CN112558530A - Driving and controlling integrated board card for closed-loop stepping motor - Google Patents
Driving and controlling integrated board card for closed-loop stepping motor Download PDFInfo
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- CN112558530A CN112558530A CN202011587871.XA CN202011587871A CN112558530A CN 112558530 A CN112558530 A CN 112558530A CN 202011587871 A CN202011587871 A CN 202011587871A CN 112558530 A CN112558530 A CN 112558530A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Control Of Stepping Motors (AREA)
Abstract
The invention provides a closed-loop stepping motor driving and controlling integrated board card which comprises an MCU (microprogrammed control Unit) board, an IO (input/output) board, a power supply unit, a core control unit, a motor driving and controlling unit, an external communication interface unit, a motor interface unit, an input/output interface unit, a dial setting unit, an encoder interface unit, a Limit + Limit-interface unit and an emergency stop interface unit, wherein the power supply unit, the core control unit, the motor driving and controlling unit, the external communication interface unit, the motor interface unit, the input/output interface unit; the motor driving and controlling unit outputs a control signal to the motor interface unit by receiving a driving and controlling instruction of the core control unit so as to control the stepping motor, and the stepping motor feeds an encoder signal back to the motor driving and controlling unit through the encoder interface unit so as to form a closed-loop control system; the invention can meet the requirements of continuous miniaturization, accurate positioning and control, concise wiring and multi-axis control of an industrial automation machine, and can increase the anti-interference capability under the condition of greatly saving the cost.
Description
Technical Field
The invention relates to the technical field of motion control of stepping motors, in particular to a drive and control integrated board card for a closed-loop stepping motor.
Background
The stepping motor, specially used for the special motor of speed and accurate control of position, it rotates and operates in one step with fixed angle (called step angle), it is the open loop control motor which changes the electric pulse signal into angular displacement or linear displacement, we can control the angular displacement through controlling the number of pulse, thus achieve the goal of accurate positioning; meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the purpose of speed regulation is achieved.
With the gradual maturity of the technology and the increasing miniaturization of the automation equipment, the way of controlling the motor by the card and the driver cannot meet the requirements of miniaturization and simple installation, and the number of moving parts is increasing.
Disclosure of Invention
In order to solve the problems, the invention provides a closed-loop stepping motor driving and controlling integrated board card.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
a closed-loop stepping motor driving and controlling integrated board card comprises an MCU board, an IO board, a power supply unit, a core control unit, a motor driving and controlling unit, an external communication interface unit, a motor interface unit, an input/output interface unit, a dial setting unit, an encoder interface unit, a Limit + Limit interface unit and an emergency stop interface unit, wherein the power supply unit, the core control unit, the motor driving and controlling unit, the external communication interface unit, the motor interface unit, the input/output interface unit, the dial setting unit, the encoder interface unit, the Limit + Limit interface; the core control unit is respectively connected with the motor driving control unit, the external communication interface unit, the input/output interface unit, the dial setting unit, the Limit + Limit-interface unit and the emergency stop interface unit; the motor driving and controlling unit outputs a control signal to the motor interface unit by receiving a driving and controlling instruction of the core control unit so as to control the stepping motor, and the stepping motor feeds an encoder signal back to the motor driving and controlling unit through the encoder interface unit to form a closed-loop control system.
Further, the core control unit and the external communication interface unit are arranged on the front surface of the MCU board; the core control unit comprises an MCU control chip; the external communication interface unit CAN communicate with the PC end through a network port communication interface, a serial port communication interface or a CAN communication interface and acquire signals from the PC end; and multiple feasible schemes are provided for industrial control, and the cost in the industrial control process is reduced.
Furthermore, the MCU control chip is an STM32 chip of STM company; a control center that is used for whole ring-opening step motor to drive integrative integrated circuit board, both satisfied the demand, the price is reasonable again.
Furthermore, two CAN communication interfaces are provided, and the two CAN communication interfaces are connected with the same bus according to a CAN protocol; when a plurality of board cards are required to be used together, one CAN communication interface CAN be connected to the bus, and the other CAN communication interface is connected to the next board card; the bus connection mode is used, the wiring mode is simplified, and therefore wiring is greatly reduced.
