Three-axis motion controller circuit

Abstract

The embodiment of the utility model discloses a three-axis motion controller circuit, which belongs to the technical field of motion controllers, and is characterized in that the input end of a central processing unit module is electrically connected with the output end of a data storage circuit, and the output end of the central processing unit module is electrically connected with the input end of a differential pulse circuit; the output end of the input isolation circuit is electrically connected with the input end of the central processing unit module, the input end of the power output circuit is electrically connected with the output end of the differential pulse circuit, and the output end of the power conversion circuit is electrically connected with the input end of the central processing unit module and the input end of the communication circuit. The output end of the communication circuit is electrically connected with the input end of the central processing unit module, and the input end of the data storage circuit is electrically connected with the input end of the USB interface circuit. According to the embodiment of the invention, complex track movement in a file can be completed, the efficiency is improved through real-time response, the complexity is reduced, and the stability is improved.

Description

Technical Field

[0001] This application belongs to the field of motion controller technology, and more specifically, relates to a three-axis motion controller circuit. Background Technology

[0002] In the current field of industrial production and automation, motion controllers serve as the control brain of industrial automation. The accuracy and efficiency of motion control circuits play a crucial role in improving production quality and efficiency.

[0003] However, existing motion control systems have certain limitations in handling complex motion trajectories, multi-axis collaborative control, and real-time response, resulting in insufficient accuracy, low efficiency, poor stability, and complex programming in the production process. Utility Model Content

[0004] To address the aforementioned problems and technical deficiencies, the embodiments of this application adopt the following technical solution: a three-axis motion controller circuit, comprising: a central processing unit module, a differential pulse circuit, an input isolation circuit, a power output circuit, a power conversion circuit, a data storage circuit, a USB interface circuit, and a communication circuit;

[0005] The input terminal of the central processing unit module is electrically connected to the output terminal of the data storage circuit;

[0006] The output terminal of the central processing unit module is electrically connected to the input terminal of the differential pulse circuit;

[0007] The output terminal of the input isolation circuit is electrically connected to the input terminal of the central processing unit module;

[0008] The input terminal of the power output circuit is electrically connected to the output terminal of the differential pulse circuit;

[0009] The output terminal of the power conversion circuit is electrically connected to the input terminal of the central processing unit module and the input terminal of the communication circuit.

[0010] The output terminal of the communication circuit is electrically connected to the input terminal of the central processing unit module;

[0011] The input terminal of the data storage circuit is electrically connected to the input terminal of the USB interface circuit.

[0012] Preferably, the central processing unit module is an ARM processor, which adopts the ARM hardware architecture and is capable of performing Double-type hardware floating-point operations.

[0013] Furthermore, the differential pulse circuit is used to perform differential circuit conversion on the data output by the central processing unit module, and output a control motor driver pulse signal.

[0014] Furthermore, the input isolation circuit includes an optocoupler circuit to isolate external 24V switching signals and convert them to 3.3V input to the central processing unit module.

[0015] Furthermore, the power output circuit includes a MOSFET, which amplifies the control signal output by the central processing unit module to complete the effective load for power output drive.

[0016] Furthermore, the power conversion circuit is used to adjust the externally input DC 24V voltage to 5V or 3.3V.

[0017] Preferably, the communication circuit includes an RS485 communication interface and an RS232 communication interface. The RS485 communication interface is used to communicate and exchange data with external devices, and the RS232 communication interface is used to connect to the programming handle TP for trajectory teaching programming, and the data stream is checked by CRC16.

[0018] Furthermore, the data storage circuit is an SDNAND memory, which is connected to the central processing unit module via the SDMMC bus.

[0019] Furthermore, the USB interface circuit is used to connect a USB flash drive for system firmware upgrades.

