CN104391477A - Drive-control integrated networked intelligent controller - Google Patents
Drive-control integrated networked intelligent controller Download PDFInfo
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- CN104391477A CN104391477A CN201410634985.3A CN201410634985A CN104391477A CN 104391477 A CN104391477 A CN 104391477A CN 201410634985 A CN201410634985 A CN 201410634985A CN 104391477 A CN104391477 A CN 104391477A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
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Abstract
The invention provides a drive-control integrated networked intelligent controller. The drive-control integrated networked intelligent controller comprises a microprocessor module, a field-programmable gate array module, a power circuit and an interface module, wherein the microprocessor module is used for performing instruction analysis, operation and control, the field-programmable gate array module is used for processing information related to motors and generating a PWM signal, and the power circuit is used for driving a plurality of motors according to the PWM signal. The drive-control integrated networked intelligent controller is capable of simultaneously driving and controlling a plurality of motors, facilitating control on a multi-axis device, realizing the integration of the device, saving resources, saving the cost and improving the efficiency; the drive-control integrated networked intelligent controller is capable of realizing cooperative control of a plurality of axes in addition to simultaneously driving and controlling a plurality of motors; interconnection and cooperative control of controlled devices different in types are realized, and the flexible working mode conforms to the requirements of future intelligent manufacturing; a control function and a control protocol are opened so that a user can perform secondary development on own specific devices to facilitate use and maintenance.
Description
Technical field
The present invention relates to industrial control system, particularly a kind of network-enabled intelligent controller driving control one.
Background technology
Motor servo system is widely used in the fields such as digital control processing, industrial robot, Aero-Space, and often in same application scenario, as artificially routine with industrial machine, all need control system and drive system to control simultaneously and drive multiple motor, being generally 3 to 6 motors.
In traditional application, each motor needs a driver, and several driver controls by a controller, and this scheme can cause a large amount of hardware to repeat and waste, can take larger area, also can increase cost.
The control system great majority of industrial robot are closed system at present simultaneously, constrain the use of user, are difficult to carry out secondary development, be unfavorable for that user diagnoses problem and safeguards, the manpower and financial resources cost causing user effort a large amount of.
Find through retrieval, Chinese patent mandate publication number is CN 102411353 B, a kind of method for designing of driving control integrated controller is provided in the patent that name is called " driving integrated controller and control system ", but this controller is the system comprising industrial control computer, motion controller, driver and programmable logic controller (PLC), controller architecture is different from this method, and integrated level is also lower compared with this method.
Summary of the invention
For prior art above shortcomings, the invention provides one and drive control integral controller, multiple motor can be controlled, avoid causing a large amount of hardware to repeat and waste, take less area, reduce costs; Not only realize the Collaborative Control of multiple axle, also achieve the interconnected and Collaborative Control of multiple different types of controlled device.
Provided by the inventionly in addition drive control integral controller, open control function and control protocol, user friendly secondary development, use and maintenance.
The invention provides a kind of controller driving control one, comprise microprocessor module, field programmable gate array module, power circuit and interface module, microprocessor module is used for carrying out instructions parse, computing and control, field programmable gate array module is for the treatment of the information relevant to motor and generate pwm signal, power circuit is used for driving multiple motor according to pwm signal, microprocessor module, field programmable gate array module is connected successively with power circuit, microprocessor module, field programmable gate array module is connected with multiple motor by interface module with power circuit.
The controller driving control one provided by the invention, power circuit is used for can driving multiple motor according to pwm signal, thus avoids a large amount of hardware repetitions and waste, takies less area and reduces cost; Simultaneously because the control integral controller that drives provided by the invention can control multiple motor, thus the Collaborative Control between multiple motor can be realized.
The controller driving control one provided by the invention, can drive simultaneously and control multiple motor, facilitating multi-axis machines, as the control of industrial robot, achieving the integrated of equipment, economize on resources, and saves cost, raises the efficiency;
Further, microprocessor module is connected with power circuit, and the number of power circuit drive motor and output current rating can be configured by microprocessor module.
