CN114115134A - Low-cost 13-axis parallel motion control card - Google Patents
Low-cost 13-axis parallel motion control card Download PDFInfo
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- CN114115134A CN114115134A CN202111481677.8A CN202111481677A CN114115134A CN 114115134 A CN114115134 A CN 114115134A CN 202111481677 A CN202111481677 A CN 202111481677A CN 114115134 A CN114115134 A CN 114115134A
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- 238000004891 communication Methods 0.000 claims abstract description 17
- 239000003990 capacitor Substances 0.000 claims abstract description 5
- 239000011093 chipboard Substances 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000002955 isolation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a low-cost 13-axis parallel motion control card, which comprises a singlechip board card, wherein a core processor is arranged on the singlechip board card, the core processor comprises an STM32F407ZGT6 chip, a plurality of groups of resistors, a plurality of groups of capacitors and a plurality of groups of triodes, and the pin position of the STM32F407ZGT6 chip is provided with 13 motor control ports; the singlechip board card is integrated with a control signal output driving circuit and a corresponding sensor interface, the control signal output driving circuit consists of 5 digital bus drivers SN74LS244D, and the singlechip board card is also integrated with a communication interface, wherein the communication interface comprises three types of communication interfaces, namely 2 RS232 interfaces, 2 CAN interfaces and 1 RS485 interfaces. The invention mainly solves the problem of automatic equipment control consisting of a plurality of motors, CAN realize modular control, plug-in card type expansion and CAN bus connection, reduces the cost and meets various automatic control requirements.
Description
Technical Field
The invention relates to the technical field of control cards, in particular to a low-cost 13-axis parallel motion control card.
Background
In automation industrialization, generally, a PLC is used for motion control, and the PLC is mature. Today's PLCs integrate motor motion control algorithms and various connection communication ports and support touch screens. The universal single PLC only has at most 3 motor control ports. If more interfaces are needed, various extension components are purchased. For more than a few tens of motor control requirements, the cost of expansion is too expensive. For this reason, we propose a low-cost 13-axis parallel motion control card.
Disclosure of Invention
The invention aims to provide a low-cost 13-axis parallel motion control card to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme: a low-cost 13-axis parallel motion control card comprises a single-chip board card, wherein a core processor is arranged on the single-chip board card, the core processor comprises an STM32F407ZGT6 chip, a plurality of groups of resistors, a plurality of groups of capacitors and a plurality of groups of triodes, and 13 motor control ports are arranged at the pin positions of the STM32F407ZGT6 chip;
the single-chip microcomputer board card is integrated with a control signal output driving circuit and a corresponding sensor interface, the control signal output driving circuit is composed of 5 digital bus drivers SN74LS244D, the single-chip microcomputer board card is further integrated with a communication interface, and the communication interface comprises three types of communication interfaces which are 2 RS232 interfaces, 2 CAN interfaces and 1 RS485 interface respectively.
The core processor is responsible for all task processing of the single chip board card, and the task processing comprises motion algorithm and state control, sensor input acquisition and instruction analysis.
The control signal output driving circuit functions to level-shift and improve the driving capability of the signal.
And the RS232 interface, the CAN interface and the RS485 interface adopt isolation measures.
The sensor interfaces are 36 positioning sensor input interfaces.
Compared with the prior art, the invention has the beneficial effects that: the invention mainly solves the problem of automatic equipment control consisting of a plurality of motors, and CAN realize modular control, card insertion type expansion and CAN bus connection.
The invention discloses a card type expandable board card, which CAN realize the parallel motion control of 13 motors, is provided with 36 positioning sensor input interfaces and integrates RS232, RS485 and CAN communication interfaces.
In order to have a low cost, the invention controls an automation device consisting of a plurality of motors. The invention uses STM32 embedded single chip microcomputer to develop the system. Defining 13 motor pulse control threads; 5 isolated communication interfaces are defined to meet various automatic control requirements.
