Driving and control integrated motion controller based on Ethernet
By integrating the control module into a PCB board-based Ethernet-driven motion controller, the problem of numerous wiring harnesses and complex wiring in the mounting equipment is solved, enabling efficient maintenance and low-cost operation of the equipment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-03
- Publication Date
- 2026-04-07
AI Technical Summary
Existing mounting equipment has a large number of wire harnesses, complex wiring, inconvenient maintenance, short lifespan, high cost, and the wire harnesses are easily damaged, affecting the efficiency of equipment use and maintenance.
An Ethernet-based integrated motion controller is adopted, which integrates the control module, drive module, encoder module, communication module, input module and output module onto the PCB board, reducing the number of wire harnesses and achieving integrated connection.
It reduces the number of wiring harnesses, lowers wiring complexity and maintenance costs, improves equipment reliability and usability, and extends equipment lifespan.
Smart Images
Figure CN224096148U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to the technical field of controller, specifically relates to a drive control integrated motion controller based on ethernet. BACKGROUND
[0002] In the production process such as semiconductor packaging, IC burning, surface mounting technology, small material needs to be sucked by mounting head through vacuum adsorption system, after rotation and correction, small material is placed into specified position, usually a mounting equipment will contain multiple mounting heads (4-12), each mounting head includes a Z-axis motor capable of lifting and lowering material, a correction motor for rotating material, vacuum adsorption structure for adsorbing material, etc. When working, the mounting head moves on the XY platform of the mounting equipment, reaches the specified material taking position, the Z-axis motor (usually a stepper motor) drives the mounting head to move down to the surface of the material, the mounting head rises after sucking the material, and then the rotation motor works to rotate the material by a certain angle, and moves the material to the material placing position, thereby completing the mounting work.
[0003] The existing mounting equipment basically uses general motors and motion controllers to control the mounting head, the motion controller is generally installed at the bottom of the equipment cabinet, and cannot move with the mounting head, therefore, the following problems exist:
[0004] The wiring is complex, many wire harnesses need to be connected with the controller, the power line, control line (pulse, direction and motor position control signal), sensor line of machine head origin, limit, adsorption detection, etc. of the motor need to be extended to the controller and electrical cabinet through the tank chain, the wiring period is long and the wiring operation is complex;
[0005] It is not easy to maintain, because the wire harness is long and the number is large, which leads to inconvenient fault detection, thereby leading to a long maintenance period of the wire harness;
[0006] The service life of the equipment is short, the wire harness is rubbed in the tank chain and accelerates fatigue, which is easy to break and peel, and the normal working equipment needs to replace and maintain the cable in about one year, and according to the above content, the wire harness of the mounting equipment is long and the number is large, thereby increasing the use cost and maintenance amount;
[0007] The cost of wire harness is high, if the service life of wire harness needs to be improved, high flexible wire needs to be used, but the cost of high flexible wire is high, thereby increasing the production cost of equipment;
[0008] Therefore, in order to overcome the above defects, a controller capable of reducing the number of wire harnesses is needed, and the utility model solves the technical problem. UTILITY MODEL CONTENTS
[0009] The application aims to provide an Ethernet-based drive-control integrated motion controller, aiming to solve the technical problem of providing a controller with reduced wiring harness quantity.
[0010] An Ethernet-based drive-control integrated motion controller, comprising a PCB board, a control module connected with the PCB board, a drive module electrically connected with the control module, an encoder module electrically connected with the control module, a communication module electrically connected with the control module, an input module electrically connected with the control module and an output module electrically connected with the control module, the drive module is used for driving the movement of a motor, the communication module is used for receiving control instructions, the input module is used for receiving switch signals, and the output module is used for outputting signals sent by the control module.
[0011] Further, the control module comprises an ARM connected with the PCB board and an FPGA electrically connected with the ARM, the communication module is electrically connected with the ARM, and the input module, the output module, the drive module and the encoder module are respectively electrically connected with the FPGA.
[0012] Further, the drive module comprises a stepper motor drive circuit electrically connected with the FPGA and a stepper motor interface electrically connected with the stepper motor drive circuit, and the stepper motor interface is electrically connected with a stepper motor.
