Low-voltage servo drive circuit

Abstract

The utility model provides a low-voltage servo drive circuit. The low-voltage servo drive circuit comprises a master control circuit, a power conversion circuit, a drive protection circuit, a brake circuit, a CAN communication circuit, a 485 communication circuit, an Ethernet communication circuit, an input end encoder, a tail end multi-turn encoder and an encoder battery, the power conversion circuit outputs working voltage to the main control circuit; the main control circuit is electrically connected with the driving protection circuit, the braking circuit, the CAN communication circuit, the 485 communication circuit and the Ethernet communication circuit respectively; the CAN communication circuit, the 485 communication circuit and the Ethernet communication circuit are respectively used for data transmission; the input end encoder and the tail end multi-turn encoder are respectively connected with the main control circuit; the main control circuit collects rotation data of the input end encoder and the tail end multi-circle encoder and controls the brake circuit and the drive protection circuit to work, and drive control over the motor is achieved. The charging device is good in charging effect and high in reliability.

Description

TECHNICAL FIELD

[0001] The utility model relates to servo drive technical field, concretely relates to a low pressure servo drive circuit. BACKGROUND

[0002] With the continuous development of electronic information technology, automatic control technology promotes the wide application of robots in industrial manufacturing, medical treatment and life service fields. Servo motor is used as an executing element in the automatic control technology system, which can convert the received electric signal into angular displacement or angular velocity output on the motor shaft. The driving board of servo motor, as the core component of industrial automatic control, bears the heavy responsibility of accurately converting control signals into servo motor action instructions. With the continuous progress of electronic technology and control theory, servo driving board has experienced significant changes from traditional analog control to modern digital control.

[0003] The core of the driving board is that it integrates precise current control algorithm and speed and position feedback mechanism. Through PWM (pulse width modulation) technology, the driving board can finely adjust the current of the motor winding, realizing accurate control of the motor output torque. At the same time, the built-in encoder interface receives the position and speed feedback signals from the motor, compares them with the set value, and adjusts the output through the PID (proportion-integral-derivative) control algorithm to ensure stable and accurate operation of the motor.

[0004] In addition, the servo driving board also has powerful communication function, supports various industrial communication protocols such as EtherCAT, PROFINET, etc., which is convenient for real-time data exchange with host computer or PLC (programmable logic controller), realizes remote monitoring and application of advanced control strategy. This feature greatly improves the automation level of production line and promotes the development of intelligent manufacturing.

[0005] Currently, servo driving board is developing towards higher efficiency and intelligence, integrating advanced functions such as fault diagnosis and predictive maintenance to meet the higher requirements of equipment performance and reliability under the background of Industry 4.0. In summary, the driving board of servo motor is not only the bridge connecting control signal and physical action, but also the key force to promote the process of industrial automation and intelligentization.

[0006] The existing low-voltage servo drive circuit technology has certain limitations in some aspects, and the specific defects are as follows:

[0007] Power and torque limitation: due to the low voltage of the low-voltage servo motor, the output power of the drive board and the torque of the motor are relatively small. In some application scenarios that require high power output, the low-voltage servo drive circuit may not meet the demand. Because the voltage is low, the power and torque are small. In addition, when the servo motor needs to increase the power and the voltage does not change, the current of the three-phase circuit can be increased, that is, larger MOS tubes, wider PCB line width and line spacing, and larger heat dissipation area are replaced. The structure of the servo motor is fixed, so that the appearance of the servo drive board cannot be changed, that is, if the wiring space of the three-phase circuit is increased, the wiring space of the remaining circuit will be compressed, and the line installation is troublesome. Utility model content

[0008] The utility model provides a low-voltage servo drive circuit, aims at solving the problem of poor control driving effect of existing servo drive board and troublesome line installation.

[0009] The utility model embodiment provides a low-voltage servo drive circuit, including main control circuit, power conversion circuit, drive protection circuit, brake circuit, CAN communication circuit, 485 communication circuit, ethernet communication circuit, input end encoder, terminal multi -turn encoder and encoder battery;

[0010] The power conversion circuit is used to access the power supply, and the power conversion circuit is used to convert the working voltage of the power supply, and the power conversion circuit is used to output the working voltage to the main control circuit;

[0011] The main control circuit is electrically connected with the drive protection circuit, the brake circuit, the CAN communication circuit, the 485 communication circuit and the ethernet communication circuit respectively;The main control circuit is used to control the drive protection circuit drive motor work;The main control circuit controls the brake circuit and realizes the brake function of the motor;The CAN communication circuit, the 485 communication circuit and the ethernet communication circuit are respectively used for data transmission;

[0012] The encoder battery is used to power the input end encoder and the terminal multi -turn encoder respectively;The input end encoder collects the rotation data of the input end of the motor, and the terminal multi -turn encoder is used to collect the rotation data of the terminal of the motor;The input end encoder and the terminal multi -turn encoder are connected with the main control circuit respectively;The main control circuit collects the rotation data of the input end encoder and the terminal multi -turn encoder and controls the brake circuit and the drive protection circuit work, realizes the drive control of the motor.

