CN201788407U - CAN bus motion control board and CAN bus system - Google Patents
CAN bus motion control board and CAN bus system Download PDFInfo
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- CN201788407U CN201788407U CN2010205348579U CN201020534857U CN201788407U CN 201788407 U CN201788407 U CN 201788407U CN 2010205348579 U CN2010205348579 U CN 2010205348579U CN 201020534857 U CN201020534857 U CN 201020534857U CN 201788407 U CN201788407 U CN 201788407U
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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]
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Abstract
The utility model provides a CAN bus motion control board (200), comprising an input/output module (201), and the motion control board further comprises a watchdog circuit (240) and a AND gate circuit (260), wherein the fourth output end (OUT4) of the input/output module is connected to an input end of the AND gate circuit, the fifth output end (OUT5) of the input/output module is connected to an input end of the watchdog circuit, the output end of the watchdog circuit is connected to another input end of the AND gate circuit; the input/output module is used for generating a hopping pulse on the fifth output end according to a resetting signal and the watchdog circuit is used for outputting a resetting signal without receiving the hopping pulse from the input/output module at the predetermined time. The CAN bus motion control board and the CAN bus system provided by the utility model have the advantages that the main power supply can be broken when the CAN communication signal is interrupted and the motor can be automatically stopped under a failure state.
Description
Technical field
The utility model relates to controller local area network, and (Controller Area Network, CAN) bussing technique field relate in particular to a kind of CAN bus motion control board and a kind of CAN bus system.
Background technology
Controller local area network (CAN) bus is one of most widely used fieldbus in the world.In such as Medical Devices such as computer tomography (CT), magnetic resonance imaging (MRI) and X line machines, also used the CAN bussing technique.
Fig. 1 has shown a kind of CAN bus system of the prior art.As shown in Figure 1, the CAN bus system mainly comprises a system control panel 100 and at least one motion control board 200, connects by CAN telecommunication cable 300 between system control panel 100 and the motion control board 200.System control panel 100 is the host node of CAN, comprises that mainly a CPU110 moves control program.Motion control board 200 is from node, mainly comprises input/output module (IO module) 210, interface circuit 220.The control signal of input/output module 210 outputs exports interface circuit 220 to by the first output terminal OUT1, the second output terminal OUT2 and the 3rd output terminal OUT3, and export first driver 410, second driver 420 and the 3rd driver 430 respectively to by interface circuit 220, to control these drivers 410-430.First driver 410, second driver 420, the 3rd driver 430 drive first motor M 1, second motor M 2 and 3 motions of the 3rd motor M respectively.And the primary power of these drivers M1-M3 is by 450 controls of an air switch.
In above-mentioned motion control board 200, may there be some potential safety hazards.For example, when the CPU110 of system control panel 100 deadlock, 300 damages of CAN telecommunication cable or other reasons cause the CAN signal of communication to interrupt, the output terminal OUT1-OUT3 of input/output module 210 still can keep original state, 410-430 transmits control signal to driving circuit, so might cause motor M 1-M3 to continue motion, may injure patient or equipment.Therefore, above-mentioned existing motion controller or CAN bus system exist possible potential safety hazard.
The utility model content
In view of this, the utility model proposes a kind of CAN bus motion control board, its purpose is, improves security.
Of the present utility modelly also be intended to propose a kind of CAN bus system, its purpose is to improve its security.
Therefore, the utility model provides a kind of CAN bus motion control board, comprises an input/output module; Described motion control board also comprises a watchdog circuit and an AND circuit; Wherein, an input end of the 4th output terminal of described input/output module and described AND circuit is connected, the 5th output terminal of described input/output module and the input end of watchdog circuit are connected, and another input end of the output terminal of watchdog circuit and described AND circuit is connected; Wherein, described input/output module produces a saltus step pulse according to a reset signal at the 5th output terminal; Described watchdog circuit does not receive described saltus step pulse from described input/output module in a schedule time, then export a reset signal.
