CN203689092U - Motion control card and numerical control system thereof - Google Patents

Motion control card and numerical control system thereof Download PDF

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Publication number
CN203689092U
CN203689092U CN201320833377.6U CN201320833377U CN203689092U CN 203689092 U CN203689092 U CN 203689092U CN 201320833377 U CN201320833377 U CN 201320833377U CN 203689092 U CN203689092 U CN 203689092U
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circuit
motion control
communication interface
input
control
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刘晔东
何永基
范浩
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Shenzhen Peitian Robot Technology Co Ltd
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INTRA-TECH (SHENZHEN) Pte Ltd
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Abstract

The utility model provides a motion control card and a numerical control system thereof. The motion control card comprises a first CAN (Controller Area Network) communication interface, a control circuit and an input /output circuit, which are connected together sequentially. The first CAN communication interface is used for carrying out CAN information communication with external control equipment; the control circuit is used for obtaining a motion command sent by the external equipment through the first CAN communication interface and sending an according motion control signal to the input/output circuit on the basis of the motion command, and is used for obtaining motor current state information from the input/ output circuit in real time; and the input /output circuit is used for reserving the motion control signal, transferring the motion control signal to an analog quantity signal, sending the analog quantity signal to an the external motor, and obtaining the current state information fed back by the external motor. By means of the above mentioned manner, the control performance and the communication interference immunity of the motion control card are raised, and the response speed of the motor controlled by the motion control card is increased.

Description

A kind of motion control card and digital control system
Technical field
The utility model relates to fields of numeric control technique, specifically a kind of motion control card and digital control system.
Background technology
Motion control card is based on personal computer (Personal Computer, be called for short PC) bus, the multiaxis that utilizes high-performance microprocessor (as digital signal processing DSP) and field programmable gate function to realize multiple servomotors is coordinated the high performance servomotor motion control card of one of controlling, and is the core component in fields of numeric control technique.Nowadays increasingly mature along with automatic technology, to become main flow trend with each procedure that machine completes in production run, therefore the dirigibility to digital control system and versatility are had higher requirement, this just needs one can meet various different occasion demands, can apply fast, and the efficient digital control system of performance.
At present, the digital control system of most equipment adopts the motion control card based on PCI more, and the number of axle of still adopting the digital control system control that realizes in this way motion control is often limited to the slot restricted number of PCI.For example, and axle of the every control of PCI needs a pci signal line to connect control card and PC, controls 4 axles, PCI needs 4 pci signal lines.If for large-scale digital control system, equipment volume is large, controlled motor quantity is more, and the often relatively dispersion that distributes, now adopt the motion control card signal lead of PCI can be very mixed and disorderly, and being very easily subject to on-the-spot electromagnetic interference, this has just directly had influence on the stability of digital control system and the control accuracy of system.
In addition, motion control card of the prior art generally adopts pulse control mode, and for example ARM controller receives after each shaft position or speed control command, produces the required pulse signal of each axle, and send motor driver to by pulse producer.Accordingly, motor driver adopts position control mode, first converts pulse signal to corresponding discernible analog signals by built-in algorithms, then drives each spindle motor motion according to described analog signals.Could realize driving because motor driver need to carry out certain conversion, make the response speed of motor driver slow.
Utility model content
The technical matters that the utility model mainly solves is to provide a kind of motion control card and digital control system, can improve the control performance of motion control card and the anti-interference of system, the response speed of the motor that quickening motion control card is controlled.
For solving the problems of the technologies described above, the utility model adopts a kind of technical scheme: a kind of motion control card is provided, comprise the first CAN of the controller local area network communication interface, control circuit and the input/output circuitry that are linked in sequence, wherein: a described CAN communication interface, for carrying out CAN information communication with external control devices; Described control circuit, the action command sending by a described CAN communication interface for obtaining external control devices, and send corresponding motion control signal to input/output circuitry according to this action command, and for the current state information from input/output circuitry Real-time Obtaining motor; Described input/output circuitry, can send to external motor after the analog signals of Direct Recognition for receiving described motion control signal and described motion control signal being converted to external motor, and obtains the current state information of external motor feedback.
Wherein, described input/output circuitry comprises the first output circuit being connected with described control circuit, the first number described external motor respectively, described the first output circuit receives the CAN signal that described control circuit receives according to a CAN communication interface and produces motion control signal, and exports described external motor to by corresponding described motion control signal.
