CN212649387U - Current control device of stepping motor - Google Patents
Current control device of stepping motor Download PDFInfo
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- CN212649387U CN212649387U CN202021508225.5U CN202021508225U CN212649387U CN 212649387 U CN212649387 U CN 212649387U CN 202021508225 U CN202021508225 U CN 202021508225U CN 212649387 U CN212649387 U CN 212649387U
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Abstract
The application provides a stepping motor current control device. The device comprises a voltage control module, a voltage input module and a time sequence control module. The output end of the voltage control module is connected with the input end of the voltage input module through a signal line, and the voltage control module is used for receiving a bus control signal, generating a bus control command according to the bus control signal and inputting the bus control command to the voltage input module. The output end of the voltage input module is connected with the input end of the time sequence control module, and the voltage input module is used for generating reference voltages and selecting control voltages from the reference voltages according to the bus control command. And the time sequence control module is used for receiving the control voltage and controlling the current of the stepping motor according to the control voltage. The application provides a step motor current control device has improved step motor's current control precision.
Description
Technical Field
The application relates to a motor control technology, in particular to a current control device of a stepping motor.
Background
The stepping motor is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, is a main executive element in the existing digital program control device, and is extremely widely applied. The working principle of the stepping motor is that an electronic circuit is utilized to convert direct current into multiphase time sequence control current for time-sharing power supply, and the stepping motor can normally work only by using the current to supply power to the stepping motor. The step driver and the step motor are related devices, and the device is a multi-phase time schedule controller for supplying power to the step motor in a time-sharing manner. In the actual work of the stepping motor, different currents are selected to enable the stepping motor to work under the condition of no step loss according to the size of an actual load connected with the stepping motor and various different working conditions, and the working temperature rise and the working noise of the stepping motor meet the corresponding standard requirements.
In the prior art, a dedicated control chip is generally used to control the current of the stepping motor. The control chip is in communication connection with the stepper driver. The stepping driver needs to receive a current control signal sent by the control chip through a communication interface in a long-distance wireless mode and supply power to the stepping motor in a time-sharing mode based on the current control signal.
However, in the prior art, when the current of the stepping motor is controlled, the current control signal is easy to be interfered, and the current control precision of the stepping motor is possibly low.
SUMMERY OF THE UTILITY MODEL
The application provides a step motor current control device for there is the problem that current control signal easily receives the interference in the current control of step motor for solving prior art, probably leads to the problem that step motor's current control precision is low.
In one aspect, the present application provides a stepping motor current control apparatus, comprising:
the device comprises a voltage control module, a voltage input module and a time sequence control module;
the output end of the voltage control module is connected with the input end of the voltage input module through a signal line, and the voltage control module is used for receiving a bus control signal, generating a bus control command according to the bus control signal and inputting the bus control command to the voltage input module;
the output end of the voltage input module is connected with the input end of the time sequence control module, and the voltage input module is used for generating reference voltages and selecting control voltages from the reference voltages according to the bus control command;
and the time sequence control module is used for receiving the control voltage and controlling the current of the stepping motor according to the control voltage.
In one embodiment, the voltage control module includes:
the output end of the shift register is connected with the input end of the voltage input module; the shift register is used for converting the bus control signal into the bus control command.
In one embodiment, the voltage control module further includes:
one end of the input loop is grounded, and the other end of the input loop is connected with the input end of the shift register;
the input circuit comprises a surge protection circuit and a low-pass filter circuit, and the low-pass filter circuit is connected with the surge protection circuit.
In one embodiment, the surge protection circuit includes: the voltage stabilizing diode group and the first resistor;
the voltage stabilizing diode group comprises a first voltage stabilizing diode and a second voltage stabilizing diode, the first voltage stabilizing diode and the second voltage stabilizing diode are connected in series in a reverse direction, the anode of the first voltage stabilizing diode is grounded, and the cathode of the first voltage stabilizing diode and the cathode of the second voltage stabilizing diode are the same cathode;
and the first end of the first resistor is connected with the anode of the second voltage stabilizing diode, and the second end of the first resistor is connected with the input end of the shift register.
