CN2733432Y

CN2733432Y - Four-shaft motion controller

Info

Publication number: CN2733432Y
Application number: CN 200420083754
Authority: CN
Inventors: 曾逸; 钱作忠; 章友文
Original assignee: SHENZHEN ADTECH CNC TECHNOLOGY Co Ltd
Current assignee: SHENZHEN ADTECH CNC TECHNOLOGY Co Ltd
Priority date: 2004-09-03
Filing date: 2004-09-03
Publication date: 2005-10-12
Anticipated expiration: 2014-09-03

Abstract

The utility model relates to a four-axis motion controller which comprises a panel and a back shell, wherein a display window and a key zone are arranged on the panel, a liquid crystal display is arranged at the display window, a key plate is arranged at the back surface of the panel, and keys on the key plate is corresponding to the key zone on the panel. A main control plate and a power plate are arranged in the back shell, the main control plate is provided with an interface circuit and a control circuit used for controlling an X axis, a Y axis, a Z axis and a W axis, and the key plate and the liquid crystal display are connected with the corresponding interface circuit of the main control plate. The main control plate can be also provided with a serial communication interface, a status indicator lamp and a built-in buzzer. The four-axis motion controller adopts a CPLD to realize the motion control and reduces cost. Meanwhile, the output pulse frequency of the controller can maximally achieve 200 KH z, and the number of pulse emitted in one time can achieve 16777215. The utility model can satisfy the requirements of high precision and high speed, can adapt the application of digital control with long positioning length, and has the advantages of beautiful appearance, convenient manufacture and convenient assembly.

Description

4 axis sport controller

Technical field

The utility model relates to the kinematic axis controller in the numerical control device, particularly a kind of 4 axis sport controller.

Background technology

Typical digital control system is made up of controller, stepping/servo-driver, stepper motor/servomotor usually.Controller sends a certain number of pulse signal by certain speed and gives stepping/servo-driver, and drive stepping motor/servomotor stops after walking the pulse number that end controller sends by command speed, thereby realizes accurately location.The system that a plurality of kinematic axiss are arranged, controller will be exported the multiplex pulse signal, and the direction signal of controller output cooperates pulse signal work, can be rotated in the forward or reverse rotation by drive motor.

Common kinematic axis controller adds touch screen controller, computer by singlechip controller, PLC, and to add controller that motion control card forms, numerical-control turn-milling class nonshared control unit etc. several.Wherein, computer adds control cassette controller and occupies high-end market, owing to can use polylith card co-operation, thereby its maximum number of axes has certain retractility, but still be subjected to slot count quantitative limitation on the industrial control mainboard, it is abundanter that computer adds the programming language of card type controller, common have C C++ VC VB C++Builder Delphi or the like.Singlechip controller and PLC add touch screen controller and occupy middle and low-end market jointly, single-chip microcomputer motion controller its maximum number of axes is usually fixed, the design singlechip controller generally will have the hardware design technique of oneself, technical security is better, can do not copied easily, the application programming language of this quasi-controller is C51 or compilation.The motion number of axle that PLC adds touch screen controller control is subjected to the restriction of module number and type of modules, and this quasi-controller is just finished assembling, does not have the hardware design technique of oneself, is copied easily, and its programming language is a ladder diagram.Its application of numerical-control turn-milling quasi-controller is only limited to the control of all kinds of lathes usually, and programming language is the G code language.

Along with developing rapidly of singlechip technology, the application of singlechip controller is permeated to high-end market.

At present, mainly there is following defective in monolithic type 4 axis sport controller on the market: mostly adopt metal shell, make, assemble inconvenience, and profile is not attractive in appearance; Main performance index is lower, mostly is 50KHz as maximum pulse rate, and once the pulse number of Fa Songing can not surpass 65535, does not have AB phase decoder function; Adopt special-purpose motion control chip, the cost height; Adopt membrane pushbutton, damage easily; Some stateless pilot lamp does not have built-in hummer etc.

Summary of the invention

The technical problems to be solved in the utility model provides a kind of making, easy to use, good looking appearance, and the output pulse frequency height, it is many once to send pulse number, the 4 axis sport controller that cost is low.

