CN108847789B - Safety torque shut-off circuit and system for AC servo driver - Google Patents
Safety torque shut-off circuit and system for AC servo driver Download PDFInfo
- Publication number
- CN108847789B CN108847789B CN201810959297.2A CN201810959297A CN108847789B CN 108847789 B CN108847789 B CN 108847789B CN 201810959297 A CN201810959297 A CN 201810959297A CN 108847789 B CN108847789 B CN 108847789B
- Authority
- CN
- China
- Prior art keywords
- circuit
- resistor
- input
- output
- servo driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000872 buffer Substances 0.000 claims abstract description 53
- 230000003287 optical effect Effects 0.000 claims abstract description 24
- 230000002457 bidirectional effect Effects 0.000 claims description 15
- 239000003990 capacitor Substances 0.000 claims description 15
- 238000001914 filtration Methods 0.000 claims description 8
- 230000002265 prevention Effects 0.000 claims 1
- 101000879673 Streptomyces coelicolor Subtilisin inhibitor-like protein 3 Proteins 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 10
- 238000012544 monitoring process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a safe torque turn-off circuit and a safe torque turn-off system for an alternating current servo driver, wherein the circuit comprises two signal input ends, a first optical coupler input circuit, a second optical coupler input circuit, a buffer stop circuit, a STO fault output optical coupler and a STO fault signal output end; the input ends of the first optical coupler input circuit and the second optical coupler input circuit are respectively connected with one signal input end, and the output ends of the first optical coupler input circuit and the second optical coupler input circuit are connected with the buffer stop circuit; the buffer stop circuit is connected with the STO fault output optocoupler, and the output end of the STO fault output optocoupler is connected with the STO fault signal output end. The safe torque turn-off circuit and the safe torque turn-off system for the alternating current servo driver can realize the safe torque turn-off function which is combined with an upper control device and is applied to reach SIL3 authentication level, and ensure the production efficiency and the starting-up rate of equipment.
Description
Technical Field
The invention relates to the field of safety torque turn-off circuits, in particular to a safety torque turn-off circuit and a safety torque turn-off system for an alternating current servo driver.
Background
When mechanical equipment encounters an emergency, the servo motor is required to stop working immediately, the output torque is cut off, and the safety of the equipment is ensured; when equipment maintenance needs a person to enter an equipment operation area, the servo motor needs to be prevented from being started accidentally, and accidents accompanied with personal injury are avoided. The following two methods are generally adopted: (1) By pressing the scram switch, an alternating current contactor on an input power supply of the servo driver is turned off, the input power supply is cut off, and the output torque of the servo motor is turned off; (2) The switch signal is connected to the I/O port of the servo driver, or the servo driver turns off the output torque of the servo motor through software through a communication interface.
With the above-described scheme (1), such a power cut-off of the drive often does not enable a rapid cut-off of the current output of the drive and the torque output of the motor. Because some energy is stored on the dc bus of the driver, after the main power supply of the driver is turned off, a part of the residual energy of the dc bus can still allow the driver to operate for a while until the dc bus voltage is too low. Meanwhile, as the complexity of the machine increases, the number of transmission and motion axes increases, and in this way, the whole system becomes more complex, the number of components, the number of wires and the engineering design implementation amount caused by the number of wires increase. In addition, the input power of the driver is cut off, the equipment after each safe shutdown is recovered to production, the power-on initialization process of the driver has to be repeated, the time of equipment failure shutdown is further prolonged, and the production efficiency and the startup rate of the equipment are affected.
With the above scheme (2), when the servo driver has abnormal program, it is difficult to ensure reliable turn-off of the output torque of the servo motor, and the safety of equipment and operators cannot be ensured.
