CN116404921A - Three-in-one stepping driver based on EtherCAT communication - Google Patents
Three-in-one stepping driver based on EtherCAT communication Download PDFInfo
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- CN116404921A CN116404921A CN202310433236.3A CN202310433236A CN116404921A CN 116404921 A CN116404921 A CN 116404921A CN 202310433236 A CN202310433236 A CN 202310433236A CN 116404921 A CN116404921 A CN 116404921A
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- 238000004891 communication Methods 0.000 title claims abstract description 24
- 238000006243 chemical reaction Methods 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims description 9
- 230000006855 networking Effects 0.000 claims description 2
- 230000004044 response Effects 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 4
- 238000004904 shortening Methods 0.000 abstract 1
- 239000002023 wood Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000004043 responsiveness Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/40—Special adaptations for controlling two or more stepping 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
- H02P8/00—Arrangements for controlling dynamo-electric motors of the kind having motors rotating step by step
- H02P8/14—Arrangements for controlling speed or speed and torque
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of step drivers, in particular to a three-in-one step driver based on EtherCAT communication, which comprises an MCU main control module, wherein the MCU main control module is respectively connected with a voltage conversion module, a driving module, an encoder interface, an EtherCAT interface and an IO control input interface; and the IO control input interface and the EtherCAT interface are respectively connected with the PLC control unit. The device reduces the system cost by reducing the hardware cost to realize the same function under the condition of one driver, can effectively reduce the complexity and the volume of wiring by integrating a plurality of common stepping drivers, and finally reduces the communication data volume by sharing one MCU, thereby improving the communication rate, increasing the response speed of each motor in a stepping way, saving the time cost of system processing, improving the processing capacity and shortening the system response time.
Description
Technical Field
The invention relates to the technical field of stepping drivers, in particular to a three-in-one stepping driver based on EtherCAT communication.
Background
A stepper motor is a motor that converts an electrical pulse signal into a corresponding angular or linear displacement, and due to its nature, the stepper motor cannot be driven directly with direct or alternating current, and must be driven with a special driver.
Conventional stepper drives generally can only drive a single motor, however, more and more important places require multiple motors to form a multi-shaft system, such as high-precision fields of medical treatment, industry, manufacturing industry and the like, and the conventional stepper motors can only form the multi-shaft system through a control unit, but the actual performance often cannot meet the requirements. When single-function stepping drives are used, each stepping drive is in a situation that a motor movement result is not in accordance with an expected result due to hardware and software or other accidental factors, so that the actual control effect of the whole multi-axis system is greatly reduced.
In this case, if the conventional stepping driver is to realize multi-axis control, it is necessary to connect a plurality of stepping drivers to the main control unit, and the control responsiveness of each axis is not high, and it is difficult to perform quick response. In order to react quickly, a communication means with a higher communication rate and a faster MCU with a higher operation frequency are needed, which results in excessive cost, and the process of connecting wires also results in excessive occupation of port resources of the main control unit due to excessive drivers, which makes the system too bulky.
Therefore, a new solution is urgently needed to solve the above technical problems.
Disclosure of Invention
The invention aims to solve the problems of the prior art, and provides a three-in-one step driver based on EtherCAT communication, which aims to solve the technical problems that in the prior art, a plurality of step drivers are required to be connected to a main control unit to cause low control responsiveness of each shaft, quick response is difficult, the cost is high and the system is too numerous and complicated.
The above purpose is realized by the following technical scheme:
the three-in-one stepping driver based on EtherCAT communication comprises an MCU main control module, wherein the MCU main control module is respectively connected with a voltage conversion module, a driving module, an encoder interface, an EtherCAT interface and an IO control input interface;
the voltage conversion module is used for providing direct current for the MCU main control module, and is connected with a power interface;
the driving module comprises an H-bridge driving module and a power line interface which are connected with each other, and the power line interface is connected with the stepping motor through a power line of the stepping motor;
the encoder interface is connected with the stepping motor through a stepping motor encoding line and is used for inputting encoder pulse signals to the MCU main control module;
the EtherCAT interface is connected with the PLC control unit through an EtherCAT bus and is used for data interaction between the MCU main control module and the PLC control unit;
the IO control input interface is connected with the PLC control unit and is used for receiving a control signal of the PLC control unit;
the number of the encoder interfaces is 3, and the encoder interfaces comprise a first encoder interface, a second encoder interface and a third encoder interface;
the number of the IO control input interfaces is 3, and the IO control input interfaces comprise a first IO control input interface, a second IO control input interface and a third IO control input interface;
the H bridge driving modules comprise 3H bridge driving modules, namely a first H bridge driving module, a second H bridge driving module and a third H bridge driving module, and correspondingly, the power line interfaces comprise a first power line interface connected with the first H bridge driving module, a second power line interface connected with the second H bridge driving module and a third power line interface connected with the third H bridge driving module.
