CN206004569U - A kind of torque security turning off system for servo-driver - Google Patents
A kind of torque security turning off system for servo-driver Download PDFInfo
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- CN206004569U CN206004569U CN201621024991.8U CN201621024991U CN206004569U CN 206004569 U CN206004569 U CN 206004569U CN 201621024991 U CN201621024991 U CN 201621024991U CN 206004569 U CN206004569 U CN 206004569U
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- servo
- power supply
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- driver element
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Abstract
The utility model discloses a kind of torque security turning off system for servo-driver, system includes including dsp processor, rectification filtering unit, relay control unit, encoder feedback module, current sampling circuit, inversion unit, driver element, PWM buffer, two-way photoelectric coupled circuit, the power control circuit of driver element inside servo-driver, servomotor, alternating current power supply ,+24VDC, switch, servo-driver；Increase the interface that two torque securities turn off inside servo-driver, there is provided lasting DC voltage+24VDC input by outside, once DC voltage+24VDC turns off, immediately pass through hardware and software inside servo-driver and turn off pwm signal twice, simultaneously turn off driving power supply and bus power supply, the torque security of servo-driver is made to turn off, servomotor is out of service at once, can effectively prevent plant equipment movable part from making dangerous play, guarantee equipment and the safety of operator, have a good application prospect.
Description
Technical field
This utility model is related to servo-driver control technology field and in particular to a kind of torque for servo-driver
Safety Shutdown System.
Background technology
When running into emergency, when needing servo-driver to quit work, existing servo-driver turns off, and mainly passes through
Following two modes：
（1）By closing the A.C. contactor in servo-driver electrical source of power, electrical source of power is turned off it is ensured that servo is driven
The torque of dynamic device turns off；（2）By I/O port or the communication interface of servo-driver, servo-driver is allowed to adopt in house software to close
Break so as to quit work.
For the scheme being turned off by A.C. contactor（1）, need catalyst of increasing exchanges, if desired control multiple stage simultaneously
In the case of servo-driver, such as robot control cabinet, automatic assembly line etc., switch board volume will be made to increase, cost is relatively
Height, and inconvenient switch board internal wiring；For the scheme being turned off by servo-driver in house software（2）, reliability is inadequate
Height, it is impossible to reliable turn-off is it is impossible to ensure equipment and operator in the case that deadlock or program fleet in servo-driver
The safety of member.
Utility model content
In order to overcome the problems referred to above, the torque security turning off system for servo-driver of the present utility model, in servo
Internal drive increases the interface that two torque securities turn off, and provides lasting DC voltage+24VDC to input by outside, and one
Denier DC voltage+24VDC turns off, and immediately passes through hardware and software and turns off pwm signal twice, simultaneously turn off inside servo-driver
Driving power supply and bus power supply, make the torque security of servo-driver turn off, servomotor is out of service at once, can be effective
Prevent plant equipment movable part from making dangerous play it is ensured that the safety of equipment and operator, have a good application prospect.
In order to achieve the above object, this utility model be employed technical scheme comprise that：
A kind of torque security turning off system for servo-driver it is characterised in that：Including servo-driver, servo electricity
Machine, alternating current power supply, external dc power supply, described servo-driver includes dsp processor, rectification filtering unit, relay
Control unit, encoder feedback module, current sampling circuit, inversion unit, driver element, PWM buffer, two-way optocoupler electricity
Road, driver element power control circuit, it is defeated with the power supply of relay control unit that described alternating current power supply passes through rectification filtering unit
Enter end to be connected, the power output end of described relay control unit is connected with inversion unit, described dsp processor passes through
PWM buffer is connected with driver element, and described driver element is connected with inversion unit, described inversion unit and servomotor
It is connected, described servomotor is also connected with dsp processor by current sampling circuit, encoder feedback module respectively, institute
State dsp processor to be also connected with the control end of relay control unit, described external dc power supply passes through switch and two
The input of road photoelectric coupled circuit is connected, and the first via outfan of described two-way photoelectric coupled circuit is connected with PWM buffer, is used for
The pwm signal controlling PWM buffer normally or stops output, No. second outfan of described two-way photoelectric coupled circuit and driver element
The input of power control circuit is connected, and the second tunnel of described two-way photoelectric coupled circuit exports the I/O port also with dsp processor
It is connected, the described outfan of driver element power control circuit is connected with the power input of driver element.
