CN112910370A - Miniature servo controller - Google Patents
Miniature servo controller Download PDFInfo
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- CN112910370A CN112910370A CN202110320911.2A CN202110320911A CN112910370A CN 112910370 A CN112910370 A CN 112910370A CN 202110320911 A CN202110320911 A CN 202110320911A CN 112910370 A CN112910370 A CN 112910370A
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- 230000017525 heat dissipation Effects 0.000 claims abstract description 48
- 230000033001 locomotion Effects 0.000 claims abstract description 7
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- 229910052802 copper Inorganic materials 0.000 claims description 26
- 239000010949 copper Substances 0.000 claims description 26
- 238000006243 chemical reaction Methods 0.000 claims description 14
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- 230000009471 action Effects 0.000 claims description 7
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- 230000008054 signal transmission Effects 0.000 claims description 7
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 6
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
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- 238000001816 cooling Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 229910052709 silver Inorganic materials 0.000 claims description 3
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- 238000012546 transfer Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K1/00—Printed circuits
- H05K1/02—Details
- H05K1/14—Structural association of two or more printed circuits
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
Abstract
The invention relates to the technical field of servo controllers and discloses a miniature servo controller which comprises an interface board, a control board, a power board and a heat dissipation structure, wherein an AI signal, an I0 signal, an upper main control unit, an encoder, a motor and a power supply are arranged outside the servo controller. This miniature servo controller can be close to the motor and install the motion structure on, and drive signal and encoder signal cable length between servo controller and the servo motor reduce by a wide margin, and the cost is reduced has improved servo system performance, has increased security, reliability, ease to use.
Description
Technical Field
The invention relates to the technical field of servo controllers, in particular to a miniature servo controller.
Background
With the development of power electronics, microelectronics, and modern control theory, servo drivers have been widely used in various industries. In a servo drive system, a servo driver (also called a servo controller or a servo amplifier) is a controller for controlling a servo motor, acts on a common ac motor similarly to a frequency converter, belongs to a more critical part of the servo system, and is mainly applied to a high-precision positioning system. The servo motor is generally controlled by three modes of position, speed and moment, so that the high-precision positioning of a transmission system is realized, and the servo motor is a high-end product of a transmission technology at present. A typical servo driver includes a heat sink, a control circuit board and a drive circuit board, as well as various terminals and product housings. The output power of the servo driver is large and small, the large output power can reach kilowatt level, and the small output power can reach several watts level.
The existing scheme is mostly a traditional alternating current servo controller, is installed in an electric control cabinet, is connected with a drive signal and an encoder signal between the servo controller and a servo motor through an external cable, is connected with a power supply signal between the servo controller and a power supply through the external cable, and is connected with a communication signal of a servo controller and a master control upper host through the external cable.
The prior art has the following defects and shortcomings:
because servo controller size is too big, servo controller can't be close to the motor installation, results in drive signal between servo controller and the servo motor and encoder signal cable length big, easy damage, the fault height, connect inconvenient, and motor drive signal passes through very long cable transmission, and is with high costs, servo system's performance reduction, and EMC increases, and system performance, security, reliability, ease for use are influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the miniature servo controller which can be arranged on a motion structure close to a motor, the lengths of a drive signal and an encoder signal cable between the servo controller and the servo motor are greatly reduced, the cost is reduced, the performance of a servo system is improved, and the safety, the reliability and the usability are improved.
In order to achieve the purposes of reducing the cost, improving the performance of a servo system and increasing the safety, reliability and usability of the miniature servo controller, the invention provides the following technical scheme: a miniature servo controller comprises an interface board, a control board, a power board and a heat dissipation structure, wherein an AI signal, an I0 signal, an upper main control unit, an encoder, a motor and a power supply are arranged outside the servo controller.
Preferably, the servo controller realizes upper main control input, encoder input, input of analog quantity signals and digital quantity signals, and control and drive of a servo motor; the AI signal realizes the input and output of the analog quantity signal; the IO signal realizes the input and output of a digital quantity signal; the upper main control realizes the command giving of the movement; the encoder realizes feedback of a motor position signal; the motor realizes the conversion of electric energy and mechanical energy; the power supply realizes the input of electric energy.
