Motor driver

Abstract

According to the embodiment of the invention, the motor driver comprises a first channel module, a second channel module and a switch module connected between the first channel module and the second channel module, wherein the switch module is used for starting the first channel module and the second channel module according to level signals output by the micro-control unit to form corresponding current channels, and for different level signals, the first channel module forms different current channels, and the second channel module forms different current channels; and the first channel module and the second channel module are used for cooperating with an upper machine controller and sending pulse signals to the micro-control unit through corresponding current channels of the first channel module and the second channel module, so that the micro-control unit controls the movement of the motor according to the pulse signals. The motor driver as provided in the present invention is compatible with single-ended PTI signals of different voltages.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial control, and in particular to a motor driver. Background Art

[0002] Currently, there are many types of pulses used to control the movement of motors, one of which is a single-ended pulse train input (PTI) signal (also referred to as a single-ended PTI signal). For single-ended PTI signals, different voltage levels may be used in different industrial environments. For example, a single-ended PTI signal of one voltage may be used in some environments, while another single-ended PTI signal of a different voltage may be used in other environments. Therefore, motor drivers must be compatible with single-ended PTI signals of different voltages. Summary of the Invention

[0003] In an embodiment of the present invention, a motor driver is provided, which is compatible with single-ended PTI signals of different voltages.

[0004] In an embodiment of the present invention, a motor driver is provided, which is arranged between an upper machine controller and a microcontroller unit, wherein the microcontroller unit is configured to output signals of different levels according to single-ended pulse train input signals of different voltages; and the motor driver includes a first channel module, a second channel module, and a switch module connected between the first channel module and the second channel module, wherein

[0005] The switch module is used to respectively enable the first channel module and the second channel module according to the level signal output by the micro control unit to form corresponding current channels, wherein for different level signals, the first channel module forms different current channels and the second channel module forms different current channels; and

[0006] The first channel module and the second channel module are both used to cooperate with the upper machine controller to send pulse signals to the micro control unit through their corresponding current channels, so that the micro control unit controls the movement of the motor according to the pulse signals.

[0007] The motor drives provided in the embodiments of the present invention, individually or in combination, may have at least the following technical effects:

[0008] (1) When the single-ended pulse train input signal has different voltage values, the first channel module forms different current channels and the second channel module forms different current channels. When the application environment of the motor driver changes and the voltage of the single-ended pulse train input signal changes from one value to another, the current channel formed by the two channel modules will also change, that is, switch between the current channels, so that the motor driver can use single-ended pulse train input signals of different voltage values, that is, it can be compatible with single-ended pulse train input signals of different voltage values. The motor driver provided in the embodiment of the present invention supports single-ended pulse train input signals of the first voltage and the second voltage, and is therefore suitable for most industrial application environments.

[0009] (2) In an embodiment, in a motor driver as provided in an embodiment of the present invention, five terminals are provided for external connection to enable access to single-ended pulse train input signals of different voltages and connection to different types of upper machine controllers without the need for external matching resistors, thereby reducing problems caused by matching resistors and also reducing the number of terminals. The number of terminals is reduced, thereby saving pin usage of the motor driver. In addition, in this way, the user does not have to prepare external resistors, thereby not only improving user-friendliness but also preventing damage to the intact PTI cable / wire. In addition, the motor driver in the embodiment of the present invention supports two types of upper machine controllers, thereby providing configuration flexibility to the user.

[0010] (3) In an embodiment, the switch module includes a first transistor and a second photocoupler. The level signal sent by the microcontroller unit can enable the first transistor to be in a conductive state or a cut-off state. The level signal is determined by the microcontroller 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 affect the conduction or cut-off of the first transistor, and the conduction or cut-off of the first transistor will affect the connection or disconnection of the second photocoupler, thereby further affecting the formation of the current channel. When the state of the second photocoupler is different, the current channel formed will be different. In this way, the switching of the current channel can be conveniently achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] To more clearly explain the technical solutions in the embodiments of the present invention or in the prior art, the following briefly introduces the drawings required for describing the embodiments or in the prior art. Obviously, the drawings used in the following description are for some embodiments of the present invention. Based on these drawings, those skilled in the art can derive other drawings without any creative work.

