CN206685883U - A kind of safe torque breaking circuit and system - Google Patents
A kind of safe torque breaking circuit and system Download PDFInfo
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- CN206685883U CN206685883U CN201720423460.4U CN201720423460U CN206685883U CN 206685883 U CN206685883 U CN 206685883U CN 201720423460 U CN201720423460 U CN 201720423460U CN 206685883 U CN206685883 U CN 206685883U
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- 238000003745 diagnosis Methods 0.000 claims abstract description 51
- 238000001514 detection method Methods 0.000 claims abstract description 33
- UIIMBOGNXHQVGW-UHFFFAOYSA-M buffer Substances [Na+].OC([O-])=O UIIMBOGNXHQVGW-UHFFFAOYSA-M 0.000 claims description 58
- 238000007493 shaping process Methods 0.000 claims description 19
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 230000011664 signaling Effects 0.000 claims description 12
- 238000002955 isolation Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000001808 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 description 14
- 101700032536 CHA4 Proteins 0.000 description 5
- 101700046338 SSI3 Proteins 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 239000003381 stabilizer Substances 0.000 description 4
- 230000001960 triggered Effects 0.000 description 4
- 206010020039 Hiccups Diseases 0.000 description 2
- 210000001367 Arteries Anatomy 0.000 description 1
- 210000003462 Veins Anatomy 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000003139 buffering Effects 0.000 description 1
- 230000001186 cumulative Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000003111 delayed Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003287 optical Effects 0.000 description 1
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- 238000004080 punching Methods 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
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Abstract
The utility model discloses a kind of safe torque breaking circuit and system, including power module, input module, execution module and STO diagnostic modules.Input module uses two-way Redundancy Design with execution module.Output channel uses two-pass design, and the dynamic detection of output module is realized under zero vector state, prevents failure from adding up, and improves diagnosis coverage rate.Input channel uses two-way Redundancy Design, and the test burst pulse for having certain phase difference by sending two-way realizes the dynamic monitoring of input module, improves diagnosis coverage rate.
Description
Technical field
Power Electronic Circuit field is the utility model is related to, more particularly to a kind of safe torque shut-off（Safe Torque
Off, STO）Circuit and safe torque turning off system.
Background technology
In the prior art, in order to prevent motor accidental activation, or avoid occurring to be directed to the accident of damage to person, people
The products such as frequency converter, motor servo driver propose STO functions.The function can prevent driver from producing in motor to turn
Square, in the security system for being adapted to include machine.The IEC61508 standards that International Electrotechnical Commission formally issues（《Electrical/electronic/
The functional safety of programmable electronic security system》）, propose safety integrity level（SIL）Concept weigh security function
The degree of reliability, and 4 grades are divided into, the highest ranking of industrial circle is SIL3.Meet that SIL3 STO functions being capable of band
Carry out higher security, be the trend of future development.
STO functional circuits and system use two-way Redundancy Design more at present, to improve security of system.It is however, even if double
Road is designed, in prolonged continuous operation, it is also possible to because failure accumulation causes security function to fail.Especially since temporarily
When overvoltage, the accident such as short circuit or sporadic component defect trigger the possibility of failure high, it is therefore desirable to security function
The each several part of control circuit is periodically detected in time.
Chinese utility model patent application documents CN105576952A, disclose a kind of STO functions of two-way Redundancy Design
Circuit, including signaling conversion circuit, photoelectric coupled circuit, filter circuit etc., partial circuit oneself is realized while realizing STO functions
Inspection.Though this technical scheme includes the self-test of STO functional circuits, input channel is pertained only to, output channel, power module do not relate to
And and its input channel self-test be to send same detection burst pulse to two-way input channel by diagnosis unit to carry out self-test, this
Method can not detect the intersection short circuit of input channel, and diagnosis coverage rate is not high.And power module is important in STO functional circuits
A part, the diagnosis to power module are very important.
Chinese utility model patent file CN205319683U, disclose a kind of safe torque turn-off function circuit, its skill
Art scheme inputs comprising two-way STO signals, by EMC circuits, under-voltage protecting circuit, light-coupled isolation, controls Shang Qiao respectively with
The break-make of the IGBT driving PWM power supplys of bridge, carrys out safe shutdown moment of torsion.It is using transistor base, optical coupling secondary edges, voltage-stabiliser tube in string
It is coupled structure, realizes the under-voltage protection function of power supply, but the not defencive function such as power supply overvoltage, excessively stream, overload.And its design is defeated
Enter passage not diagnose, output channel only has static diagnostic, i.e. diagnosis coverage rate is not low, and part of module does not diagnose, overall
SIL grades are not high.