The controller driving control one provided by the invention, can by the number of microprocessor module allocating power drives motor and output current rating, and being convenient to user needs to be configured according to working control.
Further, field programmable gate array module comprises scrambler parsing module, current signal receiver module, pwm signal generation module, and the number of scrambler parsing module, pwm signal generation module is determined according to the number of multiple motor.
The controller driving control one provided by the invention, field programmable gate array module comprises and the same number of scrambler parsing module of motor and pwm signal generation module, and each group coding device parsing module and pwm signal generation module are for controlling a motor.
Further, drive the controller of control one in the active mode, microprocessor module independently can carry out instructions parse, computing and control.
The controller driving control one provided by the invention, is divided into two kinds of mode of operations, i.e. aggressive mode (Active Mode) and Passive Mode (Passive Mode).
The controller driving control one of aggressive mode, can independent analysis compiler directive, and then carry out computing, then to field programmable gate array module, interface module sends corresponding signal.
Further, drive the controller of control one in the passive mode, interface module comprises network interface, and network interface is for receiving instruction, and microprocessor module carries out instructions parse, computing and control according to instruction.
The controller driving control one provided by the invention, under being divided into two kinds of mode of operations, i.e. aggressive mode and Passive Mode.
The controller driving control one of Passive Mode, receives instruction by network interface, carries out computing, and then to field programmable gate array module, interface module sends corresponding signal.
Further, instruction comes from through the controller driving control one of the aggressive mode that network connects, or comes from through the man-machine interface of network connection.
The controller driving control one of Passive Mode, the instruction of reception can control controller integrally from driving of the aggressive mode connected by network, also can from the man-machine interface connected by network.
The key distinction of two kinds of patterns is: in the active mode, and driving processor module in the controller of control one needs a real-time kernel, independently carries out instructions parse, computing and control etc.In the passive mode, the controller driving control one only needs to adopt the mode of poll or interruption to obtain instruction, and order performs.
Adopt the driving of controller and the aggressive mode of control one of driving of Passive Mode to control controller integrally, can increase further can the number of motor of Collaborative Control.
Further, interface module also comprises RS485 interface, RS232 interface or the serial bus interface with RS485, RS232 equivalence.
The controller driving control one provided by the invention, by RS485 interface, RS232 interface or with the serial bus interface of RS485, RS232 equivalence and the connection of multiple different types of controlled device, and combination carries out instructions parse, computing and control from the external signal of interface module, thus realize the interconnected and Collaborative Control with multiple different types of controlled device.
Further, interface module comprises network interface, and the controller driving control one can by network interface, and the function that the open controller driving control one is called in download to be provided is the user program that particular device is write.
The controller driving control one provided by the invention, a series of control function that can directly call has been opened to final user, user can write user program according to predetermined grammer on the particular device of oneself, and call the control function driving control controller integrally and provide, the controlling functions desired by realization.After having write, can download in the controller driving control one by network interface, be performed by the controller driving control one.
Further, the controller driving control one can by open control protocol, for controlling motor and other controlled devices and feeding back self status information to man-machine interface.
Meet the steering order of control protocol by Internet Transmission, steering order, also can from the man-machine interface connected by network from the controller driving control one of the aggressive mode connected by network, such as industrial computer.
Further, control protocol comprises motor position setting instruction, motor speed setting instruction, the instruction that powers on of power circuit, the back to zero bit instruction of controlled device, pid parameter regulating command and IO status command.