Preferably, the servo controller is connected with the servo motor through an external cable; the servo controller is connected with the encoder through an external cable; the servo controller is connected with the upper main control through an external cable or in a wireless manner; the servo controller is connected with the power supply through an external cable; the servo controller is connected with the IO signal through an external cable; the servo controller and the AI signal are connected by an external cable.
Preferably, the interface board includes a power supply and a motor connector for inputting the power supply and outputting the motor drive, and the motor and the power connector are implemented in a form including but not limited to a connector, a pin header, a terminal, a copper bar, and the like.
The interface board comprises a power connector for realizing the connection between the board and the power supply and the motor drive, and the realization form of the power connector comprises a connector, a pin header, a terminal, a copper bar and the like.
Preferably, the control board includes a power module, which implements power conversion and provides power for system control and driving, and the power implementation form includes power electronic topologies such as buck, boost, flyback, and the like;
the control panel comprises a control module, a control module and a control module, wherein the control module is used for processing signals, realizing motor control operation, outputting control commands of a motor and providing software protection of a system, the processed signals comprise forms which are not limited to analog sensing signals, digital signals, analog quantity signals, communication signals and the like, the output commands comprise forms which are not limited to pulse signals, communication signals, analog quantity signals and the like, and the software protection contents comprise forms which are not limited to short-circuit protection, overload protection, overvoltage protection, over-temperature protection and overspeed protection;
the control panel includes power joint, realizes that power and motor drive's between board and the board are connected, power joint's realization form includes and is not limited to connector, row needle, terminal, copper bar etc..
Preferably, the power board comprises a motor driving module, and the driving module is used for driving the power module to realize energy conversion according to a motor control command, and the implementation form of the driving module includes but is not limited to a non-isolated circuit and an isolated circuit;
the power board comprises a power module, energy conversion is realized according to a driving signal of a driving module through power supply input, and the realization form of the power module comprises a MOSFET, an IGBT, a Sic, a GaN, an IPM and the like;
the power board comprises an analog sensing module, an analog signal is detected and output to a control module, the detected signal comprises phase current, bus current, temperature, voltage and the like, and the detection mode comprises Hall sensing, resistance sensing and the like;
the power board comprises a hardware protection module, and hardware protection actions are carried out according to signals of the analog sensing module, wherein the protection contents include short-circuit protection, overload protection, overvoltage protection, over-temperature protection and the like;
the power board comprises a power connector, the connection between the board and the power source driven by the motor is realized, and the realization form of the power connector comprises a connector, a pin header, a terminal, a copper bar and the like.
Preferably, the heat dissipation structure realizes heat dissipation of the power module, and the realization form of the heat dissipation structure includes but is not limited to aluminum sheet heat dissipation, copper sheet heat dissipation, silver powder sintering heat dissipation, water cooling heat dissipation and the like.
Preferably, the interface board and the control board are physically connected to realize signal transmission and structure fixation, and the physical connection form includes but is not limited to a connector, a pin header, a terminal, a screw, a copper column and the like;
the control board and the power board are physically connected to realize signal transmission and structure fixation, and the physical connection form comprises a connector, a pin header, a terminal, a screw, a copper column and the like;
the power board and the heat dissipation structure are physically connected to realize heat transfer and structure fixation, and the physical connection mode includes that the power module on the power board is connected with the heat dissipation structure through a heat dissipation material; the power board is connected with the heat dissipation material through the heat dissipation through hole and then connected to the heat dissipation structure; the power board is connected to a heat dissipation structure and the like by immersing in a heat conductive material;
the power connectors of the interface board, the control board and the power board are physically connected to realize energy transmission, the physical connection comprises connection between three boards and connection between any two boards, and the connection forms comprise connection without limitation of connectors, pin headers, terminals, copper bars, copper columns, silver pins and the like.
Compared with the prior art, the invention provides a miniature servo controller, which has the following beneficial effects:
this miniature servo controller, the user need not install servo driver in the automatically controlled cabinet again, no longer need realize servo controller and servo motor's connection through very long outside cable, can be close to the motor and install the motion structure on, drive signal and encoder signal cable length between servo controller and the servo motor reduce by a wide margin, the cost is reduced, has improved servo system performance, has increased security, reliability, ease for use.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a micro servo controller includes an interface board, a control board, a power board and a heat dissipation structure, an AI signal, an I0 signal, an upper main control, an encoder, a motor and a power supply are provided outside the servo controller.
