CN113552432A - Electromagnetic valve, manipulator multiplexing control and online detection circuit and detection method thereof - Google Patents
Electromagnetic valve, manipulator multiplexing control and online detection circuit and detection method thereof Download PDFInfo
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- CN113552432A CN113552432A CN202110811576.6A CN202110811576A CN113552432A CN 113552432 A CN113552432 A CN 113552432A CN 202110811576 A CN202110811576 A CN 202110811576A CN 113552432 A CN113552432 A CN 113552432A
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- 238000001514 detection method Methods 0.000 title claims abstract description 76
- 230000009466 transformation Effects 0.000 claims description 86
- 230000000087 stabilizing effect Effects 0.000 claims description 10
- 239000003990 capacitor Substances 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000006698 induction Effects 0.000 description 3
- 230000035772 mutation Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013256 coordination polymer Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
The invention discloses a solenoid valve, a manipulator multiplexing control and online detection circuit and a detection method thereof, relating to the technical field of circuit detection and being used for solving the technical problems that a manipulator and a solenoid valve in a circuit are separately controlled and whether the manipulator or the solenoid valve is online or not can not be detected at the same time; the invention is used for multiplexing control and simultaneously detecting and distinguishing whether the mechanical elements are on line or not.
Description
Technical Field
The invention relates to the technical field of circuit detection, in particular to a solenoid valve, a manipulator multiplexing control and online detection circuit and a detection method thereof, which are used for distinguishing and detecting the solenoid valve and the manipulator and simultaneously detecting whether the manipulator or the solenoid valve is online.
Background
The manipulator is used for grabbing or adsorbing the work piece, and the manipulator of installation makes the manipulator remove with the work piece that will grab and move different stations along with the control of circuit. When the manipulator grabs different workpieces and the workpieces are placed at different positions, a control circuit is needed to control the manipulator to grab or move.
The electromagnetic valve is industrial equipment controlled by electromagnetism, is an automatic basic element for controlling fluid, belongs to an actuator, is not limited to hydraulic pressure and pneumatic pressure, can be matched with different circuits to realize expected control, can ensure the control precision and flexibility, and can play a role in different positions of a control system.
At present, in the electromechanical industry, a manipulator and an electromagnetic valve are separately controlled, so that the cost is increased, and whether the electromagnetic valve and the manipulator are on-line or not can not be effectively identified. Therefore, the cost is increased, and the situation that whether the connection of the electromagnetic valve and the mechanical arm is normal or not is judged by a user is not facilitated.
Disclosure of Invention
The invention aims to: the invention provides an electromagnetic valve, a manipulator multiplexing control circuit and an online detection circuit, aiming at solving the problems that a manipulator and an electromagnetic valve are separately controlled and whether the manipulator or the electromagnetic valve is online or not cannot be detected simultaneously in the existing circuit.
The invention specifically adopts the following technical scheme for realizing the purpose:
solenoid valve, multiplexing control of manipulator and on-line measuring circuit, including detection module, control module, MCU chip and relay J4, the MCU chip connect in detection module, control module and relay J4, the MCU chip has test terminal P33, test terminal P33 connects in detection module, and the inside of MCU chip has current-limiting resistance R15, current-limiting resistance R15's one end is connected in control module, and MCU chip circuit connects in the inside first pin 3 and the second pin 4 that have of relay J4, second pin 4 is connected in any one in solenoid valve or manipulator, first pin 3 is connected in the earthing terminal GND that the inside of MCU chip has.
Further, the other end of the current limiting resistor R15 on the MCU chip is connected to the transistor Q4 and the voltage dividing resistor R16, and the voltage dividing resistor R16 is further connected to the ground GND.
Further, the triode Q4 has a base, an emitter and a collector, the base is connected to the current limiting resistor R15, the emitter is connected to the ground GND, the collector is connected to the MOS transistor Q5 and the voltage stabilizing resistor R17, respectively, and the other end of the voltage stabilizing resistor R17 is connected to a power supply through a power supply resistor R9.
Further, the MOS transistor Q5 has a base, an emitter, and a collector, the base of the MOS transistor Q5 is connected to the collector of the transistor Q4, the emitter and the collector of the MOS transistor Q5 are respectively connected to the voltage regulator resistor R17 and the second pin 4, wherein the collector of the MOS transistor Q5 is further connected to a diode D4, and the other end of the diode D4 is connected to the ground GND.