[0012] Figure 1 is a connection diagram of the motor driver, upper machine controller and micro control unit in an embodiment of the present invention.

[0013] Figure 2 FIG. 1 is a circuit diagram of a motor driver according to an embodiment of the present invention.

[0014] Figure 3 is a diagram illustrating a first current channel and a second current channel when a single-ended pulse train input signal is a first voltage and the type is a PNP control wiring type.

[0015] Figure 4 is a diagram illustrating a first current channel and a second current channel when a single-ended pulse train input signal is a first voltage and the type is an NPN control wiring type.

[0016] Figure 5 is a diagram illustrating 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 a PNP control wiring type.

[0017] Figure 6 is a diagram illustrating 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 an NPN control wiring type.

[0018] Reference numerals:

[0019]

[0020] DETAILED DESCRIPTION

[0021] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described are some embodiments of the present invention, not all embodiments. Any other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative work will fall within the scope of protection of the present invention.

[0022] In an embodiment of the present invention, a motor driver is provided.

[0023] refer to Figure 1 The motor driver 100 is arranged between the upper / main machine controller 300 and the micro control unit 200, wherein the micro control unit 200 is used to output different level signals according to the single-ended pulse train input signals of different voltages; the motor driver 100 includes 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

[0024] The switch module 30 is used to respectively enable the first channel module 10 and the second channel module 20 to form corresponding current channels according to the level signal output by the micro control 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

[0025] The first channel module 10 and the second channel module 20 are both used to cooperate with the upper machine controller 300 to send pulse signals to the micro control unit 200 through their corresponding current channels, so that the micro control unit 200 controls the movement of the motor according to the pulse signals.

[0026] Herein, the single-ended pulse train input signal of different voltages may be a 24V single-ended pulse train input signal, or a 12V single-ended pulse train input signal, or of course a single-ended pulse train input signal of another voltage. The single-ended pulse train input signal refers to a single-ended PTI signal.

[0027] In practice, the motor driver is arranged between the upper machine controller and the microcontroller unit, and each of the first channel module, the second channel module, and the switch module in the motor driver is connected to the microcontroller unit. First, the microcontroller unit will output a corresponding level signal based on 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 microcontroller unit is configured to output a low level. If the voltage value of the single-ended pulse train input signal is 12V, the microcontroller unit is configured to output a high level. In addition, after receiving the level signal output by the microcontroller unit, the switch module will enable the first channel module to form a corresponding current channel and enable the second channel module to form a corresponding current channel based on the level signal. In addition, in cooperation with the upper machine controller, the two channel modules send pulse signals to the microcontroller unit via the corresponding current channels formed. The microcontroller unit controls the movement of the motor based on the two pulse signals sent by the two channel modules, thereby driving the motor.

[0028] Of course, the current channel formed by the first channel module and the second channel module can be related not only to the level signal of the microcontroller unit (i.e., the voltage value of the single-ended pulse train input signal), but also to the type of upper machine controller. For example, for different level signals and different types of upper machine controllers, the current channel formed by the first channel module is different, and the current channel formed by the second channel module is also different.

[0029] As can be seen, in the embodiment of the present invention, when the single-ended pulse train input signal has different voltage values, the first channel module forms different current channels and the second channel module forms different current channels. When the application environment of the motor drive changes and the voltage of the single-ended pulse train input signal changes from one value to another, the current channels formed by the two channel modules will also change, that is, switch between the current channels. This allows the motor drive to use single-ended pulse train input signals with different voltage values, that is, it is compatible with single-ended pulse train input signals with different voltage values.

