Break detection circuit, device and servo driver based on regenerative bleed control

Abstract

The utility model relates to power supply protection technical field especially relates to a kind of line break detection circuit, device and servo driver based on regenerative bleed control.The circuit includes photo-coupler detection module and microcontroller.The first input end of photo-coupler detection module is connected DC bus negative voltage end, and first output end is connected power supply and microcontroller respectively;DC bus negative voltage end connects bleed resistor one end, and positive voltage end connects bleed resistor other end;Photo-coupler detection module is disconnected when bleed switch module, whether bleed resistor is normally accessed: if normally accessed, photo-coupler detection module first input end and second input end form power supply loop, and first output end exports low level signal to microcontroller;If not normally accessed, loop is not formed, and first output end exports high level signal.Microcontroller determines that bleed resistor is not normally accessed according to high level signal, and timely error report, prevent bus voltage excessively high.

Description

Technical Field

[0001] This utility model relates to the field of power supply protection technology, and in particular to a disconnection detection circuit, device and servo driver based on regenerative discharge control. Background Technology

[0002] When a servo driver drives a servo motor for deceleration, braking, or load unloading, the motor operates in a generator state. The generated "regenerative energy" causes the DC bus voltage to rise. If not addressed promptly, this can affect system stability and even damage the equipment. Regenerative discharge technology is the core solution to this problem. It uses a circuit consisting of a "regenerative discharge resistor" and a "discharge switch" to activate the discharge switch when the bus voltage exceeds a threshold. This allows excess electrical energy to be converted into heat through the resistor, thereby reducing the bus voltage and ensuring smooth braking.

[0003] For low-voltage servo drives, the regenerative discharge resistor usually needs to be connected externally to the drive. However, if the resistor is not properly connected due to loose wiring, breakage, or other reasons, the DC bus voltage will not be effectively suppressed by the discharge circuit, which may trigger an overvoltage alarm in the drive, or even cause damage to power devices or system failure. Utility Model Content

[0004] The main purpose of this utility model is to provide a disconnection detection circuit, device and servo driver based on regenerative discharge control, which aims to solve the technical problem that if the external regenerative discharge resistor of the servo driver is not connected due to disconnection, it will easily lead to excessive DC bus voltage, driver alarm or even damage.

[0005] To achieve the above objectives, this utility model provides a disconnection detection circuit based on regenerative discharge control, the circuit comprising: an optocoupler detection module and a microcontroller;

[0006] The first input terminal of the optocoupler detection module is connected to the negative voltage terminal of the DC bus, the second input terminal of the optocoupler detection module is connected to the neutral line, the first output terminal of the optocoupler detection module is connected to the power supply and the microcontroller respectively, the second output terminal of the optocoupler detection module is grounded, the negative voltage terminal of the DC bus is connected to one end of the bleeder resistor, the positive voltage terminal of the DC bus is connected to the other end of the bleeder resistor, the negative voltage terminal of the DC bus is also connected to the input terminal of the bleeder switch module, the output terminal of the bleeder switch module is grounded, and the control terminal of the bleeder switch module is connected to the servo driver.

[0007] The servo driver is used to control the on / off state of the discharge switch module. When the input voltage of the DC bus is detected to be greater than the preset discharge voltage threshold, the discharge switch module is turned on.

[0008] The optocoupler detection module is used to detect whether the bleeder resistor is properly connected when the bleeder switch module is disconnected. If the bleeder resistor is properly connected, the first input terminal and the second input terminal of the optocoupler detection module form a power supply circuit, and the first output terminal of the optocoupler detection module outputs a low-level signal to the microcontroller.

[0009] The optocoupler detection module is also used to output a high-level signal to the microcontroller if the bleeder resistor is not properly connected and the first input terminal and the second input terminal of the optocoupler detection module do not form a power supply circuit;

[0010] The microcontroller is used to determine that the bleeder resistor is not properly connected when it receives the high-level signal.

[0011] Optionally, the microcontroller is further configured to stop detecting the disconnection of the discharge resistor when the discharge switch module is turned on.

