CAN stepping motor driver and CAN stepping motor driving system

Abstract

The utility model discloses a CAN stepping motor driver, and relates to the technical field of stepping motor drivers. The CAN stepping motor driver comprises a CAN communication circuit, a master control circuit, a motor control circuit, a driving circuit and a signal processing circuit. The CAN communication circuit is provided with a ninth interface and a tenth interface which are connected in parallel, and the CAN communication circuit is connected with an external CAN communication network through the ninth interface or the tenth interface to obtain execution data of the stepping motor; the CAN communication circuit is connected with the main control circuit; the main control circuit is connected with the motor control circuit; the motor control circuit is connected with the driving circuit; the signal processing circuit is connected with the motor control circuit; by adopting the CAN stepping motor driver provided by the utility model, the problems of inconvenience in maintenance and high cost of the existing stepping motor driver can be solved. The utility model also discloses a CAN stepping motor driving system.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of step motor driver especially relates to a CAN step motor driver and CAN step motor drive system. BACKGROUND

[0002] With the rapid development of robot technology, the application of step motor in the field of robot will further expand. As the core of future intelligent manufacturing, robot needs high-precision driving device to realize various movements, and step motor can meet this demand. Step motor has high rotation accuracy, convenient and flexible control, and can accurately execute various instructions, and will play an important role in large-scale production and application of robot. Step motor driver is the key equipment for controlling the rotation of step motor. Step motor driver has pulse, serial communication and CAN communication control forms. Among them, CAN communication control mode is the most widely used.

[0003] CAN communication control mode is the communication mode of local area network, so each step motor controller needs to have both CAN communication input interface and CAN communication networking interface. In the existing step motor driver with CAN communication control mode, there is only one CAN communication input interface. When multiple step motor controllers are used in networking, multiple cables are connected to the CAN communication line, which will inevitably connect the CAN communication cable as a "star wiring" mode, and this mode will have a serious impact on data transmission, resulting in unstable data transmission.

[0004] Secondly, between the step motor controller and the step motor, in order to shorten the length of motor power line and encoder line, they are often installed nearby, and the linear or rotary mechanical movement mechanism driven by the step motor needs to use on-off sensor to detect the starting position, limit position or zero position of movement. In the existing step motor controller with CAN communication control mode, there is no interface for transmitting signals of each position detection sensor, and the sensor signal cable needs to be connected to the interface of the upper controller remotely.

[0005] In summary, the existing step motor controller with CAN communication control mode has the disadvantages of inconvenient maintenance, high cost and poor anti-interference performance.

[0006] Therefore, it is urgent to design a CAN step motor driver and CAN step motor drive system to solve the above problems. INVENTION CONTENTS

[0007] The technical problem to be solved by the utility model lies in providing a CAN step motor driver and CAN step motor drive system, which can solve the problems of inconvenient maintenance and high cost in the existing step motor driver.

[0008] In order to solve the above technical problems, the utility model provides a kind of CAN stepper motor driver, including CAN communication circuit, main control circuit, motor control circuit, drive circuit and signal processing circuit;The CAN communication circuit is equipped with the ninth interface and the tenth interface parallel to each other, the CAN communication circuit is connected with the CAN communication network outside by the ninth interface or the tenth interface to obtain the execution data of stepper motor;The CAN communication circuit is connected with the main control circuit, and the CAN communication circuit sends the execution data to the main control circuit;The main control circuit is connected with the motor control circuit, and the main control circuit calculates the operating parameter of stepper motor according to the execution data, and sends the operating parameter to the motor control circuit;The motor control circuit is connected with the drive circuit, and the motor control circuit converts the operating parameter into pulse signal, and sends the pulse signal to the drive circuit to drive stepper motor to rotate;The signal processing circuit is connected with the motor control circuit, and the signal processing circuit obtains the rotation position information of stepper motor and sends the rotation position information to the motor control circuit, so that the motor control circuit fine tunes the rotation position of stepper motor and sends feedback information to the main control circuit;The main control circuit converts the feedback information into CAN communication data, and sends the CAN communication data to the CAN communication network outside by the CAN communication circuit.