[0030] In an embodiment, the two channel modules may be formed of various circuit structures and one of the structures is described below: Figure 2 The first channel module and the second channel module have the same internal circuit structure, which includes two bidirectional transient suppression diodes, a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1 and a first photocoupler (photo-coupler / opto-coupler) U1, wherein

[0031] Two bidirectional TVS diodes are connected in series to form a series branch;

[0032] One end of the first resistor R1 is connected to the first end D1 of the series branch, and the other end of the first resistor R1 is connected to the second end D2 of the series branch and one end of the second resistor R2; and

[0033] 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 to the other end of the second resistor R2 and the second signal terminal S2 of the first photocoupler U1; the other end of the parallel branch is connected to the intermediate node D0 and the first signal terminal S1 of the first photocoupler U1; wherein the first signal terminal S1 and the second signal terminal S2 are the output terminal and input terminal of the first photocoupler U1 for each other; the intermediate node D0 is the connection node between the two bidirectional transient suppression diodes; the first photocoupler U1 has a third signal terminal S3 for connecting to a micro control unit, and when current flows between the first signal terminal S1 and the second signal terminal S2, the first photocoupler U1 is used to output a pulse signal to the micro control unit via the third signal terminal S3.

[0034] Herein, the surge protection device is formed by two bidirectional transient suppression diodes and can provide surge protection to the circuit of the channel module.

[0035] In this context, the third resistor in the parallel branch may have a filtering function. The third resistor may have a branching function to prevent the first photocoupler from being damaged due to overcurrent.

[0036] In this article, the first resistor and the second resistor both have a current limiting function in the circuit. However, since different current paths will be formed, different resistors will be used in different current paths for current limiting.

[0037] In this article, the first photocoupler can be a model TLP2391 photocoupler. The TLP2391 photocoupler integrates two infrared LEDs and a high-gain, high-speed photodetector. The first photocoupler has two infrared LEDs connected in parallel, with opposite directions, and can simultaneously detect both current sourcing and current sinking signals. When current flows through either infrared LED, the photodetector outputs a signal.

[0038] Since the first photocoupler is provided with two infrared LEDs connected in parallel and in opposite directions, the first signal terminal and the second signal terminal of the first photocoupler are each other's input terminal and output terminal. That is, when a signal is input into the first photocoupler via the first signal terminal and flows out from the second signal terminal, the first signal terminal is the input terminal and the second signal terminal is the output terminal. When a signal is input into the first photocoupler via the second signal terminal and flows out from the first signal terminal, the second signal terminal is the input terminal and the first signal terminal is the output terminal. When current flows between the first signal terminal and the second signal terminal (i.e., current flows through the infrared LED in the first photocoupler), the infrared LED emits infrared rays, causing the photodetector to output a pulse signal. The pulse signal flows out from the third signal terminal and is input into the microcontroller unit, causing the microcontroller unit to control the motor according to the pulse signal.

[0039] In an embodiment, the switch module may be formed in various structural forms, one of which is provided below.

[0040] refer to Figure 2 The switch module 30 includes a first transistor K1, a second photocoupler U2, a second capacitor C2, a fourth resistor R4 and a fifth resistor R5, wherein

[0041] A first input terminal of the second photocoupler U2 is connected to a preset voltage source VCC, and a first output terminal of the second photocoupler U2 is connected to the collector of the first transistor K1; a second input terminal of the second photocoupler U2 is connected to the second end D2 of the series branch in the first channel module 10, and a second output terminal of the second photocoupler U2 is connected to the second end D2 of the series branch in the second channel module 20; and

[0042] The emitter electrode of the first transistor K1 is grounded, and the base electrode of the first transistor K1 is connected to the micro control unit via the fourth resistor R4 to receive the level signal sent by the micro control unit; the second capacitor C2 and the fifth resistor R5 are connected in parallel between the base electrode and the emitter electrode of the first transistor K1. Figure 2 In the embodiment, the switch module receives the level signal sent from the micro control unit via the terminal S0.

[0043] That is, the microcontroller unit is connected to the fourth resistor, and the level signal output from the microcontroller unit is input into the base electrode of the first transistor via the fourth resistor. If the first transistor is an NPN type and the output level signal is high, the first transistor is conductive, so the voltage at the collector of the first transistor is pulled down, causing the second photocoupler to be turned on. If the output level signal is low, the first transistor is cut off and the second photocoupler cannot be turned on. When the second photocoupler is in the on state, each of the two channel modules can form a current channel. When the second photocoupler is not in the on state, each of the two channel modules can form another current channel. Therefore, the switch module is used to switch between the current channels of the channel modules.

