
It is connected between the filter resistance and the input terminal of first schmitt inverter, the second termination of first filter capacitor
Ground.
Preferably, the buffering prevention circuit includes：
One No. eight buffers, one first enable end of No. eight buffer connect the institute of the first optocoupler input circuit
The output end of third schmitt inverter is stated, one second enable end of No. eight buffer connects a reset signal input terminal；
No. eight buffer is also connected with the equipotential end and a ground terminal；
One the 6th resistance, first end connection No. eight buffer of the 6th resistance, the second of the 6th resistance
End connects the equipotential end；
One or eight road bus transceivers, the enable end of eight road bus transceiver connect the second optocoupler input circuit
The output end of the third schmitt inverter；Eight road bus transceiver is also connected with the equipotential end and the ground connection
End；
The first end of one the 7th resistance, the 7th resistance connects eight road bus transceiver, the 7th resistance
Second end connects the equipotential end；With
One NAND gate, the first input end of the NAND gate connect the first end and eight tunnel bus of the 7th resistance
Transceiver, the second input terminal of the NAND gate connect the first end and No. eight buffer of the 6th resistance.
Preferably, it further includes one first pull-up resistor group and one second pull-up resistor group that the buffering, which prevents circuit,；It is described
The first end of first pull-up resistor group connects the equipotential end, and the second end of the first pull-up resistor group connects eight tunnel
Buffer；The first end of the second pull-up resistor group connects the equipotential end, the second end of the second pull-up resistor group
Connect eight road bus transceiver.
Preferably, the STO failure output optocoupler includes：One the 8th resistance, a single-phase photoelectrical coupler and one the 9th electricity
Resistance；The first end of 8th resistance connects the output end that the buffering prevents circuit, the second end connection of the 8th resistance
Second input terminal of one first input end of the single-phase photoelectrical coupler, the single-phase photoelectrical coupler connects the equipotential
End, the 9th resistance are connected between the first input end of the single-phase photoelectrical coupler and second input terminal；
The output end of the single-phase photoelectrical coupler connects the STO fault-signal output end.
A kind of safe torque turning off system for AC servo driver of the invention, including an AC power source, one watch
Take driver, a servo motor, a constant voltage source, a fuse and a switching group；The servo-driver includes institute of the present invention
The safe torque breaking circuit for AC servo driver stated；The constant voltage source passes through the fuse and the switch
Group connects the servo-driver；The AC power source connects the servo motor by the servo-driver.
Preferably, the servo-driver further includes a control loop, a rectification filtering unit, a driving circuit and one
Two filter capacitors；Second schmitt inverter of the first optocoupler input circuit and the second optocoupler input circuit
Output end connects the control loop；The control loop prevents driving circuit described in circuit connection by the buffering；It is described
AC power source connects the driving circuit by the rectification filtering unit, and the driving circuit connects the servo motor；Institute
It is in parallel with the driving circuit to state the second filter capacitor.
The present invention makes it have following beneficial effect due to using above technical scheme：
Circuit, STO event are prevented by two signal input parts, the first optocoupler input circuit, the second optocoupler input circuit, buffering
The cooperation of barrier output optocoupler and STO fault-signal output end can provide two-way input signal simultaneously by external, once this two-way
Input signal simultaneously turns off, then immediately passes through hardware inside servo-driver and prevent to control the power module of servo motor electric current
PWM drive signal, thus the current of electric of rupturing duty module output.Servo-driver output can be monitored by epigyny device
STO functional fault monitors signal, only after two-way input signal is turned off (when security function is operating normally), the event of STO function
Barrier monitoring signal can just be connected.This operating mode is not turned off the power supply of servo-driver, can either effectively prevent machinery
Device activity component makes dangerous play, guarantees the safety of equipment and operator, and does not influence production efficiency of equipment and booting
Rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the safe torque turning off system for AC servo driver of the embodiment of the present invention；
Fig. 2 is the circuit diagram of the first optocoupler input circuit of the embodiment of the present invention；
Fig. 3 is the circuit diagram of the second optocoupler input circuit of the embodiment of the present invention；
Fig. 4 is that the buffering of the embodiment of the present invention prevents the circuit diagram of circuit；
Fig. 5 is that the STO failure of the embodiment of the present invention exports the circuit diagram of optocoupler；
Fig. 6 is the torque security shutdown of the safe torque breaking circuit for AC servo driver of the embodiment of the present invention
Control sequential figure；
Fig. 7 is that the self-torque of the safe torque breaking circuit for AC servo driver of the embodiment of the present invention is closed safely
The control sequential figure that disconnected state is restored；
Fig. 8 is the STO failure output of the safe torque breaking circuit for AC servo driver of the embodiment of the present invention
The timing diagram of signal EDM.