Chinese utility model patent file CN205170091U, disclose a kind of safe torque turn-off function circuit and elevator
Safety control system, the emphasis of its technical scheme are application of the STO technologies in elevator safety control system, and traditional are connect
Tentaculum mode is compared, and has many advantages, combines the control system of elevator industry, emphasizes a kind of overall design.Its system layer
On face, when performing security function, by safety return circuit band-type brake dead electricity, the auxiliary contact bullet of motor locking, while double embrace lock
Open, cause the input of frequency converter safety return circuit to disconnect, trigger frequency converter security function.In its frequency converter aspect, doubleway output has deficient
Pressure protection, can cut off bridge power supply on IGBT, lower bridge power supply respectively, meanwhile, the state for exporting electronic switch is also patrolled by a series of
Whether is the connection of volume final control control power supply, will dead electricity safety if power supply is obstructed.This patent only refers to examining for power supply
It is disconnected and only under-voltage not high without other diagnosis, diagnosis coverage rate.
Utility model content
In order to solve above-mentioned technical problem existing for prior art, the utility model proposes a kind of safe torque shut-off electricity
Road and system, its input module use two-way Redundancy Design with execution module, improve system reliability.To input module with holding
Row module takes the method for dynamic detection to ensure that module has higher diagnosis coverage rate.
In order to realize purpose of utility model, used technical scheme is the utility model：
A kind of safe torque breaking circuit, including power module, input module A, input module B, execution module A, execution
Module B and STO diagnostic module.Wherein, input module A and execution module A concatenations, first passage is formed, input module B and is held
Row module B is concatenated, and forms second channel（Form binary-channel redundancy design）.
The STO diagnostic modules include diagnosis unit, signaling conversion circuit A, signaling conversion circuit B, undervoltage detection circuit,
Over-voltage detection circuit.
Described input module A, B are photoelectric coupled circuit, for receiving, isolation and amplifier STO function trigger signals.
Execution module A, B is comprising filter circuit, shaping circuit, OE diagnostic circuits, logic or circuit, the first buffering
Device, the second buffer.
The signal that filter circuit exports to photoelectric coupled circuit is filtered, and this design can will monitor target signal filter.
The signal that shaping circuit exports to filter circuit carries out shaping, and the output signal of filter circuit is by OE diagnostic circuit controls
System, high level is pulled into during OE is diagnosed.
The progress of output signal and power fail signal or computing of logic or circuit to shaping circuit.
First buffer and the second buffer series design, for changing the part pwm signal of diagnosis unit transmission, it is allowed to
Used available for execution module back segment power circuit.
Signaling conversion circuit A, signaling conversion circuit B in STO diagnostic modules connect with input module A, B respectively.STO is examined
Diagnosis unit in disconnected module can be sent two-way respectively by signaling conversion circuit A, B and detect burst pulse to input module A, B（Two
Individual photoelectric coupled circuit）, and input module A, B output signal are inputted to diagnosis unit.The dynamic inspection of input module can be achieved above
Survey.
Shaping circuit A, B input signal and input signal are inputted to the diagnosis unit of STO diagnostic modules, for shaping
Circuit carries out dynamic diagnosis.
Shaping circuit A, B output signal and logic or circuit A, B output signal are inputted to the diagnosis of STO diagnostic modules
Unit, for carrying out dynamic diagnosis to logic or circuit.
The diagnosis unit output buffer detection signal of STO diagnostic modules to first buffer A, B sense channel, simultaneously
First buffer A, B sense channel is that output signal is inputted to diagnosis unit.Connect and can be achieved to the first buffer at the above two
Dynamic detection.
First buffer A, B sense channel output signal and second buffer A, B detection output signal input respectively
To the diagnosis unit of STO diagnostic modules, for realizing the dynamic detection to the second buffer.
Monitoring signal of the diagnosis unit to execution module in STO diagnostic modules includes：The filtered electrical of first, second passage
The input signal on road, the input of the shaping circuit of first, second passage, output signal, the logic or circuit of first, second passage
Output signal, the sense channel output signal of the first buffer of first, second passage, the sense channel of the second buffer is defeated
Go out signal.