In one embodiment, the low-pass filter circuit includes:
and one polar plate of the first capacitor is grounded, and the other polar plate of the first capacitor is connected with the second end of the first resistor and the input end of the shift register.
In one embodiment, the timing control module includes:
and the current control port is connected with the output end of the voltage input module.
In one embodiment, the voltage input module includes:
a voltage generating unit for generating the reference voltage;
and the voltage selection unit is connected with the output end of the voltage control module and used for receiving the bus control command and determining the control voltage in the reference voltage according to the bus control command.
In one embodiment, the voltage generating unit includes:
a power source;
the input end of the voltage distribution unit is connected with the power supply, and the output end of the voltage distribution unit is connected with the input end of the voltage selection unit; the voltage distribution unit is used for forming the reference voltage;
the voltage distribution unit comprises at least two second resistors connected in series, wherein the other end of one end of each second resistor connected with the power supply is connected with the input end of the voltage selection unit; the voltage distribution unit is used for forming the reference voltage.
In one embodiment, the voltage generating unit further includes:
and the anode of the third voltage-stabilizing diode is grounded, and the cathode of the third voltage-stabilizing diode is connected with the power supply.
In one embodiment, the voltage generating unit further includes:
and one polar plate of the second capacitor is grounded, and the other polar plate of the second capacitor is connected with the input end of the voltage distribution unit.
The application provides a step motor current control device, including voltage control module, voltage input module and time sequence control module. The output end of the voltage control module is connected with the input end of the voltage input module through a signal line, and the voltage control module is used for receiving a bus control signal, generating a bus control command according to the bus control signal and inputting the bus control command to the voltage input module. The output end of the voltage input module is connected with the input end of the time sequence control module, and the voltage input module is used for generating reference voltages and selecting control voltages from the reference voltages according to the bus control command. And the time sequence control module is used for receiving the control voltage and controlling the current of the stepping motor according to the control voltage. According to the current control device of the stepping motor, a bus control command is input to the voltage input module as a digital signal through the voltage control module, so that the voltage input module selects the control voltage from the reference voltage according to the bus control command, the control voltage is input to the time sequence control module, and the time sequence control module controls the stepping motor to operate according to the control voltage. The application provides a step motor current control device is when the electric current of control step motor, is controlled through this bus control command, and this bus control command is digital signal, can not receive common mode interference in transmission process, consequently compares in prior art, and the step motor current control device precision is higher when carrying out step motor's current control that this application provided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is an application diagram of a stepping motor current control diagram according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a stepping motor current control apparatus according to an embodiment of the present application.
Fig. 3 is a schematic diagram of a stepping motor current control apparatus according to another embodiment of the present application.
Fig. 4 is a schematic diagram of a stepping motor current control apparatus according to an embodiment of the present application.
Description of the reference numerals
Stepping motor current control device 10
Shift register 110
Input loop 120
Voltage regulator diode group 122
Low pass filter circuit 124
With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The stepping motor is an open-loop control motor which converts an electric pulse signal into angular displacement or linear displacement, is a main executive element in the existing digital program control system, and is extremely widely applied. In the case of non-overload, the rotation speed and the stop position of the stepping motor only depend on the frequency and the pulse number of the pulse signal and are not influenced by the load change. When the stepper driver receives a pulse signal, the pulse signal drives the stepper motor to rotate a fixed angle in a set direction, which is called "step angle". The rotation of the stepper motor is performed step by step at a fixed angle. When the stepping motor is controlled to move, the angular displacement can be controlled by controlling the number of the pulse signals, so that the aim of accurate positioning is fulfilled. Meanwhile, the rotating speed and the rotating acceleration of the motor can be controlled by controlling the pulse frequency, so that the aim of speed regulation is fulfilled. The working principle of the stepping motor is that an electronic circuit in the stepping driver is utilized to convert direct current into multiphase time sequence control current for time-sharing power supply, and the stepping motor can only work normally when the current is used for supplying power to the stepping motor. In the actual work of the stepping motor, different currents are selected to enable the stepping motor to work under the condition of no step loss according to the size of an actual load connected with the stepping motor and various different working conditions, and the working temperature rise and the working noise of the stepping motor meet the corresponding standard requirements. In the prior art, a stepping driver is in communication connection with a control chip, the control chip controls the current of the stepping motor, specifically, the control chip sends a current control signal to the stepping driver, and the stepping driver generates a multiphase sequential control current for the stepping motor according to the current control signal, so as to control the operation of the stepping motor. However, the current control signal sent by the control chip is an analog signal, and the analog signal is easily subjected to common mode interference in the transmission process, and further when the analog signal is transmitted to the stepping driver, the stepping driver controls the operation of the stepping motor according to the current control signal, the problem of low current control precision of the stepping motor is easily caused.