Preferably, described motion control board also comprises a driving circuit, described driving circuit is according to the closed contactor that is connected with described driving circuit of high level signal from described AND circuit, and disconnects described contactor according to the low level signal from described AND circuit.
According to a kind of embodiment, the reset signal of described watchdog circuit output is a high level.Described motion control board further comprises a time-delay negater circuit, is connected between described watchdog circuit and the described AND circuit, is used for the high level signal of watchdog circuit output is converted to low level signal.
According to another kind of embodiment, the reset signal of described watchdog circuit output is a low level.
The utility model also provides a kind of CAN bus system, comprise a system control panel, described system control panel comprises a CPU, described system also comprises at least one according to the described motion control board of aforementioned arbitrary claim, and described system control panel is connected by the CAN telecommunication cable with described motion control board; Wherein, described CPU regularly sends described reset signal by the CAN telecommunication cable to the input/output module of described motion control board.
The utility model can be when the CPU of CAN host node system control panel deadlock, the damage of CAN telecommunication cable or other reasons cause the CAN signal of communication to interrupt, can cut off primary power by the control power supply that cuts off contactor by the improved motion control board of the utility model, the motor that guaranteed to nonserviceable is out of service automatically.
According to technique scheme of the present utility model, the input/output module of using in the motion control board is extended to a plurality of numerals and analog output by the CAN bus.Compare with the technical scheme of CPU expansion input and output (IO), the utility model does not need programming, highly versatile, and also cost is lower, so can be widely used in interface circuit, man-machine interface, sensor circuit and motion control circuit.
Description of drawings
To make clearer above-mentioned and other feature and advantage of the present utility model of those of ordinary skill in the art by describe preferred embodiment of the present utility model in detail with reference to accompanying drawing below, in the accompanying drawing:
Fig. 1 is the structural representation of CAN bus system in the prior art.
Fig. 2 is the structural representation according to a kind of CAN bus system of the present utility model.
In above-mentioned accompanying drawing, the Reference numeral of use is as follows:
100 system control panels, 110 central processing units (CPU), 200 motion control boards
210 input/output module OUT1, the first output terminal OUT2, second output terminal
OUT3 the 3rd output terminal OUT4 the 4th output terminal OUT5 the 5th output terminal
220 interface circuits, 230 driving circuits, 240 watchdog circuits
250 time-delay negater circuits, 260 AND circuit 300CAN telecommunication cables
410 first drivers, 420 second drivers 430 the 3rd driver
440 contactors, 450 air switch M1, first motor
M2 second motor M 3 the 3rd motor
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearer, by the following examples the utility model is further described.
Fig. 2 is the CAN bus system according to the utility model one embodiment.As shown in Figure 2, this system comprises a system control panel 100 and at least one motion control board 200 (only having shown among the figure), connects by CAN telecommunication cable 300 between system control panel 100 and the motion control board 200.
Continuation is with reference to Fig. 2, mainly comprises an input/output module 210, interface circuit 220, driving circuit 230, watchdog circuit 240, a time-delay negater circuit 250 and an AND circuit 260 according to the motion control board 200 of present embodiment.
The control signal of input/output module 210 outputs exports interface circuit 220 to by the first output terminal OUT1, the second output terminal OUT2 and the 3rd output terminal OUT3, and export first driver 410, second driver 420 and the 3rd driver 430 respectively to by interface circuit 220, to control these drivers 410-430.First driver 410, second driver 420, the 3rd driver 430 drive first motor M 1, second motor M 2 and 3 motions of the 3rd motor M respectively.
The primary power of first to the 3rd driver 410-430 is by an air switch 450 and contactor 440 controls of series connection.Have only when air switch 450 and contactor 440 are all closed, driver 410-430 could get; When air switch 450 and contactor 430 any one disconnection among both, driver 410-430 can dead electricity and stop to drive first to the 3rd motor M 1-M3.
