Multichannel Pulse Train Transmitting Apparatus Serial Conversion
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Solution Overview
Problem
In multi-shaft driving apparatuses, such as articulated robotic hands, the number of signal wires required for multichannel pulse train transmission paths increases with the number of motors, leading to complex wiring and increased probability of wire breakage, and existing communication standards are either incompatible with multichannel pulse trains or limited to one-directional serial communication.
Innovation Solution
A multichannel pulse train transmitting apparatus using a serialization circuit on the transmission-side converter and a deserialization circuit on the reception-side converter, which converts motor position command pulse trains from parallel to serial and back to parallel signals, allowing for serial communication between the motor controller and motor drivers, thereby reducing the number of communication wires needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the number of motors increases to enhance the functionality of the multi-shaft driving apparatus, then the driving capability and operational versatility are improved, but the number of signal wires required for multichannel pulse train transmission increases, leading to complex wiring and increased probability of wire breakage
Solution Approach 1:
Multiple parallel pulse train channels are merged into a single serial communication channel. The transmission-side converter combines multiple motor position command pulse trains into one serial data stream, which is then transmitted through a single wire to the reception-side converter, ultimately reducing many parallel wires to one serial wire.
Solution Approach 2:
Transmission-side and reception-side converters act as intermediary devices that enable serial communication between the controller and motor drivers. These converters translate between parallel pulse train signals and serial communication protocols, allowing complex multichannel transmission through simple serial wiring.
2Adaptability or versatility
If traditional parallel pulse train transmission is used to maintain compatibility with existing motor drivers, then the driving control functionality is preserved, but the number of signal wires increases proportionally with the number of motors
Solution Approach 1:
The parallel mechanical wiring system is replaced with a serial communication system. Instead of requiring separate physical wires for each pulse train channel, the invention uses serial communication to transmit multiple channels of motor control signals through a single wire, dramatically reducing the quantity of wiring required.
Solution Approach 2:
The transmission mode parameter is changed from parallel to serial. By converting the pulse train transmission from a parallel architecture to a serial architecture, the system maintains full motor control functionality while reducing the number of signal wires from N (where N is the number of motors) to just one serial communication channel.
3Quantity of substance
If existing communication standards like DeviceNet or CAN are adopted to reduce wiring, then the number of signal wires is reduced, but the motor drivers must operate in accordance with these specific communication standards, limiting compatibility
Solution Approach 1:
The communication system is segmented into three independent functional modules: the controller that generates pulse trains, the transmission-side converter that serializes the signals, and the reception-side converter that deserializes them for the motor drivers. This segmentation allows each module to maintain its original functionality while enabling serial communication, so existing motor drivers don't need to change their operation modes.
Solution Approach 2:
The transmission-side and reception-side converters serve as universal interface devices that can handle multiple motor drivers simultaneously through a single serial channel. These converters provide multi-functionality by supporting various pulse train formats and communication rates, making the system compatible with different motor driver types without requiring the drivers themselves to support specific communication standards.
Data Source
AI summary
In the multi-shaft driving apparatus, position command pulse trains for servomotors are generated from a motor controller and supplied to motor drivers for the respective servomotors via a multichannel pulse train transmitting apparatus. The multichannel pulse train transmitting apparatus converts the position command pulse trains supplied from the motor controller 6 to serial signals in a transmission-side converter, combines the resulting serial signals as a stream signal, and supplies the signal to a reception-side converter via a serial signal transmission path composed of a pair of signal wires. In the reception-side converter, motor position command pulse trains in the form of a serial signal is returned to multichannel pulse trains in the form of a parallel signal which are supplied to the motor drivers. The number of wires between the motor controller and the motor drivers can be reduced.