The international electrotechnical commission issues IEC61800-5-2 standard (speed-adjustable electric equipment standard part 5-2: functional safety requirement), functional safety requirement is provided for servo driver, servo motor and other systems, and the servo driver conforming to the functional safety technical requirement will support safety functions such as safety torque Shutdown (STO). The IEC61508 standard (functional safety of electrical/electronic/programmable electronic safety systems) proposes the concept of a Safety Integrity Level (SIL) to measure the reliability of a safety function, dividing it into 4 levels, the highest level in the industry being SIL3. The STO function satisfying SIL3 can bring about higher safety, which is a trend of development.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a safe torque turn-off circuit and a safe torque turn-off system for an alternating current servo driver, which can realize the safe torque turn-off function which is combined with an upper control device and is applied to reach SIL3 authentication level, and ensure the production efficiency and the starting-up rate of equipment.
In order to achieve the above objective, the present invention provides a safe torque shutdown circuit for an ac servo driver, comprising two signal input terminals, a first optocoupler input circuit, a second optocoupler input circuit, a buffer stop circuit, a STO fault output optocoupler, and a STO fault signal output terminal; the input ends of the first optical coupler input circuit and the second optical coupler input circuit are respectively connected with one signal input end, and the output ends of the first optical coupler input circuit and the second optical coupler input circuit are connected with the buffer stop circuit; the buffer stop circuit is connected with the STO fault output optocoupler, and the output end of the STO fault output optocoupler is connected with the STO fault signal output end.
Preferably, the first optocoupler input circuit and the second optocoupler input circuit each include:
the first end of the first resistor is connected with the signal input end;
a first input end of the bidirectional photoelectric coupler is connected with the second end of the first resistor, a second input end of the bidirectional photoelectric coupler is grounded, and a first output end of the bidirectional photoelectric coupler is grounded;
the second resistor is connected between the first input end and the second input end of the bidirectional photoelectric coupler;
the third resistor is connected between an equipotential end and a second output end of the bidirectional photoelectric coupler;
the input end of the first Schmidt inverter is connected with the second output end of the bidirectional photoelectric coupler;
the input ends of the second Schmidt inverter and the third Schmidt inverter are connected with the output end of the first Schmidt inverter, and the output end of the third Schmidt inverter is connected with the buffer stopping circuit;
the first end of the fourth resistor is connected with the input ends of the second schmitt inverter and the third schmitt inverter, and the second end of the fourth resistor is grounded; and
and the fifth resistor is connected between the equipotential end and an output end of the third Schmidt inverter.
Preferably, the first optocoupler input circuit and the second optocoupler input circuit further comprise an RC filter circuit; the RC filter circuit comprises a filter resistor and a first filter capacitor, wherein the filter resistor is connected between the second output end of the bidirectional photoelectric coupler and the input end of the first Schmitt inverter, the first end of the first filter capacitor is connected between the filter resistor and the input end of the first Schmitt inverter, and the second end of the first filter capacitor is grounded.
Preferably, the buffer stop circuit includes:
an eight-way buffer, a first enabling end of the eight-way buffer is connected with the output end of the third Schmitt inverter of the first optocoupler input circuit, and a second enabling end of the eight-way buffer is connected with a reset signal input end; the eight-way buffer is also connected with the equipotential end and a grounding end;
the first end of the sixth resistor is connected with the eight paths of buffers, and the second end of the sixth resistor is connected with the equipotential end;
an eight-way bus transceiver, wherein an enabling end of the eight-way bus transceiver is connected with an output end of the third schmitt inverter of the second optocoupler input circuit; the eight-way bus transceiver is also connected with the equipotential end and the grounding end;
a seventh resistor, a first end of the seventh resistor is connected with the eight-path bus transceiver, and a second end of the seventh resistor is connected with the equipotential end; and
the first input end of the NAND gate is connected with the first end of the seventh resistor and the eight-way bus transceiver, and the second input end of the NAND gate is connected with the first end of the sixth resistor and the eight-way buffer.
Preferably, the buffer stop circuit further comprises a first pull-up resistor group and a second pull-up resistor group; the first end of the first pull-up resistor group is connected with the equipotential end, and the second end of the first pull-up resistor group is connected with the eight paths of buffers; the first end of the second pull-up resistor group is connected with the equipotential end, and the second end of the second pull-up resistor group is connected with the eight-way bus transceiver.