[0012] Optionally, the optocoupler detection module includes: an optocoupler and a first resistor;

[0013] The first input terminal of the optocoupler is connected to the negative voltage terminal of the DC bus, the second input terminal of the optocoupler is connected to the neutral line, the first output terminal of the optocoupler is connected to the first terminal of the first resistor and the microcontroller, and the second terminal of the first resistor is connected to the power supply.

[0014] Optionally, the circuit further includes: a current limiting unit and a filtering unit;

[0015] The current limiting unit is connected in series at the first input terminal of the optocoupler, one end of the filtering unit is connected to the first input terminal of the optocoupler, and the other end of the filtering unit is connected to the second input terminal of the optocoupler.

[0016] The current limiting unit is used to limit the current input to the first input terminal of the optocoupler, and the filtering unit is used to filter the voltage input to the first input terminal of the optocoupler.

[0017] Optionally, the current limiting unit includes: a first diode, a second resistor, and a third resistor;

[0018] The cathode of the first diode is connected to the negative voltage terminal of the DC bus, the anode of the first diode is connected to the first terminal of the second resistor, the second terminal of the second resistor is connected to the first terminal of the third resistor, and the second terminal of the third resistor is connected to the first input terminal of the optocoupler.

[0019] Optionally, the filtering unit includes: a first capacitor and a fourth resistor;

[0020] Wherein, the first end of the first capacitor and the fourth resistor connected in parallel is connected to the first input terminal of the optocoupler, and the second end of the first capacitor and the fourth resistor connected in parallel is connected to the second input terminal of the optocoupler.

[0021] Optionally, the discharge switch module includes: a fifth resistor, a sixth resistor, a second diode, and a first switching transistor;

[0022] The first end of the fifth resistor is connected to the servo driver and the first end of the sixth resistor respectively. The second end of the fifth resistor and the output end of the first switch are grounded. The second end of the sixth resistor is connected to the control end of the first switch. The input end of the first switch is connected to the positive terminal of the second diode and the negative voltage terminal of the DC bus. The negative terminal of the second diode is connected to the positive voltage terminal of the DC bus.

[0023] In addition, to achieve the above objectives, this utility model also proposes a wire breakage detection device based on regenerative discharge control, wherein the wire breakage detection device based on regenerative discharge control includes the wire breakage detection circuit based on regenerative discharge control described above.

[0024] In addition, to achieve the above objectives, this utility model also proposes a servo driver, which includes the disconnection detection circuit based on regenerative discharge control described above.

[0025] The open circuit detection circuit based on regenerative discharge control in this invention includes: an optocoupler detection module and a microcontroller; wherein, the first input terminal of the optocoupler detection module is connected to the negative voltage terminal of the DC bus, the second input terminal of the optocoupler detection module is connected to the neutral line, the first output terminal of the optocoupler detection module is connected to the power supply and the microcontroller respectively, the second output terminal of the optocoupler detection module is grounded, the negative voltage terminal of the DC bus is connected to one end of the discharge resistor, the positive voltage terminal of the DC bus is connected to the other end of the discharge resistor, the negative voltage terminal of the DC bus is also connected to the input terminal of the discharge switch module, the output terminal of the discharge switch module is grounded, and the control terminal of the discharge switch module is connected to a servo driver; the servo driver is used to control the discharge switch module. The on / off state is determined by the following mechanism: when the input voltage of the DC bus is detected to be greater than a preset discharge voltage threshold, the discharge switch module is turned on; the optocoupler detection module is used to detect whether the discharge resistor is properly connected when the discharge switch module is off. If the discharge resistor is properly connected, the first input terminal and the second input terminal of the optocoupler detection module form a power supply circuit, and the first output terminal of the optocoupler detection module outputs a low-level signal to the microcontroller; the optocoupler detection module is also used to determine that the discharge resistor is not properly connected when the discharge resistor is not properly connected and the first input terminal and the second input terminal of the optocoupler detection module do not form a power supply circuit, and the first output terminal of the optocoupler detection module outputs a high-level signal to the microcontroller; the microcontroller is used to determine that the discharge resistor is not properly connected when it receives the high-level signal. This invention uses an optocoupler detection module to detect whether the bleeder resistor is properly connected when the bleeder switch module is disconnected. This allows for real-time determination of whether the resistor is disconnected, preventing excessive DC bus voltage due to resistor disconnection. When a bleeder resistor is detected to be improperly connected, the microcontroller promptly receives a high-level signal and determines the disconnection, enabling rapid error reporting or protective measures to prevent driver overvoltage alarms or damage, ensuring stable system operation. Utilizing the electrical isolation characteristics of the optocoupler detection module, the high-voltage side is isolated from the low-voltage side, achieving the detection function while avoiding interference from high-voltage signals to the microcontroller, thus improving circuit reliability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the first embodiment of the open circuit detection circuit based on regenerative discharge control of this utility model;