In conclusion, the servo controller realizes the upper main control input, the encoder input, the input of the analog quantity signal and the digital quantity signal, and realizes the control and the drive of the servo motor; the AI signal realizes the input and output of the analog quantity signal; the IO signal realizes the input and output of the digital quantity signal; the upper main control realizes the command giving of the movement; the encoder realizes feedback of a motor position signal; the motor realizes the conversion of electric energy and mechanical energy; the power supply realizes the input of electric energy.
The servo controller is connected with the servo motor through an external cable; the servo controller is connected with the encoder through an external cable; the servo controller is connected with the upper main control through an external cable or in a wireless way; the servo controller is connected with the power supply through an external cable; the servo controller is connected with the IO signal through an external cable; the servo controller and the AI signal are connected through an external cable.
The lengths of the drive signals between the servo controller and the servo motor and the length of the encoder signal cable are greatly reduced, so that the cost is reduced, and the performance of a servo system is improved;
the interface board comprises an upper connector and an upper driving module, and realizes the connection and driving of an upper command and communication, wherein the upper command comprises an EtherCAT, a CANopen, a Modbus, a pulse, an analog quantity and the like;
the interface board comprises an encoder connector and an encoder driving module, the connection and the driving of the encoder are realized, and the encoder comprises a rotary transformer, a digital Hall sensor, an analog Hall sensor and the like, wherein the encoder connector is not limited to increment type, absolute value, digital Hall sensor, and the like; the interface board comprises an IO connector and an IO driving module, and realizes the connection and driving of digital quantity signals, wherein the IO signal form comprises TTL, Open D and the like from +5V to + 24V; the interface board comprises an AI connector and an AI driving module, the connection and the driving of the analog quantity signals are realized, and the AI signal form comprises analog quantity signals from +1V to +12V, and the like; the interface board comprises a power connector for realizing the input of a power supply and the output of motor drive, the realization form of the power connector comprises but not limited to a connector, a pin, a terminal, a copper bar and the like,
the connection and the drive of the encoder, the connection and the drive of a digital quantity signal, the connection and the drive of an analog quantity signal and the input of a power supply and the output of motor drive are realized by arranging an interface board;
the control panel comprises a power module, realizes the conversion of a power supply and provides power supply for system control and driving, and the power supply realization form comprises power electronic topologies such as buck, boost, flyback and the like; the control panel comprises a control module, a control module and a control module, wherein the control module is used for processing signals, realizing motor control operation, outputting control commands of a motor and providing software protection of a system, the processed signals comprise analog sensing signals, digital signals, analog quantity signals, communication signals and the like, the output commands comprise pulse signals, communication signals, analog quantity signals and the like, and the software protection content comprises short-circuit protection, overload protection, overvoltage protection, over-temperature protection, overspeed protection and the like; the power board comprises a power connector which realizes the connection between the board and the board between the power supply and the motor drive, the realization form of the power connector comprises but not limited to a connector, a pin, a terminal, a copper bar and the like,
the control panel is arranged to realize the conversion of the power supply, realize the control operation of the motor and realize the input of the power supply and the output of the motor drive;
the power board comprises a motor driving module, the power driving module is driven to realize energy conversion according to a motor control command, and the realization form of the driving module comprises a non-isolated circuit, an isolated circuit and the like; the power board comprises a power module, energy conversion is realized according to a driving signal of the driving module through power supply input, and the realization form of the power module comprises a MOSFET, an IGBT, a Sic, a GaN, an IPM and the like; the power board comprises an analog sensing module, an analog signal is detected and output to the control module, the detected signal comprises phase current, bus current, temperature, voltage and the like, and the detection mode comprises Hall sensing, resistance sensing and the like; the power board comprises a hardware protection module, and performs hardware protection action according to the signal of the analog sensing module, wherein the protection contents include short-circuit protection, overload protection, overvoltage protection, over-temperature protection and the like; the power board comprises a power connector for realizing the input of a power supply and the output of motor drive, the realization form of the power connector comprises but is not limited to a connector, a pin, a terminal, a copper bar and the like,
energy conversion is realized by arranging a power board to drive a power module, hardware protection action is carried out, and power supply input and motor drive output are realized;