Based on this, the present application provides a stepping motor current control device, and the device utilizes digital signal control stepping motor's electric current to avoided the easy problem that receives common mode interference of analog current control signal in transmission process, thereby improved stepping motor's current control precision.
Referring to fig. 1, a system architecture diagram of the present application illustrates a stepping motor current control apparatus 10 receiving a current control signal from a host, where the current control signal is a bus control signal and is a digital signal. The stepping motor current control device 10 controls the current of the stepping motor according to the bus control signal.
Referring to fig. 2, the present application provides a stepping motor current control apparatus 10, which includes a voltage control module 100, a voltage input module 200, and a timing control module 300.
The output terminal of the voltage control module 100 is connected to the input terminal of the voltage input module 200 through a signal line, and the voltage control module 100 is configured to receive a bus control signal, generate a bus control command according to the bus control signal, and input the bus control command to the voltage input module 200. The bus control command is a unidirectional Serial Peripheral Interface (SPI signal for short), is a digital signal, and is generated by a host. The voltage control module 100 is in signal connection with a host, and can receive the bus control signal sent by the host. The voltage control module 100 needs to have a function of serial-to-parallel conversion, that is, a function of converting signal transmission from serial transmission to parallel transmission. The number of bits of the bus control command is generally 8 bits, and can be extended to 16 bits according to actual needs. The voltage control module 100 converts the bus control signal into the bus control command through serial-to-parallel conversion, and transmits the bus control command to the voltage input module 200 through a signal line. In an alternative embodiment, the voltage control module 100 is connected to the host through an SPI bus, which is a serial bus commonly used in electronic circuits, has a fast transmission speed, and is a quasi-synchronous bus. And the SPI bus transmission occupies few data lines and has simple protocol. The voltage control module 100 receives a bus control signal sent by the host through the SPI bus, and the bus control signal is composed of three signals, namely, a strobe latch signal, a clock signal, and data. The SPI bus may also be replaced by a two-wire serial bus (I2C bus for short) or a Controller Area Network (CAN) bus.
The output terminal of the voltage input module 200 is connected to the input terminal of the timing control module 300, and the voltage input module 200 is configured to generate reference voltages and select a control voltage from the reference voltages according to the bus control command. The voltage input module 200 may generate a plurality of voltages when generating the voltages, i.e., the reference voltage includes a plurality of voltages. The voltage input module 200 selects the control voltage from the reference voltages according to the bus control command, where the bus control command is used to command the voltage input module 200 to select a target voltage from the reference voltages, and the target voltage is the control voltage. In an alternative embodiment, the voltage input module 200 may comprise two parts, one part for generating the reference voltage and the other part connected to the voltage control module 100 for receiving the bus control command and determining the control voltage according to the bus control command.
The timing control module 300 is configured to receive the control voltage and control the current of the stepping motor according to the control voltage. The timing control module 300 is the step driving of the step motor. The timing control module 300 can control the timing power supplied to the stepping motor according to the control voltage, so as to control the stepping motor to operate according to the requirement of the bus control command.
