CN109412468A - System and control method based on safe torque shutdown - Google Patents
System and control method based on safe torque shutdown Download PDFInfo
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- CN109412468A CN109412468A CN201811050574.4A CN201811050574A CN109412468A CN 109412468 A CN109412468 A CN 109412468A CN 201811050574 A CN201811050574 A CN 201811050574A CN 109412468 A CN109412468 A CN 109412468A
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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
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The present embodiments relate to Motor Control Fields, disclose a kind of system and control method based on safe torque shutdown.In the present invention, the system based on safe torque shutdown, comprising: controller, primary processor and coprocessor, controller are connect with primary processor and coprocessor respectively, and coprocessor is independently of primary processor；Controller is sent to coprocessor for safe torque to be turned off STO signal；Coprocessor controls motor safety stop for specially responding STO signal；Controller is also used to motor operation control signal being sent to primary processor；Primary processor, for responding motor operation control signal, control motor is conducive to the generation for effectively preventing safety accident so that the software redundancy processing system based on dual processor accelerates the response speed of STO signal according to operation control signal operation.
Description
Technical field
The present embodiments relate to Motor Control Field, in particular to a kind of system and control based on safe torque shutdown
Method.
Background technique
STO (safe torque off, safe torque shutdown), with frequency converter (driver, servo-driver etc.) and
In the transmission system of motor form, after user or system security function issue safe torque shutdown command on a drive,
Frequency converter removes the power supply of rotating electric machine immediately, stops production process, prevents the generation of contingency, improve the safety of system
Performance.
However, it is found by the inventors that at least there are the following problems in the prior art: in the prior art, multi-pass crosses hardware multichannel
The design method of redundancy is realized and promotes grade in secure context, and hardware circuit is due to the design feature of itself, can only be to reality
The STO event of Shi Fasheng is handled, and there is also defects for processing capacity.For the software processing of safe torque shutdown, although
There is preferable supplement to original hardware system in processing capacity, but since processor will handle many events, in sound
Speed is very slow when answering STO signal, cannot rapidly switch off, security level is inadequate, it is difficult to effectively prevent the generation of safety accident.
Summary of the invention
Embodiment of the present invention is designed to provide a kind of system and control method based on safe torque shutdown, so that
Software redundancy processing system based on dual processor accelerates the response speed of STO signal, is conducive to effectively prevent safety
The generation of accident.
In order to solve the above technical problems, embodiments of the present invention provide a kind of system based on safe torque shutdown,
It include: controller, primary processor and coprocessor, controller is connect with primary processor and coprocessor respectively, and coprocessor is only
Stand on primary processor；Controller is sent to coprocessor for safe torque to be turned off STO signal；Coprocessor, for special
Door response STO signal, controls motor safety stop；Controller is also used to motor operation control signal being sent to primary processor；
Primary processor, for responding motor operation control signal, control motor is according to operation control signal operation.
Embodiments of the present invention additionally provide a kind of control method based on safe torque shutdown, applied to above-mentioned base
In the system of safe torque shutdown, comprising: safe torque shutdown STO signal is sent to coprocessor by controller, and motor is transported
Row control signal is sent to primary processor；Coprocessor responds STO signal after receiving STO signal, controls motor safe stopping
Only；For primary processor after receiving motor operation control signal, response motor operation controls signal, and control motor is controlled according to operation
Signal operation processed.
Embodiment of the present invention in terms of existing technologies, increases and turns off STO signal for specially responding safe torque
Coprocessor, coprocessor is independently of primary processor.Controller, for being sent to coprocessor for STO signal；Association's processing
Device controls motor safety stop for specially response STO signal, since coprocessor is separately provided for STO signal,
This category information is only responded, is conducive to improve the response speed for STO signal, enhances the security level of system.Controller, also
For motor operation control signal to be sent to primary processor；Primary processor, for responding motor operation control signal, control electricity
Machine advantageously ensures that the normal operation of motor according to operation control signal operation.In embodiment of the present invention, controller preferentially will
STO signal is sent to coprocessor, motor operation control signal is sent to primary processor, so that being formed based on dual processor
Software redundancy processing system, primary processor guarantee that motor operates normally, and coprocessor specially responds STO signal, improve motor peace
The speed that full cut-off stops, substantially increases the robustness of software systems, the generation of safety accident can be effectively prevented.
