CN106602967B - Integrated motor drive unit structure - Google Patents
Integrated motor drive unit structure Download PDFInfo
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- CN106602967B CN106602967B CN201710006625.2A CN201710006625A CN106602967B CN 106602967 B CN106602967 B CN 106602967B CN 201710006625 A CN201710006625 A CN 201710006625A CN 106602967 B CN106602967 B CN 106602967B
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- 239000003990 capacitor Substances 0.000 claims abstract description 13
- 230000001629 suppression Effects 0.000 claims description 27
- 230000001052 transient effect Effects 0.000 claims description 27
- 230000017525 heat dissipation Effects 0.000 claims description 15
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000002457 bidirectional effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 9
- 238000009434 installation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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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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- Emergency Protection Circuit Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the field of high-power servo motor driving, in particular to an integrated motor driving unit structure. The invention provides an integrated motor driving unit structure with a special structure, which integrates a passive rectifying unit, a pre-charging unit, a braking unit and an inversion unit. The passive rectifying unit is used for rectifying alternating current of a three-phase power grid and then charging the direct current busbar capacitor through the pre-charging unit, the braking unit is used for releasing electric braking energy to the braking resistor, and the inversion unit is used for driving and controlling a servo motor to operate. The shell is of a book-shaped cuboid structure, and the top surface and the bottom surface of the shell structure are respectively provided with a power input and braking interface, a mBUS interface, a MC_GPIO interface, a speed sensor interface MC_CNRLA interface and a motor interface which are respectively and correspondingly installed with corresponding internal functional modules, so that corresponding control and driving functions are realized.
Description
Technical Field
The invention relates to the field of high-power servo motor driving, in particular to an integrated motor driving unit structure.
Background
The motor driving unit is necessary control equipment for the normal operation of the servo motor, in some high-power application occasions, such as high-speed rails, the motor driving unit is required to meet the power requirement of the servo motor, the installation space in the high-speed rails is limited, the volume of the driving unit is required to be reduced as much as possible, in fact, in most cases, the reserved space size is designed for the servo motor driving unit and related equipment in the high-speed rails in advance, and the servo motor driving unit and the related equipment can only be installed in the reserved space, so that on the premise that the structure of the motor driving unit is smaller, more functions are very important.
Disclosure of Invention
The invention aims to provide a modularized integrated servo motor driving unit structure which occupies small installation space aiming at the existing servo motor for high-speed rails.
In order to achieve the above object, the present invention provides the following technical solutions:
an integrated servo motor driving unit structure comprises a shell, wherein the shell is of a book-shaped cuboid structure;
the rear end of the shell is fixed on the heat dissipation device, or the heat dissipation device is integrated at the rear end of the shell;
a power input and braking interface crossing the shell is arranged at the position of the top end of the shell close to the heat radiating device; the shell top surface is provided with at least one mBUS interface, at least one MC_GPIO interface, at least one speed sensor interface and more than two top heat dissipation holes; the power input and braking interface comprises an integrated power input interface and a braking interface, the power input interface is used for being connected with an external three-phase power grid, the braking interface is used for being externally connected with a braking resistor to release electric braking energy to the braking resistor, the mBUS interface is used for connecting the integrated motor driving unit with the central control unit through an mBUS bus, and a control instruction is received from the central control unit; the speed sensor interface is used for receiving speed sensor data from the controlled servo motor; the MC_GPIO interface is used for receiving digital input, pulse input, analog input and external Z signals, and performing digital output and encoder feedback pulse output;
the bottom end surface of the shell is provided with a motor interface, at least one MC_CNRLA interface and more than two bottom end heat dissipation holes; the motor interface is arranged on one side of the bottom end surface of the shell, which is close to the heat radiating device, and the MC_CNRLA interface is arranged on one side of the bottom end surface of the shell, which is far away from the heat radiating device; the bottom radiating holes are uniformly distributed on the bottom surface of the shell; the MC_CNRLA interface is used for communication between the MC_CNRL module and the central control unit, and the MC_CNRL module is used for motor temperature protection switch control, hard wire emergency stop control and radiator fan control;
the inner side of the surface of the shell, which is contacted with the heat dissipation device, is a surface for fixing the functional device module; the functional device module comprises a passive rectifying unit, a pre-charging unit, a braking unit and an inversion unit. The passive rectifying unit is used for rectifying alternating current of a three-phase power grid and then charging the direct current busbar capacitor through the pre-charging unit, the braking unit is used for releasing electric braking energy to the braking resistor, and the inversion unit is used for driving and controlling the servo motor to operate.