the heat dissipation structure realizes the heat dissipation of the power module, the realization form of the heat dissipation structure comprises aluminum sheet heat dissipation, copper sheet heat dissipation, silver powder sintering heat dissipation, water cooling heat dissipation and the like,
by arranging the heat dissipation structure, the heat dissipation of the power module is realized, the performance of a servo system is improved, and the safety is improved;
the interface board and the control board are physically connected to realize signal transmission and structure fixation, and the physical connection form comprises a connector, a pin header, a terminal, a screw, a copper column and the like; the control board and the power board are physically connected to realize signal transmission and structure fixation, and the physical connection form comprises a connector, a pin header, a terminal, a screw, a copper column and the like; the power board and the heat dissipation structure are physically connected to realize heat transfer and structure fixation, and the physical connection mode includes that the power module on the power board is connected with the heat dissipation structure through a heat dissipation material; the power board is connected with the heat dissipation material through the heat dissipation through hole and then connected to the heat dissipation structure; the power board is connected to the heat dissipation structure and the like by immersing in the heat conduction material; the interface board, the control board and the power joint of the power board are physically connected to realize energy transmission, the physical connection comprises connection among three boards and connection between any two boards, the connection form comprises connection without limitation of a connector, a pin, a terminal, a copper bar, a copper column, a silver pin and the like,
the signal transmission, the structure fixation and the energy transmission are realized through the physical connection of the interface board, the control board and the power joint of the power board.
When the micro servo controller is used, a user does not need to install a servo driver into an electric control cabinet, connection between the servo controller and a servo motor is not needed to be realized through a long external cable, the micro servo controller can be installed on a motion structure close to the motor, the lengths of a driving signal between the servo controller and the servo motor and a coder signal cable are greatly reduced, the cost is reduced, the performance of a servo system is improved, and the safety, the reliability and the usability are improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A miniature servo controller, comprising: the servo controller comprises an interface board, a control board, a power board and a heat dissipation structure, wherein an AI signal, an I0 signal, an upper main control unit, an encoder, a motor and a power supply are arranged outside the servo controller.
2. The micro servo controller of claim 1, wherein: the servo controller realizes upper main control input, encoder input, input of analog quantity signals and digital quantity signals and control and drive of a servo motor; the AI signal realizes the input and output of the analog quantity signal; the IO signal realizes the input and output of a digital quantity signal; the upper main control realizes the command giving of the movement; the encoder realizes feedback of a motor position signal; the motor realizes the conversion of electric energy and mechanical energy; the power supply realizes the input of electric energy.
3. The micro servo controller of claim 1, wherein: the servo controller is connected with the servo motor through an external cable; the servo controller is connected with the encoder through an external cable; the servo controller is connected with the upper main control through an external cable or in a wireless manner; the servo controller is connected with the power supply through an external cable; the servo controller is connected with the IO signal through an external cable; the servo controller and the AI signal are connected by an external cable.
4. The micro servo controller of claim 1, wherein: the interface board comprises a power supply and a motor connector, the input of the power supply and the output of the motor drive are realized, and the realization forms of the motor and the power supply connector include but are not limited to a connector, a pin, a terminal, a copper bar and the like.
The interface board comprises a power connector for realizing the connection between the board and the power supply and the motor drive, and the realization form of the power connector comprises a connector, a pin header, a terminal, a copper bar and the like.
5. The micro servo controller of claim 1, wherein: the control panel comprises a power module, realizes the conversion of a power supply and provides power supply for system control and driving, and the power supply realization form comprises power electronic topologies such as buck, boost, flyback and the like;
the control panel comprises a control module, a control module and a control module, wherein the control module is used for processing signals, realizing motor control operation, outputting control commands of a motor and providing software protection of a system, the processed signals comprise forms which are not limited to analog sensing signals, digital signals, analog quantity signals, communication signals and the like, the output commands comprise forms which are not limited to pulse signals, communication signals, analog quantity signals and the like, and the software protection contents comprise forms which are not limited to short-circuit protection, overload protection, overvoltage protection, over-temperature protection and overspeed protection;
the control panel includes power joint, realizes that power and motor drive's between board and the board are connected, power joint's realization form includes and is not limited to connector, row needle, terminal, copper bar etc..