In addition, controller, is also used to that STO signal is sent to main process task while sending STO signal to coprocessor
Device；Whether primary processor is also used to judge coprocessor success response STO signal, if coprocessor responds STO not successfully
Signal, then primary processor responds the STO signal received；Wherein, coprocessor is higher than main process task to the response speed of STO signal
Response speed of the device to STO signal.STO signal is issued into primary processor and coprocessor simultaneously, if event occurs in coprocessor
Barrier does not respond to STO signal, then primary processor can respond the STO signal received, i.e., by primary processor for association at
Whether reason device responded further confirming that for STO signal, further enhanced the safety of system.
In addition, further includes: memory, memory are connect with primary processor and coprocessor respectively；Coprocessor is also used to
After success response STO signal, it will be used to characterize motor security information in a safe condition and memory be written；Memory is used
In the security information of storage coprocessor write-in；Whether primary processor reads safe letter specifically for basis from memory
Breath as a result, judging coprocessor whether success response STO signal.Coprocessor writes security information after success response
Enter memory, facilitates primary processor reading, be conducive to quickly confirm whether STO signal has been responded according to the result of reading.
In addition, further includes: memory, memory are connect with primary processor and coprocessor respectively；Primary processor is also used to
The operation data of motor is obtained, and memory is written into operation data；Memory, for storing the operation number of primary processor write-in
According to；Coprocessor, specifically for reading the operation data of motor from memory, and according to reading when receiving STO signal
Operation data controls motor safety stop.Operation data by the motor read from memory, so that coprocessor is according to fortune
Row data make relevant parameter processing, are conducive to effectively control motor safety stop.
In addition, primary processor, writes specifically for obtaining the operation data of motor in real time, and by the operation data obtained in real time
Enter memory；Memory, specifically for real-time update and store primary processor write-in operation data.Coprocessor, it is specific to use
In when receiving STO signal, the operation data of real-time update, and the operation of the real-time update according to reading are read from memory
Data control motor safety stop.The operation data for advantageously ensuring that motor is last state, facilitates coprocessor according to most
New operation data carries out relevant parameter processing, more effectively controls motor safety stop.
In addition, memory be specially it is following any one: dynamic random access memory DRAM, synchronous dynamic random storage
Device SDRAM, Erasable Programmable Read Only Memory EPROM EPROM, flash memories FLASH, above-mentioned high-speed data processing device is using high
The data backup memory scheme of fast data store organisation, for the data exchange of high speed, the operation data of real-time ensuring motor is
Last state facilitates between primary processor and coprocessor to carry out real time data interaction.
In addition, STO signal be specially it is following any one: primary processor crash signal, house dog abnormal signal, safety are rung
Answer interrupt signal, external emergent stop signal.I.e. coprocessor specially responds the above-mentioned signal high to security level required, is conducive to pair
The high signal quick response of security level, effectively prevent the generation of safety accident.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the structural schematic diagram of the system based on safe torque shutdown of first embodiment according to the present invention；
Fig. 2 is the structural schematic diagram of the system based on safe torque shutdown of second embodiment according to the present invention；
Fig. 3 is the structural schematic diagram of the system based on safe torque shutdown of third embodiment according to the present invention；
Fig. 4 is the flow diagram of the control method based on safe torque shutdown of the 4th embodiment according to the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing to the present invention
Each embodiment be explained in detail.However, it will be understood by those skilled in the art that in each embodiment party of the present invention
In formula, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
And various changes and modifications based on the following respective embodiments, the application technical solution claimed also may be implemented.
The first embodiment of the present invention is related to a kind of systems based on safe torque shutdown.The core of present embodiment exists
In controller, primary processor and coprocessor, controller is connect with primary processor and coprocessor respectively, coprocessor independently of
Primary processor；Controller is sent to coprocessor for safe torque to be turned off STO signal；Coprocessor, for specially ringing
STO signal is answered, motor safety stop is controlled；Controller is also used to motor operation control signal being sent to primary processor；Main place
Manage device, for respond motor operation control signal, control motor according to operation control signal operation so that software systems for
The response speed of STO signal is accelerated, and the generation for effectively preventing safety accident is conducive to.Below to present embodiment based on peace
The realization details of the system of full torque shutdown is specifically described, the realization details that the following contents only provides for convenience of understanding,
Not implement the necessary of this programme.
The system based on safe torque shutdown in present embodiment is as shown in Figure 1, specifically include: controller 101, main place
Device 102, coprocessor 103 are managed, controller 101 is connect with primary processor 102 and coprocessor 103 respectively.In present embodiment
Primary processor 102 and coprocessor 103 can integrate in a chip, i.e. are integrated with two independent processing in a chip
Device can be each responsible for the event of processing with independent process.In practical applications, primary processor 102 and coprocessor 103 can also be with
For two independent chips, the function of primary processor and coprocessor is realized by two independent chips, however this embodiment party
Formula is not specifically limited in this embodiment.
