CN204271965U - A kind of step actuator - Google Patents
A kind of step actuator Download PDFInfo
- Publication number
- CN204271965U CN204271965U CN201420814546.6U CN201420814546U CN204271965U CN 204271965 U CN204271965 U CN 204271965U CN 201420814546 U CN201420814546 U CN 201420814546U CN 204271965 U CN204271965 U CN 204271965U
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- timer
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- motion
- control chip
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Abstract
The utility model discloses a kind of step actuator, the main control chip (2) comprising host computer (1) and be connected by Modbus communications protocol with described host computer (1), counter (4), timer (5), pulse width modulation module (6) and PID controller (7) that described main control chip (2) comprises digital processing unit (3) and is connected with described digital processing unit (3) respectively.Implement step actuator of the present utility model, beneficial effect is: reduce production cost, simplifies operation, improves production efficiency.
Description
Technical field
The utility model relates to driver, particularly relates to a kind of step actuator,
Background technology
Stepper motor driver is the movement executing mechanism drive system being widely used in industrial robot field, the industries such as be mainly used in the occasion to being positioned with requirement, it is widely used in machinery, electronics, weaving.Traditional stepper motor driver is all rely on motion controller to send pulse to carry out controlled motion distance, speed and direction, and the dependence of traditional stepper motor driver to motion controller is higher, and the motion controller of multiaxis is expensive, is unfavorable for expansion.
Motion control solution general is on the market generally by four-axis movement control card or eight axis motion control cards, sends pulse and carrys out control step driver.But at semicon industry, for a motion platform, nearly tens axles, even tens axles often to be controlled.If all adopt motion control card to control, may need several control cards, price is not only expensive, and the complexity of software of upper control also promotes a lot, is easily out of order.
Utility model content
The technical problems to be solved in the utility model is, for above-mentioned defect of the prior art, provides a kind of step actuator.
The utility model solves the technical scheme that its technical problem adopts and is to provide a kind of step actuator, the main control chip comprising host computer and be connected by Modbus communications protocol with described host computer, counter, timer, pulse width modulation module and PID controller that described main control chip comprises digital processing unit and is connected with described digital processing unit respectively.
In step actuator described in the utility model, described timer comprises the first timer for arranging movement velocity order and the second timer for arranging acceleration of motion order, and described first timer is connected with described digital processing unit respectively with described second timer.
Implement step actuator of the present utility model, beneficial effect is: reduce production cost, simplifies operation, improves production efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model step actuator embodiment.
Embodiment
Clearly understand to make the purpose of this utility model, technical scheme and advantage, the various embodiments that hereafter will describe will with reference to corresponding accompanying drawing, these figures constitute a part for embodiment, which describe the various embodiments realizing the utility model and may adopt.Should understand, also can use other embodiment, or the amendment on 26S Proteasome Structure and Function is carried out to the embodiment enumerated herein, and scope of the present utility model and essence can not be departed from.
As shown in Figure 1, the step actuator of the present embodiment, the main control chip 2 comprising host computer 1 and be connected by Modbus communications protocol with host computer 1, counter 4, timer 5, pulse width modulation module 6 and PID controller 7 that main control chip 2 comprises digital processing unit 3 and is connected with digital processing unit 3 respectively.
Intercomed mutually by MODBUS agreement between host computer 1 and main control chip 2.Main control chip 2 is configured with relevant toggle switch, identifies from machine and number.
It is each before motion starts, host computer 1 sends motion control commands to main control chip 2, motion control commands comprises from machine numbering (Slave_Address), motor pattern function code (Function), acceleration (Accel), move distance (Step_Num), movement velocity (Speed), the direction of motion (Direction), reset speed (Reset_Speed), opening speed (Back_Speed) etc.
After main control chip 2 receives these information, main control chip 2 can start calculating and bring into operation in accordance with current movement locus, the acceleration area of needs, between deceleration area, and the interval of uniform motion.
Timer 5 comprises the first timer for arranging movement velocity order and the second timer for arranging acceleration of motion order, and first timer is connected with digital processing unit 3 respectively with second timer.
