TWI661915B - Multi control cards controlling system and the method thereof - Google Patents

Abstract

A multi-axis card control system includes: a plurality of axis cards with the same structure, a multi-axis card judgment module, and a display module. Each axis card includes: a plurality of toggle switches with different switch codes, an axis card judgment module and a control unit. At least one of the finger dialing operations is operatively turned on. The axis card judgment module is used to generate a single axis card signal when it is determined that only one of the finger switches is turned on. When the control unit receives a single axis card signal, it retrieves the switch code. The multiple axis card judgment module receives the switch codes of the axis cards and generates an axis card ready signal when it is determined that the switch codes are different from each other. When the display module receives the axis card ready signal, it displays an axis card ready signal. A multi-axis card control method is also disclosed in the present invention.

Description

Multi-axis card control system and method

The present invention relates to an axis card control system and method, and more particularly to a multi-axis card control system and method including a plurality of axis cards with the same structure.

With the booming development of robots, traditional single-axis drives are no longer capable of being replaced, and instead are multi-axis drives that can control multiple axes at once.

Please refer to the first figure, which is a schematic diagram showing a multi-axis drive of the prior art. As shown in the figure, a multi-axis driver PA1 includes an outer casing PA11, a control module PA12, a first axis card PA13, a second axis card PA14, and a third axis card PA15. Multi-axis driver PA1 is used to drive and control three axial directions.

The control module PA12 is electrically connected to the first axis card PA13, the second axis card PA14, and the third axis card PA15, and the control module PA12, the first axis card PA13, the second axis card PA14, and the third axis card PA15 are It is installed in the outer casing PA11. Among them, the respective pin positions (PIN) of the first axis card PA13, the second axis card PA14, and the third axis card PA15 are different, For example: the first axis card PA13 corresponds to pins 1 to 20, the second axis card PA14 corresponds to pins 21 to 40, and the third axis card PA15 corresponds to pins 41 to 60 .

The size of the outer casing PA11 is determined according to the combined size of the control module PA12, the first axis card PA13, the second axis card PA14, and the third axis card PA15.

Please refer to the second diagram, which is a schematic diagram showing another multi-axis drive in the prior art. As shown in the figure, a multi-axis driver PA2 includes an outer casing PA21, a control module PA22, a first axis card PA23, a second axis card PA24, a third axis card PA25, a fourth axis card PA26, A fifth axis card PA27 and a sixth axis card PA28. Multi-axis driver PA2 is used to control and drive six axial directions.

The control module PA22 is electrically connected to the first axis card PA23, the second axis card PA24, the third axis card PA25, the fourth axis card PA26, the fifth axis card PA27 and the sixth axis card PA28, and the control module PA22, The first axis card PA23, the second axis card PA24, the third axis card PA25, the fourth axis card PA26, the fifth axis card PA27, and the sixth axis card PA28 are disposed on the outer casing PA21. Among them, the first axis card PA23, the second axis card PA24, the third axis card PA25, the fourth axis card PA26, the fifth axis card PA27, and the sixth axis card PA28 have different corresponding pin positions (PIN), for example : The first axis card PA23 corresponds to the 1st to 20th pins, the second axis card PA24 corresponds to the 21st to 40th pins, and the third axis card PA25 corresponds to the 41st to 60th pins. The four-axis card PA26 corresponds to the 61st to 80th pins, the fifth axis card PA27 corresponds to the 81st to 100th pins, and the sixth axis card PA28 corresponds to the 101st to 120th pins.

The size of the outer casing PA21 is sequentially assembled according to the control module PA22, the first axis card PA23, the second axis card PA24, the third axis card PA25, the fourth axis card PA26, the fifth axis card PA27, and the sixth axis card PA28. After the size.

Regardless of the multi-axis drive PA1 or PA2, the corresponding pins of their respective axis cards are different, so they cannot be shared with each other. For example, if the first axis card PA13 is damaged, the second axis card PA14 or the third axis card PA15 cannot be used instead It also makes it impossible to singulate specifications in large quantities at the time of manufacturing, shortening the process time. Moreover, it is impossible to ensure which axis card will be damaged, so the reserve inventory of each type of axis card needs to reach a certain amount, which may increase unnecessary manufacturing costs and even waste resources.