Drawings
FIG. 1 is a schematic diagram of the redefinition of the pin functions of the STM32F407ZGT6 chip of the present invention;
FIG. 2 is a schematic diagram of a core processor of the present invention;
FIG. 3 is a circuit schematic of a first digital bus driver SN74LS244D according to the present invention;
FIG. 4 is a circuit diagram of a second digital bus driver SN74LS244D according to the present invention;
FIG. 5 is a circuit diagram of a third digital bus driver SN74LS244D according to the present invention;
FIG. 6 is a circuit schematic of a fourth digital bus driver SN74LS244D according to the present invention;
FIG. 7 is a schematic diagram of a fifth digital bus driver SN74LS244D according to the present invention;
fig. 8 is a schematic circuit structure diagram of the RS485 interface of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the present invention provides a technical solution: a low-cost 13-axis parallel motion control card comprises a single-chip board card, wherein a core processor is arranged on the single-chip board card, the core processor comprises an STM32F407ZGT6 chip, a plurality of groups of resistors, a plurality of groups of capacitors and a plurality of groups of triodes, and 13 motor control ports are arranged at the pin positions of the STM32F407ZGT6 chip;
the invention relates to a core redefined for the pin functions of STM32F407ZGT6 chips, which mainly defines 13 motor control ports and is sorted according to priority as shown in FIG. 1.
The core processor principle diagram adopted by the invention (as shown in figure 2) comprises an STM32F407ZGT6 chip, a plurality of groups of resistors, a plurality of groups of capacitors and a plurality of groups of triodes. The core processor is responsible for all task processing of the singlechip board card, and the task processing comprises a motion algorithm and state control, sensor input acquisition, instruction analysis and the like.
The singlechip board card is integrated with a control signal output driving circuit and corresponding sensor interfaces, the sensor interfaces are 36 positioning sensor input interfaces, the control signal output driving circuit is composed of 5 digital bus drivers SN74LS244D (shown in figures 3-7), and the control signal output driving circuit has the functions of level conversion and signal driving capacity improvement.
The singlechip board card is further integrated with a communication interface, the communication interface comprises three types of communication interfaces, namely 2 RS232 interfaces, 2 CAN interfaces and 1 RS485 interface, and isolation measures are adopted for the RS232 interfaces, the CAN interfaces and the RS485 interfaces. The functions are control instruction analysis, various data collection and remote program updating.
Interpretation of terms:
PLC: a Programmable logic controller, a Programmable logic controller;
CAN: controller Area Network, Controller Area Network.
In particular, the present invention is intended to address multiple motor motion control requirements when in use. The invention can realize high-precision control by using a positioned combined sensor. When an automation device is composed of more than dozens of motors, a PLC system is used, and a plurality of input/output modules and motor control modules are used, so that the control difficulty and the cost are greatly increased. The invention mainly solves the problem of automatic equipment control consisting of a plurality of motors, and CAN realize modular control, card insertion type expansion and CAN bus connection.
The invention discloses a card type expandable board card, which CAN realize the parallel motion control of 13 motors, is provided with 36 positioning sensor input interfaces and integrates RS232, RS485 and CAN communication interfaces.
In order to reduce the cost, the invention controls the automation equipment consisting of a plurality of motors. The invention uses STM32 embedded single chip microcomputer to develop the system. Defining 13 motor pulse control threads, as shown in fig. 1; 5 isolated communication interfaces are defined to meet various automatic control requirements.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a low-cost 13 parallel motion control cards of axle, includes the singlechip integrated circuit board, its characterized in that: the single-chip microcomputer board card is provided with a core processor, the core processor comprises an STM32F407ZGT6 chip, a plurality of groups of resistors, a plurality of groups of capacitors and a plurality of groups of triodes, and the pin position of the STM32F407ZGT6 chip is provided with 13 motor control ports;
the single-chip microcomputer board card is integrated with a control signal output driving circuit and a corresponding sensor interface, the control signal output driving circuit is composed of 5 digital bus drivers SN74LS244D, the single-chip microcomputer board card is further integrated with a communication interface, and the communication interface comprises three types of communication interfaces which are 2 RS232 interfaces, 2 CAN interfaces and 1 RS485 interface respectively.
