CN205620718U - CAN bus expansion interface - Google Patents

Abstract

The utility creatively provides a CAN bus expansion interface, including control chip, serial ports transceiver module, CAN transceiver module, logic switch volume input unit, logic switch volume output unit, analog quantity output unit, pulse volume output unit and power management unit, power management unit is connected with each device electricity, serial ports transceiver module is through receiving and dispatching serial data signal and control chip communication connection, CAN transceiver module is through receiving and dispatching CAN bus signal and control chip communication connection, logic switch volume input unit is to control chip input switch volume signal, the control chip volume of passing through logic switch output unit output switch measures the signal, the control chip volume of passing through analog quantity output unit analog output signal, control chip passes through pulse output unit output pulse volume signal. The utility model discloses create CAN bus expansion interface, have compatiblely high, characteristics that the flexibility is good are applicable to the analog quantity or the controllable motion unit of pulse volume of various models and each producer.

Description

A kind of CAN expansion interface

Technical field

The invention belongs to CAN and controls interfacing field, especially relates to a kind of CAN Expansion interface.

Background technology

Along with the development of domestic industrial control field types of applications, Multi-axis motion control mode based on bus-type is Through slowly becoming trend, all kinds of Automated condtrol giants have overall plan to this, but it is the highest to control cost, Non-bus type moving cell more cannot be participated, such as Lu ancestor spring. and many based on CAN solar tracking The research of axle kinetic control system and application [D] .2011, p20, be that application motion controller leads to driver The mode crossing CANOPEN realizes multi-shaft interlocked.CAN Interface Expanding is provided for non-bus type motor, There is specificity more, be only applicable to certain or certain kinds of athletic unit, such as paper Guo Guang are of heap of stone. based on The distributed multi-shaft motion control system Communication System Design of CAN and realization [D] .2008, P3-43 With paper Shu Zhi soldier, Zhang Jie. the research [J] of network motion control systems based on CAN. machinery sets Meter and manufacture, 2008, the CAN interface being previously mentioned in (1) is specially towards certain servo unit.

Each producer, in order to realize automatically controlling of the complicated multiaxial motion to bus-type, generally requires input relatively High cost carries out moving cell and controls the collocation of device, and while collocation, uses with not most probably With the equipment of producer, this is just easy to encounter compatibility issue；The research staff of military industry is in order to realize The high speed and precision motion of moving cell, generally uses external high side controller, and this just there will more than likely be the unknown Safety and hidden danger of divulging a secret, rather than bus-type driver and motor be seldom applied to this type of control in the middle of, Connect so the CAN extension that moving cell can accurately control again by compatibility issue can be solved The research and development of mouth are very urgent.

Summary of the invention

In view of this, the invention is directed to a kind of CAN expansion interface, for normal pulsed or Motor that analog quantity is controlled and driver or converter thereof provide CAN expanded function, in combination with control The devices such as unit processed and sensor, it is achieved that the flexible networking of multiaxis based on bxCAN bus.

For reaching above-mentioned purpose, the technical scheme of the invention is achieved in that

A kind of CAN expansion interface, including control chip, serial ports transceiver module, CAN transceiver module, Logic switch amount input block, logic switch amount output unit, analog output unit, pulsed quantity export Unit and Power Management Unit；

Described Power Management Unit is provided with plant-grid connection mouth and power output, and described power output divides Not with described control chip, serial ports transceiver module, CAN transceiver module, logic switch amount input block, Logic switch amount output unit, analog output unit and the electrical connection of pulsed quantity output unit；

Described serial ports transceiver module is communicated to connect with described control chip by transmitting-receiving serial data signal；

Described CAN transceiver module is communicated to connect with described control chip by transmitting-receiving CAN signal；

Described logic switch amount input block is to described control chip input switch amount signal；

Described control chip is by described logic switch amount output unit output switch amount signal；

Described control chip exports analog signals by described analog output unit；

Described control chip exports pulsed quantity signal by pulsed quantity output unit.