Wherein, described the first output circuit comprises described the first number D/A converting circuit, wherein, described in each, D/A converting circuit is all connected with described control circuit, described in each, D/A converting circuit is all connected with outside motor servo driver described in, and described D/A converting circuit is converted to the motion control signal of described control circuit output corresponding analog signals and exports described external motor driver to.
Wherein, described input/output circuitry also comprises respectively and described control circuit, the first number the second output circuit that described external motor connects, described the second output circuit comprises described the first number digital quantity output circuit and described the first number the first photoelectric isolating circuit, wherein, described in each, digital quantity output circuit and the first photoelectric isolating circuit connect one to one, each digital quantity output circuit is all connected with described control circuit, described in each, the first electric isolating circuit is all connected with external motor described in, the enable signal that described digital quantity output circuit produces described control circuit exports described the first photoelectric isolating circuit to, described the first photoelectric isolating circuit exports described enable signal to external motor.
Wherein, described input/output circuitry comprises the first input circuit being connected with described control circuit, the first number described external motor respectively, described the first input circuit, by the current state information of described external motor output, sends to described external control devices by described control circuit, a described CAN communication interface.
Wherein, described the first input circuit comprises described the first number the second difference channel and described the first number parser circuitry, wherein, described in each, the second difference channel and parser circuitry connect one to one, described in each, the second difference channel is all connected with external motor described in, described in each, parser circuitry is all connected with described control circuit, described the second difference channel receives the current state information of external motor output, and export described parser circuitry to, described parser circuitry is converted to by the current state information of described external motor output signal that described control circuit can identify and by described control circuit, a described CAN communication interface sends to described external control devices.
Wherein, described input/output circuitry comprises the second input circuit being connected with described control circuit, the first number described external motor respectively, described the second input circuit described control circuit receive external control devices by described the one CAN communication interface send the 2nd CAN signal time, corresponding obtaining with the former dot information of described external motor and by described control circuit, a described CAN communication interface sends to described external control devices.
Wherein, also comprise the 2nd CAN communication interface being connected with a CAN communication interface, described the 2nd CAN communication interface sends at least motion control card described in another for CAN signal that a described CAN communication interface is received by outside CAN bus.
For solving the problems of the technologies described above, the utility model adopts another kind of technical scheme: a kind of digital control system is provided, comprise opertaing device, at least one above-mentioned motion control card and at least one motor, wherein, each described motion control card is connected with motor described at least one, described opertaing device comprises the 3rd CAN of controller local area network communication interface, described opertaing device is by described the 3rd CAN communication interface and described at least one motion control cartoon letters, described opertaing device is realized motion control by described at least one motion control card to described at least one motor.
Wherein, described the 3rd CAN communication interface is connected with a CAN communication interface of described at least one motion control card by CAN bus.
Be different from prior art, the utility model motion control card adopts stronger CAN communication mode and the external control devices of anti-interference to communicate, improve the antijamming capability of digital control system, and then stability and the control accuracy of raising digital control system, and, motion control signal is converted to external motor by the utility model motion control card can export external motor to after the analog signals of Direct Recognition again, has accelerated the response speed of external motor.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model motion control card one embodiment;
Fig. 2 is the structural representation of another embodiment of the utility model motion control card
Fig. 3 is the circuit diagram of a CAN communication interface shown in Fig. 2;
Fig. 4 is the utility model motion control card structural representation of an embodiment again;
Fig. 5 is the structural representation of the utility model digital control system one embodiment;
Fig. 6 is the structural representation of another embodiment of the utility model digital control system.
Embodiment
Describe below in conjunction with accompanying drawing and concrete embodiment.
Refer to Fig. 1, Fig. 1 is the structural representation of the utility model motion control card one embodiment.In present embodiment, described motion control card comprises the first controller local area network (Controller Area Network the is called for short CAN) communication interface 110, control circuit 120 and the input/output circuitry 130 that are linked in sequence.
Particularly, the one CAN communication interface 110 is communicated by letter for realizing CAN with external control devices, a described CAN communication interface 110 is connected with external control devices by fieldbus (as a twisted-pair feeder), and then the transmission of CAN signal between realization and external control devices.
Control circuit 120 is for communicating with a CAN communication interface 110, input/output circuitry 130 respectively, realizes signal between a CAN communication interface 110 and input/output circuitry 130 mutual.Particularly, the action command that control circuit 120 sends by a described CAN communication interface 110 for obtaining external control devices, and send corresponding motion control signal to input/output circuitry 130 according to this action command, and for the current state information from input/output circuitry 130 Real-time Obtaining motors.