[0013] Preferably, the power conversion circuit comprises a first power conversion unit, a second power conversion unit and a third power conversion unit connected in sequence;

[0014] The first power conversion unit is used for connecting the power supply, and the first power conversion unit is used for converting 48V into 12V; the second power conversion unit is used for converting 12V into 5V; and the third power conversion unit is used for converting 5V into 3.3V.

[0015] Preferably, the model of the first power conversion unit is DCDC-SCT2A25.

[0016] The model of the second power conversion unit is DCDC-TPS562201.

[0017] The model of the third power conversion unit is LDO-1117-3.3.

[0018] Preferably, the drive protection circuit comprises a pre-drive overcurrent detection circuit and a three-phase sampling circuit; the output end of the pre-drive overcurrent detection circuit is connected to the main control circuit, the input end of the pre-drive overcurrent detection circuit is connected to the output end of the three-phase sampling circuit, and the input end of the three-phase sampling circuit is connected to the motor.

[0019] Preferably, the brake circuit comprises a resistor R105, a resistor R107, a bidirectional TVS tube D23, a capacitor C115, a driver U9, a resistor R108, a resistor R106, a resistor R109, a capacitor C113, a MOS tube Q7, a capacitor C114, a resistor R110, a unidirectional diode D22, a unidirectional diode D20, an interface end J10, a unidirectional diode D21, a capacitor C112, and a unidirectional diode D19.

[0020] The first end of the resistor R105 is connected to the main control circuit, the second end of the resistor R105 is respectively connected to the first end of the bidirectional TVS tube D23 and the positive input end of the driver U9, the first end of the resistor R107 is grounded, and the second end of the resistor R107 is respectively connected to the second end of the bidirectional TVS tube D23, the negative input end of the driver U9, and the first end of the resistor R106; the output end of the driver U9 is connected to the first end of the resistor R108, the second end of the resistor R108 is respectively connected to the first end of the resistor R109, the second end of the capacitor C113, and the gate of the MOS tube Q7; the second end of the resistor R106 is respectively connected to the second end of the resistor R109, the first end of the capacitor C113, the source of the MOS tube Q7, and the first end of the capacitor C114, the second end of the capacitor C114 is connected to the first end of the resistor R110, and the second end of the resistor R110 is connected to the drain of the MOS tube Q7.

[0021] A first end of the capacitor C115 is grounded, and a second end of the capacitor C115 is connected to the power conversion circuit, which is configured to provide power supply for the driver U9.

[0022] A positive electrode of the unidirectional diode D22 is connected to a positive electrode of the unidirectional diode D20 and a drain of the MOS tube Q7, respectively, and a negative electrode of the unidirectional diode D22 is connected to an external power supply.

[0023] A negative electrode of the unidirectional diode D22 is connected to the interface end J10, a negative electrode of the unidirectional diode D21, a second end of the capacitor C112 and a negative electrode of the unidirectional diode D19, respectively; a positive electrode of the unidirectional diode D21 is connected to the motor; a first end of the capacitor C112 is grounded, and a positive electrode of the unidirectional diode D19 is configured to be connected to a signal input VIN port.

[0024] Preferably, the CAN channel circuit is a CA-IS3062W communication chip.

[0025] Preferably, the 485 channel circuit is a CA-IF4820HD communication chip.

[0026] Preferably, the Ethernet channel circuit comprises an isolation transformer, an EtherCAT slave station and a parameter memory; the EtherCAT slave station and the parameter memory are connected to the main control circuit, respectively, and the EtherCAT slave station is connected to the isolation transformer.

[0027] Preferably, the isolation transformer is a G2426S type; the EtherCAT slave station is a LAN9252 type; and the parameter memory is an EEPROM type.

[0028] Preferably, the main control circuit is a GD32F407 chip or a GD32F427 chip.