[0013] Further, the encoder module comprises a closed-loop encoder interface electrically connected with the FPGA, and the closed-loop encoder interface is electrically connected with an encoder.
[0014] Further, the communication module comprises an Ethernet network port electrically connected with the ARM, and the Ethernet network port is connected with a terminal through Ethernet.
[0015] Further, the input module comprises an input interface electrically connected with the FPGA, and the input interface is electrically connected with a switch unit.
[0016] Further, the output module comprises an output interface electrically connected with the FPGA, and the output interface is electrically connected with a solenoid valve unit.
[0017] Further, the control module and the encoder module are respectively electrically connected with a power module, and the power module is electrically connected with a stepper motor.
[0018] The technical effects of the utility model are as follows:
[0019] (1) the scheme is through the integration of control module and drive module and other modules to the circuit board, realize the effect of integration, and will not affect the normal work of the mounting equipment, and the scheme is through the circuit board to realize the connection between multiple electronic devices, thereby reducing the number of wire harness, avoid more wire harness is damaged and the subsequent cost increase caused by, also need not to replace a large number of wire harness for high flexible line, thereby reducing the cost;
[0020] (2) the device integrates a variety of functional modules on the PCB, so that the device integrates the driving function, motion control function and switch control function of the stepper motor and other functions, not only realizes the effect of integration, but also realizes the effect of multifunction, thereby reducing the number of wire harness while not affecting the normal work of the mounting head, improving the practicability;
[0021] (3) the closed loop encoder interface in the device can be electrically connected with the encoder, and the speed and other data of the stepper motor can be fed back to the control module through the encoder, so as to help the control module dynamically correct the output pulse, ensure the working quality, and further improve the practicability. BRIEF DESCRIPTION OF DRAWINGS
[0022] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structure shown in the drawings without creative labor.
[0023] Figure 1 The connection diagram of the present application.
[0024] Figure 2 The circuit diagram of the power module in the present application.
[0025] Figure 3 The circuit diagram of the communication module and the control module in the present application.
[0026] Figure 4 The circuit diagram of the input module in the present application.
[0027] Figure 5 The circuit diagram of the output module in the present application.
[0028] Figure 6 The communication principle diagram of ARM and FPGA in the present application.
[0029] Figure 7 The connection diagram of FPGA and stepper motor drive circuit in the present application.
[0030] Figure 8 This is a circuit diagram of the stepper motor drive circuit in this utility model.
[0031] The attached diagram is labeled as follows: 1. Power module; 2. Ethernet port; 3. ARM; 4. FPGA; 5. Input interface; 6. Output interface; 7. Stepper motor drive circuit; 8. Open-loop stepper motor interface; 9. Closed-loop stepper motor interface; 10. Encoder interface; 11. PCB board.
[0032] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.
[0034] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0035] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0036] See Figures 1-8An Ethernet-based integrated motion controller includes a PCB board 11, a control module connected to the PCB board 11, a drive module electrically connected to the control module, an encoder module electrically connected to the control module, a communication module electrically connected to the control module, an input module and an output module electrically connected to the control module. The drive module is used to drive the motor to move, the communication module is used to receive control commands, the input module is used to receive switch signals, and the output module is used to output signals issued by the control module.
[0037] See Figure 6 The control module includes an ARM3 connected to the PCB board 11, an FPGA4 electrically connected to the ARM3, a communication module electrically connected to the ARM3, and input, output, drive, and encoder modules electrically connected to the FPGA4. The ARM3 is the core of the entire system and the main CPU of this device. The ARM3 performs motion planning and sends pulse signals to the drive circuit through the FPGA4.
[0038] In this embodiment, ARM3 and FPGA4 communicate using a 16-bit parallel FSMC bus. This bus is used to write planning data to FPGA4 and operate input / output signals. The FSMC bus is a 16-bit parallel bus interface, including a 16-bit data bus and a 24-bit address bus. It supports multiplexing of the data bus and the address bus. As shown in the figure, FSMC_D0 to FSMC_D15 are the data bus and are also multiplexed as the lower 16 bits of the address bus. FSMC_A15 to FSMC_A23 are the higher 8 bits of the address bus.