[0020] Compared with the prior art, the beneficial effects of the embodiments of this application are as follows:

[0021] This application uses an ARM-based central processing unit module for data processing. When a processing file is read from the data storage circuit, the processing file is read and sent to the decoding task for simultaneous motion instruction parsing. The parsed data is placed in a circular queue for waiting. When the interpolation task detects data in the circular queue, it sends the data from the circular queue to the trajectory planning task for acceleration and deceleration motion planning and calculation. The coarse interpolation task performs periodic pulse calculation and sends the periodic pulse calculation result to the fine interpolation algorithm. The calculation result is sent to the differential pulse circuit. The timer controls the pulse differential circuit to output pulse control signals to complete the complex trajectory motion in the file. Real-time response improves efficiency and reduces complexity while improving stability. Attached Figure Description

[0022] In the attached diagram:

[0023] Figure 1 This is a circuit diagram of the central processing unit module according to an embodiment of this application;

[0024] Figure 2 This is a differential pulse output circuit diagram according to an embodiment of this application;

[0025] Figure 3This is an input isolation circuit diagram of an embodiment of this application;

[0026] Figure 4 This is a power output circuit diagram of an embodiment of this application;

[0027] Figure 5 This is a power conversion circuit diagram according to an embodiment of this application;

[0028] Figure 6 This is an RS232 communication circuit diagram according to an embodiment of this application;

[0029] Figure 7 This is an RS485 communication circuit diagram according to an embodiment of this application;

[0030] Figure 8 This is a data storage circuit diagram of an embodiment of this application;

[0031] Figure 9 This is a circuit diagram of the USB interface according to an embodiment of this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments. Generally, the components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0033] Example

[0034] A three-axis motion controller circuit includes: a central processing unit module, a differential pulse circuit, an input isolation circuit, a power output circuit, a power conversion circuit, a data storage circuit, a USB interface circuit, and a communication circuit;

[0035] The input terminal of the central processing unit module is electrically connected to the output terminal of the data storage circuit;

[0036] The output terminal of the central processing unit module is electrically connected to the input terminal of the differential pulse circuit;

[0037] The output terminal of the input isolation circuit is electrically connected to the input terminal of the central processing unit module;

[0038] The input terminal of the power output circuit is electrically connected to the output terminal of the differential pulse circuit;

[0039] The output terminal of the power conversion circuit is electrically connected to the input terminal of the central processing unit module and the input terminal of the communication circuit.

[0040] The output terminal of the communication circuit is electrically connected to the input terminal of the central processing unit module;

[0041] The input terminal of the data storage circuit is electrically connected to the input terminal of the USB interface circuit.

[0042] The central processing unit module is an ARM processor, which adopts the ARM hardware architecture and uses ST's STM32H7 high-performance processor, capable of performing Double-type hardware floating-point operations.

[0043] like Figure 2 As shown, the differential pulse circuit is used to perform differential circuit conversion on the data output by the central processing unit module and output a control motor driver pulse signal.

[0044] like Figure 3 As shown, the input isolation circuit includes an optocoupler circuit, which is used to isolate the external 24V switching signal and convert it to 3.3V input to the central processing unit module.

[0045] like Figure 4 As shown, the power output circuit includes a MOSFET, which amplifies the control signal output by the central processing unit module to complete the effective load for power output drive.

[0046] like Figure 5 As shown, the power conversion circuit is used to adjust the externally input DC 24V voltage to 5V or 3.3V. The operating voltage range of the communication circuit is 5V, and the operating voltage range of the central processing unit module is 3.3V.

[0047] like Figure 6 and Figure 7 As shown, the communication circuit includes an RS485 communication interface and an RS232 communication interface. The RS485 communication interface is used to communicate and exchange data with external devices, and the RS232 communication interface is used to connect to the programming handle TP for trajectory teaching programming, and the data stream is checked by CRC16.

[0048] like Figure 8 As shown, the data storage circuit is an SDNAND memory, which is connected to the central processing unit module via the SDMMC bus.