[0029] Compared with the prior art, the utility model discloses the beneficial effect lies in, through the power conversion circuit is used for the power supply of access, and the power supply is converted into working voltage, and power conversion circuit output working voltage is to main control circuit, and main control circuit is connected with drive protection circuit, brake circuit, CAN communication circuit, 485 communication circuit and ethernet communication circuit electricity respectively, and main control circuit is used for controlling drive protection circuit drive motor work, and main control circuit controls brake circuit to realize the brake function to motor, and CAN communication circuit, 485 communication circuit and ethernet communication circuit are used for carrying out data transmission respectively, and encoder battery is used for respectively for the input end encoder and end multi -turn encoder power supply, and input end encoder gathers the rotation data of motor's input end, and end multi -turn encoder is used for gathering the rotation data of motor's end, and input end encoder and end multi -turn encoder are connected with main control circuit respectively, and main control circuit gathers the rotation data of input end encoder and end multi -turn encoder and controls brake circuit and drive protection circuit work, realizes the drive control of motor. Such use integrated circuit, can make PCB board area smaller, thereby can be compatible with more different appearance structure's motor. Simultaneously integrated CAN, RS-485 and EtherCAT etc. Variety of communication modes, can significantly improve bus adaptability, reduce system integration difficulty and maintenance cost, and increase the flexibility and compatibility of system. Therefore, this design is very effective for solving the problem of poor bus adaptability. BRIEF DESCRIPTION OF DRAWINGS

[0030] The utility model will be described in detail below in combination with the drawings. The above or other aspects of the utility model will become clearer and more easily understood through the following detailed description in combination with the drawings. In the drawings:

[0031] Figure 1 It is the circuit diagram of low pressure servo drive circuit that the utility model embodiment provides;

[0032] Figure 2 It is Figure 1 The partial close -up view of

[0033] Figure 3 It is the circuit diagram of first power conversion unit that the utility model embodiment provides;

[0034] Figure 4 It is the circuit diagram of second power conversion unit and third power conversion unit that the utility model embodiment provides;

[0035] Figure 5 It is the circuit diagram of main control circuit that the utility model embodiment provides;

[0036] Figure 6 It is the circuit diagram of pre -drive over -current detection circuit that the utility model embodiment provides;

[0037] Figure 7 is a circuit diagram of a three-phase sampling circuit provided by the embodiment of the utility model;

[0038] Figure 8 is a circuit diagram of a brake circuit provided by the embodiment of the utility model;

[0039] Figure 9 is a circuit diagram of a CAN communication circuit provided by the embodiment of the utility model;

[0040] Figure 10 is a circuit diagram of a 485 communication circuit provided by the embodiment of the utility model;

[0041] Figure 11 is a circuit diagram of an EtherCAT slave station provided by the embodiment of the utility model;

[0042] Figure 12 is a circuit diagram of a protection circuit of an Ethernet communication circuit provided by the embodiment of the utility model

[0043] Figure 13 is an interface circuit diagram of an Ethernet communication circuit provided by the embodiment of the utility model.

[0044] In the figure, 1, main control circuit, 2, power conversion circuit, 21, first power conversion unit, 22, second power conversion unit, 23, third power conversion unit, 3, drive protection circuit, 31, pre-drive overcurrent detection circuit, 32, three-phase sampling circuit, 4, brake circuit, 5, CAN communication circuit, 6, 485 communication circuit, 7, Ethernet communication circuit, 71, isolation transformer, 72, EtherCAT slave station, 73, parameter memory, 8, input end encoder, 9, terminal multi-turn encoder, 10, encoder battery. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the utility model more clear and obvious, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model.

[0046] In combination with the drawings Figures 1-13 The utility model embodiment provides a low pressure servo drive circuit, including main control circuit 1, power conversion circuit 2, drive protection circuit 3, brake circuit 4, CAN communication circuit 5, 485 communication circuit 6, Ethernet communication circuit 7, input end encoder 8, terminal multi-turn encoder 9 and encoder battery 10;

[0047] The power conversion circuit 2 is used to access the power supply and convert the power supply into working voltage, and the power conversion circuit 2 outputs the working voltage to the main control circuit 1. The IO voltage of general MCU or DSP is usually 5V / 3.3V, and the current output capability of IO is below 20mA, while the low-voltage servo motor M usually needs 10V voltage and current load above 30mA at the gate to quickly turn on the MOS tube of the three-phase full-bridge circuit. The voltage and current of MCU or DSP are insufficient to directly drive the power MOSFET. The pre-driver circuit first converts the control signal (usually 3.3V or 5V low level and high level signal) output by the MCU or DSP to adapt to the gate drive voltage requirement of the MOS tube. This conversion process usually involves converting the low level signal to 0V and converting the high level signal to a higher voltage (such as 12V or higher) to ensure that the MOS tube can be fully turned on.