The 4th an output terminal OUT4 of input/output module 240 and an input end of AND circuit 260 are connected.Usually, when needs drive motor M1-M3, input/output module produces a high level signal at the 4th output terminal OUT4; When needs stopped drive motor M1-M3, input/output module produced a low level signal at the 4th output terminal OUT4.
The 5th output terminal OUT5 of input/output module 210 and the input end of watchdog circuit 240 are connected, the output terminal of watchdog circuit 240 is connected with the input end of time-delay negater circuit 250, and the output terminal of time-delay negater circuit 250 and another input end of AND circuit 260 are connected.
Watchdog circuit 240 has a timer internal.Before timer internal does not overflow (in the schedule time), if watchdog circuit 240 receives a saltus step pulse from the 5th output terminal OUT5 of input/output module 210, then watchdog circuit 240 is with the timer internal zero clearing, and timer internal restarts timing.If in the given time, watchdog circuit 240 does not receive the saltus step pulse from the 5th output terminal OUT5 of input/output module 210, and then the timer internal of watchdog circuit 240 overflows, watchdog circuit 240 outputs one reset signal.
The reset signal of watchdog circuit 240 outputs is generally high level, by the time-delay negater circuit reset signal of this high level is changed into low level signal, and is input to another input end of AND circuit 260.If the reset signal of watchdog circuit 240 outputs is a low level, then can omit the time-delay negater circuit 250 in the accompanying drawing, watchdog circuit 240 directly is input to low level signal another input end of AND circuit 260 so.
When AND circuit 260 all is high level signal at two input ends, the output high level signal; When the few input end of two input end intermediate values is low level signal, the output low level signal.The output terminal of AND circuit 260 is connected with the input end of driving circuit 230, and the output terminal of driving circuit 230 is connected with a contactor 440.
Driving circuit 230 is according to the closed contactor 440 that is connected with driving circuit 230 of high level signal from AND circuit 260, and driving circuit 230 also disconnects contactor 440 according to the low level signal from AND circuit 260.During contactor 440 closures, driver 410-430 connects primary power, thereby; When contactor 440 disconnected, driver 410-430 disconnected from primary power, thus dead electricity.
Describe below according to the motion control board of the utility model one embodiment and the course of work of CAN bus system.
At CAN telecommunication cable 300 just often, the CPU 110 of system control panel 100 regularly sends a reset signal that is used for watchdog circuit 240 zero clearings by CAN telecommunication cable 300 to the input/output module 210 of motion control board 200.So the 5th output terminal OUT5 of input/output module 210 correspondingly produces a saltus step pulse with certain width, this saltus step pulse makes the timer internal of watchdog circuit 240 reset.Therefore, the timer internal of watchdog circuit 240 never overflows, so watchdog circuit 240 output low level signal always, this low level signal is input to the input end of time-delay negater circuit 250.Time-delay negater circuit 250 is converted to high level signal with the low level signal of watchdog circuit output, and high level signal is outputed to another input end (another input end is with respect to for that input end that the 4th output terminal OUT4 is connected) of AND circuit 260.
In these cases, AND circuit 260 output high level signals are to the input end of driving circuit 230.It is electric that driving circuit 230 makes that according to this high level signal the coil of contactor 440 gets, thus the contacting primary power of contactor 440.In these cases, primary power is by the contact of air switch 450, contactor 440, and it is electric to make that driver 410-430 gets, thereby can drive motor M1, M2 and M3 motion.Input/output module 210 outputs to correspondingly drive motor M1, M2, the M3 motion respectively of first driver 410, second driver 420, the 3rd driver 430, the first drivers 410, second driver 420, the 3rd driver 430 by its output terminal OUT1, OUT2 and OUT3 and interface circuit 220 with control signal.
The CAN signal of communication may interrupt, and the CPU 110 of for example system control panel 100 crashes, CAN telecommunication cable 300 damages or other reasons all might cause the CAN signal of communication to interrupt.