Preferably, the STO fault output optocoupler includes: an eighth resistor, a single-phase photocoupler and a ninth resistor; the first end of the eighth resistor is connected with the output end of the buffer stop circuit, the second end of the eighth resistor is connected with a first input end of the single-phase photoelectric coupler, the second input end of the single-phase photoelectric coupler is connected with the equipotential end, and the ninth resistor is connected between the first input end and the second input end of the single-phase photoelectric coupler; and the output end of the single-phase photoelectric coupler is connected with the STO fault signal output end.
The invention relates to a safe torque turn-off system for an alternating current servo driver, which comprises an alternating current power supply, a servo driver, a servo motor, a constant voltage power supply, a fuse and a switch group; the servo driver comprises the safe torque turn-off circuit for the alternating current servo driver; the constant voltage power supply is connected with the servo driver through the fuse and the switch group; the alternating current power supply is connected with the servo motor through the servo driver.
Preferably, the servo driver further comprises a control loop, a rectifying and filtering unit, a driving loop and a second filtering capacitor; the output ends of the second Schmitt inverters of the first optocoupler input circuit and the second optocoupler input circuit are connected with the control loop; the control loop is connected with the driving loop through the buffer stopping circuit; the alternating current power supply is connected with the driving loop through the rectifying and filtering unit, and the driving loop is connected with the servo motor; the second filter capacitor is connected in parallel with the driving loop.
The invention adopts the technical proposal, which has the following beneficial effects:
through the cooperation of two signal input ends, a first optocoupler input circuit, a second optocoupler input circuit, a buffer blocking circuit, a STO fault output optocoupler and a STO fault signal output end, two paths of input signals can be provided at the same time through the outside, once the two paths of input signals are turned off at the same time, PWM driving signals of a power module for controlling the current of a servo motor are blocked through hardware immediately inside a servo driver, and therefore the current of the motor output by the power module is cut off. The STO function fault monitoring signal output by the servo driver can be monitored through the upper device, and the STO function fault monitoring signal can be conducted only after both input signals are turned off (when the safety function is normally operated). The working mode does not cut off the power supply of the servo driver, can effectively prevent the movable parts of the mechanical equipment from dangerous actions, ensures the safety of the equipment and operators, and does not affect the production efficiency and the starting rate of the equipment.
Drawings
FIG. 1 is a schematic diagram of a safety torque shutdown system for an AC servo driver according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a first optocoupler input circuit according to an embodiment of the invention;
FIG. 3 is a circuit diagram of a second optocoupler input circuit according to an embodiment of the invention;
FIG. 4 is a circuit diagram of a buffer stop circuit according to an embodiment of the invention;
FIG. 5 is a circuit diagram of an STO fault output optocoupler of an embodiment of the invention;
FIG. 6 is a control timing diagram of a torque safety shutdown of a safety torque shutdown circuit for an AC servo driver according to an embodiment of the present invention;
FIG. 7 is a control timing diagram of a self-torque safe off state recovery for a safe torque off circuit of an AC servo driver according to an embodiment of the present invention;
fig. 8 is a timing diagram of the STO fault output signal EDM of the safety torque shutdown circuit for an ac servo drive according to an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention will be given with reference to fig. 1 to 8, so that the functions and features of the present invention can be better understood.
Referring to fig. 1, a safety torque shutdown circuit for an ac servo driver according to an embodiment of the present invention includes two signal input terminals, a first optocoupler input circuit 1, a second optocoupler input circuit 2, a buffer stop circuit 3, a STO fault output optocoupler 4, and a STO fault signal output terminal (not shown); the input ends of the first optical coupler input circuit 1 and the second optical coupler input circuit 2 are respectively connected with a signal input end, and the output ends of the first optical coupler input circuit 1 and the second optical coupler input circuit 2 are connected with a buffer stop circuit 3; the buffer stop circuit 3 is connected with the STO fault output optocoupler 4, and the output end of the STO fault output optocoupler 4 is connected with the STO fault signal output end.
Referring to fig. 2 and 3, the first optocoupler input circuit 1 and the second optocoupler input circuit 2 respectively include: a first resistor R1, R7, a bi-directional optocoupler PC1, PC2, a second resistor R2, R8, a third resistor R3, R9, a first schmitt inverter U11, U12, a second schmitt inverter U21, U22, a third schmitt inverter U31, U32, a fourth resistor R5, R11, and a fifth resistor R6, R12.