Further, described control chip is embedded chip based on ARM7, this embedded chip type Number it is STM32, the STM32 enhancement mode of these embedded 32 single-chip microcomputers, apply Cortex-M3 kernel, High primary frequency is 72MHz, and has 2 APB buses.

Further, described serial ports transceiver module includes serial port level conversion module, described serial port power flat turn Die change block communicates to connect with described control chip.

Further, described CAN transceiver module includes CAN transceiver and the first isolation circuit, described CAN Transceiver is connected with described control chip signal by the first isolation circuit.

Further, described logic switch amount output unit includes drive circuit and the second isolation circuit, institute The output signal rear drive output stating the drive circuit described control chip of reception isolates the defeated of circuit to second Enter end, by the outfan output switch amount signal of this second isolation circuit after the second isolation circuit modulation.

Further, described logic switch amount output unit is 12 tunnel logic control outputs.

Further, described logic switch amount input block is 8 tunnel logic control inputs.

Further, analog output unit includes amplifying circuit and the 3rd isolation circuit, described amplification electricity The input of the most described 3rd isolation circuit of output is amplified after the output signal of the described control chip of road reception, By the outfan output analog signals of the 3rd isolation circuit after the 3rd isolation circuit modulation.

Further, described power inlet includes 5V power inlet and 24V power inlet.

Further, described power output includes positive and negative 12V power output, 3.3V power output With 1.6V power output, and described positive and negative 12V power output, 3.3V power output and 1.6V Between power output mutually isolated.

Further, described CAN expansion interface also includes intervalometer, described intervalometer and described control Chip signal processed connects, and electrically connects with described Power Management Unit.

Relative to prior art, having the advantage that described in the invention

(1) the CAN expansion interface described in the invention, it is achieved that the spirit of kinetic control system Live and build so that the selection of control unit and moving cell is the most extensive so that complicated multiaxis routing motion Control mode be not solely restricted to select the most high-end bus-type motion controller and bus in brand Servomotor, it is also possible to the industrial computer of application extension CAN card or the lower cost such as PC and motor Combine.

Accompanying drawing explanation

The accompanying drawing of the part constituting the invention is used for providing being further appreciated by the invention, The schematic description and description of the invention is used for explaining the invention, is not intended that this The improper restriction of bright creation.In the accompanying drawings:

Fig. 1 is the CAN expansion interface attachment structure schematic diagram described in the invention embodiment；

Fig. 2 is the CAN expansion interface application schematic diagram described in the invention embodiment；

Fig. 3 is the CAN expansion interface workflow diagram described in the invention embodiment.

Description of reference numerals:

1-control chip；2-serial ports transceiver module；21-serial port level conversion module；3-CAN transceiver module； 31-CAN transceiver；32-first isolates circuit；4-logic switch amount input block；5-logic switch amount Output unit；51-drive circuit；52-second isolates circuit；6-analog output unit；61-amplifies Circuit；62-the 3rd isolates circuit；7-pulsed quantity output unit；8-power management module；9-intervalometer.

Detailed description of the invention

It should be noted that in the case of not conflicting, in embodiment in the invention and embodiment Feature can be mutually combined.

In the description of the invention, it is to be understood that term " " center ", " longitudinally ", " horizontal stroke To ", " on ", D score, "front", "rear", "left", "right", " vertically ", " water Flat ", the orientation that indicates of " top ", " end ", " interior ", " outward " etc. or position relationship be based on attached Orientation shown in figure or position relationship, be for only for ease of description the invention and simplify description, and not Be instruction or the hint device of indication or element must have specific orientation, with specific azimuth configuration and Operation, therefore it is not intended that restriction to the invention.Additionally, term " first ", " second " Etc. being only used for describing purpose, and it is not intended that instruction or hint relative importance or implicit indicate indication The quantity of the technical characteristic shown.Thus, the feature defining " first ", " second " etc. can be expressed Or implicitly include one or more this feature.In the description of the invention, unless otherwise Illustrating, " multiple " are meant that two or more.

