Protection circuit, device, and servo driver based on servo driver brake control

Abstract

This utility model relates to the field of servo drive technology, and more particularly to a protection circuit, device, and servo drive based on servo drive brake control. The circuit includes a current conversion unit, a signal processing unit, and a microcontroller. The current conversion unit detects the brake operating current of the servo drive and converts it into a corresponding voltage signal, which is then output to the signal processing unit. The signal processing unit processes the voltage signal and outputs a digital voltage signal to the microcontroller. The microcontroller determines the abnormal brake operating state of the servo drive based on the voltage value corresponding to the digital voltage signal. This protection circuit can monitor the brake's operating status in real time, promptly detect and handle abnormal situations, effectively preventing equipment damage and personal injury caused by brake failure, and significantly improving the safety and reliability of the servo system.

Description

Technical Field

[0001] This utility model relates to the field of servo drive technology, and in particular to a protection circuit, device and servo drive based on servo drive brake control. Background Technology

[0002] As a core component in industrial automation, the servo system's brake device plays a crucial role in maintaining positioning, emergency braking, and preventing mechanical load slippage, directly impacting equipment safety and positioning accuracy. However, in practical applications, the brake may experience abnormal operating conditions such as short circuits, open circuits, or overcurrents due to coil aging, poor wiring contact, or sudden load changes. Failure to detect and respond promptly can lead to servo driver burnout, mechanical component damage, and even personal injury or death. Utility Model Content

[0003] The main purpose of this utility model is to provide a protection circuit, device and servo driver based on servo driver brake control, which aims to solve the technical problem that the servo system brake cannot detect and respond in time, which may lead to servo driver burnout, mechanical component damage, or even personal injury and other safety accidents.

[0004] To achieve the above objectives, this utility model provides a protection circuit based on servo driver brake control, the circuit comprising: a current conversion unit, a signal processing unit, and a microcontroller;

[0005] The current conversion unit is connected to the signal processing unit, and the signal processing unit is connected to the microcontroller.

[0006] The current conversion unit is used to detect the brake operating current of the servo driver and convert the brake operating current into a corresponding voltage signal and output it to the signal processing unit.

[0007] The signal processing unit is used to process the voltage signal and output a digital voltage signal to the microcontroller;

[0008] The microcontroller is used to determine the abnormal brake operating state of the servo driver based on the voltage value corresponding to the digital voltage signal. The abnormal brake operating state includes overcurrent state, open circuit state, and short circuit state.

[0009] Optionally, determining the abnormal brake-holding state of the servo driver based on the voltage value corresponding to the digital voltage signal includes:

[0010] When the voltage value corresponding to the digital voltage signal is less than the first preset voltage value, the abnormal brake operation state of the servo driver is determined to be an open circuit state.

[0011] When the voltage value corresponding to the digital voltage signal is greater than the second preset voltage value and less than the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be an overcurrent state.

[0012] When the voltage value corresponding to the digital voltage signal is greater than or equal to the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be a short circuit state, wherein the first preset voltage value is less than the second preset voltage value, and the second preset voltage value is less than the third preset voltage value.

[0013] Optionally, the signal processing unit includes: an operational amplifier unit and an analog-to-digital converter;

[0014] The operational amplifier unit is connected to the current conversion unit and the analog-to-digital converter, respectively, and the analog-to-digital converter is connected to the microcontroller.

[0015] The operational amplifier unit is used to amplify the voltage signal to obtain an amplified analog voltage signal, and output the analog voltage signal to the analog-to-digital converter;

[0016] The analog-to-digital converter is used to perform analog-to-digital conversion on the analog voltage signal and output a digital voltage signal to the microcontroller.

[0017] Optionally, the circuit further includes: a switching unit;

[0018] The switching unit is connected in series in the brake power supply circuit of the servo driver and is connected to the current conversion unit. The control terminal of the switching unit is connected to the microcontroller.

[0019] The switching unit is used to turn on the brake power supply circuit of the servo driver when it receives the turn-on signal output by the microcontroller.

[0020] Accordingly, the current conversion unit is used to detect the brake operating current of the servo driver when the brake power supply circuit is turned on.

[0021] Optionally, the microcontroller is further configured to, when detecting an abnormal brake operating state of the servo driver, output an error code corresponding to the abnormal operating state and output a shutdown signal to the switching unit, so that the switching unit shuts off the brake power supply circuit of the servo driver.