[0044] In the embodiment, the motor driver needs to be connected to the upper machine controller or receive a single-ended pulse train input signal. Therefore, the motor driver must have multiple terminals for external connection. Specifically, refer 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 to the second end D2 of the series branch in the first channel module 10, the second terminal A2 is connected to the intermediate node D0 in the first channel module 10, and the third terminal A3 is connected to 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 to the intermediate node D0 in the second channel module 20, and the fifth terminal A5 is connected to the first end D1 of the series branch in the second channel module 20; wherein the motor drive is connected to different types of upper machine controllers through at least two of the three terminals of the first channel module 10 and at least one of the two terminals of the second channel module 20.

[0045] As can be seen, the first channel module provides three terminals for external connection, while the second channel module provides two terminals for external connection. Compared to the second channel module, the first channel module has one more terminal. In this article, the second and fourth terminals are connected to the middle node in the series branch in the corresponding channel module, and the third and fifth terminals are connected to the first end of the series branch in the corresponding channel module. It can be seen that, compared to the second channel module, the first channel module also provides a first terminal connected to the second end of the series branch in the first channel module.

[0046] In practice, if the single-ended pulse train input signal has different voltage values ​​and / or the upper machine controller is of different types, the motor driver will use different terminals to connect to the upper machine controller and access the single-ended pulse train input signal. These terminals can meet the requirements for single-ended pulse train input signals of different voltage values ​​and can also meet the requirements for different types of upper machine controllers.

[0047] In addition, the types include a PNP control wiring type and an NPN control wiring type, the upper machine controller of the PNP control wiring type is provided with a second transistor as a PNP transistor, and the upper machine controller of the NPN control wiring type is provided with a second transistor as an NPN transistor; the upper machine controller includes a first signal input terminal, a first signal output terminal, a second signal input terminal, and a second signal output terminal; the first signal input terminal and the first signal output terminal are connected via one of the second transistors, and the second signal input terminal and the second signal output terminal are connected via the other of the second transistors.

[0048] In other words, an upper machine controller with a PNP control wiring type means that the second transistor in the upper machine controller is a PNP type. An upper machine controller with an NPN control wiring type means that the second transistor in the upper machine controller is an NPN type. The upper machine controller is provided with two second transistors: one second transistor is provided between the first signal input terminal and the first signal output terminal of the upper machine controller, and the other second transistor is provided between the second signal input terminal and the second signal output terminal of the upper machine controller.

[0049] For example, when the two second triodes are of PNP type, the emitter electrode of one of the second triodes is connected to the first signal input terminal, and the collector electrode thereof is connected to the first signal output terminal. The emitter electrode of the other of the second triodes is connected to the second signal input terminal, and the collector electrode thereof is connected to the second signal output terminal. For example, when the two second triodes are of NPN type, the collector electrode of one of the second triodes is connected to the first signal input terminal, and the emitter electrode thereof is connected to the first signal output terminal. The collector electrode of the other of the second triodes is connected to the second signal input terminal, and the emitter electrode thereof is connected to the second signal output terminal.

[0050] In the following, the technical solution is explained in four cases:

[0051] (1)Reference Figure 3 When the single-ended pulse train input signal E1 is a first voltage and the type is a PNP control wiring type, an access method of the single-ended pulse train input signal E1 and a connection method of the upper machine controller 300 and the motor driver 100 are provided as follows: the single-ended pulse train input signal E1 is connected to the first signal input terminal In1 and the second signal input terminal In2 of the upper machine controller 300, the second terminal A2 is connected to the first signal output terminal Out1 of the upper machine controller 300, the fourth terminal A4 is connected to the second signal output terminal Out2 of the upper machine controller 300, and the third terminal A3 and the fifth terminal A5 are grounded; wherein the upper machine controller 300 is used to send the single-ended pulse train input signal E1 received from the first signal input terminal In1 to the second terminal A2 through the first signal output terminal Out1, and to send the single-ended pulse train input signal E1 received from the second signal input terminal In2 to the fourth terminal A4 through the second signal output terminal Out2; and therefore, the micro control unit is used to generate a first level as a first voltage according to the single-ended pulse train input signal E1, and the first level is used to realize the cut-off of the second optocoupler U2 and the first transistor K1 in the switching module, so that the first channel module 10 forms a first current channel and the second channel module 20 forms a second current channel.