[0027] Figure 2 This is a circuit diagram of the optocoupler detection module, current limiting unit, and filter unit in the open circuit detection circuit based on regenerative discharge control of this utility model.

[0028] Figure 3 This is a circuit diagram of the discharge switch module in the open circuit detection circuit based on regenerative discharge control of this utility model.

[0029] Explanation of icon numbers:

[0030]

[0031] 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

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] This utility model embodiment provides a disconnection detection circuit based on regenerative discharge control, referring to... Figure 1 As shown, Figure 1 This is a structural block diagram of the first embodiment of the open circuit detection circuit based on regenerative discharge control of this utility model. The open circuit detection circuit based on regenerative discharge control of this utility model includes: an optocoupler detection module 10 and a microcontroller 20;

[0037] In this configuration, the first input terminal of the optocoupler detection module 10 is connected to the negative voltage terminal VBB- of the DC bus, the second input terminal of the optocoupler detection module 10 is connected to the neutral line N, the first output terminal of the optocoupler detection module 10 is connected to the power supply V1 and the microcontroller 20 respectively, the second output terminal of the optocoupler detection module 10 is grounded, the negative voltage terminal VBB- of the DC bus is connected to one end of the bleeder resistor, the positive voltage terminal VBB of the DC bus is connected to the other end of the bleeder resistor, the negative voltage terminal VBB- of the DC bus is also connected to the input terminal of the bleeder switch module, the output terminal of the bleeder switch module is grounded, and the control terminal of the bleeder switch module is connected to the servo driver.

[0038] It should be noted that the optocoupler detection module 10 uses its electrical isolation characteristics to detect whether the bleeder resistor is properly connected and outputs high and low level signals to the microcontroller 20. The first input terminal is connected to the negative voltage terminal of the DC bus to obtain the bus voltage signal. The second input terminal is connected to the neutral line N as a reference potential terminal, forming a voltage loop detection endpoint with the negative DC bus. When the bleeder resistor is properly connected, the negative DC bus forms a loop with the positive terminal through the bleeder resistor, and a power supply loop is formed between the first and second input terminals of the optocoupler detection module 10. Relying on the bus voltage, the internal LED of the optocoupler conducts, causing the output transistor to saturate and conduct, and the first output terminal outputs a low level signal, i.e., grounded. When the bleeder resistor is disconnected (not connected), there is no loop between the first and second input terminals, no current flows inside the optocoupler, the output transistor is cut off, and the first output terminal is held at a high level by the pull-up resistor, i.e., the power supply voltage V1. By utilizing the electrical isolation characteristics of optocouplers, the high-voltage side (DC bus) is isolated from the low-voltage side (microcontroller 20), avoiding high-voltage interference to the microcontroller 20 and improving circuit reliability.

[0039] Specifically, refer to Figure 2 The optocoupler detection module 10 includes: an optocoupler U1 and a first resistor R1;

[0040] The first input terminal of the optocoupler U1 is connected to the negative voltage terminal VBB- of the DC bus, the second input terminal of the optocoupler U1 is connected to the neutral line N, the first output terminal of the optocoupler U1 is connected to the first terminal of the first resistor R1 and the microcontroller 20, and the second terminal of the first resistor R1 is connected to the power supply V1.