The stepping motor current control apparatus 10 provided in this embodiment includes a voltage control module 100, a voltage input module 200, and a timing control module 300. The output terminal of the voltage control module 100 is connected to the input terminal of the voltage input module 200 through a signal line, and the voltage control module 100 is configured to receive a bus control signal, generate a bus control command according to the bus control signal, and input the bus control command to the voltage input module. The output terminal of the voltage input module 200 is connected to the input terminal of the timing control module 300, and the voltage input module 200 is configured to generate reference voltages and select the control voltage from the reference voltages according to the bus control command. The timing control module 300 is configured to receive the control voltage and control the current of the stepping motor according to the control voltage. The stepping motor current control device 10 provided in this embodiment inputs a bus control command as a digital signal to the voltage input module 200 through the voltage control module 100, so that the voltage input module 200 selects the control voltage from the reference voltage according to the bus control command, and inputs the control voltage to the timing control module 300, and the timing control module 300 controls the stepping motor to operate according to the control voltage. The stepping motor current control device 10 provided in this embodiment controls the current in the stepping motor by the bus control command, and the bus control command is a digital signal and is not subjected to common mode interference in the transmission process.
Referring to fig. 3, the voltage control module 100 includes a shift register 110, an output terminal of the shift register 110 is connected to an input terminal of the voltage input module 200, and the shift register 110 is used for converting the bus control signal into the bus control command.
In the digital circuit of the present embodiment, the shift register 110 is configured to convert the bus control signal into the bus control command, the bus control signal is a signal input in series, and the bus control command obtained after the processing of the shift register 110 is input to the voltage input module 200 in a parallel input manner. The type and specification of the shift register 110 can be selected according to actual needs, and the present application is not limited as long as the serial-to-parallel conversion function can be realized.
The shift register 110 may be replaced with another device that can perform serial-to-parallel conversion of signals.
Referring to fig. 4, other control signals of the timing control module 300, such as reset of the stepping motor, enable of the stepping motor, current subdivision of the stepping motor, and direction control of the stepping motor, may also be controlled by using the last port of the shift register 110. Other ports may be arranged on the shift register 110 to receive the other control signals, and when the number of ports is not enough, the shift register 110 and the other ports may be cascaded to generate ports required in actual operation.
In one embodiment of the present application, the voltage control module 100 further comprises an input loop 120. One end of the input circuit 120 is grounded, and the other end of the input circuit 120 is connected to the input end of the shift register 110. In the present embodiment, the SPI signal, i.e., the bus control signal, is composed of three signals, i.e., a strobe latch signal, a clock signal, and data, which are input to the shift register 110 through the input circuit 120, so that the number of the input circuits 120 is 3 correspondingly. It should be noted that the number of the input loops 120 needs to be set according to the number of the bus control signals. It should be noted here that the bus control signal is composed of three signals, namely, a strobe latch signal, a clock signal and data, and the general bit number of the bus control command is generally 8 bits, and can also be extended to 16 bits according to actual needs. The number of control bits of the bus control command needs to be selected according to the condition of the voltage input module 200.
The input circuit 120 includes a surge protection circuit 121 and a low pass filter circuit 124, and each of the input circuits 120 is provided with the surge protection circuit 121 and the low pass filter circuit 124.
The surge protection circuit 121 serves to protect the shift register 110 from damage. The surge protection circuit 121 may be replaced with another surge protection device as long as the effect of protecting the shift register 110 from being damaged can be achieved.
In an alternative embodiment, the surge protection circuit 121 includes a zener diode group 122 and a first resistor 123. The zener diode group 122 includes a first zener diode 1221 and a second zener diode 1222, and the first zener diode 1221 and the second zener diode 1222 are connected in series in an inverted direction. The anode of the first zener diode 1221 is grounded, and the cathode of the first zener diode 1221 and the cathode of the second zener diode 1222 are the same cathode. A first terminal of the first resistor 123 is connected to the anode of the second zener diode 1222, and a second terminal of the first resistor 123 is connected to the input terminal of the shift register 110. In an alternative embodiment, the anode of the second zener diode 1222 may also be grounded, and the anode of the first zener diode 1222 is connected to one end of the first resistor 123. The resistance of the first resistor 123 can be selected according to actual needs, and is not limited in this application.