Compared with prior art, the controller driving control one provided by the invention has following beneficial effect:
(1) can drive simultaneously and control multiple motor, facilitating multi-axis machines, as the control of industrial robot, achieving the integrated of equipment, economize on resources, saving cost, raise the efficiency;
(2) can drive simultaneously and control multiple motor, also realizing the Collaborative Control of multiple axle;
(3) can by the number of microprocessor module allocating power drives motor and output current rating, being convenient to user needs to be configured according to working control;
(4) realize the interconnected of different types of controlled device and Collaborative Control, mode of operation adapts to the requirement of following intelligent manufacturing flexibly;
(5) opened control function and control protocol, user can carry out secondary development for the particular device of oneself, easy to use with maintenance.
Accompanying drawing explanation
Fig. 1 is the structured flowchart driving the controller of control one of one embodiment of the present of invention;
Fig. 2 is the block diagram using the controller driving control one shown in Fig. 1 to control motor;
Fig. 3 is the block diagram using the controller driving control one shown in Fig. 1 to control industrial robot.
Embodiment
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the controller driving control one of the present embodiment, comprise microprocessor module, field programmable gate array module, power circuit and interface module, microprocessor module is used for carrying out instructions parse, computing and control, field programmable gate array module is for the treatment of the information relevant to motor and generate pwm signal, power circuit is used for driving multiple motor according to pwm signal, microprocessor module, field programmable gate array module is connected successively with power circuit, microprocessor module, field programmable gate array module is connected with multiple motor by interface module with power circuit.
The controller driving control one of the present embodiment, power circuit is used for can driving multiple motor according to pwm signal, thus avoids a large amount of hardware repetitions and waste, takies less area and reduces cost; Simultaneously because the control integral controller that drives provided by the invention can control multiple motor, thus the Collaborative Control between multiple motor can be realized.
Microprocessor module is connected with power circuit, and the number of power circuit drive motor and output current rating can be configured by microprocessor module.
The controller driving control one of the present embodiment, can by the number of microprocessor module allocating power drives motor and output current rating, and being convenient to user needs to be configured according to working control.
Microprocessor module is used for carrying out instructions parse, computing and control, and microprocessor module is by data bus, and address bus and the clock signal comprising read-write chip selection signal are connected with field programmable gate array module.
The dsp chip TMS320F28x for Texas Instrument (TI) used in microprocessor module.This dsp chip is connected with FPGA, Ethernet chip and SRAM by maximum 32 bit data bus, maximum 20 bit address buses, read-write etc.
The configuration of microprocessor module is by the configuration interface on circuit board as JTAG carries out, and the configuration mode also can supported by other particular microprocessor such as remote mode is carried out.
Field programmable gate array module (FPGA) primary responsibility of controller driving control one of the present embodiment and motor carry out alternately, comprise and carry out the scrambler parsing module of decoding and the mutual current signal receiver module of current sample digital to analog converter (ADC) and pwm signal generation module to code device signal.
The number of scrambler parsing module, pwm signal generation module is determined according to the number of multiple motor, the controller driving control one of the present embodiment, field programmable gate array module comprises and the same number of scrambler parsing module of motor and pwm signal generation module, and each group coding device parsing module and pwm signal generation module are used for driving and controlling a motor.
Scrambler parsing module can calculate current motor rotating shaft position according to the absolute encoder signal of motor encoder or relative encoder's signal, and is stored in FPGA.Scrambler parsing module receives the code device signal from RS485 transceiver, can parse motor real time position, adopt decoding module also can obtain motor real time position equally for relative encoder for absolute encoder according to corresponding host-host protocol.
Current signal receiver module receives the current signal from power circuit ADC, is connected in the present embodiment between ADC and FPGA by spi bus.
The configuration of FPGA can adopt specialized configuration chip, JTAG mouth carries out, and also can be configured it by microcontroller.
Field programmable gate array module adopts the Cyclone Series FPGA of altera corp.
FPGA also comprises alert process module, and alert process module is for the treatment of the various alerting signals from power circuit.
In power circuit, current sensor can obtain the simulating signal corresponding to each motor biphase current value, is then converted to digital signal via ADC, and the current signal receiver module in FPGA obtains corresponding current value.
