CN111953238A - Dual-channel safe torque turn-off circuit and method - Google Patents
Dual-channel safe torque turn-off circuit and method Download PDFInfo
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- CN111953238A CN111953238A CN202010807173.XA CN202010807173A CN111953238A CN 111953238 A CN111953238 A CN 111953238A CN 202010807173 A CN202010807173 A CN 202010807173A CN 111953238 A CN111953238 A CN 111953238A
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- 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
- H02P3/02—Details of stopping control
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- 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
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Abstract
The invention discloses a dual-channel safe torque turn-off circuit and a dual-channel safe torque turn-off method. The circuit comprises a two-channel STO input module, a power switch module, an MCU control module and an isolation driving module. The power switch module is connected with the two-channel STO input module and the isolation driving module, and the MCU control module is connected with the two-channel STO input module and the isolation driving module. Wherein: the dual-channel STO input module receives an external STO signal, and outputs a standard STO signal to the power switch module through isolation and filtering; the power switch module triggers a power supply voltage to the isolation driving module MCU control module according to the STO signal to control the PWM signal to be output to the isolation driving module; the isolation driving module drives the external motor according to the power supply voltage and the PWM signal. According to the scheme, the isolation driving module is subjected to power supply control from a circuit level, safe and reliable running of STO functions is guaranteed, and unexpected torque is effectively guaranteed not to occur through hardware judgment and software judgment of STO signals.
Description
Technical Field
The invention relates to the technical field of circuits, in particular to a dual-channel safe torque turn-off circuit and a dual-channel safe torque turn-off method.
Background
In recent years, motor drives are widely used in numerical control machines, production line control, robot industry, etc., wherein the safety problem of mechanical control has been paid attention to by people. The Safety Torque Off (STO) is a safety function of the frequency converter and the servo driver, which is used to disconnect the output torque, when the motor loses power and cannot output torque outwards, i.e. cannot start. Safety torque off functions are commonly used for emergency stops, mechanical service, safety interlocks, or other combinations of safety functions.
The current STO functional circuit mostly uses a double-circuit redundancy design, a control circuit comprises a safety relay, a feedback loop, an indication loop and the like, and the circuit has multiple components and complex structure. However, even with a dual redundant STO design, it is difficult to ensure that no protection failures due to fault accumulation occur during continuous operation, and errors in the drive can trigger the STO to cause protection failures.
Simplifying the STO circuit and improving the reliability of the safe torque shutdown system is a problem that currently needs to be addressed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the dual-channel safe torque shutoff circuit and the dual-channel safe torque shutoff method overcome the defects in the prior art, simplify a functional circuit and reduce the system failure rate.
The technical solution of the invention is as follows:
the utility model provides a two-channel safe torque turn-off circuit, includes two-channel STO input module, power switch module, MCU control module, keeps apart drive module, wherein: the dual-channel STO input module is connected with the isolation driving module through the power switch module; the dual-channel STO input module is used for receiving an STO signal of an external control system and outputting an isolated and filtered STO signal to the power switch module; the power switch module is used for converting the isolated and filtered STO signal into a voltage signal and outputting the voltage signal to a high-low voltage power supply interface of the isolation driving module; the MCU control module is respectively connected with the two-channel STO input module and the isolation driving module; the MCU control module is used for detecting an STO signal of the dual-channel STO input module and the state of the power switch module and outputting a PWM signal generated by the power switch module to the isolation driving module; the isolation driving module is used for receiving the voltage output by the power switch module and the PWM signal output by the MCU control module and forbidding or starting the output of the isolation driving module.
Preferably, the dual-channel STO input module includes a first digital isolator, a first low-pass filter, a second digital isolator, and a second low-pass filter, one end of the first digital isolator is connected to an external control system and is configured to receive one STO signal output by the external control system, the other end of the first digital isolator is connected to the first low-pass filter, one end of the first low-pass filter is connected to the power switch module and the MCU control module, one end of the second digital isolator is connected to the external control system and is configured to receive the other STO signal output by the external control system, the other end of the second digital isolator is connected to the second low-pass filter, and one end of the second low-pass filter is connected to the power switch module and the MCU control module.