Input/output circuitry 130 is for being connected with external motor, to realize the control to external motor, mainly to send to external motor after receiving described motion control signal and described motion control signal being converted to analog signals, and obtain the current state information of external motor feedback, for example motor position information.
In present embodiment, CAN signal is sent to motion control card by external control devices, motion control card receives described CAN signal by a CAN communication interface 110, and the information of CAN signal being carried by control circuit 120 is resolved, and obtain motion control signal by corresponding motion control arithmetic computing, export motion control signal to described input/output circuitry 130, motion control commands is converted to the analog signals that motor driver can be identified by input/output circuitry 130, realizes the direct action control to external motor; And/or the current state that input/output circuitry 130 produces external motor is input to control circuit 120, control circuit becomes CAN information to export CAN communication interface 110, the one CAN communication interfaces 110 to this part Information encapsulation described CAN information is sent to external control devices.By the way, between external control devices and external motor, control and the feedback to motor movement state have been realized by the application's motion control card.
The utility model motion control card creatively adopts CAN communication mode and the external control devices that anti-interference is stronger to communicate, utilize the high reliability of CAN bus and good error detection capability, guarantee the transmitting of data between external control devices and motion control card, improve the antijamming capability of the digital control system of external control devices and motion control card composition, and then stability and the control accuracy of raising digital control system, simultaneously, the wiring of CAN communication mode is simple, between external control devices and motion control card, only needing a fieldbus can realize CAN as twisted-pair feeder communicates by letter, reduce cost.In addition, the motion control signal that the utility model input/output circuitry produces control circuit convert to external motor can the analog signals of Direct Recognition after, export again external motor to, without external motor, the signal of motion control card output is calculated to conversion, get final product direct real motion control, reduce the charge capacity of external motor, accelerated the response speed of external motor.
Refer to Fig. 2 and Fig. 3, Fig. 2 is the structural representation of another embodiment of the utility model motion control card, and Fig. 3 is the circuit diagram of the CAN communication interface shown in Fig. 2.In present embodiment, motion control card can accurately be controlled the first number external motor, and described the first number is for being greater than or equal to 1, and described external motor is specially servomotor or stepper motor.For example, motion control card can be connected with four servo/stepper motors, be respectively X, Y, Z, U axle servo/stepper motor.
Motion control card comprises the CAN communication interface 210, control circuit 220 and the input/output circuitry 230 that are linked in sequence, wherein, input/output circuitry 230 comprises the first output circuit 231, the first input circuit 232, the second output circuit 233 and the second input circuit 234, and described the first output circuit 231, the first input circuit 232, the second output circuit 233 are connected with control circuit 220, described the first number external motor respectively with the second input circuit 234.
Particularly, a CAN communication interface 210 is communicated by letter for realizing CAN with external control devices.In present embodiment, a described CAN communication interface 210 is specially TJA1050CAN transceiver 210, TJA1050CAN transceiver 210 is connected with external control devices by fieldbus (as a twisted-pair feeder), and then the transmission of CAN signal between realization and external control devices.
Further concrete, TJA1050CAN transceiver 210 comprises the first pin TXD, the second pin GDN, three-prong VCC, the 4th pin RXD, the 5th pin Vref, the 6th pin CANL, the 7th pin CANH and the 8th pin S.Wherein, the second pin GND and the 8th pin S ground connection, three-prong VCC is connected with the first end of power supply V, the first capacitor C 1 and the first end of the second capacitor C 2 respectively, the equal ground connection of the second end of the second end of the first capacitor C 1 and the second capacitor C 2, the 5th pin Vref puts sky, the first pin TXD is connected with control circuit 220 with the 4th pin RXD, the 6th pin CANL is connected with a CAN passage A of fieldbus, the 7th pin CANH is connected with the 2nd CAN channel B of fieldbus, and the 6th pin CANL is connected by resistance R with the 7th pin CANH.In present embodiment, the resistance of resistance R is 120 Ω, and power supply V is 5V, and the capacitance of the first capacitor C 1 is 47 μ F, and the second capacitor C 2 is as decoupling capacitor, and its capacitance is 0.1 μ F.