The speed sensor interface comprises a B+ port, a B-port, an A+ port, an A-port, a Z+ port and a Z-port with fixed physical positions;
the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 of the RJ45 interface is used for providing signals for a B+ port, a pin 6 of the RJ45 interface is used for providing signals for an A-port, a pin 3 of the RJ45 interface is used for providing signals for an A+ port, and a pin 2 of the RJ45 interface is connected with a Z-port; pin 1 is arranged to interconnect with the z+ port;
the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit;
the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply through a first resistor, is connected with ground through a first capacitor, and is also connected with the output end of the first optocoupler through a second resistor; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port;
the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply through a third resistor, is connected with ground through a second capacitor, and is also connected with the output end of the second optocoupler through a fourth resistor; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port;
the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply through a fifth resistor, is connected with ground through a third capacitor, and is also connected with the output end of a third optocoupler through a sixth resistor; the input end of the third optocoupler is connected with the third reverse-proof circuit and the third lightning-proof circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port;
the transmitting circuit comprises an SPI1_SCK port connected with the controller, the SPI1_SCK port is connected with the negative electrode of the fourth optical coupler through a seventh resistor, the seventh resistor can be connected with the positive electrode of the fourth optical coupler through an eighth resistor at the same time, and the positive electrode of the fourth optical coupler is also connected with a power supply; meanwhile, the output end of the fourth optical coupler is connected with a bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively.
Further, the first reverse-preventing circuit comprises a first series schottky pair tube D4, a pin 1 of the first series schottky pair tube D4 is connected with a cathode of the first optocoupler input end, and a pin 3 of the first series schottky pair tube D4 is connected with an anode of the first optocoupler input end;
the second reverse-preventing circuit comprises a second series schottky pair tube D5, a pin 1 of the second series schottky pair tube D5 is connected with the cathode of the input end of the second optocoupler, and a pin 3 of the second series schottky pair tube D5 is connected with the anode of the input end of the second optocoupler;
the third anti-reverse circuit comprises a third series schottky pair tube D6, a pin 1 of the third series schottky pair tube D6 is connected with the negative electrode of the third optocoupler input end, and a pin 3 of the third series schottky pair tube D6 is connected with the positive electrode of the third optocoupler input end.
Further, the first lightning protection circuit comprises a first small signal diode, a first transient suppression diode, a seventh diode and an eighth diode, wherein the first small signal diode is reversely connected in series with the seventh diode, the first transient suppression diode is reversely connected in series with the eighth diode, meanwhile, the cathodes of the first small signal diode and the eighth diode are both connected with the anode of the first optocoupler input end, and the cathodes of the seventh diode and the first transient suppression diode are both connected with the cathode of the first optocoupler input end;
the second lightning protection circuit comprises a second small signal diode, a second transient suppression diode, a ninth diode and a twelfth diode, wherein the second small signal diode is reversely connected in series with the ninth diode, the second transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the second small signal diode and the twelfth diode are both connected with the anode of the second optocoupler input end, and the cathodes of the ninth diode and the second transient suppression diode are both connected with the cathode of the second optocoupler input end;
the third lightning protection circuit comprises a third small signal diode, a third transient suppression diode, an eleventh diode and a twelfth diode, wherein the third small signal diode is reversely connected in series with the eleventh diode, the third transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the third small signal diode and the twelfth diode are both connected with the positive electrode of the third optocoupler input end, and the cathodes of the eleventh diode and the third transient suppression diode are both connected with the negative electrode of the third optocoupler input end.
Further, the bidirectional transceiver chip adopts a chip SN65176BDR, and a pin D of the chip SN65176BDR is connected with the fourth optocoupler output end; pin B is connected with port Z; pin A is connected to port Z+.
