SU1481715A1 - Multichannel unit for controlling stepping motors - Google Patents

Abstract

The invention relates to the field of automation and can be used in automated control systems based on digital computers for flexible programmatic control of the operation of stepper motors of a stepper motor. The purpose of the invention is to expand the scope and increase productivity. The device contains a control interface 1 with programmable blocks 2 input-output parallel information and the first programmable timers 3 in each control channel, receive register 5, memory block 6, program control block 7, programmable timer 8, stepper motor winding control blocks 9, system bus 10 data, address and control, 6 Il.

Description

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The invention relates to automation, ke and can be used in automated control systems based on digital computers for flexible software control of the operation of stepper motors (SM).

The purpose of the invention is to expand the scope and improve the performance of the device.

Fig, 1 shows a block diagram of the device; Fig. 2 is a graph illustrating the law of variation of the frequency of the SM from the number of steps; on fig.Z - timing charts of the device; 4, a device control algorithm; FIG. 3 is a schematic diagram of a stepper motor controller (CSC); 6 is a schematic diagram of a control interface.

The device contains a control interface 1, which contains in each channel a programmable input-output unit 2 of parallel information and a first programmable timer 3, VD controllers 4 by the number of control channels, which include reception register 5, memory block 6, block 7 software control and a second programmable timer 8, blocks 9 control windings SM, system bus 10 data, addresses to control.

Figure 5 shows an example of a specific embodiment of the KSchTs 4 on the basis of the MP - set KR 580.

The device works as follows.

The control computer, via the system bus, loads parallel information into the programmable input-output units 2 and the first programmable timers 3 instructions that divide the motion parameters of the stepper motors.

A control word defining the direction of motion and two signs (Attribute, Attribute 2) is loaded into the corresponding bits of the ports configured for the output of blocks 2.

The numbers 1, 2, 3 are loaded into the first to third channels of the first programmable timer 3, where 1 is the number of acceleration steps that determines the operating frequency of the SM; 2 - the number of steps determining the beginning of braking; 3 - the total number of steps that the SM should work (figure 2).

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Through the corresponding bits of the ports configured to enter the information of blocks 2, the control computer analyzes the readiness of the SM for launching and issuing the Start signal to the corresponding SM.

The software control unit 7 of the SD controllers 4, via the register 5, receives the Start command and starts executing the control program in accordance with the conditions determined by the information on the inputs of the register 5.

The program control unit loads the division coefficients KO, K1 ... KN from the array of memory block 6 into the first channel of the second programmable timer 8 (configured for the operation of the square wave generator).

At the output of the second programmable timer 8, a pulse sequence fh is formed with an increasing pulse frequency f0, f ,, ... fN, which through the winding control devices 9 drives the selected SM in the direction specified by the corresponding bits of block 2.

At the same time, the same sequence of pulses goes to the counting inputs of the first programmable timer 3 of the control interface 1.

The state of the timer 3 outputs of the control interface 1 is monitored by the program control unit 7 via register 5.

When processing engines with the number 1 acceleration steps (different for different engines), the increase in the generator frequency is stopped and the stepper motor operates at the frequency specified by this number fN (figure 2).

After working out the number of 2 steps, the SM step braking section is formed: the coefficients are reset from the array of memory block 6 by the program control block 7 to the first channel of the second programmable timer 8 in reverse order.

When testing the total number of 3 steps, the program control unit 7 sets the output of the third channel of the second programmable timer 8 to the state prohibiting the operation of the first channel of this timer, the SM is stopped.

At the end of each SM operation, the corresponding QAS 4 generate a ready signal or an interrupt request signal, if this HSC requires operational service, which is received by the control computer, and the subsequent SM is started invisibly from other engines.

In order to reduce the array of coefficients in the memory block 6, the device provides for the formation of acceleration and deceleration sections in the time-quantized mode. For this purpose, the output of the second channel of the second programmable timer 8, which is set to the standby multivibrator mode, is connected to the corresponding register bit 5. The program control unit 7, analyzing the state of this register bit 5, overloads the coefficients into the second programmable timer 8 in this mode through programmable time intervals formed by the waiting multivibrator.

In most cases, when controlling the SCH, the number of acceleration steps is equal to the number of braking steps. In order to determine the law of motion, the control computer loads into the first programmable timer 3 of the control interface 1 only two numbers 1 and 2, with number 1 being equal to the number of acceleration steps, and number 2 differences of the total number of steps of number I.

The KSCHC 4 software control unit 7 analyzes the state of the corresponding bits of register 5, to which signals Sign 1 and Sign 2 are received. This operation is carried out before analyzing the signal. Starting each logical combination of signs signals corresponds to a certain mode of operation of the device, which indicates the formation method the law of frequency control; 00 - formation of the law of control of the thyroid center on a rigid table (mode 1); 01 - time quantization (mode 2); 10 - time quantization set by the control computer (mode 3).

As a result of analyzing these combinations of feature signals, conditional transitions are formed in the control program to implement the set mode, i.e. the formation of the acceleration-deceleration curve is loading5

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Which tabular division factors KO, K1 ... KN into the first channel of the second programmable timer 8, configured for the generator operation mode, either after each pulse generated by this generator (mode 1), or at time intervals specified by the second channel of the second programmable timer 8 (mode 2), or at time intervals specified by the control computer. using the third channel of the first programmable timer 3 as a time interval generator (mode 3).

By introducing additional signals of signs and finalizing the control program, it is possible to organize additional modes that allow the device to adapt to specific conditions of use, for example, step-by-step control of the CG (alignment mode); starting from a different starting frequency; stopping or starting to brake according to the sensor signal; emergency stop

The number of feature signals depends on the number of modes used, two feature signals set four modes, three - eight, etc.

Claims (1)

Invention Formula t A multichannel device for controlling stepper motors, comprising a system data bus, addresses and controls, a control interface, stepper motors winding control blocks, characterized in that, in order to expand the scope and increase productivity, the control interface is made multi-channel, each channel of which includes se programmable input-output unit of parallel information and the first programmable timer, with the first programmable timers and programmable input-output units The corresponding information inputs are connected to the system bus, and in each control channel a program control block, a memory block and a second programmable timer, a receive register, whose information inputs are connected to the corresponding outputs of the first programmable timer and programmable I / O block are entered. parallel information, and the outputs of the receive register 51481 and the memory unit are connected to the information inputs of the software control unit, the outputs of which are connected to the control inputs of the second programmable timer, the first output of which is connected to the synchronization inputs of the first programmable timer and one informational the second input with a different information input of the reception register, the third output with the control input of the first channel of the second programmable timer, with the information input of the programmable input-output unit of parallel information and with the system bus. L JpaS. fo P, BUT System bus zpЈ r / i 3FIP pr p / fa  Programming  bis mode Lee Ustamo8ka / 0 # 0 Not M «0 F .La Hern Overclocking one Ostanob one Braking I one / g "const FIG. if FI.5  Lusk  // Mark C Prize yy T. S g ITT Fie.6