[0052] For example, when the first voltage is 24V and the upper machine controller 300 has a PNP control wiring type, a 24V single-ended pulse train input signal E1 is input to the first signal input terminal In1 and the second signal input terminal In2 of the upper machine controller 300. The signal input from the first signal input terminal In1 passes through one of the second transistors and then flows out of the first signal output terminal Out1. The signal input from the second signal input terminal In2 passes through the other of the second transistors and then flows out of the second signal output terminal Out2. The signal flowing out of the first signal output terminal Out1 flows into the first channel module 10 via the second terminal A2, passes through the first current channel in the first channel module 10, then flows out of the third terminal A3 and then flows into the ground terminal M. The signal flowing out of the second signal output terminal Out2 flows into the second channel module 20 via the fourth terminal A4, passes through the second current channel in the second channel module 20, then flows out of the fifth terminal A5 and then flows into the ground terminal M.

[0053] (2)Reference Figure 4 When the single-ended pulse train input signal E1 is a first voltage and the type is an 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 to the first signal input terminal In1 of the upper machine controller 300, the fifth terminal A5 is connected to the second signal input terminal In2 of the upper machine controller 300, and the first signal output terminal Out1 and the second signal output terminal Out2 of the upper machine controller 300 are grounded; and therefore, the micro control unit is used to generate a first level as a first voltage according to the single-ended pulse train input signal E1, and the first level is used to realize the cut-off of the second optocoupler U2 and the first transistor K1 in the switch module, so that the first channel module 10 forms a first current channel and the second channel module 20 forms a second current channel.

[0054] When the first voltage is 24V and the upper machine controller 300 has an NPN control wiring type, a 24V single-ended pulse train input signal E1 is input to 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, then flows out from the third terminal A3, then flows from the first signal input terminal In1 into the upper machine controller 300, passes through one of the second transistors, then flows out from the first signal output terminal Out1, and then flows to the ground terminal M. The signal input from the fourth terminal A4 to 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, then flows from the second signal input terminal In2 into the upper machine controller 300, passes through the other of the second transistors, then flows out from the second signal output terminal Out2, and then flows to the ground terminal M.

[0055] (3)Reference Figure 5 When the single-ended pulse train input signal E1 is the 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 terminal In1 and the second signal input terminal In2 of the upper machine controller 300, the first terminal A1 is grounded, the second terminal A2 is connected to the first signal output terminal Out1 of the upper machine controller 300, and the fourth terminal A4 is connected to the second signal output terminal Out2 of the upper machine controller 300; and therefore, the micro control unit is used to generate a second level as a second voltage according to the single-ended pulse train input signal E1, and the second level is used to realize the conduction of the second optocoupler U2 and the first transistor K1 in the switch module, so that the first channel module 10 forms a third current channel and the second channel module 20 and the switch module form a fourth current channel.

[0056] When the first voltage is 12 V and the upper machine controller 300 has a PNP control wiring type, the 12 V single-ended pulse train input signal E1 flows into the upper machine controller 300 from the first signal input terminal In1, flows out of the upper machine controller 300 from the first signal output terminal Out1, then flows into the first channel module 10 from the second terminal A2, passes through the third current channel of the first channel module 10, then flows out from the first terminal A1, and then flows to the ground terminal M. The 12 V single-ended pulse train input signal E1 also flows into the upper machine controller 300 from the second signal input terminal In2, flows out of the upper machine controller 300 from the second signal output terminal Out2, then flows into the second channel module 20 from the fourth terminal A4, passes through the fourth current channel, then flows out from the first terminal A1, and then flows to the ground terminal M.

[0057] It can be seen that in this case the first terminal A1 serves as a common negative electrode.