Pwm signal generation module, according to result of calculation and space-vector PWM arithmetic, produces motor PWM control signal.
Power circuit is the combination type multi-shaft ac driver adopting modular design, the motor number that it can drive and current of electric ratings can configure, configuration information by bus as I2C and micro controller module mutual, this main circuit will comprise rectification and inversion two parts, the convert alternating current of input is direct current by rectifying part, can be about 310V by the 220V alternating current filter rectification of input; Converting Unit mainly adopts the Intelligent Power Module (IPM) of international rectifier (IR) company to realize, and the maximum busbar voltage that can bear is 600V.
Power circuit also comprises current sampling circuit, adc circuit, band-type brake circuit, I2C identification module and warning circuit, current sampling circuit adopts sampling resistor and optocoupler amplifier, current information can be converted to voltage and export by sampling resistor, ADC change-over circuit can be inputted after optocoupler amplifies, thus analog voltage signal is converted to digital signal.
The number of IPM module, maximum current, the resistance of sampling resistor and the number of ADC, the number of axle that can drive as required and current requirements combine.
Band-type brake circuit is used for controlling motor internal contracting brake.
I2C identification module can be used for exchanging power circuit configuration information with DSP.
The controller driving control one of the present embodiment, is divided into two kinds of mode of operations, i.e. aggressive mode and Passive Mode.
The controller driving control one of the present embodiment, in the active mode, microprocessor module comprises real-time kernel, and microprocessor module independently can carry out instructions parse, computing and control.
The controller driving control one of aggressive mode, can independent parsing compiler directive, and then carry out computing, then to field programmable gate array module, interface module sends corresponding signal.The SYSBIOS that in the present embodiment, DSP adopts TI to provide is as real-time kernel.
The controller driving control one of the present embodiment, in the passive mode, interface module comprises Ethernet interface, and Ethernet interface is for receiving instruction, and microprocessor module carries out instructions parse, computing and control according to instruction.
The controller driving control one of Passive Mode, receives instruction by Ethernet interface, carries out computing, and then to field programmable gate array module, interface module sends corresponding signal.Constantly receive instruction by Ethernet by the mode of interruption or poll, then resolve execution.
Also other network interfaces can be adopted to receive instruction, such as radio network interface.
Controller is integrally controlled in driving of the present embodiment, and instruction comes from through the controller driving control one of the aggressive mode that Ethernet connects, or comes from through the man-machine interface of Ethernet connection.
The controller driving control one of Passive Mode, the instruction of reception can control controller integrally from driving of the aggressive mode connected by Ethernet, also can from the man-machine interface connected by Ethernet.
The key distinction of two kinds of patterns is: in the active mode, drives processor module in the controller of control one and independently carries out instructions parse, computing and control etc.In the passive mode, the controller driving control one only needs to adopt the mode of poll or interruption to obtain instruction, and order performs.
Adopt the driving of controller and the aggressive mode of control one of driving of Passive Mode to control controller integrally, can increase further can the number of motor of Collaborative Control.
The controller driving control one of the present embodiment, interface module also comprises RS485 interface, RS232 interface or the serial bus interface with RS485, RS232 equivalence.
Interface module comprises Ethernet interface, RS232 and RS485 interface.
Ethernet interface can realize high speed real-time carry out alternately with external data, realize being connected with network equipments such as other controllers, IP Camera, computing machines;
RS232 is applicable to point-to-point short distance communication;
RS485 can be used for long distance multi-point communication;
Also the communication of most of fieldbus as Modbus can be realized by Ethernet, RS485 etc.
The controller driving control one of the present embodiment, by RS485 interface, RS232 interface or the serial bus interface with RS485, RS232 equivalence, can with the connection of multiple different types of controlled device, and combination carries out instructions parse, computing and control from the external signal of interface module, thus realize the interconnected and Collaborative Control with multiple different types of controlled device.