In addition, because the sizes of the outer shells PA11 and PA21 are determined by the number of internal control modules (PA12 and PA22) and shaft cards, the volume of the outer shell PA21 is larger than the outer shell PA11 and is a rigid shell. Neither the axis drivers PA1 nor PA2 can extend the axis card. If the user needs to expand the axis card, he needs to purchase a larger housing. For example, the user actually needs a driver that can drive three axes, and he hopes to expand the axis card in the future. Therefore, he will purchase a larger housing PA21, but Only the control module and three axis cards (the first axis card, the second axis card, and the third axis card) are set therein. The remaining space can be expanded in the future to expand the axis card (the fourth axis card, the fifth axis card, and the first axis card). Six-axis card), but also reduces space utilization.

In view of the fact that in the prior art, each axis card of the multi-axis driver is different, which cannot be shared and cannot be manufactured in a single mass, and The outer case is a rigid case, and the size is determined by the number of the axis cards installed inside, so the axis card cannot be expanded. If you want the expansion function of the axis card, the space utilization will be reduced before the expansion of the axis card. One of the main objects of the present invention is to provide a multi-axis card control system, which uses a plurality of toggle switches corresponding to different switch codes, an axis card judgment module, and a multi-axis card judgment module to achieve a single axis card specification and expand the axis card. Effect.

In order to solve the problems of the prior art, the present invention adopts the necessary technical means to provide a multi-axis card control system, including: a plurality of axis cards with the same structure, a multi-axis card judgment module and a display module.

Each axis card system includes a plurality of finger switches, an axis card judgment module and a control unit. The finger release relationship is operative to turn on at least one finger switch, and each finger switch has a switch code. The axis card judgment module is electrically connected with a finger switch, and is used for generating a single axis card signal when it is determined that only one of the at least one finger switch is turned on. The control unit is electrically connected with the dial switch and the axis card judgment module, so that when a single axis card signal is received, the switch code corresponding to the one that is turned on in the dial switch is retrieved.

The multiple axis card judgment module is electrically connected to the axis card, receives a single axis card signal generated by the axis card and the captured switch code, and generates an axis card ready signal when it is determined that the switch codes are different from each other. When it is determined that at least two of the switch codes are the same, an axis card warning signal is generated. The display module is electrically connected to a multi-axis card judgment module, and is used to display one axis card ready information when receiving the axis card ready signal, and display one axis card warning information when receiving the axis card warning signal.

Based on the above-mentioned necessary technical means, the present invention One of the subsidiary technical means is to make the multi-axis card control system

Based on the above-mentioned necessary technical means, one subsidiary technical means derived from the present invention is to make the axis card judgment module in the multi-axis card control system a digital logic circuit.

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the axis card judgment module in the multi-axis card control system by a plurality of NOR gates, a plurality of AND gates and Gate) and an OR gate (OR Gate).

Based on the above-mentioned necessary technical means, one subsidiary technical means derived from the present invention is to make the control unit in the multi-axis card control system a microcontroller (MCU).

Based on the above-mentioned necessary technical means, one subsidiary technical means derived from the present invention is to make the multi-axis card judgment module in the multi-axis card control system a microcontroller (MCU).

Based on the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make a multi-axis card judgment module in a multi-axis card control system, which is modularized with one of the axis cards to form a single-axis driver.

In order to solve the problems of the prior art, the present invention adopts the necessary technical means to additionally provide a multi-axis card control method, which uses a plurality of axis cards with the same structure, a multi-axis card judgment module and a display module. An axis card system includes: a plurality of finger switches, an axis card judgment module and a control unit, and each finger dial relationship has a switch code, and includes the following steps: (a) turning on at least one of each of the axis cards A finger switch; (b) using the axis card judgment module to judge the at least one If only one of the finger switches is turned on, if the judgment result is yes, proceed to step (c), if the judgment result is no, proceed to step (d); (c) use the axis card judgment module to output a corresponding A single axis card signal at a logic high level, and using the control unit to capture the switch code corresponding to the one that is turned on among the dial switches, and enter step (e); (d) use the axis card to determine the mode Group, output a single axis card signal corresponding to a logic low level, and enter step (g); (e) use the multiple axis card judgment module to receive the single axis card signals of the axis cards and the axes The switch codes of the card, and judge whether the switch codes of any two of the axis cards are the same, if the judgment result is no, proceed to step (f); if the judgment result is yes, proceed to step (g); (f) using the multi-axis card judgment module to output an axis card ready signal to the control module and proceed to step (h); (g) using the multi-axis card judgment module to output an axis card warning signal to the control Module, and enter step (i); (h) use the display module to receive the axis card ready signal Each axis card confirmation of its corresponding DIP switch, and a display card is ready axis information; and (i) using the display module, the shaft receiving card warning signal and display a warning axis card information.