[0009] As an improvement of the above scheme, the CAN stepper motor driver further comprises at least one switch quantity sensor interface circuit connected with the main control circuit, the switch quantity sensor interface circuit is used for connecting a sensor to obtain a sensing signal and sending the sensing signal to the main control circuit.

[0010] As an improvement of the above scheme, the switch quantity sensor interface circuit comprises a fifth interface, an eleventh diode, a twenty-seventh capacitor and a twenty-sixth resistor; the fifth interface is provided with a first pin, a second pin and a third pin, the first pin is connected with a power supply, the second pin is grounded, and the third pin is connected with a negative electrode of the eleventh diode, a positive electrode of the eleventh diode is grounded through the twenty-seventh capacitor and connected with the main control circuit through the twenty-sixth resistor.

[0011] As an improvement of the above scheme, the switch quantity sensor interface circuit is provided with four.

[0012] As an improvement of the above scheme, the CAN stepper motor driver further comprises a dial switch group for setting CAN communication ID, and the dial switch group is connected with the main control circuit.

[0013] As an improvement of the above scheme, the drive circuit is a bridge field effect transistor drive circuit.

[0014] As an improvement of the above-mentioned scheme, the CAN stepper motor driver further comprises an indicator light circuit connected with the master control circuit.

[0015] As an improvement of the above-mentioned scheme, the CAN stepper motor driver further comprises a second interface connected with the driving circuit, and the driving circuit drives the stepper motor to rotate through the second interface.

[0016] Correspondingly, the utility model discloses a CAN stepper motor driving system, including above-mentioned CAN stepper motor driver, stepper motor, encoder, sensor and upper controller, sensor is connected with stepper motor, is used for gathering the sensing signal of stepper motor, CAN stepper motor driver is connected with stepper motor, sensor and upper controller respectively, is used for driving stepper motor, obtains and sends the sensing signal of sensor to upper controller, encoder is connected with the main shaft of stepper motor to obtain the rotary position information of stepper motor and sends rotary position information to CAN stepper motor driver.

[0017] The utility model has the advantages that:

[0018] The CAN stepper motor driver and the CAN stepper motor driving system of the utility model have the ninth interface and the tenth interface in parallel, can perform ring networking, each CAN stepper motor driver is provided with the ninth interface and the tenth interface, one of which is used for connecting the upper CAN communication interface, and the other is used for connecting the lower CAN communication interface, so that the CAN stepper motor drivers can be connected in a ring, multiple cables are avoided from being connected to the CAN communication line, the stability of the CAN communication line is enhanced, the amount of cable used is reduced, maintenance is convenient, and the cost is reduced.

[0019] Further, the CAN stepper motor driver and the CAN stepper motor driving system of the utility model are further provided with the on-off sensor interface circuit, the signals of the sensor are directly transmitted to the upper controller through the internal circuit of the CAN stepper motor driver, the problem that the sensor needs to be connected to the upper controller by using an external cable is solved, the stability and the anti-interference ability of the sensor signals are improved, the amount of cable used is reduced, and the cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a structure schematic view of the CAN stepper motor driver of the utility model;

[0021] Figure 2 It is a circuit diagram of the on-off sensor interface circuit in the CAN stepper motor driver of the utility model;

[0022] Figure 3 A circuit diagram of the second interface in the CAN stepper motor driver of the utility model;

[0023] Figure 4 A circuit diagram of the CAN communication circuit in the CAN stepper motor driver of the utility model;

[0024] Figure 5 A circuit diagram of the main control circuit in the CAN stepper motor driver of the utility model;

[0025] Figure 6 A circuit diagram of the indicator lamp circuit in the CAN stepper motor driver of the utility model;

[0026] Figure 7 A circuit diagram of the motor control circuit in the CAN stepper motor driver of the utility model;

[0027] Figure 8 A circuit diagram of the driving circuit in the CAN stepper motor driver of the utility model;

[0028] Figure 9 A circuit diagram of the signal processing circuit in the CAN stepper motor driver of the utility model;

[0029] Figure 10 A structure schematic diagram of the CAN stepper motor driving system of the utility model. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model will be described in further detail below in combination with the drawings. Only this declaration, the up, down, left, right, front, back, inside, outside and other orientation words appearing in the text or about to appear of the utility model, only take the drawings of the utility model as the base, it is not the specific limitation to the utility model.