Specifically, controller 101 is used to safe torque turning off STO signal, it is sent to coprocessor 103, is also used to
Motor operation control signal is sent to primary processor 102.STO signal, can be abnormal for primary processor crash signal, house dog
The high level error detections such as signal, security response interrupt signal, external emergent stop signal and the high signal of degree of protection.Motor fortune
Row control signal, can be the control signal of normal function, for realizing the function of normal servo, frequency converter, that is to say, that
The control signal sent to primary processor 102 can be other control signals other than STO signal.Such as motor is transported
Row control signal can be that controller passes through bus, with Ethernet auto-control technology (Ether Control
Automation Technology is referred to as " EtherCAT ") based on open architecture field bus system, be sent to main place
Reason device goes to execute the angle of operation of servo motor, and torque etc. controls signal.Controller 101 can carry out area to the signal to be sent
Point, if the signal to be issued is STO signal, STO signal priority is sent to coprocessor 103, if the letter to be issued
Number for motor operation control signal, then by motor operation control signal be sent to primary processor 102.In practical applications, it controls
Device 101 can be internal controller, be also possible to external hardware switch.
Specifically, primary processor 102, for responding motor operation control signal, control motor is according to operation control letter
Number operation.Such as if the motor operation control signal that primary processor 102 receives is the control such as angle of operation, torque, electric current
Signal processed, then just control motor is normal according to the control signal such as angle of operation, torque, electric current received for primary processor 102
Operation.
Specifically, coprocessor 103, for what is be arranged specifically for STO signal, for specially responding STO signal, control
Motor safety stop, since coprocessor 103 is served only for response STO signal, response speed can quickly, can be with Microsecond grade
Response STO signal, can cracking control motor it is out of service.
Compared with prior art, present embodiment increases association's processing for specially responding safe torque shutdown STO signal
Device, coprocessor is independently of primary processor.Controller, for being sent to coprocessor for STO signal；Coprocessor, for special
Door response STO signal, controls motor safety stop since coprocessor is separately provided for STO signal and only responds this
Category information is conducive to improve the response speed for STO signal, enhances the security level of system.Controller is also used to motor
Operation control signal is sent to primary processor；Primary processor controls motor according to operation for responding motor operation control signal
Signal operation is controlled, advantageously ensures that the normal operation of motor.In embodiment of the present invention, controller preferentially sends out STO signal
It send to coprocessor, motor operation control signal is sent to primary processor, so that forming the software redundancy based on dual processor
Processing system, primary processor guarantee that motor operates normally, and coprocessor specially responds STO signal, improves motor safety stop
Speed substantially increases the robustness of software systems, and the generation of safety accident can be effectively prevented.
Second embodiment of the present invention is related to a kind of system based on safe torque shutdown.Second embodiment is first
The further improvement of embodiment, mainly thes improvement is that: in second embodiment of the invention, controller is by STO signal
Primary processor and coprocessor are issued simultaneously, primary processor further confirms that whether coprocessor responded STO signal, is conducive to
Further enhance the safety of system.
The structural schematic diagram of the system based on safe torque shutdown in present embodiment is as shown in Figure 2, comprising: controller
101, primary processor 102, coprocessor 103 and memory 201.
Specifically, controller 101 is also used to, and while sending STO signal to coprocessor 103, STO signal is sent out
It send to primary processor 102, that is to say, that in the present embodiment, STO signal is sent to primary processor by controller 101 simultaneously
102 and coprocessor 103.
Specifically, primary processor 102 is also used to, the whether success response STO signal of coprocessor 103 is judged, if
Coprocessor 103 responds STO signal not successfully, then primary processor 102 responds the STO signal received；Wherein, coprocessor
The response speed of 103 pairs of STO signals is higher than primary processor 102 to the response speed of STO signal.That is, primary processor 102
Since the response speed to STO signal is slower, if STO signal is crossed in the success response of coprocessor 103, work as main process task
When device 102 begins to respond to STO signal, primary processor 102 can get the information of motor safety stop, to not go to respond
STO signal；The failed response STO signal if coprocessor 103 breaks down, when primary processor 102 begins to respond to STO
When signal, primary processor 102 can get the information of the non-safety stop of motor, to respond STO signal, control motor safe stopping
Only.I.e. primary processor 102 is directed to STO signal, standby processing can be served as, in the coprocessor dedicated for responding STO signal
When failure, guarantee that STO signal is still able to by success response, the safety of further safeguards system.