In order to solve the problems of the technologies described above, the technical solution adopted in the utility model comprises panel and back cover, display window and key zone are set on the described panel, LCDs is installed at the display window place, back side of panel is installed keypad, button on the keypad is corresponding with key zone on the panel, master control borad and power panel are installed in the described back cover, master control borad is provided with control circuit and the interface circuit that is used to control X-axis, Y-axis, Z axle and W axle, and described keypad is connected with corresponding interface circuits on the master control borad with LCDs.

Motion control chip of this 4 axis sport controller and decoding interface chip adopt CPLD (CPLD), reduced cost, make the output pulse frequency maximum of controller can reach 200KHz simultaneously, the disposable pulse number that sends can be up to 16777215, satisfy on the one hand high precision, high-speed requirement, can adapt to the long numerical control of position length on the other hand and use.It is provided with serial communication interface, can be connected with external computer, and it is simple, convenient that program is downloaded.Its panel and back cover all can adopt plastic material, making, easy to assembly, and good looking appearance.

In addition, its button adopts the mechanical type button, and it is good to push feel, efficiently solves membrane pushbutton and is easy to occur loose contact, button by problem such as mashed.On its panel status indicator lamp can be set, be used to refer to the current running status of control system.On the mainboard hummer can be set, be used for warning, operation indicating, button prompting etc.

Description of drawings

Fig. 1 is the front view of the utility model one embodiment;

Fig. 2 is its explosive view;

Fig. 3 is the circuit block diagram of Fig. 1 embodiment;

Fig. 4 is the circuit diagram of CPU part among Fig. 3;

Fig. 5 is the circuit diagram of first motion control chip among Fig. 3;

Fig. 6 is the circuit diagram of second motion control chip among Fig. 3;

Fig. 7 is the decoding and the circuit diagram of interface chip among Fig. 3;

Fig. 8 is X-axis among Fig. 3, Y-axis pulse driving circuit figure;

Fig. 9 is Z axle among Fig. 3, W axle pulse driving circuit figure;

Figure 10 is signal input circuit figure among Fig. 3;

Figure 11 is signal output apparatus figure among Fig. 3;

Figure 12 is AB phase pulse input circuit figure among Fig. 3;

Figure 13 is a clocking scheme among Fig. 3;

Figure 14 is the circuit diagram of LCDs interface among Fig. 3;

Figure 15 is the circuit diagram of ide interface among Fig. 3;

Figure 16 is the circuit diagram of serial communication interface among Fig. 3.

Embodiment

Below in conjunction with accompanying drawing the utility model is described further.

Present embodiment is the ADT-MC010 4 axis sport controller.With reference to Fig. 1; 2; the ADT-MC010 4 axis sport controller comprises panel 1 and back cover 6; described panel 1 is a plastic rubber panel; display window 11 is set on the panel 1; key zone 12 and indicator lamp regions 13; LCDs 3 is installed at display window 11 places; LCDs 3 fronts are provided with the transparent organic glass sheet; with the protection LCDs; panel 1 front veneer film; it on the facial mask transparent membrane; be printed on the sign of numerical key and function key on the position of corresponding button; keypad 2 is installed at panel 1 back side; button on the keypad 2 is corresponding with key zone 12 on the panel; described back cover 6 is a plastic back shell, and back cover 6 sides are provided with the straight grid of heat radiation hole, and master control borad 4 and power panel 5 are installed in the back cover 6; master control borad is provided with and is used to control X-axis; Y-axis; the control circuit of Z axle and W axle and interface circuit, described keypad 2 is connected with corresponding interface circuits on the master control borad 4 respectively with LCDs 3.Also be welded with hummer on the master control borad 4, be used for warning, operation indicating, button prompting etc.

Above-mentioned LCDs 3 adopts the wide temperature range type liquid crystal display external member of 128 * 64 dot matrix, comprises liquid crystal display and control panel two parts, and control panel carries the negative pressure device.

16 mechanical type buttons are set on the keypad 2, wherein contain numerical key 0～9, decimal key, negative sign key, four arrow keys up and down.The negative sign key can be defined as turnover parameter modification picture by application software; Decimal key can be used for defining some specific functions, as enters the parameter testing picture; Numerical key can also define second function except that carrying out by application software the parameter modification; Arrow key can be used for selecting parameter, handoff parameter picture, manual operation etc.The At89C2051 of 1 Atmel company of keypad 2 usefulness is responsible for the scanning of each key-press status as control chip.Keypad 2 left sides also are provided with three pilot lamp, three pilot lamp are embedded in three apertures of correspondence of panel 1 indicator lamp regions 13, be used to refer to the current running status of control system, three pilot lamp all adopt Tricolor LED, can send red, green, yellow three kinds of colors.

This 4 axis sport controller adopts the single-phase mains-supplied of 220VAC, and power supply is introduced in the housing by two core aviation heads, converts the direct supply of 5VDC to by power panel 5, uses for controller.

In order to make 4 axis sport controller work more stable, reliable, the installed surface in panel 1 back is provided with a circle rubber earthquake washer, after controller is installed on the board, can alleviate the influence that mechanical shock causes controller greatly.

As shown in Figure 3, on the described master control borad 4 control circuit and interface circuit are set, described control circuit contains CPU, be used to control first motion control chip of X-axis and Y-axis, be used to control Z axle and W axle second motion control chip, be used for providing the clock circuit of clock signal to first motion control chip and second motion control chip, first motion control chip output termination X-axis pulse driving circuit and Y-axis pulse driving circuit, second motion control chip output termination Z axle pulse driving circuit and W axle pulse driving circuit; Described interface circuit contains decoding and interface chip, decoding and interface chip input end connect four road AB phase pulse input circuits and several signal input circuit, decoding and interface chip output terminal connect the LCDs interface, ide interface and several signal output apparatus, first motion control chip, second motion control chip, decoding and interface chip all are connected in the control line of CPU, data bus, on the address bus, the CPU respective input connects keystroke interface, the corresponding I/O end of CPU is connected with the serial communication interface that is used for the external computer communication, CPU can direct read to decoding and interface chip, but the chip that different port addresss is different with gating, the AB phase feedback signal of X-axis and Y-axis passes through one road AB pulse input circuit mutually successively, decoding and interface chip are imported first motion control chip, and the AB phase feedback signal of Z axle and W axle passes through one road AB pulse input circuit mutually successively, decoding and interface chip are imported second motion control chip.

Fig. 4 is the circuit diagram of CPU part, and as shown in FIG., between the XTAL1 of CPU end and the XTAL2 end and meet the crystal oscillator X1 of 22.1184MHz, the P0 mouth of CPU meets latch U2, and the ALE end of CPU connects the CLK end of latch U2 by phase inverter U5C.Described CPU adopts the 89C51RD+ of Philips company, its chip integration has become the Flash of 64KB and the secondary SRAM of 768 bytes, the Flash of 64KB can be used as program storage, the secondary SRAM of 768 bytes can be used as data-carrier store, thereby accelerated read or write speed, improve the reliability of program run, increased program storage capacity and data storage capacity.

With reference to Fig. 5-7, the described first motion control chip U31, the second motion control chip U76, decoding and interface chip U7 are CPLD (CPLD), and the chip model is 4256/T100.

With reference to Fig. 8,9, described X-axis pulse driving circuit and Y-axis pulse driving circuit adopt the level slip to divide integrated circuit U 27, it is DS26LS31CM that the level slip divides the model of integrated circuit U 27, X-axis pulse output signals XPU, X-direction output signal XDR, Y-axis pulse output signals YPU, Y direction output signal YDR from first motion control chip divide the respective input of integrated circuit U 27 by optocoupler U26, U28, U29, the slip of U30 incoming level respectively, export in differential mode then; Z axle pulse driving circuit and W axle pulse driving circuit adopt the level slip to divide integrated circuit U 33, it is DS26LS31CM that the level slip divides the model of integrated circuit U 33, Z axle pulse output signals ZPU, Z-direction output signal ZDR, W axle pulse output signals WPU, W direction of principal axis output signal WDR from second motion control chip divide the respective input of integrated circuit U 33 by optocoupler U32, U34, U35, the slip of U36 incoming level respectively, export in differential mode then.

With reference to Figure 10, have 24 road signal input circuits, each road signal input circuit all contains optocoupler and impact damper, input signal is by the input end of optocoupler input buffer, wherein impact damper adopts three 74LS244 integrated circuit, integrated 8 impact dampers in each 74LS244, chip selection signal DISC1, the DISC2 of three 74LS244, DISC3 are connected to the corresponding output end of decoding and interface chip U7, and U37 is an optocoupler among the figure.