[0022] Optionally, the switching unit includes: a first diode and a first switching transistor;

[0023] The positive terminal of the first diode is connected to the input terminal of the first switching transistor and the brake control input or output terminal of the servo driver, the negative terminal of the first diode is connected to the power supply, and the output terminal of the first switching transistor is connected to the current conversion unit and the operational amplifier unit.

[0024] Optionally, the current conversion unit includes: a first resistor;

[0025] The first end of the first resistor is connected to the output terminal of the first switching transistor and the operational amplifier unit, respectively, and the second end of the first resistor is grounded.

[0026] Optionally, the operational amplifier unit includes: a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and an operational amplifier;

[0027] Wherein, the first end of the second resistor is connected to the first end of the first resistor and the output end of the first switching transistor, the second end of the second resistor is connected to the first end of the first capacitor and the positive input end of the operational amplifier, the second end of the first capacitor is grounded, the first end of the third resistor is grounded, the second end of the third resistor is connected to the first end of the fourth resistor and the inverting input end of the operational amplifier, the second end of the fourth resistor is connected to the output end of the operational amplifier, the power supply end of the operational amplifier is connected to the power supply and the first end of the second capacitor, the second end of the second capacitor is grounded, and the ground end of the operational amplifier is grounded.

[0028] In addition, to achieve the above objectives, this utility model also proposes a protection device based on servo driver brake control, which includes the protection circuit based on servo driver brake control described above.

[0029] In addition, to achieve the above objectives, this utility model also proposes a servo driver, which includes the protection circuit based on servo driver brake control described above.

[0030] In this invention, the protection circuit based on servo driver brake control, through the coordinated operation of a current conversion unit, a signal processing unit, and a microcontroller, can detect three abnormal states of the brake in real time: overcurrent, open circuit, and short circuit. This ensures comprehensive monitoring of the brake's operating status and avoids the problems of missed or false detections caused by the single detection dimension in traditional solutions. Utilizing the hardware-level braking function of the microcontroller, it performs rapid detection and response to short circuit conditions, triggering the protection mechanism in a very short time to prevent damage to power devices or sampling resistors due to excessive short-circuit current, significantly improving the system's reliability and safety. Through signal processing... The unit amplifies, filters, and digitizes the voltage signal. Combined with the microcontroller's ADC sampling function, it can accurately quantify the brake's operating current, achieving high-precision overcurrent and open-circuit detection and ensuring accurate identification of abnormal states. The circuit's threshold parameters can be flexibly adjusted via software, adapting to different models of servo drivers and brake devices without modifying the hardware circuit, exhibiting high versatility and scalability. Through real-time monitoring and rapid protection mechanisms, the circuit can effectively prevent safety accidents such as equipment loss of control, mechanical component damage, and personal injury caused by brake failure, significantly improving the overall safety performance of the servo system. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the first embodiment of the protection circuit based on servo driver brake control of this utility model;

[0032] Figure 2 This is a schematic diagram of the second embodiment of the protection circuit based on servo driver brake control of this utility model;

[0033] Figure 3 This is a circuit diagram of the protection circuit based on servo driver brake control of this utility model.

[0034] Explanation of icon numbers:

[0035]

[0036] 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

[0037] 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 protection scope of the present utility model.

[0038] 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 certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0039] 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 indicated technical features. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, 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. If 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.

[0040] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0041] This utility model embodiment provides a protection circuit based on servo driver brake control, referring to... Figure 1 As shown, Figure 1 This is a structural block diagram of the first embodiment of the protection circuit based on servo driver brake control of this utility model. The protection circuit based on servo driver brake control of this utility model includes: a current conversion unit 10, a signal processing unit 20, and a microcontroller 30;

[0042] The current conversion unit 10 is connected to the signal processing unit 20, and the signal processing unit 20 is connected to the microcontroller 30.

[0043] The current conversion unit 10 is used to detect the brake operating current of the servo driver and convert the brake operating current into a corresponding voltage signal and output it to the signal processing unit 20.

[0044] The signal processing unit 20 is used to process the voltage signal and output a digital voltage signal to the microcontroller 30;

[0045] The microcontroller 30 is used to determine the abnormal brake operating state of the servo driver based on the voltage value corresponding to the digital voltage signal. The abnormal brake operating state includes overcurrent state, open circuit state, and short circuit state.