[0058] (4)Reference Figure 6 When the single-ended pulse train input signal E1 is the 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 to the first signal input terminal In1 of the upper machine controller 300, the fourth terminal A4 is connected to the second signal input terminal In2 of the upper machine controller 300, and the first signal output terminal Out1 and the second signal output terminal Out2 of the upper machine controller 300 are grounded; and therefore, the micro control unit is used to generate a second level as a second voltage according to the single-ended pulse train input signal E1, and the second level is used to realize the conduction of the second optocoupler U2 and the first transistor K1 in the switch module, so 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.

[0059] When the first voltage is 12 V and the upper machine controller 300 has an NPN control wiring type, the 12 V single-ended pulse train input signal E1 is input from the first terminal A1, then input 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 terminal In1 into the upper machine controller 300, then flows out from the first signal output terminal Out1 of the upper machine controller 300, and finally flows into the ground terminal 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 terminal In2 into the upper machine controller 300, then flows out from the second signal output terminal Out2, and finally flows into the ground terminal M.

[0060] It can be seen that in this case the first terminal A1 serves as a common positive electrode.

[0061] In the case of (1) and (2) above, refer to Figure 3 and 4 In the first current channel, current can flow from the second terminal A2 through the first signal terminal S1 of the first optocoupler in the first channel module 10, through the second signal terminal S2 of the first optocoupler 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 out of the third terminal A3; and in the second current channel, current can flow from the fourth terminal A4 through the first signal terminal S1 of the first optocoupler in the second channel module 20, through the second signal terminal S2 of the first optocoupler 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 out of the fifth terminal A5.

[0062] In the case of (3) above, refer to Figure 5 In the third current channel, current can flow from the second terminal A2 through the first signal terminal S1 of the first optocoupler in the first channel module 10, through the second signal terminal S2 of the first optocoupler in the first channel module 10 and the second resistor in the first channel module 10, and out of the first terminal A1; and in the fourth current channel, current can flow from the fourth terminal A4 through the first signal terminal S1 of the first optocoupler in the second channel module 20, through the second signal terminal S2 of the first optocoupler 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 optocoupler U2 in the switch module and the second input end of the second optocoupler U2 in the switch module, and out of the first terminal A1.

[0063] In the case of (4) above, refer to Figure 6 In the fifth current channel, current can flow from the first terminal A1 through the second resistor in the first channel module 10, through the second signal terminal S2 of the first optocoupler in the first channel module 10 and the first input terminal of the first optocoupler in the first channel module 10, and out of the second terminal A2; and in the sixth current channel, current can flow from the first terminal A1 through the second input terminal of the second optocoupler U2 in the switch module, through the second output terminal of the second optocoupler U2 in the switch module, through the second resistor in the second channel module 20, through the second signal terminal S2 of the first optocoupler in the second channel module 20 and the first signal terminal S1 of the first optocoupler in the second channel module 20, and out of the fourth terminal A4.

[0064] exist Figures 3 to 6 , I refers to the current in the circuit, and the arrow at the letter I refers to the direction of the current.

[0065] In the prior art, six or even more terminals are sometimes required to access single-ended pulse train input signals of varying voltages and connect to different types of upper machine controllers. Furthermore, users are required to connect external matching resistors. However, connecting these resistors often requires a wire-breaking operation, which can lead to other problems. Furthermore, connecting external matching resistors during use is inconvenient. In contrast, the motor driver provided in the embodiments of the present invention provides five terminals for external connections, enabling access to single-ended pulse train input signals of varying voltages and connection to different types of upper machine controllers without the need for external matching resistors. Furthermore, the motor driver supports different types of upper machine controllers, thereby reducing the problems associated with matching resistors and the number of terminals. As more and more functions are integrated into motor drivers and their size becomes smaller, the demand for terminal density is increasing, and providing more pins is often not feasible. However, in the embodiments of the present invention, the number of terminals is reduced, thereby conserving pins in the motor driver. Furthermore, this eliminates the need for users to prepare external resistors, improving user-friendliness and preventing damage to the intact PTI cable / wires. The motor driver provided in the embodiment of the present invention supports single-ended pulse train input signals of the first voltage and the second voltage and is therefore suitable for most industrial application environments. In addition, the motor driver supports two types of upper machine controllers, thus providing configuration flexibility for users.

