CN203338055U - Time-shared control system of motion controller - Google Patents
Time-shared control system of motion controller Download PDFInfo
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- CN203338055U CN203338055U CN2013203990610U CN201320399061U CN203338055U CN 203338055 U CN203338055 U CN 203338055U CN 2013203990610 U CN2013203990610 U CN 2013203990610U CN 201320399061 U CN201320399061 U CN 201320399061U CN 203338055 U CN203338055 U CN 203338055U
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- motion controller
- servo
- control system
- pole double
- relay switch
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Abstract
The utility model relates to a time-shared control system of a motion controller. The time-shared control system comprises a host provided with a PCI interface, a motion controller, a wiring board, a single-pole double-throw relay switch, servo drivers and servo motors, wherein the single-pole double-throw relay switch, the servo drivers and the servo motors are mounted on the wiring board. The single-pole double-throw relay switch is adopted to switch control signals of the motion controller so as to control motion of the servo motors in a time-shared mode and overcome the defect that the motion controller has a limited number of controllable axes. The time-shared control system of the utility model can ensure that the number of motors which can be controlled by the motion controller can be doubled through time-shared control under the condition of linking a maximum number of axes which can be controlled by the motion controller so that the time-shared control system can be used in work of a greater degree of freedom to realize operation of complex motions.
Description
Technical field
The utility model relates to the motion controller technical field, is specifically related to a kind of control system of motion controller.
Background technology
At present, motion controller has been widely used in the industrial control fields such as mechanical arm, numerically-controlled machine, laser engraving.The frequency that motion controller sends pulse by change is controlled the speed of servomotor, and the quantity of sending pulse by change controls the position of motor.It utilizes the position feedback of scrambler, and the exact position of controlled servomotor can be provided, and corrects the error in transmission process.
Along with the development of control technology and equipment, at the universal microcomputer numerical control field, with the kinetic control system of " PC+ motion controller " pattern, more and more caused people's attention.Because its function had is strong, speed fast, programme and develop the characteristics such as convenient, become gradually the main flow of motion control field exploitation, itself and pci bus in conjunction with the high speed communication that can realize upper and lower computer, can meet the requirement of control system to real-time and precision.
The controlled number of axle of motion controller has cured when design is produced, and the controlled number of axle of GE movement sequence controller of producing such as the solid High Seience Technology Co., Ltd. in Shenzhen is 2,3,4,8 axles etc., and the user can't increase the upper limit of its controlled number of axle.The motor number of controlling when need is greater than motion controller controllable motor number upper in limited time, the user just has to buy the more motion controller of the controlled number of axle.Therefore, utility model is a kind of surmounts motion controller to control the time-sharing control system of the number of axle upper limit just necessary.
The utility model content
In order to overcome the limited defect of the controlled number of axle of motion controller, the utility model provides a kind of motion controller time-sharing control system, be intended to use a kind of control signal of single-pole double-throw (SPDT) relay switch motion switch controller, and then the motion of servomotor is controlled in timesharing.The maximum upper limit of the controlled number of axle of motion controller can being doubled.The purpose of this utility model is achieved through the following technical solutions.
A kind of motion controller time-sharing control system, it at least comprises:
A motion controller, its upper end is connected to main frame by pci bus, and the next end is connected to servo-driver by terminal block;
A terminal block, be equipped with 4*N single-pole double-throw (SPDT) relay switch on it, wherein every four single-pole double-throw (SPDT) relay switches are one group, is total to the N group, and the size of N is determined by the upper limit of the controlled number of axle of motion controller and the number of axle that need to expand; Each group single-pole double-throw (SPDT) relay switch is for the signal of pulse positive input, pulse negative input, direction positive input and the direction positive input of switching two servo-drivers;
M platform servo-driver, for amplifying control signal, to drive servomotor, the size of M is determined by the servomotor number that will drive;
M servomotor, receive the driving signal that servo-driver is inputted, and by the requirement of steering order, rotates corresponding angle.
In above-mentioned motion controller time-sharing control system, the four tunnel control signals that the every axle of described motion controller sends are correspondingly received and be take the public terminal COM end of single-pole double-throw (SPDT) relay switch of four as a group, the i.e. public terminal COM termination one tunnel control signal of a single-pole double-throw (SPDT) relay switch, described four tunnel control signals are respectively pulse positive output, pulse negative output, direction positive output and direction negative output signal.
In above-mentioned motion controller time-sharing control system, each single-pole double-throw (SPDT) relay switch has five pins, and be respectively+5V power end, public terminal COM end, ground connection GND hold, often open NO end, normally closed NC end; When+5V power supply access failure, public terminal COM end is connected with normal-closed end, and after+5V power end connection+5V power supply, relay switch is to Chang Kaiduan, public terminal COM end is connected with Chang Kaiduan, wherein often opens the NO end and is connected respectively different servo-drivers with normally closed NC end.
