CN204076264U - A kind of motion control card and robot - Google Patents
A kind of motion control card and robot Download PDFInfo
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- CN204076264U CN204076264U CN201320881781.0U CN201320881781U CN204076264U CN 204076264 U CN204076264 U CN 204076264U CN 201320881781 U CN201320881781 U CN 201320881781U CN 204076264 U CN204076264 U CN 204076264U
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- motion control
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- control card
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34278—Motion control board, card, in pc
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Numerical Control (AREA)
Abstract
The utility model discloses a kind of motion control card, comprising: for receiving PC control order and resolving the algoritic module of this control command; The control command that algoritic module is resolved is forwarded to the communication module of servo-driver; Described communication module is connected by parallel-port electrical with described algoritic module; Described communication module is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module.By arranging Male end connector on communication module, algoritic module arranges terminative connector, make the communication module of motion control card and algoritic module separable, communication module can change, thus same motion control card can be selected to install corresponding communication module according to different servo-driver interfaces, therefore, without the need to changing whole motion control card, just the servo-driver of adaptive distinct interface can be realized, enhance motion control card versatility, expand range of application, reduce motion control card replacement cost.
Description
Technical field
The utility model relates to technical field of mechanical automation, particularly relates to a kind of motion control card and has the robot of this motion control card.
Background technology
Motion control card is a kind of Based PC or Industrial PC, for the control unit of various motion control occasion, such as, to the control that displacement, speed, acceleration etc. move.Motion control card adopts professional motion control chip or high speed digital signal processor (digital signal processor, DSP) as motion control core, to be used for greatly control step motor or servomotor usually.Usually, motion control card and PC form master slave control structure: the work of the aspects such as the management of PC director machine interactive interface and the real-time monitoring of control system, the management of such as keyboard and mouse, the display of system mode, Motion trajectory, the transmission of control instruction, the monitoring of external signal etc.; Control card completes all details of motion control, comprises the detection etc. of the output of pulse and direction signal, the process of automatic lifting speed, initial point and the signal such as spacing.
Inventor of the present utility model finds the development along with Industry Control mechanics of communication through research, EPA (being applied to the industry ethernet technology of industrial control field based on IEEE802.3) progressively becomes the main communication connected mode of fieldbus, each servo-driver producer releases the servo-driver based on high-speed industrial Ethernet interface, but there is following defect:
1, range of application is narrow: conventional motion control card only supports single face, and range of application is very narrow, can only connect the servo-driver of special interface.
2, replacement cost is high: in order to the servo-driver of adaptive distinct interface, motion control card is had to according to connected servo-driver interface, redesign, change whole motion control card, change upper computer software simultaneously, cause and need a large amount of designs, Material Cost.
3, poor universality: single due to motion control card interface, according to the demand of Mechanical course, can not change servo-driver flexibly, the upgrading for product line causes significant limitation.
Utility model content
The utility model is single for solving motion control card interface in prior art, and range of application is narrow, and replacement cost is high, the problem of poor universality, provides a kind of applied range, and replacement cost is low, the motion control card that versatility is good.
For realizing above-mentioned utility model object, the utility model by the following technical solutions:
A kind of motion control card, comprising:
For receiving PC control order and resolving the algoritic module of this control command;
The control command that algoritic module is resolved is forwarded to the communication module of servo-driver;
Described communication module is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module.
Preferably, described algoritic module comprises dsp processor, and described communication module comprises arm processor, and described dsp processor and described arm processor are electrically connected by parallel port.
Preferably, described dsp processor is provided with dual port RAM.
Preferably, described algoritic module comprise connect and and PCI functional module between described dsp processor and host computer, described PCI functional module is provided with the connector be electrically connected with host computer.
Preferably, described algoritic module comprises the external memory modules be connected with described dsp processor, and described external memory modules comprises for storing the SDRAM of the host computer instruction and data that described PCI functional module receives and the FLASH for depositing firmware program.
Preferably, described algoritic module comprises the ARM communication interface module be connected with described dsp processor, and ARM communication interface module is used for carrying out communication with arm processor.