As mentioned above, the multi-axis card control system and method provided by the present invention are based on the use of the multi-axis card control system's axis card judgment module and multi-axis card judgment module to judge, and further simplify and expand the axis card structure. Features.

PA1, PA2‧‧‧multi-axis driver

PA11, PA21‧‧‧ outer shell

PA12, PA22‧‧‧control module

PA13, PA23‧‧‧‧First axis card

PA14, PA24‧‧‧Second axis card

PA15, PA25‧‧‧Third axis card

PA26‧‧‧Fourth axis card

PA27‧‧‧Fifth axis card

PA28‧‧‧Sixth axis card

100, 100a‧‧‧Multi-axis card control system

1,1a, 1b, 1c, 1d, 1e‧‧‧Axis card

11, 12, 13, 14, 15, 16, ‧‧‧ finger switch

17‧‧‧Axis card judgment module

18‧‧‧Control unit

19b, 19e‧‧‧ connector

10c‧‧‧Plug convex structure

2‧‧‧Multi-axis card judgment module

3‧‧‧Display Module

4‧‧‧Master Control Device

5b, 5e‧‧‧ backplane

51b, 51e‧‧‧ plug interface

The first diagram is a schematic diagram showing a multi-axis drive of the prior art; The second diagram is a schematic diagram of another multi-axis driver of the prior art; the third diagram is a block diagram of a multi-axis card control system provided by the first embodiment of the present invention; the fourth diagram A and the fourth diagram B are diagrams The digital logic circuit diagram of the axis card judgment module of the axis card of the multi-axis card control system provided by the first embodiment of the present invention; the fifth diagram is a flowchart showing the multi-axis card control method provided by the first embodiment of the present invention The sixth diagram is a perspective view showing the multi-axis card control system provided by the first embodiment of the present invention; and the seventh diagram is a perspective view showing the multi-axis card control system provided by the second embodiment of the present invention.

Please refer to the third figure, which is a block diagram showing a multi-axis card control system provided by the first embodiment of the present invention. As shown in the figure, a multi-axis card control system 100 includes: a plurality of axis cards 1, 1a and 1b having the same structure, a multi-axis card judgment module 2 and a display module 3.

As the axis cards 1, 1a and 1b have the same structure, the axis card 1 will be taken as an example: the axis card 1 includes a plurality of finger switches 11, 12, 13, 14, 15, and 16, an axis card judgment module 17 and a control unit 18 . DIP switches 11, 12, 13, 14, 15, and 16 are used for users to turn on and off, and each DIP switch has its corresponding switch code. In this embodiment, the corresponding switch code of DIP switch 11 is 11, the switch code corresponding to the finger switch 12 is 12, and so on.

The axis card judgment module 17 is electrically connected to the above-mentioned dip switches 11, 12, 13, 14, 15, and 16 to determine whether only one of the dip switches 11, 12, 13, 14, 15, and 16 is turned on. If the judgment result is yes, a single axis card signal will be generated.

The control unit 18 is electrically connected with the dip switches 11, 12, 13, 14, 15, and 16 and the axis card determination module 17, so that when a single axis card signal is received, 11, 12, 13, 14, 15 and 16 are the switch codes corresponding to the toggle switches that are turned on. In the same way, the axis cards 1a and 1b have the same structure and the same functions as the axis card 1, so they will not be described in detail. In the first embodiment, the control unit 18 is a microcontroller (MCU), but is not limited thereto.