[0031] As Figure 1 shown, the CAN stepper motor driver of the utility model includes a CAN communication circuit 1, a main control circuit 2, a motor control circuit 3, at least one driving circuit 4, a second interface J2 connected with a stepper motor and a signal processing circuit 5. Specifically:

[0032] The CAN communication circuit 1 is provided with a ninth interface J9 and a tenth interface J10 parallel to each other, and the CAN communication circuit is connected with an external CAN communication network through the ninth interface J9 or the tenth interface J10 to obtain execution data of the stepper motor.

[0033] The CAN communication circuit 1 is connected with the main control circuit 2, and the CAN communication circuit 1 sends the execution data to the main control circuit 2.

[0034] The main control circuit 2 is connected with the motor control circuit 3, the main control circuit 2 calculates the operation parameter of the stepping motor according to the execution data, and sends the operation parameter to the motor control circuit 3;

[0035] The motor control circuit 3 is connected with the driving circuit 4, the motor control circuit 3 converts the operation parameter into a pulse signal, and sends the pulse signal to the driving circuit 4 to drive the stepping motor to rotate;

[0036] The signal processing circuit 5 is connected with the motor control circuit 3, the signal processing circuit 5 obtains the rotation position information of the stepping motor and sends the rotation position information to the motor control circuit 3, so that the motor control circuit 3 fine tunes the rotation position of the stepping motor and sends feedback information to the main control circuit 2;

[0037] The main control circuit 2 converts the feedback information into CAN communication data, and sends the CAN communication data to the external CAN communication network through the CAN communication circuit 1.

[0038] The utility model CAN stepping motor driver through setting parallel's ninth interface J9 and tenth interface J10, can carry out annular networking, each CAN stepping motor driver all is equipped with ninth interface J9 and tenth interface J10, one is used for connecting the CAN communication interface of last stage, the other is used for connecting the CAN communication interface of next stage, just can connect each CAN stepping motor driver annularly. Thus avoid multiple cable connection to CAN communication line, enhance the stability of CAN communication line, reduce the cable usage amount, it is convenient to maintain, reduce cost.

[0039] Further, the CAN stepping motor driver further comprises at least one on-off sensor interface circuit connected with the main control circuit 2, the on-off sensor interface circuit is used for connecting a sensor to obtain a sensing signal and send the sensing signal to the main control circuit 2.

[0040] As shown in the drawing, Figure 2 In the embodiment, the on-off sensor interface circuit is provided with four. Since the four on-off sensor interface circuits are identical in structure, the specification takes one of them as an example for specific structural description:

[0041] The switch quantity sensor interface circuit comprises a fifth interface J5, an eleventh diode D11, a twenty-seventh capacitor C27 and a twenty-sixth resistor R26, the fifth interface J5 is provided with a first pin, a second pin and a third pin, the first pin of the fifth interface J5 is connected with the positive pole of a 24V power supply, the second pin of the fifth interface J5 is grounded, the third pin of the fifth interface J5 is connected with the negative pole of the eleventh diode D11, the positive pole of the eleventh diode D11 is grounded through the twenty-seventh capacitor C27 and is connected with the main control circuit 2 through the twenty-sixth resistor R26.

[0042] Preferably, the model of the fifth interface J5 is PH2.0-3P-Vertical, and the model of the eleventh diode is 1N4148WS, but the application is not limited thereto.