Further, the power supply unit, the motor interface unit, the dial setting unit, the encoder interface unit, the Limit + Limit interface unit, the input/output interface unit and the emergency stop interface unit are arranged on the front surface of the IO board; wherein the power supply unit comprises a power supply interface; the motor interface unit comprises a motor interface, and the motor interface comprises an M1 motor interface and an M2 motor interface; the dial setting unit comprises a subdivision number dial and a current dial; the encoder interface unit comprises an encoder input interface, and the encoder input interface comprises an encoder input interface of an M1 motor and an encoder input interface of an M2 motor; the Limit + Limit-interface unit comprises an M1 motor and a positive Limit interface and a negative Limit interface of the M2 motor; the input/output interface unit comprises an output interface and an input interface; the scram interface unit comprises a scram interface.
Furthermore, the driving wire of the M1 motor and the driving wire of the M2 motor of the motor interface are respectively inserted into the corresponding interfaces of the stepping motor, and the encoder wire of the stepping motor is respectively connected with the encoder input interface of the M1 motor and the encoder input interface of the M2 motor; the dial setting unit is connected with the MCU control chip, the subdivision dial is used for setting the running precision of the motor, and the current dial is used for setting the running current and the stopping current of the motor; and a positive limit wire and a negative limit wire of the stepping motor are respectively butted with corresponding positive limit interfaces of the M1 motor and the M2 motor and corresponding negative limit interfaces of the M1 motor and the M2 motor.
Furthermore, an outgoing line of the emergency stop interface is connected with hardware, the hardware can be an emergency stop switch, the interface of the emergency stop switch is a pin 1 or a pin 3, the input high level is 24V, and the input low level is 0V; the outgoing line of the input interface is connected with a sensor, the interface of the input interface is provided with 1 pin and 3 pins, the input high level is 24V, and the input low level is 0V; the outgoing line of the output interface is connected with a device to be controlled, the device can be an indicator lamp or an electromagnetic valve, the output high level is 24V, and the output low level is 0V.
Further, the motor driving and controlling unit is arranged on the reverse side of the IO board and adopts a TMC5160 chip of Trinamic corporation; through TMC5160 chip provides accurate motor drive algorithm for it to and the FOC motor drive mode of application advance, make step motor's moment direction with step motor's rotation is tangent, can guarantee step motor operation in-process moment is invariable, and is the biggest, has avoided the commonly used driver to appear moment not enough, loses the step scheduling problem.
Further, the back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through a pin header and a bus header so as to transmit signals; connect with the superimposed mode MCU board with the IO board reduces the space on its level, satisfies the constantly miniaturized demand of industrial automation board.
Further, the MCU board and the IO board are square boards with the same shape and size, the thickness of the MCU board and the IO board is 3 millimeters, and the side length of the MCU board and the IO board is 65 millimeters; the MCU board that couples together with the IO board is small and exquisite, satisfies the constantly miniaturized demand of industrial automation board.
The invention has the beneficial effects that: compared with the traditional control mode, the integrated board card can save the installation space of a driver, and can greatly save cost and space from wiring and control;
the specific movement mode is used, so that the moment of the stepping motor in the movement process is stable and maximum, the unstable moment condition of the traditional control mode is shielded, and the positioning precision of the motor is greatly improved;
STM32 chip signal of core control unit directly reaches in the TMC5160 chip of motor drive control unit, reduces the connection of line, strengthens the interference killing feature.
Drawings
FIG. 1 is a general block diagram of a system according to an embodiment of the invention;
fig. 2 is a diagram showing an IO board structure according to an embodiment of the present invention;
FIG. 3 is a diagram showing a structure of an MCU board according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a core control unit according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a motor control unit according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating an Internet port communication protocol according to an embodiment of the present invention;
in the figure: 101. an emergency stop interface; 102. an output interface; 103. an input interface; 104. an encoder input interface; 105. a negative limit interface; 106. a motor interface; 107. a subdivision number dial-up; 108. current dialing; 109. a power supply interface; 110. a positive limit interface; 201. a network port communication interface; 202. a serial communication interface; 203. a CAN communication interface; 204. and the MCU control chip.