After main control chip 2 receives configuration parameter and plans sports-like track, inner first timer and second timer can be adjusted accordingly.First timer is used for arranging movement velocity, and second timer is used for arranging acceleration of motion.
After all kinematic parameters set, host computer 1 can send " motion starts " instruction by MODBUS agreement, main control chip 2 sends corresponding driving instruction according to this instruction, thus makes the motor pattern setting in motion that the step actuator of the present embodiment is planned according to host computer.
If require higher to the real-time followability of motion, the mode that also can be triggered by I/O is controlled.
After motion starts, if motion step number all miss the mark step number time, then counter 4 adds up automatically, and the reference current value of stepping motor coil phase current is also according to the track cumulative or regressive automatically of planning, after the change of circuitry phase reference value, this numerical value can be sent in PID controller 7, in the process of the adjustment of PID controller 7, the numerical value of current phase current can be gathered, and the pulse duty factor that present PWM module 6 exports, and data are processed, realize the object automatically regulating PWM output duty cycle, and then realize the automatic adjustment of phase current, stepping motor is rotated.
After completing with motion in the process that motion is carried out, host computer 1 all ceaselessly sends motion state querying command, and whether inquiry main control chip 2 has completed the motion of specifying.If motion completes, main control chip 2 can return an order, notice host computer 1, and motion completes, can carry out next step action; If motion does not complete, main control chip 2 can return other order, re-starts above-mentioned steps.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection range of the present utility model.
Claims (2)
1. a step actuator, it is characterized in that, the main control chip (2) comprising host computer (1) and be connected by Modbus communications protocol with described host computer (1), counter (4), timer (5), pulse width modulation module (6) and PID controller (7) that described main control chip (2) comprises digital processing unit (3) and is connected with described digital processing unit (3) respectively.
2. step actuator according to claim 1, it is characterized in that, described timer (5) comprises the first timer for arranging movement velocity order and the second timer for arranging acceleration of motion order, and described first timer and described second timer are connected with described digital processing unit (3) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420814546.6U CN204271965U (en) | 2014-12-19 | 2014-12-19 | A kind of step actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420814546.6U CN204271965U (en) | 2014-12-19 | 2014-12-19 | A kind of step actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204271965U true CN204271965U (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420814546.6U Active CN204271965U (en) | 2014-12-19 | 2014-12-19 | A kind of step actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204271965U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843304A (en) * | 2017-03-31 | 2017-06-13 | 深圳诺欧博智能科技有限公司 | Motor general-purpose control system and method |
| CN107562017A (en) * | 2017-08-06 | 2018-01-09 | 北京镁伽机器人科技有限公司 | Parameter edit methods, computer-readable medium and the computer of control parts of motion |
-
2014
- 2014-12-19 CN CN201420814546.6U patent/CN204271965U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106843304A (en) * | 2017-03-31 | 2017-06-13 | 深圳诺欧博智能科技有限公司 | Motor general-purpose control system and method |
| CN107562017A (en) * | 2017-08-06 | 2018-01-09 | 北京镁伽机器人科技有限公司 | Parameter edit methods, computer-readable medium and the computer of control parts of motion |
| CN107562017B (en) * | 2017-08-06 | 2019-08-16 | 苏州镁伽智能制造科技有限公司 | Parameter edit methods, computer-readable medium and the computer of control parts of motion |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 Guangdong Province, Shenzhen city Longhua District Guanlan Street No. 334 Silicon Valley Guangxi Yuelu power automobile electronic business park building A14 Patentee after: Shenzhen Axxon Automation Co., Ltd. Address before: 518040 Futian District, Shenzhen, Che Kung Temple Ji Ji building F5.8 3C-3D Patentee before: Shenzhen Axxon Automation Co., Ltd. |
|
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 building 101, 201 and A14, building A15, silicon valley power automotive electronics Pioneer Park, 334 Guiyue Road, Dafu community, Guanlan street, Longhua District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN AXXON AUTOMATION Co.,Ltd. Address before: 518000 building A14, silicon valley power automotive electronics Pioneer Park, 334 Guiyue Road, Guanlan street, Longhua District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN AXXON AUTOMATION Co.,Ltd. |
|
| CP02 | Change in the address of a patent holder |