Further, the MCU main control module is also connected with a man-machine interaction module, so that man-machine interaction control is realized.
Further, the MCU main control module is RuisaRZ/T2.
Further, there are 2 etherCAT interfaces, including first etherCAT interface and second etherCAT interface, first etherCAT interface pass through etherCAT bus with PLC control unit is connected, second etherCAT interface passes through the net twine and is connected realization network deployment with adjacent trinity step driver.
Advantageous effects
According to the three-in-one step driver based on EtherCAT communication, the same function is realized by reducing the hardware cost under the condition of one driver, the system cost is reduced, the complexity and the volume of wiring can be effectively reduced by integrating a plurality of common step drivers into one, the communication data volume is reduced by sharing one MCU, the communication rate is improved, the response speed of each motor is increased in a step mode, the time cost of system processing is saved, the processing capacity is improved, and the system response time is shortened.
Drawings
FIG. 1 is a block diagram of a three-in-one stepper driver based on EtherCAT communication according to the present invention;
FIG. 2 is a schematic diagram of a three-in-one stepper driver based on EtherCAT communication connected with a PLC and a stepper motor;
fig. 3 is an application schematic diagram of a three-in-one stepper driver based on EtherCAT communication in the field of 3D printers;
fig. 4 is a schematic diagram of an application of the three-in-one stepper driver based on EtherCAT communication in the wood carving field.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. The described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 and 2, the three-in-one step driver based on EtherCAT communication can reduce the data volume and port resources between the PLC master control unit and the step driver, and can also reduce the burden of the PLC master control unit and the cost of hardware resources. The MCU main control module is respectively connected with a voltage conversion module, a driving module, an encoder interface, an EtherCAT interface and an IO control input interface; the MCU master control module is preferably RuisaRZ/T2.
The voltage conversion module is used for providing direct current for the MCU main control module, and is connected with a power interface and is used for being connected with an external power supply;
specifically, the voltage conversion module converts the input 24V direct current into 5V direct current and supplies the 5V direct current to the MCU main control module.
The driving module comprises an H-bridge driving module and a power line interface which are connected with each other, and the power line interface is connected with the stepping motor through a power line of the stepping motor;
specifically, the H-bridge driving module receives the triode switch signal sent by the MCU main control module, and outputs driving output current to the power line interface for controlling the stepping motor.
The encoder interface is connected with the stepping motor through a stepping motor encoding line and is used for inputting encoder pulse signals to the MCU main control module so as to realize feedback of the motion state of the stepping motor;
the EtherCAT interface is connected with the PLC control unit through the EtherCAT bus and is used for data interaction between the MCU main control module and the PLC control unit, and data input and output can be completed.
As the optimization of the EtherCAT interfaces, 2 EtherCAT interfaces can be arranged in the embodiment, the EtherCAT interfaces comprise a first EtherCAT interface and a second EtherCAT interface, the first EtherCAT interface is connected with the PLC control unit through an EtherCAT bus, and the second EtherCAT interface is connected with an adjacent three-in-one stepping driver through a network cable to realize networking.
The IO control input interface is connected with the PLC control unit and is used for receiving a control signal of the PLC control unit;
in the driver, 3 encoder interfaces, including a first encoder interface, a second encoder interface and a third encoder interface, can be respectively and independently connected with three stepping motors.
The number of the IO control input interfaces is 3, and the IO control input interfaces comprise a first IO control input interface, a second IO control input interface and a third IO control input interface, and can be respectively connected with the same PLC control unit.
The H bridge driving modules comprise 3H bridge driving modules, namely a first H bridge driving module, a second H bridge driving module and a third H bridge driving module, and correspondingly, the power line interfaces comprise a first power line interface connected with the first H bridge driving module, a second power line interface connected with the second H bridge driving module and a third power line interface connected with the third H bridge driving module.
As the optimization of the three-in-one driver, the MCU main control module is also connected with a man-machine interaction module for realizing man-machine interaction control.
As shown in fig. 3, the application of the three-in-one driver in the field of 3D printers is provided, and relates to three-dimensional control.