Preferably, the input end of the MCU control module is respectively connected with the first low-pass filter and the second low-pass filter and used for detecting an STO signal subjected to isolation and filtering, the input end of the MCU control module is simultaneously connected with the power switch module and used for acquiring the running state of the power switch module, and the output end of the MCU control module is connected with the isolation driving module and used for outputting a PWM control signal to the isolation driving module.
Preferably, the power switch module includes a high-side power switch and a low-side power switch, wherein: the high-voltage side power switch is used for receiving the STO signal subjected to isolation and filtering and outputting high voltage to the isolation driving module; the low-voltage side power switch is used for receiving the STO signal after isolation and filtering and outputting low voltage to the isolation driving module.
Preferably, the low-voltage side power switch includes a low-voltage side power switch chip, a first resistor, a second resistor, a third resistor, a first capacitor, a second capacitor, a first diode, and a triode. Wherein:
one end of the first resistor is connected with a VIN pin of the low-voltage side power switch chip, and the other end of the first resistor is respectively connected with an output channel of the MCU control module and a FAULT pin of the low-voltage side power switch chip; one end of the second resistor is connected with the VOUT pin of the low-voltage side power switch and the anode of the first diode respectively, and the other end of the second resistor is connected with the ground; one end of the third resistor is connected with the second low-pass filter, and the other end of the third resistor is respectively connected with the second capacitor and the base stage of the triode; one end of the first capacitor is connected with the ground, and the other end of the first capacitor is respectively connected with the cathode of the first diode and the collector of the triode; one end of the second capacitor is connected with the ground, and the other end of the second capacitor is respectively connected with the third resistor and the base stage of the triode.
Preferably, the high-voltage side power switch includes a high-voltage side power switch chip, a resistor four, a resistor five, a resistor six, a resistor seven, a resistor eight, a capacitor three, a capacitor four, and a second diode. Wherein:
one end of the fourth resistor is connected with a 3.3V voltage end, and the other end of the fourth resistor is respectively connected with a STATUS pin of the high-voltage side power switch chip and one end of the sixth resistor; one end of the resistor five is connected with the input end of the MCU control module, and the other end of the resistor five is connected with the STAT _ DIS pin of the high-voltage side power switch chip; one end of the sixth resistor is also connected with a STATUS pin of the high-voltage side power switch chip, and the other end of the sixth resistor is connected with the output end of the MCU control module; one end of the resistor seven is connected with the first low-pass filter, and the other end of the resistor seven is connected with an INPUT pin of the high-voltage side power switch chip; one end of the resistor eight is connected with the ground, and the other end of the resistor eight is respectively connected with the OUTPUT pin of the high-voltage side power switch chip and the anode of the second diode; one end of the capacitor III is connected with the ground, and the other end of the capacitor III is respectively connected with a VCC (voltage VCC) pin and 24V voltage of the high-voltage side power switch chip; one end of the capacitor is connected with the cathode of the second diode, and the other end of the capacitor is connected with the ground; and the anode of the second diode is also connected with an OUTPUT pin of the high-voltage side power switch chip.
Preferably, the first digital isolator and the second digital isolator can provide reverse polarity protection and standard voltage, and the first low-pass filter and the second low-pass filter can set filtering depth.
Preferably, the low-voltage side power switch chip is a small-sized, ultra-low leakage current, single-channel bidirectional load switch.
Preferably, the high-voltage side power switch chip is a single-channel high-side switch with a comprehensive protection function.
A method of dual channel safe torque shutdown is provided, the method comprising the steps of:
step 1: the dual-channel STO input module receives an STO signal of an external control system, isolates and filters the received STO signal and outputs a standard voltage signal;
step 2: the input two standard STO signals trigger the input high-low side voltage of the isolation driving module:
if the two STO signals are both effective signals, outputting effective high-low side voltage to a power supply interface of the isolation driving module;
if any invalid STO signal exists, directly cutting off the voltage of the corresponding channel;
and step 3: the MCU control module controls the output of the PWM signal according to the output signal of the power switch module;
if the MCU monitors that the power switch module works normally and the two input STO signals are normal, outputting a PWM signal to the isolation driving module;
if the MCU monitors that the power switch module does not work normally and/or two input STO signals have invalid values, the PWM signal output is forbidden;
and 4, step 4: the isolation driving module drives or disables the output according to the input PWM signal and the supply voltage:
if the PWM is effective, the power supply interfaces of the isolation driving module input effective power supply voltage, and the isolation driving module drives the driver to output safe torque;
if the PWM is effective and any invalid power supply voltage exists in the power supply interface of the isolation driving module, the isolation driving module disables output and does not generate torque;
if the PWM is invalid, any valid or invalid power supply voltage exists in the power supply interface of the isolation driving module, the isolation driving module prohibits output, and no torque appears.