In the present embodiment, interface module comprises Ethernet chip, RS485 transceiver, RS232 transceiver, scrambler input and common IO etc., and wherein Ethernet chip uses WIZnet to carry the W53x family ethernet chip of ICP/IP protocol; RS485 transceiver can adopt the chip of compatible ANSI TIA/EIA-485-A standard, as MAX485; RS232 transceiver can adopt the chip of compatible ANSI TIA/EIA-232-F standard as MAX3232; Scrambler input can be equivalent to RS485 input, and code device signal inputs in FPGA after input circuit conditioning; Common IO adopts photoelectric isolating circuit.
Dsp chip has 3 SCI interfaces, and wherein two are used as RS232 and RS485 interface, are connected respectively with RS485 transceiver, RS232 transceiver.
The controller driving control one of the present embodiment, interface module comprises Ethernet interface, the controller driving control one can pass through Ethernet interface, download user program, this user program calls the control function that the open controller driving control one provides, be write for particular device realize user's specific control object control program.
The controller driving control one of the present embodiment, a series of control function that can directly call has been opened to final user, user can write user program according to predetermined grammer on the particular device of oneself, and call the control function driving control controller integrally and provide, the controlling functions desired by realization.After having write, can download in the controller driving control one by Ethernet interface, be performed by the controller driving control one.
The controller driving control one of the present embodiment, the controller driving control one can by open control protocol, for controlling motor and other controlled devices and feeding back self status information to man-machine interface.
The steering order meeting control protocol is transmitted by Ethernet, and steering order, also can from the man-machine interface connected by Ethernet from the controller driving control one of the aggressive mode connected by Ethernet, such as industrial computer.
Control protocol comprises motor position setting instruction or speed setting instructions.
Control protocol also comprises the instruction that powers on of power circuit, the back to zero bit instruction of controlled device, pid parameter regulating command and IO status command.
The controller driving control one of the present embodiment, also comprise memory module, memory module mainly uses storage chip such as SRAM etc. to realize the storage of data, can deposit user program, configuration parameter, logout and diagnostic message etc.
In the present embodiment, memory module adopts the SRAM of 512K 16.
The controller driving control one of the present embodiment, also comprise auxiliary circuit, auxiliary circuit mainly comprises feed circuit, clock circuit and condition indication circuit etc.
Feed circuit can by the operating voltage of the 24V voltage transitions of outside input needed for each chip and electric current; Clock circuit provides reference clock for certain chip; Condition indication circuit uses LED instruction to drive the duty of the controller of control one.In the present embodiment, DSP has two GPIO mouths for connecting external LED pilot lamp, indicates its duty.
In the present embodiment, DSP has I2C interface for being connected with power circuit portion.
In the present embodiment, microprocessor module can by field programmable gate array modular connection interface module having the I/O interface of specific function, and the I/O interface of specific function comprises the interface etc. of the control signal being connected to the LED light being used to indicate duty, the signal controlling power circuit break-make.
Fig. 2 is the block diagram using the controller driving control one of the present embodiment shown in Fig. 1 to control motor 1 and motor 2.
General servomotor all has scrambler line, UVW power line, have also with band-type brake line.The scrambler of motor 1 and motor 2 is respectively by scrambler line, position signalling is inputed to the interface module of the controller driving control one, interface module is sent to two scrambler parsing modules of FPGA respectively after nursing one's health signal, two scrambler parsing modules carry out decoding to code device signal respectively, can obtain motor 1 and motor 2 current location.The electric current of motor also can be input in FPGA by the sample circuit on power circuit and ADC conversion and (not mark in fig. 2) simultaneously, obtain present current value, microprocessor and FPGA just can make comparisons according to the ideal value of these input values and expectation, the control algolithms such as PID are utilized to control motor, control signal exports as pwm signal, pwm signal acts on after on IPM, just can control motor 1 and motor 2.FPGA is also responsible for process band-type brake signal simultaneously.