[0043] As shown in Figure 3 , the CAN stepper motor driver further comprises a second interface J2 connected with the driving circuit 4, and the driving circuit 4 drives the stepper motor to rotate through the second interface J2. The second interface J2 is provided with a first pin to a sixth pin, the first pin to the fourth pin of the second interface J2 are used for connecting the motor control circuit 3, the fifth pin of the second interface J2 is connected with the positive pole of a 24V power supply, and the sixth pin of the second interface J2 is grounded. Preferably, the model of the second interface J2 is KF128L-3.5-6P, but the application is not limited thereto.

[0044] Therefore, the CAN stepper motor driver of the application solves the problem that the sensor needs to be connected to the upper controller by using an external cable, improves the stability and anti-interference ability of the sensor signal, reduces the amount of cable used, and reduces the cost.

[0045] In combination Figures 1-9 , the CAN communication circuit 1, the main control circuit 2, the motor control circuit 3, the driving circuit 4 and the signal processing circuit 5 will be described in detail as follows:

[0046] I. CAN communication circuit 1

[0047] As shown in Figure 4 , the CAN communication circuit 1 further comprises a fourth driving chip U4, a twenty-ninth capacitor C29, a thirty-fourth capacitor C34, a first coil FL1, a second switch group SW2 and a fifth multi-path electrostatic suppressor D5.

[0048] The fourth driving chip U4 is provided with a sending pin TXD, a receiving pin RXD, a positive pin VCC, a high level pin CANH, a low level pin CANL, a ground pin GND, a voltage pin VIO and a selection pin S;

[0049] The ninth interface J9 and the tenth interface J10 are both provided with a first pin, a second pin and a third pin, the first pin of the ninth interface J9 and the first pin of the tenth interface J10 are both grounded;

[0050] The sending pin TXD and the receiving pin RXD are both connected with the main control circuit 2;

[0051] The positive pin VCC is connected with the positive pole of a 5V power supply and grounded through the twenty-ninth capacitor C29;

[0052] The voltage pin VIO is connected with the positive pole of a 3.3V power supply, connected with the selection pin S and the ground pin GND through the thirty-fourth capacitor C34 and grounded;

[0053] The second end of the first coil FL1 is connected with the high level pin CANH, the third end of the first coil FL1 is connected with one end of the second switch group SW2 and the second pin of the ninth interface J9 / tenth interface J10;

[0054] The first end of the first coil FL1 is connected with the low level pin CANL, the fourth end of the first coil FL1 is connected with the other end of the second switch group SW2 and the third pin of the ninth interface J9 / tenth interface J10;

[0055] The second switch group SW2 is connected with the fifth multi-path electrostatic suppressor D5 in parallel;

[0056] The second switch group SW2 comprises a second switch and a twenty-fourth resistor R24 connected with the second switch in series.

[0057] Preferably, the model of the fourth driving chip U4 is TJA1051 T / 3, the model of the first coil FL1 is ACT45B-510-2P-TL003, the model of the fifth multi-path electrostatic suppressor D5 is SMC24, and the model of the ninth interface J9 and the tenth interface J10 is PH2.0-3P-Vertical, but not limited thereto.

[0058] The CAN communication circuit 1 receives the data of the stepping motor executed through the ninth interface J9 / tenth interface J10 and transmits the data to the main control circuit 2.

[0059] II. Main control circuit 2

[0060] As Figure 5As shown, the main control circuit 2 comprises a third drive chip U3, a tenth resistor R10, a fifteenth capacitor C15, a thirteenth resistor R13, a first resonator Y1, a twenty-third resistor R23, a fourth light emitting diode D4, a sixteenth resistor R16, a seventeenth resistor R17, a twenty-second capacitor C22, a first capacitor group and a third interface J3;

[0061] The third drive chip U3 is provided with a reset pin NRST, a configuration pin BOOT0, a zeroth general pin PO0, a first general pin PO1, a thirteenth indicator light pin PC13, a zeroth B-end general pin PB0 to a fifteenth B-end general pin PB15 and a zeroth A-end general pin PA0 to a fifteenth A-end general pin PA15.