The first ends of the first resistors R1 and R7 are connected with a signal input end; a first input end of the two-way photoelectric couplers PC1 and PC2 is connected to the second ends of the first resistors R1 and R7, a second input end of the two-way photoelectric couplers PC1 and PC2 is grounded, and a first output end of the two-way photoelectric couplers PC1 and PC2 is grounded. The second resistors R2, R8 are connected between the first and second inputs of the bi-directional photo-couplers PC1, PC 2. The third resistors R3 and R9 are connected between an equipotential terminal and a second output terminal of the bi-directional photocouplers PC1 and PC 2. The input ends of the first schmitt inverters U11 and U12 are connected with the second output ends of the bidirectional photocouplers PC1 and PC 2. The input ends of the second schmitt inverters U21 and U22 and the third schmitt inverters U31 and U32 are connected with the output ends of the first schmitt inverters U11 and U12, and the output ends of the third schmitt inverters U31 and U32 are connected with the buffer stopping circuit 3. The first ends of the fourth resistors R5 and R11 are connected to the input ends of the second schmitt inverters U21 and U22 and the third schmitt inverters U31 and U32, and the second ends of the fourth resistors R5 and R11 are grounded. The fifth resistors R6, R12 are connected between the equipotential terminals and an output terminal of the third schmitt inverters U31, U32.
The first optocoupler input circuit 1 and the second optocoupler input circuit 2 further comprise an RC filter circuit; the RC filter circuit comprises filter resistors R4 and R10 and first filter capacitors C2 and C3, wherein the filter resistors R4 and R10 are connected between the second output ends of the two-way photoelectric couplers PC1 and PC2 and the input ends of the first Schmitt inverters U11 and U12, the first ends of the first filter capacitors C2 and C3 are connected between the filter resistors R4 and R10 and the input ends of the first Schmitt inverters U11 and U12, and the second ends of the first filter capacitors C2 and C3 are grounded.
Referring to fig. 2 to 4, the buffer stop circuit 3 includes: an eight-way buffer U4, a sixth resistor R13, an eight-way bus transceiver U5, a seventh resistor R14, a NAND gate U6, a first set of pull-up resistors 31 and a second set of pull-up resistors 32.
A first enable end OE1 of the eight-way buffer U4 is connected to an output end of the third schmitt inverter U31 of the first optocoupler input circuit 1, a second enable end OE2 of the eight-way buffer U4 is connected to a reset signal input end, and the eight-way buffer U4 receives a reset signal in the servo driver 6 through the reset signal input end; the eight-way buffer U4 is also connected with an equipotential end and a grounding end; the first end of the sixth resistor R13 is connected with the eight-path buffer U4, and the second end of the sixth resistor R13 is connected with the equipotential end; the enabling end of the eight-way bus transceiver U5 is connected with the output end of the third Schmitt inverter U32 of the second optocoupler input circuit 2; the eight-way bus transceiver U5 is also connected with an equipotential end and a grounding end; the first end of the seventh resistor R14 is connected with the eight-path bus transceiver U5, and the second end of the seventh resistor R14 is connected with the equipotential end; the first input end of the NAND gate U6 is connected with the first end of the seventh resistor R14 and the eight-way bus transceiver U5, and the second input end of the NAND gate U6 is connected with the first end of the sixth resistor R13 and the eight-way buffer U4.
The first end of the first pull-up resistor group 31 is connected with an equipotential end, and the second end of the first pull-up resistor group 31 is connected with an eight-way buffer U4; the first end of the second pull-up resistor set 32 is connected to the equipotential end, and the second end of the second pull-up resistor set 32 is connected to the eight-way bus transceiver U5.