[0048] The main control circuit 1 is electrically connected with the drive protection circuit 3, the brake circuit 4, the CAN communication circuit 5, the 485 communication circuit 6 and the Ethernet communication circuit 7 respectively; the main control circuit 1 is used to control the drive protection circuit 3 to drive the motor M to work; the main control circuit 1 controls the brake circuit 4 to realize the brake function of the motor M; the CAN communication circuit 5, the 485 communication circuit 6 and the Ethernet communication circuit 7 are respectively used for data transmission.

[0049] The encoder battery 10 is used to power the input end encoder 8 and the end multi-turn encoder 9 respectively; the input end encoder 8 collects the rotation data of the input end of the motor M, and the end multi-turn encoder 9 is used to collect the rotation data of the end of the motor M; the input end encoder 8 and the end multi-turn encoder 9 are connected with the main control circuit 1 respectively; the main control circuit 1 collects the rotation data of the input end encoder 8 and the end multi-turn encoder 9 and controls the brake circuit 4 and the drive protection circuit 3 to work, realizing the drive control of the motor M.

[0050] In this embodiment, the power conversion circuit 2 comprises a first power conversion unit 21, a second power conversion unit 22 and a third power conversion unit 23 connected in sequence; the first power conversion unit 21 is used to connect the power supply, and the first power conversion unit 21 is used to convert 48V into 12V; the second power conversion unit 22 is used to convert 12V into 5V; and the third power conversion unit 23 is used to convert 5V into 3.3V.

[0051] In this embodiment, the model of the first power conversion unit 21 is DCDC-SCT2A25;

[0052] The model of the second power conversion unit 22 is DCDC-TPS562201.

[0053] The model of the third power conversion unit 23 is LDO-1117-3.3.

[0054] In this embodiment, the drive protection circuit 3 includes a pre-drive overcurrent detection circuit 31 and a three-phase sampling circuit 32. The output of the pre-drive overcurrent detection circuit 31 is connected to the main control circuit 1, and the input of the pre-drive overcurrent detection circuit 31 is connected to the output of the three-phase sampling circuit 32. The input of the three-phase sampling circuit 32 is connected to the motor M.

[0055] Among them, the dead time in the three-phase sampling circuit 32 refers to a time interval set in the brushless motor M drive or three-phase full-bridge circuit to avoid the simultaneous conduction of the MOS tubes in the upper and lower bridge arms (also known as high side and low side), that is, to avoid short circuit. During this period, both adjacent MOS tubes are in the off state to ensure the safe operation of the circuit.

[0056] The role of dead time; (1) prevent short circuit: the main role of dead time is to prevent the simultaneous conduction of MOS tubes in the upper and lower bridge arms, thereby avoiding short circuit and power loss. (2) Protect the circuit: by setting the dead time, the MOS tube and the circuit can be protected from damage, improving the reliability and stability of the circuit. (3) Reduce noise: appropriate dead time can also reduce noise and electromagnetic interference in the circuit, improving the performance of the circuit.

[0057] At the same time, the phase current sampling circuit is used to collect the current signals in the two-phase or three-phase winding of the servo motor M. These signals will serve as current feedback signals, allowing the servo drive system to achieve precise current closed-loop control, thereby improving the performance and stability of the servo motor M. The sampling resistor is connected in series in the motor M winding loop, and when the current passes through, a voltage drop will be generated across the sampling resistor, which is proportional to the current. Therefore, the current can be indirectly measured by measuring the voltage across the sampling resistor. The operational amplifier is used to further amplify and condition the sampling signal to meet the input requirements of the subsequent A / D converter.

[0058] Through the pre-drive overcurrent detection circuit 31, when the DRV8353FS detects that the phase current is greater than the threshold value (overcurrent) or the ambient temperature is higher than the threshold value, an error warning signal is sent. After the MCU receives this signal, it immediately starts the protection action to avoid burning the circuit board.

[0059] In the embodiment, the brake circuit 4 comprises a resistor R105, a resistor R107, a bidirectional TVS tube D23, a capacitor C115, a driver U9, a resistor R108, a resistor R106, a resistor R109, a capacitor C113, a MOS tube Q7, a capacitor C114, a resistor R110, a unidirectional diode D22, a unidirectional diode D20, an interface end J10, a unidirectional diode D21, a capacitor C112 and a unidirectional diode D19.