Specific embodiment
Below according to attached FIG. 1 to FIG. 8, presently preferred embodiments of the present invention is provided, and is described in detail, is enabled more preferable geographical
Solve function of the invention, feature.
Referring to Fig. 1, a kind of safe torque breaking circuit for AC servo driver of the embodiment of the present invention, including
Two signal input parts, one first optocoupler input circuit 1, one second optocoupler input circuit 2, one buffering prevent circuit 3, STO event
Barrier output optocoupler 4 and a STO fault-signal output end (not shown)；First optocoupler input circuit 1 and the second optocoupler input electricity
The input terminal on road 2 is separately connected a signal input part, the output end of the first optocoupler input circuit 1 and the second optocoupler input circuit 2
Connection buffering prevents circuit 3；Buffering prevents circuit 3 from connecting STO failure and exports optocoupler 4, and STO failure exports the output end of optocoupler 4
Connect STO fault-signal output end.
Fig. 2 and Fig. 3 are please referred to, the first optocoupler input circuit 1 and the second optocoupler input circuit 2 respectively include：One first electricity
Hinder R1, R7, a two-way photoelectrical coupler PC1, PC2, a second resistance R2, R8, a 3rd resistor R3, R9, one first Schmidt
Phase inverter U11, U12, one second schmitt inverter U21, U22, a third schmitt inverter U31, U32, one the 4th resistance
R5, R11 and one the 5th resistance R6, R12.
Wherein, the first end of first resistor R1, R7 connects a signal input part；The one of two-way photoelectrical coupler PC1, PC2
The second end of first input end connection first resistor R1, R7, one second input end grounding of two-way photoelectrical coupler PC1, PC2,
One first output end of two-way photoelectrical coupler PC1, PC2 are grounded.Second resistance R2, R8 be connected to two-way photoelectrical coupler PC1,
Between the first input end of PC2 and the second input terminal.3rd resistor R3, R9 is connected to first-class potential end and two-way photoelectrical coupler
Between a second output terminal of PC1, PC2.The input terminal of first schmitt inverter U11, U12 connects two-way photoelectrical coupler
The second output terminal of PC1, PC2.The input terminal of second schmitt inverter U21, U22 and third schmitt inverter U31, U32
Connect the output end of first schmitt inverter U11, U12, the output end connection buffering resistance of third schmitt inverter U31, U32
Only circuit 3.The first end of 4th resistance R5, R11 connects second schmitt inverter U21, U22 and third schmitt inverter
The input terminal of U31, U32, the second end ground connection of the 4th resistance R5, R11.5th resistance R6, R12 is connected to equipotential end and third
Between an output end of schmitt inverter U31, U32.
First optocoupler input circuit 1 and the second optocoupler input circuit 2 further include a RC filter circuit；RC filter circuit includes
One filter resistance R4, R10 and one first filter capacitor C2, C3, filter resistance R4, R10 be connected to two-way photoelectrical coupler PC1,
Between the second output terminal of PC2 and the input terminal of first schmitt inverter U11, U12, the first of first filter capacitor C2, C3
End is connected between filter resistance R4, R10 and the input terminal of first schmitt inverter U11, U12, first filter capacitor C2, C3
Second end ground connection.
Fig. 2~Fig. 4 is please referred to, buffering prevention circuit 3 includes：One No. eight buffer U4, one the 6th resistance R13, Yi Balu
Bus transceiver U5, one the 7th resistance R14, a NAND gate U6, one first pull-up resistor group 31 and one second pull-up resistor group 32.
Wherein, the third Schmidt of one first enable end OE1 the first optocoupler of connection input circuit 1 of No. eight buffer U4 is anti-
The output end of phase device U31, one second enable end OE2 connection, the one reset signal input terminal of No. eight buffer U4, No. eight buffers
U4 receives the reset signal in servo-driver 6 by reset signal input terminal；No. eight buffer U4 be also connected with equipotential end and
One ground terminal；The first end of 6th resistance R13 connects No. eight buffer U4, and the second end of the 6th resistance R13 connects equipotential end；
The enable end of eight road bus transceiver U5 connects the output end of the third schmitt inverter U32 of the second optocoupler input circuit 2；Eight
Road bus transceiver U5 is also connected with equipotential end and ground terminal；The first end of 7th resistance R14 connects eight road bus transceiver U5,
The second end of 7th resistance R14 connects equipotential end；The first input end of NAND gate U6 connect the 7th resistance R14 first end and
The second input terminal of eight road bus transceiver U5, NAND gate U6 connect the first end and No. eight buffer U4 of the 6th resistance R13.