[0066] The embodiments in this specification are described in a progressive manner. The same or similar parts between different embodiments may be referenced. Each embodiment emphasizes the differences with respect to the other embodiments. Specifically, since the device / apparatus embodiments are substantially similar to the method embodiments, their description is relatively simple, and for relevant parts, reference may be made to the description of the method embodiments.

[0067] The above specific embodiments are used to further explain the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only for specific embodiments of the present invention and is not intended to limit the scope of protection of the present invention. Any changes, equivalent replacements or improvements based on the technical solutions of the present invention will fall within the scope of protection of the present invention.

Claims

1. A motor driver, characterized in that: The motor driver is arranged between the upper machine controller and the micro control unit, wherein the micro control unit is used to output different level signals according to single-ended pulse train input signals of different voltages; and the motor driver includes a first channel module, a second channel module and a switch module connected between the first channel module and the second channel module, wherein The switch module is used to respectively enable the first channel module and the second channel module according to the level signal output by the micro control unit to form corresponding current channels, wherein for different level signals, the first channel module forms different current channels and the second channel module forms different current channels; and The first channel module and the second channel module are both used to cooperate with the upper machine controller to send pulse signals to the micro control unit through their corresponding current channels, so that the micro control unit controls the movement of the motor according to the pulse signals.

2. The motor driver according to claim 1, wherein: The first channel module and the second channel module have the same internal circuit structure, which includes two bidirectional transient suppression diodes, a first resistor, a second resistor, a third resistor, a first capacitor and a first photocoupler, wherein The two bidirectional transient suppression diodes are connected in series to form a series branch; One end of the first resistor is connected to the first end of the series branch, and the other end of the first resistor is connected to the 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 to the other end of the second resistor and the second signal end of the first photoelectric coupler; the other end of the parallel branch is connected to the intermediate node and the first signal end of the first photoelectric coupler; wherein the first signal end and the second signal end are the output end and input end of the first photoelectric coupler for each other; the intermediate node is the connection node between the two bidirectional transient suppression diodes; the first photoelectric coupler has a third signal end for connecting to the micro control unit, and when current flows between the first signal end and the second signal end, the first photoelectric coupler is used to output the pulse signal to the micro control unit via the third signal end.

3. The motor driver according to claim 2, wherein: The switch module includes a first transistor, a second photocoupler, a second capacitor, a fourth resistor and a fifth resistor, wherein The first input end of the second photoelectric coupler is connected to a preset voltage source, and the first output end of the second photoelectric coupler is connected to the collector of the first transistor; the second input end of the second photoelectric coupler is connected to the second end of the series branch in the first channel module, and the second output end of the second photoelectric coupler is connected to the second end of the series branch in the second channel module; and The emitter electrode of the first transistor is grounded, and the base electrode of the first transistor is connected to the micro control unit via the fourth resistor to receive the level signal sent by the micro control unit; the second capacitor and the fifth resistor are connected in parallel between the base electrode of the first transistor and the emitter electrode.

4. The motor driver according to claim 3, wherein: The first channel module provides a first terminal, a second terminal, and a third terminal for external connection, wherein the first terminal is connected to the second end of the series branch in the first channel module, the second terminal is connected to the intermediate node in the first channel module, and the third terminal is connected to 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, wherein the fourth terminal is connected to the intermediate node in the second channel module, and the fifth terminal is connected to the first end of the series branch in the second channel module; The motor drive is connected to different types of upper machine controllers through at least two of the three terminals of the first channel module and at least one of the two terminals of the second channel module.

5. The motor driver according to claim 4, wherein: The types include a PNP control wiring type and an NPN control wiring type. The upper machine controller of the PNP control wiring type is provided with a second transistor as a PNP transistor, and the upper machine controller of the NPN control wiring type is provided with a second transistor as an NPN transistor; the upper machine controller includes a first signal input terminal, a first signal output terminal, a second signal input terminal, and a second signal output terminal; the first signal input terminal and the first signal output terminal are connected via one of the second transistors, and the second signal input terminal and the second signal output terminal are connected via the other of the second transistors.