[0060] A first end of the resistor R105 is connected to the main control circuit 1, and a second end of the resistor R105 is connected to a first end of the bidirectional TVS tube D23 and a positive input end of the driver U9 respectively. A first end of the resistor R107 is grounded, and a second end of the resistor R107 is connected to a second end of the bidirectional TVS tube D23, a negative input end of the driver U9 and a first end of the resistor R106 respectively. An output end of the driver U9 is connected to a first end of the resistor R108, and a second end of the resistor R108 is connected to a first end of the resistor R109, a second end of the capacitor C113 and a gate of the MOS tube Q7 respectively. A second end of the resistor R106 is connected to a second end of the resistor R109, a first end of the capacitor C113, a source of the MOS tube Q7 and a first end of the capacitor C114 respectively, and a second end of the capacitor C114 is connected to a first end of the resistor R110. A second end of the resistor R110 is connected to a drain of the MOS tube Q7.

[0061] A first end of the capacitor C115 is grounded, and a second end of the capacitor C115 is connected to the power conversion circuit 2. The power conversion circuit 2 is used to provide power supply for the driver U9.

[0062] A positive electrode of the unidirectional diode D22 is connected to a positive electrode of the unidirectional diode D20 and a drain of the MOS tube Q7 respectively, and a negative electrode of the unidirectional diode D22 is connected to an external power supply.

[0063] A negative electrode of the unidirectional diode D22 is connected to the interface end J10, a negative electrode of the unidirectional diode D21, a second end of the capacitor C112 and a negative electrode of the unidirectional diode D19 respectively. A positive electrode of the unidirectional diode D21 is connected to the motor M. A first end of the capacitor C112 is grounded, and a positive electrode of the unidirectional diode D19 is used to connect a signal input VIN port.

[0064] The unidirectional diode D19, the unidirectional diode D21 and the unidirectional diode D22 are used to control the current direction and prevent the user from connecting the lines incorrectly to cause the board to burn. The unidirectional diode D20 is used for freewheeling function. The bidirectional TVS tube D23 is used to protect the BK signal from exceeding ±3.3V.

[0065] In the embodiment, the CAN channel circuit is a CA-IS3062W communication chip.

[0066] In the embodiment, the 485 channel circuit is a CA-IF4820HD communication chip.

[0067] In the embodiment, the Ethernet channel circuit comprises an isolation transformer 71, an EtherCAT slave station 72 and a parameter memory 73; the EtherCAT slave station 72 and the parameter memory 73 are connected to the master control circuit 1 respectively, and the EtherCAT slave station 72 is connected with the isolation transformer 71.

[0068] In the embodiment, the model of the isolation transformer 71 is G2426S; the model of the EtherCAT slave station 72 is LAN9252; and the model of the parameter memory 73 is EEPROM.

[0069] In the embodiment, the model of the master control circuit 1 is GD32F407 chip or GD32F427 chip.

[0070] It should be noted that, in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, article or device that includes a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, article or device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, article or device that includes the element.

[0071] The embodiments of the utility model are described above in combination with the drawings, the disclosed is only the preferred embodiment of the utility model, but the utility model is not limited to the above-mentioned specific implementation, the above-mentioned specific implementation is only illustrative, and is not restrictive, and the ordinary skilled in the art can make a lot of forms under the inspiration of the utility model, and equivalent changes without departing from the purpose of the utility model and the scope of protection of the claims, all belong to the protection of the utility model.

Claims

1. A low voltage servo drive circuit, characterized by The main control circuit, power conversion circuit, drive protection circuit, brake circuit, CAN communication circuit, 485 communication circuit, Ethernet communication circuit, input end encoder, terminal multi-turn encoder and encoder battery are included. The power conversion circuit is used for connecting a power supply and converting the power supply into working voltage, and the power conversion circuit outputs the working voltage to the main control circuit. The main control circuit is electrically connected with the drive protection circuit, brake circuit, CAN communication circuit, 485 communication circuit and Ethernet communication circuit respectively, and is used for controlling the drive protection circuit to drive the motor to work, controlling the brake circuit to brake the motor, and respectively transmitting data by the CAN communication circuit, 485 communication circuit and Ethernet communication circuit. The encoder battery is used for supplying power to the input end encoder and terminal multi-turn encoder respectively, the input end encoder collects rotation data of the input end of the motor, and the terminal multi-turn encoder collects rotation data of the terminal of the motor. The input end encoder and terminal multi-turn encoder are connected with the main control circuit respectively, and the main control circuit collects the rotation data of the input end encoder and terminal multi-turn encoder and controls the brake circuit and drive protection circuit to work, thereby realizing the drive control of the motor.

