CN104601061A - Ethernet-based motor controller and control system - Google Patents

Abstract

The invention discloses an Ethernet-based motor controller and control system. The motor controller comprises a communication interface circuit which comprises an Ethernet interface and a field bus interface, a closed loop feedback interface circuit used for receiving load feedback information from one or more motors, a motor control interface circuit used for sending control information for one or more motors, and a control circuit connected with the communication interface circuit, closed loop feedback interface circuit and motor control interface circuit and used for controlling the operation of each interface circuit and processing the information received by the communication interface circuit and closed loop feedback interface circuit, and the communication interface circuit and motor control interface circuit send the processed result to control the running of one or more motors. The Ethernet-based motor controller is capable of providing multi-axis control, closed loop feedback and Ethernet-based remote control and also providing local or cascade control.

Description

Ethernet-Based Motor Controllers and Control Systems

technical field

Exemplary embodiments of the present invention relate generally to motor control, and more particularly to an Ethernet-based motor controller and control system.

Background technique

Motor controllers currently developed and sold, such as two-phase hybrid stepper motor controllers, generally use fieldbus interfaces such as RS-232, RS-485, USB, and CAN to provide single-axis control mode and no closed-loop feedback interface. This motor controller cannot implement direct Ethernet-based remote control and cannot meet the requirements of multi-axis control applications. In addition, since there is no closed-loop feedback interface, an additional feedback interface needs to be added, resulting in a complex structure and increased cost.

There is a need for a motor controller that can provide multi-axis control, closed-loop feedback, and remote control based on Ethernet technology, while also providing local or cascaded control.

Contents of the invention

Exemplary embodiments of the present invention provide an Ethernet-based motor controller and control system.

According to an embodiment of the present invention, a motor controller includes: a communication interface circuit including an Ethernet interface and a field bus interface; a closed-loop feedback interface circuit for receiving feedback information from loads of one or more motors; a motor control interface A circuit for transmitting control information for one or more motors; and a control circuit connected to the communication interface circuit, the closed-loop feedback interface circuit and the motor control interface circuit to control the operation of each interface circuit, and to provide feedback via the communication interface circuit and the closed-loop feedback circuit. The information received by the interface circuit is processed, and the processing result is transmitted via the communication interface circuit and the motor control interface circuit to control the operation of one or more motors.

The controller may also include: a status indicating circuit, used to indicate one or more of the status of the controller, the status of the network, the status of the motor and the status of the load; and a power supply circuit, used to provide a variety of power supply and reference power for each circuit .

Various circuits of the controller can be integrated on a single board.

The controller can be assigned an IP address, the controller is connected to the Ethernet through the Ethernet interface, and the remote device establishes a TCP/IP connection with the controller through the Ethernet, so as to remotely control the motor through the controller.

The fieldbus interface may include RS-485 fieldbus for local control of the controller or cascade control of multiple controllers.

The closed-loop feedback interface circuit may include one or more of a grating scale interface circuit, a resistance scale interface circuit and a limit switch interface circuit. The closed-loop feedback interface circuit can be connected to a corresponding external feedback device to receive load feedback information from the feedback device.

The motor control interface circuit can be connected to an external motor driver, and transmits control information from the control circuit to the motor driver, so as to control the operation of the motor through the motor driver.

The controller may include multiple sets of closed-loop feedback interface circuits and motor control interface circuits, respectively corresponding to multiple motors, so as to simultaneously provide multi-channel motor control.

The controller can provide speed control and step control for stepper motors, as well as control for linear motors.

The control circuit can use a finite state machine to synthesize any frequency required for motor control.

According to another embodiment of the present invention, an Ethernet-based motor control system is provided, including a remote device, a motor controller, a motor driver, and a feedback device. The remote device is connected to the motor controller via Ethernet, and sends data to the motor controller. The motor controller receives the data from the remote device, uses the data to generate a corresponding control signal and sends it to the motor driver, and the motor driver drives according to the control signal. The motor runs, thereby driving the load of the motor to run. The feedback device is connected to the motor controller to form a closed-loop feedback. The feedback device obtains feedback information about the load and transmits the feedback information to the motor controller. When the control signal is generated, the motor control The device also utilizes the feedback information.