6. The motor driver according to claim 5, wherein: 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 terminal and the second signal input terminal of the upper machine controller, the second terminal is connected to the first signal output terminal of the upper machine controller, the fourth terminal is connected to the second signal output terminal of the upper machine controller, and the third terminal and the fifth terminal are grounded; wherein the upper machine controller is configured to transmit the single-ended pulse train input signal received from the first signal input terminal to the second terminal through the first signal output terminal, and transmit the single-ended pulse train input signal received from the second signal input terminal to the fourth terminal through the second signal output terminal; and therefore, the micro control unit is configured to generate a first level as the first voltage according to the single-ended pulse train input signal, and the first level is configured to achieve the cutoff of the second photocoupler and the first transistor in the switch module, so that the first channel module forms a first current channel and the second channel module forms a second current channel.

7. The motor driver according to claim 5, wherein: 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 to the first signal input terminal of the upper machine controller, the fifth terminal is connected to the second signal input terminal of the upper machine controller, and the first signal output terminal and the second signal output terminal of the upper machine controller are grounded; and therefore, the micro control unit is used to generate a first level as the first voltage according to the single-ended pulse train input signal, and the first level is used to achieve the cutoff of the second optocoupler and the first transistor in the switching module, so that the first channel module forms a first current channel and the second channel module forms a second current channel.

8. The motor driver according to claim 5, wherein: 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 terminal and the second signal input terminal of the upper machine controller, the first terminal is grounded, the second terminal is connected to the first signal output terminal of the upper machine controller, and the fourth terminal is connected to the second signal output terminal of the upper machine controller; and therefore, the micro control unit is used to generate a second level as the second voltage according to the single-ended pulse train input signal, and the second level is used to realize the conduction of the second optocoupler and the first transistor in the switch module, so that the first channel module forms a third current channel and the second channel module and the switch module form a fourth current channel.

9. The motor driver according to claim 5, wherein: 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 to the first signal input terminal of the upper machine controller, the fourth terminal is connected to the second signal input terminal of the upper machine controller, and the first signal output terminal and the second signal output terminal of the upper machine controller are grounded; and therefore, the micro control unit is used to generate a second level as the second voltage according to the single-ended pulse train input signal, and the second level is used to realize the conduction of the second optocoupler and the first transistor in the switch module, so that the first channel module forms a fifth current channel, and the second channel module and the switch module form a sixth current channel.

10. The motor driver according to claim 6 or 7, characterized in that In the first current channel, current flows from the second terminal through the first signal terminal of the first optocoupler in the first channel module, through the second signal terminal of the first optocoupler in the first channel module, through the second resistor in the first channel module and the first resistor in the first channel module, and out of the third terminal; and In the second current channel, current flows from the fourth terminal through the first signal end of the first optocoupler in the second channel module, through the second signal end of the first optocoupler in the second channel module, through the second resistor in the second channel module and the first resistor in the second channel module, and out of the fifth terminal.

11. The motor driver according to claim 8, characterized in that In the third current channel, current flows from the second terminal through the first signal terminal of the first optocoupler in the first channel module, through the second signal terminal of the first optocoupler in the first channel module and the second resistor in the first channel module, and out of the first terminal; and In the fourth current channel, current flows from the fourth terminal through the first signal end of the first optocoupler in the second channel module, through the second signal end of the first optocoupler 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 optocoupler in the switch module and the second input end of the second optocoupler in the switch module, and out of the first terminal.

12. The motor driver according to claim 9, wherein In the fifth current channel, current flows from the first terminal through the second resistor in the first channel module, through the second signal terminal of the first photocoupler in the first channel module and the first input terminal of the first photocoupler in the first channel module, and out of the second terminal; and In the sixth current channel, current flows from the first terminal through the second input end of the second optocoupler in the switch module, through the second output end of the second optocoupler in the switch module, through the second resistor in the second channel module, through the second signal end of the first optocoupler in the second channel module and the first signal end of the first optocoupler in the second channel module, and out of the fourth terminal.

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