[0046] It should be noted that the current conversion unit 10 is used to detect the operating current of the servo drive's brake and convert it into a corresponding voltage signal. A sampling resistor can typically be used to convert the current signal into a voltage signal for easier subsequent processing. For example, when the brake current passes through the sampling resistor, a corresponding voltage value is generated according to Ohm's law, providing a basic signal for subsequent abnormal state detection and ensuring that the circuit can quantitatively analyze the brake's operating state.

[0047] The signal processing unit 20 can process the voltage signal output by the current conversion unit 10, including amplification, filtering and digital conversion, to improve signal quality and anti-interference capability. The voltage signal can be amplified by an operational amplifier and noise interference can be eliminated by a filtering circuit. Finally, the analog signal is converted into a digital signal by the analog-to-digital converter 202 to ensure that the signal received by the microcontroller 30 is stable and accurate, and to provide reliable data for accurate judgment of abnormal states.

[0048] The microcontroller 30 receives the digital voltage signal output by the signal processing unit 20 and determines the abnormal operating state of the brake based on a preset threshold. It can read the voltage value through its built-in ADC module and compare it with the preset threshold. For short-circuit conditions, it uses hardware-level braking functions (such as the BKIN pin) for rapid detection. As the core control unit of the circuit, it monitors the brake status in real time and triggers protection mechanisms, such as error reporting and closing the brake control output, in case of abnormalities to ensure equipment and personnel safety.

[0049] Specifically, determining the abnormal brake-holding state of the servo driver based on the voltage value corresponding to the digital voltage signal includes:

[0050] When the voltage value corresponding to the digital voltage signal is less than the first preset voltage value, the abnormal brake operation state of the servo driver is determined to be an open circuit state.

[0051] When the voltage value corresponding to the digital voltage signal is greater than the second preset voltage value and less than the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be an overcurrent state.

[0052] When the voltage value corresponding to the digital voltage signal is greater than or equal to the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be a short circuit state, wherein the first preset voltage value is less than the second preset voltage value, and the second preset voltage value is less than the third preset voltage value.

[0053] It should be noted that when the voltage value corresponding to the digital voltage signal is less than the first preset voltage value, it is determined to be an open circuit. An open circuit means that the brake current is interrupted or significantly reduced. After the current is converted into voltage through the sampling resistor, the voltage value is proportional to the current. When the current is too small or interrupted, the voltage value will drop significantly. Therefore, whether an open circuit has occurred is determined by detecting whether the voltage value is lower than the first preset value. For example, if the first preset voltage value is 0.1V, when a voltage value lower than 0.1V is detected, it is determined to be an open circuit.

[0054] An overcurrent condition is identified when the voltage value corresponding to the digital voltage signal is greater than the second preset voltage value but less than the third preset voltage value. An overcurrent condition typically means that the brake current exceeds the normal operating range. After the current is converted into voltage through a sampling resistor, the voltage value is proportional to the current. When the current is too high, the voltage value will be in a relatively high range. Therefore, the overcurrent condition is determined by detecting whether the voltage value is between the second and third preset values. For example, if the second preset voltage value is 0.5V and the third preset voltage value is 0.8V, an overcurrent condition is identified when the detected voltage value is between 0.5V and 0.8V.

[0055] A short circuit is identified when the voltage value corresponding to the digital voltage signal is greater than or equal to a third preset voltage value. A short circuit indicates an abnormal increase in the brake current, usually caused by a short circuit in the circuit. After the current is converted into voltage through a sampling resistor, the voltage value is proportional to the current. When the current abnormally increases, the voltage value will rise significantly. Therefore, whether a short circuit has occurred is determined by detecting whether the voltage value is higher than or equal to the third preset value. For example, if the third preset voltage value is 0.8V, a short circuit is identified when a voltage value greater than or equal to 0.8V is detected.

[0056] Furthermore, referring to Figure 2 The signal processing unit 20 includes: an operational amplifier unit 201 and an analog-to-digital converter 202;

[0057] The operational amplifier unit 201 is connected to the current conversion unit 10 and the analog-to-digital converter 202, respectively, and the analog-to-digital converter 202 is connected to the microcontroller 30.

[0058] The operational amplifier unit 201 is used to amplify the voltage signal to obtain an amplified analog voltage signal, and output the analog voltage signal to the analog-to-digital converter 202;

[0059] The analog-to-digital converter 202 is used to perform analog-to-digital conversion on the analog voltage signal and output a digital voltage signal to the microcontroller 30.