[0062] The reset pin NRST is connected to the positive pole of a 3.3V power supply through the tenth resistor R10 and connected to one end of the fifteenth capacitor C15;

[0063] The configuration pin BOOT0 is grounded through the thirteenth resistor R13 and connected to the other end of the fifteenth capacitor C15;

[0064] The first resonator Y1 is grounded, one end of the first resonator Y1 is connected to the zeroth general pin PD0, and the other end of the first resonator Y1 is connected to the first general pin PD1;

[0065] The thirteenth indicator light pin PC13 is grounded in turn through the twenty-third resistor R23 and the fourth light emitting diode D4;

[0066] The zeroth B-end general pin PB0 is connected to the positive pole of a 24V power supply through the sixteenth resistor R16 and grounded through the seventeenth resistor R17, and the twenty-second capacitor C22 is connected in parallel with the seventeenth resistor R17;

[0067] The first B-end general pin PB1 and the second B-end general pin PB2 are connected to the motor control circuit 3;

[0068] The third B-end general pin PB3 to the sixth B-end general pin PB6 are connected to the switch quantity sensor interface circuit;

[0069] The seventh B-end general pin PB7 to the ninth B-end general pin PB9 and the third A-end general pin PA3 are used to connect the indicator light circuit;

[0070] The tenth B-end general pin PB10 and the eleventh B-end general pin are respectively connected to the transmission pin Tx3-PB10 of an external element and the receiving pin Rx-PB11 of an external element;

[0071] The CAN stepper motor further comprises a dial switch group SW1 for setting a CAN communication ID, which is connected with the master control circuit 2.

[0072] The dial switch group SW1 is provided with a first switch to a fifth switch, wherein one end of the first switch to the fourth switch is respectively connected with the twelfth B end universal pin PB12 to the fifteenth B end universal pin PB15, and the other end is grounded, and one end of the fifth switch is connected with the fifteenth A end universal pin PBA15, and the other end is grounded.

[0073] The third drive chip U3 is further provided with a backup power supply pin VBAT, a main power supply pin VDD and an analog power supply pin VDDA, which are all connected with a 3.3V power supply positive pole and grounded through the first capacitor group, preferably, the main power supply pin VDD is provided with three;

[0074] The first capacitor group comprises a sixteenth capacitor C16, a seventeenth capacitor C17, an eighteenth capacitor C18 and a nineteenth capacitor C19 in parallel;

[0075] The zeroth A end universal pin PA0 and the first A end universal pin PA1 are both connected with the motor control circuit 3 and the signal processing circuit 5.

[0076] The second A end universal pin PA2, the fourth A end universal pin PA4 to the tenth A end universal pin PA10 are all connected with the motor control circuit 3.

[0077] The eleventh A end universal pin PA11 and the twelfth A end universal pin PA12 are connected with the CAN communication circuit 1.

[0078] The third interface J3 is provided with a first pin to a fourth pin, the first pin of the third interface J3 is grounded, the second pin of the third interface J3 is connected with a 3.3V power supply positive pole, the third pin of the third interface J3 is connected with the fourteenth A end universal pin PA14, and the fourth pin of the third interface J3 is the thirteenth A end universal pin PA13.

[0079] Preferably, the model of the first resonator Y1 is CSTNE8M00G520000R0 (8MHZ), the model of the first dial switch group SW1 is DSHP05TSGET, the model of the third drive chip is STM32F103C8T6, and the model of the third interface J3 is X4611WV-04I-C28D4, but it is not limited thereto.

[0080] As Figure 6As shown, the CAD stepper motor driver further comprises an indicator light circuit connected with the main control circuit 2. Preferably, the indicator light circuit is 4, since the 4 indicator light circuits are the same, this book illustrates one of them:

[0081] The indicator light circuit comprises a sixth light emitting diode D6 and a twenty-eighth resistor R28, the negative electrode of the sixth light emitting diode D6 is grounded, and the positive electrode of the sixth light emitting diode D6 is connected with the main control circuit 2 through the twenty-eighth resistor R28. The main control circuit 2 calculates the parameter data required for the operation of the stepper motor according to the execution data transmitted from the CAN communication circuit 1 and transmits it to the motor control circuit 3.