The motor controller and control system according to the embodiments of the present invention can flexibly and effectively meet the motion control requirements of stepper motors in the field of accelerator control, and have high cost performance and flexible system construction. For example, the controller of the present invention uses the serial port to Ethernet technology, and the controller can be directly connected to the Ethernet in remote control applications. Compared with connecting to the Ethernet through a serial port server or a PC, the control system constructed by the controller The structure is simple and the cost is greatly reduced. To solve the problem of open-loop control of stepping motors, the controller of the present invention is equipped with interfaces for feedback devices such as grating scales, resistance scales, limit switches, etc., forming a stable and reliable closed-loop system. The motor motion control system built thus constitutes a closed-loop control system, which can precisely control the speed and displacement of the motor. Furthermore, multi-axis control can be integrated on one control board, which improves control efficiency and realizes an Ethernet-based multi-axis linkage integrated stepping motor controller. The motor controller of the present invention can use the finite state machine to synthesize any frequency, which guarantees the realization of the motion control strategy. In addition, the motor controller and system of the present invention can not only control stepping motors, but also control linear motors, and can be applied to various occasions.

Description of drawings

Below in conjunction with accompanying drawing, specific embodiment of the present invention is described in further detail, wherein:

1 is a schematic diagram of an Ethernet-based motor control system according to an embodiment of the present invention;

2 is a schematic block diagram of a motor controller according to an embodiment of the present invention;

Fig. 3 is a screen shot of four square wave signals synthesized by a motor controller according to an embodiment of the present invention;

Figure 4 schematically shows a step control curve in advanced motion control;

Fig. 5 schematically shows the speed control curve in advanced motion control;

Fig. 6 schematically shows the rotational speed control curve in the basic motion control;

Fig. 7 is the flow chart that the motor controller of the embodiment of the present invention carries out motion control; And

FIG. 8 is a block diagram of functional modules when a CPLD is used to realize the corresponding functions of the motor controller of the embodiment of the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following description includes various specific details to assist in understanding, but these should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the various embodiments described herein can be made without departing from the scope and spirit of the disclosure. Also, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

The terms and words used in the following description and claims are not limited to their bibliographical meanings, but, but, are merely used by the inventor to carry out a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of various example embodiments of the present invention are provided for illustrative purposes only and not for the purpose of limiting the invention as defined by the appended claims and their equivalents.

FIG. 1 is a schematic diagram of an Ethernet-based motor control system according to an embodiment of the present invention. The control system includes a remote device, a motor controller, a motor driver and a feedback device. In FIG. 1, a personal computer (PC) is used as an example of a remote device, and a switch is additionally used for connection. The remote device is connected to the motor controller via Ethernet and a switch, and sends data to the motor controller. The motor controller receives the data from the remote device, uses the data to generate a corresponding control signal and sends it to the motor driver, and the motor driver drives according to the control signal. The stepper motor runs, thereby driving the load of the stepper motor to run. The feedback device is connected to the motor controller to form a closed-loop feedback. The feedback device obtains the feedback information about the load and transmits the feedback information to the motor controller, thereby generating control signal, the motor controller also uses this feedback information to determine the motion control strategy. For the sake of clarity, only one device is shown in the motor control system of FIG. 1 , but those skilled in the art can understand that the remote device, controller, driver, stepper motor, load and feedback device in the system of FIG. 1 There can be more than one to realize multi-axis or linkage control.

FIG. 2 is a schematic block diagram of a motor controller according to an embodiment of the present invention. Each circuit of the controller can be integrated on a single board to form a control board. The controller can be used to control stepper motors and linear motors, and can provide speed control and step control for stepper motors. Each controller can be assigned an IP address to access the Ethernet, and the remote device establishes a TCP/IP connection with the controller through the Ethernet, and remotely controls the motor through the controller. As shown in Figure 2, the motor controller may include: a communication interface circuit, including an Ethernet interface and a field bus interface; a closed-loop feedback interface circuit, used to receive feedback information from a load of one or more motors; a motor control interface circuit, Used to transmit control information for one or more motors; and a control circuit, connected to the communication interface circuit, the closed-loop feedback interface circuit and the motor control interface circuit, to control the operation of each interface circuit, and to communicate via the communication interface circuit and the closed-loop feedback interface circuit The received information is processed and the processing results are transmitted via the communication interface circuit and the motor control interface circuit to control the operation of one or more motors. Fig. 2 shows that the controller may also include: a status indication circuit, used to indicate one or more of the controller status, network status, motor status and load status; and a power supply circuit, used to provide various power supply and reference supply.