Referring to fig. 5, the sto fault output optocoupler 4 includes: an eighth resistor R28, a single-phase photocoupler PC3, and a ninth resistor R27; the first end of the eighth resistor R28 is connected with the output end of the buffer stop circuit 3, the second end of the eighth resistor R28 is connected with a first input end of the single-phase photoelectric coupler PC3, the second input end of the single-phase photoelectric coupler PC3 is connected with the equipotential end, and the ninth resistor R27 is connected between the first input end and the second input end of the single-phase photoelectric coupler PC 3; the output end of the single-phase photoelectric coupler PC3 is connected with the STO fault signal output end to generate a STO fault output signal for monitoring by the upper control device.
Referring to fig. 1, a safety torque shutdown system for an ac servo driver according to an embodiment of the present invention includes an ac power source 5, a servo driver 6, a servo motor 7, a constant voltage power source V, a fuse FU and a switch set S; the servo driver 6 comprises the safety torque shut-off circuit for the ac servo driver 6 of the present invention; the constant voltage power supply V is connected with the servo driver 6 through the fuse FU and the switch group S; the ac power supply 5 is connected to a servo motor 7 via a servo driver 6. In this embodiment, the constant voltage power supply V is a 24V power supply.
The servo driver 6 further comprises a control loop 8, a rectifying and filtering unit 9, a driving loop 10 and a second filtering capacitor C1; the output ends of the second Schmitt inverters U21 and U22 of the first optocoupler input circuit 1 and the second optocoupler input circuit 2 are connected with the control loop 8; the control loop 8 is connected with the driving loop 10 through the buffer stop circuit 3; the alternating current power supply 5 is connected with a driving loop 10 through a rectifying and filtering unit 9, and the driving loop 10 is connected with a servo motor 7; the second filter capacitor C1 is connected in parallel with the driving circuit 10.
After the external 24V direct current power supply of the constant voltage power supply V passes through the fuse FU, the external 24V direct current power supply is connected with the input ends of the first optocoupler input circuit 1 and the second optocoupler input circuit 2 through the switch S, and two paths of input signals generated by the switch S are simultaneously input into the first optocoupler input circuit 1 and the second optocoupler input circuit 2.
The safe torque shut-off system for the alternating current servo driver adds two input signal interfaces for safely shutting off the torque and one STO function fault monitoring signal output interface to the servo driver 6. By providing two input signals at the same time from the outside, once the two input signals are turned off at the same time, the inside of the servo driver 6 immediately stops the PWM driving signal of the power module controlling the current of the servo motor 7 through hardware, thereby cutting off the motor current output by the power module. The upper device monitors the STO function failure monitor signal outputted from the servo driver 6, and the STO function failure monitor signal is turned on only when both input signals are turned off (when the safety function is operating normally). The working mode does not cut off the power supply of the servo driver 6, can effectively prevent the movable parts of the mechanical equipment from dangerous actions, ensures the safety of the equipment and operators, does not affect the production efficiency and the starting rate of the equipment, outputs STO fault monitoring signals, can form an application system with the upper control device, the safety level of which reaches SIL3, meets the STO function of SIL3, can bring higher safety, and is a trend of future development.
Referring to fig. 1 to 4, a safety torque shutdown system for an ac servo driver according to an embodiment of the present invention includes the following steps:
step (1), when the servo driver 6 is in the resetting process, the output of the three-state output eight-way buffer U4 is in a high-resistance state, the PWM signal output to the driving circuit 10 is in a high level, and the output of the driving circuit 10 is turned off;
step (2), when the servo driver 6 works normally, signals are input to the first optocoupler input circuit 1 and the second optocoupler input circuit 2 of the servo driver 6 simultaneously through the constant voltage power supply V of 24V;
step (3), when the external constant voltage power supply V supplies power normally, the first optocoupler input circuit 1 and the second optocoupler input circuit 2 of the servo driver 6 output normal signals, the control loop 8 outputs PWM signals normally, and the servo motor 7 works normally;
and (4) when the 24V external constant voltage power supply V is turned off through the switch S, the output of the first optocoupler input circuit 1 turns off the PWM signal channel through the eight-way buffer U4 of the buffer stop circuit 3, and the output of the second optocoupler input circuit 2 turns off the PWM signal channel through the eight-way buffer U4, so that the torque turn-off of the servo driver 6 is realized.
