Module-integrated multifunctional executive device with power-off self-recovery function

Abstract

The invention discloses a module-integrated multifunctional execution device with the power-down self-recovery function. The module-integrated multifunctional execution device comprises a communication module, a control module, a drive module, a transmission module and an input and output module, wherein the control module comprises a non-volatile MCU control submodule having the power-down memorizing function, a non-volatile MCU self-recovery submodule and a ferroelectric storage submodule, and the non-volatile MCU control submodule and the non-volatile MCU self-recovery submodule are MCU processors with built-in ferroelectric storages. In the instant of system power-down, the non-volatile MCU control submodule records the current control system state, and the non-volatile MCU self-recovery submodule records the current sensor state. After the device is powered on, the non-volatile MCU self-recovery submodule recovers the sensor state in the instant of power-down, information of the sensor state and sensor information at the moment are both transmitted to the non-volatile MCU control submodule, and the non-volatile MCU control submodule immediately continues execution from the control system state in the instant of power-down. The module-integrated multifunctional execution device with the power-down self-recovery function has the advantages of being small in size, small in number of arranged wires, integrated, low in cost and easy to maintain.

Description

technical field [0001] The invention relates to a control execution system, in particular to a general-purpose modularized execution device for motion control of electromechanical equipment, which belongs to the technical field of electromechanical equipment. Background technique [0002] In traditional electromechanical system design, designers need to select controllers, drivers, motors and reducers to form a motion execution system, and some even need to consider complex bus communication interface issues. With the development of economy and technology, the research and development of electromechanical equipment is developing towards the direction of miniaturization, modularization and multi-function. Although there have been actuators in which controllers, drivers, and motors are integrated, as a single motion unit (such as a robot joint), the degree of modularity of the actuators designed by existing technologies is still not high enough. In addition, the most fatal sh...

AI Technical Summary

Problems solved by technology

TRINAMIC has developed the TMC223 special chip, which has control and drive functions, but because it is an integrated chip, the drive current is only 800MA, and the chip has no power-off self-recovery function, nor does it integrate control, drive and transmission modules

In addition, Chinese patents 200910183465.4 and 200920232086.5 relate to a servo-driven stepper motor integrated machine, including a stepper motor and a servo driver. The stepper motor and the servo driver are integrally and detachably connected, and the servo driver includes a main circuit and a control circuit. , although the invention has improved the integration of the servo driver, it still does not have the function of self-recovery after power failure, and it does not integrate the control, drive and transmission modules

[0004] At present, the technology of combining the driver and the motor actuator has been basically mature, and it has been popularized and applied in the factory, but there is no relevant report on the actuator that integrates the control, drive, and transmission modules with the power-off self-recovery function.

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