A kind of aforesaid torque security turning off system for servo-driver it is characterised in that：Described external dc supplies
The input voltage of power supply is direct current+24V.
A kind of aforesaid torque security turning off system for servo-driver it is characterised in that：Described two-way optocoupler electricity
Road includes the first opto-coupler chip U1, the second opto-coupler chip U2, described first opto-coupler chip U1, the positive input of the second opto-coupler chip U2
The positive pole by resistance R1 external external dc power supply+24VDC for the end, described first opto-coupler chip U1, the second opto-coupler chip
The negative pole of the negative input end external external dc power supply+24VDC of U2, described first opto-coupler chip U1, the second opto-coupler chip
It is parallel with resistance R2, electric capacity C1, diode D1, the positive pole of described diode D1 is straight with external outside between the positive and negative input of U2
The negative pole of stream power supply is connected, and the negative pole of described diode D1 is connected with the positive pole of external external dc power supply,
The outfan of described first opto-coupler chip U1 is connected with PWM buffer, the first via outfan of described second opto-coupler chip U2
It is connected with driver element power control circuit, described second opto-coupler chip U2 No. second outfan passes through at resistance R5 and DSP
The I/O port of reason device is connected.
A kind of aforesaid torque security turning off system for servo-driver it is characterised in that：Described PWM buffer by
U9 forms, and U9 is No. 8 buffers with ternary output, and the Enable Pin of described PWM buffer is defeated with the first opto-coupler chip U1's
Go out end to be connected.
A kind of aforesaid torque security turning off system for servo-driver it is characterised in that：Described driver element electricity
Source control circuit includes audion Q1, metal-oxide-semiconductor Q2, and the base stage of described audion Q1 is defeated as driver element power control circuit
Enter and be connected with the output of two-way photoelectric coupled circuit second tunnel by resistance R6, the emitter stage of described audion Q1 is connected to the ground, institute
The colelctor electrode stating audion Q1 is connected with the grid of metal-oxide-semiconductor Q2 by resistance R8, the source electrode external power supply electricity of described metal-oxide-semiconductor Q2
The drain electrode of source VCC, described metal-oxide-semiconductor Q2 is as the power input phase of output and the driver element of driver element power control circuit
Connect.
A kind of aforesaid torque security turning off system for servo-driver it is characterised in that：Described audion Q1's
It is provided with resistance R7 between base stage, emitter stage, between the grid of described metal-oxide-semiconductor Q2, drain electrode, be provided with electric capacity C2, described metal-oxide-semiconductor
It is provided with resistance R9, the source electrode of described metal-oxide-semiconductor Q2 is connected to the ground also by electric capacity C3 between the grid of Q2, source electrode.
The beneficial effects of the utility model are：
Torque security turning off system for servo-driver of the present utility model, increases by two inside servo-driver
The interface that torque security turns off, provides lasting DC voltage+24VDC input by outside, once DC voltage+24VDC closes
Disconnected, immediately pass through hardware and software inside servo-driver and turn off pwm signal twice, simultaneously turn off driving power supply and bus electricity
Source, makes the torque security of servo-driver turn off, servomotor is out of service at once, can effectively prevent plant equipment activity
Part makes dangerous play it is ensured that the safety of equipment and operator, has a good application prospect.
Brief description
Fig. 1 is the system block diagram of the torque security turning off system for servo-driver of the present utility model.
Fig. 2 is the circuit diagram of two-way photoelectric coupled circuit of the present utility model.
Fig. 3 is the circuit diagram of PWM buffer of the present utility model.
Fig. 4 is the circuit diagram of driver element power control circuit of the present utility model.
Fig. 5 is the control sequential figure that torque security of the present utility model turns off.
Fig. 6 is the flow chart of the torque security cut-off method for servo-driver of the present utility model.
Specific embodiment
Below in conjunction with Figure of description, this utility model is further described.
As shown in figure 1, the torque security turning off system for servo-driver of the present utility model, including servo-drive
Device, servomotor, alternating current power supply, external dc power supply, include dsp processor, rectification filter inside described servo-driver
Ripple unit, relay control unit, encoder feedback module, current sampling circuit, inversion unit, driver element, PWM buffering
Device, two-way photoelectric coupled circuit, driver element power control circuit, described alternating current power supply passes through rectification filtering unit and Control
The power input of unit is connected, and the power output end of described relay control unit is connected with inversion unit, described DSP
Processor is connected with driver element by PWM buffer, and described driver element is connected with inversion unit, described inversion unit
It is connected with servomotor, described servomotor also passes through current sampling circuit, encoder feedback circuit and dsp processor respectively
It is connected, described dsp processor is also connected with the control end of relay control unit.