According to an embodiment of the present invention, the controller may include multiple sets of closed-loop feedback interface circuits and motor control interface circuits, respectively corresponding to multiple motors, so as to simultaneously provide multi-channel motor control. The controller in Figure 2 includes four groups of closed-loop feedback interface circuits and motor control interface circuits, which can provide four-way motor control. Those skilled in the art can understand that any number of multi-channel controls can be provided according to design requirements.

Each circuit of the controller will be described in detail below.

The control circuit can be realized by single-chip microcomputer or PC + control card or ARM/DSP or CPLD/PFGA. In an exemplary embodiment, in order to meet the real-time and flexibility requirements of the motor, reduce the circuit volume, simplify the circuit structure, reduce the cost of the controller, improve the circuit stability, and facilitate high-speed control, the control of Net+MSP430+CPLD is adopted Structure, the core chip selects MSP430 and CPLD, as shown in Figure 2. In an example embodiment, the MSP430 is responsible for communication functions, data exchange, command parsing, resistance gauge readback, limit switch readback, and motion control strategies. CPLD completes frequency synthesis, speed control, step control, grating scale readback, status indication and comprehensive control. Will further introduce MSP430 and CPLD in detail later.

The communication interface circuit may include an Ethernet interface and a fieldbus interface. The Ethernet interface can be realized by using a two-way embedded protocol conversion module from RS232 to TCP/IP. For example, UA7000B embedded protocol conversion module can be used, which provides transparent transmission of data between RS232/RS485 and TCP/IP network, the transmission rate reaches 10Mb/s, and provides a standard RS232/485 serial port and 16Kbyte serial port downward Buffer (8KByte each for sending and receiving), serial port baud rate from 15 to 115200, there are 29 commonly used baud rates. The conversion module has the characteristics of large throughput (maximum data throughput of 22.5Kbyte/s) and high reliability (at 115200 baud rate, bidirectional simultaneous transmission of 1G files without losing a Byte), which can meet the requirements of real-time data error-free transmission.

The fieldbus interface may include RS-485 fieldbus for local control of the controller or cascade control of multiple controllers. The RS-485 bus interface is a standard bus interface, for example, in the controller according to the embodiment of the present invention, it is realized by using a half-duplex RS485/422 transceiver with ±15KV ESD protection. The transceiver can convert the serial port of the MSP430 of the control circuit into an RS-485 interface. The transceiver can contain drivers and receivers, supports hot-swap function, can eliminate fault transient signals on the bus when power-on or hot-plug, and also has automatic direction control function, this structure can simplify the design and make the circuit more stable .

The closed-loop feedback interface circuit may include one or more of a grating scale interface circuit, a resistance scale interface circuit and a limit switch interface circuit. The closed-loop feedback interface circuit can be connected to a corresponding external feedback device (as shown in FIG. 1 ) to receive load feedback information from the feedback device. In Fig. 2, the closed-loop feedback interface circuit includes grating ruler interface circuit 0~3, resistance ruler interface circuit 0~3 and limit switch interface circuit 0~3 (including 0 left~3 left and 0 right~3 right), respectively Connect to the appropriate feedback devices, ie scales, scales and limit switches. The grating ruler is a precise position feedback device, and the incremental or absolute grating ruler is used to monitor the displacement of the load, and the accuracy can reach 1um. The resistance scale is a load absolute position feedback device, the feedback accuracy can reach 50um, and the cost performance is very high. Limit switches limit the maximum travel the motor can travel.

In an example embodiment, the scale output standard signals are 90 degrees out of phase. 2-way square wave signal. Each square wave signal is a standard RS-422 differential signal. Therefore, the differential signal must first be converted to single-ended processing. Here a RS-422/RS-485 receiver with three channels, ±15KV ESD protection, and 32Mbps data rate is used to implement. Each channel of the receiver has fault detection and fault output, which can well detect the current running state of the grating ruler. When the differential signal is converted to single-ended processing, the phase angle difference between the two channels is 90°. square wave signal. After subdividing the square wave signal, it is sent to CPLD for counting. A reversible counter can be set inside the CPLD, and the displacement of the grating ruler can be obtained by counting the pulses after the fine resolution.

The resistance scale has absolute linearity and high repeatability. A voltage is applied to both ends of the resistance scale, and the displacement of the resistance scale can be obtained by measuring the voltage of the middle tap of the resistance scale. The MSP430 processor has a built-in 4-channel 16-bit Sigma-Delta ADC module, which has the characteristics of high speed and general purpose, and can complete the readback of the four-channel resistance scale.

The limit switch determines the maximum travel of the motor. When the motor touches the limit switch, it must stop unconditionally. The limit switch is a state quantity, and each motor needs two limit switches, so it is necessary to collect 8 state quantities. For MSP430, the common I/O port can meet the requirements. Since the limit switch is powered by 5V, and the MSP430 is powered by 3.3V, level conversion is required. Level shifting can be realized using, for example, resistive voltage division.

The motor control interface of the controller may have multiple signal lines, for example four, which are respectively +5V, pulse output, direction, and enable. The motor control interface circuit is connected to an external motor driver, and transmits control information from the control circuit to the motor driver, so as to control the operation of the motor through the motor driver.

The status indication circuit can be implemented by using, for example, LED indicator lights, or LED or LCD display screens, indicating, for example, system status, network status, motor status of each channel, and grating ruler status.

The power supply circuit may include system power supply, resistance gauge reference power supply and main chip power supply. According to an exemplary embodiment of the present invention, the motor control system may have 5 kinds of power sources, namely: +5V, +3.3V, +12V, -12V and +5Vref reference sources. +5V is the external main power supply, generated by switching power supply, inputting 220VAC mains power, and outputting 5V/3A direct current. The LP3965 low-dropout linear regulator is used to convert +5V to +3.3V, and the PUD-0512-3K regulator is used to convert +5V to ±12V. The MAX6350 is a low-noise, linear, and high-precision voltage reference source. +5Vref reference source can be provided. +3.3V is to supply power to MSP430 and CPLD, and ±12V is to supply power to the front-end amplifier of the resistance scale signal. Through the amplifier chip such as AD713, the front-end attenuation of the resistance scale feedback is realized, and the voltage value that meets the input range of the ADC that comes with MSP430 is obtained. The +5Vref reference source supplies power to the resistance scale.

With reference to FIGS. 1 and 2 , the connections among the various devices of the control system according to the exemplary embodiment of the present invention are described.

1. Connect the controller and driver. For example, two-phase hybrid stepper motor drivers Q2HB34MA, Q2HB44, Q2HB68, DQ278M, DM2722M, etc. In an example embodiment, the motor control interface of the controller has four signal lines, namely +5V, pulse output, direction, and enable. Usually, there are three pairs of six signal lines on the driver, which are positive and negative for pulse input, positive and negative for direction, and positive and negative for enable. Connect the positive poles of these three pairs of wires to the +5V of the controller, connect the negative pole of the pulse input to the pulse output terminal of the controller, connect the negative pole of the direction to the direction terminal of the controller, and connect the negative pole of the enable to the controller's enable terminal. In this way, the connection between the controller and the driver is completed. According to the power supply requirements of the drive, generally use a separate power supply, connect the power supply line and set the current level, subdivision level, etc. of the drive.

2. Connect the stepper motor and driver. For example, for a two-phase stepper motor, the connection is done through four wires, namely A+, A-, B+, B-, which are the four wires of the two-phase stepper motor, and any positive and negative reversed motor is reversed.

3. Connect the stepper motor and load. According to actual needs, connect the load and the stepper motor. Whether in industry, military, medical, automotive, or entertainment, stepper motors are used whenever an object needs to be moved from one location to another. For example, printers, plotters, robots and other equipment can all use stepper motors as the power core.

4. Connect the load and feedback device. Feedback devices include grating scales, resistance scales, limit switches, etc.

5. Connect the feedback device and controller. The grating scale interface adopts DB9 head, and the pin definitions are: ground, 0V, +5V, A, /A, B, /B, I, /I. The resistance gauge interface adopts a three-pin interface with a pitch of 5mm, which are +5Vref, center tap, and ground. The limit switch interface adopts a two-pin interface with a pitch of 5mm, which are respectively +5V and readback lines.

6. Connect to the network. Through the Ethernet interface on the controller, the common RJ45 interface is used to connect the controller to the local switch, and then to the Ethernet for remote control.

7. If local control or cascade control is required, RS-485 interface is required for connection. The RS-485 interface is a standard bus interface. The half-duplex network formed by this interface is generally a two-wire system, and shielded twisted-pair wires are mostly used for transmission. As a field bus, the RS-485 communication network generally adopts the master-slave communication mode, that is, one master has multiple slaves. When controlling the stepper motor locally, connect to the PC via the RS-485 interface, or cascade the controller or cascade other functional modules via the RS-485 interface to complete the control requirements.

After connecting all devices, power on. Configure the controller, such as IP address, subnet mask, port number, etc. When the entire control system is set up, the remote PC sends data to the local switch via Ethernet, and the switch sends the data to the controller. The controller generates uniform pulses according to the corresponding data and then sends them to the driver. The driver converts the pulse signal into a current signal to drive the stepper motor to rotate and drive the load to rotate. At the same time, the feedback device obtains load-related information and feeds it back to the controller, and the controller makes corresponding processing and actions.

Fig. 3 is a screenshot of four channels of square wave signals synthesized by a motor controller according to an embodiment of the present invention.

According to an example embodiment, the control circuit may use a finite state machine to synthesize any frequency required for motor control. The pulse frequency sent by the controller according to the embodiment of the present invention can be changed arbitrarily within the range of 0-60KHZ, and the duty cycle is 50%. As shown in Figure 3, the signal to control the rotation of the stepper motor is a square wave signal consisting of high and low levels. State machine counting can be used in CPLD devices to complete the synthesis of high and low levels. For example, it can be changed arbitrarily within the frequency range of 0-65536HZ. When the high and low level values are set, 10MHZ is used inside the CPLD to count the high and low level values. For example, if you want to synthesize f=50KHZ frequency, first find out its period t=1/f=0.00002s. Assuming high level th and low level tl, if the duty cycle is 50%, then th=tl=0.00001s. Since the frequency F=10MHZ is used for counting, and its period is T=0.1us, then it needs to count N=1000 to complete th (or tl). In other words, at a counting frequency of 10MHZ, every time the counting is completed 1000 times, the level is reversed once, and so repeated, a square wave signal with a frequency of 50KHZ and a duty cycle of 50% can be obtained. This provides guarantees for implementing motion control strategies.

The controller according to the embodiment of the present invention can simultaneously provide multiple (as shown in FIG. 2 , four) stepping motor control, sub-speed control and step control. Both control methods have basic motion control and advanced motion control. Advanced motion control refers to the function of acceleration and deceleration. Fig. 4 schematically shows a step control curve in advanced motion control, Fig. 5 schematically shows a speed control curve in advanced motion control, and Fig. 6 schematically shows a speed control curve in basic motion control.

Advanced motion control is used in occasions that require high motion. It can effectively solve the stepping motor's loss of steps or even stalling due to too high starting frequency, and the stepping motor's overshooting phenomenon caused by too high instantaneous stop frequency. For step control, this controller realizes linear acceleration and deceleration control. The stepper motor first accelerates with a constant acceleration, and when the speed approaches the desired speed set by the user, it starts to move at a constant speed, and finally decelerates to the specified position with a constant deceleration to stop, as shown in Figure 4. For speed control, when the user sets a new speed value, the stepping motor will have a process of uniform acceleration or uniform deceleration, as shown in Figure 5.

Basic motion control is mainly suitable for simple control systems without acceleration and deceleration processes. Basic motion control is divided into speed control and step control. Speed control refers to controlling the motor to move at a certain speed. When the user sets a new speed value, the motor is controlled to move at a new speed, as shown in Figure 6. Step control means that the motor moves at a certain speed and stops when it reaches the step length set by the user.

Basic motion control and advanced motion control rely on MSP430 and CPLD to complete together. MSP430 receives the frequency value and step value sent by the user, and after analysis, it forms high and low level values and step value, and then sends it to CPLD, and CPLD completes frequency synthesis, speed control and step control. Advanced motion control acceleration and deceleration is completed under the timer of MSP430, and the duration of the timer can be determined according to different motor characteristics. The step control can meet the specific step conditions, so that the motor can reach the position set by the user without error. The CPLD uses a finite state machine to generate pulses of any frequency.

What Fig. 7 shows is the program flow chart of MSP430 motion control part. The MSP430 mixed-signal processor has powerful computing and processing capabilities, which can well meet the requirements of the system. As shown in Figure 7, MSP430 polls, and when there is a control command, MSP430 judges step by step. First judge whether it is step control or speed control, and then judge whether it is advanced motion control or basic motion control. In the case of step control, if it is advanced motion control, send the initial speed and step value to the CPLD, and turn on the timer to accelerate, and send the current speed value to the CPLD to judge whether the acceleration is complete. If not, continue to accelerate, otherwise maintain the desired speed. Then, judge whether to start deceleration, if not, continue to maintain the desired speed, otherwise start deceleration under the timer, then judge whether the deceleration is complete, if yes, then the speed reaches zero, otherwise continue to decelerate. In addition, if it is judged to be basic motion control, the speed and step value are sent to the CPLD, and the subsequent steps are the same as the subsequent steps starting from the step of maintaining the desired speed in advanced motion control. In the case of speed control, it is judged whether it is advanced motion control. If not, send the desired speed to the CPLD, and maintain the desired speed. In the case of advanced motion control, the current velocity is detected and the desired velocity is compared with the current velocity. If the expected speed is greater than the current speed, it will accelerate under the timer, and send the current speed value to the CPLD to judge whether the acceleration is completed. If not, continue to accelerate, otherwise maintain the desired speed. If the expected speed is not greater than the current speed, it will decelerate under the timer, and send the current speed value to the CPLD to judge whether the deceleration is completed. If not, continue to slow down, otherwise maintain the desired speed.

The program of CPLD can be written in any suitable hardware description language (such as VerilogHDL language, etc.), and adopts a modular design idea. FIG. 8 is a block diagram of functional modules when a CPLD is used to realize the corresponding functions of the motor controller of the embodiment of the present invention.

The CPLD internally uses a finite state machine to produce pulses of any frequency, and adopts a modular design idea. The modules of its motion control part include a frequency division module, an initialization speed module, an initialization step size module, a speed control module, a step control module, and an instruction Lamp modules as well as integrated modules. In addition, the CPLD also includes a grating ruler readback module (Grating), which reads back the output signal of the grating ruler as a feedback device.

Frequency division module (Clk_Div): The system clock of CPLD is 50MHZ, the counting frequency is 10MHZ, and the indicator light frequency is 1HZ. The frequency division module can divide the 50MHZ frequency into 10MHZ and 1HZ.

Initialize the speed module (Init_Speed): MSP430 sends high and low level count values to CPLD through the imitation SPI interface, and CPLD uses 16-bit shift register to receive these count values. When the enable bit is high, it receives a high-level count value, and when the enable bit is low, it receives a low-level count value, thereby realizing speed initialization.

Initialize the step size module (Init_Step): MSP430 sends the step size count value to CPLD through the imitation SPI interface, and CPLD uses a 16-bit shift register to receive the count value. The total step length can be divided into two parts, one is the acceleration step and the other is the deceleration step. This way the CPLD knows how much to speed up and when to slow down.

Speed control module (Speed_Ctl): realize the function of synthesizing arbitrary frequency by the finite state machine mentioned above. The speed control module obtains high and low level count values from the initialization speed module, and then the internal state machine flips according to these initial values, and outputs the pulse frequency set by the user.