In the description of the invention, it should be noted that unless otherwise clearly defined and limited, Term " is installed ", " being connected ", " connection " should be interpreted broadly, and connects for example, it may be fixing, Can also be to removably connect, or be integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection； Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the company of two element internals Logical.For the ordinary skill in the art, can understand that above-mentioned term is at this by concrete condition Concrete meaning in innovation and creation.

Describe the invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.

As it is shown in figure 1, the invention includes that control chip 1, serial ports transceiver module 2, CAN receive and dispatch mould Block 3, logic switch amount input block 4, logic switch amount output unit 5, analog output unit 6, Pulsed quantity output unit 7 and Power Management Unit 8；

Power Management Unit 8 is provided with plant-grid connection mouth and power output, power output respectively with control Coremaking sheet 1, serial ports transceiver module 2, CAN transceiver module 3, logic switch amount input block 4, logic Switch amount output unit 5, analog output unit 6 and pulsed quantity output unit 7 electrically connect；

Serial ports transceiver module 2 is communicated to connect with control chip 1 by transmitting-receiving serial data signal, it is achieved that This CAN expansion interface passes through serial data signal with the sensor etc. in encoder or moving cell Communication between the device of communication, it is achieved that to the tune of control chip 1 function in CAN expansion interface Whole and to the input of status data in moving cell；

CAN transceiver module 3 is communicated to connect with control chip 1 by transmitting-receiving CAN signal so that should CAN expansion interface becomes CAN network node, for analog quantity or pulsed quantity after connecting moving cell Controlled moving cell (including converter or driver and motor) provides CAN function or extension After bxCAN bus functionality flexibly, it is achieved that control chip 1 and other nodes in CAN network or on Communication between the machine control unit of position；

Logic switch amount input block 4 inputs to control chip 1 input switch amount signal, logic switch amount Unit 4 is 8 tunnel logic controls inputs, and this control chip 1 uses and interrupts receiving, moving cell spacing, The signals such as warning are applied interruption form to supervise by control chip 1 by described logic switch amount input block 4 Survey；

Control chip 1 is by logic switch amount output unit 5 output switch amount signal, this logic switch amount Output unit 5 is 12 tunnel logic control outputs；

In order to adapt to more multiple driver and converter, logic switch amount input block 4 and logic switch amount are defeated Going out unit 5, to apply photoelectric isolated chip to realize 5V, 24V wire jumper optional.

Control chip 1 exports analog signals by analog output unit 6, and analog output unit leads to Cross application subtractor and realize the output of generating positive and negative voltage, then it is defeated to achieve analog signals by application amplifier In the positive and negative 12V gone out adjustable；

Control chip 1 exports pulsed quantity signal by pulsed quantity output unit 7.

Control chip 1 is embedded chip based on ARM7, and this embedded chip model is STM32, should The STM32 enhancement mode of embedded 32 single-chip microcomputers, application Cortex-M3 kernel, high primary frequency are 72MHz, And have 2 APB buses in order to connect abundant ancillary equipment.

Serial ports transceiver module 2 includes serial port level conversion module 21, serial port level conversion module 21 and control Coremaking sheet 1 communicates to connect.

CAN transceiver module 3 includes CAN transceiver 31 and the first isolation circuit 32, CAN transceiver 31 It is connected with control chip 1 signal by the first isolation circuit 32.

Logic switch amount output unit 5 includes drive circuit 51 and the second isolation circuit 52, drive circuit The 51 output signal rear drive output inputs to the second isolation circuit 52 receiving control chip 1, warp By the outfan output switch amount signal of this second isolation circuit 52 after second isolation circuit 52 modulation.

Analog output unit 6 includes amplifying circuit 61 and the 3rd isolation circuit 62, amplifying circuit 61 Amplifying the input exported to the 3rd isolation circuit 62 after receiving the output signal of control chip 1, warp should By the outfan output analog signals of the 3rd isolation circuit 62 after 3rd isolation circuit 62 modulation.

Power inlet includes 5V power inlet and 24V power inlet.

Power output includes that positive and negative 12V power output, 3.3V power output and 1.6V power supply are defeated Outlet, and phase between positive and negative 12V power output, 3.3V power output and 1.6V power output Isolation mutually.

