CN209356897U - Open based on DSP controls integrated industrial robot controller circuit - Google Patents

Abstract

Integrated industrial robot controller circuit is controled the utility model discloses open based on DSP, for connecting and controlling servo motor and motor driver.It includes DSP control card, SPI PORT COM, power module, D/A converter module, digit pulse output processing module, PORT COM；The DSP control card is connected with host computer by SPI PORT COM, and DSP control card connects servo motor by PORT COM, and DSP control card connects motor driver by D/A converter module, digit pulse output processing module；DSP control card receives the angular signal that the absolute value encoder of servo motor is sent, and DSP controls torque and the revolving speed of card control servo motor, the corner of servo motor is controlled by digit pulse output processing module, completes closed-loop control.

Description

Open based on DSP controls integrated industrial robot controller circuit

Technical field

The utility model relates to the control systems of industrial six axis serial manipulators, are based especially on the open of DSP and control Integrated industrial robot controller circuit.

Background technique

Country's robot industry only has a small number of producers can be with production machine people's controller at present, and there are on the high side and precision The problems such as insufficient.The constructive method of robot controller mainly has the control based on industrial computer and motion control card at present System, control system and integrated form based on FPGA and DSP control integral system.Fully integrated controls integration It system the problems such as there are hardware solidifications, is not easy to be applied to the different machines human body of different manufacturers manufacture.

Utility model content

The utility model be conceived to design it is a kind of it is open control integral system, machine is generated by general dsp control module Device people controls signal, completes adaptation driving task by the motor driver that different servo motor manufacturer provides.The utility model master The core DSP control module design in the control system is proposed, i.e. open based on DSP controls integrated industrial machine People's controller circuitry.

The utility model adopts the following technical solution:

Open based on DSP controls integrated industrial robot controller circuit, for connecting and controlling servo motor And motor driver, including DSP control card, SPI PORT COM, power module, D/A converter module, digit pulse output processing Module, PORT COM；The DSP control card is connected with host computer by SPI PORT COM, and DSP control card passes through serial RS232 Interface/RS485 interface, PORT COM connect servo motor, and DSP control card is by D/A converter module, at digit pulse output It manages module and connects motor driver；DSP control card passes through RS232 interface/RS485 interface servo motor absolute encoder The angular signal that device is sent, DSP control card are controlled torque and the revolving speed of servo motor by D/A converter module, pass through digital arteries and veins Rush the corner of output processing module control servo motor.

Further, the DSP control card is the DSP control card based on TMS320F28335.

Further, the D/A converter module uses 14, the 8 tunnel D/A converter based on DAC8218 chip.

Further, the power module packet TPS65131 chip, is converted to+15V and -15V power supply for 5V input power, For the power supply of DAC8218 chip.

Further, the D/A converter module is connected with voltage correction module, and voltage correction module includes TL750L08 Chip, REF5050 chip；+ 15V the power supply of DAC8218 chip is converted to+8V by TL750L08 chip, then uses REF5050 + 5V reference voltage needed for+8V is converted to DAC8218 chip by chip.

Further, itself EPWM pin of the DSP control card of the TMS320F28335 provides pulse signal, EPWM pin It is connected with HCPL2630 chip, HCPL2630 chip is for adjusting pulse signal.

Further, the EPWM pin, ECAP pin of the DSP control card of the TMS320F28335 are all connected with HCPL2630 The ECAP signal of the input terminal of chip, the DSP control card of TMS320F28335 intersects with EPWM signal, for counting transmission pulse Number.

Further, the power module includes TPS767D301 chip, and TPS767D301 chip is by the 5V direct current of input Power supply is converted to 3.3V and 1.9V power supply, and the DSP control card for being TMS320F28335 is powered.

Further, the RS232 interface includes chip MAX3232, and RS485 interface includes chip MAX485.