Described external dc power supply+24VDC（The DC voltage of+24V is provided）By switch and two-way photoelectric coupled circuit
Input be connected, the first via outfan of described two-way photoelectric coupled circuit is connected with PWM buffer, for control PWM delay
The pwm signal rushing device normally or stops output, the second tunnel of described two-way photoelectric coupled circuit and driver element power control circuit
Input is connected, and the described outfan of driver element power control circuit is connected with the power input of driver element, uses
Normal or turn off in the power supply controlling driver element, the second tunnel output of described two-way photoelectric coupled circuit also with dsp processor
I/O port is connected, for judging outside+24VDC whether normal power supply.
As shown in Fig. 2 described two-way photoelectric coupled circuit includes the first opto-coupler chip U1, the second opto-coupler chip U2, described first
Opto-coupler chip U1, the positive input terminal of the second opto-coupler chip U2 are just passing through resistance R1 external external dc power supply+24VDC
Pole, described first opto-coupler chip U1, the negative input end external external dc power supply+24VDC of the second opto-coupler chip U2 negative
Pole, is parallel with resistance R2, electric capacity C1, diode between described first opto-coupler chip U1, the positive and negative input of the second opto-coupler chip U2
D1, the positive pole of described diode D1 is connected with the negative pole of external external dc power supply+24VDC, described diode D1's
Negative pole is connected with the positive pole of external external dc power supply+24VDC, the outfan of described first opto-coupler chip U1 and PWM
Buffer is connected, and the first via outfan of described second opto-coupler chip U2 is connected with driver element power control circuit, institute
State second opto-coupler chip U2 No. second outfan to be connected with the I/O port of dsp processor by resistance R5.
As shown in figure 3, described PWM buffer is made up of U9, U9 is No. 8 buffers with ternary output, and described PWM delays
The Enable Pin rushing device is connected with the outfan of the first opto-coupler chip U1, when external input power+24VDC is normal, enables letter
Number PWM-EN is low level, No. 8 buffer U9 normal works, and 6 road PWM outputs are normal；When external input power+24VDC turns off
When, enable signal PWM-EN is high level, and No. 8 buffer U9 close the output of 6 road PWM.
As shown in figure 4, described driver element power control circuit includes audion Q1, metal-oxide-semiconductor Q2, described audion Q1's
Base stage is exported by the first via of resistance R6 and two-way photoelectric coupled circuit second tunnel as the input of driver element power control circuit
It is connected, the emitter stage of described audion Q1 is connected to the ground, the colelctor electrode of described audion Q1 passes through resistance R8 and metal-oxide-semiconductor Q2
Grid be connected, the drain electrode of the source electrode external power supply VCC of described metal-oxide-semiconductor Q2, described metal-oxide-semiconductor Q2 is as driver element electricity
The output of source control circuit is connected with the power input of driver element, sets between the base stage of described audion Q1, emitter stage
It is equipped with resistance R7, between the grid of described metal-oxide-semiconductor Q2, drain electrode, be provided with electric capacity C2, between the grid of described metal-oxide-semiconductor Q2, source electrode
It is provided with resistance R9, the source electrode of described metal-oxide-semiconductor Q2 is connected to the ground also by electric capacity C3, described audion Q1 is NPN triode,
Metal-oxide-semiconductor Q2 is P-channel metal-oxide-semiconductor.When external input power+24VDC is normal, PWM_VCC_EN is high level, Q1 normal work,
Q6 also normal work, the power supply of drive circuit is normal；When external input power+24VDC turns off, PWM_VCC_EN is low electricity
Flat, Q1 closes, and Q6 is also switched off, the power-off of drive circuit.
As shown in figure 5, when external input power+24VDC is normal, PWM, the power supply of driver element, bus power supply are all normal,
Driver normal work, the torque output of driver is normal；When external input power+24VDC closes, PWM and driver element
Power supply is closed simultaneously, and the now torque of driver is closed, and meanwhile, PWM and bus power-off, t1 are processed by DSP for optocoupler
The delay time of circuit, t2 is bus power off time.