Multi-axis card judgment module 2, which is electrically connected to axis cards 1, 1a and 1b, receives a single axis card signal generated by each of axis cards 1, 1a and 1b and the respective switch codes retrieved, and judges axis cards 1, 1a Whether the switch codes respectively captured by 1b are different from each other. If the judgment result is yes, an axis card ready signal is generated; if the judgment result is no, an axis card warning signal is generated. Because each axis card is used to control a different axial direction, each axis card needs its corresponding drive motor, and each generates a control drive signal to its corresponding drive motor. In the present invention, since the structures of the axis cards 1, 1a, and 1b are the same, the switch codes of the axis cards 1, 1a, and 1b are used to determine the drive motors corresponding to the axis cards 1, 1a, and 1b, respectively. , 1a and 1b are used to control different axial directions, so the drive motors corresponding to the axis cards 1, 1a and 1b cannot be the same, to avoid multiple control drive signals being transmitted to the same drive motor, causing the drive motor to fail or malfunction. Problem, so the switch codes captured by axis cards 1, 1a and 1b cannot be the same. Therefore, it is necessary to judge by the multi-axis card judgment module 2. In the first embodiment, the multi-axis card judgment module is a microcontroller (MCU), but it is not limited to this. It can be any chip, controller or arithmetic judgment capability with arithmetic processing capability. Digital logic circuit.

The display module 3 is electrically connected to the multi-axis card judgment module 2. It is used to display an axis card ready information (Ready) when the axis card ready signal is received, which can prompt the user to start using the servo-on function ON), Pulse Width Modulation (PWM), or other multi-axis motion control functions; In addition, when an axis card warning signal is received, the display module 3 displays an axis card warning information (Alarm) for warning The user's multi-axis card control system 100 is currently unavailable, and may need to check the switch code captured by each axis card for troubleshooting. The display module 3 may be a screen, but is not limited thereto, and may also be a liquid crystal screen, a touch screen, or the like.

In addition, in other embodiments of the present invention, a wireless communication unit may be separately installed on the axis card and the multi-axis card judgment module to transmit the switch code of the turned-on dial switch to the multi-axis card judgment module. The multi-axis card judgment module judges whether the switch codes of each axis card are different.

Next, the axis card judgment module 17 will be described in more detail. Please refer to FIGS. 3 to 4B together, wherein FIGS. 4A and 4B are drawings provided by the first embodiment of the present invention. Digital logic circuit diagram of the axis card judgment module of the axis card of the multi-axis card control system. As shown in the figure, in the first embodiment, the axis card judgment module 17 is a digital logic circuit. The road consists of six NOR gates, six AND gates and one OR gate. But not limited to this, the number of reverse OR gates and gates can be increased or decreased according to the actual number of axis cards.

As shown in Figures 4A and 4B, from the top to the bottom of the diagram, the input terminals of the first anti-OR gate are electrically connected to the toggle switches 11, 12, 13, 14, and 15, and the first anti-or The output terminal of the gate is electrically connected to the first switch and the input of the switch; the input terminal of the second anti-or switch is electrically connected to the switch 11, 12, 13, 14 and 16, and the second switch The output terminal of OR gate is electrically connected with the DIP switch 15 to the input terminal of the second AND gate ... and so on, each DIP switch is electrically connected to the input terminals of five different OR gates and one of the AND gate. Input. The output terminals of the six gates are electrically connected to the input terminals of the one or gate.

Please also refer to the table below. 1 in the table indicates that the DIP switch is turned on, and 0 in the table indicates that the DIP switch is not turned on, that is, it is turned off. According to the figure, the digital logic circuit diagram of the module 2 judges module 2 and DIP switch 11 When only one of 12, 13, 14, 15, 15 and 16 is turned on (ie, 1 in the table), a single axis card signal with a logic level of 1 (logic high level) will be output; if the dial switch When at least two of 11, 12, 13, 14, 15, and 16 are turned on, that is, situations not shown in the table below, the multi-axis card judgment module 2 will output a logic level of 0 (logic low level) ) Single axis card signal.

The multi-axis card judgment module 2 also generates an axis card warning signal when it receives a single axis card signal with a logic level of 0.