The advantageous effects obtained using technical solution as above are as follows:

DSP control card receives the track data packet cooked up by host computer using SPI communication, calculates 6 motors of driving Required driving signal, issues motor driver.DSP control card passes through RS232 interface/RS485 interface servo motor The angular signal that absolute value encoder is sent, DSP control card control torque and the revolving speed of servo motor by D/A converter module, The corner of servo motor is controlled by digit pulse output processing module, completes closed-loop control.

Detailed description of the invention

Fig. 1 is that open based on DSP controls integrated industrial robot controller circuit system schematic diagram

Fig. 2 is that direct current 5V turns 3.3V and 1.9V power supply module circuit diagram.

Fig. 3 is DC power supply filter module circuit diagram.

Fig. 4 is that direct current 5V becomes a full member negative 15V boost module circuit diagram.

Fig. 5 is digital-to-analogue conversion 5V reference voltage correction module circuit diagram.

Fig. 6 is 14,8 tunnel of low-power consumption D/A converter module circuit diagram.

Fig. 7 is the DSP minimum systematic module circuit diagram based on TMS320F28335.

Fig. 8 is motor driven 5V output of pulse signal module circuit diagram.

Fig. 9 is serial RS485 communication module circuit diagram.

Figure 10 is serial RS232 communication module circuit diagram.

Specific embodiment

In conjunction with attached drawing 1 to 10, specific embodiments of the utility model will be further explained:

Open based on DSP controls integrated industrial robot controller circuit, for connecting and controlling servo motor And motor driver, including DSP control card, SPI PORT COM, power module, D/A converter module, digit pulse output processing Module, PORT COM.DSP control card is connected with host computer by SPI PORT COM, and DSP control card is connect by serial RS232 Mouth/RS485 interface, PORT COM connect servo motor, and DSP control card is handled by D/A converter module, digit pulse output Module connects motor driver.DSP control card receives the track data packet cooked up by host computer using SPI communication, calculates Driving signal needed for driving 6 motors, issues motor driver.

DSP control card passes through the corner that RS232 interface/RS485 interface servo motor absolute value encoder is sent Signal, DSP control card control torque and the revolving speed of servo motor by D/A converter module, export processing mould by digit pulse Block controls the corner of servo motor, completes closed-loop control.

The original design of this system is based on Panasonic A6 Series AC servo and matched driver.The type driver makes With the corner of pulse input control motor, torque and revolving speed using the voltage signal of -10V~+10 control motor.To realize position With the double-closed-loop control of speed, DSP control panel extends 14, the 8 tunnel D/A converter based on DAC8218 chip, to provide- Furthermore the voltage signal of 10V~+10 provides pulse signal using the EPWM pin of DSP itself.For other of identical control principle Mating compatibility may be implemented in model electric machine controller, the DSP control panel, realizes and open controls integrated design concept.

When using the motor driver of other manufacturers, if its driving signal be similarly+5V pulse signal and -10V~+ 10 voltage signals can directly use its motor driver instead.

DSP control card is the DSP control card based on TMS320F28335.D/A converter module, which uses, is based on DAC8218 core 14, the 8 tunnel D/A converter of piece.

It due to the only channel SPI all the way DSP, needs to be communicated with host computer, therefore by the multifunctional serial port channel of DSP The port the A channel Gai ZuoSPI of MCBSP uses, and connects DAC8218, as shown in Figure 7 with the connection of DSP.

As shown in Fig. 2, power module includes TPS767D301 chip, TPS767D301 chip is by the 5V DC power supply of input 3.3V and 1.9V power supply is converted to, the DSP control card for being TMS320F28335 is powered.As shown in figure 3, using inductance and capacitor Filter circuit is handled 3.3V and 1.9V power supply, as analog power.

As shown in figure 4, power module packet TPS65131 chip, is converted to+15V and -15V power supply for 5V input power, is The power supply of DAC8218 chip.

D/A converter module is connected with voltage correction module, and voltage correction module includes TL750L08 chip, REF5050 core Piece；+ 15V the power supply of DAC8218 chip is converted to+8V by TL750L08 chip, is then converted+8V using REF5050 chip For+5V reference voltage needed for DAC8218 chip.