Control circuit 220 is connected with the first pin TXD and the 4th pin RXD, the input/output circuitry 230 of a CAN communication interface 210 respectively, realizes signal between a CAN communication interface 210 and input/output circuitry 230 mutual.In present embodiment, described control circuit 220 is an ARM chip, optimally selects the Cortex-M3 kernel LPC1768 chip of NXP company, and described ARM chip is provided with CAN controller.Described CAN controller is connected with the first pin TXD and the 4th pin RXD of a CAN communication interface 210 respectively by the pin module of ARM chip, resolve with the CAN signal acquisition that a CAN communication interface 210 is sent action command CAN signal being carried by described ARM chip, and by corresponding motion control arithmetic computing, export again input/output circuitry 230 to be converted to the motion control signal that input/output circuitry 230 can identify, and/or the signal assemble that input/output circuitry 230 is inputted is that CAN information exports a CAN communication interface 210 again to.
Input/output circuitry 230 comprises the first output circuit 231, the first input circuit 232, the second output circuit 233 and the second input circuit 234.Particularly,
(1) first output circuit 231 is connected with control circuit 220, the first number external motor respectively, the CAN signal that described the first output circuit 231 receives according to a CAN communication interface 210 for reception control circuit 220 produces motion control signal, and by the corresponding described motion control signal driver that exports described external motor to, so that external motor driver is carried out motion control commands, realize the motion control to external motor.
Further, the first output circuit 231 comprises the first number D/A converting circuit 2311, wherein, described in each, D/A converting circuit 2311 is connected with described control circuit 220, and described in each, D/A converting circuit 2311 is all connected with the driver of external motor described in.Each D/A converting circuit 2311 is converted to analog signals for the digital quantity motion control signal that described control circuit 220 is exported, and exports the driver of the external motor being connected with described the first D/A converting circuit 2311 to.
For example, external control devices sends to control circuit 220 the CAN signal that loads motion control instruction by a CAN communication interface 210, control circuit 220 bases are resolved with the communications protocol that external control devices is appointed, then carry out the computing that motion control is relevant, obtain relevant motion control commands, as the information such as position and direction of motion that motor need to move to, control circuit 220 is saved in random access memory ram obtaining relevant motion control information.When receive that external control devices sends by a CAN communication interface 210 be loaded with a CAN signal of carrying out instruction time, control circuit 220 is by extremely corresponding the motion control commands digital output of preserving last time D/A converting circuit 2311, D/A converting circuit 2311 produces corresponding analog signals and exports external motor driver to according to receiving the motion control signal that control circuit 220 inputs, so that the speed motion represented according to analog signals of external motor driver realizes the motion control to external motor.
(2) first input circuits 232 are connected with described control circuit 220, the first number described external motor driver respectively.The signal of described the first input circuit 232 for described external motor is inputted, external control devices sends to described external control devices by described control circuit 220, a described CAN communication interface 210, so that can obtain the current motion state of external motor.
Further, the first input circuit 232 comprises the first number the second difference channel 2321 and the first number parser circuitry 2322, wherein, described in each, the second difference channel 2321 and parser circuitry 2322 connect one to one, described in each, the second difference channel 2321 is all connected with external motor described in, each parser circuitry 2322 is all connected with control circuit 220, described in each, the second difference channel 2321 is for receiving the signal that carries current state information of the external motor input being connected with described the second difference channel 2321, and export the described parser circuitry 2322 being connected with described the second difference channel 2321 to, described parser circuitry 2322 is for the signal that the signal of described external motor input is converted to described control circuit and can identifies and by described control circuit 220, a described CAN communication interface 210 sends current state information to described external control devices.
For example, in the time of work, the orthogonal signal of carrying positional information that read from external motor scrambler are input to the second difference channel 2321 by external motor driver, the second difference channel 2321 exports described orthogonal signal to parser circuitry 2322, parser circuitry 2322 quadrature signal are resolved the signal that controlled circuit 220 can identify and are exported control circuit 220 to, control circuit 220 will read positional information and send to described external control devices by a CAN communication interface 210, external control devices reads location information data by CAN bus, thereby and resolve and obtain the current positional information of external motor by the communication protocol of appointing with control circuit 220.
(3) second output circuits 233 are connected with described control circuit 220, the first number described external motor respectively.The 3rd CAN signal that described the second output circuit 233 receives according to a CAN communication interface 210 for reception control circuit 220 produces enable signal, and by the corresponding described enable signal driver that exports described external motor to, so that can described external motor driver.