The invention has the following beneficial effects: the invention independently develops a double-channel safe torque turn-off circuit and a double-channel safe torque turn-off method, and provides a load switch to carry out power-on and power-off on an isolation driving module through double-channel redundancy design, thereby realizing the STO function, realizing the safe torque turn-off function at a circuit level, simultaneously adding an MCU control module to judge the on-off state of a power switch, generating a trip signal, and ensuring that the isolation driving module cannot output unexpected torque. Meanwhile, the safety monitoring and system self-diagnosis of the invention ensure the reliability of the system operation in a full-isolation control mode.
Drawings
FIG. 1 is a block diagram of a dual channel safe torque shutdown circuit according to the present invention;
FIG. 2 is a block diagram of a dual channel safe torque shutdown circuit according to the present invention;
FIG. 3 is a high side switching circuit diagram of the power switch module of the present invention;
fig. 4 is a circuit diagram of a low-side switch of the power switch module of the present invention.
Detailed Description
In order to make the technical solutions of the present invention more clear and definite, the present invention is further described in detail below with reference to the embodiments and the drawings, it should be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic diagram of a dual-channel safe torque shutdown circuit according to this embodiment, where the circuit is composed of a dual-channel STO input module, a power switch module, an isolation driver module, and an MCU control module. The two-channel STO input module is connected with the isolation driving module through a power switch; the dual-channel STO input module is used for receiving an STO signal of an external control system and outputting the filtered STO signal to the power switch module; the power switch module is used for converting the filtered STO signal into a voltage signal and outputting the voltage signal to a high-low voltage power supply interface of the isolation driving module; the MCU control module is connected with the two-channel STO input module and the isolation driving module; the MCU control module is used for detecting an STO signal of the dual-channel STO input module and a state signal of the power switch module and outputting a PWM signal to the isolation driving module; the isolation driving module is used for receiving the voltage output by the power switch module and the PWM signal output by the MCU control module, and forbidding or starting the output of the isolation driving module, and it should be noted that in practical application, the isolation driving module is connected to the driver, and the isolation driving module controls the driver to drive the motor connected to the driver to start or stop.
Referring to fig. 2, fig. 2 is an overall block diagram of the dual-channel safe torque shutdown circuit, wherein the dual-channel STO input module is a dual-channel redundancy type and includes a first digital isolator, a first low-pass filter, a second digital isolator, and a second low-pass filter.
The first digital isolator and the second digital isolator isolate an external input STO signal and provide reverse polarity protection and input voltage which accord with the standard; the first low-pass filter and the second low-pass filter can set filtering depth, inhibit system interference signals and filter STO pulses lower than ms level.
The power switch module comprises a high-voltage side power switch and a low-voltage side power switch.
The high side switching circuit is shown in fig. 3. The circuit comprises a single-channel high-side switch chip, a resistor four R4, a resistor five R5, a resistor six R6, a resistor seven R7, a resistor eight R8, a capacitor three C3, a capacitor four C4 and a second diode D2.
One end of the resistor R4 is connected with a 3.3V voltage end, and the other end of the resistor R4 is connected with a STATUS pin of the high-voltage side power switch chip and one end of a resistor six R6; one end of the resistor five R5 is connected with the input end of the MCU control module, and the other end of the resistor five R5 is connected with the STAT _ DIS pin of the high-voltage side power switch chip; one end of the resistor six R6 is connected with the output end of the MCU control module, and the other end of the resistor six R6 is connected with the STATUS pin of the high-voltage side power switch chip and one end of the resistor four R4; one end of the resistor seven R7 is connected with the first low-pass filter, and the other end of the resistor seven R7 is connected with the INPUT pin of the high-voltage side power switch chip; one end of the resistor eight R8 is connected with the ground, and the other end of the resistor eight R8 is connected with the OUTPUT pin of the high-voltage side power switch chip and the anode of the second diode D2; one end of the capacitor tri C3 is connected with the ground, and the other end of the capacitor tri C3 is connected with the VCC pin of the high-voltage side power switch chip and the voltage of 24V; one end of the capacitor four C4 is connected with the cathode of the second diode D2, and the other end of the capacitor four C4 is connected with the ground; one end of the second diode D2 is connected with the OUTPUT pin of the high-voltage side power switch chip, and the other end is connected with the capacitor four C4.