And (5) inputting second output signals of the first optical coupler input circuit 1 and the second optical coupler input circuit 2 into the control loop 8, and closing the output of the PWM signal when the control loop 8 judges that the external 24V constant voltage power supply V is turned off.
The control timing diagram of the torque safety shutdown according to the embodiment of the present invention may refer to fig. 6, where the first optocoupler input circuit 1 and the second optocoupler input circuit 2 input normally before the timing point c, and operate normally; the ON input of the servo driver 6 is ON before the timing point b, and the ON input of the servo driver 6 is OFF after the timing point b; before timing point a servo drive 6 is in operation, between timing points a and b servo drive 6 is in software lockout, and after timing point c servo drive 6 is in hardware lockout.
Referring to fig. 7, a control timing diagram of the recovery from the torque safety off state in the embodiment of the present invention may be seen, where the first optocoupler input circuit 1 and the second optocoupler input circuit 2 are turned from the off state to the normal input state after the timing point e; after the timing point f, the ON input of the servo driver 6 is turned from OFF to ON; between the time points d and e, the servo driver 6 is in a hardware lockout state, between the time points e and f, the servo driver 6 is in a software lockout state, and after the time point f, the servo driver 6 is restored to a normal operation state.
Referring to fig. 8, a timing chart of the STO fault output signal EDM in the embodiment of the present invention may be seen, where the first optocoupler input circuit 1 and the second optocoupler input circuit 2 are turned from a normal running state to an off state at a timing point h, the STO fault output signal EDM is turned from a low level to a high level at a timing point i, and a time interval between the timing point i and the timing point h is less than 8ms.
The present invention has been described in detail with reference to the embodiments of the drawings, and those skilled in the art can make various modifications to the invention based on the above description. Accordingly, certain details of the illustrated embodiments are not to be taken as limiting the invention, which is defined by the appended claims.
Claims (7)
1. The safe torque turn-off circuit for the alternating current servo driver is characterized by comprising two signal input ends, a first optical coupler input circuit, a second optical coupler input circuit, a buffer stop circuit, a STO fault output optical coupler and a STO fault signal output end; the input ends of the first optical coupler input circuit and the second optical coupler input circuit are respectively connected with one signal input end, and the output ends of the first optical coupler input circuit and the second optical coupler input circuit are connected with the buffer stop circuit; the buffer stopping circuit is connected with the STO fault output optocoupler, and the output end of the STO fault output optocoupler is connected with the STO fault signal output end;
the first optocoupler input circuit and the second optocoupler input circuit respectively comprise:
the first end of the first resistor is connected with the signal input end;
a first input end of the bidirectional photoelectric coupler is connected with the second end of the first resistor, a second input end of the bidirectional photoelectric coupler is grounded, and a first output end of the bidirectional photoelectric coupler is grounded;
the second resistor is connected between the first input end and the second input end of the bidirectional photoelectric coupler;
the third resistor is connected between an equipotential end and a second output end of the bidirectional photoelectric coupler;
the input end of the first Schmidt inverter is connected with the second output end of the bidirectional photoelectric coupler;
the input ends of the second Schmidt inverter and the third Schmidt inverter are connected with the output end of the first Schmidt inverter, and the output end of the third Schmidt inverter is connected with the buffer stopping circuit;
the first end of the fourth resistor is connected with the input ends of the second schmitt inverter and the third schmitt inverter, and the second end of the fourth resistor is grounded; and a fifth resistor connected between the equipotential terminal and an output terminal of the third schmitt inverter.
2. The safe torque shutdown circuit for an ac servo driver of claim 1, wherein the first optocoupler input circuit and the second optocoupler input circuit further comprise an RC filter circuit; the RC filter circuit comprises a filter resistor and a first filter capacitor, wherein the filter resistor is connected between the second output end of the bidirectional photoelectric coupler and the input end of the first Schmitt inverter, the first end of the first filter capacitor is connected between the filter resistor and the input end of the first Schmitt inverter, and the second end of the first filter capacitor is grounded.