The second output circuit 233 comprises described the first number digital quantity output circuit 2331 and described the first number the first photoelectric isolating circuit 2332, wherein, described in each, digital quantity output circuit 2331 and the first photoelectric isolating circuit 2332 connect one to one, each digital quantity output circuit 2331 is connected with described control circuit 220, and described in each, the first electric isolating circuit 2332 is all connected with the driver of external motor described in.Described digital quantity output circuit 2331 exports the first photoelectric isolating circuit 2332 being connected with described digital quantity output circuit 2331 to for the enable signal that described control circuit 220 is produced, described the first photoelectric isolating circuit 2332 is for exporting described enable signal to the external motor driver being connected with described the first photoelectric isolating circuit 2332.
(4) second input circuits 234 comprise respectively and being connected with described control circuit 220, the first number described external motor.Described the second input circuit 234 for receive external control devices at described control circuit 220 and send by a described CAN communication interface 210 the 2nd CAN signal time, corresponding obtaining with the former dot information of described external motor and by described control circuit 220, a described CAN communication interface 210 sends to described external control devices, so that external control devices initiatively can obtain the former dot information of external motor.
Further, the second input circuit 234 comprises the first number digital input circuit 2341 and the first number the second photoelectric isolating circuit 2342, each digital input circuit 2341 and the second photoelectric isolating circuit 2342 connect one to one, each digital input circuit 2341 is connected with an external motor, and described in each, the second photoelectric isolating circuit 2342 is connected with described control circuit 220.Described digital input circuit 2341 for receive external control devices at described control circuit 220 and send by a described CAN communication interface 210 the 2nd CAN signal time, obtain the digital signal of carrying former dot information of the external motor being connected with described digital input circuit 2341 and export described the second photoelectric isolating circuit 2342 to, described the second photoelectric isolating circuit 2342 for described initial point information exchange is crossed to described control circuit 220, a described CAN communication interface 210 sends to described external control devices.
For example, when external control devices need to obtain the former dot information of motor, send the 2nd CAN signal by a CAN communication interface 210 to control circuit 220, control circuit 220 is according to the communication protocol of making an appointment, the 2nd CAN signal resolution is obtained obtaining initial point information command, and send to corresponding digital input circuit 2341.Digital input circuit 2341 obtains the digital signal of carrying former dot information that the sensor of connected external motor collects, and digital signal is carried out to export the second photoelectric isolating circuit 2342 to after shaping filter and carry out photoelectricity isolation, to obtain the signal that can meet the level condition that control circuit 220 supported, export to again control circuit 220, control circuit 220 initial point information exchanges are crossed CAN communication interface 210 feedbacks meeting external control deviceses, realize external control devices obtaining the former dot information of motor.
In other embodiments, the second input circuit also can comprise the first number analog to digital conversion circuit and the first number the second photoelectric isolating circuit, each analog to digital conversion circuit and the second photoelectric isolating circuit connect one to one, each analog to digital conversion circuit is connected with an external motor, and described in each, the second photoelectric isolating circuit is connected with described control circuit.Analog-digital conversion circuit as described is when receiving the two CAN signal of external control devices by a described CAN communication interface transmission at described control circuit, obtain the analog signals that carries former dot information of the external motor being connected with analog-digital conversion circuit as described, and described analog signals is converted to digital signal and exports described the second photoelectric isolating circuit to, described the second photoelectric isolating circuit is for sending to described external control devices by described digital signal by described control circuit, a described CAN communication interface.
In present embodiment, in input circuit, add photoelectric isolating circuit, prevented from burning out control circuit to prevent that the signal of external motor input is excessive, and can eliminate motor input signal spike and disturb.
It should be noted that, present embodiment is only a physical circuit embodiment of first, second input circuit, first, second output circuit, can not think that first, second input circuit of the utility model, first, second output circuit are only limited to foregoing circuit structure, in other embodiments, first, second input circuit, first, second output circuit can be the circuit structure that can realize its function.Further, input/the input circuit of the utility model motion control card also may not be limited to and comprise above-mentioned first, second input circuit, first, second output circuit simultaneously, input/the input circuit of the utility model motion control card can comprise wherein one or more circuit in above-mentioned four kinds of circuit, in this no limit.
In addition, whole circuit of the input/output circuitry in present embodiment or partial circuit can be integrated in ASIC(Application Specific Integrated Circuit) integrated chip, or directly adopt the existing asic chip with identical function, for example, the first output circuit is selected LM628 chip, therefore, the physical arrangement of input/output circuitry is not done to concrete restriction.