[0060] It should be noted that the operational amplifier unit 201 is used to amplify the voltage signal output from the current conversion unit 10 to obtain an amplified analog voltage signal. Operational amplifier A1 can be used to amplify the voltage signal. Operational amplifier A1 can amplify a small input voltage signal to a range suitable for subsequent processing according to a set gain. For example, if the voltage signal output from the current conversion unit 10 is 0.1V, after being amplified 10 times by the operational amplifier unit 201, it outputs a 1V analog voltage signal.

[0061] The analog-to-digital converter 202 is used to perform analog-to-digital conversion on the analog voltage signal output from the operational amplifier unit 201, converting it into a digital voltage signal. The analog-to-digital converter 202 converts continuous analog signals into discrete digital signals through sampling and quantization. For example, the 12-bit analog-to-digital converter 202 can convert analog signals from 0V to 3.3V into digital values ​​from 0 to 4095. For instance, if the analog voltage signal output from the operational amplifier unit 201 is 1V, after conversion by the 12-bit analog-to-digital converter 202, it will output a corresponding digital value, such as 1241.

[0062] In addition, refer to Figure 2 The circuit further includes: a switching unit 40;

[0063] The switching unit 40 is connected in series in the brake power supply circuit of the servo driver and is connected to the current conversion unit 10. The control terminal of the switching unit 40 is connected to the microcontroller 30.

[0064] The switching unit 40 is used to turn on the brake power supply circuit of the servo driver when it receives the turn-on signal output by the microcontroller 30.

[0065] Accordingly, the current conversion unit 10 is used to detect the brake operating current of the servo driver when the brake power supply circuit is turned on.

[0066] It should be noted that the switching unit 40 is connected in series in the brake power supply circuit of the servo driver to control the conduction and disconnection of the brake power supply circuit. The control terminal of the switching unit 40 is connected to the microcontroller 30 and performs corresponding operations according to the signals output by the microcontroller 30. When the microcontroller 30 outputs a conduction signal, the switching unit 40 conducts the brake power supply circuit, enabling the brake to work normally. When the microcontroller 30 outputs a disconnection signal, the switching unit 40 disconnects the brake power supply circuit, causing the brake to stop working. The switching unit 40 can use electronic switching devices such as relays, MOSFETs, or IGBTs, depending on the voltage and current requirements of the circuit. The switching unit 40 achieves precise control of the brake power supply circuit, ensuring that the brake works normally when needed and disconnects promptly in case of abnormalities, improving the safety and reliability of the circuit and preventing equipment damage or personal injury caused by brake malfunctions.

[0067] When the brake power supply circuit is on, the current conversion unit 10 detects the brake operating current of the servo driver and converts it into a corresponding voltage signal. The current conversion unit 10 is connected to the switching unit 40 to ensure that the current signal can only be detected when the brake power supply circuit is on, providing the microcontroller 30 with real-time brake operating current information for determining the brake's operating status. When the brake power supply circuit is off, the current conversion unit 10 does not operate, avoiding unnecessary energy loss.

[0068] The microcontroller 30 is further configured to, when detecting an abnormal brake operating state of the servo driver, output an error code corresponding to the abnormal operating state and output a shutdown signal to the switching unit 40, so that the switching unit 40 shuts off the brake power supply circuit of the servo driver.

[0069] It should be noted that the microcontroller 30 analyzes the digital voltage signal received from the signal processing unit 20 to determine whether the brake's operating state is abnormal. When the microcontroller 30 detects an abnormal brake operating state, it outputs a corresponding error code. The error code is typically a number or symbol used to identify the specific type of abnormality. For example, error code "01" indicates an overcurrent condition, thus helping operators or maintenance personnel quickly locate the problem and improve fault diagnosis efficiency.

[0070] When the microcontroller 30 detects an abnormal brake operating state, it outputs a shutdown signal to the switching unit 40, controlling the switching unit 40 to shut down the brake power supply circuit. This shutdown signal is a logic signal, such as a low or high level, used to control the operation of the switching unit 40. For example, if the switching unit 40 uses a MOSFET, the shutdown signal could be a low-level signal, turning off the MOSFET and disconnecting the brake power supply circuit. By promptly cutting off the brake power supply circuit upon detecting an abnormality, equipment damage or accidents can be prevented, improving system safety and reliability.