[0041] In addition, the open circuit based on regenerative discharge control also includes: a current limiting unit 30 and a filtering unit 40;

[0042] The current limiting unit 30 is connected in series at the first input terminal of the optocoupler U1, one end of the filtering unit 40 is connected to the first input terminal of the optocoupler U1, and the other end of the filtering unit 40 is connected to the second input terminal of the optocoupler U1.

[0043] The current limiting unit 30 is used to limit the current input to the first input terminal of the optocoupler U1, and the filtering unit 40 is used to filter the voltage input to the first input terminal of the optocoupler U1.

[0044] Specifically, the current limiting unit 30 includes: a first diode D1, a second resistor R2, and a third resistor R3; wherein, the negative terminal of the first diode D1 is connected to the negative voltage terminal VBB- of the DC bus, the positive terminal of the first diode D1 is connected to the first terminal of the second resistor R2, the second terminal of the second resistor R2 is connected to the first terminal of the third resistor R3, and the second terminal of the third resistor R3 is connected to the first input terminal of the optocoupler U1.

[0045] The filtering unit 40 includes a first capacitor C1 and a fourth resistor R4; wherein, the first end of the first capacitor C1 and the fourth resistor R4 connected in parallel is connected to the first input terminal of the optocoupler U1, and the second end of the first capacitor C1 and the fourth resistor R4 connected in parallel is connected to the second input terminal of the optocoupler U1.

[0046] The microcontroller 20 receives signals from the optocoupler detection module 10 to determine whether the bleeder resistor is disconnected and triggers a protection mechanism. Specifically, it receives the level signal output by the optocoupler; a low level indicates that the resistor is properly connected, and a high level indicates that the resistor is not connected (disconnected). When a high-level signal is detected, the bleeder resistor is determined to be abnormal, and an error code is reported through software, cutting off dangerous operating conditions (such as prohibiting forced operation) or stopping the machine to prevent the driver from being damaged due to excessive bus voltage. In addition, the microcontroller 20 is also used to stop the disconnection detection of the bleeder resistor when the bleeder switch module is turned on. It should be understood that the microcontroller 20 works in conjunction with the servo driver to perform detection only when the bleeder switch module is turned off (i.e., in a non-bleedering state) to avoid conflict between the detection process and the normal bleedering process.

[0047] The bleeder resistor is used to dissipate regenerated energy and reduce the DC bus voltage. During normal operation, when the servo driver controls the bleeder switch module to conduct, excess energy on the DC bus is converted into heat energy through the bleeder resistor, suppressing the rise in bus voltage. If the connection is interrupted, the regenerated energy cannot be released, leading to excessively high bus voltage. Therefore, a detection circuit is needed to ensure proper connection.

[0048] The bleeder switch module is controlled by a servo driver, which controls when the bleeder resistor is connected. The input terminal is connected to the negative terminal of the DC bus, and the output terminal is grounded, forming a bleeder circuit. The control terminal receives signals from the servo driver; when the bus voltage exceeds a preset threshold, it conducts, connecting the bleeder resistor to the circuit; when the voltage is normal, it disconnects, stopping the bleeder circuit. It should be understood that the coordination between the bleeder switch module and the detection circuit is as follows: only in the off state (non-bleedering period) can the optocoupler detection module 10 form an independent circuit with the neutral line N through the bus voltage to detect whether the resistor is connected, avoiding interference from the large current when the bleeder switch is on with the detection signal.

[0049] Specifically, refer to Figure 3 The discharge switch module includes: a fifth resistor R5, a sixth resistor R6, a second diode D2, and a first switching transistor Q1; wherein, the first end of the fifth resistor R5 is connected to the servo driver and the first end of the sixth resistor R6 respectively, the second end of the fifth resistor R5 and the output end of the first switching transistor Q1 are grounded, the second end of the sixth resistor R6 is connected to the control end of the first switching transistor Q1, the input end of the first switching transistor Q1 is connected to the positive terminal of the second diode D2 and the negative voltage terminal VBB- of the DC bus, and the negative terminal of the second diode D2 is connected to the positive voltage terminal VBB of the DC bus.