The low pass filter circuit 124 includes a first capacitor 1241, one plate of the first capacitor 1241 is grounded, the other plate is connected to the second end of the first resistor 123, and the other plate is connected to the input end of the shift register 110. In the present embodiment, the first capacitor 1241 is disposed in each of the input loops 120. The specification and model of the first capacitor 1241 may be selected according to actual needs, and the application is not limited.
The input circuit 120 provided by the embodiment includes the surge protection circuit 121 and the low pass filter circuit 124, and the surge protection circuit 121 can protect the shift register 110 from being damaged when the bus control signal is input to the input circuit. The low pass filter circuit 124 can filter out the interference wave in the bus control signal.
In one embodiment of the present application, the voltage input module 200 includes a voltage generation unit 210 and a voltage selection unit 220.
The voltage generating unit 210 is used to generate the reference voltage. The reference voltage includes a plurality of voltages of different values, and the voltage generating unit 210 is configured to generate the plurality of voltages of different values. In one embodiment, the voltage generating unit 210 may include a power source 211 and a voltage distributing unit 212. The power source 211 is used to provide an initial voltage, and the initial voltage is processed by the voltage distribution unit 212 to form the reference voltage.
The input terminal of the voltage distribution unit 212 is connected to the power source 211, the output terminal of the voltage distribution unit 212 is connected to the input terminal of the voltage selection unit, and the voltage distribution unit 212 is used for forming the reference voltage. In an alternative embodiment, the voltage distribution unit 212 includes at least two second resistors 213 connected in series, wherein the other end of the end of each second resistor 213 connected to the power source 211 is connected to the input end of the voltage selection unit 220.
The resistor R4, the resistor R5, the resistor R6, the resistor R7, the resistor R8, the resistor R9, the resistor R10, and the resistor R11 shown in fig. 3 are the second resistor 213. The resistor R4, the resistor R5, the resistor R6, the resistor R7, the resistor R8, the resistor R9, the resistor R10, and the resistor R11 are connected in series one by one, and each of the second resistors 213 is connected to the voltage selecting unit 220. The voltage selection unit 220 may select a target voltage of the reference voltages according to the bus control command, so as to obtain the control voltage.
In an alternative embodiment, the reference voltage comprises 8 different voltages, and the control voltage is one of the 8 different voltages.
In an alternative embodiment, the voltage generating unit 210 may be an analog voltage array, and the voltage selecting unit 220 may be an analog switch matrix. The number of bits of the bus control command is determined according to the size of the analog switch matrix, and the relationship between the number of bits of the bus control command and the size of the analog switch matrix is an exponential relationship of 2. For example, if the number of bits of the bus control command is 3, the corresponding size of the analog switch matrix, i.e., the number of analog quantities that the analog switch matrix can accommodate is 23An analog quantity, but in practice the size of the analog switch matrix is less than or equal to 23And (4) measuring the analog quantity.
In one embodiment of the present application, the voltage generating unit 210 further includes a third zener diode 214, an anode of the third zener diode 214 is grounded, and a cathode of the third zener diode 214 is connected to the power source 211. The size and model of the third zener diode 214 can be selected according to actual needs, and the application is not limited. The third zener diode 214 is used to maintain the stability of the initial voltage output by the power source 211.
In one embodiment of the present application, the voltage generating unit 210 further includes a second capacitor 215, one plate of the second capacitor 215 is grounded, and the other plate is connected to the input terminal of the voltage distributing unit 212. The second capacitor 215 is used for filtering the interference wave carried by the initial voltage generated by the power source 211, so as to improve the accuracy of the stepping motor current control device 10 in performing stepping motor current control. The size and type of the second capacitor 215 can be selected according to actual needs, and the application is not limited. In an alternative embodiment, the number of the second capacitors 210 may also be selected according to actual requirements, and when a plurality of the second capacitors 210 are selected, the plurality of the second capacitors 210 need to be connected in parallel.
The voltage selection unit 220 is connected to the output terminal of the voltage control module 100, and the voltage selection unit 220 is configured to receive the bus control command and determine the control voltage in the reference voltage according to the bus control command. In an alternative embodiment, the voltage selection unit 220 may be an analog switch matrix, and the specific model and specification of the analog switch matrix may be selected according to actual needs, which is not limited in this application.