Be the situation of control two motors in Fig. 2, also can control multiple motor according to actual needs.
Fig. 3 is the block diagram using the controller driving control one shown in Fig. 1 to control industrial robot, need control six-shaft industrial robot, separately there is an additional shaft, seven axis servomotors altogether, on-the-spot in addition also have the first-class equipment of industrial computer, PLC, external sensor, teach box and network shooting.
Adopt 2 controllers driving control one to control, one of them controller driving control one being aggressive mode, can control No. 1 to No. 4 four motors, and another controller driving control one being Passive Mode, can control No. 5 to No. 7 three motors.
No. 1 power line to No. 4 four motors and code device signal line are connected to driving of aggressive mode and control controller integrally, and No. 5 power lines to No. 7 three motors and code device signal line are connected to driving of Passive Mode and control controller integrally.
Each controller, industrial computer and IP Camera are connected in same LAN (Local Area Network) by Ethernet.
PLC is connected on the RS485 interface driving the control unit interface module of control one of aggressive mode; External sensor is connected in the I/O interface of driving the control unit interface module of control one of aggressive mode; Teach box is connected on the RS232 interface driving the control unit interface module of control one of aggressive mode.
When using teach box control, after user presses respective keys, teach box can send corresponding instruction in the control unit interface module of driving control one of aggressive mode according to predetermined agreement by RS232 bus, active controller is after compiling is resolved, control No. 1 motion to No. 4 motors, the control unit interface module of driving control one of aggressive mode also can send instructions to the controller driving control one of Passive Mode simultaneously, then controls No. 5 motions to No. 7 motors.
Usually, user first on industrial computer according to open control protocol, call according to predetermined grammer the control function provided and write corresponding program, then be downloaded on the memory device driving the controller of control one of aggressive mode by Ethernet, user's program of writing resolved by the controller driving control one of aggressive mode, in conjunction with external sensor signal, PLC signals etc. are run user program controlled motor and other controlled device automatically, and corresponding instruction is sent to the controller driving control one of Passive Mode by Ethernet, control corresponding motor and other controlled device.
In the present embodiment, miscellaneous equipment also can be connected to the controller driving control one of Passive Mode.
The controller that also two can be driven control one is all set as Passive Mode, now industrial computer can according to open agreement, by Ethernet with setting frequency as 1KHZ, the controller driving control one to two Passive Mode sends instruction, comprise position set point instruction (Position Setpoint Commands), pid parameter regulating command, common IO status command etc., so just can realize the control completely to this robot system.
The controller driving control one provided by the invention, can drive simultaneously and control multiple motor, facilitating multi-axis machines, as the control of industrial robot, achieving the integrated of equipment, economize on resources, and saves cost, raises the efficiency; Can drive simultaneously and control multiple motor, also realizing the Collaborative Control of multiple axle; Can by the number of microprocessor module allocating power drives motor and output current rating, being convenient to user needs to be configured according to working control; Realize the interconnected of different types of controlled device and Collaborative Control, mode of operation adapts to the requirement of following intelligent manufacturing flexibly; Opened control function and control protocol, user can carry out secondary development for the particular device of oneself, easy to use with maintenance.
The part that do not elaborate in above-mentioned explanation is knowledge and technology disclosed in this professional domain.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all those skilled in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. one kind is driven the controller of control one, it is characterized in that, comprise microprocessor module, field programmable gate array module, power circuit and interface module, described microprocessor module is used for carrying out instructions parse, computing and control, described field programmable gate array module is for the treatment of the information relevant to motor and generate pwm signal, described power circuit is used for driving multiple motor according to pwm signal, described microprocessor module, described field programmable gate array module is connected successively with described power circuit, described microprocessor module, described field programmable gate array module is connected with described multiple motor by described interface module with described power circuit.
2. drive the controller of control one as claimed in claim 1, it is characterized in that, described microprocessor module is connected with described power circuit, and the number of described power circuit drive motor and output current rating can be configured by described microprocessor module.