Specifically, coprocessor 103 is also used to, after success response STO signal, it will be used to characterize motor and be in safety
Memory 201 is written in the security information of state.Memory 201, for storing the security information of the write-in of coprocessor 103；Main place
Reason device 102 can according to whether read from memory 201 security information as a result, judging whether coprocessor 103 has become
Function responds STO signal.That is, illustrating that association is handled if primary processor 102 reads security information from memory 201
The success response of device 103 STO signal, if primary processor 102 is unread to security information, explanation from memory 201
Coprocessor 103 is likely to occur failure and fails to timely respond to STO signal.
Compared with prior art, present embodiment, controller are also used to while sending STO signal to coprocessor,
STO signal is sent to primary processor；Whether primary processor is also used to judge coprocessor success response STO signal, if
Coprocessor responds STO signal not successfully, then primary processor responds the STO signal received；Wherein, coprocessor believes STO
Number response speed be higher than primary processor to the response speed of STO signal.STO signal is issued into primary processor simultaneously and association is handled
Device, if coprocessor failure does not respond to STO signal, primary processor can respond the STO signal received, i.e.,
Whether further confirming that for STO signal was responded for coprocessor by primary processor, further enhances the safety of system.
Moreover, memory is written after success response, by security information in coprocessor, primary processor reading is facilitated, basis is conducive to
The result of reading quickly confirms whether STO signal is responded.
Third embodiment of the present invention is related to a kind of system based on safe torque shutdown.Third embodiment is first
The further improvement of embodiment, mainly thes improvement is that: in third embodiment of the invention, further includes: memory, association
Processor is by the operation data from memory reading motor, so that coprocessor is made at relevant parameter according to operation data
Reason, is conducive to effectively control motor safety stop.
The structural schematic diagram of the system based on safe torque shutdown in present embodiment is as shown in Figure 3, comprising: controller
101, primary processor 102, coprocessor 103 and dynamic random access memory DRAM 301, primary processor 102 and coprocessor
103 connect with DRAM301 respectively, and DRAM301 can be used for the bridge joint of intermediate processing data signal.
Specifically, primary processor 102 is also used to obtain the operation data of motor, and DRAM301 is written in operation data,
The operation data of motor can be the status information of the motors such as position, voltage, the electric current of current motor, preferable primary processor
102 can obtain the operation data of motor in real time.Primary processor 102 can be carried out according to the operation data of the motor obtained in real time
Software processing can also carry out software processing, to pacifying in practical applications to the event before safe torque shutdown occurs
Event after full torque shutdown carries out software processing.
Specifically, DRAM 301, for storing the operation data of the write-in of primary processor 102, preferably, can be to write-in
Operation data carry out real-time update.In practical applications, DRAM 301 can also for synchronous DRAM SDRAM,
The high speeds data storages such as Erasable Programmable Read Only Memory EPROM EPROM, flash memories FLASH.
Specifically, coprocessor 103, specifically for reading the fortune of motor from DRAM 301 when receiving STO signal
Row data, and motor safety stop is controlled according to the operation data of reading.In practical applications, coprocessor 103 is in response STO
When signal, the fortune that nanosecond reads the motors such as position, voltage, the electric current of current motor of DRAM301 storage inside can be synchronized
Row data make relevant parameter processing according to operation data, make the movement of motor braking, adapter tube motor safety stop.Compared with
Good, after controlling motor safety stop, coprocessor 103 can be by current motor status (safe state) write-in
In DRAM301, so that primary processor 102 is when responding STO signal, relevant information is read into DRAM301 and is further confirmed that.
It is noted that coprocessor 103, can read the operation of real-time update from DRAM301 when receiving STO signal
Data, and motor safety stop is controlled according to the operation data of the real-time update of reading.
Compared with prior art, present embodiment, primary processor are also used to obtain the operation data of motor, and will operation
Memory is written in data；Memory, for storing the operation data of primary processor write-in；Coprocessor, specifically for receiving
When to STO signal, the operation data of motor is read from memory, and motor safety stop is controlled according to the operation data of reading.
Operation data by the motor read from memory, so that coprocessor makes relevant parameter processing according to operation data,
Be conducive to effectively control motor safety stop.In addition, the operation data that primary processor obtains in real time, advantageously ensures that motor
Operation data is last state, facilitates coprocessor according to newest operation data and carries out relevant parameter processing, more effectively
Control motor safety stop.Meanwhile the high speeds data storage such as DRAM, SDRAM, EPROM, FLASH uses high-speed data processing
The data backup memory scheme of structure, for the data exchange of high speed, the operation data of real-time ensuring motor is last state.
Four embodiment of the invention be related to it is a kind of based on safe torque shutdown control method, applied to it is above-mentioned based on
The system of safe torque shutdown, comprising:
Step 401: controller sends signal, wherein if signal is STO signal, coprocessor is sent to, if letter
Number for motor operation controlled signal, then primary processor is sent to.