6. The micro servo controller of claim 1, wherein: the power board comprises a motor driving module, the power driving module is driven to realize energy conversion according to a motor control command, and the realization form of the driving module comprises a non-isolated circuit and an isolated circuit;
the power board comprises a power module, energy conversion is realized according to a driving signal of a driving module through power supply input, and the realization form of the power module comprises a MOSFET, an IGBT, a Sic, a GaN and an IPM;
the power board comprises an analog sensing module, an analog signal is detected and output to a control module, the detected signal comprises phase current, bus current, temperature, voltage and the like, and the detection mode comprises Hall sensing and resistance sensing;
the power board comprises a hardware protection module, and performs hardware protection action according to the signal of the analog sensing module, wherein the protection contents include short-circuit protection, overload protection, overvoltage protection and over-temperature protection;
the power board comprises a power connector, the connection between the board and the power source driven by the motor is realized, and the realization form of the power connector comprises a connector, a pin header, a terminal, a copper bar and the like.
7. The micro servo controller of claim 1, wherein: the heat dissipation structure realizes heat dissipation of the power module, and the realization form of the heat dissipation structure comprises aluminum sheet heat dissipation, copper sheet heat dissipation, silver powder sintering heat dissipation and water cooling heat dissipation.
8. The micro servo controller of claim 1, wherein: the interface board and the control board are physically connected to realize signal transmission and structure fixation, and the physical connection form comprises a connector, a pin header, a terminal, a screw and a copper column;
the control board and the power board are physically connected to realize signal transmission and structure fixation, and the physical connection form comprises a connector, a pin header, a terminal, a screw and a copper column;
the power board and the heat dissipation structure are physically connected to realize heat transfer and structure fixation, and the physical connection mode includes that the power module on the power board is connected with the heat dissipation structure through a heat dissipation material; the power board is connected with the heat dissipation material through the heat dissipation through hole and then connected to the heat dissipation structure; the power board is connected to the heat dissipation structure by being immersed in the heat conduction material;
the interface board, the control board and the power connector of the power board are physically connected to realize energy transmission, the physical connection comprises connection between three boards and connection between any two boards, and the connection form comprises connection without limitation of a connector, a pin header, a terminal, a copper bar, a copper column and a silver pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110320911.2A CN112910370A (en) | 2021-03-25 | 2021-03-25 | Miniature servo controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110320911.2A CN112910370A (en) | 2021-03-25 | 2021-03-25 | Miniature servo controller |
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| CN112910370A true CN112910370A (en) | 2021-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110320911.2A Pending CN112910370A (en) | 2021-03-25 | 2021-03-25 | Miniature servo controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115081A (en) * | 2021-12-31 | 2022-03-01 | 北京中航智科技有限公司 | High-power-density servo driver |
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|---|---|---|---|---|
| CN201901760U (en) * | 2010-12-01 | 2011-07-20 | 上海鲍麦克斯电子科技有限公司 | External interface board of servo controller of industrial sewing machine |
| CN207706091U (en) * | 2018-01-06 | 2018-08-07 | 清能德创电气技术（北京）有限公司 | A kind of inside uses the miniature servo-driver of stack pcb board |
| CN110336424A (en) * | 2019-07-08 | 2019-10-15 | 上海莫申自动化科技有限公司 | Integrated precision intelligence servo motor |
| CN210579631U (en) * | 2019-07-08 | 2020-05-19 | 清能德创电气技术（北京）有限公司 | Servo driver |
-
2021
- 2021-03-25 CN CN202110320911.2A patent/CN112910370A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201901760U (en) * | 2010-12-01 | 2011-07-20 | 上海鲍麦克斯电子科技有限公司 | External interface board of servo controller of industrial sewing machine |
| CN207706091U (en) * | 2018-01-06 | 2018-08-07 | 清能德创电气技术（北京）有限公司 | A kind of inside uses the miniature servo-driver of stack pcb board |
| CN110336424A (en) * | 2019-07-08 | 2019-10-15 | 上海莫申自动化科技有限公司 | Integrated precision intelligence servo motor |
| CN210579631U (en) * | 2019-07-08 | 2020-05-19 | 清能德创电气技术（北京）有限公司 | Servo driver |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115081A (en) * | 2021-12-31 | 2022-03-01 | 北京中航智科技有限公司 | High-power-density servo driver |
| CN114115081B (en) * | 2021-12-31 | 2024-04-05 | 北京中航智科技有限公司 | High-power density servo driver |
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Application publication date: 20210604 |
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