[0082] Three, motor control circuit 3

[0083] As shown in the figure, Figure 7 The motor control circuit 3 comprises a first control chip IC1, a sixth capacitor C6, a fourth capacitor C4, a first capacitor C1, a third capacitor C3, an eighth capacitor C8, a ninth capacitor C9, a twelfth capacitor C12, a sixth resistor R6, an eighteenth resistor R18 and a twenty-fourth capacitor C24;

[0084] The first control chip IC1 is provided with a motor power supply pin VSA, a current control O end pin CPO, a current control I end pin CPI, a control power supply pin VCP, a power supply input pin VS, a 12V output pin 12VOUT, a 5V output pin 5VOUT, a chip power supply pin VCC, a third configuration chip pin CSN_CFG3, a second configuration chip pin CSN_CFG2, a first configuration data pin SDI_CFG1, a zeroth configuration data pin SDO_CFG0, a first monitoring pin DIAG1_SWP, a zeroth monitoring pin DIAG0_SWN, a drive enable pin DRV_ENN, a stepper control pin REFL_STEP, a direction control pin REFR_DIR, a fifth encoder configuration pin ENCA_CFG5, a fourth encoder configuration pin ENCA_CFG4, a setting mode pin SD_MODE, a communication mode pin SPI_MODE and a digital power supply pin VCC_IO;

[0085] The motor power supply pin VSA is connected with the positive electrode of the 24V power supply and grounded through the sixth capacitor C6;

[0086] The current control O end pin CPO is connected with the current control I end pin CPI through the fourth capacitor C4;

[0087] The control power supply pin VCP connects the power supply input pin VS through the first capacitor C1, and the power supply input pin VS is connected to the positive pole of a 24V power supply and grounded through the third capacitor C3;

[0088] The 12V output pin 12VOUT, 5V output pin 5VOUT and chip power supply pin VCC are grounded through the eighth capacitor C8, ninth capacitor C9 and twelfth capacitor C12 respectively, and the 5V output pin 5VOUT is connected to the chip power supply pin VCC through the sixth resistor R6;

[0089] The third configuration chip pin CSN_CFG3, second chip configuration pin CSN_CFG2, first configuration data pin SDI_CFG1, zeroth configuration data pin SDO_CFG0, first monitoring pin DIAG1_SWP, zeroth monitoring pin DIAG0_SWN, drive enable pin DRV_ENN, step control pin REFL_STEP, direction control pin REFR_DIR and setting mode pin SD_MODE are all connected to the master control circuit 2;

[0090] The fifth encoder configuration pin ENCA_CFG5 and fourth encoder configuration pin ENCA_CFG4 are both connected to the master control circuit 2 and signal processing circuit 5;

[0091] The communication mode pin SPI_MODE is connected to the positive pole of a 3.3V power supply;

[0092] The digital power supply pin VCC_IO is connected to the positive pole of a 3.3V power supply and grounded through the twenty-fourth capacitor C24;

[0093] The first control chip IC1 is also provided with at least one pin group connected to the drive circuit 4, and preferably, the pin group is provided with two, and since the two pin groups are the same in structure, this specification takes one of them as an example: the pin group includes a second A-end coil pin CA2, a second A-end high-side pin HA2, a first A-end coil pin CA1, a first A-end high-side pin HA1, a first A-end bridge pin BMA1, a second A-end bridge pin BMA2, a first A-end low-side pin LA1, a second A-end low-side pin LA2, a high-side A-end shutdown pin SRAH and a low-side A-end shutdown pin SRAL;

[0094] Among them, the first A-end bridge pin BMA1 and the second A-end bridge pin BMA2 are also connected to the second interface J2.

[0095] Preferably, the model of the first control chip IC1 is TMC5160A-TA, but it is not limited thereto.

