CN221862707U - Safety torque turn-off control circuit and motor driver - Google Patents
Safety torque turn-off control circuit and motor driver Download PDFInfo
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- CN221862707U CN221862707U CN202323637574.3U CN202323637574U CN221862707U CN 221862707 U CN221862707 U CN 221862707U CN 202323637574 U CN202323637574 U CN 202323637574U CN 221862707 U CN221862707 U CN 221862707U
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Abstract
The embodiment of the application discloses a safe torque turn-off control circuit and a motor driver, comprising: the signal isolation module and the detection module; the first input end of the signal isolation module is connected with the front end module, the first output end of the signal isolation module is connected with the execution module, and when the safe torque turn-off STO signal sent by the front end module is received, a first stop signal is output to the execution module; the feedback input end of the detection module is connected with the first output end of the signal isolation module, the detection output end is connected with the second input end of the signal isolation module, the turn-off output end is connected with the execution module, the detection module outputs detection signals to the signal isolation module, and when signals fed back by the signal isolation module meet preset conditions, the detection module outputs second stop signals to the execution module. According to the embodiment of the application, the signal isolation module is subjected to fault detection through the detection module, so that the hardware failure of the safety torque turn-off circuit is avoided, the circuit structure is simple, and the safety of equipment is improved.
Description
Technical Field
The embodiment of the application relates to the field of motion control, in particular to a safe torque turn-off control circuit and a motor driver.
Background
In industrial automation production, driving equipment such as a frequency converter and a servo driver generally have a safety torque turn-off (STO, safetorque off) function, and the STO function can prevent the driver from generating torque when a motor stops, thereby effectively preventing personal injury accidents caused by accidental starting of the motor and providing safety guarantee for a motion control system.
In the related art, a diagnosis circuit is provided to diagnose faults of a circuit for implementing the STO function so as to avoid the failure of the STO function due to faults. However, in this scheme, the diagnostic circuit is added, so that the whole circuit is complex, and the electronic device in the diagnostic circuit occupies more circuit board space, thereby increasing the cost of circuit design.
Disclosure of utility model
The embodiment of the application provides a safe torque turn-off control circuit and a motor driver.
A safe torque off control circuit comprising: the signal isolation module and the detection module;
The first input end of the signal isolation module is connected with the front end module, the first output end of the signal isolation module is connected with the execution module, and when the safe torque turn-off STO signal sent by the front end module is received, a first stop signal is output to the execution module;
The feedback input end of the detection module is connected with the first output end of the signal isolation module, the detection output end of the detection module is connected with the second input end of the signal isolation module, the turn-off output end of the detection module is connected with the execution module, the detection module outputs a detection signal to the signal isolation module, and outputs a second stop signal to the execution module when the signal fed back by the signal isolation module accords with a preset condition.
Optionally, the signal isolation module includes an optocoupler and a current limiting unit;
the primary side of the optocoupler is connected with the first input end through the current limiting unit;
the second input end of the secondary side of the optical coupler is connected with the detection output end of the detection module, and the first output end of the secondary side of the optical coupler is connected with the power supply input end through the first resistor.
Optionally, the secondary side of the optocoupler further includes a second output terminal grounded.
Optionally, the safe torque shutdown control circuit further comprises a filtering module;
The filter module is connected to the first output end of the secondary side of the optocoupler and connected with the first input end of the execution module.
Optionally, the filtering module includes a second resistor and a first capacitor;
The first resistor, the second resistor and the first capacitor are sequentially connected in series and then grounded, a first input end of the execution module is connected between the second resistor and the first capacitor, a feedback input end of the detection module is connected between the first resistor and the second resistor, and a turn-off output end of the detection module is connected with a second input end of the execution module.
Optionally, the execution module includes two buffer chips connected in series, the safety torque turn-off control circuit includes two signal isolation modules, and the two signal isolation modules are respectively connected with the same front end module through first input ends and are respectively connected with the two buffer chips in a one-to-one correspondence through first output ends;
The execution module stops outputting a driving signal to a back-end driving circuit when any buffer chip receives the first stopping signal or the second stopping signal.