Diagnosis unit in STO diagnostic modules includes to the output signal of execution module：First, second passage OE diagnosis electricity
The detection signal on road, for the output signal of shaping circuit to be pulled into high level during OE is diagnosed；First second channel buffers
Device electric circuit inspection signal, export to the sense channel of the first buffer.
The power module has three stage power source, includes STO functional circuits power supply and STO diagnostic module power supplys.STO functions electricity
Road power supply is powered for first passage and second channel simultaneously（Non- Redundancy Design）.
The power module includes+5V1 power supplys and+5V2 power supplys.
+ 5V2 power supplys are through over-voltage over-current protection circuit, overvoltage cut-out circuit, final output STO functions in the power module
Circuit power.
Undervoltage detection circuit, over-voltage detection circuit in STO diagnostic modules connect+5V2 power supplys, can be distinguished by comparison principle
Export under-voltage signal, over-pressed signal.
Above-mentioned under-voltage signal, over-pressed signal are inputted to logic NAND gate simultaneously, and the output signal after NAND gate computing is defeated
Enter the input of the logic sum gate A, logic sum gate B into execution module, for controlling the OE letters of the first buffer, the second buffer
Number.
Above-mentioned under-voltage signal, over-pressed signal input to diagnosis unit the monitoring for carrying out STO functional circuit power supplys simultaneously.
Above-mentioned over-pressed signal, while input to overvoltage and cut off circuit, when ensureing over-pressed, cut off STO functional circuit power supplys.
Though the non-Redundancy Design of power module, it diagnoses coverage rate reachable 99%, while considers Dual Failures, for every kind of
Power failure mode uses two kinds of safeguard measures, meets SIL3 requirements.
1st, it is over-pressed：+ 5V2 exports the combination for connecing over-voltage over-current protection circuit, such as, but not limited to fuse and voltage-stabiliser tube, protects
When demonstrate,proving over-pressed, by STO functional circuits power good within the specific limits, in order to avoid burn out late-class circuit；2nd, when+5V2 reaches overvoltage
When comparing threshold value, alarm and block buffer, and having served as crush-cutting deenergizing and receive over-pressed signal, STO functional circuit power supplys are blocked
Output.
2nd, it is under-voltage：Module buffer OE pins are controlled by under-voltage signal, when under-voltage generation, make OE invalid, buffer envelope ripple,
System enters safe operating mode；Even if the 2, under-voltage ultimately result in dead electricity, OE pin levels are made to drop in the range of significant level, can not
Feng Bo, because the system is " dead electricity safety ", therefore it can still enter safe operating mode.
3 excessively streams：STO functional circuits electric power loop adds over-voltage over-current protection circuit, such as, but not limited to fuse with it is steady
The combination of pressure pipe；2nd, overcurrent protection is carried in itself for generating the chip of STO functional circuit power supplys, it is excessive to show as primary current
When, chip restarts hiccup, when accessory power supply can not start, system dead electricity safety.
4th, overload：Similar with over current fault, simply rotection thresholds are different.Two kinds of safeguard measures are carried out according to the condition of overload
Design.
Safe torque turning off system, it is made up of the utility model safe torque breaking circuit and switch element, the switch
Unit, for receiving the output of the second buffer, and it is converted into the torque of controlled motor rotation.
The brief course of work of the utility model safe torque breaking circuit and system：
For first passage：STO functions trigger signal passes through photoelectric coupled circuit A, filter circuit A, shaping circuit A, logic or
Door A, the first buffer of final output output control A, the second buffer A output enable pin（OE）.If STO functions triggering letter
Number do not trigger, then buffer OE pins enable, the part pwm signal that buffer output diagnosis unit is sent to power circuit, if
Now second channel is normal, then realizes that controlled motor rotates, system worked well.If STO function trigger signals are triggered, the
One buffer A, the second buffer A OE pins are invalid, and PWM is blocked, and shut-off motor are realized, into safe operating mode.
For second channel：STO functions trigger signal passes through photoelectric coupled circuit B, filter circuit B, shaping circuit B, logic or
Door B, the first buffer of final output output control B, the second buffer B output enable pin（OE）.If STO functions triggering letter
Number do not trigger, then buffer OE pins enable, the part pwm signal that buffer output diagnosis unit is sent to power circuit, if
Now first passage is normal, then realizes that controlled motor rotates, system worked well.If STO function trigger signals are triggered, the
One buffer B, the second buffer B OE pins are invalid, and PWM is blocked, and shut-off motor are realized, into safe operating mode.