The STO1 signal is subjected to digital isolation and low-pass filtering to obtain an STO _ INPUT1 signal, the signal is INPUT into an INPUT pin of a high-voltage side switch chip through a resistor seven R7, if the STO _ INPUT1 signal is valid, the high-voltage side power switch is turned on, and if the STO _ INPUT1 signal is invalid, the high-voltage side power switch is turned off.
The STATUS pin of the high-voltage side power switch chip is an Open-drain output (Open drain), is pulled up to a 3.3V power supply by using a resistor four R4 and is connected to the MCU control module through a resistor six R6, and the MCU control module judges whether the high-voltage side power switch normally operates or not by detecting the state of the STATUS pin.
And the STAT _ DIS pin is connected to the MCU control module through a five-resistor (R) 5, and can disable the signal output of the STATUS pin and uniformly send the signal to the MCU control module for monitoring.
The OUTPUT pin OUTPUTs the high-voltage side power supply, and the chip has an open circuit detection function, so that the resistor eight R8 is used as a dummy load, and the normal OUTPUT of the high-voltage side power supply is ensured. The second diode D2 is connected to prevent reverse connection, and the second diode D2 is connected to the capacitor four C4 to perform filtering processing to obtain a high-voltage side power supply VCC1, which is converted into an applicable level of the isolated gate driver IC by power supply conversion.
The high-voltage side power switch chip adopts a VN5160S-E chip of ST company, and the chip provides functions of undervoltage protection, overvoltage clamping, open-circuit detection, overcurrent protection and the like for a single-channel high-voltage side switch with a comprehensive protection function.
As shown in fig. 4, the low-side switch circuit includes a low-side power switch chip, a first resistor R1, a second resistor R2, a third resistor R3, a first capacitor C1, a second capacitor C2, a first diode D1, and a transistor Q1.
One end of the first resistor R1 is connected with the VIN pin of the low-voltage side power switch chip, and the other end of the first resistor R1 is connected with the output channel of the MCU control module and the FAULT pin of the low-voltage side power switch chip; one end of the second resistor R2 is connected with the VOUT pin of the low-voltage side power switch and the anode of the first diode D1, and the other end of the second resistor R2 is connected with the ground; one end of the resistor III R3 is connected with the second low-pass filter, and the other end of the resistor III R3 is connected with the capacitor II C2 and the base stage of the triode Q1; one end of the first capacitor C1 is connected with the ground, and the other end of the first capacitor C1 is connected with the negative electrode of the first diode D1 and the collector electrode of the triode Q1; the capacitor II C2 has one end connected to ground and the other end connected to the resistor III R3 and the base of the transistor Q1.
The STO2 signal is subjected to digital isolation and low-pass filtering to obtain an STO _ INPUT2 signal, and the signal is INPUT to an EN pin of the low-voltage side switch chip to control enabling of the low-voltage side switch chip. When the STO _ INPUT2 signal is active, the low-side switch chip is turned on, and when the STO _ INPUT2 signal is inactive, the low-side switch chip is turned off.
FAULT outputs a low-voltage side switch FAULT signal MCU _ OUT2 to the MCU control module to effectively control the low-voltage side switch. Since the FAULT pin is an Open drain output (Open drain), it is pulled up to the 3.3V supply pin using resistor one, R1; and a second resistor R2 is connected between the pins VOUT and GND to serve as a dummy load, is connected with a first diode D1 to prevent reverse connection, and is connected with a first capacitor C1 to perform filtering processing to obtain a low-voltage side power supply VCC 2.
The PNP type triode Q1 is used as a switch, when STO _ INPUT2 is at a low level, the low-voltage side power supply VCC2 is ensured to be low and not in a suspended state, the resistor three R3 is used as the triode Q1 for current limiting, and the capacitor two C2 is used for filtering.
The specific low-voltage side power switch chip adopts an STMP2141STR chip of ST company, and the chip is a small-sized, ultra-low leakage current, single-channel bidirectional load switch and supports a maximum continuous current of 1000 mA.
