EP4662776A1

EP4662776A1 - Motor driver

Info

Publication number: EP4662776A1
Application number: EP23929201.4A
Authority: EP
Inventors: Mao YANG; Ting ZHA; Liwen Xu; Yali BAI
Original assignee: Siemens AG; Siemens Corp
Current assignee: Siemens AG; Siemens Corp
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2025-12-17
Also published as: WO2024197602A1; CN120677629A

Abstract

In the embodiments of the present invention, a motor driver is provided, comprising a first channel module, a second channel module, and a switch module connected between the first and second channel modules, wherein the switch module is used for enabling the first and second channel modules to form corresponding current channels, respectively, according to the level signal output by the micro controlling unit wherein for different level signals, the first channel module forms different current channels and the second channel module forms different current channels; and both the first and second channel modules are used for sending pulse signals, through their corresponding current channels, to the micro controlling unit, with cooperation with the upper machine controller, such that the micro controlling unit controls movement of the motor according to the pulse signal. The motor driver as provided in the present invention is compatible with single-ended PTI signals of different voltages.

Description

Motor Driver

TECHNICAL FIELD

The present invention relates to the technical field of industrial control, and especially to a motor driver.

BACKGROUND OF THE INVENTION

Nowadays, there are many types of pulses for controlling movement of motors, and one of them is a single-ended pulse train input (PTI) signal (or called single-ended PTI signal) . For the single-ended PTI signal, different voltage levels may be used in different circumstances of industry field. For example, a single-ended PTI signal of one voltage is used in some circumstances, while another single-ended PTI signal of another voltage is used in other circumstances. Therefore, it is necessary for the motor driver to be compatible with single-ended PTI signals of different voltages.
SUMMARY OF THE INVENTION
In an embodiment of the present invention, a motor driver is provided which can be compatible with single-ended PTI signals of different voltages.
In an embodiment of the present invention, a motor driver is provided which is provided between an upper machine controller and a micro controlling unit wherein the micro controlling unit is used for outputting different level signals according to single-ended pulse train input signals of different voltages; and the motor driver comprises a first channel module, a second channel module, and a switch module connected between the first and second channel modules, wherein
the switch module is used for enabling the first and second channel modules to form corresponding current channels, respectively, according to the level signal output by the micro controlling unit wherein for different level signals, the first channel module forms different current channels and the second channel module forms different current channels; and
both the first and second channel modules are used for sending pulse signals, through their corresponding current channels, to the micro controlling unit, with cooperation with the upper machine controller, such that the micro controlling unit controls movement of the motor according to the pulse signal (s) .
The motor drivers as provided in the embodiments of the present invention, individually or in combination, can have at least the following technical effects:
(1) When the single-ended pulse train input signal is of a different voltage value, the first channel module forms a different current channel and the second channel module forms a different current channel. When the application circumstance of the motor driver is changed and thus the voltage of the single-ended pulse train input signal is changed from one value to another value, then the current channels formed by the two channel modules will also change, i.e. switching between the current channels, such that the motor driver can use the single-ended pulse train input signals of different voltage values, that is, it can be compatible with the single-ended pulse train input signals of different voltage values. The motor drivers as provided in the embodiments of the present invention support the single-ended pulse train input signals of the first voltage and the second voltage, and thus are applicable to most industrial application circumstances.
(2) In an embodiment, in the motor drivers as provided in the embodiments of the present invention, five terminals are provided for external connection, to achieve access of the single-ended pulse train input signals of different voltages and connection with the upper machine controllers of different types, without an external matched resistor, thus reducing problems due to the matched resistor and also reducing the number of the terminals. The number of the terminals is reduced, thus saving the pin usage of the motor driver. In addition, in such manner, it is not necessary for the user to prepare an external resistor, thus not only improving the use friendliness for the user, but also preventing damage to the complete PTI cable/wire. Furthermore, the motor drivers in the embodiments of the present invention support two types of the upper machine controllers, and thus provide configuration flexibility for the user.
(3) In an embodiment, the switch module comprises a first triode and a second photoelectric coupler. The level signal sent by the micro controlling unit can enable the first triode to be in the conductive state or the cutoff state. The level signal is determined by the micro controlling unit according to the voltage value of the single-ended pulse train input signal. Therefore, the voltage value of the single-ended pulse train input signal will influence conduction or cutoff of the first triode, and the conduction or cutoff of the first triode will influence turn-on or turn-off of the second photoelectric coupler, thus further influencing formation of the current channel (s) . When the state of the second photoelectric coupler is different, the formed current channel will be different. In such manner, it can be convenient to achieve switching of the current channels.
DESCRIPTION OF THE DRAWINGS