The EtherCAT interface and the IO control input interface of the three-in-one stepping driver are connected with a PLC control unit of the 3D printer, so that the data communication between the PLC control unit and the three-in-one stepping driver is realized; and 3 encoder interfaces and 3 power line interfaces of the three-in-one stepping driver are respectively connected with an X-axis stepping motor, a Y-axis stepping motor and a Z-axis stepping motor of the 3D printer, so that three-dimensional control in three directions of an X axis, a Y axis and a Z axis is realized.
As shown in fig. 4, the application of the three-in-one driver in the wood carving field is provided, and the two-dimensional control is involved.
The EtherCAT interface and the IO control input interface of the three-in-one stepping driver are connected with a PLC control unit of the wood carving machine, so that the data communication between the PLC control unit and the three-in-one stepping driver is realized; and 2 encoder interfaces and 3 power line interfaces of the three-in-one stepping driver are respectively connected with an X-axis stepping motor and a Y-axis stepping motor of the wood carving machine to carry out two-dimensional control, so that the carving of wood is realized.
In actual measurement, under the condition that the performance requirements are the same, compared with 3 common step drives, the three-in-one step driver provided by 1 scheme is reduced by nearly 35% in cost and nearly 40% in volume, and compared with the common step driver, the three-in-one step driver provided by the scheme has great advantages in terms of data, and meanwhile, because the three-in-one step driver provided by the scheme is a unified circuit board, the three-in-one step driver is better in stability than the three common step drivers.
The above description is for the purpose of illustrating the embodiments of the present invention and is not to be construed as limiting the invention, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the invention.
Claims (4)
1. The three-in-one stepping driver based on EtherCAT communication is characterized by comprising an MCU main control module, wherein the MCU main control module is respectively connected with a voltage conversion module, a driving module, an encoder interface, an EtherCAT interface and an IO control input interface;
the voltage conversion module is used for providing direct current for the MCU main control module, and is connected with a power interface;
the driving module comprises an H-bridge driving module and a power line interface which are connected with each other, and the power line interface is connected with the stepping motor through a power line of the stepping motor;
the encoder interface is connected with the stepping motor through a stepping motor encoding line and is used for inputting encoder pulse signals to the MCU main control module;
the EtherCAT interface is connected with the PLC control unit through an EtherCAT bus and is used for data interaction between the MCU main control module and the PLC control unit;
the IO control input interface is connected with the PLC control unit and is used for receiving a control signal of the PLC control unit;
the number of the encoder interfaces is 3, and the encoder interfaces comprise a first encoder interface, a second encoder interface and a third encoder interface;
the number of the IO control input interfaces is 3, and the IO control input interfaces comprise a first IO control input interface, a second IO control input interface and a third IO control input interface;
the H bridge driving modules comprise 3H bridge driving modules, namely a first H bridge driving module, a second H bridge driving module and a third H bridge driving module, and correspondingly, the power line interfaces comprise a first power line interface connected with the first H bridge driving module, a second power line interface connected with the second H bridge driving module and a third power line interface connected with the third H bridge driving module.
2. The three-in-one step driver based on EtherCAT communication according to claim 1, wherein the MCU main control module is further connected with a man-machine interaction module for realizing man-machine interaction control.
3. The three-in-one stepper driver based on EtherCAT communication according to claim 2, wherein the MCU master control module is RuishaRZ/T2.
4. The three-in-one stepper driver based on EtherCAT communication according to claim 1, wherein the number of EtherCAT interfaces is 2, the three-in-one stepper driver comprises a first EtherCAT interface and a second EtherCAT interface, the first EtherCAT interface is connected with the PLC control unit through an EtherCAT bus, and the second EtherCAT interface is connected with the adjacent three-in-one stepper driver through a network cable to realize networking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310433236.3A CN116404921A (en) | 2023-04-21 | 2023-04-21 | Three-in-one stepping driver based on EtherCAT communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310433236.3A CN116404921A (en) | 2023-04-21 | 2023-04-21 | Three-in-one stepping driver based on EtherCAT communication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116404921A true CN116404921A (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310433236.3A Pending CN116404921A (en) | 2023-04-21 | 2023-04-21 | Three-in-one stepping driver based on EtherCAT communication |
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| Country | Link |
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| CN (1) | CN116404921A (en) |
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2023
- 2023-04-21 CN CN202310433236.3A patent/CN116404921A/en active Pending
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