The MCU control module monitors the STO1 and STO2 states. When any effective value appears in STO1 and STO2, the state of the safety unit of the MCU control module is changed into a triggered STO state, the MCU control module waits for a fixed monitoring time, the states of the two input ends are checked again, if the two input ends jump to be invalid, the STO action is judged to be invalid, and no PWM signal is output to the isolation driving module; if any valid STO signal exists in STO1 and STO2, the input of the STO is judged to be reliable and valid, at the moment, a hardware trip signal is generated, and the output of PWM is blocked to the isolation driving module.
External control system input signals STO1 and STO2 respectively trigger VCC1 and VCC2 power supplies of the isolation driving module through the dual-channel STO input module and the power switch module; when the STO1 value is effective, the VCC1 high-voltage side power supply is effective, when the STO2 value is effective, the VCC2 low-voltage side power supply is effective, if effective high-low voltage and effective PWM input exist at the same time, the isolation driving module outputs effective driving voltage, and the driving motor outputs torque.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore should not be construed as limiting the scope of the present invention.
In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that, although various changes and modifications may be made by those skilled in the art, they should be included in the scope of the present invention unless they depart from the scope of the present invention.
Claims (10)
1. The utility model provides a two-channel safe torque turn-off circuit, its characterized in that contains two-channel STO input module, power switch module, MCU control module, keeps apart drive module, wherein:
the dual-channel STO input module is connected with the isolation driving module through the power switch module;
the dual-channel STO input module is used for receiving an STO signal of an external control system and outputting the STO signal after isolation and filtration to the power switch module;
the power switch module is used for converting the isolated and filtered STO signal into a voltage signal and outputting the voltage signal to a high-low voltage power supply interface of the isolation driving module;
the MCU control module is respectively connected with the two-channel STO input module and the isolation driving module;
the MCU control module is used for detecting an STO signal of the dual-channel STO input module and the state of the power switch module and outputting a PWM signal generated by the power switch module to the isolation driving module;
the isolation driving module is used for receiving the voltage output by the power switch module and the PWM signal output by the MCU control module and forbidding or starting the output of the isolation driving module.
2. The dual channel safe torque shutdown circuit of claim 1, wherein the dual channel STO input module comprises a first digital isolator, a first low pass filter, a second digital isolator, a second low pass filter, one end of the first digital isolator is connected to an external control system, the first digital isolator is used for receiving an STO signal output by an external control system, the other end of the first digital isolator is connected with the first low-pass filter, one end of the first low-pass filter is respectively connected with the power switch module and the MCU control module, one end of the second digital isolator is connected with an external control system, the other STO signal is used for receiving the output of the external control system, the other end of the second digital isolator is connected with a second low-pass filter, and one end of the second low-pass filter is respectively connected with the power switch module and the MCU control module.
3. The dual-channel safe torque shutdown circuit according to claim 2, wherein the input end of the MCU control module is connected to the first low pass filter and the second low pass filter respectively for detecting the isolated and filtered STO signal, the input end of the MCU control module is connected to the power switch module at the same time for acquiring the operating state of the power switch module, and the output end of the MCU control module is connected to the isolation driving module for outputting the PWM control signal to the isolation driving module.
4. The dual channel safe torque shutdown circuit of claim 3, wherein the power switch module includes a high side power switch, a low side power switch, wherein:
the high-voltage side power switch is used for receiving the STO signal subjected to isolation and filtering and outputting high voltage to the isolation driving module;
the low-voltage side power switch is used for receiving the STO signal after isolation and filtering and outputting low voltage to the isolation driving module.
5. The dual channel safe torque off circuit of claim 4, wherein the low side power switch includes a low side power switch chip, a first resistor, a second resistor, a third resistor, a first capacitor, a second capacitor, a first diode, and a third diode. Wherein:
one end of the first resistor is connected with a VIN pin of the low-voltage side power switch chip, and the other end of the first resistor is respectively connected with an output channel of the MCU control module and a FAULT pin of the low-voltage side power switch chip;
one end of the second resistor is connected with the VOUT pin of the low-voltage side power switch and the anode of the first diode respectively, and the other end of the second resistor is connected with the ground;
one end of the third resistor is connected with the second low-pass filter, and the other end of the third resistor is respectively connected with the second capacitor and the base stage of the triode;
one end of the first capacitor is connected with the ground, and the other end of the first capacitor is respectively connected with the cathode of the first diode and the collector of the triode;
one end of the second capacitor is connected with the ground, and the other end of the second capacitor is respectively connected with the third resistor and the base stage of the triode.