The PWM that torque is produced due to controlled motor is common by the output of first passage and execution module A, B of second channel
Determine, as long as therefore security function signal is triggered all the way, so that it may realize STO functions.In other words, the two paths of Redundancy Design,
Wherein failure does not interfere with the realization of STO functions all the way.
The utility model advantage is as follows：
1st, a kind of new circuit realiration STO functions are devised, realize that binary-channel redundancy designs, and each module（Input mould
Block, execution module, power module）There are the diagnostic measures of high diagnosis coverage rate, improve security integrality of STO functions etc.
Level（Up to SIL3）.
2nd, output channel uses two-pass design, and the dynamic detection of output module is realized under zero vector state, prevents event
Barrier is accumulative, improves diagnosis coverage rate.
3rd, input channel uses two-way Redundancy Design, and the test burst pulse for having certain phase difference by sending two-way is realized defeated
Enter the dynamic monitoring of module, improve diagnosis coverage rate.
Though the 4th, the non-Redundancy Design of power module, it diagnoses coverage rate reachable 99%, while considers Dual Failures, for every
Kind power failure mode uses two kinds of safeguard measures, meets SIL3 requirements.
Brief description of the drawings
Fig. 1 the utility model safe torque breaking circuit schematic block diagrams.
Fig. 2 the utility model safe torque turning off system block diagrams.
Fig. 3 power modules and its diagnosis block diagram.
Fig. 4 input modules and its diagnosis block diagram.
Fig. 5 execution modules and its diagnosis block diagram.
Embodiment
With reference to the accompanying drawings and examples, the utility model is described in further detail, protection model of the present utility model
Enclose and be not limited to following examples.
As shown in Figure 1, 2, the utility model safe torque breaking circuit, including power module, input module A, input mould
Block B, execution module A, execution module B and STO diagnostic module.Wherein, input module A and execution module A concatenations, first is formed
Passage, input module B and execution module B concatenations, form second channel（Form binary-channel redundancy design）.
1st, power module and its diagnostic circuit
(1) power module
As shown in figure 3, power module has three stage power source, it is related to security function for 5V_STO electricity for secondary power supply
Source, in addition, 5V_DIG power supplys are control electricity, for generating the three stage power source used for STO diagnostic modules.
(2) diagnostic circuit and measure
Due to this module not Redundancy Design, to reach higher diagnosis coverage rate, therefore every kind of power failure mode is used
Two kinds of multi-form means improve diagnosis coverage rate, prevent cumulative failure.
1. overvoltage：According to system 5V_STO power supply device operating voltage ranges, overvoltage threshold is set, designs overvoltage detection work(
Can, when 5V_STO power supplys are more than overvoltage threshold, output overvoltage signal.To prevent overvoltage from causing dangerous failure, design measure is such as
Under：1st ,+5V2 outputs connect the combination of over-voltage over-current protection circuit, such as, but not limited to fuse and voltage-stabiliser tube, when ensureing over-pressed,
By STO functional circuits power good within the specific limits, in order to avoid burning out late-class circuit；2nd, threshold value is compared when+5V2 reaches overvoltage,
When alarming and block buffer, and having served as crush-cutting deenergizing and receive over-pressed signal, the power supply output of block STO functional circuits.
It is 2. under-voltage：According to system 5V_STO power supply device operating voltage ranges, brownout threshold is set, designs under-voltage detection work(
Can, when 5V_STO power supplys are less than brownout threshold, export under-voltage signal.For prevent it is under-voltage cause dangerous failure, design measure is such as
Under：1st, module buffer OE pins are controlled by under-voltage signal, when under-voltage generation, make OE invalid, and buffer envelope ripple, system enters peace
Full working scope；Even if the 2, under-voltage ultimately result in dead electricity, OE pin levels is dropped in the range of significant level, ripple can not be sealed, due to
The system is " dead electricity safety ", therefore can still enter safe operating mode.
3. excessively stream：To prevent excessively stream from causing dangerous failure, design measure is as follows：1st, STO functional circuits electric power loop adds
The combination of over-voltage over-current protection circuit, such as, but not limited to fuse and voltage-stabiliser tube；2nd, for generating STO functional circuit power supplys
Chip carries overcurrent protection in itself, show as primary current it is excessive when, chip restarts hiccup, when accessory power supply can not start, is
Dead electricity of uniting safety.