In order to explain the technical solutions in the embodiments of the present invention or in the prior art more clearly, the figures necessary to be used for description in the embodiments or in the prior art will be briefly introduced as below. Apparently, the figures for the description below are for some embodiments in the present invention. Based on these figures, those skilled in the art can obtain other figures without any inventive work.
Figure 1 is a connection diagram of a motor driver, an upper machine controller and a micro controlling unit in an embodiment of the present invention.
Figure 2 is a circuit structure diagram of a motor driver in an embodiment of the present invention.
Figure 3 is a diagram showing a first current channel and a second current channel when the single-ended pulse train input signal is a first voltage and the type is the PNP control wiring type.
Figure 4 is a diagram showing a first current channel and a second current channel when the single-ended pulse train input signal is a first voltage and the type is the NPN control wiring type.
Figure 5 is a diagram showing a third current channel and a fourth current channel when the single-ended pulse train input signal is a second voltage and the type is the PNP control wiring type.
Figure 6 is a diagram showing a fifth current channel and a sixth current channel when the single-ended pulse train input signal is a second voltage and the type is the NPN control wiring type.
Reference numerals:
DESCRIPTION OF EXEMPLARY EMBODIMENTS
In order to make the objective (s) , technical solutions and advantages of embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely hereinafter in connection with the figures in the embodiments of the present invention. Apparently, the described embodiments are some embodiments in the present invention, rather than all embodiments. Any other embodiments obtained based on the embodiments in the present invention by those skilled in the art without any inventive work will fall within the protection scope of the present invention.
In an embodiment of the present invention, a motor driver is provided.
Referring to figure 1, the motor driver 100 is provided between an upper/master machine controller 300 and a micro controlling unit 200 wherein the micro controlling unit 200 is used for outputting different level signals according to single-ended pulse train input signals of different voltages; the motor driver 100 comprises a first channel module 10, a second channel module 20 and a switch module 30 connected between the first channel module 10 and the second channel module 20, wherein
the switch module 30 is used for enabling the first channel module 10 and second channel module 20 to form corresponding current channels, respectively, according to the level signal output by the micro controlling unit 200 wherein for different level signals, the first channel module 10 forms different current channels and the second channel module 20 forms different current channels; and
both the first channel module 10 and the second channel module 20 are used for sending pulse signals, through their corresponding current channels, to the micro controlling unit 200, with cooperation with the upper machine controller 300, such that the micro controlling unit 200 controls movement of the motor according to the pulse signal (s) .
Herein, the single-ended pulse train input signals of different voltages may be a single-ended pulse train input signal of 24V, or may be a single-ended pulse train input signal of 12V, or certainly may be a single-ended pulse train input signal of another voltage. The single-ended pulse train input signal refers to the single-ended PTI signal.
In practical circumstances, the motor driver is provided between the upper machine controller and the micro controlling unit, and each of the first channel module, the second channel module, and the switch module in the motor driver is in connection with the micro controlling unit. First, the micro controlling unit will output the corresponding level signal according to the voltage value of the single-ended pulse train input signal. For example, if the voltage value of the single-ended pulse train input signal is 24V, the micro controlling unit is used for outputting a low level. If the voltage value of the single-ended pulse train input signal is 12V, the micro controlling unit is used for outputting a high level. Further, after receiving the level signal output by the micro controlling unit, the switch module will, according to the level signal, enable the first channel module to form the corresponding current channel and enable the second channel module to form the corresponding current channel. Furthermore, with cooperation with the upper machine controller, the two channel modules send pulse signals to the micro controlling unit via the formed corresponding current channels. The micro controlling unit controls movement of the motor according to the two pulse signals sent by the two channel modules, thus driving the motor.
Certainly, the current channels formed by the first channel module and the second channel module may be related not only to the level signal of the micro controlling unit (i.e. being related to the voltage value of the single-ended pulse train input signal) , but also to the type of the upper machine controller. For example, for different level signals and different types of the upper machine controller, the current channels formed by the first channel module are different and the current channels formed by the second channel module are different.
As can be seen, in an embodiment of the present invention, when the single-ended pulse train input signal is of a different voltage value, the first channel module forms a different current channel and the second channel module forms a different current channel. When the application circumstance of the motor driver is changed and thus the voltage of the single-ended pulse train input signal is changed from one value to another value, then the current channels formed by the two channel modules will also change, i.e. switching between the current channels, such that the motor driver can use the single-ended pulse train input signals of different voltage values, that is, it can be compatible with the single-ended pulse train input signals of different voltage values.
In an embodiment, the two channel modules may be formed by various circuit structures and one of the structures is described as below: referring to figure 2, the first channel module and the second channel module are same in the internal circuit structure, the internal circuit structure comprises two bidirectional transient suppression diodes, a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1 and a first photoelectric coupler (photo-coupler/opto-coupler) U1 wherein
the two bidirectional transient suppression diodes are connected in series to form a series branch;
one end of the first resistor R1 is connected with a first end D1 of the series branch, and the other end the first resistor R1 is connected with a second end D2 of the series branch and one end of the second resistor R2; and
the third resistor R3 and the first capacitor C1 are connected in parallel to form a parallel branch; one end of the parallel branch is connected with the other end of the second resistor R2 and a second signal end S2 of the first photoelectric coupler U1; the other end of the parallel branch is connected with a middle node D0 and a first signal end S1 of the first photoelectric coupler U1; wherein the first signal end S1 and the second signal end S2 are an output end and an input end of the first photoelectric coupler U1 for each other; the middle node D0 is a connection node between the two bidirectional transient suppression diodes; the first photoelectric coupler U1 has a third signal end S3 for connection with the micro controlling unit, the first photoelectric coupler U1 is used for outputting the pulse signal to the micro controlling unit via the third signal end S3 when there is a current flowing between the first signal end S1 and the second signal end S2.
Herein, a surge protection device is formed by the two bidirectional transient suppression diodes and can provide surge protection to the circuit of the channel module (s) .
Herein, the third resistor in the parallel branch can have a function of filtering. The third resistor can have a function of branching to avoid damage to the first photoelectric coupler due to an excessive current.
Herein, both the first resistor and the second resistor have a function of current limiting in the circuit. However, as different current channels will be formed, different resistors will be used in different current channels for current limiting.
Herein, the first photoelectric coupler may use a photoelectric coupler of Model TLP2391. The photoelectric coupler of Model TLP2391 is integrated therein with two infrared LEDs and a high-gain and high-speed photodetector. The first photoelectric coupler has two infrared LEDs which are opposite in direction and connected in parallel, and also has a function of simultaneously detecting both the sourcing and the sinking current signals. When there is a current flowing through any one of the infrared LEDs, the photodetector will output a signal.
As the first photoelectric coupler is provided therein with two infrared LEDs which are opposite in direction and connected in parallel, the first signal end and the second signal end of the first photoelectric coupler are the input end and the output end for each other. That is, when a signal is input via the first signal end into the first photoelectric coupler and flows out from the second signal end, the first signal end is the input end and the second signal end is the output end. When a signal is input via the second signal end into the first photoelectric coupler and flows out from the first signal end, the second signal end is the input end and the first signal end is the output end. When there is a current flowing between the first signal end and the second signal end (that is, there is a current flowing through an infrared LED in the first photoelectric coupler) , the infrared LED emits an infrared ray such that the photodetector outputs a pulse signal. The pulse signal flows from the third signal end and is input into the micro controlling unit such that the micro controlling unit controls the motor according to the pulse signal.
In an embodiment, the switch module may be formed in various structural forms wherein one of the structures is provided as follows.
Referring to figure 2, the switch module 30 comprises a first triode K1, a second photoelectric coupler U2, a second capacitor C2, a fourth resistor R4 and a fifth resistor R5 wherein
a first input end of the second photoelectric coupler U2 is connected with a preset voltage source VCC, a first output end of the second photoelectric coupler U2 is connected with a collecting electrode of the first triode K1; a second input end of the second photoelectric coupler U2 is connected with the second end D2 of the series branch in the first channel module 10, and a second output end of the second photoelectric coupler U2 is connected with the second end D2 of the series branch in the second channel module 20; and
an emitting electrode of the first triode K1 is grounded, a base electrode of the first triode K1 is connected via the fourth resistor R4 with the micro controlling unit, to receive the level signal sent by the micro controlling unit; the second capacitor C2 and the fifth resistor R5 are connected in parallel between a base electrode and the emitting electrode of the first triode K1. In figure 2, the switch module receives the level signal sent from the micro controlling unit via a terminal S0.
That is, the micro controlling unit is connected with the fourth resistor, and the level signal output from the micro controlling unit is input via the fourth resistor into the base electrode of the first triode. If the first triode is of the NPN type and the output level signal is a high level, the first triode is conductive and thus the voltage at the collecting electrode of the first triode is pulled down such that the second photoelectric coupler is turned on. If the output level signal is a low level, the first triode is cut off and the second photoelectric coupler can not be turned on. When the second photoelectric coupler is in the turn-on state, each of the two channel modules can form one current channel. When the second photoelectric coupler is not in the turn-on state, each of the two channel modules can form another current channel. Thus, the switch module is used for switching between the current channels of the channel modules.
In an embodiment, it is necessary for the motor driver to connect with the upper machine controller or receive the single-ended pulse train input signal. Therefore, it is necessary for the motor driver to have a plurality of terminals for external connection. Specifically, referring to figure 2, the first channel module provides a first terminal A1, a second terminal A2 and a third terminal A3 for external connection, the first terminal A1 is connected with the second end D2 of the series branch in the first channel module 10, the second terminal A2 is connected with the middle node D0 in the first channel module 10, the third terminal A3 is connected with the first end D1 of the series branch in the first channel module 10; the second channel module provides a fourth terminal A4 and a fifth terminal A5 for external connection, the fourth terminal A4 is connected with the middle node D0 in the second channel module 20, the fifth terminal A5 is connected with the first end D1 of the series branch in the second channel module 20;wherein by at least two terminals of the three terminals of the first channel module 10 and at least one terminal of the two terminals of the second channel module 20, the motor driver is connected with the upper machine controllers of different types.
As can be seen, the first channel module provides three terminals for external connection, and the second channel module provides two terminals for external connection. Compared with the second channel module, the first channel module has one more terminal. Herein, the second terminal and the fourth terminal are connected with the middle nodes in the series branches in the corresponding channel modules, and the third terminal and the fifth terminal are connected with the first ends of the series branches in the corresponding channel modules. As can be seen, compared with the second channel module, the first channel module additionally provides a first terminal connected with the second end of the series branch in the first channel module.
In practical circumstances, if the single-ended pulse train input signal has a different voltage value and/or the upper machine controller is of a different type, the motor driver will use different terminals for connection with the upper machine controller and access of the single-ended pulse train input signal. These terminals can meet the need for the single-ended pulse train input signals of different voltage values, and also can meet the need of the upper machine controllers of different types.
Further, the types comprise a PNP control wiring type and a NPN control wiring type, the upper machine controller of the PNP control wiring type is provided therein with a second triode as a PNP triode, and the upper machine controller of the NPN control wiring type is provided therein with a second triode as an NPN triode; the upper machine controller comprises a first signal input end, a first signal output end, a second signal input end and a second signal output end; the first signal input end and the first signal output end are connected via one of the second triodes, and the second signal input end and the second signal output end are connected via the other of the second triodes.
That is, the upper machine controller of the PNP control wiring type means that the second triode in the upper machine controller is of the PNP type. The upper machine controller of the NPN control wiring type means that the second triode in the upper machine controller is of the NPN type. The upper machine controller is provided therein with two second triodes: one second triode provided between the first signal input end and the first signal output end of the upper machine controller, and the other second triode provided between the second signal input end and the second signal output end of the upper machine controller.
For example, when the two second triodes are of the PNP type, the emitting electrode of one of the second triodes is connected with the first signal input end, and the collecting electrode thereof is connected with the first signal output end. The emitting electrode of the other of the second triodes is connected with the second signal input end, and the collecting electrode thereof is connected with the second signal output end. For example, when the two second triodes are of the NPN type, the collecting electrode of one of the second triodes is connected with the first signal input end, and the emitting electrode thereof is connected with the first signal output end. The collecting electrode of the other of the second triodes is connected with the second signal input end, and the emitting electrode thereof is connected with the second signal output end.
Hereinafter, the technical solutions are explained in four cases:
(1) Referring to figure 3, when the single-ended pulse train input signal E1 is a first voltage and the type is the PNP control wiring type, the access manner of the single-ended pulse train input signal E1 and the connection manner of the upper machine controller 300 and motor driver 100 are provided as follows: the single-ended pulse train input signal E1 is connected to the first signal input end In1 and the second signal input end In2 of the upper machine controller 300, the second terminal A2 is connected with the first signal output end Out1 of the upper machine controller 300, the fourth terminal A4 is connected with the second signal output end Out2 of the upper machine controller 300, the third terminal A3 and the fifth terminal A5 are grounded; wherein the upper machine controller 300 is used for sending the single-ended pulse train input signal E1 received from the first signal input end In1 to the second terminal A2 through the first signal output end Out1, and sending the single-ended pulse train input signal E1 received from the second signal input end In2 to the fourth terminal A4 through the second signal output end Out2; and accordingly, the micro controlling unit is used for generating a first level according to the single-ended pulse train input signal E1 as the first voltage, the first level is used to enable cutoff of the second photoelectric coupler U2 and the first triode K1 in the switch module such that the first channel module 10 forms a first current channel and the second channel module 20 forms a second current channel.
For example, when the first voltage is 24V and the upper machine controller 300 is of the PNP control wiring type, the single-ended pulse train input signal E1 of 24V is input into the first signal input end In1 and the second signal input end In2 of the upper machine controller 300. The signal input from the first signal input end In1 passes through one of the second triodes and then flows out from the first signal output end Out1, and the signal input from the second signal input end In2 passes through the other of the second triodes and then flows out from the second signal output end Out2. The signal flowing out from the first signal output end Out1 flows via the second terminal A2 into the first channel module 10, passes through the first current channel in the first channel module 10, and then flows out from the third terminal A3 and in turn into the ground end M. The signal flowing out from the second signal output end Out2 flows via the fourth terminal A4 into the second channel module 20, passes through the second current channel in the second channel module 20, and then flows out from the fifth terminal A5 and in turn into the ground end M.
(2) Referring to figure 4, when the single-ended pulse train input signal E1 is a first voltage and the type is the NPN control wiring type, the single-ended pulse train input signal E1 is connected to the second terminal A2 and the fourth terminal A4, the third terminal A3 is connected with the first signal input end In1 of the upper machine controller 300, the fifth terminal A5 is connected with the second signal input end In2 of the upper machine controller 300, the first signal output end Out1 and the second signal output end Out2 of the upper machine controller 300 are grounded; and accordingly, the micro controlling unit is used for generating a first level according to the single-ended pulse train input signal E1 as the first voltage, the first level is used to enable cutoff of the second photoelectric coupler U2 and the first triode K1 in the switch module such that the first channel module 10 forms a first current channel and the second channel module 20 forms a second current channel.
When the first voltage is 24V and the upper machine controller 300 is of the NPN control wiring type, the single-ended pulse train input signal E1 of 24V is input into the second terminal A2 of the first channel module 10 and the fourth terminal A4 of the second channel module 20. The signal input from the second terminal A2 passes through the first current channel of the first channel module 10 and then flows out from the third terminal A3, in turn flows from the first signal input end In1 into upper machine controller 300, passes through one of the second triodes, and then flows out from the first signal output end Out1 and in turn to the ground end M. The signal input from the fourth terminal A4 into the second channel module 20 passes through the second current channel of the second channel module 20, then flows out from the fifth terminal A5, in turn flows from the second signal input end In2 into the upper machine controller 300, passes through the other of the second triodes, and then flows out from the second signal output end Out2 and in turn to the ground end M.
(3) Referring to figure 5, when the single-ended pulse train input signal E1 is a second voltage and the type is the PNP control wiring type, the single-ended pulse train input signal E1 is connected to the first signal input end In1 and the second signal input end In2 of the upper machine controller 300, the first terminal A1 is grounded, the second terminal A2 is connected with the first signal output end Out1 of the upper machine controller 300, the fourth terminal A4 is connected with the second signal output end Out2 of the upper machine controller 300; and accordingly, the micro controlling unit is used for generating a second level according to the single-ended pulse train input signal E1 as the second voltage, the second level is used to enable conduction of the second photoelectric coupler U2 and the first triode K1 in the switch module such that the first channel module10 forms a third current channel, and the second channel module 20 and the switch module form a fourth current channel.
When the first voltage of 12V and the upper machine controller 300 is of the PNP control wiring type, the single-ended pulse train input signal E1 of 12V flows from the first signal input end In1 into the upper machine controller 300, and flows from the first signal output end Out1 out of the upper machine controller 300, then flows from the second terminal A2 into the first channel module 10, passes through the third current channel of the first channel module 10, then flows out from the first terminal A1 and in turn to the ground end M. The single-ended pulse train input signal E1 of 12V also flows from the second signal input end In2 into the upper machine controller 300, flows from the second signal output end Out2 out of the upper machine controller 300, in turn flows from the fourth terminal A4 into the second channel module 20, passes through the fourth current channel, and then flows out from the first terminal A1 and in turn to the ground end M.
As can be seen, the first terminal A1 is used as a common negative electrode in this case.
(4) Referring to figure 6, when the single-ended pulse train input signal E1 is a second voltage and the type is the NPN control wiring type, the single-ended pulse train input signal E1 is connected to the first terminal A1, the second terminal A2 is connected with the first signal input end In1 of the upper machine controller 300, the fourth terminal A4 is connected with the second signal input end In2 of the upper machine controller 300, the first signal output end Out1 and the second signal output end Out2 of the upper machine controller 300 are grounded; and accordingly, the micro controlling unit is used for generating a second level according to the single-ended pulse train input signal E1 as the second voltage, the second level is used to enable conduction of the second photoelectric coupler U2 and the first triode K1 in the switch module such that the first channel module 10 forms a fifth current channel, and the second channel module 20 and the switch module form a sixth current channel.
When the first voltage is 12V and the upper machine controller 300 is of the NPN control wiring type, the single-ended pulse train input signal E1 of 12V is input from the first terminal A1 and in turn into the first channel module 10, passes through the fifth current channel of the first channel module 10, then flows out from the second terminal A2, then flows from the first signal input end In1 into the upper machine controller 300, in turn flows out from the first signal output end Out1 of the upper machine controller 300, and finally flows into the ground end M. The single-ended pulse train input signal E1 input from the first terminal A1 also flows into the second channel module 20, passes through the sixth current channel, then flows out from the fourth terminal A4, then flows from the second signal input end In2 into the upper machine controller 300, and in turn flows out from the second signal output end Out2, and finally flows into the ground end M.