[0071] Specifically, refer to Figure 3 The switching unit 40 includes: a first diode D1 and a first switching transistor Q1;

[0072] The positive terminal of the first diode D1 is connected to the input terminal of the first switch Q1 and the brake control input or output terminal BREAK_IO of the servo driver, the negative terminal of the first diode D1 is connected to the power supply V1, and the output terminal of the first switch Q1 is connected to the current conversion unit 10 and the operational amplifier unit 201.

[0073] It should be noted that the brake control input terminal can be used to receive external control signals to control the opening or closing of the servo drive brake. The brake control output terminal can be used to output the operating status signal of the servo drive brake for use by external devices.

[0074] Specifically, refer to Figure 3 The current conversion unit 10 includes a first resistor R1; wherein, the first end of the first resistor R1 is connected to the output end of the first switch Q1 and the operational amplifier unit 201, and the second end of the first resistor R1 is grounded.

[0075] The operational amplifier unit 201 includes: a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a second capacitor C2, and an operational amplifier A1; wherein, the first end of the second resistor R2 is connected to the first end of the first resistor R1 and the output end of the first switching transistor Q1, the second end of the second resistor R2 is connected to the first end of the first capacitor C1 and the positive input end of the operational amplifier A1, the second end of the first capacitor C1 is grounded, the first end of the third resistor R3 is grounded, the second end of the third resistor R3 is connected to the first end of the fourth resistor R4 and the inverting input end of the operational amplifier A1, the second end of the fourth resistor R4 is connected to the output end of the operational amplifier A1, the power supply terminal of the operational amplifier A1 is connected to the power supply V1 and the first end of the second capacitor C2, the second end of the second capacitor C2 is grounded, and the ground terminal of the operational amplifier A1 is grounded.

[0076] In a specific implementation scenario, when the current flowing through the first resistor R1 is less than 50mA, the abnormal braking operation state of the servo driver is determined to be an open circuit state; when the current flowing through the first resistor R1 is greater than 3.5A, the abnormal braking operation state of the servo driver is determined to be an overcurrent state. When an open circuit state occurs, the output voltage of operational amplifier A1 is:

[0077]

[0078] Where R1 = 25mΩ, R3 = 10KΩ, and R4 = 124KΩ, that is, when the voltage value received by the microcontroller 30 is less than 0.01675V, the abnormal brake operation state of the servo driver is determined to be an open circuit state.

[0079] When an overcurrent condition occurs, the output voltage of operational amplifier A1 is:

[0080]

[0081] Wherein, R1 = 25mΩ, R3 = 10KΩ, R4 = 124KΩ, that is, when the voltage value received by the microcontroller 30 is greater than 1.1725V, the abnormal brake operation state of the servo driver is determined to be an overcurrent state.

[0082] In addition, the brake function BKIN pin of the STM32's dedicated advanced timer is used to identify short-circuit detection. Because the short-circuit current of the brake is relatively large, if the software short-circuit protection time is too long, it may damage the MOS or the sampling resistor. Therefore, the brake function BKIN pin of the STM32's dedicated advanced timer is used to identify short-circuit detection. So, when the BKIN pin is high, the abnormal operating state of the brake is a short circuit. According to testing, the minimum high-level voltage of the STM32 MCU is 2.2V.

[0083] Therefore, the minimum value of the short-circuit current can be calculated as follows:

[0084]

[0085] When the BKIN pin detects a high level, the brake operates in a short-circuit state, and the minimum short-circuit current is 6.557A.

[0086] Furthermore, to achieve the above objectives, this utility model also proposes a protection device based on servo driver brake control, which includes the protection circuit based on servo driver brake control described above. The specific structure of this protection circuit based on servo driver brake control is as described in the above embodiments. Since this protection device based on servo driver brake control adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0087] Furthermore, to achieve the above objectives, this utility model also proposes a servo driver, which includes the protection circuit based on servo driver brake control described above. The specific structure of this protection circuit based on servo driver brake control is as described in the above embodiments. Since this servo driver adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here.