3. The safe torque shut-off circuit for an ac servo drive according to claim 1 or 2, wherein the buffer stop circuit comprises:
an eight-way buffer, a first enabling end of the eight-way buffer is connected with the output end of the third Schmitt inverter of the first optocoupler input circuit, and a second enabling end of the eight-way buffer is connected with a reset signal input end; the eight-way buffer is also connected with the equipotential end and a grounding end;
the first end of the sixth resistor is connected with the eight paths of buffers, and the second end of the sixth resistor is connected with the equipotential end;
an eight-way bus transceiver, wherein an enabling end of the eight-way bus transceiver is connected with an output end of the third schmitt inverter of the second optocoupler input circuit; the eight-way bus transceiver is also connected with the equipotential end and the grounding end;
a seventh resistor, a first end of the seventh resistor is connected with the eight-path bus transceiver, and a second end of the seventh resistor is connected with the equipotential end; and a first input end of the NAND gate is connected with the first end of the seventh resistor and the eight-way bus transceiver, and a second input end of the NAND gate is connected with the first end of the sixth resistor and the eight-way buffer.
4. The safe torque shut-off circuit for an ac servo driver according to claim 3, wherein said snubber prevention circuit further comprises a first set of pull-up resistors and a second set of pull-up resistors; the first end of the first pull-up resistor group is connected with the equipotential end, and the second end of the first pull-up resistor group is connected with the eight paths of buffers; the first end of the second pull-up resistor group is connected with the equipotential end, and the second end of the second pull-up resistor group is connected with the eight-way bus transceiver.
5. The safe torque shutdown circuit for an ac servo driver of claim 4 wherein the STO fault output optocoupler comprises: an eighth resistor, a single-phase photocoupler and a ninth resistor; the first end of the eighth resistor is connected with the output end of the buffer stop circuit, the second end of the eighth resistor is connected with a first input end of the single-phase photoelectric coupler, the second input end of the single-phase photoelectric coupler is connected with the equipotential end, and the ninth resistor is connected between the first input end and the second input end of the single-phase photoelectric coupler; and the output end of the single-phase photoelectric coupler is connected with the STO fault signal output end.
6. A safe torque shut-off system for an alternating current servo driver is characterized by comprising an alternating current power supply, a servo driver, a servo motor, a constant voltage power supply, a fuse and a switch group; the servo driver includes the safety torque shut-off circuit for an ac servo driver of claim 5; the constant voltage power supply is connected with the servo driver through the fuse and the switch group; the alternating current power supply is connected with the servo motor through the servo driver.
7. The system of claim 6, wherein the servo driver further comprises a control loop, a rectifying and filtering unit, a driving loop and a second filter capacitor; the output ends of the second Schmitt inverters of the first optocoupler input circuit and the second optocoupler input circuit are connected with the control loop; the control loop is connected with the driving loop through the buffer stopping circuit; the alternating current power supply is connected with the driving loop through the rectifying and filtering unit, and the driving loop is connected with the servo motor; the second filter capacitor is connected in parallel with the driving loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810959297.2A CN108847789B (en) | 2018-08-22 | 2018-08-22 | Safety torque shut-off circuit and system for AC servo driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810959297.2A CN108847789B (en) | 2018-08-22 | 2018-08-22 | Safety torque shut-off circuit and system for AC servo driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108847789A CN108847789A (en) | 2018-11-20 |
| CN108847789B true CN108847789B (en) | 2024-04-12 |
Family
ID=64188395