[0049] like Figure 9 As shown, the USB interface circuit is used to connect a USB flash drive for system firmware upgrades.

[0050] like Figure 1 As shown, the central processing unit module includes decoding tasks, a circular queue, interpolation tasks, trajectory planning tasks, coarse interpolation tasks, fine interpolation algorithms, and timers;

[0051] When the processing file is read from the data storage circuit, the processing file is read and sent to the decoding task to perform motion instruction parsing. The parsed data is placed in a circular queue to wait.

[0052] When the interpolation task detects data in the circular queue, it transfers the data from the circular queue to the trajectory planning task and performs motion planning and calculation for acceleration and deceleration.

[0053] After the calculation is completed, the calculation results are sent to the coarse interpolation task for periodic pulse calculation;

[0054] The periodic pulse calculation results are sent to the fine interpolation algorithm, and the calculation results are sent to the differential pulse circuit.

[0055] The timer controls the pulse differential circuit to output pulse control signals, thereby completing the complex trajectory motion in the file.

[0056] The central processing unit module also has a digital input circuit with optical isolation to control the start, pause, reset and user-defined input interfaces of the system.

[0057] The power output circuit is used to drive solenoid valves, relays, indicator lights, and user-defined control output signals to complete the target task in conjunction with motion control.

[0058] The embodiments described above are merely preferred embodiments of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications, improvements, and substitutions without departing from the concept of this application, and these all fall within the protection scope of this application.

Claims

1. A three-axis motion controller circuit, characterized in that, include: Central processing unit module, differential pulse circuit, input isolation circuit, power output circuit, power conversion circuit, data storage circuit, USB interface circuit and communication circuit; The input terminal of the central processing unit module is electrically connected to the output terminal of the data storage circuit; The output terminal of the central processing unit module is electrically connected to the input terminal of the differential pulse circuit; The output terminal of the input isolation circuit is electrically connected to the input terminal of the central processing unit module; The input terminal of the power output circuit is electrically connected to the output terminal of the differential pulse circuit; The output terminal of the power conversion circuit is electrically connected to the input terminal of the central processing unit module and the input terminal of the communication circuit. The output terminal of the communication circuit is electrically connected to the input terminal of the central processing unit module; The input terminal of the data storage circuit is electrically connected to the input terminal of the USB interface circuit.

2. The three-axis motion controller circuit according to claim 1, characterized in that, The central processing unit module is an ARM processor, which uses the ARM hardware architecture and is capable of performing Double-type hardware floating-point operations.

3. The three-axis motion controller circuit according to claim 2, characterized in that, The differential pulse circuit is used to perform differential circuit conversion on the data output by the central processing unit module and output pulse signals to control the motor driver.

4. A three-axis motion controller circuit according to claim 3, characterized in that, The input isolation circuit includes an optocoupler circuit, which isolates the external 24V switching signal and converts it to 3.3V for input to the central processing unit module.

5. A three-axis motion controller circuit according to claim 4, characterized in that, The power output circuit is equipped with a MOSFET, which amplifies the control signal output by the central processing unit module to complete the effective load for power output drive.

6. A three-axis motion controller circuit according to claim 5, characterized in that, The power conversion circuit is used to adjust the externally input DC 24V voltage to 5V or 3.3V.

7. A three-axis motion controller circuit according to claim 6, characterized in that, The communication circuit includes an RS485 communication interface and an RS232 communication interface. The RS485 communication interface is used to communicate and exchange data with external devices, and the RS232 communication interface is used to connect to the programming handle TP for trajectory teaching programming. The data stream is checked by CRC16.

8. A three-axis motion controller circuit according to claim 1, characterized in that, The data storage circuit is an SDNAND memory, which is connected to the central processing unit module via the SDMMC bus.

9. A three-axis motion controller circuit according to claim 1, characterized in that, The USB interface circuit is used to connect a USB flash drive for system firmware upgrades.

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