4. overload：Overload fault is similar with over current fault, and simply rotection thresholds are different.Two kinds are carried out according to the condition of overload
The design of safeguard measure.
2nd, input module and its diagnostic circuit
(1) input module circuit
As shown in figure 4, input module, two-way Redundancy Design（Input module A, B）.During system worked well, i.e. STO functions
Signal is not triggered, and photoelectric coupled circuit A, photoelectric coupled circuit B are in on-state, export low level respectively；When STO function signal quilts
During triggering, photoelectric coupled circuit A, photoelectric coupled circuit B are ended, and export high level respectively.
(2) input module diagnostic circuit
As shown in figure 4, signaling conversion circuit A, signaling conversion circuit B are used to change the narrow arteries and veins of test that diagnosis unit is sent
Punching, and the output signal of input module is inputted to diagnosis unit and monitored.
Diagnostic measures are as follows：
Diagnosis unit exports two-way test burst pulse within system response time（Short of width is to trigger STO functions）, and
Certain phase intervals be present in two-way test pulse.
1. input module single channel is short-circuit, open circuit dynamic detection：By taking input module A as an example, if being examined in certain delayed scope
The monitoring signal A that disconnected unit receives is identical with test burst pulse A, then input module A is normal；If the monitoring signal A received
Be high level always, then input module A open faults.If the monitoring signal A received is always to be low, input module A short circuits
Failure（Short circuit herein refers to optocoupler input short or output short-circuit, and input and output, which intersect short circuit, will not make thrashing, therefore without inspection
Survey）；Input module B is similarly.
2. input module intersects short-circuit dynamic detection：Due to test burst pulse A and B it is not overlapping, if therefore diagnosis unit connect
The monitoring signal A received is identical with B, then input module A and B occurs to intersect short trouble.
3rd, execution module and its diagnostic circuit
(1) execution module
As shown in figure 5, execution module A, B（Execution module A, B is referred to as execution module with not differentiating between herein）For receiving
The signal of input module A, B output, on or off PWM outputs are determined, so as to the generation of controlled motor torque.Before execution module
Section control circuit is composed in series by the first buffer and the second buffer, controls upper three pipes pwm signal and lower three pipes PWM letters respectively
Number output.Increase switch element behind execution module and then form the utility model safe torque turning off system.Switch is single
Member（Power circuit）, its 6 road PWM control exported by the second buffer, the conducting and shut-off of switching tube are determined, so as to control electricity
Machine is run.
By taking execution module A as an example, filter circuit A, shaping circuit A, the first buffer A, the second buffer A, two strings are included
Join the OE pins of buffer（Low level enables）Controlled by two paths of signals after logic or computing, determine that on or off PWM is defeated
Go out, wherein, the first via is that input module A output signals are filtered, the STO function trigger signals after Shape correction（It can be diagnosed
" the execution module dynamic detection signal " that unit is sent drags down）；Second tunnel is power module failure signal.Execution module B similarly,
The output of its buffer enables pin and controlled by another way STO functions trigger signal.
(2) execution module diagnostic circuit
Diagnostic measures are as follows：
1. the diagnosis of logic sum gate：Two input signals of gate（Power failure signal, after Isolation, shaping
STO function trigger signals）, output signal（Buffer OE signals）Unit monitoring is diagnosed, diagnosis unit makes in buffer
Compare the input and output of a gate during energy pin dynamic detection, gate is diagnosed according to truth table.
2. buffer enables pin（OE）The diagnosis of function：
The broken string that is likely to occur due to OE pins, solder joint are disengaged etc., may cause the dangerous failure of security function, therefore do as follows
Dynamic detection：Under zero vector state, one group of buffer that three road PWM are all with 0 detects diagnosis unit, is responded in system
The once detection to two groups of buffers is realized in time.
Claims (5)
1. a kind of safe torque breaking circuit, including power module, input module A, input module B, execution module A, execution mould
Block B and STO diagnostic module；It is characterized in that：
The input module A and execution module A concatenation, first passage, input module B and execution module B concatenations are formed, form the
Two passages；
The power module includes STO functional circuits power supply and STO diagnostic module power supplys, and STO functional circuits power supply is simultaneously the
One passage and second channel power supply；
The STO diagnostic modules are used for the dynamic detection to first passage and second channel, while for diagnosing power module.
2. a kind of safe torque breaking circuit according to claim 1, it is characterized in that：Described input module A, B are light
Coupling circuit, for receiving, isolation and amplifier STO function trigger signals.
3. a kind of safe torque breaking circuit according to claim 1, it is characterized in that：Execution module A, B includes
Filter circuit, shaping circuit, OE diagnostic circuits, logic or circuit, the first buffer, the second buffer；
Filter circuit is used to be filtered the signal of photoelectric coupled circuit output, will monitor target signal filter；
Shaping circuit is used to carry out shaping to the signal of filter circuit output；
Logic or circuit are used to carry out the output signal and power fail signal of shaping circuit or computing, the output of shaping circuit
Signal is controlled by OE diagnostic circuits, and high level is pulled into during OE is diagnosed；
First buffer is connected with the second buffer, for changing the pwm signal of diagnosis unit transmission, is allowed to be used for execution module
Back segment power circuit.
4. a kind of safe torque breaking circuit according to claim 1, it is characterized in that：The STO diagnostic modules, including examine
Disconnected unit, signaling conversion circuit A, signaling conversion circuit B, undervoltage detection circuit, over-voltage detection circuit；
The signaling conversion circuit A, signaling conversion circuit B connect with input module A, B respectively；The diagnosis unit passes through signal
Change-over circuit A, B send two-way and detect burst pulse to input module A, B respectively, and input module A, B output signal input to
Diagnosis unit；
Shaping circuit A, B output signal, power fail signal and logic or circuit A, B output signal are inputted to STO and diagnosed
The diagnosis unit of module, for carrying out dynamic diagnosis to logic or circuit；
The diagnosis unit output buffer detection signal of STO diagnostic modules to first buffer A, B sense channel, while first
Buffer A, B sense channel is that output signal is inputted to diagnosis unit, realizes the dynamic detection to the first buffer；
First buffer A, B sense channel output signal and second buffer A, B detection output signal are separately input into STO
The diagnosis unit of diagnostic module, for realizing the dynamic detection to the second buffer；
STO functional circuits power input is to undervoltage detection circuit, over-voltage detection circuit, undervoltage detection circuit, over-voltage detection circuit
Output signal input to diagnosis unit, realize over-pressed, the under-voltage detection to STO functional circuit power supplys.
A kind of 5. safe torque turning off system, as the safe torque breaking circuit and switch element described in one of claim 1-4
Form, the switch element, for receiving the output of the second buffer, and be converted into the torque of controlled motor rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720423460.4U CN206685883U (en) | 2017-04-21 | 2017-04-21 | A kind of safe torque breaking circuit and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720423460.4U CN206685883U (en) | 2017-04-21 | 2017-04-21 | A kind of safe torque breaking circuit and system |
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| Publication Number | Publication Date |
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| CN206685883U true CN206685883U (en) | 2017-11-28 |
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ID=60403740
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| CN201720423460.4U Active CN206685883U (en) | 2017-04-21 | 2017-04-21 | A kind of safe torque breaking circuit and system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877291A (en) * | 2017-04-21 | 2017-06-20 | 南京埃斯顿自动控制技术有限公司 | A kind of safe torque breaking circuit and system |
| US11133770B2 (en) | 2019-06-20 | 2021-09-28 | Delta Electronics, Inc. | Motor drive system and control method therefor |
-
2017
- 2017-04-21 CN CN201720423460.4U patent/CN206685883U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106877291A (en) * | 2017-04-21 | 2017-06-20 | 南京埃斯顿自动控制技术有限公司 | A kind of safe torque breaking circuit and system |
| CN106877291B (en) * | 2017-04-21 | 2019-06-28 | 南京埃斯顿自动化股份有限公司 | A kind of safe torque breaking circuit and system |
| US11133770B2 (en) | 2019-06-20 | 2021-09-28 | Delta Electronics, Inc. | Motor drive system and control method therefor |
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Effective date of registration: 20190716 Address after: 211100 No. 155 General South Road, Jiangning Economic and Technological Development Zone, Nanjing City, Jiangsu Province Patentee after: Nanjing Estun Automation Co., Ltd. Address before: 211100 Jiangning Economic Development Zone, Jiangsu Province, general Avenue, No. 155, No. Patentee before: Nanjing Estun Automatic Control Technology Co., Ltd. |