[0050] The servo driver is used to control the overall discharge process and provide coordination signals to the detection circuit. Specifically, the servo driver detects the DC bus voltage in real time. When the voltage exceeds the threshold, it turns on the discharge switch module to start the discharge. At the same time, it ensures that when the discharge switch module is off, i.e., when the bus voltage is normal, the optocoupler detection module 10 is allowed to perform resistance connection status detection, thus avoiding the simultaneous occurrence of detection and discharge processes.

[0051] Understandably, the positive voltage terminal of the DC bus is connected to one end of the bleeder resistor, providing the energy input for regenerative power. The negative voltage terminal of the DC bus is connected to the other end of the bleeder resistor, the input terminal of the bleeder switch module, and the first input terminal of the optocoupler detection module 10, serving as the common terminal of the loop and the detection signal acquisition point. The neutral line N is the reference potential terminal, serving as the reference potential for the second input terminal of the optocoupler detection module 10. It forms a voltage difference with the negative terminal of the DC bus, used to determine whether the bleeder resistor constitutes a complete loop; that is, only when the resistor is connected does a voltage difference form across it, causing the optocoupler loop to conduct.

[0052] In this embodiment, the servo driver controls the on / off state of the bleeder switch module. When the input voltage of the DC bus is detected to be greater than a preset bleeder voltage threshold, the bleeder switch module is turned on. When the bleeder switch module is turned off, the optocoupler detection module 10 detects whether the bleeder resistor is properly connected. If the bleeder resistor is properly connected, the first input terminal and the second input terminal of the optocoupler detection module 10 form a power supply circuit, and the first output terminal of the optocoupler detection module 10 outputs a low-level signal to the microcontroller 20. The optocoupler detection module 10 is also used to output a high-level signal to the microcontroller 20 if the bleeder resistor is not properly connected and the first input terminal and the second input terminal of the optocoupler detection module 10 do not form a power supply circuit. The microcontroller 20 is used to determine that the bleeder resistor is not properly connected when it receives the high-level signal. This invention uses an optocoupler detection module 10 to detect whether the bleeder resistor is properly connected when the bleeder switch module is disconnected. This allows for real-time determination of whether the resistor is disconnected, preventing excessive DC bus voltage due to the resistor not being connected. When the bleeder resistor is detected to be not properly connected, the microcontroller 20 promptly receives a high-level signal and determines that the circuit is disconnected. It can quickly report errors or take protective measures to prevent driver overvoltage alarms or damage, ensuring stable system operation. Utilizing the electrical isolation characteristics of the optocoupler detection module 10, the high-voltage side is isolated from the low-voltage side, achieving the detection function while avoiding interference from high-voltage signals to the microcontroller 20, thus improving circuit reliability.

[0053] Furthermore, to achieve the above objectives, this utility model also proposes a wire breakage detection device based on regenerative discharge control, which includes the wire breakage detection circuit based on regenerative discharge control described above. The specific structure of this wire breakage detection circuit based on regenerative discharge control is as described in the above embodiments. Since this wire breakage detection device based on regenerative discharge 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.

[0054] Furthermore, to achieve the above objectives, this utility model also proposes a servo driver, which includes the open circuit detection circuit based on regenerative discharge control described above. The specific structure of this open circuit detection circuit based on regenerative discharge 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, and will not be elaborated further here.