In above-mentioned motion controller time-sharing control system, must whether electricly by host computer, being sent and be referred to of described+5V power end, control by the general digital IO output of motion controller.
In above-mentioned motion controller time-sharing control system, described servo motor rotor rotating speed is controlled by the output signal of motion controller, and the scrambler of servomotor and power signal line are received the corresponding pulse of servo-driver and direction port.
In above-mentioned motion controller time-sharing control system, described main frame is IBM-PC and compatible thereof, and main frame can call function library and the dynamic link library of motion controller, to realize complicated motion control; Described single-pole double-throw (SPDT) relay switch arrives another servo-driver for control signal ，Jiang Gai road, a certain road signal converting of motion switch controller, to control another servomotor; Described servo-driver is for amplifying control signal, to drive servomotor; Described servomotor is topworks, under the driving of servo-driver, turns an angle, and carries out certain work.
Compared with prior art, the utlity model has following advantage and technique effect:
Motion controller time-sharing control system of the present utility model is simple in structure.The control signal that motion controller of the present utility model sends is received the single-pole double-throw (SPDT) relay switch, the single-pole double-throw (SPDT) relay switch is by switching at Chang Kaiduan and normal-closed end, the pulse signal of two servo-drivers is pointed in the timesharing switching, and then reaches the purpose that two servomotors are controlled in timesharing.As a rule, machine system does not need all motors to link simultaneously, time-sharing control system of the present utility model can guarantee to control in the number of axle interlock situation of the number of axle upper limit at motion controller, by it, controlled motor number is controlled and is doubled by timesharing again, with the work for more freedom, realize the operation of compound movement.
The accompanying drawing explanation
The composition diagram that Fig. 1 is motion controller time-sharing control system in embodiment.
Fig. 2 is the schematic diagram that the time-sharing control system timesharing is controlled.
Embodiment
Below in conjunction with accompanying drawing, concrete enforcement of the present utility model is described further.
The utility model is to carry out timesharing control by the control signal to motion controller 2 each axle, and then reaches the purpose of its controlled number of axle upper limit of expansion.Servo-driver 4 is controlled in the control signal timesharing that motion controller 2 first axles of now take send and servo-driver 6 is example, 1 and 2 elaborate the principle that the utility model timesharing is controlled by reference to the accompanying drawings, other controllable axis of motion controller 2 can be implemented according to identical embodiment fully.
As Fig. 1, the motion controller time-sharing control system comprises: have the main frame 1, motion controller 2, terminal block 3 of pci interface and single-pole double-throw (SPDT) relay switch, servo-driver (4,6), the servomotor (5,7) of mounted thereto.
Described main frame 1 is IBM-PC and compatible thereof, and it adopts the senior language compilation host computers such as C++, VB or Delphi, and host computer, by calling the pre-packaged function library of motion controller 2, is write application program, completes the steering order output of compound movement.
The controlled number of axle upper limit of described motion controller 2 can be 1,2,4,8 axles etc., its upper end is connected to main frame 1 by pci bus, reception is from the sound instruction of host computer, the next end is connected to servo-driver (4,6) by terminal block 3, is connected to the signal of every driver, except four tunnel control signals, general also have two-way or four road code device signals, because code device signal is controlled and had nothing to do with timesharing of the present utility model, so do not set forth in this manual.But should be noted, during practical application, code device signal should be accessed to servo-driver (4,6).
Described motion controller 2 one axles send PLUSE+(pulse positive output altogether), PLUSE-(pulse negative output), DIR+(direction positive output), DIR-(direction negative output) four tunnel control signals, be connected respectively to the COM end that name is called four single-pole double-throw (SPDT) relay switches of axle 1Pul+, axle 1 Pul-, axle 1Dir+, axle 1Dir-, as public terminal.
Single-pole double-throw (SPDT) relay switch on described terminal block 3 has five pins, and be respectively+5V power end, public terminal COM end, ground connection GND hold, often open NO end, normally closed NC end.A wherein road in the four tunnel control signals that wherein COM termination motion controller 2 sends, Chang Kaiduan connects the corresponding signal end of servo-driver 4, the corresponding signal end of normal-closed end driver connected 6, GND holds ground connection.When+5V power supply access failure, the COM end is connected with normal-closed end, and control signal enters servo-driver 4; After+5V power end connection+5V power supply, relay switch is to Chang Kaiduan, and the COM end is connected with Chang Kaiduan, and control signal enters servo-driver 6.Whether electric obtaining of+5V power end be by host computer transmission instruction, by the general digital IO output of motion controller 2, controls.