Further, the MCU chip has a detection circuit therein, and the detection circuit is respectively connected to the voltage stabilization resistor R17 and the second pin 4 in the MCU chip.
Further, the detection circuit is provided with a first transformation resistor RP1, a second transformation resistor RP2 and a third transformation resistor RP3, the first transformation resistor RP1 is connected to the voltage-stabilizing resistor R17, the second transformation resistor RP2 and the third transformation resistor RP3 are connected to the second pin 4, and the first transformation resistor RP1 is connected in parallel with a MOS transistor Q5 in the detection circuit.
Further, the first transformation resistor RP1 is connected to the second transformation resistor RP2, the third transformation resistor RP3 is connected between the first transformation resistor RP1 and the second transformation resistor RP2, the other end of the third transformation resistor RP3 is connected to the detection end P33, the other end of the second transformation resistor RP2 is connected to the ground end GND, and a capacitor CP1 is provided between the detection end P33 and the ground end GND.
The detection method of the electromagnetic valve, the manipulator multiplexing control and the online detection circuit is characterized by comprising the following steps:
1) the control module gives a current signal to one end of the current-limiting resistor R15, the base of the triode Q4 is turned on, the emitter and the collector of the triode Q4 are connected to a power supply through a voltage-stabilizing resistor R17 and conducted, so that the base of the MOS transistor Q5 turns on the whole MOS transistor Q5 to be in a conducting state, and the power supply is communicated with the power supply resistor R9, the MOS transistor Q5, the first pin 3, the second pin 4 and the ground end GND to form a current loop;
2) when the control module stops giving a current signal to one end of the current-limiting resistor R15, the triode Q4 is disconnected to cause the disconnection of the MOS transistor Q5, when the load connection drops or the load drops, the current flows to the power supply through the ground terminal GND, the first voltage transformation resistor RP1, the second voltage transformation resistor RP2 and the power supply resistor R9 to form a loop, even if the control module gives a current signal to one end of the current-limiting resistor R15, the MOS transistor Q5 is in a conducting state, the first pin 3 and the second pin 4 are disconnected, and the power supply forms a current breaking circuit for the power supply resistor R9, the MOS transistor Q5, the first pin 3, the second pin 4 and the ground terminal GND;
3) the detection module connected to the detection terminal P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP2, and determines whether a load is connected between the first pin 3 and the second pin 4;
4) the control module gives a current signal to one end of the current limiting resistor R15, the solenoid valve is connected between the first pin 3 and the second pin 4, and the detection end P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP 2;
5) the control module gives a current signal to one end of the current limiting resistor R15, a manipulator is connected between the first pin 3 and the second pin 4, and the detection end P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP 2.
Wherein, the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 3) is V1;
the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 4) is V2;
the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 5) is V3.
Wherein, for controlling and detecting the detection voltage of the circuit, the current signal is an alternating current or a pulse current signal.
The invention has the following beneficial effects:
1. the circuit of the invention only needs two pins in the MCU chip, one pin is used for the control (PULSE) of the electromagnetic valve and the manipulator, namely, one end of the current limiting resistor R15 is connected with the control module to control the operation of the electromagnetic valve or the manipulator or detect whether the pin is connected with a load on line.
2. Another connection of the present invention is used to distinguish between solenoid valves or manipulators (i.e., the test terminal P33), and can simultaneously test whether a manipulator or solenoid valve is on-line. When no load is connected or the load is disconnected, the current forms a loop through RP1 and RP2, and the voltage of P33 is V1; when the relay J4 is connected with the solenoid valve, current passes through the Q5 and the solenoid valve to form a loop, and the voltage of P33 is V2; when J4 is connected to the manipulator, current flows through Q5 and the manipulator forms a loop, and the voltage of P33 is V3. There is a large difference between V1, V2 and V3, which is sufficient for distinguishing the type of load (robot or solenoid) connected to the relay J4 and whether the load (robot or solenoid) is on-line.
3. The invention realizes the multiplexing control of the pulse electromagnetic valve or the manipulator through a simple circuit, and can distinguish whether the current control equipment is the manipulator or the electromagnetic valve and whether the controlled equipment is on line. Therefore, the circuit cost is saved, and the multifunctional control and the on-line detection of the controlled equipment are increased.
4. The current signal is an alternating current or pulse current signal, so that the load can be detected conveniently, the voltage of the load is stable, the loss of the current in a circuit is reduced, and the induction mutation of the load in the detection process is prevented.