Refer to Fig. 4, Fig. 4 is the utility model motion control card structural representation of an embodiment again.The motion control card structure of the motion control card of present embodiment and a upper embodiment is basic identical, but more optimally, the motion control card in present embodiment also comprises the 2nd CAN communication interface 440 being connected with a CAN communication interface 410.Described the 2nd CAN communication interface 440 sends at least a CAN communication interface of motion control card described in another by outside CAN fieldbus for CAN signal that a described CAN communication interface 410 is received, realize the CAN signal transmission between motion control card, expanded the CAN communication network in digital control system.
Refer to Fig. 5, Fig. 5 is the structural representation of the utility model digital control system one embodiment.In present embodiment, digital control system comprises opertaing device 510, at least one motion control card 520 and at least one motor 530.Wherein, each described motion control card 520 is connected with motor described at least one 530, and motion control card 520 is the motion control card described in above-mentioned embodiment, therefore do not repeat them here.Described opertaing device 510 comprises the 3rd CAN of controller local area network communication interface 511, and described opertaing device 510 carries out CAN by described the 3rd CAN communication interface 511 with described at least one motion control card 520 and communicates by letter.Described opertaing device 510 is realized and being communicated by letter with described at least one motor 530 by described at least one motion control card 520, forms CAN communication system.
Particularly, in present embodiment, digital control system comprises the second number motion control card 520, and each motion control card 520 is connected with the first number motor 530, and described the first number, the second number are the arbitrary integer that is more than or equal to 1.Opertaing device 510 is provided with the second number the 3rd CAN communication interface 511, each the 3rd CAN communication interface 511 is connected with a CAN communication interface 521 of a motion control card 520 by CAN bus respectively, so that opertaing device 510 forms principal and subordinate CAN communication network with all motion control cards 520 in digital control system.
Opertaing device 510, in the time receiving the order of user's input, produces corresponding CAN signal wherein according to the order of input, and described CAN signal comprises the address designation (ID) of the motion control card 520 that receives this CAN signal and the address designation (ID) of motor.The CAN fieldbus that opertaing device 510 connects by the second number the 3rd CAN communication interface 511, sends to CAN signal all motion control cards 520 of digital control system.Motion control card 520, in the time receiving CAN signal and judge that address designation in CAN signal comprises the machine address designation, is processed CAN signal, and according to the motor address designation in CAN signal, is sent to corresponding motor 530.
Refer to Fig. 6, Fig. 6 is the structural representation of another embodiment of the utility model digital control system.The digital control system of present embodiment comprises opertaing device 610, at least one motion control card 620 and at least one motor 630.The structure of the digital control system of present embodiment and a upper embodiment is basic identical, and its difference is, motion control card 620 comprises the 2nd CAN communication interface 622 being connected with a CAN communication interface 621.Opertaing device 610 comprises a 3rd CAN communication interface 611, described the 3rd CAN communication interface 611 is connected with a CAN communication interface 621 of the first motion control card 620 in digital control system, all the other motion control cards 620 in the first motion control card 620 and digital control system are by a CAN communication interface 621, the 2nd CAN communication interface 622 is connected in series, the 2nd CAN communication interface 622 of the first motion control card 620 and a CAN communication interface 621 of the second motion control card 620 are connected, so that being received to CAN signal, the first motion control card 620 is transferred to the second motion control card 620, the 2nd CAN communication interface 622 of the second motion control card 620 is connected with a CAN communication interface 621 of the 3rd motion control card 620, so that being received to CAN signal, the second motion control card 620 is transferred to the 3rd motion control card 620, the like, so that the opertaing device 610 in digital control system forms principal and subordinate CAN communication network with all motion control cards 620.
In present embodiment, opertaing device only needs to be connected with a motion control card, has reduced the bus number between opertaing device and motion control card in digital control system, has further avoided the interference that exists between bus, the network system of simplification.
Opertaing device in the application's digital control system can be for any equipment that carries out CAN communication, as be provided with the computer etc. of CAN communication interface, in this no limit.
Pass through such scheme, the utility model motion control card adopts stronger CAN communication mode and the external control devices of anti-interference to communicate, improve the antijamming capability of digital control system, and then stability and the control accuracy of raising digital control system, and, motion control signal is converted to external motor by the utility model motion control card can export external motor to after the analog signals of Direct Recognition again, has accelerated the response speed of external motor.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model instructions and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.