The first end of first pull-up resistor group 31 connects equipotential end, and the second end of the first pull-up resistor group 31 connects eight tunnels
Buffer U4；The first end of second pull-up resistor group 32 connects equipotential end, the second end connection eight of the second pull-up resistor group 32
Road bus transceiver U5.
Referring to Fig. 5, STO failure output optocoupler 4 includes：One the 8th resistance R28, a single-phase photoelectrical coupler PC3 and one
9th resistance R27；The first end connection buffering of 8th resistance R28 prevents the output end of circuit 3, the second end of the 8th resistance R28
A first input end of single-phase photoelectrical coupler PC3 is connected, the second input terminal of single-phase photoelectrical coupler PC3 connects equipotential
End, the 9th resistance R27 are connected between the first input end and the second input terminal of single-phase photoelectrical coupler PC3；Single-phase photoelectricity coupling
The output end of clutch PC3 connects STO fault-signal output end, generates STO fault output signal, monitors for host control device
With.
Referring to Fig. 1, a kind of safe torque turning off system for AC servo driver of the embodiment of the present invention, including
One AC power source 5, a servo-driver 6, a servo motor 7, a constant voltage source V, a fuse FU and a switching group S；Servo
Driver 6 includes the safe torque breaking circuit for AC servo driver 6 of the invention；Constant voltage source V passes through fuse
FU connects servo-driver 6 with switching group S；AC power source 5 connects servo motor 7 by servo-driver 6.In the present embodiment,
Constant voltage source V uses 24V power supply.
Servo-driver 6 further includes a control loop 8, a rectification filtering unit 9, a driving circuit 10 and one second filtering
Capacitor C1；The output end of second schmitt inverter U21, U22 of first optocoupler input circuit 1 and the second optocoupler input circuit 2
Connect control loop 8；Control loop 8 prevents circuit 3 from connecting driving circuit 10 by buffering；AC power source 5 passes through rectifying and wave-filtering
Unit 9 connects driving circuit 10, and driving circuit 10 connects servo motor 7；Second filter capacitor C1 is in parallel with driving circuit 10.
The external 24V DC power supply of constant voltage source V passes through switch S and the first optocoupler input circuit 1 after fuse FU
It is connected with the input terminal of the second optocoupler input circuit 2, the two-way input signal that switch S is generated inputs the input of the first optocoupler simultaneously
Circuit 1 and the second optocoupler input circuit 2.
A kind of safe torque turning off system for AC servo driver of the embodiment of the present invention, in servo-driver 6
Increase the input signal interface and a STO functional fault monitoring signal output interface of two torque security shutdowns.Pass through outside
Two-way input signal is provided simultaneously, once this two-way input signal simultaneously turns off, then immediately passes through hardware inside servo-driver 6
The PWM drive signal of the power module of control 7 electric current of servo motor is prevented, thus the current of electric of rupturing duty module output.
Epigyny device monitors the STO functional fault that servo-driver 6 exports and monitors signal, only after two-way input signal is turned off
(when security function is operating normally), STO functional fault monitoring signal can just be connected.This operating mode is not turned off servo-drive
The power supply of device 6 can either effectively prevent mechanical equipment movable part from making dangerous play, guarantee the peace of equipment and operator
Entirely, and not production efficiency of equipment and Homes Using TV are influenced, in addition, output STO failure monitoring signal, can be constituted with host control device
Security level reaches the application system of SIL3, and it is future development that the STO function of meeting SIL3, which can bring higher safety,
Trend.
FIG. 1 to FIG. 4 is please referred to, a kind of safe torque for AC servo driver of the embodiment of the present invention turns off system
System, the course of work are as follows：
Step (1), when servo-driver 6 is in reseting procedure, the output of No. eight buffer U4 of ternary output is
High-impedance state, the pwm signal for being output to driving circuit 10 is high level, and the output of driving circuit 10 turns off；
Step (2), when servo-driver 6 works normally, by the constant voltage source V of external 24V, to servo-driver 6
The first optocoupler input circuit 1 and the second optocoupler input circuit 2 input signal simultaneously；
Step (3), when external constant voltage source V normal power supply, then 1 He of the first optocoupler input circuit of servo-driver 6
Second optocoupler input circuit 2 exports normal signal, the normal output pwm signal of control loop 8, and servo motor 7 works normally；
Step (4), when being turned off constant voltage source V outside 24V by switch S, then the output of the first optocoupler input circuit 1 is logical
Crossing buffering prevents No. eight buffer U4 of circuit 3 from closing pwm signal channel, and the output of the second optocoupler input circuit 2 passes through eight
Road buffer U4 closes pwm signal channel, realizes the torque shutdown of servo-driver 6.