Step control module (Step_Ctl): In step control, this module counts the pulse frequency output by the speed control module, and stops counting when the count reaches the step count value in the initialization step module. In this way, the motor is controlled to move the step value set by the user at the speed set by the user, realizing step control. When the step control is over, the CPLD will automatically clear the speed control module to make its output low.

Indicator Module (Indicator): In addition to the system indicator, each motor can be equipped with an indicator to indicate the status of the motor. The lights can blink at the real-time speed of the motor. Because the speed is usually above 100HZ, the naked eye cannot see the light flickering. When the motor stops, the indicator light is not on. Therefore, when the indicator light is on, it indicates that the motor is moving.

Synthesis module (SMC400): This module synthesizes the operations of other modules. The input, output and component instantiation of the system are carried out in this module. For this module, for example, when the selection signal sel is low, it means speed control, then the synthesis module directly outputs the frequency of the speed control module; when the selection signal sel is high, it means step control, and the synthesis module outputs the frequency of the step control module frequency output.

The functional block diagram shown in FIG. 8 is just an example. Those skilled in the art can make any suitable modular design according to application requirements.

Although the various exemplary embodiments have been described in detail with specific reference to certain exemplary aspects thereof, it should be understood that other embodiments of the invention and their details can be modified in various obvious respects. Various changes and modifications may be made while remaining within the spirit and scope of the invention, as will be apparent to those skilled in the art. Accordingly, the foregoing disclosure, description and drawings are for illustrative purposes only and are not intended to limit the invention as defined only by the appended claims.

Claims (10)

1. A motor controller, comprising: Communication interface circuit, including Ethernet interface and field bus interface; a closed-loop feedback interface circuit for receiving feedback information from a load of one or more motors; motor control interface circuitry for communicating control information for one or more motors; and The control circuit is connected to the communication interface circuit, the closed-loop feedback interface circuit and the motor control interface circuit, controls the operation of each interface circuit, processes the information received through the communication interface circuit and the closed-loop feedback interface circuit, and controls the The interface circuit transmits the processing results to control the operation of one or more motors. 2. The controller of claim 1, further comprising: status indicating circuitry for indicating one or more of controller status, network status, motor status, and load status; and The power circuit is used to provide various power supply and reference power for each circuit. 3. The controller according to claim 1, wherein each circuit of the controller is integrated on a single board, The controller is assigned an IP address, the controller is connected to the Ethernet through the Ethernet interface, and the remote device establishes a TCP/IP connection with the controller through the Ethernet, so as to remotely control the motor through the controller. 4. The controller according to claim 1, wherein the field bus interface comprises an RS-485 field bus for realizing local control of the controller or cascade control of multiple controllers. 5. The controller according to claim 1, wherein the closed-loop feedback interface circuit comprises one or more of a grating ruler interface circuit, a resistance scale interface circuit and a limit switch interface circuit, The closed-loop feedback interface circuit is connected to a corresponding external feedback device, and receives load feedback information from the feedback device. 6. The controller according to claim 1, wherein the motor control interface circuit is connected to an external motor driver, and transmits control information from the control circuit to the motor driver to control the operation of the motor via the motor driver. 7. The controller according to claim 1, wherein the controller comprises multiple sets of closed-loop feedback interface circuits and motor control interface circuits, respectively corresponding to multiple motors, so as to simultaneously provide multi-channel motor control. 8. The controller of claim 1, wherein the controller provides speed control and step control for stepper motors, and control for linear motors. 9. The controller of claim 1, wherein the control circuit uses a finite state machine to synthesize any frequency required for motor control. 10. A motor control system based on Ethernet, comprising a remote device, a motor controller, a motor driver and a feedback device, The remote device is connected to the motor controller via Ethernet, and sends data to the motor controller. The motor controller receives the data from the remote device, uses the data to generate the corresponding control signal and sends it to the motor driver, The motor driver drives the motor to run according to the control signal, thereby driving the load of the motor to run, The feedback device is connected to the motor controller to form a closed-loop feedback, The feedback device acquires feedback information about the load and transmits the feedback information to the motor controller, and the motor controller also utilizes the feedback information when generating the control signal.