[0088] The above are merely preferred embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A protection circuit based on servo driver brake control, characterized in that, The circuit includes: a current conversion unit, a signal processing unit, and a microcontroller; The current conversion unit is connected to the signal processing unit, and the signal processing unit is connected to the microcontroller. The current conversion unit is used to detect the brake operating current of the servo driver and convert the brake operating current into a corresponding voltage signal and output it to the signal processing unit. The signal processing unit is used to process the voltage signal and output a digital voltage signal to the microcontroller; The microcontroller is used to determine the abnormal brake operating state of the servo driver based on the voltage value corresponding to the digital voltage signal. The abnormal brake operating state includes overcurrent state, open circuit state, and short circuit state.

2. The protection circuit based on servo driver band brake control according to claim 1, characterized in that, The step of determining the abnormal brake-holding state of the servo driver based on the voltage value corresponding to the digital voltage signal includes: When the voltage value corresponding to the digital voltage signal is less than the first preset voltage value, the abnormal brake operation state of the servo driver is determined to be an open circuit state. When the voltage value corresponding to the digital voltage signal is greater than the second preset voltage value and less than the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be an overcurrent state. When the voltage value corresponding to the digital voltage signal is greater than or equal to the third preset voltage value, the abnormal brake operation state of the servo driver is determined to be a short circuit state, wherein the first preset voltage value is less than the second preset voltage value, and the second preset voltage value is less than the third preset voltage value.

3. The protection circuit based on servo driver band brake control according to claim 1, wherein, The signal processing unit includes: an operational amplifier unit and an analog-to-digital converter; The operational amplifier unit is connected to the current conversion unit and the analog-to-digital converter, respectively, and the analog-to-digital converter is connected to the microcontroller. The operational amplifier unit is used to amplify the voltage signal to obtain an amplified analog voltage signal, and output the analog voltage signal to the analog-to-digital converter; The analog-to-digital converter is used to perform analog-to-digital conversion on the analog voltage signal and output a digital voltage signal to the microcontroller.

4. The protection circuit based on the servo driver band brake control according to claim 3, characterized in that, The circuit also includes: a switching unit; The switching unit is connected in series in the brake power supply circuit of the servo driver and is connected to the current conversion unit. The control terminal of the switching unit is connected to the microcontroller. The switching unit is used to turn on the brake power supply circuit of the servo driver when it receives the turn-on signal output by the microcontroller. Accordingly, the current conversion unit is used to detect the brake operating current of the servo driver when the brake power supply circuit is turned on.

5. The protection circuit based on the servo driver band brake control according to claim 4, characterized in that, The microcontroller is also configured to, when detecting an abnormal brake operating state of the servo driver, output an error code corresponding to the abnormal operating state and output a shutdown signal to the switching unit, so that the switching unit shuts off the brake power supply circuit of the servo driver.

6. The protection circuit based on the servo driver band brake control according to claim 5, wherein, The switching unit includes: a first diode and a first switching transistor; The positive terminal of the first diode is connected to the input terminal of the first switching transistor and the brake control input or output terminal of the servo driver, the negative terminal of the first diode is connected to the power supply, and the output terminal of the first switching transistor is connected to the current conversion unit and the operational amplifier unit.

7. The protection circuit based on the servo driver band brake control according to claim 6, characterized in that, The current conversion unit includes: a first resistor; The first end of the first resistor is connected to the output terminal of the first switching transistor and the operational amplifier unit, respectively, and the second end of the first resistor is grounded.

8. The protection circuit based on the servo driver band brake control according to claim 7, characterized in that, The operational amplifier unit includes: a second resistor, a third resistor, a fourth resistor, a first capacitor, a second capacitor, and an operational amplifier; Wherein, the first end of the second resistor is connected to the first end of the first resistor and the output end of the first switching transistor, the second end of the second resistor is connected to the first end of the first capacitor and the positive input end of the operational amplifier, the second end of the first capacitor is grounded, the first end of the third resistor is grounded, the second end of the third resistor is connected to the first end of the fourth resistor and the inverting input end of the operational amplifier, the second end of the fourth resistor is connected to the output end of the operational amplifier, the power supply end of the operational amplifier is connected to the power supply and the first end of the second capacitor, the second end of the second capacitor is grounded, and the ground end of the operational amplifier is grounded.

9. A guard based on a brake control of a servo drive, characterized in that The protective device based on servo driver brake control includes the protective circuit based on servo driver brake control as described in any one of claims 1 to 8.

10. A servo driver, characterized in that, The servo driver includes a protection circuit based on servo driver brake control as described in any one of claims 1 to 8.

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