3. drive the controller of control one as claimed in claim 1, it is characterized in that, described field programmable gate array module comprises scrambler parsing module, current signal receiver module, pwm signal generation module, and the number of described scrambler parsing module, described pwm signal generation module is determined according to the number of described multiple motor.
4. drive as claimed in claim 1 control one controller, it is characterized in that, described in drive control one controller in the active mode, described microprocessor module independently carries out instructions parse, computing and control.
5. drive the controller of control one as claimed in claim 1, it is characterized in that, described driving controls controller integrally in the passive mode, described interface module comprises network interface, described network interface is for receiving instruction, and described microprocessor module carries out instructions parse, computing and control according to described instruction.
6. drive the controller controlling one as claimed in claim 5, it is characterized in that, described instruction comes from through the controller driving control one of the aggressive mode that network connects, or comes from through the man-machine interface of network connection.
7. drive the controller of control one as claimed in claim 1, it is characterized in that, described interface module also comprises RS485 interface, RS232 interface or the serial bus interface with RS485, RS232 equivalence.
8. drive the controller of control one as claimed in claim 1, it is characterized in that, described interface module comprises network interface, described in drive the controller of control one can by described network interface, downloading the function calling the open controller driving control one and provide is the user program that particular device is write.
9. drive the controller of control one as claimed in claim 8, it is characterized in that, described in drive the controller of control one can by open control protocol, for controlling motor and other controlled devices and feeding back self status information to man-machine interface.
10. drive the controller of control one as claimed in claim 9, it is characterized in that, described control protocol comprises motor position setting instruction, motor speed setting instruction, the instruction that powers on of described power circuit, the back to zero bit instruction of controlled device, pid parameter regulating command and IO status command.
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| CN108563607A (en) * | 2018-04-13 | 2018-09-21 | 成都赫尔墨斯科技股份有限公司 | A kind of device and method for improving communication and processing speed in avionics system |
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| CN109343590A (en) * | 2018-11-09 | 2019-02-15 | 蒋明光 | Motion control driver |
| CN109358559A (en) * | 2018-12-12 | 2019-02-19 | 阿斯科纳科技（深圳）有限公司 | Integrate the intelligence fortune control device of motion control and multiaxis driving |
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| CN109739126A (en) * | 2018-12-26 | 2019-05-10 | 珠海市众创芯慧科技有限公司 | It is a kind of based on controling integrated intelligent robot system |
| CN110320865A (en) * | 2019-08-01 | 2019-10-11 | 清正源华（北京）科技有限公司 | A kind of high-speed electric main shaft modularized multi-axis collaborative controller |
| WO2021027009A1 (en) * | 2019-08-15 | 2021-02-18 | 深圳先进技术研究院 | Combined drive and control machine, and robot drive and control system |
| CN110347110A (en) * | 2019-08-15 | 2019-10-18 | 深圳先进技术研究院 | One kind controling all-in-one machine and robot controls system |
| CN110488698A (en) * | 2019-08-16 | 2019-11-22 | 深圳华数机器人有限公司 | One kind is open to control integrated secondary developing platform and system |
| CN110488704A (en) * | 2019-08-21 | 2019-11-22 | 深圳大学 | A kind of the network stabilization control method and system of multistation cooperative motion |
| CN110733041A (en) * | 2019-11-12 | 2020-01-31 | 佛山智能装备技术研究院 | accuse drives body power module |
| CN111045393A (en) * | 2019-12-31 | 2020-04-21 | 上海新时达机器人有限公司 | Driving and controlling integrated servo implementation system |
| CN111273569A (en) * | 2020-01-14 | 2020-06-12 | 五邑大学 | Control method, device, system and computer storage medium compatible with dual modes |
| CN113960972A (en) * | 2021-11-09 | 2022-01-21 | 广东科伺智能科技有限公司 | Open type driving and controlling system |
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