Preferably, described algoritic module also comprises the first power module, for providing power supply for algoritic module; Reseting module, for resetting to dsp processor, the first power module is all connected with dsp processor with the first reseting module.
Preferably, described communication module comprises the DSP communication interface module be connected with described arm processor, and DSP communication interface module is used for carrying out communication with dsp processor.
Preferably, described communication module comprises the bus interface module connected and between arm processor and servo-driver, and described bus interface module comprises pulse interface, Mechatrolink-III interface, EtherCAT interface and CANopen interface.
Preferably, described communication module also comprises second source module, for providing power supply for communication module; Reseting module, for resetting to arm processor, second source module is all connected with arm processor with the second reseting module.
Preferably, described dsp processor comprises for receiving PC control order and resolving the DSP signal processing unit of this control command, and described arm processor comprises the ARM communication processing unit sending the control command that described DSP signal processing unit is resolved to servo-driver.
Preferably, described DSP signal processing unit comprises the DSP communication interface command processing module be connected with feedback of status module and command processing module, for realizing the Signal transmissions between DSP signal processing unit and ARM communication processing unit.
Preferably, described ARM communication processing unit comprises the ARM communication interface command processing module be connected with DSP communication interface command processing module, for realizing the Signal transmissions between DSP signal processing unit and ARM communication processing unit.
A kind of robot, comprise described motion control card, described motion control card comprises:
For receiving PC control order and resolving the algoritic module of this control command;
The control command that algoritic module is resolved is forwarded to the communication module of servo-driver;
Described communication module is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module.
A kind of motion control card of the utility model, by arranging Male end connector on communication module, algoritic module arranges terminative connector, make the communication module of motion control card and algoritic module separable, communication module can change, thus same motion control card can be selected to install corresponding communication module according to different servo-driver interfaces, therefore, without the need to changing whole motion control card, just the servo-driver of adaptive distinct interface can be realized, enhance motion control card versatility, expand range of application, reduce motion control card replacement cost.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing used required in describing embodiment is briefly described.
Fig. 1 is the utility model embodiment motion control card operation principle schematic diagram;
Fig. 2 is the utility model embodiment motion control card structured flowchart;
Fig. 3 is the utility model embodiment motion control card logic diagram.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the utility model embodiment, be clearly and completely described the technical scheme in the utility model embodiment, obviously, described embodiment is only the utility model part embodiment, instead of whole embodiments.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtained under creative work prerequisite, all belong to the scope of the utility model protection.
As shown in Figure 1, Fig. 1 is the utility model embodiment motion control card operation principle schematic diagram; The utility model provides a kind of motion control card 1, and host computer 2 and motion control card 1 form master slave control structure, and motion control card Based PC bus (pci bus) is connected with servo-driver 3, realizes the multiaxis cooperation control of multiple servomotor.The work of the aspects such as the management of host computer director machine interactive interface and the real-time monitoring of control system, the management of such as keyboard and mouse, the display of system mode, Motion trajectory, the transmission of control instruction, the monitoring of external signal etc.; Motion control card completes all details of motion control, comprises the detection etc. of the output of pulse and direction signal, Motion trajectory, the process of automatic lifting speed, initial point and the signal such as spacing.Motion control card comprises the function such as pulse output, step-by-step counting, numeral input, numeral output, D/A output, pulsed output mode comprises pulse/direction, pulse/pulse mode, step-by-step counting is fed back for the position of encoder, the position that machine prepares is provided, correct in transmission process the error produced, digital I/O is used for spacing, origin switch etc.
As shown in Figure 2, Fig. 2 is the utility model embodiment motion control card structured flowchart; In the embodiment of the utility model motion control card 1, motion control card 1 comprises:
For receiving host computer 2 control command and resolving the algoritic module 11 of this control command, it upwards provides unified control interface for host computer 2; The control command that algoritic module 11 is resolved is forwarded to the communication module 12 of servo-driver 3; Described communication module 12 is connected by parallel-port electrical with described algoritic module 11; Described communication module 12 is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module 11.