Drawings
FIG. 1 is a schematic view of a model connection structure of the present invention;
FIG. 2 is a schematic diagram of the connection structure of the control and on-line detection circuit of the present invention.
Reference numerals: j4-a relay, P33-a detection end, R9-a power supply resistor, R15-a current-limiting resistor, R16-a divider resistor, R17-a voltage-stabilizing resistor, 3-a first pin, 4-a second pin, a GND-ground terminal, a Q4-triode, a Q5-an MOS (metal oxide semiconductor) transistor, a D4-a diode, RP 1-a first transformation resistor, RP 2-a second transformation resistor, RP 3-a third transformation resistor and a CP 1-a capacitor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
Example 1
As shown in fig. 1, the present embodiment provides a solenoid valve, a manipulator multiplexing control and online detection circuit, which includes a detection module, a control module, an MCU chip and a relay J4, wherein the MCU chip is connected to the detection module, the control module and the relay J4, as shown in fig. 2, the MCU chip has a detection terminal P33(+12V dc voltage), the detection terminal P33 is connected to the detection module, a current limiting resistor R15 is provided inside the MCU chip, one end of the current limiting resistor R15 is connected with the control module, the MCU chip circuit is connected with the first pin 3 and the second pin 4 in the relay J4, the second pin 4 is connected with any one of the electromagnetic valve or the mechanical arm (the second pin 4 is connected with positive voltage), the first pin 3 is connected with a ground terminal GND (the first pin 3 is connected with negative voltage) arranged inside the MCU chip, and a circuit loop is formed by connecting an electromagnetic valve or a mechanical arm between the first pin 3 and the second pin 4.
As shown in fig. 2, the other end of a current limiting resistor R15 on the MCU chip is connected to a transistor Q4 and a voltage dividing resistor R16, the current limiting resistor R15 is used for limiting current at the PULSE end, a current signal given by the PULSE end is an alternating current or a PULSE current signal, the voltage dividing resistor R16 is connected to the ground end GND to generate a divided voltage, which acts as a control switch on the base of the transistor Q4, the transistor Q4 has a base, an emitter, and a collector (i.e., the digital marks of 1, 2, and 3 corresponding to the transistor Q4 in the figure), the base is connected to the current limiting resistor R15, the emitter is connected to the ground end GND, the collector is connected to a voltage regulator Q5 and the resistor R17, and the other end of the voltage regulator resistor R17 is connected to a power supply VCC (+24V) through the power supply resistor R9.
The MOS transistor Q5 has a base, an emitter, and a collector (i.e., the numbers 1, 2, and 3 corresponding to the MOS transistor Q5 in the figure), the base of the MOS transistor Q5 is connected to the collector of the transistor Q4, the emitter and the collector of the MOS transistor Q5 are respectively connected to the voltage-stabilizing resistor R17 and the second pin 4, wherein the collector of the MOS transistor Q5 is further connected to a diode D4, the solenoid valve or the manipulator is a load, the solenoid valve or the manipulator has an inductor, the diode D4 is used to prevent the induction mutation of the coil (the voltage or current induction mutation of the first pin 3) during the detection process, and the other end of the diode D4 is connected to the ground GND.
The detection circuit is respectively connected to a voltage stabilizing resistor R17 and the second pin 4 which are arranged in the MCU chip, the detection circuit is provided with a first voltage transformation resistor RP1, a second voltage transformation resistor RP2 and a third voltage transformation resistor RP3, the first voltage transformation resistor RP1 is connected to the voltage stabilizing resistor R17, the first voltage transformation resistor RP1 is also connected in parallel with an MOS tube Q5 which is arranged in the detection circuit, and the second voltage transformation resistor RP2 and the third voltage transformation resistor RP3 are connected to the second pin 4.
The first transformation resistor RP1 is communicated with the second transformation resistor RP2, the third transformation resistor RP3 is connected between the first transformation resistor RP1 and the second transformation resistor RP2, the other end of the third transformation resistor RP3 is connected to the detection end P33, the other end of the second transformation resistor RP2 is connected to the ground end GND, and a capacitor CP1 is arranged between the detection end P33 and the ground end GND.