[0055] 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 disconnection detection circuit based on regenerative discharge control, characterized in that, The circuit includes: an optocoupler detection module and a microcontroller; The first input terminal of the optocoupler detection module is connected to the negative voltage terminal of the DC bus, the second input terminal of the optocoupler detection module is connected to the neutral line, the first output terminal of the optocoupler detection module is connected to the power supply and the microcontroller respectively, the second output terminal of the optocoupler detection module is grounded, the negative voltage terminal of the DC bus is connected to one end of the bleeder resistor, the positive voltage terminal of the DC bus is connected to the other end of the bleeder resistor, the negative voltage terminal of the DC bus is also connected to the input terminal of the bleeder switch module, the output terminal of the bleeder switch module is grounded, and the control terminal of the bleeder switch module is connected to the servo driver. The servo driver is used to control the on / off state of the discharge switch module. When the input voltage of the DC bus is detected to be greater than the preset discharge voltage threshold, the discharge switch module is turned on. The optocoupler detection module is used to detect whether the bleeder resistor is properly connected when the bleeder switch module is disconnected. If the bleeder resistor is properly connected, the first input terminal and the second input terminal of the optocoupler detection module form a power supply circuit, and the first output terminal of the optocoupler detection module outputs a low-level signal to the microcontroller. The optocoupler detection module is also used to output a high-level signal to the microcontroller if the bleeder resistor is not properly connected and the first input terminal and the second input terminal of the optocoupler detection module do not form a power supply circuit; The microcontroller is used to determine that the bleeder resistor is not properly connected when it receives the high-level signal.

2. The open circuit detection circuit based on regenerative discharge control as described in claim 1, characterized in that, The microcontroller is also used to stop detecting the disconnection of the discharge resistor when the discharge switch module is turned on.

3. The open circuit detection circuit based on regenerative discharge control as described in claim 1, characterized in that, The optocoupler detection module includes: an optocoupler and a first resistor; The first input terminal of the optocoupler is connected to the negative voltage terminal of the DC bus, the second input terminal of the optocoupler is connected to the neutral line, the first output terminal of the optocoupler is connected to the first terminal of the first resistor and the microcontroller, and the second terminal of the first resistor is connected to the power supply.

4. The open circuit detection circuit based on regenerative discharge control as described in claim 3, characterized in that, The circuit also includes: a current limiting unit and a filtering unit; The current limiting unit is connected in series at the first input terminal of the optocoupler, one end of the filtering unit is connected to the first input terminal of the optocoupler, and the other end of the filtering unit is connected to the second input terminal of the optocoupler. The current limiting unit is used to limit the current input to the first input terminal of the optocoupler, and the filtering unit is used to filter the voltage input to the first input terminal of the optocoupler.

5. The open circuit detection circuit based on regenerative discharge control as described in claim 4, characterized in that, The current limiting unit includes: a first diode, a second resistor, and a third resistor; The cathode of the first diode is connected to the negative voltage terminal of the DC bus, the anode of the first diode is connected to the first terminal of the second resistor, the second terminal of the second resistor is connected to the first terminal of the third resistor, and the second terminal of the third resistor is connected to the first input terminal of the optocoupler.

6. The open circuit detection circuit based on regenerative discharge control as described in claim 4, characterized in that, The filtering unit includes: a first capacitor and a fourth resistor; Wherein, the first end of the first capacitor and the fourth resistor connected in parallel is connected to the first input terminal of the optocoupler, and the second end of the first capacitor and the fourth resistor connected in parallel is connected to the second input terminal of the optocoupler.

7. The open circuit detection circuit based on regenerative discharge control as described in claim 1, characterized in that, The discharge switch module includes: a fifth resistor, a sixth resistor, a second diode, and a first switching transistor; The first end of the fifth resistor is connected to the servo driver and the first end of the sixth resistor respectively. The second end of the fifth resistor and the output end of the first switch are grounded. The second end of the sixth resistor is connected to the control end of the first switch. The input end of the first switch is connected to the positive terminal of the second diode and the negative voltage terminal of the DC bus. The negative terminal of the second diode is connected to the positive voltage terminal of the DC bus.

8. A wire breakage detection device based on regenerative discharge control, characterized in that, The open circuit detection device based on regenerative discharge control includes the open circuit detection circuit based on regenerative discharge control as described in any one of claims 1 to 7.

9. A servo driver, characterized in that, The servo driver includes the disconnection detection circuit based on regenerative discharge control as described in any one of claims 1 to 7.

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