When the CAN signal of communication interrupts, the input/output module 210 of motion control board 200 can't receive the reset signal that the CPU 110 of system control panel 100 sends, so can not produce the saltus step pulse that has certain width at the 5th output terminal of input/output module 210.Watchdog circuit 240 is not owing to receive the saltus step pulse from the 5th output terminal OUT5 in the given time, so the timer internal of watchdog circuit 240 can not get resetting, cause timer internal to overflow, thereby watchdog circuit 240 is from the reset signal of a high level of its output terminal output, and outputs to the input end of time-delay negater circuit 250.Time-delay negater circuit 250 will be from the low level signal that is converted to of the high level signal of watchdog circuit 240, and outputs to another input end of AND circuit 260.At this moment, the 4th output terminal of input/output module 210 is connected to an input end of AND circuit 260.
In these cases, AND circuit 260 output low level signals are to the input end of driving circuit 230.Driving circuit 230 makes the coil losing electricity of contactor 440 disconnect according to this low level signal.At this moment, the break of contact that the primary power contactor disconnects, driver 410,420 and 430 dead electricity, correspondingly stop motion of motor M 1, M2 and M3.
As can be seen, when the CPU of CAN host node system control panel deadlock, the damage of CAN telecommunication cable or other reasons cause the CAN signal of communication to interrupt, can cut off primary power by the control power supply that cuts off contactor by the improved motion control board of the utility model, the motor that guaranteed to nonserviceable is out of service automatically.
The above only is preferred embodiment of the present utility model; not in order to restriction the utility model; all within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (5)
1. a CAN bus motion control board (200) comprises an input/output module (210); It is characterized in that,
Described motion control board (200) also comprises a watchdog circuit (240) and an AND circuit (260); Wherein, the 4th output terminal (OUT4) of described input/output module is connected with an input end of described AND circuit (260), the 5th output terminal (OUT5) of described input/output module is connected with the input end of watchdog circuit (240), and the output terminal of watchdog circuit (240) is connected with another input end of described AND circuit (260);
Wherein, described input/output module (210) produces a saltus step pulse according to a reset signal at the 5th output terminal (OUT5); Described watchdog circuit (240) does not receive described saltus step pulse from described input/output module (210) in a schedule time, then export a reset signal.
2. motion control board according to claim 1 (200), it is characterized in that, described motion control board (200) also comprises a driving circuit (230), described driving circuit (230) is according to from the closed contactor (440) that is connected with described driving circuit (230) of the high level signal of described AND circuit (260), and disconnects described contactor (440) according to the low level signal from described AND circuit (260).
3. motion control board according to claim 1 and 2 (200) is characterized in that, the reset signal of described watchdog circuit (240) output is a high level;
Described motion control board (200) further comprises a time-delay negater circuit (250), be connected between described watchdog circuit (240) and the described AND circuit (260), be used for the high level signal of watchdog circuit (240) output is converted to low level signal.
4. motion control board according to claim 1 and 2 (200) is characterized in that, the reset signal of described watchdog circuit (240) output is a low level.
5. a CAN bus system comprises a system control panel (100), and described system control panel comprises a CPU (110), it is characterized in that,
Described system also comprises at least one according to the described motion control board of aforementioned arbitrary claim (200), and described system control panel (100) is connected by CAN telecommunication cable (300) with described motion control board (200);
Wherein, described CPU (110) regularly sends reset signal by the input/output module (210) of CAN telecommunication cable (300) to described motion control board (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205348579U CN201788407U (en) | 2010-09-19 | 2010-09-19 | CAN bus motion control board and CAN bus system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205348579U CN201788407U (en) | 2010-09-19 | 2010-09-19 | CAN bus motion control board and CAN bus system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201788407U true CN201788407U (en) | 2011-04-06 |
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ID=43820364
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205348579U Expired - Lifetime CN201788407U (en) | 2010-09-19 | 2010-09-19 | CAN bus motion control board and CAN bus system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201788407U (en) |
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2010
- 2010-09-19 CN CN2010205348579U patent/CN201788407U/en not_active Expired - Lifetime
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110406 |