Compared with the prior art, the invention has the beneficial effects that: the invention provides an integrated motor driving unit structure with a special structure, which integrates a passive rectifying unit, a pre-charging unit, a braking unit and an inversion unit. The passive rectifying unit is used for rectifying alternating current of a three-phase power grid and then charging the direct current busbar capacitor through the pre-charging unit, the braking unit is used for releasing electric braking energy to the braking resistor, and the inversion unit is used for driving and controlling a servo motor to operate. The shell is of a book-shaped cuboid structure, and the top surface and the bottom surface of the shell structure are respectively provided with a power input and braking interface, a mBUS interface, a MC_GPIO interface, a speed sensor interface MC_CNRLA interface and a motor interface which are respectively and correspondingly installed with corresponding internal functional modules, so that corresponding control and driving functions are realized.
The power input and braking interface, the mBUS interface, the MC_GPIO interface, the MC_CNRLA interface and the motor interface provided by the invention are corresponding to the corresponding functional module positions, have more reasonable layout, further make the whole volume smaller, and in addition, the whole appearance of the structure is book-shaped, which is beneficial to modular production and integrated installation with other related unit modules, thus having great significance on the use occasion (such as high-speed rail) with limited installation space.
Drawings
Fig. 1 is a schematic diagram of an integrated motor driving unit according to the present invention.
Fig. 2 is a diagram showing a bottom structure of a motor driving unit according to the present invention.
Fig. 3 is an electrical schematic diagram of an integrated motor drive unit provided by the present invention.
FIG. 4 is a schematic diagram of the power input and brake interface distribution.
Fig. 5 is a circuit diagram of a first signal processing circuit of the speed sensor interface.
Fig. 6 is a circuit diagram of a second signal processing circuit of the speed sensor interface.
Fig. 7 is a circuit diagram of a third signal processing circuit of the speed sensor interface.
Fig. 8 is a circuit diagram of a speed sensor interface transmission circuit.
Fig. 9 is a diagram of the definition of the speed sensor interface JR15 interface pins.
1-shell, 11-mBUS interface, 12-speed sensor interface, 13-MC_GPIO interface; 14-top heat dissipation holes, 15-MC_CNRLA interfaces, 16-motor interfaces, 17-bottom heat dissipation holes, 2-heat dissipation devices, 3-power input and braking interfaces.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and specific examples. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Example 1: as shown in fig. 1, 2 and 3, the present embodiment provides an integrated servo motor driving unit structure, which includes a housing 1, wherein the housing 1 is a book-shaped cuboid structure;
the rear end of the shell 1 is fixed on the heat dissipation device 2; a power input and braking interface 3 crossing the shell is arranged at the top end of the shell 1 and close to the heat radiating device 2; the shell top surface is provided with at least one mBUS interface 11, at least one MC_GPIO interface 13, at least one speed sensor interface 12 and more than two top radiating holes 14; the power input and braking interface 3 comprises an integrated power input interface and a braking interface, the power input interface is used for being connected with an external three-phase power grid, the braking interface is used for being externally connected with a braking resistor, electric braking energy is released to the braking resistor, as shown in fig. 4, R, S, T in the power input and braking interface 3 is used for being connected with three-phase power of the three-phase power grid, and P, B is a braking interface; the mBUS interface 11 is used for connecting the integrated motor driving unit with the central control unit by using an mBUS bus and receiving control instructions from the central control unit, wherein the control instructions comprise instructions of modes, torque, rotating speed, position and the like and various control parameters; the speed sensor interface 12 is used for receiving speed sensor data from the controlled servo motor; the mc_gpio interface 13 is configured to receive a digital input, a pulse input, an analog input, an external Z signal, and perform digital output and encoder feedback pulse output; the mc_gpio interface 13 and the mBUS interface 11 may be used simultaneously and may be prioritized.
The bottom end surface of the shell is provided with a motor interface 16, at least one MC_CNRLA interface 15 and more than two bottom end heat dissipation holes 17; the motor interface 16 is arranged on one side of the bottom end surface of the shell, which is close to the heat radiator 2, and the MC_CNRLA interface 15 is arranged on one side of the bottom end surface of the shell, which is far away from the heat radiator; the bottom radiating holes are uniformly distributed on the bottom surface of the shell; the mc_cnrla interface 15 is used for communication between the mc_cnrl module and the central control unit, and the mc_cnrl module is used for controlling a motor temperature protection switch, controlling hard wire emergency stop and controlling a cooling fan;
the inner side of the surface of the shell 1, which is contacted with the heat dissipation device 2, is a surface for fixing the functional device module; the functional device module comprises a passive rectifying unit, a pre-charging unit, a braking unit and an inversion unit. The passive rectifying unit is used for rectifying alternating current of a three-phase power grid and then charging the direct current busbar capacitor through the pre-charging unit, the braking unit is used for releasing electric braking energy to the braking resistor, and the inversion unit is used for driving and controlling the servo motor to operate.