Described servo-driver (4,6) has three generic ports, is respectively motor and power input mouth, code device signal input port, control signal port.Motor and power input mouth connect servomotor (5,7) winding positive and negative terminal, the code device signal input port connects the corresponding signal end of scrambler, and the control signal port has PLUSE+(pulse positive input), PLUSE-(pulse negative input), DIR+(direction positive input), DIR-(direction negative input) four tunnels.Four tunnel control signals of servo-driver 4 are received respectively the normal-closed end of four single-pole double-throw (SPDT) relay switches, the single-pole double-throw (SPDT) relay switch+during 5V power end access failure, servo-driver 4 reception control signals, in order to drive servomotor 5; Four tunnel control signals of servo-driver 6 are received respectively the Chang Kaiduan of four single-pole double-throw (SPDT) relay switches, the single-pole double-throw (SPDT) relay switch+the 5V power end is while connecting, servo-driver 6 reception control signals, in order to drive servomotor 7.
Servomotor (5,7) rotor speed is controlled by the output signal of motion controller 2, and its scrambler and power signal line are received the corresponding port of servo-driver (4,6), and the energy rapid reaction, as executive component.
But the number of axle that the utility model timesharing is controlled is not limited to above-mentioned said the first axle, the arbitrary axis of motion controller all can be realized timesharing control by identical embodiment.
Embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification made under Spirit Essence of the present utility model and principle, substitutes, combination, simplify; all should be equivalent substitute mode, within being included in protection domain of the present utility model.
Claims (4)
1. a motion controller time-sharing control system is characterized in that at least comprising:
A motion controller (2), its upper end is connected to main frame (1) by pci bus, and the next end is connected to servo-driver (4,6) by terminal block (3);
A terminal block (3), be equipped with 4*N single-pole double-throw (SPDT) relay switch on it, wherein every four single-pole double-throw (SPDT) relay switches are one group, is total to the N group, and the size of N is determined by the upper limit of the controlled number of axle of motion controller and the number of axle that need to expand; Each group single-pole double-throw (SPDT) relay switch is for the signal of pulse positive input, pulse negative input, direction positive input and the direction positive input of switching two servo-drivers (4,6);
M platform servo-driver (4,6), for amplifying control signal, to drive servomotor (5,7), the size of M is determined by the servomotor number that will drive;
M servomotor (5,7), receive the driving signal that servo-driver is inputted, and by the requirement of steering order, rotates corresponding angle.
2. according to the motion controller time-sharing control system of claim 1, it is characterized in that: the four tunnel control signals that the every axle of described motion controller (2) sends are correspondingly received and be take the public terminal COM end of single-pole double-throw (SPDT) relay switch of four as a group, the i.e. public terminal COM termination one tunnel control signal of a single-pole double-throw (SPDT) relay switch, described four tunnel control signals are respectively pulse positive output, pulse negative output, direction positive output and direction negative output signal.
3. according to the motion controller time-sharing control system of claim 2, it is characterized in that: each single-pole double-throw (SPDT) relay switch has five pins, and be respectively+5V power end, public terminal COM end, ground connection GND hold, often open NO end, normally closed NC end; When+5V power supply access failure, public terminal COM end is connected with normal-closed end, and after+5V power end connection+5V power supply, relay switch is to Chang Kaiduan, public terminal COM end is connected with Chang Kaiduan, wherein often opens the NO end and is connected respectively different servo-drivers with normally closed NC end.
4. according to the motion controller time-sharing control system of claim 1, it is characterized in that: described servomotor (5,7) rotor speed is controlled by the output signal of motion controller (2), servomotor (5,7) scrambler and power signal line are received the corresponding pulse of servo-driver (4,6) and direction port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203990610U CN203338055U (en) | 2013-07-05 | 2013-07-05 | Time-shared control system of motion controller |
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| CN2013203990610U CN203338055U (en) | 2013-07-05 | 2013-07-05 | Time-shared control system of motion controller |
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| CN203338055U true CN203338055U (en) | 2013-12-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506090A (en) * | 2020-10-19 | 2021-03-16 | 中国人民解放军海军工程大学 | Time-sharing multiplexing servo device and method for controlling operation of multiple motors |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506090A (en) * | 2020-10-19 | 2021-03-16 | 中国人民解放军海军工程大学 | Time-sharing multiplexing servo device and method for controlling operation of multiple motors |
| CN112506090B (en) * | 2020-10-19 | 2022-03-29 | 中国人民解放军海军工程大学 | Time-sharing multiplexing servo device and method for controlling operation of multiple motors |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131211 Termination date: 20160705 |