Second tunnel output signal of step (5), the first optocoupler input circuit 1 and the second optocoupler input circuit 2 is input to control
Circuit 8 processed, control loop 8 judge that external 24V constant voltage source V is turned off, then close the output of pwm signal.
The control sequential figure of the torque security shutdown of the embodiment of the present invention can be found in Fig. 6, the first optocoupler before timing point c
Input circuit 1 and the second optocoupler input circuit 2 input normally, operate normally；The ON of servo-driver 6 is defeated before timing point b
Enter for ON, the ON input of servo-driver 6 is OFF after timing point b；Servo-driver 6 is in operation before timing point a
State, between timing point a and b, servo-driver 6 is in software blocked state, after timing point c, at servo-driver 6
In hardware lockout state.
The control sequential figure that the self-torque safe shutdown state of the embodiment of the present invention is restored can be found in Fig. 7, and the first optocoupler is defeated
Enter circuit 1 and the second optocoupler input circuit 2 and normal input state is switched to by off state after timing point e；Timing point f it
Afterwards, the ON of servo-driver 6, which is inputted, switchs to ON by OFF；Between timing point d and e, servo-driver 6 is in hardware lockout shape
State, between timing point e and f, servo-driver 6 is in software blocked state, and after timing point f, servo-driver 6 restores
Normal operating condition.
The timing diagram of the STO fault output signal EDM of the embodiment of the present invention can be found in Fig. 8,1 He of the first optocoupler input circuit
Second optocoupler input circuit 2 switchs to off state by normal operating condition in timing point h, and STO fault output signal EDM is in timing
High level is switched to by low level at point i, the time interval of timing point i and timing point h is less than 8ms.
The present invention has been described in detail with reference to the accompanying drawings, those skilled in the art can be according to upper
It states and bright many variations example is made to the present invention.Thus, certain details in embodiment should not constitute limitation of the invention, this
Invention will be using the range that the appended claims define as protection scope of the present invention.
Claims (8)
1. a kind of safe torque breaking circuit for AC servo driver, which is characterized in that including two signal input parts, one
First optocoupler input circuit, one second optocoupler input circuit, a buffering prevent circuit, STO failure output optocoupler and STO event
Hinder signal output end；The input terminal of the first optocoupler input circuit and the second optocoupler input circuit is separately connected described in one
Signal input part, the first optocoupler input circuit and the output end of the second optocoupler input circuit connect the buffering and prevent
Circuit；The buffering prevents STO failure described in circuit connection from exporting optocoupler, the output end connection of the STO failure output optocoupler
The STO fault-signal output end.
2. the safe torque breaking circuit according to claim 1 for AC servo driver, which is characterized in that first
Optocoupler input circuit and the second optocoupler input circuit respectively include：
The first end of one first resistor, the first resistor connects a signal input part；
One first input end of one two-way photoelectrical coupler, the two-way photoelectrical coupler connects the second of the first resistor
End, one second input end grounding of the two-way photoelectrical coupler, the one first output end ground connection of the two-way photoelectrical coupler；
One second resistance, the second resistance are connected to the first input end and described second of the two-way photoelectrical coupler
Between input terminal；
One 3rd resistor, the 3rd resistor are connected to a second output terminal of first-class potential end and the two-way photoelectrical coupler
Between；
One first schmitt inverter, the input terminal of first schmitt inverter connect the institute of the two-way photoelectrical coupler
State second output terminal；
One second schmitt inverter and a third schmitt inverter, second schmitt inverter and the third are applied close
The input terminal of special phase inverter connects the output end of first schmitt inverter, the output end of the third schmitt inverter
It connects the buffering and prevents circuit；
The first end of one the 4th resistance, the 4th resistance connects second schmitt inverter and the third Schmidt is anti-
The input terminal of phase device, the second end ground connection of the 4th resistance；With
One the 5th resistance, the 5th resistance are connected to an output end at the equipotential end and the third schmitt inverter
Between.