Step 402: coprocessor responds STO signal after receiving STO signal, controls motor safety stop.
Step 403: for primary processor after receiving motor operation control signal, response motor operation controls signal, control
Motor is according to operation control signal operation.
It is not difficult to find that present embodiment is the embodiment of method corresponding with first embodiment, present embodiment can
It works in coordination implementation with first embodiment.The relevant technical details mentioned in first embodiment are in the present embodiment still
Effectively, in order to reduce repetition, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment can also be applied
In the first embodiment.
The step of various methods divide above, be intended merely to describe it is clear, when realization can be merged into a step or
Certain steps are split, multiple steps are decomposed into, as long as including identical logical relation, all in the protection scope of this patent
It is interior；To adding inessential modification in algorithm or in process or introducing inessential design, but its algorithm is not changed
Core design with process is all in the protection scope of the patent.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
It obtains an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) executes side described in each embodiment of the application
The all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize specific embodiments of the present invention,
And in practical applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (10)
1. a kind of system based on safe torque shutdown characterized by comprising controller, primary processor and coprocessor, institute
It states controller to connect with the primary processor and the coprocessor respectively, the coprocessor is independently of the primary processor；
The controller is sent to the coprocessor for safe torque to be turned off STO signal；
The coprocessor controls motor safety stop for specially responding the STO signal；
The controller is also used to motor operation control signal being sent to the primary processor；
The primary processor controls the motor and is controlled according to the operation and believed for responding the motor operation control signal
Number operation.
2. the system according to claim 1 based on safe torque shutdown, which is characterized in that
The controller is also used to send the STO signal while sending the STO signal to the coprocessor
To the primary processor；
Whether the primary processor is also used to judge coprocessor STO signal described in success response, if at the association
Reason device responds the STO signal not successfully, then the primary processor responds the STO signal received；Wherein, at the association
It manages device and the primary processor is higher than to the response speed of the STO signal to the response speed of the STO signal.
3. the system according to claim 2 based on safe torque shutdown, which is characterized in that further include: memory, it is described
Memory is connect with the primary processor and the coprocessor respectively；
The coprocessor after being also used to the STO signal described in success response, will be used to characterize the motor in a safe condition
Security information the memory is written；
The memory, for storing the security information of the coprocessor write-in；
The primary processor, specifically for according to whether read from the memory security information as a result, judgement
The coprocessor whether STO signal described in success response.
4. the system according to claim 1 based on safe torque shutdown, which is characterized in that further include: memory, it is described
Memory is connect with the primary processor and the coprocessor respectively；
The primary processor is also used to obtain the operation data of the motor, and the memory is written in the operation data；
The memory, for storing the operation data of the primary processor write-in；
The coprocessor, specifically for reading the operation of the motor from the memory when receiving the STO signal
Data, and motor safety stop is controlled according to the operation data of reading.
5. the system according to claim 4 based on safe torque shutdown, which is characterized in that
The primary processor, specifically for obtaining the operation data of the motor, and the operation number that will be obtained in real time in real time
According to the write-in memory；
The memory specifically for real-time update and stores the operation data of primary processor write-in.
The coprocessor, specifically for reading the real-time update from the memory when receiving the STO signal
Operation data, and motor safety stop is controlled according to the operation data of the real-time update of reading.
6. the system according to claim 1 based on safe torque shutdown, which is characterized in that the primary processor and described
Coprocessor is integrated in a chip.
7. the system according to claim 1 based on safe torque shutdown, which is characterized in that the primary processor and described
Coprocessor is specially two independent chips.
8. the system based on safe torque shutdown according to any one of claim 3 to 7, which is characterized in that described to deposit
Reservoir be specially it is following any one:
Dynamic random access memory DRAM, synchronous DRAM SDRAM, Erasable Programmable Read Only Memory EPROM
EPROM, flash memories FLASH.
9. the system according to any one of claim 1 to 7 based on safe torque shutdown, which is characterized in that the STO
Signal be specially it is following any one:
Primary processor crash signal, house dog abnormal signal, security response interrupt signal, external emergent stop signal.
10. a kind of control method based on safe torque shutdown, which is characterized in that applied to being based on as described in claim 1
The system of safe torque shutdown, comprising:
Safe torque shutdown STO signal is sent to coprocessor by controller, and motor operation control signal is sent to main process task
Device；
Coprocessor responds the STO signal after receiving the STO signal, controls motor safety stop；
Primary processor responds the motor operation control signal after receiving motor operation control signal, described in control
Motor controls signal operation according to the operation.
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