In one embodiment of the present application, the timing control module 300 includes a current control port 310, and the current control port 310 is connected to the output terminal of the voltage input module 200. The position of the current control port 310 on the timing control module 300 can be selected according to actual needs, and is not limited in this application. The number of the current control ports 310 may also be set according to actual needs, and the present application is not limited thereto.
In an alternative embodiment, the timing control module 300 employs the DRV8818PWP chip of T1, but the timing control module 300 is not limited to such chips.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A stepping motor current control apparatus, comprising: the device comprises a voltage control module, a voltage input module and a time sequence control module;
the output end of the voltage control module is connected with the input end of the voltage input module through a signal line, and the voltage control module is used for receiving a bus control signal, generating a bus control command according to the bus control signal and inputting the bus control command to the voltage input module;
the output end of the voltage input module is connected with the input end of the time sequence control module, and the voltage input module is used for generating reference voltages and selecting control voltages from the reference voltages according to the bus control command;
and the time sequence control module is used for receiving the control voltage and controlling the current of the stepping motor according to the control voltage.
2. The apparatus of claim 1, wherein the voltage control module comprises:
the output end of the shift register is connected with the input end of the voltage input module; the shift register is used for converting the bus control signal into the bus control command.
3. The apparatus of claim 2, wherein the voltage control module further comprises:
one end of the input loop is grounded, and the other end of the input loop is connected with the input end of the shift register;
the input circuit comprises a surge protection circuit and a low-pass filter circuit, and the low-pass filter circuit is connected with the surge protection circuit.
4. The device of claim 3, wherein the surge protection circuit comprises: the voltage stabilizing diode group and the first resistor;
the voltage stabilizing diode group comprises a first voltage stabilizing diode and a second voltage stabilizing diode, the first voltage stabilizing diode and the second voltage stabilizing diode are connected in series in a reverse direction, the anode of the first voltage stabilizing diode is grounded, and the cathode of the first voltage stabilizing diode and the cathode of the second voltage stabilizing diode are the same cathode;
and the first end of the first resistor is connected with the anode of the second voltage stabilizing diode, and the second end of the first resistor is connected with the input end of the shift register.
5. The apparatus of claim 4, wherein the low pass filter circuit comprises:
and one polar plate of the first capacitor is grounded, and the other polar plate of the first capacitor is connected with the second end of the first resistor and the input end of the shift register.
6. The apparatus of claim 1, wherein the timing control module comprises:
and the current control port is connected with the output end of the voltage input module.
7. The apparatus of claim 1, wherein the voltage input module comprises:
a voltage generating unit for generating the reference voltage;
and the voltage selection unit is connected with the output end of the voltage control module and used for receiving the bus control command and determining the control voltage in the reference voltage according to the bus control command.
8. The apparatus of claim 7, wherein the voltage generation unit comprises:
a power source;
the input end of the voltage distribution unit is connected with the power supply, and the output end of the voltage distribution unit is connected with the input end of the voltage selection unit; the voltage distribution unit is used for forming the reference voltage;
the voltage distribution unit comprises at least two second resistors connected in series, wherein the other end of one end of each second resistor connected with the power supply is connected with the input end of the voltage selection unit; the voltage distribution unit is used for forming the reference voltage.
9. The apparatus of claim 8, wherein the voltage generation unit further comprises:
and the anode of the third voltage-stabilizing diode is grounded, and the cathode of the third voltage-stabilizing diode is connected with the power supply.
10. The apparatus of claim 8, wherein the voltage generation unit further comprises:
and one polar plate of the second capacitor is grounded, and the other polar plate of the second capacitor is connected with the input end of the voltage distribution unit.
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| CN202021508225.5U CN212649387U (en) | 2020-07-27 | 2020-07-27 | Current control device of stepping motor |
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| CN202021508225.5U CN212649387U (en) | 2020-07-27 | 2020-07-27 | Current control device of stepping motor |
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