SU1647516A1 - Device for stepped motor control - Google Patents

Abstract

The invention relates to automation and computing and is intended for use in software control systems. The purpose is to simplify the device. The device for controlling a stepper motor comprises a movement setting unit 1, a pulse counter 2, a second D-flip-flop 3, a first D-flip-flop 4, an AND-HE element 5, a 6-pulse generator, an AND 7 element, a multiplexer 8, a driver 9 pulses

Description

The invention relates to automatic20

25

ke and computing technology and is intended for use in software control systems

The purpose of the invention is to simplify the device.

FIG. 1 shows a diagram of a device for controlling a stepper motor; FIG. 2 is a time diagram of operation.

The device contains a movement setting unit 1, a pulse counter 2, 30 second 3 and first 4 D-flip-flops, an AND-NE element 5, a pulse generator 6, an AND 7 element, a multiplexer 8, a pulse shaper 9, a switch 10, a stepper motor 11, a sensor 12 starting position 35

The device works as follows

The number of pulses in a pack is set by a parallel code in block 1 40 of the movement task and is written to the counter of 2 pulses (active level Logs0) by the input signal. Reset when powering on or changing the code. The signal is fed through element 7 to the input of the parallel loading record of counter 2. pulse control device at the input + generates information about the sign of the direction of rotation of the stepper motor 50 and generates a signal Execution, which is fed to the control input of the multiplexer 8 and clocked by the front of the pulse with nhrovhod -triggerov 4 and 3 Since D-inputs connected to a bus 55 with a signal level equal to the logical unit (), D-flip-flops 4 and Z ustanav0

five

0 5

0 5 0 5

The signal from the output of D-flip-flop 4 opens the element AND-NOT 5 and the frequency of the generator 6 pulses is fed to the subtracting input of counter 2 and the switch 10 (switch type TZUSH-1) C

The multiplexer 8 under the influence of the signal Execution (Log level, .11) switches to the R-input of the D-flip-flop 4 a signal from the output of the driver 9 pulses. The pulse shaper 9 generates a short pulse when the sensor 12 of the initial position triggers. If there is no signal Execution (Log level, 0), the multiplexer switches the R-input of the trigger 4 to the counting signal from the output of the counter 2b. Thus, if there is a signal, it performs reset of the trigger 4 (ending the formation of pulses) occurs only after the sensor 12 triggers, and in the absence of a signal, its counter 2

An external device generates a signal. The execution in such a way that when the actuator leaves the positioning point, the stepping motor stops at a signal from counter 2, and when it returns to its initial state - at a signal from sensor 12 Switch 10 converts the pulses into a sequence of currents in the stepper motor windings 11c. The signal from the D-flip-flop output H is sent to the Ready exit, informing the external device about the beginning of the formation of the first burst of pulses, which generates a pulse at the input Record and resets the trigger 3 Do not read the number at the output of the counter 2 pulses

516

a signal is generated which enters the input of the AND element and rewrites the code in the counter. The signal from the counter also goes to the S-input of the D-flip-flop Z and forms the Ready signal

The Record signal resets Trigger 3 again and the cycle repeats until the total number of pulses at the input Readiness becomes equal to the required number of packs in a series of pulses. After that, the external control device removes the Execution signal, thereby the multiplexer 8 switches the signal from the output of the 2-pulse counter to the R-input of trigger 4. After reading the number, the signal from its output resets the D-flip-flop 4. The formation of a series of pulses on this is terminated and the rotation of the stepper motors is stopped.

Calculation of the required number of bursts of pulses is made by a computational control device by counting the number of active signal levels on the bus Ready. For ease of control, the entire field of action of the actuator can be divided into a grid with a step multiplying the movement of the mechanism when the stepper motor develops one batch of pulses. In the control program of the computing device, it is sufficient to indicate the coordinates of the positioning points of the actuator. The sequence of such coordinates determines the sequence and geometry of displacements. For the output of the mechanism to the desired point, the computational control device reads the coordinates, Generates control signals in the required sequence.

When the actuator is installed in the initial state, the signals + are generated and the Execution and the signal from the sensor output of the initial half-array is analyzed. The multiplexer 8 commutes to the input of the D-flip-flop 4 a signal from the output of the driver 9 pulses. When the initial position sensor 12 is triggered, the pulse shaper 9 emits a narrow pulse and resets the D-flip-flop. The external control device removes the Run signal and resets the D-flip-flop Z.

The advantage of the invention is the use of a minimum of 16

communication with an external computing device, which is significant when using controllers that do not have external buses for address and data and work only with unitary signals (for example, programmable GPS controllers Micro DAT MB 5700), and also eliminates the need for a large counter ,,

In the device, the signal from the sensor is processed by the hardware and motion is stopped, then the signal processing program in the software control device is executed (a decision is made on further actions: forming a technological command, beginning a new cycle, etc.) 0 This allows increasing positioning accuracy by reducing the response time of the device to the sensor signal If the hardware delay time on the hardware does not exceed an average delay of 3. „5 elements of the TTL series (for K 155-5 K 22 not 110 This interval is significantly longer for software processing. For example, when using a K580BM80 microprocessor control node, the execution time of five to eight simplest operations such as a register — the register required for signal processing is 16 µs.

In addition, the use of several such devices provides simultaneous control of several stepper motors with one digital computing device.

Claims (1)

Invention Formula A device for controlling a stepper motor, comprising a pulse generator connected by an output to a first input of an NAND element connected by an output to a subtractive input of a pulse counter and to an information input of a switch, the second input of an NID element connected to the output of a first D-flip-flop connected to an output The execution of the device for controlling the stepper motor, the R-in of the second D-flip-flop is connected to the input. Record of the device for controlling the stepping-motor, the Ready input of which is connected to the output of the second D-flip-flop, is different yuschees in order to simplify the device, in addition to it, a motion task unit, an initial position sensor, a pulse shaper, an AND element and a multiplexer are introduced; the control input of which is connected to the input Execution of a device for controlling a stepper motor with C inputs of the first and second D-trigger, the first information input with the output of the last digit of the pulse counter, with the first input of the element i Jq 6475168 i And with the S-input of the second D-flip-flop, and the second information input with the output of the pulse former, the input of which is connected to the output of the initial position sensor, the write input of the pulse counter is connected to the output of the And element, the second input of which is connected to the Reset input of the device for control of the stepper motor, the output blocks of the task for moving the bit are connected to a group of information inputs of the pulse counter Editor And „Shulla Compiled by And „Shvets Tehred L. Serdyukova FIG. 2 Proofreader S. Shekmar