Claims (10)

1. a motion control card, is characterized in that, comprises the first CAN of the controller local area network communication interface, control circuit and the input/output circuitry that are linked in sequence, wherein:
A described CAN communication interface, for carrying out CAN information communication with external control devices;
Described control circuit, the action command sending by a described CAN communication interface for obtaining external control devices, and send corresponding motion control signal to input/output circuitry according to this action command, and for the current state information from input/output circuitry Real-time Obtaining motor;
Described input/output circuitry, can send to external motor after the analog signals of Direct Recognition for receiving described motion control signal and described motion control signal being converted to external motor, and obtains the current state information of external motor feedback.
2. motion control card according to claim 1, is characterized in that,
Described input/output circuitry comprises the first output circuit being connected with described control circuit, the first number described external motor respectively, described the first output circuit receives the CAN signal that described control circuit receives according to a CAN communication interface and produces motion control signal, and exports described external motor to by corresponding described motion control signal.
3. motion control card according to claim 2, is characterized in that,
Described the first output circuit comprises described the first number D/A converting circuit, wherein, described in each, D/A converting circuit is all connected with described control circuit, described in each, D/A converting circuit is all connected with outside motor servo driver described in, and described D/A converting circuit is converted to the motion control signal of described control circuit output corresponding analog signals and exports described external motor driver to.
4. motion control card according to claim 1, is characterized in that,
Described input/output circuitry also comprises respectively and described control circuit, the first number the second output circuit that described external motor connects, described the second output circuit comprises described the first number digital quantity output circuit and described the first number the first photoelectric isolating circuit, wherein, described in each, digital quantity output circuit and the first photoelectric isolating circuit connect one to one, each digital quantity output circuit is all connected with described control circuit, described in each, the first electric isolating circuit is all connected with external motor described in, the enable signal that described digital quantity output circuit produces described control circuit exports described the first photoelectric isolating circuit to, described the first photoelectric isolating circuit exports described enable signal to external motor.
5. motion control card according to claim 1, is characterized in that,
Described input/output circuitry comprises the first input circuit being connected with described control circuit, the first number described external motor respectively, described the first input circuit, by the current state information of described external motor output, sends to described external control devices by described control circuit, a described CAN communication interface.
6. motion control card according to claim 5, is characterized in that,
Described the first input circuit comprises described the first number the second difference channel and described the first number parser circuitry, wherein, described in each, the second difference channel and parser circuitry connect one to one, described in each, the second difference channel is all connected with external motor described in, described in each, parser circuitry is all connected with described control circuit, described the second difference channel receives the current state information of external motor output, and export described parser circuitry to, described parser circuitry is converted to by the current state information of described external motor output signal that described control circuit can identify and by described control circuit, a described CAN communication interface sends to described external control devices.
7. motion control card according to claim 1, is characterized in that,
Described input/output circuitry comprises the second input circuit being connected with described control circuit, the first number described external motor respectively, described the second input circuit described control circuit receive external control devices by described the one CAN communication interface send the 2nd CAN signal time, corresponding obtaining with the former dot information of described external motor and by described control circuit, a described CAN communication interface sends to described external control devices.
8. motion control card according to claim 1, is characterized in that,
Also comprise the 2nd CAN communication interface being connected with a CAN communication interface, described the 2nd CAN communication interface sends at least motion control card described in another for CAN signal that a described CAN communication interface is received by outside CAN bus.
9. a digital control system, is characterized in that,
Comprise motion control card and at least one motor described in opertaing device, at least one claim 1 to 8 any one, wherein, each described motion control card is connected with motor described at least one, described opertaing device comprises the 3rd CAN of controller local area network communication interface, described opertaing device is by described the 3rd CAN communication interface and described at least one motion control cartoon letters, and described opertaing device is realized motion control by described at least one motion control card to described at least one motor.
10. digital control system according to claim 9, is characterized in that,
Described the 3rd CAN communication interface is connected with a CAN communication interface of described at least one motion control card by CAN bus.
CN201320833377.6U 2013-12-16 2013-12-16 Motion control card and numerical control system thereof Expired - Lifetime CN203689092U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103713573A (en) * 2013-12-16 2014-04-09 深圳市综科邦达机电设备有限公司 Motion control card and numerical control system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103713573A (en) * 2013-12-16 2014-04-09 深圳市综科邦达机电设备有限公司 Motion control card and numerical control system

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