2. The low voltage servo driver circuit of claim 1, wherein, The power conversion circuit includes a first power conversion unit, a second power conversion unit and a third power conversion unit which are electrically connected in sequence. The first power conversion unit is used for connecting the power supply, and is used for converting 48V into 12V, the second power conversion unit is used for converting 12V into 5V, and the third power conversion unit is used for converting 5V into 3.3V.

3. The low voltage servo driver circuit of claim 2, wherein, The model of the first power conversion unit is DCDC-SCT2A25. The model of the second power conversion unit is DCDC-TPS562201. The model of the third power conversion unit is LDO-1117-3.

3.

4. The low voltage servo driver circuit of claim 1, wherein, The drive protection circuit includes a pre-drive overcurrent detection circuit and a three-phase sampling circuit, the output end of the pre-drive overcurrent detection circuit is connected with the main control circuit, the input end of the pre-drive overcurrent detection circuit is connected with the output end of the three-phase sampling circuit, and the input end of the three-phase sampling circuit is connected to the motor.

5. The low voltage servo driver circuit of claim 1, wherein, The brake circuit includes a resistor R105, a resistor R107, a bidirectional TVS tube D23, a capacitor C115, a driver U9, a resistor R108, a resistor R106, a resistor R109, a capacitor C113, a MOS tube Q7, a capacitor C114, a resistor R110, a unidirectional diode D22, a unidirectional diode D20, an interface end J10, a unidirectional diode D21, a capacitor C112 and a unidirectional diode D19. A first end of the resistor R105 is connected to the master control circuit, a second end of the resistor R105 is connected to a first end of the bidirectional TVS tube D23 and a positive input end of the driver U9 respectively, a first end of the resistor R107 is grounded, a second end of the resistor R107 is connected to a second end of the bidirectional TVS tube D23, a negative input end of the driver U9 and a first end of the resistor R106 respectively; an output end of the driver U9 is connected to a first end of the resistor R108, a second end of the resistor R108 is connected to a first end of the resistor R109, a second end of the capacitor C113 and a gate of the MOS tube Q7 respectively; a second end of the resistor R106 is connected to a second end of the resistor R109, a first end of the capacitor C113, a source of the MOS tube Q7 and a first end of the capacitor C114 respectively, a second end of the capacitor C114 is connected to a first end of the resistor R110, a second end of the resistor R110 is connected to a drain of the MOS tube Q7; A first end of the capacitor C115 is grounded, a second end of the capacitor C115 is connected to the power conversion circuit, the power conversion circuit is used for providing power supply for the driver U9; A positive electrode of the unidirectional diode D22 is connected to a positive electrode of the unidirectional diode D20 and a drain of the MOS tube Q7 respectively, a negative electrode of the unidirectional diode D22 is connected to an external power supply; A negative electrode of the unidirectional diode D22 is connected to the interface end J10, a negative electrode of the unidirectional diode D21, a second end of the capacitor C112 and a negative electrode of the unidirectional diode D19 respectively, a positive electrode of the unidirectional diode D21 is connected to the motor, a first end of the capacitor C112 is grounded, and a positive electrode of the unidirectional diode D19 is used for connecting a signal input VIN port.

6. The low voltage servo driver circuit of claim 1, wherein, The CAN communication circuit is a CA-IS3062W communication chip.

7. The low voltage servo driver circuit of claim 1, wherein, The 485 communication circuit is a CA-IF4820HD communication chip.

8. The low voltage servo driver circuit of claim 1, wherein, The Ethernet communication circuit includes an isolation transformer, an EtherCAT slave station and a parameter memory; the EtherCAT slave station and the parameter memory are connected to the master control circuit respectively, and the EtherCAT slave station is connected to the isolation transformer.

9. The low voltage servo driver circuit of claim 8, wherein, The model of the isolation transformer is G2426S, the model of the EtherCAT slave station is LAN9252, and the model of the parameter memory is EEPROM.

10. The low voltage servo driver circuit of claim 1, wherein, The model of the master control circuit is GD32F407 chip or GD32F427 chip.

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