[0096] The motor control circuit 3 converts the parameter data transmitted from the main control circuit 2 into pulse signals required for the stepper motor to run.

[0097] IV. Drive Circuit 4

[0098] like Figure 8 As shown, the driving circuit 4 is a bridge MOSFET driving circuit. Preferably, there are two driving circuits 4. Since the two driving circuits 4 have the same structure, this description uses one of them as an example: The driving circuit 4 includes a first A-terminal MOSFET Q1A, a second A-terminal MOSFET Q2A, a first B-terminal MOSFET Q1B, a second B-terminal MOSFET Q2B, a second capacitor C2, a first resistor R1, a second resistor R2, a fifth capacitor C5, a seventh capacitor C7, a third resistor R3, a fourth resistor R4, a seventh resistor R7, a thirteenth capacitor C13, an eighth resistor R8, and a ninth resistor R9;

[0099] The gate of the first A-terminal MOSFET Q1A is connected to the motor control circuit 3 through the first resistor R1. The drain of the first A-terminal MOSFET Q1A is connected to the positive terminal of the 24V power supply and to the drain of the first B-terminal MOSFET Q1B, and is grounded through the second capacitor C2. The source of the first A-terminal MOSFET Q1A is connected to the drain of the second A-terminal MOSFET Q2A and to the motor control circuit 3 and the second interface J2, and is connected to the motor control circuit 3 through the fifth capacitor C5.

[0100] The gate of the first B-terminal MOS transistor Q1B is connected to the motor control circuit 3 through the second resistor R2. The source of the first B-terminal MOS transistor Q1B is connected to the drain of the second B-terminal MOS transistor Q2B and connected to the motor control circuit 3 and the second interface J2, and connected to the motor control circuit 3 through the seventh capacitor C7.

[0101] The gate of the second A-terminal MOSFET Q2A is connected to the motor control circuit 3 through the third resistor R3. The source of the second A-terminal MOSFET Q2A is connected to the source of the second B-terminal MOSFET Q2B and is connected to the motor control circuit 3 through the seventh resistor R7. After passing through the eighth resistor R8, it is grounded, connected to the external differential signal SG2, and connected to the motor control circuit 3 through the ninth resistor R9.

[0102] The two ends of the thirteenth capacitor C13 are connected in parallel with the eighth resistor R8 through the seventh resistor R7 and the ninth resistor R9, respectively;

[0103] The gate of the second B-terminal MOS transistor Q2B is connected to the motor control circuit 3 through the fourth resistor R4.

[0104] Preferably, the first A-terminal MOSFET Q1A, the second A-terminal MOSFET Q2A, the first B-terminal MOSFET Q1B, and the second B-terminal MOSFET Q2B are of model number WSP4984, and the eighth resistor is of model number HoYH1206-1W-75mR-1%, but this is not a limitation.

[0105] The pulse signal transmitted from the motor control circuit 3 drives the stepper motor to rotate through the drive circuit 4 and the second interface J2.

[0106] V. Signal Processing Circuit 5

[0107] like Figure 9 As shown, the signal processing circuit 5 includes a fifth driver chip U5, a thirtieth capacitor C30, and a seventh interface J7;

[0108] The fifth driver chip U5 has a first output pin 1Y, a second output pin 2Y, a differential power supply pin VCC, an enable signal pin G, a first B-end input pin 1B, a first A-end input pin 1A, a second A-end input pin 2A, and a second B-end input pin 2B. The seventh interface J7 has a first pin to a sixth pin.

[0109] Both the first output pin 1Y and the second output pin 2Y are connected to the main control circuit 2 and the motor control circuit 3;

[0110] The differential power supply pin VCC is connected to the positive terminal of the 5V power supply and grounded through the thirtieth capacitor C30;

[0111] The enable signal pin G is connected to the differential power supply pin VCC;

[0112] The first B-end input pin 1B, the first A-end input pin 1A, the second A-end input pin 2A, and the second B-end input pin 2B are respectively connected to the first to fourth pins of the seventh interface J7;

[0113] The fifth pin of the seventh interface J7 is connected to the positive terminal of the 5V power supply, and the sixth pin of the seventh interface J7 is grounded.

