CN205068054U - Nine motion control wares - Google Patents
Nine motion control wares Download PDFInfo
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- CN205068054U CN205068054U CN201520740948.0U CN201520740948U CN205068054U CN 205068054 U CN205068054 U CN 205068054U CN 201520740948 U CN201520740948 U CN 201520740948U CN 205068054 U CN205068054 U CN 205068054U
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Abstract
The utility model relates to a motion control ware technical field especially relates to a nine motion control wares. The utility model discloses a PCB board, the PCB board is equipped with ARM and FPGA, and ARM passes through bus and FPGA signal connection, the PCB board is equipped with communication interface, communication interface and ARM signal connection, the PCB board still is equipped with 9 motor signal output interfaces that are used for to motor output control signal, and FPGA and motor signal output interface signals are connected, the PCB board still is equipped with 9 tunnel QEP input interfaces that are used for receiving the encoder code signal, QEP input interface and FPGA signal connection. The utility model discloses a cooperation of two kinds of treaters reaches and improves the effect of handling the operational speed, can also carry out the feedback compensation to control signal simultaneously, improves control accuracy.
Description
Technical field
The utility model relates to motion control apparatus technical field, particularly relates to a kind of nine axle motion controllers.
Background technology
Motion controller, in the equipment such as engineering machinery, is one of very important core control part, is the control module of mechanically moving, current motion controller generally adopts uniprocessor work, the work efficiency of uniprocessor is lower, do not process the control data of 9 axle motions, or precision is lower.
Summary of the invention
The purpose of this utility model is to solve the deficiencies in the prior art, and provide a kind of nine axle motion controllers, this nine axles motion controller has efficient data processing performance, and precision is higher.
For achieving the above object, the technical solution adopted in the utility model is:
A kind of nine axle motion controllers, comprise pcb board, described pcb board is provided with ARM and FPGA, and ARM is connected with FPGA signal by bus; Pcb board is provided with communication interface, and communication interface is connected with ARM signal; Pcb board is also provided with 9 for exporting the motor signal output interface of control signal to motor, and FPGA is connected with motor signal output interface signal; Pcb board is also provided with the QEP input interface of 9 tunnels for received code device coded signal, and QEP input interface is connected with FPGA signal.
Further, described communication interface comprises RS232 interface or RS422 interface.
Further, pcb board is also provided with Ethernet interface, and Ethernet interface is connected with ARM signal.
Further, pcb board is also provided with the first jtag interface for upgrading ARM program and the second jtag interface for upgrading FPGA program.
Further, described pcb board is provided with the analog quantity interface for outwards exporting analog quantity, and analog quantity interface is connected with FPGA signal.
Further, pcb board is provided with ferroelectric memory, and ferroelectric memory is connected with ARM signal.
Further, pcb board is provided with memory interface, and memory interface is connected with ARM signal.
Further, pcb board is provided with 48 tunnel input channels and 24 tunnel output channels, and input channel and output channel are all connected with FPGA signal.
Further, pcb board is provided with Phototube Coupling load module and Phototube Coupling output module.
The beneficial effects of the utility model are: the utility model, by the cooperation of two kinds of processors, reaches the effect improving process arithmetic speed, can also carry out feedback compensation to control signal simultaneously, improves control accuracy.
Accompanying drawing explanation
Fig. 1 is pcb board schematic diagram of the present utility model.
Fig. 2 is principle schematic of the present utility model.
Reference numeral is:
1---pcb board 2---motor signal output interface
3---second jtag interface 4---first jtag interface
18---output channel 6---Phototube Coupling load module
7---Phototube Coupling output module 9---CAN interface
10---RS232 interface 11---RS422 interface
12---communication interface 13---Ethernet interface
14---usb 15---ferroelectric memory
16---memory interface 17---input channel.
Embodiment
Below in conjunction with the drawings and specific embodiments, book is described further to the utility model.
Embodiment 1: see accompanying drawing 1 to Fig. 2.
A kind of nine axle motion controllers, comprise pcb board 1, described pcb board 1 is provided with ARM and FPGA, and ARM is connected with FPGA signal by bus; Pcb board 1 is provided with communication interface 12, and communication interface 12 is connected with ARM signal; Pcb board 1 is also provided with 9 and is connected with motor signal output interface 2 signal for the motor signal output interface 2, FPGA exporting control signal to motor; Pcb board 1 is also provided with the QEP input interface of 9 tunnels for received code device coded signal, and QEP input interface is connected with FPGA signal.
The technical program processes extraneous input signal and motor control signal respectively by arranging two processor A RM and FPGA; Wherein, ARM is connected with extraneous smart machine by communication interface, reception control signal; Control signal after process is sent to FPGA by bus by ARM, and FPGA translates control signal, sends control signal by 9 motor signal output interfaces 2 to the motor of 9 kinematic axiss.The moving situation of 9 kinematic axiss by encoders monitor, and feeds back to FPGA by QEP input interface, and FPGA is corrected the control signal exported by the data of feedback, thus can improve control accuracy.
Further, described communication interface comprises RS232 interface 10 or RS422 interface 11.
Further, pcb board 1 is also provided with Ethernet interface 13, and Ethernet interface 13 is connected with ARM signal.