As shown in fig. 5 to 9, the speed sensor interface includes a physically fixed b+ port, a-port, a+ port, a-port, z+ port, Z-port; the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 of the RJ45 interface is used for providing signals for a B+ port, a pin 6 of the RJ45 interface is used for providing signals for an A-port, a pin 3 of the RJ45 interface is used for providing signals for an A+ port, and a pin 2 of the RJ45 interface is connected with a Z-port; pin 1 is arranged to interconnect with the z+ port; the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit; the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply VCC through a first resistor R13, is connected with the ground through a first capacitor C15, and is also connected with the output end of the first optocoupler through a second resistor R12; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port; the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply VCC through a third resistor R15, is connected with the ground through a second capacitor C16, and is also connected with the output end of the second optocoupler through a fourth resistor R14; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port; the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply VCC through a fifth resistor R17, is connected with the ground through a third capacitor C17, and is also connected with the output end of a third optocoupler through a sixth resistor R16; the input end of the third optocoupler is connected with the third reverse-preventing circuit and the third lightning-preventing circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port.
The transmitting circuit comprises an SPI1_SCK port connected with the controller, wherein the SPI1_SCK port is connected with the negative electrode of the fourth optocoupler through a seventh resistor R18, the seventh resistor R18 can be simultaneously connected with the positive electrode of the fourth optocoupler through an eighth resistor R10, and the positive electrode of the fourth optocoupler is also connected with a power supply C; meanwhile, the output end of the fourth optical coupler is connected with a bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively. In this embodiment, the bidirectional transceiver chip adopts a chip SN65176BDR, and a pin D of the chip SN65176BDR is connected to the fourth optocoupler output end; pin B is connected with port Z; pin A is connected to port Z+.
The first reverse-preventing circuit comprises a first series schottky pair tube D4, a pin 1 of the first series schottky pair tube D4 is connected with the negative electrode of the first optocoupler input end, and a pin 3 of the first series schottky pair tube D4 is connected with the positive electrode of the first optocoupler input end; the second reverse-preventing circuit comprises a second series schottky pair tube D5, a pin 1 of the second series schottky pair tube D5 is connected with the cathode of the input end of the second optocoupler, and a pin 3 of the second series schottky pair tube D5 is connected with the anode of the input end of the second optocoupler; the third anti-reverse circuit comprises a third series schottky pair tube D6, a pin 1 of the third series schottky pair tube D6 is connected with the negative electrode of the third optocoupler input end, and a pin 3 of the third series schottky pair tube D6 is connected with the positive electrode of the third optocoupler input end. In this example BAV99WT1G implementation is used.
The first lightning protection circuit comprises a first small signal diode, a first transient suppression diode, a seventh diode and an eighth diode, wherein the first small signal diode is reversely connected in series with the seventh diode, the first transient suppression diode is reversely connected in series with the eighth diode, meanwhile, the cathodes of the first small signal diode and the eighth diode are both connected with the positive electrode of the first optocoupler input end, and the cathodes of the seventh diode and the first transient suppression diode are both connected with the negative electrode of the first optocoupler input end; the second lightning protection circuit comprises a second small signal diode, a second transient suppression diode, a ninth diode and a twelfth diode, wherein the second small signal diode is reversely connected in series with the ninth diode, the second transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the second small signal diode and the twelfth diode are both connected with the anode of the second optocoupler input end, and the cathodes of the ninth diode and the second transient suppression diode are both connected with the cathode of the second optocoupler input end; the third lightning protection circuit comprises a third small signal diode, a third transient suppression diode, an eleventh diode and a twelfth diode, wherein the third small signal diode is reversely connected in series with the eleventh diode, the third transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the third small signal diode and the twelfth diode are both connected with the positive electrode of the third optocoupler input end, and the cathodes of the eleventh diode and the third transient suppression diode are both connected with the negative electrode of the third optocoupler input end. In this embodiment, BV03C is directly used. The interface circuit of the servo motor speed sensor in the embodiment adopts a JR15 interface, and the function of each pin of the interface is customized, so that the control circuit adopts different communication protocols only by changing the communication protocol chip arranged between the JR15 interface and the processing circuit (the first signal processing circuit, the second signal processing circuit, the third signal processing circuit and the transmitting circuit) under the condition that the external ports (B+ port, B-port, A+ port, A-port, Z+ port and Z-port) are fixed on the circuit board, so as to adapt to different position sensors (such as an incremental photoelectric encoder, a magnetic encoder and an absolute value photoelectric encoder). The circuit adopts a circuit board structure with reserved ports, and can change the interface circuit into a corresponding communication interface by plugging or welding the corresponding chip at the external port after determining what communication protocol chip is needed without installing a specific communication protocol chip during production.
Claims (3)
1. The integrated servo motor driving unit structure is characterized by comprising a shell, wherein the shell is of a book-shaped cuboid structure;
the rear end of the shell is fixed on the heat dissipation device, or the heat dissipation device is integrated at the rear end of the shell;
a power input and braking interface crossing the shell is arranged at the position of the top end of the shell close to the heat radiating device; the shell top surface is provided with at least one mBUS interface, at least one MC_GPIO interface, at least one speed sensor interface and more than two top heat dissipation holes; the power input and braking interface comprises an integrated power input interface and a braking interface, the power input interface is used for being connected with an external three-phase power grid, the braking interface is used for being externally connected with a braking resistor to release electric braking energy to the braking resistor, the mBUS interface is used for connecting the integrated motor driving unit with the central control unit through an mBUS bus, and a control instruction is received from the central control unit; the speed sensor interface is used for receiving speed sensor data from the controlled servo motor; the MC_GPIO interface is used for receiving digital input, pulse input, analog input and external Z signals, and performing digital output and encoder feedback pulse output;
the bottom end surface of the shell is provided with a motor interface, at least one MC_CNRLA interface and more than two bottom end heat dissipation holes; the motor interface is arranged on one side of the bottom end surface of the shell, which is close to the heat radiating device, and the MC_CNRLA interface is arranged on one side of the bottom end surface of the shell, which is far away from the heat radiating device; the bottom radiating holes are uniformly distributed on the bottom surface of the shell; the MC_CNRLA interface is used for communication between the MC_CNRL module and the central control unit, and the MC_CNRL module is used for motor temperature protection switch control, hard wire emergency stop control and radiator fan control;
the inner side of the surface of the shell, which is contacted with the heat dissipation device, is a surface for fixing the functional device module; the functional device module comprises a passive rectifying unit, a pre-charging unit, a braking unit and an inversion unit; the speed sensor receiving circuit comprises a B+ port, a B-port, an A+ port, an A-port, a Z+ port and a Z-port, wherein the physical positions of the B+ port, the B-port, the A+ port, the A-port, the Z+ port and the Z-port are fixed;
the device further comprises an RJ45 interface, wherein a pin 8 of the RJ45 interface is used for providing signals for a B-port, a pin 7 is used for providing signals for a B+ port, a pin 6 is used for providing signals for an A-port, a pin 3 is used for providing signals for an A+ port, and a pin 2 is connected with a Z-port in an interconnection manner; pin 1 is arranged to interconnect with the z+ port;
the system also comprises a first signal processing circuit, a second signal processing circuit, a third signal processing circuit and a transmitting circuit;
the first signal processing circuit comprises an EQEP2B end connected with the controller, wherein the EQEP2B end is connected with a power supply through a first resistor, is connected with ground through a first capacitor, and is also connected with the output end of the first optocoupler through a second resistor; the input end of the first optocoupler is connected with the first reverse-preventing circuit and the first lightning-proof circuit in series, the positive electrode of the first optocoupler receives signals from the B+ port, and the negative electrode of the first optocoupler receives signals from the B-port;
the second signal processing circuit comprises an EQEP2A end connected with the controller, wherein the EQEP2A end is connected with a power supply through a third resistor, is connected with ground through a second capacitor, and is also connected with the output end of the second optocoupler through a fourth resistor; the input end of the second optocoupler is connected with the second reverse-preventing circuit and the second lightning-proof circuit in series, the positive electrode of the input end of the second optocoupler receives signals from the A+ port, and the negative electrode of the input end of the second optocoupler receives signals from the A-port;
the third signal processing circuit comprises an EQEP2I end connected with the controller, wherein the EQEP2I end is connected with a power supply through a fifth resistor, is connected with ground through a third capacitor, and is also connected with the output end of a third optocoupler through a sixth resistor; the input end of the third optocoupler is connected with the third reverse-proof circuit and the third lightning-proof circuit in series, the positive electrode of the input end of the third optocoupler receives signals from the Z+ port, and the negative electrode of the input end of the third optocoupler receives signals from the Z-port;