6. The dual channel safe torque off circuit of claim 4, wherein the high side power switch includes a high side power switch chip, resistor four, resistor five, resistor six, resistor seven, resistor eight, capacitor three, capacitor four, and a second diode. Wherein:
one end of the fourth resistor is connected with a 3.3V voltage end, and the other end of the fourth resistor is respectively connected with a STATUS pin of the high-voltage side power switch chip and one end of the sixth resistor;
one end of the resistor five is connected with the input end of the MCU control module, and the other end of the resistor five is connected with the STAT _ DIS pin of the high-voltage side power switch chip;
one end of the sixth resistor is also connected with a STATUS pin of the high-voltage side power switch chip, and the other end of the sixth resistor is connected with the output end of the MCU control module;
one end of the resistor seven is connected with the first low-pass filter, and the other end of the resistor seven is connected with an INPUT pin of the high-voltage side power switch chip;
one end of the resistor eight is connected with the ground, and the other end of the resistor eight is respectively connected with the OUTPUT pin of the high-voltage side power switch chip and the anode of the second diode;
one end of the capacitor III is connected with the ground, and the other end of the capacitor III is respectively connected with a VCC (voltage VCC) pin and 24V voltage of the high-voltage side power switch chip;
one end of the capacitor is connected with the cathode of the second diode, and the other end of the capacitor is connected with the ground;
and the anode of the second diode is also connected with an OUTPUT pin of the high-voltage side power switch chip.
7. The dual channel safe torque shutdown circuit of claim 2, wherein the first and second digital isolators are configured to provide reverse polarity protection and standard voltage, and the first and second low pass filters are configured to provide filter depth.
8. The dual channel safe torque off circuit of claim 5, wherein the low side power switch chip is a small, ultra low leakage current, single channel bi-directional load switch.
9. The dual channel safe torque shutdown circuit of claim 6, wherein the high side power switch chip is a single channel high side switch with full protection.
10. A method of dual channel safe torque shutdown, the method comprising the steps of:
step 1: the dual-channel STO input module receives an STO signal of an external control system, isolates and filters the received STO signal and outputs a standard voltage signal;
step 2: the input two standard STO signals trigger the input high-low side voltage of the isolation driving module:
if the two STO signals are both effective signals, outputting effective high-low side voltage to a power supply interface of the isolation driving module;
if any invalid STO signal exists, directly cutting off the voltage of the corresponding channel;
and step 3: the MCU control module controls the output of the PWM signal according to the output signal of the power switch module;
if the MCU monitors that the power switch module works normally and the two input STO signals are normal, outputting a PWM signal to the isolation driving module;
if the MCU monitors that the power switch module does not work normally and/or two input STO signals have invalid values, the PWM signal output is forbidden;
and 4, step 4: the isolation driving module drives or disables the output according to the input PWM signal and the supply voltage:
if the PWM is effective, the power supply interfaces of the isolation driving module input effective power supply voltage, and the isolation driving module drives the driver to output safe torque;
if the PWM is effective and any invalid power supply voltage exists in the power supply interface of the isolation driving module, the isolation driving module disables output and does not generate torque;
if the PWM is invalid, any valid or invalid power supply voltage exists in the power supply interface of the isolation driving module, the isolation driving module prohibits output, and no torque appears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN112787549A (en) * | 2020-12-24 | 2021-05-11 | 季华实验室 | STO control circuit of multi-axis driver |
| CN114740297A (en) * | 2022-04-12 | 2022-07-12 | 湖南炬神电子有限公司 | Power device testing method and system |
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| CN112787549B (en) * | 2020-12-24 | 2022-07-15 | 季华实验室 | STO control circuit of multi-axis driver |
| CN114740297A (en) * | 2022-04-12 | 2022-07-12 | 湖南炬神电子有限公司 | Power device testing method and system |
| CN114740297B (en) * | 2022-04-12 | 2022-12-02 | 湖南炬神电子有限公司 | Power device testing method and system |
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| CN111953238B (en) | 2023-03-24 |
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