Detailed Description
The invention is described in detail below with reference to the attached drawing figures:
as shown in fig. 1 to 6, a closed-loop stepping motor driving and controlling integrated board card includes an MCU board and an IO board, and a power supply unit, a core control unit, a motor driving and controlling unit, an external communication interface unit, a motor interface unit, an input/output interface unit, a dial setting unit, an encoder interface unit, a Limit + Limit-interface unit, and an emergency stop interface unit, which are disposed on the MCU board and the IO board; the core control unit is respectively connected with the motor driving control unit, the external communication interface unit, the input and output interface unit, the dial setting unit, the Limit + Limit-interface unit and the emergency stop interface unit; the motor driving and controlling unit outputs a control signal to the motor interface unit through receiving a driving and controlling instruction of the core control unit so as to control the stepping motor, and the stepping motor feeds an encoder signal back to the motor driving and controlling unit through the encoder interface unit so as to form a closed-loop control system.
The core control unit and the external communication interface unit are arranged on the front side of the MCU board; wherein, the core control unit comprises an MCU control chip 204; the external communication interface unit CAN communicate with the PC end through the network port communication interface 201, the serial port communication interface 202 or the CAN communication interface 203, and acquire signals from the PC end; and multiple feasible schemes are provided for industrial control, and the cost in the industrial control process is reduced.
The MCU control chip 204 is an STM32 chip of STM company; a control center that is used for whole ring-opening step motor to drive integrative integrated circuit board, both satisfied the demand, the price is reasonable again.
Two CAN communication interfaces 203 are provided, and the two CAN communication interfaces 203 are connected with the same bus according to a CAN protocol; when a plurality of board cards are required to be used together, one CAN communication interface 203 CAN be connected to the bus, and the other CAN communication interface 203 is connected to the next board card; the bus connection mode is used, the wiring mode is simplified, and therefore wiring is greatly reduced.
The power supply unit, the motor interface unit, the dial setting unit, the encoder interface unit, the Limit + Limit interface unit, the input/output interface unit and the emergency stop interface 101 unit are arranged on the front surface of the IO board; wherein the power supply unit comprises a power supply interface 109; the motor interface unit comprises a motor interface 106, and the motor interface 106 comprises an M1 motor interface and an M2 motor interface; the dial setting unit includes a fine segment dial 107 and a current dial 108; the encoder interface unit of (1) comprises an encoder input interface 104, and the encoder input interface 104 comprises an encoder input interface of the M1 motor and an encoder input interface of the M2 motor; the Limit + Limit-interface unit comprises an M1 motor, and a positive Limit interface 110 and a negative Limit interface 105 of the M2 motor; the input/output interface unit comprises an output interface 102 and an input interface 103; the scram interface unit comprises a scram interface 101.
The driving wire of the M1 motor and the driving wire of the M2 motor of the motor interface 106 are respectively inserted into the interfaces of the corresponding stepping motor, and the encoder wire of the stepping motor is respectively connected with the encoder input interface of the corresponding M1 motor and the encoder input interface of the M2 motor; the dial setting unit is connected with the MCU control chip, the subdivision dial is used for setting the running precision of the motor, and the current dial is used for setting the running current and the stopping current of the motor; the positive limit wire and the negative limit wire of the stepping motor are respectively butted with the positive limit interfaces 110 of the M1 motor and the M2 motor and the negative limit interfaces 105 of the M1 motor and the M2 motor.
The leading-out wire of the emergency stop interface 101 is connected with hardware, the hardware can be an emergency stop switch, the interface is 1 pin and 3 pins, the input high level is 24V, and the input low level is 0V; the outgoing line of the input interface 103 is connected with a sensor, the interface is 1 pin and 3 pins, the input high level is 24V, and the input low level is 0V; the outgoing line of the output interface 102 is connected to a device to be controlled, which may be an indicator lamp or an electromagnetic valve, and the output high level is 24V and the output low level is 0V.