Based on the torque security cut-off method of the above-mentioned torque security turning off system for servo-driver, as Fig. 6 institute
Show, comprise the following steps,
Step（1）, by external dc power supply+24VDC to servo-driver two-way photoelectric coupled circuit normal power supply；
Step（2）, when external dc power supply+24VDC normal power supply, then the two-way photoelectric coupled circuit of servo-driver
Output signal is normal, the normal output pwm signal of dsp processor, servomotor normal work；
Step（3）, when by switching external dc power supply+24VDC shutoff, the then first via of two-way photoelectric coupled circuit
Output is by PWM buffer by pwm signal pathway closure；Meanwhile, driver element power supply is passed through on the second tunnel of two-way photoelectric coupled circuit
The required dump of driver element it is ensured that the closing of pwm signal passage, is realized the torque pass of servo-driver by control circuit
Disconnected.
Step（4）, the second tunnel output signal input dsp processor of two-way photoelectric coupled circuit, dsp processor judges+
24VDC is turned off, and closes pwm signal；Meanwhile, dsp processor closes motor bus power supply by control relay, realizes servo
The torque security of driver turns off.
In sum, the torque security turning off system for servo-driver of the present utility model, in servo-driver
Portion increases the interface that two torque securities turn off, and provides lasting DC voltage+24VDC input by outside, once unidirectional current
Pressure+24VDC turns off, and immediately passes through hardware and software and turns off pwm signal twice, simultaneously turn off driving power supply inside servo-driver
With bus power supply, so that the torque security of servo-driver is turned off, servomotor is out of service at once, can effectively prevent machinery
Device activity part makes dangerous play it is ensured that the safety of equipment and operator, has a good application prospect.
Of the present utility model ultimate principle, principal character and advantage have been shown and described above.The technical staff of the industry
It should be appreciated that this utility model is not restricted to the described embodiments, the simply explanation described in above-described embodiment and description is originally
The principle of utility model, on the premise of without departing from this utility model spirit and scope, this utility model also has various change
And improvement, these changes and improvements both fall within the range of claimed this utility model.This utility model claims scope
By appending claims and its equivalent thereof.
Claims (6)
1. a kind of torque security turning off system for servo-driver it is characterised in that：Including servo-driver, servo electricity
Machine, alternating current power supply, external dc power supply, described servo-driver includes dsp processor, rectification filtering unit, relay
Control unit, encoder feedback module, current sampling circuit, inversion unit, driver element, PWM buffer, two-way optocoupler electricity
Road, driver element power control circuit, it is defeated with the power supply of relay control unit that described alternating current power supply passes through rectification filtering unit
Enter end to be connected, the power output end of described relay control unit is connected with inversion unit, described dsp processor passes through
PWM buffer is connected with driver element, and described driver element is connected with inversion unit, described inversion unit and servomotor
It is connected, described servomotor is also connected with dsp processor by current sampling circuit, encoder feedback module respectively, institute
State dsp processor to be also connected with the control end of relay control unit, described external dc power supply passes through switch and two
The input of road photoelectric coupled circuit is connected, and the first via outfan of described two-way photoelectric coupled circuit is connected with PWM buffer, is used for
The pwm signal controlling PWM buffer normally or stops output, No. second outfan of described two-way photoelectric coupled circuit and driver element
The input of power control circuit is connected, and the second tunnel of described two-way photoelectric coupled circuit exports the I/O port also with dsp processor
It is connected, the described outfan of driver element power control circuit is connected with the power input of driver element.
2. a kind of torque security turning off system for servo-driver according to claim 1 it is characterised in that：Described
The input voltage of external dc power supply is direct current+24V.
3. a kind of torque security turning off system for servo-driver according to claim 1 it is characterised in that：Described
Two-way photoelectric coupled circuit includes the first opto-coupler chip U1, the second opto-coupler chip U2, described first opto-coupler chip U1, the second opto-coupler chip
The positive input terminal of U2 by the positive pole of resistance R1 external external dc power supply+24VDC, described first opto-coupler chip U1, the
The negative pole of the negative input end external external dc power supply+24VDC of two opto-coupler chip U2, described first opto-coupler chip U1,
Be parallel with resistance R2, electric capacity C1, diode D1 between the positive and negative input of two opto-coupler chip U2, the positive pole of described diode D1 with
The negative pole of external external dc power supply is connected, and the negative pole of described diode D1 is with external external dc power supply just
Pole is connected, and the outfan of described first opto-coupler chip U1 is connected with PWM buffer, and the first of described second opto-coupler chip U2
Road outfan is connected with driver element power control circuit, and described second opto-coupler chip U2 No. second outfan passes through resistance R5
It is connected with the I/O port of dsp processor.