CAN expansion interface also includes that intervalometer 9, intervalometer 9 are connected with control chip 1 signal, And electrically connect with Power Management Unit 8.

As in figure 2 it is shown, the invention Application Example is these CAN expansion interfaces multiple It is respectively connected in CAN network after connecting moving cell, flexible component movement control system, should simultaneously CAN expansion interface can also expand to CAN card and industrial computer or PC and be connected, and then accesses CAN In bus network, as the network node of host computer.

As it is shown on figure 3, the invention industry control in CAN network when moving cell is axle motion Machine controls the work process of moving cell:

(1) control chip 1 controls the initialization of this CAN expansion interface；

(2) CAN transceiver module 3 is by receiving CAN signal in CAN network, and by this CAN Bus signals isolation input control chip 1；

(3) control chip 1 judges whether this CAN signal is new data signal, if new data Signal, then enter CAN and receive interruption, and control chip 1 receives CAN signal and enters step (4), if not new data signal, then judge whether this CAN signal transmits time-out, if transmission Time-out, then CAN invalidating signal, moving cell zero-speed clamper, if transmission has not timed out, then repeats step Suddenly (2) and step (3)；

(4) control chip 1 resets intervalometer judge whether CAN signal frame is erroneous frame, if Erroneous frame, then CAN invalidating signal, moving cell zero-speed clamper, if not erroneous frame, then enter Enter step (5)；

(5) control chip 1 judges whether this CAN signal is termination signal, if termination signal, Then control chip 1 sends termination signal, moving cell stop motion to moving cell, if not terminating letter Number, then enter step (6)；

(6) control chip 1 judges whether this CAN signal is motor message, if motor message, The most first determine whether zero-speed, if zero-speed, then CAN invalidating signal, moving cell zero-speed clamper, If not zero-speed, then control chip 1 sends analog quantity control by analog output unit 6 to moving cell Signal processed, moving cell moves, and then repeats step (2) to step (6), if not motor message, Then enter step (7)；

(7) control chip 1 judges whether this CAN signal is emergent stop signal, if emergent stop signal, Then control chip 1 sends stop command by logic switch amount output unit 5 to moving cell, and motion is single Unit's stop motion, then repeats step (2) to step (7), if not emergent stop signal, then enters step Suddenly (8)；

(8) control chip 1 judges whether this CAN signal is crawl signal, if crawl signal, Then control chip 1 carries pulsed quantity signal, moving cell by pulsed quantity output unit 7 to moving cell Crawl, then repeats step (2) to step (8), if not crawl signal, then this signal controls core Sheet 1 None-identified, therefore control chip sends error reporting, then repeats step (2) to step (8).

In above-mentioned work process, step (5), step (6), step (7) and step (8) Sequencing can arbitrarily be exchanged.

In above-mentioned work process, CAN information is monitored by the timing of CAN expansion interface, When the intervalometer 9 in CAN expansion interface arrives certain time, show that input controls within this time CAN signal in chip 1 is not new data signal, i.e. CAN abnormal signal, Ke Nengfa Having given birth to the emergency such as preservative error order or host computer deadlock, now control chip 1 stops institute immediately Have and performing instruction, simultaneously to moving cell conveying protection signal, the motion of stop motion unit.

In above-mentioned motor process, sensor signal showing moving cell movement state information etc. is by serial ports Transceiver module 2 inputs control chip 1, and limit signal, alarm signal etc. are by logic switch amount input block 4 input control chips 1, carry sensor signal, limit signal, alarm signal through control chip 1 Deng feeding back to after information processing in CAN network.

CAN expansion interface described in the invention can complete motion fortune in CAN network The reception of dynamic control instruction, and it is converted into moving cell discernible pulsed quantity signal, analog quantity letter Number and the form (also including the peculair motion control instruction such as jerk, crawl) of logic switch amount signal, with Time the motion state signal of moving cell (as reported to the police, spacing) is fed back in CAN network.

The present embodiment makes multiaxis compound movement based on CAN control have more preferable motility, with Time make cost control become to be more prone to, bus extends different types of moving cell and becomes more to hold Easily.

The invention has compatible high, the feature that motility is good, it is adaptable to various models and each producer Analog quantity or the controlled moving cell of pulsed quantity so that it is become CAN network node device and other CAN Apparatus for network node carries out group-net communication so that the moving cell of non-bus type can be real based on CAN Existing multi-shaft interlocked.

The foregoing is only the preferred embodiment of the invention, not in order to limit present invention wound Make, within all spirit in the invention and principle, any modification, equivalent substitution and improvement made Deng, within should be included in the protection domain of the invention.

Claims (10)

1. a CAN expansion interface, it is characterised in that: include that control chip (1), serial ports are received Send out module (2), CAN transceiver module (3), logic switch amount input block (4), logic switch amount Output unit (5), analog output unit (6), pulsed quantity output unit (7) and power management Unit (8)；

Described Power Management Unit (8) is provided with plant-grid connection mouth and power output, and described power supply is defeated Outlet respectively with described control chip (1), serial ports transceiver module (2), CAN transceiver module (3), Logic switch amount input block (4), logic switch amount output unit (5), analog output unit (6) Electrically connect with pulsed quantity output unit (7)；

Described serial ports transceiver module (2) is led to described control chip (1) by transmitting-receiving serial data signal Letter connects；

Described CAN transceiver module (3) is led to described control chip (1) by transmitting-receiving CAN signal Letter connects；

Described logic switch amount input block (4) is to described control chip (1) input switch amount signal；

Described control chip (1) is by described logic switch amount output unit (5) output switch amount signal；

Described control chip (1) exports analog signals by described analog output unit (6)；

Described control chip (1) exports pulsed quantity signal by pulsed quantity output unit (7).

CAN expansion interface the most according to claim 1, it is characterised in that: described control Chip (1) is embedded chip based on ARM7, and this embedded chip model is STM32.

CAN expansion interface the most according to claim 1, it is characterised in that: described serial ports Transceiver module (2) includes serial port level conversion module (21), described serial port level conversion module (21) Communicate to connect with described control chip (1).

CAN expansion interface the most according to claim 1, it is characterised in that: described CAN Transceiver module (3) includes CAN transceiver (31) and the first isolation circuit (32), and described CAN receives Send out device (31) to be connected with described control chip (1) signal by the first isolation circuit (32).

CAN expansion interface the most according to claim 1, it is characterised in that: described logic Switch amount output unit (5) include drive circuit (51) and second isolation circuit (52), described in drive Galvanic electricity road (51) receives the output signal rear drive output of described control chip (1) to the second isolation electricity The input on road (52), by this second isolation circuit (52) after the second isolation circuit (52) modulation Outfan output switch amount signal.

CAN expansion interface the most according to claim 1, it is characterised in that: described logic Switch amount output unit (5) is 12 tunnel logic control outputs.

CAN expansion interface the most according to claim 1, it is characterised in that: described logic On-off signal unit (4) is 8 tunnel logic control inputs.

CAN expansion interface the most according to claim 1, it is characterised in that: analog quantity is defeated Go out unit (6) and include amplifying circuit (61) and the 3rd isolation circuit (62), described amplifying circuit (61) Output is amplified to described 3rd isolation circuit (62) after receiving the output signal of described control chip (1) Input, through the 3rd isolation circuit (62) modulation after by the 3rd isolation circuit (62) output End output analog signals.

CAN expansion interface the most according to claim 1, it is characterised in that: described power supply Input port includes 5V power inlet and 24V power inlet, and described power output includes positive and negative 12V Power output, 3.3V power output and 1.6V power output, and described positive and negative 12V power supply is defeated Outlet, mutually isolated between 3.3V power output and 1.6V power output.

CAN expansion interface the most according to claim 1, it is characterised in that: also include timing Device (9), described intervalometer (9) is connected with described control chip (1) signal, and with described power supply Administrative unit (8) electrically connects.