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810959297.2A Active CN108847789B (en) | 2018-08-22 | 2018-08-22 | Safety torque shut-off circuit and system for AC servo driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108847789B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112117952B (en) * | 2019-06-20 | 2022-04-19 | 台达电子工业股份有限公司 | Motor driving system and control method |
| CN116079763B (en) * | 2023-04-13 | 2023-07-07 | 广东美的制冷设备有限公司 | Robot, safety torque turn-off circuit and safety torque control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1442949A (en) * | 2003-03-07 | 2003-09-17 | 孙宝明 | A.C. motor brake controlled by single chip processor |
| WO2015145610A1 (en) * | 2014-03-26 | 2015-10-01 | 三菱電機株式会社 | Power shut-off device |
| CN105576952A (en) * | 2015-12-30 | 2016-05-11 | 深圳市英威腾电气股份有限公司 | Safe torque off (STO) control circuit and system |
| CN205301943U (en) * | 2015-12-31 | 2016-06-08 | 苏州汇川技术有限公司 | Star control system is turn -offed and seals in torque of motor safety |
| CN106208884A (en) * | 2016-08-31 | 2016-12-07 | 南京康尼电子科技有限公司 | A kind of torque security turning off system for servo-driver and method |
| CN208522667U (en) * | 2018-08-22 | 2019-02-19 | 东菱技术有限公司 | Safe torque breaking circuit and system for AC servo driver |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2725435B1 (en) * | 2012-10-24 | 2014-12-10 | Baumüller Nürnberg GmbH | Control of a security feature of an electric machine |
-
2018
- 2018-08-22 CN CN201810959297.2A patent/CN108847789B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1442949A (en) * | 2003-03-07 | 2003-09-17 | 孙宝明 | A.C. motor brake controlled by single chip processor |
| WO2015145610A1 (en) * | 2014-03-26 | 2015-10-01 | 三菱電機株式会社 | Power shut-off device |
| CN106104950A (en) * | 2014-03-26 | 2016-11-09 | 三菱电机株式会社 | Power cut device |
| CN105576952A (en) * | 2015-12-30 | 2016-05-11 | 深圳市英威腾电气股份有限公司 | Safe torque off (STO) control circuit and system |
| CN205301943U (en) * | 2015-12-31 | 2016-06-08 | 苏州汇川技术有限公司 | Star control system is turn -offed and seals in torque of motor safety |
| CN106208884A (en) * | 2016-08-31 | 2016-12-07 | 南京康尼电子科技有限公司 | A kind of torque security turning off system for servo-driver and method |
| CN208522667U (en) * | 2018-08-22 | 2019-02-19 | 东菱技术有限公司 | Safe torque breaking circuit and system for AC servo driver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108847789A (en) | 2018-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110192158B (en) | Servo system | |
| US9852852B2 (en) | Safety switching apparatus with switching element in the auxiliary contact current path | |
| CN208522667U (en) | Safe torque breaking circuit and system for AC servo driver | |
| CN108847789B (en) | Safety torque shut-off circuit and system for AC servo driver | |
| CN102828980A (en) | Heat radiation fan control device and electronic device | |
| CN102969200B (en) | High-reliable single-chip microcomputer control relay device | |
| CN108189672B (en) | Electric automobile integrated controller based on function safety | |
| CN103560050A (en) | Starting circuit and method for relay protection switching value output circuit | |
| JP2015186286A (en) | Output control apparatus | |
| CN105981285A (en) | Power conversion device | |
| EP1953063B1 (en) | Field vital output device and system for directly interfacing a control logic unit with at least one or more wayside units | |
| KR101758189B1 (en) | Explosion proof soft starter for middle voltage | |
| US20150171625A1 (en) | Integrated Soft Start and Safety Shutdown | |
| KR102190205B1 (en) | Apparatus for protecting inverter | |
| JP7353357B2 (en) | Power supply equipment and power supply system | |
| US10742138B2 (en) | Device for protecting inverter using a buffer operating according to a state of a safety relay | |
| CN208172596U (en) | A kind of emergency stop control circuit of industrial robot | |
| RU2510555C1 (en) | Machine protective device | |
| CN106200544B (en) | A kind of protection system and method for preventing PLC controller from crashing | |
| CN211478924U (en) | Control circuit for low-voltage alternating-current control loop when power supply voltage is abnormal | |
| CN109004627A (en) | A kind of arclight measurement and control system | |
| US11777436B2 (en) | Method and system for a safety concept for an AC battery | |
| KR102333786B1 (en) | Apparatus and method for auto transfer of motor bus | |
| CN212277913U (en) | Power supply under-voltage protection circuit and IGBT drive chip power supply | |
| CN202886929U (en) | Non-stop transmission control system for online switching controlling modes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |