CS267955B1 - Equipment for stepper motor controllers - Google Patents

Abstract

A device for controlling a stepper motor using a single-chip microcomputer and several supporting circuits is provided. The single-chip microcomputer is connected to a circuit for inputting an activity, a circuit for inputting a program and a circuit for inputting the number of steps, the motor speed and the direction of rotation, a display unit and a circuit for signaling incorrect programming and incorrect manipulation of the device, and a circuit for inputting the mode of operation. This connection allows three modes of operation of the microcomputer to be implemented, namely the programming mode, the manual control mode of the stepper motor and the program control mode of the stepper motor. Furthermore, the microcomputer is connected to a number/frequency converter, which ensures the generation of control pulses, the frequency of which corresponds to the required motor speed. The microcomputer is also connected to RAM and EPROM memories used for storing data and the program of the microcomputer's operation.

Description

The invention relates to a device for program control of a stepper motor, the output of the device being control pulses which can be applied to the amplifiers of the individual windings of the stepper motor. The device generates control pulses with the frequency specified by the required motor speed in individual sections of the program, the number of entered jirogram steps and its direction of rotation.

Previously known connections of freely programmable systems for program control of stepper motors of this class are realized from microcomputer kits. The main disadvantage of these rhymes is the complex connection, large number of individual boards, non-use of all board components, lower reliability, large dimensions and weight.

The above-mentioned drawbacks are eliminated by a device for program control of a stepper motor, with a single-chip microcomputer with a pruning basis according to the invention. Its essence is that the first I / O gate of a single-chip microcomputer is connected to the data outputs of the RAM memory, on the one hand to the data outputs of the EPROM or PROM memory and to the other to the inputs of the bus driver. The output of the bus driver is connected to the address terminals of the RAM memory and to the address terminals of the EPROM memory. Signal terminals for reading and writing a single-chip microcomputer. The single-chip microcomputer is further connected to the EPROM memory, which is connected via address terminals to the first half of the third I / O gate, to the input of the first expander, to the input of the second expander and to the input of the third expander. The select input of the first, second and third expanders is connected to one bit of the second half of the third I / O gate and to another bit of this gate. The output type input circuit, the operation input circuit and the amplifiers of the individual windings of the stepper motor are connected to the outputs of the first expander. The outputs of the third expander are connected to the display unit. The first output of the second expander is connected to the input circuit for programming, the other outputs are connected to the input circuit for the number of steps, speed and direction of rotation. The circuit for indicating incorrect program entry and incorrect manipulation is also connected to the single-chip microcomputer. The second input-output gate of the microcomputer is connected to the digital input of the number / frequency converter, the frequency output of which is connected to the output of the input of the external request for overcompression of the microcomputer. The start terminal of the number / frequency converter is connected to one bit of the third I / O gate of the microcomputer.

The present circuitry has the advantage over circuitry of a modular microcomputer in that it achieves the same function with a minimum number of components, is economically advantageous, and is small in size and weight. Furthermore, it allows you to enter the control program in a simple and fast way, test the characteristic values of the program, automatic control of input data and functions with signaling of possible errors, for example when exceeding the allowed number of steps, exceeding allowed step change of step frequency . Provides automatic gating of the output in case of incorrect handling of the device, or in case of indication of a device fault. It enables remote control of the device and increases the resistance to electrical interference and possible mains overvoltage by galvanic separation of output signals and remote control signals. The advantage is also the applicability for any type of stepper motor by changing the corresponding program of operation of the microcomputer.

The presented connection is not comparable compared to the connection with small and medium integration circuits, because the connection with small and medium integration circuits does not allow to programmatically change the operation of the stepper motor and does not allow to implement the above functions of control programming and correct handling of the device,

The floor diagram in the accompanying drawing represents an example of the connection of a device for program control of stepper motors according to the invention.

The first I / O gate 101 of the single-chip microcomputer 10 is connected to the data outputs 251 of the RAM 25 as well as to the data outputs 201 of the EPROM 20 and so

CS 26? 955 Bl inputs 301 drivers 3 ° sbSmic. The output 302 of the bus driver is connected to the end terminals 252 of the RAM 25 memory and the end terminals 202 of the EPROM 20 memory. control signal :: for writing the address to the external address buffer of terminal 115 of the single-chip microcomputer 10 Jo connected to terminal 303 of the 3 ° bus driver and the control signal allowing data transfer from the octagon memory to terminal 1 14 of the single-chip microcomputer 10 Jo connected to terminal 2 04 of EPROM memory which is further connected by further address pins 203 to the first half 112 of the third I / O gate of the single-chip microcomputer 10, which is connected to the input 601 of the second oxpididor 60, to the input 801 of the third oxpandor SO and to the input 401 of the first oxpentor 40. Further signal required to control the data transmission, the terminal 107 of the single-chip microcomputer 10 is connected to the terminal 60 of the second expander O10, to the terminal 802 of the third oxpandor 80 and the terminal 402 of the first expander 40. Signal selection input 403 of the first oxpandor 40, signal selection input 603 of the second oxpandor ó0 and signal selection input 803 of the third oxpandor 80 jo connected to one bit 111 of the third input-output gate and with the data bit 110 of the third input-output gate of the single-chip microcomputer 10. The first output 404 of the first oxpandor 40 Jo connected to the operating mode input circuits 50> the second and third outputs 405 of the first expander 40 are connected to the operation input circuit 4g and the fourth output 406. The outputs 804 of the third oxpander 80 are fed to the display unit 85 and the first output 604 of the second oxpander 60 is fed to the input circuit 65 for programming and the second output 605 of the second oxpander 60 is fed to the input circuit 70 of the number of steps, the speed and the direction of rotation of the motor, the step section or the smooth change of speed. The signal of the terminal 109 of the iodine-chip microcomputer 10 Jo is fed to the circuit 75 to indicate incorrect program entry and incorrect manipulation.

The I / O gateway 106 of the single-chip microcomputer 10 is interconnected with the digital input gO1 of the 9θ number / frequency converter, the frequency output 90jo of which is connected to the external signal interruption request input terminal 105 of the single-chip microcomputer 10 and the 9 ° 3 start of the converter 90 number / frequency Jo connected to the iodine bit 108 of the third I / O gate of the single-chip microcomputer 12 '

After connecting the device to the force, the programming mode is set automatically. On the rotary switch of the input circuit 65 for programming, the individual positions tonto have the meaning: 0 - section entry

- entering the number of steps

- entering the engine speed

- enter a step or smooth speed change

- enter the direction of rotation

- Icon check of the programmed section

- check the programmed number of steps 7 - check the programmed speed

- check the programmed speed change.

- check the programmed direction of rotation

The number of steps and the final required speed of the stepper motor 55 are entered in the individual sections.

The programming takes place in such a way that the data from 0 to 4 are entered successively in such a way that a number corresponding to what is to be programmed is set on the switch of the input circuit 65 for programming, on the input circuit 70 the number of speed and sense steps.

CS 267 955 B1 3 rotates to set the required value, for example the required number of steps and by pressing the prog button of the circuit 45 to enter the activity, the program data is stored in RAM 25. The programming subroutine keeps the single-chip microcomputer 10 in a waiting loop until 4 $ to enter the operation via the first expander 40 by a bus connecting inputs 401 to 1 12. The array single-chip microcomputer 10 closes the first expander 40 with the select input signal 403, no longer responds to further pressing the prog button, animates the second expander 60 with select input 603 and converts readings settings on input circuit 65 for programming. Palo, cancels the signal of selection input 6-3, activates the signal of terminal 602 of second oxpandor 60 and reads the number of steps, speed and direction of rotation through it on the input circuit 70. The read data is stored in the RAM memory 25, the address for in the RAM memory 2g 30 is determined via the bus amplifier 30 by the address terminals 2g2. selection input 40J first expander 4o and expects another signal of the button prog. In this way, the entire program can be entered one after the other. If a correction needs to be made in the program, it is sufficient to set the section number and the desired value on the switch of the input circuit 65 for programming and the data on the input circuit 70 of the number of steps, speed and direction of rotation. Pressing the prog button deletes the old data and saves the new data in the RAM memory 25.

During programming, the single-chip microcomputer 10 checks the programmed data and the allowable data stored in the EPROM 20. If the input data exceeds the data stored in the EPROM 20, the single-chip microcomputer 10 performs an evaluation and activates, by the signal of the terminal 109, a program entry indication circuit 75 and flexible manipulation. Incorrectly programmed data Must be corrected and re-stored in 2g RAM.

When the switch of the programming input circuit 65 is turned to the position 5 to 9, the selected values are displayed on the display unit 85 immediately after setting the strip number and the checked value.

After programming the entire program, when the number of steps must be programmed to be zero in the unused sections, it is possible to switch to the program control mode of the stepper motor 55. The rotary switch of the circuit 50 for entering the operating mode must select one of the following operating modes: smooth run until the end of the program 2 - smooth run in the loop 3 - run in sections until the end of the program waiting for start 4 - run in sections in the loop Then press the Aut button of the circuit 4g to enter the activity. The single-chip microcomputer 10 receives a signal via the activated first expander 40 via the bus 401-102 and starts performing the following operation according to the instructions in the control subroutine stored in the EPROM 20. It reads all the programmed data of the first section from the RAM memory 25. It calculates the frequency increment per step in the event that a step change of stepper motor speed 55 is desired and feeds the desired frequency to the number / frequency converter 90 of the bus 106-101. The number / frequency converter 90 starts generating pulses corresponding to the desired rotational speed of the stepper motor 55 when the signal 907-108 is triggered by the signal of the single-chip microcomputer 10. After the signal has passed, the operation of the single-chip microcomputer 10 is interrupted, the pulse is read and according to the program in the EPROM memory 20 it is determined to which winding of the stepping motor 55 the control pulse is to be applied. The first expander 40 is then activated, after collecting 112 - 401 the information is passed to the respective stepper motor winding switch 55. The single-chip microcomputer 10 reads from the RAM 25 for the next section, performs the necessary calculations and after reading the required number of controlled section steps. section according to these Data.