[0039] See Figure 7 , Figure 8 The driving module includes a stepper motor drive circuit 7 electrically connected to the FPGA4 and a stepper motor interface electrically connected to the stepper motor drive circuit 7. The stepper motor interface is electrically connected to the stepper motor.
[0040] The stepper motor interface in this embodiment specifically includes an open-loop stepper motor interface 8 and a closed-loop stepper motor interface 9. When manufacturing this device, those skilled in the art can select any of the above stepper motor interfaces according to the actual situation. In this embodiment, four open-loop stepper motor interfaces 8 and four closed-loop stepper motor interfaces 9 are used. Since open-loop stepper motors may lose steps during operation, while closed-loop stepper motors will not experience this problem, in this embodiment, closed-loop stepper motors can be used as Z-axis motors to avoid damage to the mounting head due to insufficient height after step loss.
[0041] In this embodiment, due to the high real-time performance of FPGA4, the PWM wave of the frequency planned by ARM3 will be sent to the stepper motor drive circuit 7 through FPGA4 to control the position and speed of the stepper motor. The pin output of FPGA4 is a 3.3V single-ended signal, which is directly connected from the inside of PCB board 11 to the stepper motor drive circuit 7.
[0042] like Figure 8 As shown, the pulse signals PUL and DIR output by FPGA4 are internally connected to LYX9232 to control the stepper motor. The stepper motor driver chip LYX9232 outputs motor control signals (A+, A-, B+, B-) to the open-loop stepper motor interface 8 and the closed-loop stepper motor interface 9. The encoder signals of the stepper motor (EA0 and EB0 of P11) are connected to LYX9232 through the encoder interface 10 of the stepper motor for closed-loop control of the stepper motor. At the same time, they are internally shorted to FPGA4, and FPGA4 collects the encoder signals for ARM3 to read.
[0043] Furthermore, the encoder module includes a closed-loop encoder interface 10 electrically connected to the FPGA4, and the closed-loop encoder interface 10 is electrically connected to the encoder. In this solution, the encoder can feed back data such as the stepper motor speed to the FPGA4, and the FPGA4 can acquire the encoder signals for the ARM3 to read.
[0044] See Figure 3 The communication module includes an Ethernet port 2 electrically connected to the ARM3, which is connected to the terminal via Ethernet. In this embodiment, the terminal is a PC.
[0045] In this embodiment, the Ethernet is connected to the ARM3 and communicates with the PC or HMI via Ethernet. Specifically, the Ethernet first passes through the RJ45 interface, then through the network isolation transformer M3380 interface, and then into the W5500 network chip. After being decoded by the chip, the data is connected to the ARM3.
[0046] See Figure 4 The input module includes an input interface 5 that is electrically connected to the FPGA4, and the input interface 5 is electrically connected to the switching unit.
[0047] In this embodiment, the input module converts the 24V signal to a 3.3V signal through optocoupler isolation (PS2801 chip) and inputs it to FPGA4. After filtering by FPGA4, ARM3 acquires the signal through a parallel bus for use by the terminal. The terminal in this solution can be a user's own PC or a human-machine interface (HMI), etc. The switching unit in this embodiment specifically includes the origin switch and vacuum induction switch of the placement head. Since these switches are components of the placement equipment and belong to existing technology, they will not be described in detail here.
[0048] See Figure 5 The output module includes an output interface 6 electrically connected to the FPGA4, and the output interface 6 is electrically connected to the solenoid valve unit. In this embodiment, the solenoid valve unit includes a solenoid valve in the vacuum adsorption structure of the placement equipment, as well as a blowing solenoid valve, etc. Since these solenoid valves are components of the placement equipment and belong to existing technology, they will not be described in detail here.
[0049] The working principle of the output module in this embodiment is as follows: The 3.3V signal from FPGA4 is converted to a 24V signal after optocoupler isolation. Since the output signals of solenoid valves and other components need to be protected from short circuits and require a large current supply, amplification processing is required. In this embodiment, IRF7103 is used for current amplification, which can support currents of over 250 mA to directly drive the solenoid valve. Input interface 5 and output interface 6 in this embodiment are specifically I / O interfaces.