The working principle is as follows: the invention mainly utilizes the wiring mode of the MCU chip, two pins in the MCU chip are needed in the circuit, one is used for controlling the electromagnetic valve and the mechanical arm (a PULSE end, namely one end of a current limiting resistor R15 is connected with a control module), and the other is used for distinguishing the electromagnetic valve and the mechanical arm (P33, namely a detection end P33 is connected with a detection module), so that whether the mechanical arm or the electromagnetic valve is on-line or not can be detected at the same time. When no load is connected or the load is disconnected, the current forms a loop through RP1 and RP2, and the voltage obtained by the detection end P33 is V1; when the second pin 4 of the relay J4 is connected with the solenoid valve, the current passes through the MOS tube Q5 and the solenoid valve to form a loop, and the voltage of P33 is V2; when the relay J4 is connected with the manipulator, current passes through the MOS tube Q5 and the manipulator forms a loop, the voltage of P33 is V3, V1, V2 and V3 are judged by the point voltage of line connection between the third voltage transformation resistor RP3 and the diode D4, V1, V2 and V3 have large differences which are enough for distinguishing the type of a load (the manipulator or the solenoid valve) connected with the relay J4 and whether the load (the manipulator or the solenoid valve) is on line, the manipulator or the solenoid valve is connected between the first pin 3 and the second pin 4 to form a circuit loop, and the general manipulator or the solenoid valve is placed and connected outside the relay J4.
Example 2
The detection method of the electromagnetic valve, the manipulator multiplexing control and the online detection circuit comprises the following steps:
1) the control module gives a current signal to one end of the current-limiting resistor R15, the base of the triode Q4 is turned on, the emitter and the collector of the triode Q4 are connected to a power supply through a voltage-stabilizing resistor R17 and conducted, so that the base of the MOS transistor Q5 turns on the whole MOS transistor Q5 to be in a conducting state, and the power supply is communicated with the power supply resistor R9, the MOS transistor Q5, the first pin 3, the second pin 4 and the ground end GND to form a current loop;
2) when the control module stops giving a current signal to one end of the current-limiting resistor R15, the triode Q4 is disconnected to cause the disconnection of the MOS transistor Q5, when the load connection drops or the load drops, the current flows to the power supply through the ground terminal GND, the first voltage transformation resistor RP1, the second voltage transformation resistor RP2 and the power supply resistor R9 to form a loop, even if the control module gives a current signal to one end of the current-limiting resistor R15, the MOS transistor Q5 is in a conducting state, the first pin 3 and the second pin 4 are disconnected, and the power supply forms a current breaking circuit for the power supply resistor R9, the MOS transistor Q5, the first pin 3, the second pin 4 and the ground terminal GND;
3) the detection module connected to the detection terminal P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP2, and determines whether a load is connected between the first pin 3 and the second pin 4;
4) the control module gives a current signal to one end of the current limiting resistor R15, the solenoid valve is connected between the first pin 3 and the second pin 4, and the detection end P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP 2;
5) the control module gives a current signal to one end of the current limiting resistor R15, a manipulator is connected between the first pin 3 and the second pin 4, and the detection end P33 detects the voltage between the first transformation resistor RP1 and the second transformation resistor RP 2.
Wherein, the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 3) is V1;
the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 4) is V2;
the voltage value between the first transformation resistor RP1 and the second transformation resistor RP2 in the step 5) is V3.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, the scope of the present invention is defined by the appended claims, and all equivalent changes made by applying the contents of the description of the present invention should be embraced in the scope of the present invention.
Claims (10)
1. Solenoid valve, the multiplexing control of manipulator and on-line measuring circuit, including detection module, control module, MCU chip and relay (J4), its characterized in that: the MCU chip connect in detection module, control module and relay (J4), the MCU chip has test terminal (P33), test terminal (P33) is connected in detection module, and the inside of MCU chip has current-limiting resistance (R15), the one end of current-limiting resistance (R15) is connected in control module, and MCU chip circuit connection has first pin (3) and second pin (4) in relay (J4) inside, second pin (4) are connected in arbitrary one in solenoid valve or manipulator, ground terminal (GND) that the inside of MCU chip has are connected in first pin (3).
2. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 1, characterized in that: the other end of a current limiting resistor (R15) arranged on the MCU chip is respectively connected to the triode (Q4) and the voltage dividing resistor (R16), and the voltage dividing resistor (R16) is connected to the ground terminal (GND).
3. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 2, characterized in that: the triode (Q4) is provided with a base electrode, an emitter electrode and a collector electrode, the base electrode is connected with the current limiting resistor (R15), the emitter electrode is connected with the ground terminal (GND), the collector electrode is respectively connected with the MOS tube (Q5) and the voltage stabilizing resistor (R17), and the other end of the voltage stabilizing resistor (R17) is connected to a power supply through a power supply resistor (R9).
4. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 3, characterized in that: the MOS tube (Q5) is provided with a base electrode, an emitting electrode and a collecting electrode, the base electrode of the MOS tube (Q5) is connected with the collecting electrode of the triode (Q4), the emitting electrode and the collecting electrode of the MOS tube (Q5) are respectively connected with the voltage stabilizing resistor (R17) and the second pin (4), the collecting electrode of the MOS tube (Q5) is further connected with a diode (D4), and the other end of the diode (D4) is connected with the ground terminal (GND).
5. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 1, characterized in that: the MCU chip is internally provided with a detection circuit, and the detection circuit is respectively connected to a voltage stabilizing resistor (R17) and the second pin (4) which are arranged in the MCU chip.
6. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 5, characterized in that: the detection circuit is provided with a first transformation resistor (RP1), a second transformation resistor (RP2) and a third transformation resistor (RP3), the first transformation resistor (RP1) is connected with the voltage stabilizing resistor (R17), the second transformation resistor (RP2) and the third transformation resistor (RP3) are connected with the second pin (4), and the first transformation resistor (RP1) is connected with an MOS (Q5) in the detection circuit in parallel.
7. The solenoid valve, manipulator multiplexing control and on-line detection circuit of claim 6, wherein: the first transformation resistor (RP1) is communicated with the second transformation resistor (RP2), the third transformation resistor (RP3) is connected between the first transformation resistor (RP1) and the second transformation resistor (RP2), the other end of the third transformation resistor (RP3) is connected to the detection end (P33), the other end of the second transformation resistor (RP2) is connected to the ground end (GND), and a capacitor (CP1) is arranged between the detection end (P33) and the ground end (GND).
8. The detection method of the electromagnetic valve, the manipulator multiplexing control and the online detection circuit according to the claims 1-7, characterized by comprising the following steps:
1) the control module gives a current signal to one end of the current limiting resistor (R15), the base of the triode (Q4) is turned on, the emitter and the collector of the triode (Q4) are connected to a power supply through a voltage stabilizing resistor (R17) to be conducted, so that the base of the MOS transistor (Q5) turns on the whole MOS transistor (Q5) to be in a conducting state, and the power supply is communicated with the power supply resistor (R9), the MOS transistor (Q5), the first pin (3), the second pin (4) and the ground terminal (GND) to form a current loop;
2) when the control module stops giving a current signal to one end of the current-limiting resistor (R15), the triode (Q4) is disconnected to cause the MOS transistor (Q5) to be disconnected, when the load connection drops or the load drops, the current passes through the ground terminal (GND), the first voltage-transformation resistor (RP1), the second voltage-transformation resistor (RP2) and the power supply resistor (R9) to form a loop to the power supply, even if the control module gives a current signal to one end of the current-limiting resistor (R15), the MOS transistor (Q5) is in a conducting state, the first pin (3) and the second pin (4) are disconnected, and the power supply forms a current disconnection to the power supply resistor (R9), the MOS transistor (Q5), the first pin (3), the second pin (4) and the ground terminal (GND);
3) the detection module connected to the detection terminal (P33) detects the voltage between the first transformation resistor (RP1) and the second transformation resistor (RP2) and judges whether a load is connected between the first pin (3) and the second pin (4);
4) the control module gives a current signal to one end of the current limiting resistor (R15), the solenoid valve is connected between the first pin (3) and the second pin (4), and the detection end (P33) detects the voltage between the first transformation resistor (RP1) and the second transformation resistor (RP 2);
5) the control module gives a current signal to one end of the current limiting resistor (R15), a manipulator is connected between the first pin (3) and the second pin (4), and the detection end (P33) detects the voltage between the first transformation resistor (RP1) and the second transformation resistor (RP 2).
9. The method for detecting the electromagnetic valve, the manipulator multiplexing control and the online detection circuit according to claim 8, is characterized in that: the voltage value between the first transformation resistor (RP1) and the second transformation resistor (RP2) in the step 3) is V1;
the voltage value between the first transformation resistor (RP1) and the second transformation resistor (RP2) in the step 4) is V2;
the voltage value between the first transformation resistor (RP1) and the second transformation resistor (RP2) in the step 5) is V3.
10. The method for detecting the electromagnetic valve, the manipulator multiplexing control and the online detection circuit according to claim 8, is characterized in that: for controlling and detecting the detection voltage of the circuit, the current signal is an alternating current or a pulsed current signal.
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