2. The low-cost 13-axis parallel motion control card according to claim 1, wherein: the core processor is responsible for all task processing of the single chip board card, and the task processing comprises motion algorithm and state control, sensor input acquisition and instruction analysis.
3. The low-cost 13-axis parallel motion control card according to claim 1, wherein: the control signal output driving circuit functions to level-shift and improve the driving capability of the signal.
4. The low-cost 13-axis parallel motion control card according to claim 1, wherein: and the RS232 interface, the CAN interface and the RS485 interface adopt isolation measures.
5. The low-cost 13-axis parallel motion control card according to claim 1, wherein: the sensor interfaces are 36 positioning sensor input interfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111481677.8A CN114115134A (en) | 2021-12-06 | 2021-12-06 | Low-cost 13-axis parallel motion control card |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111481677.8A CN114115134A (en) | 2021-12-06 | 2021-12-06 | Low-cost 13-axis parallel motion control card |
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| Publication Number | Publication Date |
|---|---|
| CN114115134A true CN114115134A (en) | 2022-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111481677.8A Pending CN114115134A (en) | 2021-12-06 | 2021-12-06 | Low-cost 13-axis parallel motion control card |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060100723A1 (en) * | 2004-10-29 | 2006-05-11 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN206781908U (en) * | 2017-05-01 | 2017-12-22 | 西北师范大学 | Service robot universal chassis based on STM32 |
| CN110531685A (en) * | 2019-09-25 | 2019-12-03 | 重庆智能机器人研究院 | A kind of EtherCAT bus multiaxis slave station system |
| CN211531028U (en) * | 2017-10-10 | 2020-09-18 | 苏州国科均豪生物科技有限公司 | Multi-axis stepping motor control system based on STM32 control L640H driver |
| CN211565914U (en) * | 2020-01-15 | 2020-09-25 | 北京科技大学 | STM 32-based humanoid martial art arena robot |
| CN213457710U (en) * | 2020-10-18 | 2021-06-15 | 曾艳 | STM 32-based main control board applied to mobile robot |
| CN214474497U (en) * | 2020-10-31 | 2021-10-22 | 上海飞龙新能源汽车部件有限公司 | Multi-channel control equipment supporting multiple communications |
| CN214959347U (en) * | 2021-06-09 | 2021-11-30 | 杨志浩 | RS 485/422-based high-performance stepping motor driver |
-
2021
- 2021-12-06 CN CN202111481677.8A patent/CN114115134A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060100723A1 (en) * | 2004-10-29 | 2006-05-11 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN206781908U (en) * | 2017-05-01 | 2017-12-22 | 西北师范大学 | Service robot universal chassis based on STM32 |
| CN211531028U (en) * | 2017-10-10 | 2020-09-18 | 苏州国科均豪生物科技有限公司 | Multi-axis stepping motor control system based on STM32 control L640H driver |
| CN110531685A (en) * | 2019-09-25 | 2019-12-03 | 重庆智能机器人研究院 | A kind of EtherCAT bus multiaxis slave station system |
| CN211565914U (en) * | 2020-01-15 | 2020-09-25 | 北京科技大学 | STM 32-based humanoid martial art arena robot |
| CN213457710U (en) * | 2020-10-18 | 2021-06-15 | 曾艳 | STM 32-based main control board applied to mobile robot |
| CN214474497U (en) * | 2020-10-31 | 2021-10-22 | 上海飞龙新能源汽车部件有限公司 | Multi-channel control equipment supporting multiple communications |
| CN214959347U (en) * | 2021-06-09 | 2021-11-30 | 杨志浩 | RS 485/422-based high-performance stepping motor driver |
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