Itself EPWM pin of the DSP control card of TMS320F28335 provides pulse signal, and EPWM pin is connected with HCPL2630 chip, HCPL2630 chip is for adjusting pulse signal.

As shown in figure 8, the EPWM pin of the DSP control card of TMS320F28335, ECAP pin are all connected with HCPL2630 core The ECAP signal of the input terminal of piece, the DSP control card of TMS320F28335 intersects with EPWM signal, sends pulse for counting Number.Using HCPL2630 chip, the EPWM pulse signal of DSP is switched into 5V by 3.3V, motor driver is supplied to and carries out position Set control.

RS232 interface includes chip MAX3232, and RS485 interface includes chip MAX485.The DSP of TMS320F28335 is controlled The pin 25,26,145,148 of fabrication is separately connected the pin 10,9,11,12 of chip MAX3232.The DSP of TMS320F28335 The pin 113,114 of control card is separately connected the pin 1,4 of chip MAX485.

Certainly, the preferred embodiment of only the utility model described above, the utility model is not limited to enumerate above-mentioned Embodiment, it should be noted that for anyone skilled in the art under the guidance of this specification, that is made is all etc. With substitution, obvious variant, all fall within the essential scope of this specification, it ought to be by the protection of the utility model.

Claims (9)

1. open based on DSP controls integrated industrial robot controller circuit, for connect and control servo motor and Motor driver, which is characterized in that including DSP control card, SPI PORT COM, power module, D/A converter module, digital arteries and veins Rush output processing module, PORT COM；

The DSP control card is connected with host computer by SPI PORT COM, and DSP control card passes through serial RS232 interface/RS485 Interface, PORT COM connect servo motor, and DSP control card is connected by D/A converter module, digit pulse output processing module Motor driver；

DSP control card passes through the angular signal that RS232 interface/RS485 interface servo motor absolute value encoder is sent, DSP control card controls torque and the revolving speed of servo motor by D/A converter module, passes through digit pulse output processing module control The corner of servo motor processed.

2. open based on DSP according to claim 1 controls integrated industrial robot controller circuit, feature It is, the DSP control card is the DSP control card based on TMS320F28335.

3. open based on DSP according to claim 1 controls integrated industrial robot controller circuit, feature It is, the D/A converter module uses 14, the 8 tunnel D/A converter based on DAC8218 chip.

4. open based on DSP according to claim 3 controls integrated industrial robot controller circuit, feature It is, 5V input power is converted to+15V and -15V power supply by the power module packet TPS65131 chip, is DAC8218 core Piece power supply.

5. open based on DSP according to claim 4 controls integrated industrial robot controller circuit, feature It is, the D/A converter module is connected with voltage correction module, and voltage correction module includes TL750L08 chip, REF5050 Chip；

+ 15V the power supply of DAC8218 chip is converted to+8V by TL750L08 chip, is then converted+8V using REF5050 chip For+5V reference voltage needed for DAC8218 chip.

6. open based on DSP according to claim 2 controls integrated industrial robot controller circuit, feature It is, DSP control card itself the EPWM pin of the TMS320F28335 provides pulse signal, and EPWM pin is connected with HCPL2630 chip, HCPL2630 chip is for adjusting pulse signal.

7. open based on DSP according to claim 6 controls integrated industrial robot controller circuit, feature It is, EPWM pin, the ECAP pin of the DSP control card of the TMS320F28335 are all connected with the input of HCPL2630 chip End, the ECAP signal of the DSP control card of TMS320F28335 intersect with EPWM signal, for counting the number for sending pulse.

8. open based on DSP according to claim 2 controls integrated industrial robot controller circuit, feature It is, the power module includes TPS767D301 chip, and TPS767D301 chip is converted to the 5V DC power supply of input 3.3V and 1.9V power supply, the DSP control card for being TMS320F28335 are powered.

9. open based on DSP according to claim 1 controls integrated industrial robot controller circuit, feature It is, the RS232 interface includes chip MAX3232, and RS485 interface includes chip MAX485.