The motor driving and controlling unit is arranged on the back surface of the IO board and adopts a TMC5160 chip of Trinamic company; the TMC5160 chip provides an accurate motor driving algorithm for the stepping motor, and an advanced FOC motor driving mode is applied, so that the torque direction of the stepping motor is tangent to the rotation of the stepping motor, the constant torque and the maximum torque in the running process of the stepping motor can be ensured, and the problems of insufficient torque, step loss and the like of a common driver are avoided.
The back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through a pin header and a bus header so as to transmit signals; MCU board and IO board are connected with the mode of stack, reduce the space on its level, satisfy the constantly miniaturized demand of industrial automation board.
The MCU board and the IO board are square boards with the same shape and size, the thickness of the MCU board and the IO board is 3 millimeters, and the side length of the MCU board and the IO board is 65 millimeters; the MCU board and the IO board that couple together are small and exquisite, satisfy the constantly miniaturized demand of industrial automation board.
The working principle of the invention is as follows:
as shown IN fig. 1-6, the motor interface 106 is used for connecting a + a-, B + B-phase lines of the stepping motor, Limit + and Limit-are connected with the Limit corresponding to the stepping motor channel, the input port (IN1) of the emergency stop button of the stepping motor is connected with the emergency stop interface 101, if closed-loop control is used, the encoder input interface 104 is connected with a communication port, the communication control CAN be performed by selecting the network port communication interface 201, the serial port communication interface 202 or the CAN communication interface 203, and finally the power supply interface 109 is connected, so that control CAN be formed; wherein, the communication protocol of the internet access communication interface 201 is UDP protocol, and the default IP address is: 192.168.5.140, port number: 2017; the default configuration of the serial communication interface 202 is a baud rate 115200, an 8-bit data bit, a 1-bit stop bit and no check bit;
the core control unit analyzes the received communication instruction through the external communication interface unit and then correspondingly controls the stepping motor according to the instruction;
the closed-loop stepping motor driving and controlling integrated board card of the embodiment has the following use modes:
absolute position motion mode, the integrated circuit board provides two kinds of zero returning modes, first kind is positive spacing zero returning, the second kind is negative spacing zero returning, can confirm the zero point through these two kinds of modes, there are two kinds of circumstances in absolute position control, first kind is just there is not the encoder to insert, absolute position control utilizes TMC5160 to provide the microstep number of real-time feedback and carries out accurate locate function, the second kind mode has the encoder to insert promptly, absolute position control just carries out accurate location to the motor position through the real-time feedback of encoder, thereby reach accurate control, in second kind control process, must set up the subdivision number of motor to be more than or equal to 64, just can pass through PI regulation, can use this control mode under the high accuracy application scene.
In the relative motion mode, in the case of the relative motion mode, the motor is shifted according to the current position as a zero point, the minimum unit is 256 × 200 microsteps as one turn, and the motion distance of the motor can be calculated through an accurate gear ratio.
In the use process of the closed-loop stepping motor driving and controlling integrated board card, a specific motion mode is selected according to actual use conditions, so that the miniaturization of industrial control is realized, and a large amount of cost is saved.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, which are directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A closed-loop stepping motor driving and controlling integrated board card is characterized by comprising an MCU (microprogrammed control Unit) board, an IO (input/output) board, a power supply unit, a core control unit, a motor driving and controlling unit, an external communication interface unit, a motor interface unit, an input/output interface unit, a dial setting unit, an encoder interface unit, a Limit + Limit-interface unit and an emergency stop interface unit, wherein the power supply unit, the core control unit, the motor driving and controlling unit, the external communication interface unit, the motor interface unit, the input/output interface unit, the dial; the motor driving and controlling unit outputs a control signal to the motor interface unit by receiving a driving and controlling instruction of the core control unit so as to control the stepping motor, and the stepping motor feeds an encoder signal back to the motor driving and controlling unit through the encoder interface unit to form a closed-loop control system.
2. The closed-loop stepping motor driving and controlling integrated board card as claimed in claim 1, wherein the core control unit and the external communication interface unit are arranged on the front surface of the MCU board; the core control unit comprises an MCU control chip; the external communication interface unit CAN communicate with the PC end through a network port communication interface, a serial port communication interface or a CAN communication interface, and acquire signals from the PC end.