Because needs control 9 axles, when being connected with extraneous opertaing device, the control information amount of its input is comparatively large, needs the communication pattern of two-forty; After Ethernet interface 13 is set, be connected with extraneous opertaing device signal by netting twine, and transfer rate is high.
Further, pcb board 1 is also provided with the first jtag interface 4 for upgrading ARM program and the second jtag interface 3 for upgrading FPGA program.
First jtag interface 4 can carry out program to ARM and load emulation, namely carry out program test by a JTAG to ARM, and the loading in later stage upgrades.The program of later stage to ARM can be facilitated to correct, upgrade.In like manner the second jtag interface 3 also other types effect.
Further, described pcb board 1 is provided with the analog quantity interface for outwards exporting analog quantity, and analog quantity interface is connected with FPGA signal.
Analog quantity interface is set, the control to analog quantity equipment can be realized.
Further, pcb board 1 is provided with ferroelectric memory 15, and ferroelectric memory 15 is connected with ARM signal.
Ferroelectric memory 15 can be used as configuration parameter storage chip, for parameter signal and the control signal of storage system.
Further, pcb board 1 is provided with memory interface 16, and memory interface 16 is connected with ARM signal.
Memory interface 16 is mainly used in connecting the storeies such as FLASH, SDRAR, and ARM can be made can to perform the program of big data quantity, improves performance and the travelling speed of system.
Further, pcb board 1 is provided with 48 tunnel input channel 17 and 24 tunnel output channels 18, and input channel 17, output channel 18 are all connected with FPGA signal.
In 48 tunnel input channels 17,40 tunnels are that common IO inputs, and 8 tunnels are High-speed I/O input; 24 tunnel output channels 18 are high-power IO output channel 18, drive high-current equipment.
Further, pcb board 1 is provided with Phototube Coupling load module 6 and Phototube Coupling output module 7.
Input channel 17 is connected with FPGA signal by Phototube Coupling load module 6, and output channel 18 is connected with FPGA signal by Phototube Coupling output module 7; Phototube Coupling load module 6 and Phototube Coupling output module 7 are photoisolator, can be used for preventing surge, protection pcb board.
Further, pcb board 1 is provided with the CAN interface 9 and usb 14 that are connected with ARM signal respectively.
ARM communicates with outside CAN equipment by CAN interface 9.Parameter, control signal are downloaded by usb 14, can be communicated by usb 14 with extraneous opertaing device simultaneously.
Below be only the preferred embodiment of the application, equivalent technical solutions on this basis still falls into application protection domain.
Claims (9)
1. nine axle motion controllers, comprise pcb board, it is characterized in that: described pcb board is provided with ARM and FPGA, ARM is connected with FPGA signal by bus; Pcb board is provided with communication interface, and communication interface is connected with ARM signal; Pcb board is also provided with 9 for exporting the motor signal output interface of control signal to motor, and FPGA is connected with motor signal output interface signal; Pcb board is also provided with the QEP input interface of 9 tunnels for received code device coded signal, and QEP input interface is connected with FPGA signal.
2. a kind of nine axle motion controllers according to claim 1, is characterized in that: described communication interface comprises RS232 interface or RS422 interface.
3. a kind of nine axle motion controllers according to claim 2, it is characterized in that: pcb board is also provided with Ethernet interface, Ethernet interface is connected with ARM signal.
4. a kind of nine axle motion controllers according to claim 3, is characterized in that: pcb board is also provided with the first jtag interface for upgrading ARM program and the second jtag interface for upgrading FPGA program.
5. a kind of nine axle motion controllers according to claim 4, is characterized in that: described pcb board is provided with the analog quantity interface for outwards exporting analog quantity, and analog quantity interface is connected with FPGA signal.
6. a kind of nine axle motion controllers according to claim 5, it is characterized in that: pcb board is provided with ferroelectric memory, ferroelectric memory is connected with ARM signal.
7. a kind of nine axle motion controllers according to claim 6, it is characterized in that: pcb board is provided with memory interface, memory interface is connected with ARM signal.
8. a kind of nine axle motion controllers according to claim 7, is characterized in that: pcb board is provided with 48 tunnel input channels and 24 tunnel output channels, and input channel and output channel are all connected with FPGA signal.
9. a kind of nine axle motion controllers according to claim 8, is characterized in that: pcb board is provided with Phototube Coupling load module and Phototube Coupling output module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520740948.0U CN205068054U (en) | 2015-09-23 | 2015-09-23 | Nine motion control wares |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520740948.0U CN205068054U (en) | 2015-09-23 | 2015-09-23 | Nine motion control wares |
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| Publication Number | Publication Date |
|---|---|
| CN205068054U true CN205068054U (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520740948.0U Active CN205068054U (en) | 2015-09-23 | 2015-09-23 | Nine motion control wares |
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| CN (1) | CN205068054U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111025975A (en) * | 2019-12-13 | 2020-04-17 | 深圳弘远电气有限公司 | A layout method of an all-round driver and the all-round driver |
-
2015
- 2015-09-23 CN CN201520740948.0U patent/CN205068054U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111025975A (en) * | 2019-12-13 | 2020-04-17 | 深圳弘远电气有限公司 | A layout method of an all-round driver and the all-round driver |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |