SU1320794A1 - Multichannel device for programmed control of stepping motors - Google Patents

Abstract

The invention relates to automatic control devices and can be used in computer numerical control devices with executive stepper motors. The purpose of the invention is to increase the speed and expand the functionality of the multichannel software control device step s. Mresknye tires Data buses Tires (/ by and cSpoca CO Fi9.G

Description

mi engines. The device contains a program setting block 1 and, according to the number of controlled stepper motors, control channels 8, each of which consists of a decoder 9, a counter 10, setters 11, 15 of the movement code, comparators 12, 16, trigger 13 of the acceleration feature, element OR 14, block 17 of the frequency measurement, the trigger trigger 18, the trigger 19 of the direction of movement, the elements And 20, 21, the device allows you to control

one

This invention relates to automatic control and is intended for use in numerical control devices with executive stepper motors,

The purpose of the invention is to increase the speed and functionality of the device,

Fig. 1 is a functional block diagram of a multichannel device for software control of stepper motors; Fig. 2 is a functional block diagram of the frequency change; Fig. 3 shows the physical characteristic of self-acceleration of a stepper motor and acceleration curves with different laws.

The multichannel software device for controlling the motor steps contains a software task block (computer) 1 consisting of a clock generator 2, a computer system controller 3, a central processor 4, a memory device 5, an input / output device 6, and a controller. digging, control channels 8, consisting of a decoder 9, a counter 10, a movement code setting device 11, a comparator 12, an acceleration sign trigger 13, an OR 14 element, a movement code setting device 15, a comparator 16, a frequency changing block 17, a trigger 18, a trigger nineteen the directions of movement, elements 20 and 21, the tires 22, 23, 24, 25, 27 are respectively the first, second, third, fourth and fifth inputs of the block 17 measuring one block of the task program, which can be used as one control computer, several stepper motors, forming any, symmetrical and asymmetrical laws of acceleration and deceleration for each stepper motor. The necessary laws are formed by programmatically changing the control frequencies in block 17 of the frequency change for both the acceleration mode and the deceleration mode, 1 s, n, f, 3 sludge.

frequency, and the bus 26 - its output.

The frequency change block consists of an AND 40 element, a trigger 28 for a brake indication, an OR 29 element, an address counter 30, an AND ZG element, an OR 32 element, a delay element 33, a memory element 34, a number register 35, frequency dividers 36 and 37, a generator 38 pulses, element And 39,

Unit 15 sets the code, the value of which determines the total number of pulses of the unitary code needed to implement the law of braking, e determines the time of the start of braking, and unit 11 defines the code corresponding to the segment value, which requires acceleration mode braking

As a memory element 34, a permanent memory can be used, the cells of which contain sequences of numbers characterizing, for example, the parabolic law of frequency variation. One sequence recorded from the zero address sets the acceleration law, the friend starts at address 1000 ,,, 0001 (where the highest bit is determined by the trigger 28 of the deceleration feature, and the others by the address counter 30) is the law of the deceleration. At the same time, one number carries information in the form of division codes of dividers 36 and 37 about the output frequency of unitary codes at a given time (for example, lower-order bits) and about the quantization period (higher-order bits) - i.e. the time interval through which you want to change the output frequency. Therefore, follow- The accurate reading of numbers from the memory makes it possible to form the necessary law of frequency variation with time.

The device works in the following way.

Programs for testing movements for all channels are entered into memory 5 through input / output devices 6.

At the beginning of operation, block 1 of the program task via the reset bus via the OR element 14 sets the triggers 13, 18, 19, 28 and the counter 30 (via the OR element 29) to the zero state. At the same time, this signal through the OR element 32 and the delay element 33 reads from the memory the number written at the zero address, i.e. in register 35, the division codes are set, corresponding to the movement with the minimum frequency (pickup frequency). Then block 1 of the multi-task program for the data buses enters into the counter 10 and the comparator 12 a movement code for the next segment. This code is accompanied by an address code that, via address buses, goes to the address inputs of the decoder 9. The last one generates a pulse signal, by which the movement code is entered into counter 10, and in the comparator 12 it is compared with the specified movement code, in which overclocking must be enabled. ,

If the length of the segment is greater than the code specified by the setting device 11, then a signal is generated at the output of the comparator 12 and the trigger of the acceleration feature is set to one state. If necessary, the software task unit 1 through the decoder 9 sets the direction trigger 19 to the desired state. Its initial state is determined by the dump tire.

After that, the program setting unit 1 through the decoder 9 performs the start by setting the start trigger 18 to one, after which the channel starts to work.

The permissive signal from the output of the trigger 18 on bus 25 is fed to the input of the fourth element AND 39 of the block .17 of the frequency change. In this case, the passage of pulses to the output of the control channel and to the counter 10 is permitted.

Signal with. inverse trigger trigger 18 removes zeroing from dividers 36 and 37. From the register of 35, the inputs to dividers 36 and 37 often receive codes corresponding to the memory address from the sequence of overclocking addresses (at the initial time, the dividers receive the codes at zero address of the counter 30) . Depending on the codes received from the number register, from the outputs of dividers 36 and 37, the frequencies and pulses arrive at different time intervals, i.e. the frequency depends on the register code 35.

The second frequency divider 37 determines the frequency at which the pulses through the fifth element AND 39 arrive at the input of the movement counter 10 and through the element 20 or 21 to the input of the stepper drive in the form of a unitary code. Frequency divider 36 determines the time intervals at which the frequency of the unitary code needs to be changed, i.e. during acceleration, form the necessary law of increasing frequency over time.

Fig. 3 shows the different laws for varying the frequency of acceleration and deceleration of stepper motors.

The signal from frequency divider 36 through AND element S1, which is allowed to enter other inputs, does not signal from trigger 18 on bus 25 and acceleration 13 on bus 22, changes the status of address counter 30 (its contents increase). By the same signal, through the OR element 32 and the delay element 33, the memory elements 34 are accessed. From the output of the memory elements, the number enters the register of the 35th number. The number from this register changes the frequency at the outputs of dividers 36 and 37 frequencies in accordance with the prescribed acceleration law for stepper motors. When the frequency from the output of divider 37 reaches the maximum allowable value max K nz, the input of divider 36 is supplied with a number code, which sets the period of the wake of the lean pulse through the AND 31 element to the address counter 30 more than the time spent working on the segment itself, i. no further change in the frequency of the unitary code occurs.

Counter 10 operates in the unitary code subtraction mode. When the counter 10 reaches the code equal to the deceleration code set by the dispatcher 15, the comparator 16 is triggered. From its output, the signal on the bus 23 through AND 40 sets the trigger 28 of the deceleration sign to one state. Through the element OR 29, the counter 30 of the address is reset and the memory element 34 is polled.

Since the trigger 28 of the brake sign is involved in the formation of the address of the numbers of the memory element 34 along with the address counter 30, the numbers come from the outputs of the memory element 34

one computer with the implementation of the necessary laws of change in the frequency of acceleration and deceleration in each control channel. The device easily adapts 5 to any stepping motor, since it has two controllers of the movement code, which allow to set acceleration and deceleration codes in a convenient form for the operator.

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formula of invention

1. Multichannel software device for controlling stepper motors - corresponding to the braking program, 15 bodies, containing a program block, i.e. the numbers at the input of dividers 36 and the task and the number of controlled steps 37 change the frequency of the unitary code at the output of divider 37 according to a given, for example, parabolic deceleration law. Moreover, braking can be achieved using the second element AND, the element OR, can be more forcefully applied, as the group of information outputs is allowed by the stepper motors.

As soon as counter 10 is nullified, a signal is generated from its output, which, through the element OR 14, produces -5 what, in order to increase the speed of zeroing all the triggers 13, 18, 19, and to expand the functional possibilities of the . The elements 29, 32, 33 call the memory element 34 for the number

by zero address. From inverse displacement code 30, trigger sign of trigger trigger 18 on the acceleration controller, frequency change block, 7 interrupts, a signal is received informing that the displacement channel has completed the specified displacement and it is necessary to enter the code of the next displacement of the first comparator and the slider input. The same signal is used to nullify the gate's strobe, the output of the suppressors 36 and 37, which prohibits their further operation.

remote control channels, each of which contains a counter, the first and second comparators, the first

the counter is connected to the first group of information inputs of the second comparator, characterized in that.

device capabilities, a descrambler, first and second control devices are additionally introduced into each control channel

trigger trigger and direction trigger trigger, the first output of the decoder is connected to the gate input of which is connected to the second input of the OR element, the output of which is connected to the trigger reset inputs If the newly received code is less than the Q sign of acceleration, the trigger trigger and the code specified by the second setpoint trigger trigger and with the third

11 of the movement code, the signal from the comparator 12 is missing and the trigger 13 of the acceleration feature is not established, this prohibits the triggering of the trigger 28 via the bus 23 through elements 40 and 31. Since the register 35 records the number corresponding to the zero memory address. Then, after setting the frequency changer, the output of which is connected to the counter input of the meter and to the first inputs of the first and second elements, the second inputs of which are connected respectively to the direct and inverse, outputs of the direction trigger, the installation input of which connected to the third wiring in the single state of flip-flop Q by a decoder running, connected to the 18-start, opening element AND 39, the unitary code of the fixed frequency, the equal frequency of the pickup, comes from the output of this element. An analog output to the setup input of the trigger trigger, the direct and inverse outputs of which are connected to the fourth and fifth inputs respectively.

individually, independently of each other, ra-. frequency changer, first input

bots and other channels.

Thus, the proposed device allows an increase in the number of engine-controlled steps from

which is connected to the direct output of the trigger of the acceleration feature, connected by a setup input to the output of the first comparator, the first group

one computer with the implementation of the necessary laws of change in the frequency of acceleration and deceleration in each control channel. The device is easily adaptable to any stepping motor, since it has two controllers for the movement code, which allow setting the acceleration and deceleration codes in a convenient form for the operator.

formula of invention

1. A multichannel device for programmed control of stepper motors, containing a block of a program task and, according to the number of controllable steps, the second AND element, the OR element, and the group of information outputs

remote control channels, each of which contains a counter, the first and second comparators, the first

Claims (2)

1. A multichannel device for programmed control of stepper motors, containing a block of a program task and, according to the number of controllable steps, the second AND element, the OR element, and the group of information outputs that, in order to increase speed and enhance functional capabilities the counter is connected to the first group of information inputs of the second comparator, characterized in that. that, in order to increase speed and enhance functional capabilities device capabilities, a descrambler, first and second control devices are additionally introduced into each control channel the movement code, the trigger of the acceleration feature, the frequency change block, the first comparator and the meter strobe input, the output is reset. a trigger for triggering and a trigger for driving direction, the first output of the decoder is connected to the gating input on the input of the frequency changing unit, the output of which is connected to the counting input of the meter and to the first inputs of the first and second elements AND, the second inputs of which are connected respectively to the forward and inverse, the outputs of the direction trigger, the setup input of which is connected to the third output of the decoder connected to the second an output to the start trigger input, the direct and inverse outputs of which are connected respectively to the fourth and fifth inputs which is connected to the direct output of the trigger of the acceleration feature, connected by a setup input to the output of the first comparator, the first group 7 informational inputs of which are connected to informational outputs of the first setting unit of the movement code, informational outputs of the second setting unit of the movement code are connected to the second group of informational inputs of the second comparator, the output of which is connected to the second input of the frequency changing unit, the group of informational outputs of the program setting block is connected to the second groups of informational inputs of the first comparators of each control channel and to groups of installation inputs of counters of each control channel, the adress group The program output unit is connected to the address inputs of the decoders of each control channel, the program assignment reset output is connected to the decoder inputs of each control channel and to the first inputs of the OR control elements, the interrupt input of the program setting unit is connected to the five inputs of the change unit the frequencies of each control channel, the outputs of the control channels are the outputs of their first and second elements I. 2. The device according to claim 1, characterized in that the frequency changing unit comprises an address counter, a memory element, a number register, a first and second frequency divider, first, second and third And elements, a first and second OR elements, a delay element and a trigger. sign of inhibition, with the first inputs of the first 2 23 20794 .8 and the second And elements are combined and are the first input of the frequency change block, the reset input of the deceleration trigger trigger is connected to the first 5 input of the first OR element and is the third input of the frequency changing unit, the output of the first element OR is connected to the zeroing input of the address counter and the first input of the second 10 of the OR element, the second input of which is connected to the counting input of the address counter and the output of the second element AND, the second input of which is a quarter input of the frequency changer and connected to the first input of the third element AND, the output of the second OR element is connected to the read input of the memory element whose address inputs are connected to 20 by the trigger output of the braking flag and with the information outputs of the address counter, and the information outputs of the memory element are connected to the register input of the number, first and second groups 2-5 information outputs of which are connected to the installation inputs of the first and second frequency dividers, respectively, the information inputs of which are connected to the generator output 30 pulses, and the zeroing inputs of the first and second dividers are combined and are the fifth input of the frequency changing unit, the output of the first frequency divider is connected to the third input of the second And element, and the output of the second frequency divider is To the second input of the fifth element And, the output which is the output of the frequency change block.    Qtf 0,5 About IS 0,7 0, S Ifl G, G // Fi.d 1-fiical har ujazodow Z nopo6onuifecKU {j law of acceleration -linear law of acceleration dofnoHc g London {-linear law of WHadofHaKC-isjSKru tc Compiled by E.Vlasov Editor I.Kasarda Tehred M.Morgental Proofreader L.Pilipenko Order 2658/51 Circulation 863. Subscription VNIIPI USSR State Committee for inventions and discoveries 113035, Moscow, .ZH-35, Raushsk nab. 4/5 Production and printing company, Uzhgorod, Projecto st., 4