4. a kind of torque security turning off system for servo-driver according to claim 1 it is characterised in that：Described
PWM buffer is made up of U9, and U9 is No. 8 buffers with ternary output, the Enable Pin of described PWM buffer and the first optocoupler
The outfan of chip U1 is connected.
5. a kind of torque security turning off system for servo-driver according to claim 1 it is characterised in that：Described
Driver element power control circuit includes audion Q1, metal-oxide-semiconductor Q2, and the base stage of described audion Q1 is as driver element power supply control
The input of circuit processed is passed through the output of resistance R6 and two-way photoelectric coupled circuit second tunnel and is connected, the emitter stage of described audion Q1 with
It is connected, the colelctor electrode of described audion Q1 is connected with the grid of metal-oxide-semiconductor Q2 by resistance R8, the source electrode of described metal-oxide-semiconductor Q2
External power supply VCC, described metal-oxide-semiconductor Q2 drain as the output of driver element power control circuit and the electricity of driver element
Source input is connected.
6. a kind of torque security turning off system for servo-driver according to claim 5 it is characterised in that：Described
It is provided with resistance R7 between the base stage of audion Q1, emitter stage, between the grid of described metal-oxide-semiconductor Q2, drain electrode, be provided with electric capacity C2,
It is provided with resistance R9, the source electrode of described metal-oxide-semiconductor Q2 is connected to the ground also by electric capacity C3 between the grid of described metal-oxide-semiconductor Q2, source electrode
Connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621024991.8U CN206004569U (en) | 2016-08-31 | 2016-08-31 | A kind of torque security turning off system for servo-driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621024991.8U CN206004569U (en) | 2016-08-31 | 2016-08-31 | A kind of torque security turning off system for servo-driver |
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| Publication Number | Publication Date |
|---|---|
| CN206004569U true CN206004569U (en) | 2017-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621024991.8U Expired - Fee Related CN206004569U (en) | 2016-08-31 | 2016-08-31 | A kind of torque security turning off system for servo-driver |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208884A (en) * | 2016-08-31 | 2016-12-07 | 南京康尼电子科技有限公司 | A kind of torque security turning off system for servo-driver and method |
| CN107420335A (en) * | 2017-06-14 | 2017-12-01 | 广州三晶电气股份有限公司 | A kind of fan control circuitry with speed-regulating function and rotation speed monitoring |
| CN110273853A (en) * | 2019-05-28 | 2019-09-24 | 苏州伟创电气设备技术有限公司 | A kind of fan control circuitry and frequency converter |
| CN111030284A (en) * | 2019-12-16 | 2020-04-17 | 季华实验室 | Power supply circuit and device for servo drive system |
| CN111203886A (en) * | 2020-02-12 | 2020-05-29 | 浙江禾川科技股份有限公司 | Multi-axis driving and controlling system |
-
2016
- 2016-08-31 CN CN201621024991.8U patent/CN206004569U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106208884A (en) * | 2016-08-31 | 2016-12-07 | 南京康尼电子科技有限公司 | A kind of torque security turning off system for servo-driver and method |
| CN106208884B (en) * | 2016-08-31 | 2018-07-17 | 南京康尼电子科技有限公司 | A kind of torque security turning off system and method for servo-driver |
| CN107420335A (en) * | 2017-06-14 | 2017-12-01 | 广州三晶电气股份有限公司 | A kind of fan control circuitry with speed-regulating function and rotation speed monitoring |
| CN110273853A (en) * | 2019-05-28 | 2019-09-24 | 苏州伟创电气设备技术有限公司 | A kind of fan control circuitry and frequency converter |
| CN111030284A (en) * | 2019-12-16 | 2020-04-17 | 季华实验室 | Power supply circuit and device for servo drive system |
| CN111203886A (en) * | 2020-02-12 | 2020-05-29 | 浙江禾川科技股份有限公司 | Multi-axis driving and controlling system |
| CN111203886B (en) * | 2020-02-12 | 2021-02-09 | 浙江禾川科技股份有限公司 | Multi-axis driving and controlling system |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170308 Termination date: 20210831 |
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| CF01 | Termination of patent right due to non-payment of annual fee |