[0114] Preferably, the fifth driver chip U5 is model AM26LS32ACPWR and the seventh interface J7 is model PH2.0-6P-VERT I CAL, but this is not a limitation.

[0115] Therefore, the CAN stepper motor driver of this invention achieves information exchange through a unique and simple circuit structure, thereby better driving the stepper motor.

[0116] like Figure 10As shown, the utility model discloses a kind of CAN stepper motor driver and CAN stepper motor driving system, including the CAN stepper motor driver 100, stepper motor 101, encoder 102, sensor 103 and upper controller 104;The sensor 103 is connected with the stepper motor 101, for collecting the sensing signal of the stepper motor 101;The CAN stepper motor driver 100 is connected with the stepper motor 101, sensor 103 and upper controller 104 respectively, for driving the stepper motor 101, obtain and send the sensing signal of the sensor 103 to the upper controller 104;The encoder 102 is connected with the main shaft of the stepper motor 101 to obtain the rotation position information of the stepper motor 101 and send the rotation position information to the CAN stepper motor driver 100.

[0117] In conclusion, the utility model CAN stepper motor driver and CAN stepper motor driving system are connected to CAN communication line by setting parallel ninth interface J9 and tenth interface J10, avoid multiple cable connection to CAN communication line, make CAN communication line connection as "star wiring" condition, enhance the stability of CAN communication line, reduce cable usage amount, it is convenient to maintain, reduce cost.CAN stepper motor driver of the utility model is further set four on-off sensor interface circuit, solve the cable of sensor and need long-distance connection to host controller Problem, so that sensor signal can be connected nearby, improve the stability and anti-interference ability of sensor signal, reduce cable usage amount, reduce cost.

[0118] The above is the preferred embodiment of the utility model, it should be pointed out, for ordinary skilled person in the art, without departing from the principles of the utility model, can make a number of improvements and refinements, these improvements and refinements also be considered as the protection scope of the utility model.

Claims

1. A CAN stepper motor driver, characterized by, The CAN communication circuit, the main control circuit, the motor control circuit, the driving circuit and the signal processing circuit are included. The CAN communication circuit is provided with a ninth interface and a tenth interface which are connected in parallel. The CAN communication circuit is connected with the main control circuit. The main control circuit is connected with the motor control circuit. The motor control circuit is connected with the driving circuit. The signal processing circuit is connected with the motor control circuit. The main control circuit is connected with the signal processing circuit.

2. The CAN stepper motor driver of claim 1, wherein, The main control circuit is connected with the switch sensor interface circuit.

3. The CAN stepper motor driver of claim 2, wherein, The switch sensor interface circuit includes a fifth interface, a twelfth diode, a twenty-seventh capacitor and a twenty-sixth resistor. The fifth interface is provided with a first pin, a second pin and a third pin.

4. The CAN stepper motor driver of claim 2, wherein, The switch sensor interface circuit is provided with four.

5. The CAN stepper motor driver of claim 1, wherein, The dial switch group is connected with the main control circuit.

6. The CAN stepper motor driver of claim 1, wherein, The driving circuit is a bridge field effect transistor driving circuit.

7. The CAN stepper motor driver of claim 1, wherein, The indicator circuit is connected with the main control circuit.

8. The CAN stepper motor driver of claim 1, wherein, The second interface is connected with the driving circuit.

9. A CAN stepper motor drive system characterized by comprising: The CAN stepper motor driver, the stepper motor, the encoder, the sensor and the upper controller are included. The sensor is connected with the stepper motor. The CAN stepper motor driver is connected with the stepper motor, the sensor and the upper controller. The sensor is connected with the stepper motor. The CAN stepper motor driver is connected with the stepper motor, the sensor and the upper controller. The encoder is connected with a main shaft of the stepper motor to acquire rotation position information of the stepper motor and send the rotation position information to the CAN stepper motor driver.

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