cs 267 955 D1 fy

The manual control can be switched either by programming, after the end of the program according to the selected type of operation or after pressing the stop button of the circuit 65 for entering the activity. Then the execution of the program according to the selected type of operation is stopped and the single-chip microcomputer 10 enters the shock loop, remembering the values of the last processed section. After pressing the AUT button, the device continues to interrupt its operation. If the Hand or Hand button is pressed, the stepper motor 55 is rotated one or the other according to the preselected speed stored in the EPROM 20, the single-chip microcomputer 10 again supplies information at the desired speed via the bus 10-9θ1 to the converter input g0 number / freeze. The number / frequency converter 90 will start generating pulses corresponding to the desired speed of the stepper motor 55 if any of the keys 4, 4 is pressed. These pulses are processed in a standing manner as in a rosette. AUT only with the difference that the pulses are not read, but only their number is displayed via the third expander 80 in the display unit 85.

The device can be used in program-controlled stepper motors wherever the program does not contain more than 31 sections and no knife of 1,000 steps of the stepper motor is required in an iodine section. It can be used in machine tool drives, handling equipment, in drive drives and recorders, in medical toclinioo and for astronomical purposes.

The device provides simple programming and selection of the following types of operation: - smooth running until the end of the program - smooth running in a loop - running in sections until the end of the program - running in sections in a loop.

This option ensures versatile use of the device for different operating modes of the stepper motor. The low price and small dimensions of the device guarantee wide applicability and the versatility of the device lies in the simple modification of the software when changing the type of stepper motor.

Claims (1)

OBJECT OF THE INVENTION Device for program control of a stepper motor with a single-chip microcomputer with memory, characterized in that the first input-output gate (101) of the single-chip microcomputer (10) is connected to the data outputs (251) of the RAM (25). 201) of the EPROM or PROM memory (20), the inputs (301) of the bus driver (30), the output (302) of which is connected to the address terminals (252) of the RAM memory (25) and to the address terminals (202) of the EPROM memory (20). ), the signal terminals (102) and (103) for reading and writing the single-chip microcomputer (10) are connected to the terminals (253) and (254) of the RAM (25), and the terminal (115) of the single-chip microcomputer (10) is connected to the terminal (303) of the bus driver (30) and the terminal (114) of the single-chip microcomputer (10) is connected to the terminal (204) of the EPROM memory (20), which is further connected to the first half (112) of the third the input-output gate of the single-chip microcomputer (10) and is further connected to the input (601) of the second expander (60), further with the input (80Γ) of the third expander (80) and with the input (401) of the first expander (40), the outlet (1-7) of the single-chip microcomputer (10) is connected to the outlet (602) of the second expander (60). ) of the third expander (80) and the outlet (402) of the first expander (40), the selective input (403) of the first expander (40), the selective input (603) of the second expander (60) and the selective input (803) of the third expander (80) is connected to one bit (111) of the second half of the third I / O gate and another bit (110) of this gate of the single-chip microcomputer (10), the first output (404) of the first expander (4o) is connected to the second operating mode input circuit (50) and a third output (405) of the first expander (40) is connected to the operation input circuit (45) and a fourth output (406) of the first expander (40) is fed to the amplifiers of the individual windings of the stepper motor (55), the outputs (804) of the third expander ( 80) are connected to the display unit (85), the first output (6θ4) of the second expander (60) is introduced into the input of the programming circuit (65) and the other outputs (605) of the second expander (60) are connected to the input circuit (70) of the number of steps, speed and direction of rotation, the input-output signal (109) of the single-chip microcomputer (10) is connected to the circuit ( 75) indication of incorrect program entry and incorrect manipulation, the second input-output gate (106) of the single-chip microcomputer (10) is connected to the digital input (901) of the number / frequency converter (90) and the frequency output (902) of the number / converter the frequency is connected to the output (105) of the external request interrupt request of the single-chip microcomputer (10) and the output (903) trigger of the number / frequency converter (90) is connected to one bit (108) of the third input-output gate of the single-chip microcomputer (10) .