With reference to Figure 11, have 16 road signal output apparatus, each road signal output apparatus all contains latch, optocoupler and amplifier, output signal is passed through latch successively, amplifier, optocoupler output, wherein latch adopts two 74LS273 integrated circuit U57, U63, every 74LS273 comprises 8 latchs, the chip selection signal DOCS1 of two 74LS273 latchs, DOCS2 is connected to the corresponding output end of decoding and interface chip U7, amplifier adopts three 2003A integrated circuit U77, U78, U79, every 2003A integrated circuit comprises 7 inverting amplifiers, U55 is an optocoupler, and Q2 is an amplifying triode.

With reference to Figure 12, described every road AB phase pulse input circuit comprises an optocoupler U9, between two input ends of optocoupler U9 and meet protection diode D3, meets decoupling capacitance C30 between the output terminal of optocoupler U9 and the ground, connects between the output terminal of optocoupler U9 and the power supply and draws resistance R 23.

Figure 13 is a clocking scheme among Fig. 3, and 3 pin of X2 are connected with the CLK2/I end of the first motion control chip U31, the second motion control chip U76 among Figure 13, clock signal are provided for the first motion control chip U31 and the second motion control chip U76.3 pin of X2 are connected with the CLK3/I end of decoding and interface chip U7 by phase inverter U5F among Figure 13, clock signal are provided for decoding and interface chip U7.

Figure 14 is the circuit diagram of LCDs interface among Fig. 3.As shown in figure 14, the 1 pin ground connection of web member T2,2 pin connect power supply, the 4-16 pin of web member T2 is connected with the respective pins of decoding and interface chip U7 respectively, and the negative pressure that liquid crystal display produces is connected to negative pressure circuit T3 through 18 pin of T2, and the output terminal V0 of T3 returns to 3 pin of T2, be used to control the contrast of liquid crystal display, 20 pin of web member T2 connect the collector of triode Q1, and the base stage of triode Q1 is held by the P1.0 that resistance R 18 is connected in CPU, is used for carrying out backlight control.

Figure 15 is the circuit diagram of ide interface among Fig. 3.As shown in figure 15, the equal ground connection of 2,22,24,26,30,40 pin of web member J9,1,3,5,7,9,11,13,15,17,23,25,33,35,36,37,38 pin of web member J9 are connected with the respective pins of decoding and interface chip U7 respectively.ADT-MC010 four axis controllers connect DOM (DiskOnModule) electric board by ide interface, are used to preserve data.In the practical application, generally join the mass data that a slice SRAM memory stores is read when using the DOM electric board in addition from DOM, also can preserve data and adopt a slice Flash memory to replace the SRAM memory without the DOM electric board.

ADT-MC010 four axis controllers are provided with serial communication interface, as shown in figure 16, this serial communication interface is made of integrated circuit MAX202, capacitor C 1, C3, C4, C5 and web member CON1, integrated circuit MAX202 11 pin and 12 pin respectively with Fig. 4 in 13 pin of U1 link to each other with 11 pin.Can connect order wire between the serial ports with this serial communication interface and PC, the application program file destination in the PC is downloaded to controller inside, this downloading process is simple, convenient, and speed of download is fast and success ratio is high; Also can work out bi-directional communication procedures, between controller and PC, realize communication.Communication mode has two kinds of RS232 and RS485, communication baud rate can: select among 1200bps, 2400bps, 4800bps, 9600bps, 19200bps, 38400bps, 57600bps, the 115200bps, be defaulted as 57600bps.

The technical indicator of ADT-MC010 four axis controllers is as follows:

1, kinematic axis: four axes motion control, pulse+direction differential type output, the highest output pulse frequency 200KHz, once exporting pulse number is 24, can reach 16777215.Pulse output adds light-coupled isolation.

2, AB phase pulse input decoding: 4 road AB phase pulses input decodings (16), full light-coupled isolation.The highest count frequency can reach 200KHz.Input voltage: 5～24VDC, high level＞4.5V, low level＜1.0V.

3, input is counted: 24 tunnel light-coupled isolations input.Input voltage: 5～24VDC, high level＞4.5V, low level＜1.0V.Generally add 5～12VDC input voltage, when special circumstances must add 24VDC voltage, the resistance of the 2K Ω that must on each input point, connect.

4, output is counted: 16 road NPN open collector light-coupled isolations output, impressed voltage 5～12VDC, maximum allowed current 0.5A, be divided into 9 output channels, the shared common port of preceding 8 output points constitutes an output channel, and back 8 output points each have the common port of oneself.

Claims

1,4 axis sport controller, comprise panel and back cover, it is characterized in that: display window and key zone are set on the described panel, LCDs is installed at the display window place, back side of panel is installed keypad, and the button on the keypad is corresponding with key zone on the panel, installation master control borad and power panel in the described back cover, master control borad is provided with control circuit and the interface circuit that is used to control X-axis, Y-axis, Z axle and W axle, and described keypad is connected with corresponding interface circuits on the master control borad with LCDs.

2,4 axis sport controller according to claim 1, it is characterized in that: described control circuit contains CPU, be used to control first motion control chip of X-axis and Y-axis, be used to control Z axle and W axle second motion control chip, be used for providing the clock circuit of clock signal to first motion control chip and second motion control chip, first motion control chip output termination X-axis pulse driving circuit and Y-axis pulse driving circuit, second motion control chip output termination Z axle pulse driving circuit and W axle pulse driving circuit; Described interface circuit contains decoding and interface chip, decoding and interface chip input end connect four road AB phase pulse input circuits and several signal input circuit, decoding and interface chip output terminal connect the LCDs interface, ide interface and several signal output apparatus, described first motion control chip, second motion control chip, decoding and interface chip are connected to CPU control corresponding line, data bus and address bus, the CPU respective input connects keystroke interface, the corresponding I/O end of CPU connects the serial communication interface that is used for the external computer communication, the AB phase feedback signal of X-axis and Y-axis passes through one road AB pulse input circuit mutually successively, decoding and interface chip are imported first motion control chip, and the AB phase feedback signal of Z axle and W axle passes through one road AB pulse input circuit mutually successively, decoding and interface chip are imported second motion control chip.

3,4 axis sport controller according to claim 2 is characterized in that: described first motion control chip, second motion control chip, decoding and interface chip are CPLD.

4,4 axis sport controller according to claim 2 is characterized in that: described CPU is 89C51RD+.

5,4 axis sport controller according to claim 2, it is characterized in that: described X-axis pulse driving circuit and Y-axis pulse driving circuit adopt the level slip to divide integrated circuit U 27, X-axis pulse output signals XPU, X-direction output signal XDR, Y-axis pulse output signals YPU, Y direction output signal YDR from first motion control chip input to the respective input that the level slip divides integrated circuit U 27 by an optical coupling isolation circuit respectively, export in differential mode then; Z axle pulse driving circuit and W axle pulse driving circuit adopt the level slip to divide integrated circuit U 33, Z axle pulse output signals ZPU, Z-direction output signal ZDR, W axle pulse output signals WPU, W direction of principal axis output signal WDR from second motion control chip input to the respective input that the level slip divides integrated circuit U 33 by an optical coupling isolation circuit respectively, export in differential mode then.

6,4 axis sport controller according to claim 2; it is characterized in that: described every road AB phase pulse input circuit comprises an optocoupler; between two input ends of optocoupler and connect the protection diode; connect decoupling capacitance between the output terminal of optocoupler and the ground, connect between the output terminal of optocoupler and the power supply and draw resistance.

7,4 axis sport controller according to claim 2 is characterized in that: described signal input circuit contains optocoupler and impact damper, and input signal is by the input end of optocoupler input buffer; Described signal output apparatus contains latch, amplifier and optocoupler, and output signal is successively by latch, amplifier, optocoupler output.

8,4 axis sport controller according to claim 1 is characterized in that: the button on the described keypad is the mechanical type button.

9,4 axis sport controller according to claim 1 is characterized in that: described panel and back cover are plastic rubber panel and plastic back shell, and three Tricolor LED pilot lamp are set on the panel.

10,4 axis sport controller according to claim 1 is characterized in that: on the described master control borad hummer is set.