the transmitting circuit comprises an SPI1_SCK port connected with the controller, the SPI1_SCK port is connected with the negative electrode of the fourth optical coupler through a seventh resistor, the seventh resistor is simultaneously connected with the positive electrode of the fourth optical coupler through an eighth resistor, and the positive electrode of the fourth optical coupler is also connected with a power supply; meanwhile, the output end of the fourth optical coupler is connected with the bidirectional transceiver chip; the bidirectional transceiver chip is also connected with a Z+ port and a Z-port respectively; the first reverse-preventing circuit comprises a first series schottky pair tube D4, a pin 1 of the first series schottky pair tube D4 is connected with the negative electrode of the first optocoupler input end, and a pin 3 of the first series schottky pair tube D4 is connected with the positive electrode of the first optocoupler input end;
the second reverse-preventing circuit comprises a second series schottky pair tube D5, a pin 1 of the second series schottky pair tube D5 is connected with the cathode of the input end of the second optocoupler, and a pin 3 of the second series schottky pair tube D5 is connected with the anode of the input end of the second optocoupler;
the third anti-reverse circuit comprises a third series schottky pair tube D6, a pin 1 of the third series schottky pair tube D6 is connected with the negative electrode of the input end of the third optocoupler, and a pin 3 of the third series schottky pair tube D6 is connected with the positive electrode of the input end of the third optocoupler; the first series schottky pair tube D4, the second series schottky pair tube D5 and the third series schottky pair tube D6 are implemented by using BAV99WT 1G.
2. The driving unit structure as claimed in claim 1, wherein the first lightning protection circuit comprises a first small signal diode, a first transient suppression diode, a seventh diode and an eighth diode, wherein the first small signal diode is reversely connected in series with the seventh diode, the first transient suppression diode is reversely connected in series with the eighth diode, meanwhile, the cathodes of the first small signal diode and the eighth diode are both connected with the positive electrode of the first optocoupler input end, and the cathodes of the seventh diode and the first transient suppression diode are both connected with the negative electrode of the first optocoupler input end;
the second lightning protection circuit comprises a second small signal diode, a second transient suppression diode, a ninth diode and a twelfth diode, wherein the second small signal diode is reversely connected in series with the ninth diode, the second transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the second small signal diode and the twelfth diode are both connected with the anode of the second optocoupler input end, and the cathodes of the ninth diode and the second transient suppression diode are both connected with the cathode of the second optocoupler input end;
the third lightning protection circuit comprises a third small signal diode, a third transient suppression diode, an eleventh diode and a twelfth diode, wherein the third small signal diode is reversely connected in series with the eleventh diode, the third transient suppression diode is reversely connected in series with the twelfth diode, meanwhile, the cathodes of the third small signal diode and the twelfth diode are both connected with the positive electrode of the third optocoupler input end, and the cathodes of the eleventh diode and the third transient suppression diode are both connected with the negative electrode of the third optocoupler input end.
3. The driving unit structure as claimed in claim 1, wherein the bi-directional transceiver chip is a chip SN65176BDR, and pin D of the chip SN65176BDR is connected to the fourth optocoupler output terminal; pin B is connected with port Z; pin A is connected to port Z+.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710006625.2A CN106602967B (en) | 2017-01-05 | 2017-01-05 | Integrated motor drive unit structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710006625.2A CN106602967B (en) | 2017-01-05 | 2017-01-05 | Integrated motor drive unit structure |
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| CN110609518B (en) * | 2019-09-12 | 2024-09-10 | 深圳市华成工业控制股份有限公司 | Industrial robot drive controller |
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|---|---|
| CN106602967A (en) | 2017-04-26 |
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