Male end connector on communication module 12 is set to contact pin by the utility model, the terminative connector of algoritic module 11 is set to the connecting hole with contact pin adaptation, but Male end connector described in the utility model and terminative connector are not limited to contact pin and shape, size with the connecting hole of its adaptation, also comprise other routine techniques means of connector.
Described algoritic module 11 comprises dsp processor 110, selects TMS320DM642; Described communication module 12 comprises arm processor 120, selects STM32F405ZG, and described dsp processor 110 is electrically connected by parallel port with described arm processor 120, and transmission speed is faster.
Described algoritic module 11 also comprises with lower module: the first power module 111, first reseting module 112, ARM communication interface module 113 and external memory modules 114.
First power module 111, for algoritic module 11 provides power supply, selects TPS54310 chip, and containing 1.8V, 3.3V and 5V tri-kinds of voltages, 5V power supply provides from pci interface;
First reseting module 112, is responsible for the reset of circuit, selects TPS386000 chip, be connected to the Reset pin of dsp processor 110, be used for resetting to dsp processor 110;
ARM communication interface module 113, for carrying out communication with arm processor 120, uses the EMIF interface CE2 address space of TMS320DM642;
PCI functional module 115, connect and between described dsp processor 110 and host computer, complete and send from the order reception of host computer (such as industrial computer IPC) and the state of driver, described PCI functional module comprises the connector be electrically connected with host computer (industrial computer IPC) slot, by the PCI/HPI interface of DSP in this module, there is provided external PCI connector through three pci bus buffer memorys, use this connector can be connected in the PCI slot of host computer (industrial computer IPC).
External memory modules 114, be connected with described dsp processor 110, described external memory modules comprises SDRAM, it is for status information real-time in the host computer instruction and data that stores described PCI functional module 115 and receive and program operation process, use the EMIF interface CE0 address space of TMS320DM642, external memory modules also comprises the FLASH for depositing firmware program, realizes self-starting, uses the EMIF interface CE1 address space of TMS320DM642;
Described dsp processor 110 is provided with dual port RAM, for solving the driving force problem between dsp processor 110 and arm processor 120.
Described communication module 12 also comprises with lower module: second source module 121, second reseting module 122, DSP communication interface module 123 and bus interface module 124.
Second source module 121, selects TPS62291 chip and TPS62290 chip, can provide 2.5V and 3.3V voltage, is the basis that arm processor 120 and its peripheral components normally work;
Second reseting module 122, reset chip selects TPS386000 to be connected to the reset pin of arm processor 120, enters to reset to whole circuit;
DSP communication interface module 123, for carrying out communication with dsp processor 110, DSP communication interface module 123 is connected with ARM communication interface module 113, realizes the communication between dsp processor 110 and described arm processor 120.Dsp processor 110 directly can access the memory headroom of arm processor 120 by 10 address wires and 16 data lines, STM32F405ZG end uses FSMC interface.
Bus interface module 124, connect and between arm processor 120 and servo-driver 3, the circuit of bus interface module 124, according to different agreements, makes a series, comprises pulse and adds direction interface, Mechatrolink-III interface, EtherCAT interface and CANopen interface.
As shown in Figure 3, Fig. 3 is the utility model embodiment motion control card logic diagram; Described dsp processor 110 comprises for receiving PC control order and resolving the DSP signal processing unit 1101 of this control command, and described arm processor 120 comprises the ARM communication processing unit 1201 sending the control command that described DSP signal processing unit 1101 is resolved to servo-driver.
Described DSP signal processing unit 1101 comprises: Upper machine communication module 11011, command processing module 11012, algorithms library module 11014, feedback of status module 11013 and DSP communication interface command processing module 11015.