3. the safe torque breaking circuit according to claim 2 for AC servo driver, which is characterized in that first
Optocoupler input circuit and the second optocoupler input circuit further include a RC filter circuit；The RC filter circuit includes a filtering
Resistance and one first filter capacitor, the filter resistance are connected to the second output terminal and the institute of the two-way photoelectrical coupler
Between the input terminal for stating the first schmitt inverter, the first end of first filter capacitor is connected to the filter resistance and institute
Between the input terminal for stating the first schmitt inverter, the second end of first filter capacitor is grounded.
4. the safe torque breaking circuit according to claim 2 or 3 for AC servo driver, which is characterized in that
The buffering prevents the circuit from including：
One No. eight buffers, one first enable end of No. eight buffer connect described the of the first optocoupler input circuit
One second enable end of the output end of three schmitt inverters, No. eight buffer connects a reset signal input terminal；It is described
No. eight buffers are also connected with the equipotential end and a ground terminal；
One the 6th resistance, the first end of the 6th resistance connect No. eight buffer, and the second end of the 6th resistance connects
Connect the equipotential end；
One or eight road bus transceivers, the enable end of eight road bus transceiver connect the described of the second optocoupler input circuit
The output end of third schmitt inverter；Eight road bus transceiver is also connected with the equipotential end and the ground terminal；
One the 7th resistance, first end connection eight road bus transceiver of the 7th resistance, the second of the 7th resistance
End connects the equipotential end；With
One NAND gate, the first input end of the NAND gate connect the first end and the transmitting-receiving of eight tunnel bus of the 7th resistance
Device, the second input terminal of the NAND gate connect the first end and No. eight buffer of the 6th resistance.
5. the safe torque breaking circuit according to claim 4 for AC servo driver, which is characterized in that described
It further includes one first pull-up resistor group and one second pull-up resistor group that buffering, which prevents circuit,；The first of the first pull-up resistor group
End connects the equipotential end, and the second end of the first pull-up resistor group connects No. eight buffer；Second pull-up
The first end of resistance group connects the equipotential end, second end connection eight tunnel bus transmitting-receiving of the second pull-up resistor group
Device.
6. the safe torque breaking circuit according to claim 5 for AC servo driver, which is characterized in that described
STO failure exports optocoupler：One the 8th resistance, a single-phase photoelectrical coupler and one the 9th resistance；The of 8th resistance
One end connects the output end that the buffering prevents circuit, and the second end of the 8th resistance connects the single-phase photoelectrical coupler
One first input end, the second input terminal of the single-phase photoelectrical coupler connect the equipotential end, the 9th resistance connection
Between the first input end and second input terminal of the single-phase photoelectrical coupler；The single-phase photoelectrical coupler
Output end connects the STO fault-signal output end.
7. a kind of safe torque turning off system for AC servo driver, which is characterized in that watched including an AC power source, one
Take driver, a servo motor, a constant voltage source, a fuse and a switching group；The servo-driver includes claim 6
The safe torque breaking circuit for AC servo driver；The constant voltage source is by the fuse and described opens
Pass group connects the servo-driver；The AC power source connects the servo motor by the servo-driver.
8. the safe torque turning off system according to claim 7 for AC servo driver, which is characterized in that described
Servo-driver further includes a control loop, a rectification filtering unit, a driving circuit and one second filter capacitor；Described first
Optocoupler input circuit connects the control with the output end of second schmitt inverter of the second optocoupler input circuit
Circuit；The control loop prevents driving circuit described in circuit connection by the buffering；The AC power source passes through described whole
It flows filter unit and connects the driving circuit, the driving circuit connects the servo motor；Second filter capacitor and institute
State driving circuit parallel connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810959297.2A CN108847789B (en) | 2018-08-22 | 2018-08-22 | Safety torque shut-off circuit and system for AC servo driver |
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| CN201810959297.2A CN108847789B (en) | 2018-08-22 | 2018-08-22 | Safety torque shut-off circuit and system for AC servo driver |
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| CN108847789B CN108847789B (en) | 2024-04-12 |
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| CN112117952A (en) * | 2019-06-20 | 2020-12-22 | 台达电子工业股份有限公司 | Motor driving system and control method |
| CN116079763A (en) * | 2023-04-13 | 2023-05-09 | 广东美的制冷设备有限公司 | Robot, safety torque turn-off circuit and safety torque control method |
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| Publication number | Publication date |
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| CN108847789B (en) | 2024-04-12 |
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