Optionally, the detection module includes two feedback input ends, two the feedback input ends respectively with two the first output ends of signal isolation module one-to-one is connected, just the detection output end of detection module is connected with two the second input ends of signal isolation module.
Optionally, the detection module includes a microcontroller, and the microcontroller outputs the detection signal to the signal isolation unit according to a preset period.
Optionally, the safe torque turn-off control circuit further includes a power supply unit, and power supply input ends of the signal isolation module and the detection module are respectively connected to an output end of the power supply unit.
The motor driver comprises the safety torque turn-off control circuit and further comprises a driving circuit, wherein the safety torque turn-off control circuit is connected with the driving circuit.
From the above technical solutions, the embodiment of the present application has the following advantages:
The signal isolation module outputs a first stop signal to the execution module after receiving the safe torque shutdown signal. The detection module can output a detection signal to output a second stop signal when the signal fed back by the signal isolation module accords with a preset condition, so that the execution module stops outputting, and the risk of failure of the STO function due to the fault of the signal isolation module is avoided. The signal isolation module controls the execution module to stop torque output according to the STO signal of the front end module, and the detection module detects faults of the signal isolation module, so that the STO function is realized, meanwhile, a circuit for realizing the STO function is detected, the hardware failure of a safety torque shutoff circuit is avoided, and the safety of equipment is improved. The complex diagnosis circuit is replaced by the design of the signal isolation module and the detection module, so that the integral structure of the safety torque turn-off control circuit is simple, the occupied space is greatly reduced, and the cost of circuit design is reduced.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a safe torque off control circuit of the present application;
FIG. 2 is a schematic diagram of another embodiment of a safe torque off control circuit of the present application;
FIG. 3 is a schematic diagram of another embodiment of a safe torque off control circuit of the present application;
FIG. 4 is a schematic diagram of one embodiment of a motor drive of the present application;
fig. 5 is a schematic view of another embodiment of the motor driver of the present application.
Detailed Description
The embodiment of the application provides a safe torque turn-off control circuit and a motor driver.
In the automatic production scene, the diagnosis of the STO circuit is carried out by arranging an additional diagnosis circuit, however, the existing scheme is complicated in whole circuit, occupies more circuit board space and has higher cost due to the fact that the diagnosis circuit is additionally arranged. In order to solve the problems, the control circuit and the control system provided by the application can realize fault diagnosis by replacing the optocoupler module of the diagnosis circuit, and the whole circuit has the advantages of simple structure, small occupied area and lower cost, and greatly improves the experience of users.
Referring to fig. 1, an embodiment of the safe torque shutdown control circuit of the present application includes: a signal isolation module 101 and a detection module 102;
The first input end of the signal isolation module 101 is connected with the front end module 103, the first output end is connected with the execution module 104, and when a safe torque turn-off STO signal sent by the front end module 103 is received, a first stop signal is output to the execution module 104; the front-end module 103 is used for generating a STO signal according to the state of a motor or equipment driven by the motor, and the execution module 104 is used for outputting a driving voltage to the motor so as to realize driving control of the motor; the execution module stops outputting the driving voltage to the motor when receiving the first stop signal.
The feedback input end of the detection module 102 is connected with the first output end of the signal isolation module 101, the detection output end is connected with the second input end of the signal isolation module 101, the turn-off output end is connected with the execution module 104, the detection module 102 outputs a detection signal to the signal isolation module 101, and outputs a second stop signal to the execution module 104 when the signal fed back by the signal isolation module 101 meets the preset condition, and the second stop signal is used for indicating the execution module to stop outputting, namely, the execution module stops outputting the driving voltage to the motor when receiving the second stop signal.
In the embodiment of the present application, after receiving the safe torque off STO signal, the signal isolation module 101 outputs a first stop signal to the execution module, and the detection module 102 can output a detection signal to output a second stop signal to control the execution module to stop torque output when the signal fed back by the signal isolation module 101 meets a preset condition. The signal isolation module controls the execution module to stop torque output according to the STO signal of the front end module, and the detection module is used for detecting the hardware of the signal isolation module, so that the STO function can be realized and the circuit for realizing the STO function can be detected, the integral structure of the safe torque turn-off control circuit is simplified, the occupied space is greatly reduced, the cost of circuit design is reduced, and the safety of equipment is improved.
Referring to fig. 2, another embodiment of the safe torque shutdown control circuit of the present application includes: the device comprises a front end module, a signal isolation module, a detection module, an execution module and a filtering module;
The first input end of the signal isolation module is connected with the front end module, the first output end of the signal isolation module is connected with the execution module, and when the safe torque turn-off STO signal sent by the front end module is received, a first stop signal is output to the execution module;
The feedback input end of the detection module is connected with the first output end of the signal isolation module, the detection output end is connected with the second input end of the signal isolation module, the turn-off output end is connected with the execution module, the detection module outputs a detection signal to the signal isolation module, and outputs a second stop signal to the execution module when the signal fed back by the signal isolation module accords with a preset condition, namely, the detection module outputs the detection signal to the signal isolation module through the detection output end and detects whether the feedback signal input by the signal isolation module at the feedback input end accords with an expected level signal or not, if the feedback signal is not the expected level signal, the signal isolation module is indicated to have a fault, and the second stop signal is output to the execution module through the turn-off output end, so that the execution module stops outputting the driving voltage.
The signal isolation module comprises an optocoupler OPTO1 and a current limiting unit (a third resistor R3 in the embodiment), the filtering module comprises a second resistor R2 and a first capacitor C1, and the safe torque turn-off control circuit further comprises the first resistor R1;
The primary side of the optocoupler OPTO1 is connected with the first input end through a third resistor R3;
the second input end of the secondary side of the optocoupler OPTO1 is connected with the detection output end (OUT 1 pin) of the detection module, and the first output end of the secondary side of the optocoupler is connected with the power supply input end (+5V end) through the first resistor R1;
the secondary side of the optocoupler also comprises a second output end (fifth pin) which is grounded;
The filter module is connected to a first output end (fourth pin) of the secondary side of the optocoupler and connected to a first input end (OE 2 end) of the execution module.
The first resistor R1, the second resistor R2 and the first capacitor C1 are sequentially connected IN series and then grounded, a first input end (OE 2 end) of the execution module is connected between the second resistor R2 and the first capacitor C1, a feedback input end (IN 1 end) of the detection module is connected between the first resistor R1 and the second resistor R2, and a turn-off output end of the detection module is connected with a second input end (OE 1 end) of the execution module.
The following is a description of specific connection situations. The first pin of the primary side of the optocoupler OPTO1 is connected with the positive end STO1+ of the front end module, the second pin of the primary side of the optocoupler OPTO1 is connected with the negative end STO 1-of the front end module, the secondary side of the optocoupler OPTO1 is provided with a third pin, a fourth pin and a fifth pin, the third pin of the optocoupler OPTO1 is connected with the OUT1 end of the detection module, the fifth pin of the optocoupler OPTO1 is grounded, the first end of the first resistor R1 is connected with the +5V end, and the second end of the first resistor R1 is connected with the fourth pin of the optocoupler OPTO 1.
The filter module is connected between a fourth pin of the optical coupler OPTO1 and an OE2 end of the execution module and is used for filtering signals with the frequency higher than a preset threshold, wherein a first end of the second resistor R2 is respectively connected with a second end of the first resistor R1, the fourth pin of the optical coupler OPTO1 and an IN1 end of the detection module, a second end of the second resistor R2 is respectively connected with one end of the first capacitor C1 and an OE2 end of the execution module, and the other end of the first capacitor C1 is grounded;
The third resistor R3 is connected between the first pin of the optocoupler OPTO1 and the positive terminal sto1+ of the front-end module.
The optocoupler OPTO1 works as follows:
Under normal conditions, when the OUT1 pin is high level, the output end of the optocoupler is conducted, and the IN1 pin is low level no matter the STO1+ pin and the STO 1-pin are high and low level; when the OUT1 pin is at a low level, the optocoupler is turned off, and the IN1 pin is fixed at a high level; when the OUT1 pin is IN a high-resistance state (off), one is that the optocoupler is turned on if the sto1+ pin is IN a high level, and the IN1 pin is IN a low level, and the other is that the optocoupler is turned off if the sto1+ pin is IN a low level, and the IN1 pin is IN a high level.
The working principle of the filtering module is as follows:
By setting the resistance value of the second resistor R2 and the capacitance value of the first capacitor C1, the signal with the specific frequency is filtered, and in this embodiment, the filtering module is set to be capable of filtering the signal with the same high frequency as the signal of the OUT1 pin, and the high frequency signal can be filtered after exceeding a certain preset threshold value, or in other words, the signal with the high level and the high frequency can be filtered.
Regarding the diagnosis of the signal isolation module (i.e. diagnosis of whether the optocoupler is damaged), the working principle of this embodiment is as follows:
Normally, the detection module outputs a high-impedance signal, i.e. the OUT1 pin is IN a high-impedance state, and the level of the IN1 pin is determined by the level of sto1+ (specifically, analysis is as above). IN order to diagnose the optocoupler OPTO1, the detection module periodically enables the OUT1 pin to be a low-level high-frequency signal, the IN1 pin is correspondingly high-level under the normal condition of the optocoupler, and the detection module analyzes according to the output OUT1 end level and the level of the IN1 end based on preset conditions (the detection signal is low-level high-frequency and the feedback signal is high-level high-frequency) and detects whether the feedback signal accords with an expected level signal or not; if the IN1 pin is not high level and is low level under the condition that the OUT1 pin is a high-frequency signal with low level, the signal isolation module is considered to be faulty, and the high-level signal (namely, a second stop signal) is output to the OE1 end of the execution module through the off output end, and the execution module stops outputting the driving voltage to the motor after receiving the second stop signal.
In this embodiment, the design of the first signal isolation module and the detection module replaces a complex diagnostic circuit, so that the overall structure of the safety torque turn-off control circuit becomes simple, the occupied space is greatly reduced, the cost of circuit design is reduced, and the safety of equipment is improved.
Referring to fig. 3, the safety torque shutdown control circuit of the present application includes a front end module, two signal isolation modules, a detection module and an execution module;
The execution module comprises two buffer chips connected in series, the safety torque turn-off control circuit comprises two signal isolation modules, and the two signal isolation modules are respectively connected with the same front end module through first input ends and are respectively connected with the two buffer chips in one-to-one correspondence through first output ends;
the execution module receives the first stop signal or the second stop signal from any buffer chip to stop outputting the driving pulse to the driving circuit at the rear end, so that the motor is stopped. By the method, redundancy control can be realized, and the safety of STO is further improved.
The detection module comprises two feedback input ends, the two feedback input ends are respectively connected with the first output ends of the two signal isolation modules in a one-to-one correspondence manner, and the detection output end of the detection module is connected with the second input ends of the two signal isolation modules.
The detection module comprises a microcontroller, and the microcontroller outputs detection signals to the signal isolation unit according to a preset period.
The safety torque turn-off control circuit further comprises a power supply unit, and power supply input ends of the signal isolation module and the detection module are respectively connected to output ends of the power supply unit.
Referring to fig. 4, an embodiment of the motor driver of the present application includes a safe torque off control circuit 401 as described above, and further includes: a driving circuit 402, the driving circuit 402 being connected to an external motor 403;
The safe torque turn-off control circuit 401 has at least one group of circuit module groups, each group comprises a front end module, a signal isolation module and a buffer chip, all the circuit module groups share a detection module, and signals output to the buffer chip of each group by the detection module are the same;
The buffer chips of each group are connected with the driving circuit 402;
the driving circuit 402 is connected to the motor 403 to control the motor 403 to operate or stop.
In this embodiment, each circuit module group has a corresponding signal isolation module and shares a detection module, so that a complex diagnosis circuit is not needed on the premise of respectively detecting the corresponding front end modules, and thus, the occupied area can be reduced, the design cost is reduced, and the user experience is greatly improved on the premise of realizing the diagnosis function.
Referring to fig. 5, another embodiment of the motor driver of the present application includes a safe torque off control circuit and a driving circuit to control the motor. In this embodiment, the safe torque shutdown control circuit includes two circuit module groups, one including a first front end module, a first signal isolation module, a first filter module, and a first buffer chip of an execution module, and the other including a second front end module, a second signal isolation module, a second filter module, and a second buffer chip of an execution module. The two groups share one detection module, and signals output to each buffer chip by the detection module are the same;
The first signal isolation module comprises a first optocoupler OPTO1 and a third resistor R2, the first filtering module comprises a second resistor R2 and a first capacitor C1, and the safe torque shutoff circuit further comprises the first resistor R1;
The first pin of the primary side of the first optocoupler OPTO1 is connected with the positive end STO1+ of the first front end module, the second pin of the primary side of the first optocoupler OPTO1 is connected with the negative end STO 1-of the first front end module, the secondary side of the first optocoupler OPTO1 is provided with a third pin, a fourth pin and a fifth pin, the third pin of the first optocoupler OPTO1 is connected with the OUT1 end of the detection module, the fifth pin of the first optocoupler OPTO1 is grounded, the first end of the first resistor R1 is connected with the +5V end, and the second end of the first resistor R1 is connected with the fourth pin of the first optocoupler OPTO 1.
The first filtering module is connected between a fourth pin of the first optocoupler OPTO1 and an OE2 end of the first buffer chip and is used for filtering signals with frequency higher than a preset threshold, wherein the filtering module comprises a second resistor R2 and a first capacitor C1, a first end of the second resistor R2 is respectively connected with a second end of the first resistor R1, a fourth pin of the first optocoupler OPTO1 and an IN1 end of the detection module, a second end of the second resistor R2 is respectively connected with one end of the first capacitor C1 and an OE2 end of the first buffer chip, and the other end of the first capacitor C1 is grounded;
The third resistor R3 is connected between the first pin of the first optocoupler OPTO1 and the positive terminal sto1+ of the first front-end module.
One side of the second signal isolation module is connected with the second front end module, the other side of the second signal isolation module is respectively connected with the detection module and the second filtering module, and the second filtering module is connected with the second buffer chip;
The first execution module and the second buffer chip are connected in series to stop outputting the driving voltage to the motor when any buffer chip receives the control signal.
The second signal isolation module comprises a second optocoupler OPTO2 and a sixth resistor R6, the second filtering module comprises a fifth resistor R5 and a second capacitor C2, and the safe torque shutoff circuit further comprises a fourth resistor R4;
The first pin of the primary side of the second optocoupler OPTO2 is connected with the positive end STO2+ of the second front end module, the second pin of the primary side of the second optocoupler OPTO2 is connected with the negative end STO 2-of the second front end module, the secondary side of the second optocoupler OPTO2 is provided with a third pin, a fourth pin and a fifth pin, the third pin of the second optocoupler OPTO2 is connected with the OUT1 end of the detection module, the fifth pin of the second optocoupler OPTO2 is grounded, the first end of the fourth resistor R4 is connected with the +5V end, and the second end of the fourth resistor R4 is connected with the fourth pin of the second optocoupler OPTO 2;
The first end of the fifth resistor R5 is respectively connected with the second end of the fourth resistor R4, the fourth pin of the second optocoupler OPTO2 and the IN2 end of the detection module, the second end of the fifth resistor R5 is respectively connected with one end of the second capacitor C2 and the OE1 end of the second buffer chip, the other end of the second capacitor C2 is grounded, and the detection module is connected with the OE2 end of the second buffer module;
The sixth resistor R6 is connected between the first pin of the second optocoupler OPTO2 and the positive terminal sto2+ of the second front-end module.
The operation principle of the present embodiment is similar to that described above, except that two circuit module groups share one detection module, and input signals input to the first buffer chip and the second buffer chip by the detection module are the same, so that when there is only one failure in the plurality of front end modules, the detection module fixedly gives a high level to the execution module to shut down the motor.
In this embodiment, each circuit module group has a corresponding signal isolation module, and shares a detection module, so that a complex diagnosis circuit is not required, and the occupied area can be reduced, the design cost can be reduced, the isolation function can be realized, and the user experience can be greatly improved.
The foregoing describes the control circuit and control system provided by the present application in detail, and those skilled in the art should not understand the present application to limit the scope of the present application in any way, according to the ideas of the embodiments of the present application.
Claims (10)
1. A safe torque off control circuit, characterized by comprising: the signal isolation module and the detection module;
The first input end of the signal isolation module is connected with the front end module, the first output end of the signal isolation module is connected with the execution module, and when the safe torque turn-off STO signal sent by the front end module is received, a first stop signal is output to the execution module;
The feedback input end of the detection module is connected with the first output end of the signal isolation module, the detection output end of the detection module is connected with the second input end of the signal isolation module, the turn-off output end of the detection module is connected with the execution module, the detection module outputs a detection signal to the signal isolation module, and outputs a second stop signal to the execution module when the signal fed back by the signal isolation module accords with a preset condition.
2. The safe torque shutdown control circuit of claim 1, wherein the signal isolation module comprises an optocoupler and a current limiting unit;
the primary side of the optocoupler is connected with the first input end through the current limiting unit;
the second input end of the secondary side of the optical coupler is connected with the detection output end of the detection module, and the first output end of the secondary side of the optical coupler is connected with the power supply input end through the first resistor.
3. The safe torque shutdown control circuit of claim 2, wherein the secondary side of the optocoupler further comprises a second output terminal coupled to ground.
4. The safe torque shut-off control circuit according to claim 2, further comprising a filtering module;
The filter module is connected to the first output end of the secondary side of the optocoupler and connected with the first input end of the execution module.
5. The safe torque shut-off control circuit of claim 4, wherein said filter module comprises a second resistor and a first capacitor;
The first resistor, the second resistor and the first capacitor are sequentially connected in series and then grounded, a first input end of the execution module is connected between the second resistor and the first capacitor, a feedback input end of the detection module is connected between the first resistor and the second resistor, and a turn-off output end of the detection module is connected with a second input end of the execution module.
6. The safe torque shut-off control circuit according to claim 2, wherein the execution module comprises two buffer chips connected in series, the safe torque shut-off control circuit comprises two signal isolation modules, and the two signal isolation modules are respectively connected with the same front-end module through first input ends and respectively connected with the two buffer chips in a one-to-one correspondence through first output ends;
The execution module stops outputting a driving signal to a back-end driving circuit when any buffer chip receives the first stopping signal or the second stopping signal.
7. The safe torque shutdown control circuit of claim 6, wherein the detection module comprises two feedback inputs, the two feedback inputs are respectively connected with the first outputs of the two signal isolation modules in a one-to-one correspondence, and the detection output of the detection module is connected with the second inputs of the two signal isolation modules.
8. The safety torque shut-off control circuit according to any one of claims 1 to 7, wherein said detection module comprises a microcontroller that outputs said detection signal to said signal isolation module at a preset period.
9. The safety torque shut-off control circuit according to any one of claims 1 to 7, further comprising a power supply unit, the power supply inputs of said signal isolation module and said detection module being connected to the output of said power supply unit, respectively.
10. A motor driver comprising a safety torque shut-off control circuit according to any one of claims 1 to 9, and further comprising a drive circuit, said safety torque shut-off control circuit being connected to the drive circuit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323637574.3U CN221862707U (en) | 2023-12-29 | 2023-12-29 | Safety torque turn-off control circuit and motor driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202323637574.3U CN221862707U (en) | 2023-12-29 | 2023-12-29 | Safety torque turn-off control circuit and motor driver |
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| CN221862707U true CN221862707U (en) | 2024-10-18 |
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| CN202323637574.3U Active CN221862707U (en) | 2023-12-29 | 2023-12-29 | Safety torque turn-off control circuit and motor driver |
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