Upper machine communication module 11011, one end is connected with host computer 2, the other end is connected with command processing module 11012 and feedback of status module 11013, communication instruction and the status information uploading servo-driver 3 of primary recipient host computer 2, four data address spaces and a command address space is opened up in the SDRAM that it connects, command address space is used for receiving the control instruction sended over from host computer, such as servo-driver connects, the instructions such as servo-driver powers on, four data address spaces two are used for depositing the trace information sended over from host computer, two are used for depositing servo-driver running state information,
Command processing module 11012, for resolving host computer 2 control command, according to the different instruction received from Upper machine communication module 11011, the corresponding operation of process, such as receive the instruction of interpolation, just call the interpolation function in algorithms library module 11014, interpolation and speed planning are carried out to track, then data command is sent to communication module 12;
Algorithms library module 11014, be connected with command processing module 11012, algorithms library module 11014, for providing analytical algorithm to described command processing module 11012, realizes the function of motion control, comprises T-shaped speed planning, S type speed planning, linear interpolation, circular interpolation etc. algorithmic function.
Feedback of status module 11013, feedback of status module 11013, for obtaining servo-driver 3 movement state information, gets the real-time status of servo-driver 3 from communication module 12, such as shaft position information, axle velocity information etc., and being issued host computer shows;
DSP communication interface command processing module 11015, be connected with feedback of status module 11013 and command processing module 11012, for realizing the Signal transmissions between DSP signal processing unit 1101 and ARM communication processing unit 1201, the address space between agreement DSP signal processing unit 1101 and ARM communication processing unit 1201.
Described ARM communication processing unit 1201 comprises: ARM communication interface command processing module 12011, bus application layer module 12012 and bus links layer module 12013.
ARM communication interface command processing module 12011, is connected with DSP communication interface command processing module, for realizing the Signal transmissions between DSP signal processing unit and ARM communication processing unit, realizes the reading and writing data function with algoritic module 11.
Bus application layer module 12012, the bus application layer module 12012 be connected with ARM communication interface command processing module 12011, the data message that bus application layer module 12012 sends for encapsulating described ARM communication interface command processing module 12011 according to the protocol architecture of bus, concrete, realize the application layer of fieldbus, according to the form of periodic data communication and aperiodicity data communication, position signalling later for the interpolation of algorithm plate or velocity information are encapsulated according to the protocol architecture of bus, then sends to the data link layer functions of bus protocol;
Bus links layer module 12013, the bus links layer module 12013 be connected with bus application layer module 12012, bus links layer module 12013 is for the data message that receives described ARM communication interface command processing module 12011 and send and carry out the initialization of bus protocol chip according to this information, concrete, realize the initialization for bus protocol chip, the parameter that configuration is relevant, the protocol chip of some bus protocol can do the function of a part of data link layer, mainly realizes its relevant initialized work here.
The utility model embodiment also provides a kind of industrial robot, comprises above-mentioned motion control card 1.
From hardware, the algoritic module of motion control card is made a base plate, communication module is made buckle, communication module is provided with contact pin, algoritic module is provided with the connecting hole of contact pin adaptation, a same tensor calculus method module board can support different communication module boards, and make to connect flexibly, system upgrade is convenient.The motion control card that the utility model provides, by arranging Male end connector on communication module, algoritic module arranges terminative connector, make the communication module of motion control card and algoritic module separable, communication module can change, thus same motion control card can be selected to install corresponding communication module according to different servo-driver interfaces, therefore, without the need to changing whole motion control card, just the servo-driver of adaptive distinct interface can be realized, enhance motion control card versatility, expand range of application, reduce motion control card replacement cost.
Apply specific case herein to set forth principle of the present utility model and embodiment, the explanation of above embodiment just understands method of the present utility model and core concept thereof for helping; Meanwhile, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, in sum, this description should not be construed as restriction of the present utility model.
Claims (14)
1. a motion control card, is characterized in that, comprising:
For receiving PC control order and resolving the algoritic module of this control command;
The control command that algoritic module is resolved is forwarded to the communication module of servo-driver;
Described communication module is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module.
2. motion control card according to claim 1, is characterized in that: described algoritic module comprises dsp processor, and described communication module comprises arm processor, and described dsp processor and described arm processor are electrically connected by parallel port.
3. motion control card according to claim 2, is characterized in that: described dsp processor is provided with dual port RAM.
4. motion control card according to claim 2, is characterized in that: described algoritic module comprises the PCI functional module connected and between described dsp processor and host computer, and described PCI functional module is provided with the connector be electrically connected with host computer.
5. motion control card according to claim 4, it is characterized in that: described algoritic module comprises the external memory modules be connected with described dsp processor, described external memory modules comprises for storing the SDRAM of the host computer instruction and data that described PCI functional module receives and the FLASH for depositing firmware program.
6. motion control card according to claim 5, is characterized in that: described algoritic module comprises the ARM communication interface module be connected with described dsp processor, and ARM communication interface module is used for carrying out communication with arm processor.
7. motion control card according to claim 6, is characterized in that: described algoritic module also comprises the first power module, for providing power supply for algoritic module; Reseting module, for resetting to dsp processor, the first power module is all connected with dsp processor with the first reseting module.
8. motion control card according to claim 2, is characterized in that: described communication module comprises the DSP communication interface module be connected with described arm processor, and DSP communication interface module is used for carrying out communication with dsp processor.
9. motion control card according to claim 8, it is characterized in that: described communication module comprises the bus interface module connected and between arm processor and servo-driver, and described bus interface module comprises pulse interface, Mechatrolink-III interface, EtherCAT interface and CANopen interface.
10. motion control card according to claim 9, is characterized in that: described communication module also comprises second source module, for providing power supply for communication module; Reseting module, for resetting to arm processor, second source module is all connected with arm processor with the second reseting module.
11. motion control cards according to claim 2, it is characterized in that: described dsp processor comprises for receiving PC control order and resolving the DSP signal processing unit of this control command, and described arm processor comprises the ARM communication processing unit sending the control command that described DSP signal processing unit is resolved to servo-driver.
12. motion control cards according to claim 11, it is characterized in that: described DSP signal processing unit comprises the DSP communication interface command processing module be connected with feedback of status module and command processing module, for realizing the Signal transmissions between DSP signal processing unit and ARM communication processing unit.
13. motion control cards according to claim 12, it is characterized in that: described ARM communication processing unit comprises the ARM communication interface command processing module be connected with DSP communication interface command processing module, for realizing the Signal transmissions between DSP signal processing unit and ARM communication processing unit.
14. 1 kinds of robots, is characterized in that, comprise the motion control card described in any one of claim 1 ~ 13, and described motion control card comprises:
For receiving PC control order and resolving the algoritic module of this control command;
The control command that algoritic module is resolved is forwarded to the communication module of servo-driver;
Described communication module is provided with Male end connector and is connected with the terminative connector adaptation be arranged on algoritic module.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320881781.0U CN204076264U (en) | 2013-12-30 | 2013-12-30 | A kind of motion control card and robot |
| PCT/CN2014/095056 WO2015101217A1 (en) | 2013-12-30 | 2014-12-26 | Control card and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320881781.0U CN204076264U (en) | 2013-12-30 | 2013-12-30 | A kind of motion control card and robot |
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| CN204076264U true CN204076264U (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320881781.0U Expired - Lifetime CN204076264U (en) | 2013-12-30 | 2013-12-30 | A kind of motion control card and robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN204076264U (en) |
| WO (1) | WO2015101217A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104898466A (en) * | 2015-03-13 | 2015-09-09 | 中国科学院光电研究院 | Communication control circuit for laser tracker |
| CN105682864A (en) * | 2014-12-26 | 2016-06-15 | 深圳市配天智造装备股份有限公司 | Control card and robot |
| CN105988398A (en) * | 2015-03-03 | 2016-10-05 | 上海电气自动化设计研究所有限公司 | PC-based industrial robot control system and method for unmanned machine room |
| CN106227108A (en) * | 2016-08-30 | 2016-12-14 | 成都福誉科技有限公司 | A kind of motion controller |
| CN106426184A (en) * | 2016-12-13 | 2017-02-22 | 广州中国科学院先进技术研究所 | Robot control system |
| CN107127751A (en) * | 2017-03-21 | 2017-09-05 | 宁波韦尔德斯凯勒智能科技有限公司 | Articulated manipulator controls integral control system and control method |
| CN109358570A (en) * | 2018-12-10 | 2019-02-19 | 上海维宏电子科技股份有限公司 | Support the controller and its communicating control method of a variety of bus driver communications protocol |
| CN109463037A (en) * | 2017-05-26 | 2019-03-12 | 深圳配天智能技术研究院有限公司 | Servo-system, motor, absolute type encoder and its signal processing circuit |
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| CN105511427B (en) * | 2015-11-30 | 2019-03-26 | 上海新时达电气股份有限公司 | The control method and control system of multirobot |
| CN108241317B (en) * | 2017-01-06 | 2023-07-21 | 广东木几智能装备有限公司 | 8-axis motion control system of chip mounter |
| CN109164739B (en) * | 2018-09-07 | 2023-10-24 | 天津福云天翼科技有限公司 | Electrohydraulic servo control system |
| CN110039511B (en) * | 2019-03-12 | 2023-07-18 | 华南理工大学 | An 8-axis linkage robot and its control system and control method |
| CN110347110A (en) * | 2019-08-15 | 2019-10-18 | 深圳先进技术研究院 | One kind controling all-in-one machine and robot controls system |
| CN111866020B (en) * | 2020-07-31 | 2023-03-24 | 深圳市英威腾电气股份有限公司 | Communication card and communication method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3832517B2 (en) * | 1996-07-05 | 2006-10-11 | セイコーエプソン株式会社 | Robot controller and control method thereof |
| JP2006302282A (en) * | 2005-04-15 | 2006-11-02 | Fanuc Robotics America Inc | Method for optimizing robot program and robot control system |
| CN100401218C (en) * | 2005-12-13 | 2008-07-09 | 天津大学 | Open motion control card and control method for parallel equipment based on two-level DSP |
| CN101470432A (en) * | 2007-12-27 | 2009-07-01 | 鸿富锦精密工业（深圳）有限公司 | Monitoring apparatus and movement control card terminal board of computer numerical control equipment |
-
2013
- 2013-12-30 CN CN201320881781.0U patent/CN204076264U/en not_active Expired - Lifetime
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2014
- 2014-12-26 WO PCT/CN2014/095056 patent/WO2015101217A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105682864A (en) * | 2014-12-26 | 2016-06-15 | 深圳市配天智造装备股份有限公司 | Control card and robot |
| CN105988398A (en) * | 2015-03-03 | 2016-10-05 | 上海电气自动化设计研究所有限公司 | PC-based industrial robot control system and method for unmanned machine room |
| CN104898466A (en) * | 2015-03-13 | 2015-09-09 | 中国科学院光电研究院 | Communication control circuit for laser tracker |
| CN106227108A (en) * | 2016-08-30 | 2016-12-14 | 成都福誉科技有限公司 | A kind of motion controller |
| CN106426184A (en) * | 2016-12-13 | 2017-02-22 | 广州中国科学院先进技术研究所 | Robot control system |
| CN107127751A (en) * | 2017-03-21 | 2017-09-05 | 宁波韦尔德斯凯勒智能科技有限公司 | Articulated manipulator controls integral control system and control method |
| CN107127751B (en) * | 2017-03-21 | 2019-08-16 | 宁波韦尔德斯凯勒智能科技有限公司 | Articulated manipulator controls integral control system and control method |
| CN109463037A (en) * | 2017-05-26 | 2019-03-12 | 深圳配天智能技术研究院有限公司 | Servo-system, motor, absolute type encoder and its signal processing circuit |
| CN109358570A (en) * | 2018-12-10 | 2019-02-19 | 上海维宏电子科技股份有限公司 | Support the controller and its communicating control method of a variety of bus driver communications protocol |
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| Publication number | Publication date |
|---|---|
| WO2015101217A1 (en) | 2015-07-09 |
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