3. The closed-loop stepping motor drive and control integrated board card of claim 2, wherein the MCU control chip is an STM32 chip of STM company.
4. The closed-loop stepping motor drive and control integrated board card as claimed in claim 2, wherein there are two CAN communication interfaces, and the two CAN communication interfaces are connected to the same bus according to a CAN protocol.
5. The closed-loop stepping motor driving and controlling integrated board card as claimed in claim 1, wherein the power supply unit, the motor interface unit, the dial setting unit, the encoder interface unit, the Limit + Limit-interface unit, the input/output interface unit, and the emergency stop interface unit are disposed on a front surface of the IO board; wherein the power supply unit comprises a power supply interface; the motor interface unit comprises a motor interface, and the motor interface comprises an M1 motor interface and an M2 motor interface; the dial setting unit comprises a subdivision number dial and a current dial; the encoder interface unit comprises an encoder input interface, and the encoder input interface comprises an encoder input interface of an M1 motor and an encoder input interface of an M2 motor; the Limit + Limit-interface unit comprises an M1 motor and a positive Limit interface and a negative Limit interface of the M2 motor; the input/output interface unit comprises an output interface and an input interface; the scram interface unit comprises a scram interface.
6. The closed-loop stepping motor drive and control integrated board card as claimed in claim 5, wherein the drive line of the M1 motor and the drive line of the M2 motor of the motor interface are respectively inserted into the corresponding interfaces of the stepping motor, and the encoder lines of the stepping motor are respectively connected with the encoder input interface of the M1 motor and the encoder input interface of the M2 motor; and a positive limit wire and a negative limit wire of the stepping motor are respectively butted with corresponding positive limit interfaces of the M1 motor and the M2 motor and corresponding negative limit interfaces of the M1 motor and the M2 motor.
7. The closed-loop stepping motor drive and control integrated board card as claimed in claim 5, wherein an outgoing line of the scram interface is connected with hardware, the interface is 1 pin and 3 pins, the input high level is 24V, and the input low level is 0V; the outgoing line of the input interface is connected with a sensor, the interface of the input interface is provided with 1 pin and 3 pins, the input high level is 24V, and the input low level is 0V; and an outgoing line of the output interface is connected with a device to be controlled, and the output high level is 24V and the output low level is 0V.
8. The closed-loop stepping motor driving and controlling integrated board card as claimed in claim 1, wherein the motor driving and controlling unit is arranged on the reverse side of the IO board and adopts a TMC5160 chip.
9. The closed-loop stepping motor driving and controlling integrated board card as claimed in any one of claims 1 to 8, wherein the back surface of the IO board is superposed on the front surface of the MCU board, and the MCU board and the IO board are connected through pin headers and bus headers so as to transmit signals.
10. The closed-loop stepping motor driving and controlling integrated board card as claimed in any one of claims 1 to 8, wherein the MCU board and the IO board are square boards with the same shape and size, the thickness of the boards is 3 mm, and the side length of the boards is 65 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587871.XA CN112558530A (en) | 2020-12-28 | 2020-12-28 | Driving and controlling integrated board card for closed-loop stepping motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011587871.XA CN112558530A (en) | 2020-12-28 | 2020-12-28 | Driving and controlling integrated board card for closed-loop stepping motor |
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| CN112558530A true CN112558530A (en) | 2021-03-26 |
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| CN202011587871.XA Pending CN112558530A (en) | 2020-12-28 | 2020-12-28 | Driving and controlling integrated board card for closed-loop stepping motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093631A (en) * | 2021-04-30 | 2021-07-09 | 珠海广浩捷科技股份有限公司 | Auto-Test-Handler-System-AD-V1 board card |
-
2020
- 2020-12-28 CN CN202011587871.XA patent/CN112558530A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093631A (en) * | 2021-04-30 | 2021-07-09 | 珠海广浩捷科技股份有限公司 | Auto-Test-Handler-System-AD-V1 board card |
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