As can be seen, the first terminal A1 is used as a common positive electrode in this case.
In the above cases of (1) and (2) , referring to figures 3 and 4, in the first current channel, a current may flow from the second terminal A2, through the first signal end S1 of the first photoelectric coupler in the first channel module 10, through the second signal end S2 of the first photoelectric coupler in the first channel module 10, through the second resistor in the first channel module 10 and the first resistor in the first channel module 10, and flow out of the third terminal A3; and in the second current channel, a current may flow from the fourth terminal A4, through the first signal end S1 of the first photoelectric coupler in the second channel module 20, through the second signal end S2 of the first photoelectric coupler in the second channel module 20, through the second resistor in the second channel module 20 and the first resistor in the second channel module 20, and flow out of the fifth terminal A5.
In the above case of (3) , referring to figure 5, in the third current channel, a current may flow from the second terminal A2, through the first signal end S1 of the first photoelectric coupler in the first channel module 10, through the second signal end S2 of the first photoelectric coupler in the first channel module 10 and the second resistor in the first channel module 10, and flow out of the first terminal A1; and in the fourth current channel, a current may flow from the fourth terminal A4, through the first signal end S1 of the first photoelectric coupler in the second channel module 20, through the second signal end S2 of the first photoelectric coupler in the second channel module 20, through the second resistor in the second channel module 20, through the second end of the series branch in the second channel module 20, through the second output end of the second photoelectric coupler U2 in the switch module and the second input end of the second photoelectric coupler U2 in the switch module, and flow out of the first terminal A1.
In the above case of (4) , referring to figure 6, in the fifth current channel, a current may flow from the first terminal A1, through the second resistor in the first channel module 10, through the second signal end S2 of the first photoelectric coupler in the first channel module 10 and the first input end of the first photoelectric coupler in the first channel module 10, and flow out of the second terminal A2; and in the sixth current channel, a current may flow from the first terminal A1, through the second input end of the second photoelectric coupler U2 in the switch module, through the second output end of the second photoelectric coupler U2 in the switch module, through the second resistor in the second channel module 20, through the second signal end S2 of the first photoelectric coupler in the second channel module 20 and the first signal end S1 of the first photoelectric coupler in the second channel module 20, and flow out of the fourth terminal A4.
In figures 3～6, I refers to the current in the circuit, and the arrow at the letter I refers to the direction of the current.
In the prior art, it is necessary sometimes to use six or even more terminals to achieve access of the single-ended pulse train input signals of different voltages and connection with the upper machine controllers of different types. Moreover, it is necessary for the user to connect an external matched resistor. In order to connect the external matched resistor, however, it is generally necessary to perform a wire breaking operation which may cause other problems. Furthermore, it is not convenient in use to connect the external matched resistor. In contrast, in the motor drivers as provided in the embodiments of the present invention, five terminals are provided for external connection, to achieve access of the single-ended pulse train input signals of different voltages and connection with the upper machine controllers of different types, without an external matched resistor. Further, the motor driver supports different types of the upper machine controllers, thus reducing problems due to the matched resistor and also reducing the number of the terminals. With more and more functions being integrated in the motor driver and the dimension of the driver becoming smaller and smaller, there is a higher requirement for the arrangement density of the terminals, and usually it is impossible to provide more pins. However, in the embodiments of the present invention, the number of the terminals is reduced, thus saving the pin usage of the motor driver. In addition, in such manner, it is not necessary for the user to prepare an external resistor, thus not only improving the use friendliness for the user, but also preventing damage to the complete PTI cable/wire. The motor drivers as provided in the embodiments of the present invention support the single-ended pulse train input signals of the first voltage and the second voltage, and thus are applicable to most industrial application circumstances. Furthermore, the motor drivers support two types of the upper machine controllers, and thus provide configuration flexibility for the user.
The embodiments in the present description are described in a gradually progressive manner. The same or similar portions between different embodiments can be referred to each other. Each embodiment emphasizes in explaining the difference (s) with respect to other embodiment (s) . In particular, as the apparatus/device embodiments are substantially similar to the method embodiments, the description thereof is relatively simple, and the description of the method embodiments may be referred to for the related portions.
With the above-described specific embodiments, the purposes, technical solutions and beneficial effects of the present invention are further explained in detail. It should be understood that the above description is only for specific embodiments in the present invention, not for defining the protection scope of the present invention. Any variation, equivalent substitution or improvement made based on the technical solutions of the present invention will fall within the protection scope of the present invention.

Claims

A motor driver, characterized in that it is provided between an upper machine controller and a micro controlling unit wherein the micro controlling unit is used for outputting different level signals according to single-ended pulse train input signals of different voltages; and the motor driver comprises a first channel module, a second channel module, and a switch module connected between the first and second channel modules, wherein

the switch module is used for enabling the first and second channel modules to form corresponding current channels, respectively, according to the level signal output by the micro controlling unit, wherein for different level signals, the first channel module forms different current channels and the second channel module forms different current channels; and

both the first and second channel modules are used for sending pulse signals, through their corresponding current channels, to the micro controlling unit, with cooperation with the upper machine controller, such that the micro controlling unit controls movement of the motor according to the pulse signals.
The motor driver according to claim 1, characterized in that the first channel module and the second channel module are same in the internal circuit structure, the internal circuit structure comprises two bidirectional transient suppression diodes, a first resistor, a second resistor, a third resistor, a first capacitor and a first photoelectric coupler wherein

the two bidirectional transient suppression diodes are connected in series to form a series branch;

one end of the first resistor is connected with a first end of the series branch, and the other end the first resistor is connected with a second end of the series branch and one end of the second resistor; and

the third resistor and the first capacitor are connected in parallel to form a parallel branch; one end of the parallel branch is connected with the other end of the second resistor and a second signal end of the first photoelectric coupler; the other end of the parallel branch is connected with a middle node and a first signal end of the first photoelectric coupler; wherein the first signal end and the second signal end are an output end and an input end of the first photoelectric coupler for each other; the middle node is a connection node between the two bidirectional transient suppression diodes; the first photoelectric coupler has a third signal end for connection with the micro controlling unit, the first photoelectric coupler is used for outputting the pulse signal to the micro controlling unit via the third signal end when there is a current flowing between the first signal end and the second signal end.
The motor driver according to claim 2, characterized in that the switch module comprises a first triode, a second photoelectric coupler, a second capacitor, a fourth resistor and a fifth resistor wherein

a first input end of the second photoelectric coupler is connected with a preset voltage source, a first output end of the second photoelectric coupler is connected with a collecting electrode of the first triode; a second input end of the second photoelectric coupler is connected with the second end of the series branch in the first channel module, and a second output end of the second photoelectric coupler is connected with the second end of the series branch in the second channel module; and

an emitting electrode of the first triode is grounded, a base electrode of the first triode is connected via the fourth resistor with the micro controlling unit, to receive the level signal sent by the micro controlling unit; the second capacitor and the fifth resistor are connected in parallel between a base electrode and the emitting electrode of the first triode.
The motor driver according to claim 3, characterized in that the first channel module provides a first terminal, a second terminal and a third terminal for external connection, the first terminal is connected with the second end of the series branch in the first channel module, the second terminal is connected with the middle node in the first channel module, the third terminal is connected with the first end of the series branch in the first channel module; the second channel module provides a fourth terminal and a fifth terminal for external connection, the fourth terminal is connected with the middle node in the second channel module, the fifth terminal is connected with the first end of the series branch in the second channel module;

wherein by at least two terminals of the three terminals of the first channel module and at least one terminal of the two terminals of the second channel module, the motor driver is connected with the upper machine controllers of different types.
The motor driver according to claim 4, characterized in that the types comprise a PNP control wiring type and a NPN control wiring type, the upper machine controller of the PNP control wiring type is provided therein with a second triode as a PNP triode, and the upper machine controller of the NPN control wiring type is provided therein with a second triode as an NPN triode; the upper machine controller comprises a first signal input end, a first signal output end, a second signal input end and a second signal output end; the first signal input end and the first signal output end are connected via one of the second triodes, and the second signal input end and the second signal output end are connected via the other of the second triodes.
The motor driver according to claim 5, characterized in that when the single-ended pulse train input signal is a first voltage and the type is the PNP control wiring type, the single-ended pulse train input signal is connected to the first signal input end and the second signal input end of the upper machine controller, the second terminal is connected with the first signal output end of the upper machine controller, the fourth terminal is connected with the second signal output end of the upper machine controller, the third terminal and the fifth terminal are grounded; wherein the upper machine controller is used for sending the single-ended pulse train input signal received from the first signal input end to the second terminal through the first signal output end, and sending the single-ended pulse train input signal received from the second signal input end to the fourth terminal through the second signal output end; and accordingly, the micro controlling unit is used for generating a first level according to the single-ended pulse train input signal as the first voltage, the first level is used to enable cutoff of the second photoelectric coupler and the first triode in the switch module such that the first channel module forms a first current channel and the second channel module forms a second current channel.
The motor driver according to claim 5, characterized in that when the single-ended pulse train input signal is a first voltage and the type is the NPN control wiring type, the single-ended pulse train input signal is connected to the second terminal and the fourth terminal, the third terminal is connected with the first signal input end of the upper machine controller, the fifth terminal is connected with the second signal input end of the upper machine controller, the first signal output end and the second signal output end of the upper machine controller are grounded; and accordingly, the micro controlling unit is used for generating a first level according to the single-ended pulse train input signal as the first voltage, the first level is used to enable cutoff of the second photoelectric coupler and the first triode in the switch module such that the first channel module forms a first current channel and the second channel module forms a second current channel.
The motor driver according to claim 5, characterized in that when the single-ended pulse train input signal is a second voltage and the type is the PNP control wiring type, the single-ended pulse train input signal is connected to the first signal input end and the second signal input end of the upper machine controller, the first terminal is grounded, the second terminal is connected with the first signal output end of the upper machine controller, the fourth terminal is connected with the second signal output end of the upper machine controller; and accordingly, the micro controlling unit is used for generating a second level according to the single-ended pulse train input signal as the second voltage, the second level is used to enable conduction of the second photoelectric coupler and the first triode in the switch module such that the first channel module forms a third current channel, and the second channel module and the switch module form a fourth current channel.
The motor driver according to claim 5, characterized in that when the single-ended pulse train input signal is a second voltage and the type is the NPN control wiring type, the single-ended pulse train input signal is connected to the first terminal, the second terminal is connected with the first signal input end of the upper machine controller, the fourth terminal is connected with the second signal input end of the upper machine controller, the first signal output end and the second signal output end of the upper machine controller are grounded; and accordingly, the micro controlling unit is used for generating a second level according to the single-ended pulse train input signal as the second voltage, the second level is used to enable conduction of the second photoelectric coupler and the first triode in the switch module such that the first channel module forms a fifth current channel, and the second channel module and the switch module form a sixth current channel.
The motor driver according to claim 6 or 7, characterized in that

in the first current channel, a current flows from the second terminal, through the first signal end of the first photoelectric coupler in the first channel module, through the second signal end of the first photoelectric coupler in the first channel module, through the second resistor in the first channel module and the first resistor in the first channel module, and flows out of the third terminal; and

in the second current channel, a current flows from the fourth terminal, through the first signal end of the first photoelectric coupler in the second channel module, through the second signal end of the first photoelectric coupler in the second channel module, through the second resistor in the second channel module and the first resistor in the second channel module, and flows out of the fifth terminal.
The motor driver according to claim 8, characterized in that

in the third current channel, a current flows from the second terminal, through the first signal end of the first photoelectric coupler in the first channel module, through the second signal end of the first photoelectric coupler in the first channel module and the second resistor in the first channel module, and flows out of the first terminal; and

in the fourth current channel, a current flows from the fourth terminal, through the first signal end of the first photoelectric coupler in the second channel module, through the second signal end of the first photoelectric coupler in the second channel module, through the second resistor in the second channel module, through the second end of the series branch in the second channel module, through the second output end of the second photoelectric coupler in the switch module and the second input end of the second photoelectric coupler in the switch module, and flows out of the first terminal.
The motor driver according to claim 9, characterized in that

in the fifth current channel, a current flows from the first terminal, through the second resistor in the first channel module, through the second signal end of the first photoelectric coupler in the first channel module and the first input end of the first photoelectric coupler in the first channel module, and flows out of the second terminal; and

in the sixth current channel, a current flows from the first terminal, through the second input end of the second photoelectric coupler in the switch module, through the second output end of the second photoelectric coupler in the switch module, through the second resistor in the second channel module, through the second signal end of the first photoelectric coupler in the second channel module and the first signal end of the first photoelectric coupler in the second channel module, and flows out of the fourth terminal.