[0050] Furthermore, the control module and encoder module are electrically connected to the power supply module 1, and the power supply module 1 is electrically connected to the stepper motor.
[0051] See Figure 2 In this embodiment, the power module 1 is powered in the following way: 24V input power is isolated and converted into 5V by DC-DC module (U1) and used by stepper motor. The EA3036C chip is used to convert 5V into 3.3V and 1.2V required by chips such as ARM3 and FPGA4. 5V is needed to supply the encoder of stepper motor.
[0052] The working process of this utility model is as follows:
[0053] The computer terminal sends control commands to the ARM3 via Ethernet. The ARM3, as the main CPU, receives the control commands sent from the Ethernet, then parses the control commands and sends the planning data to the FPGA4 via the parallel bus. The FPGA4 generates pulses of a specified frequency and number and sends them from the FPGA4 pin to the stepper motor drive circuit 7 to control the stepper motor. The encoder monitors the stepper motor's speed and other data in real time and feeds them back to the FPGA4. The FPGA4 collects the encoder signals for the ARM3 to read.
[0054] When the placement head approaches the material, the photoelectric switch on the placement head sends a signal to the device. Input interface 5 receives the 24V photoelectric switch signal and converts it into a 3.3V signal for FPGA4. Then, ARM3 outputs the signal through FPGA4 to output interface 6. Output interface 6 converts the FPGA4's output signal into a 24V signal and outputs it to the solenoid valve in the vacuum adsorption structure, causing the solenoid valve to open and adsorb the material. After the material moves to the discharge position, the blowing solenoid valve is opened in the same way, blowing the material to the discharge position, thus completing the placement process. Since the structure of the placement head itself is existing technology, and the connection methods between the placement equipment and the solenoid valve, and between the placement head and the photoelectric switch, are also existing technologies, these details will not be elaborated upon here.
[0055] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.
Claims
1. A motion controller integrating drive and control based on Ethernet, characterized in that, The system includes a PCB board (11), a control module connected to the PCB board (11), a drive module electrically connected to the control module, an encoder module electrically connected to the control module, a communication module electrically connected to the control module, an input module and an output module electrically connected to the control module. The drive module is used to drive the motor to move, the communication module is used to receive control commands, the input module is used to receive switch signals, and the output module is used to output signals issued by the control module.
2. The Ethernet-based integrated motion controller according to claim 1, characterized in that, The control module includes an ARM (3) connected to the PCB board (11), an FPGA (4) electrically connected to the ARM (3), a communication module electrically connected to the ARM (3), and an input module, an output module, a drive module, and an encoder module electrically connected to the FPGA (4).
3. The Ethernet-based integrated motion controller according to claim 2, characterized in that, The driving module includes a stepper motor driving circuit (7) electrically connected to the FPGA (4) and a stepper motor interface electrically connected to the stepper motor driving circuit (7), wherein the stepper motor interface is electrically connected to the stepper motor.
4. The Ethernet-based integrated motion controller according to claim 2, characterized in that, The encoder module includes a closed-loop encoder interface (10) electrically connected to the FPGA (4), and the closed-loop encoder interface (10) is electrically connected to the encoder.
5. The Ethernet-based integrated motion controller according to claim 2, characterized in that, The communication module includes an Ethernet port (2) electrically connected to the ARM (3), and the Ethernet port (2) is connected to the terminal via Ethernet.
6. The Ethernet-based integrated motion controller according to claim 2, characterized in that, The input module includes an input interface (5) electrically connected to the FPGA (4), and the input interface (5) is electrically connected to the switching unit.
7. The Ethernet-based integrated motion controller according to claim 2, characterized in that, The output module includes an output interface (6) electrically connected to the FPGA (4), and the output interface (6) is electrically connected to the solenoid valve unit.
8. The Ethernet-based integrated motion controller according to claim 1, characterized in that, The control module and the encoder module are electrically connected to the power supply module (1), and the power supply module (1) is electrically connected to the stepper motor.