Please refer to the third figure and the fifth figure together. The fifth figure shows a flowchart of the multi-axis card control method provided by the first embodiment of the present invention. This multi-axis card control method is used in the third-axis multi-axis card control system 100. The multi-axis card control system 100 includes a plurality of axis cards 1, 1a and 1b with the same structure, and a multi-axis card judgment module 2. With a display module 3. The axis card 1 includes a plurality of finger switches 11, 12, 13, 14, 15, and 16, an axis card determination module 17 and a control unit 18, and the axis cards 1a and 1b are the same. The finger switches 11, 12, 13, 14, 15, and 16 each have their corresponding switch codes. This multi-axis card control method includes the following steps S101 to S109.

Step S101: Turn on at least one finger switch (11, 12, 13, 14, 15, and 16) in each axis card (1, 1a, and 1b).

Step S102: Use the axis card determination module 17 to determine whether only one of the finger switches (11, 12, 13, 14, 15, and 16) is turned on. If the determination result is yes, the process proceeds to step S103; if the determination result is no, the process proceeds to step S104.

Step S103: Use the axis card judgment module 17 to output a single axis card signal corresponding to a logic high level (the logic level is 1), and use the control unit 18 to retrieve the dial switches 11, 12, 13, 14, 15 and 16 in One of the switch codes corresponding to the person being turned on. And it progresses to step S105.

Step S104: Use the axis card determination module 17 to output a single axis card signal corresponding to a logic low level (logic level is 0). And it progresses to step S107.

Step S105: Use the multiple axis card judgment module 2 to receive a single card signal and switch code of the axis card (1, 1a, and 1b), and determine whether the switch code of any of the axis cards (1, 1a, and 1b) is the same. If the determination result is no, the process proceeds to step S106; if the determination result is yes, the process proceeds to step S107.

Step S106: Use the multi-axis card judgment module 2 to generate an axis card ready signal. And proceed to S108.

Step S107: Use the multi-axis card judgment module 2 to generate an axis card warning signal. And proceed to S109.

Step S108: The display module 3 is used to display an axis card ready information when receiving the axis card ready signal and confirming each axis card (1, 1a and 1b) and its corresponding switch code.

Step S109: Use the display module 3 to display an axis card warning message when the axis card warning signal is received.

Please refer to the third figure, the sixth figure and the seventh figure together, wherein the sixth figure is a perspective view showing the multi-axis card control system provided by the first embodiment of the present invention; A perspective view of the multi-axis card control system provided by the two embodiments. As shown in the sixth figure, a multi-axis card control system 100 includes axis cards 1, 1a, and 1b, and further includes a main control device 4. The main control device 4 includes a power board, a control board, and a multi-axis card judgment module 2. The main control device 4 is usually connected to an adjacent axis card. In the first embodiment, it is the axis card 1, which is modularized to form a single-axis driver, or host. Each axis card further includes a back plate and a connector. Take the axis card 1b as an example. The axis card 1b includes a back plate 5b and a connector 19b. The back plate 5b is provided with a plug interface 51b, and the plug interface 51b corresponds to Connector 19b. The connector 19b has a male end and a female end. In the first embodiment, the plug-in interface 51b corresponds to the female end of the connector 19b. In the first embodiment, the multi-axis card control system 100 is used to control and drive three axial directions, because there are three axis cards.

As shown in the seventh figure, a multi-axis card control system 100a is actually expanded using the multi-axis card control system 100, and includes the same main control device 4 and axis cards 1, 1a, and 1b as the multi-axis card control system 100. It also includes shaft cards 1c, 1d, and 1e having the same structure as the shaft cards 1, 1a, and 1b. Each shaft card has a plug-in protruding structure relative to one side of the back plate. Take the shaft card 1c as an example. The shaft card 1c has a plug-in protruding structure 10c. The plug-in protruding structure 10c corresponds to the shaft card 1c. Connector (not shown due to angle relationship). In this embodiment, the plug protruding structure 10c corresponds to the male end of the connector, and the shaft card 1c is plugged into the plug interface 51b opened by the back plate 5b of the shaft card 1b using the plug protruding structure 10c, so that The male end of the connector of the shaft card 1c is electrically connected to the female end of the connector 19b of the shaft card 1b. At this time, the multi-axis card control system 100a after expanding the axis cards 1c, 1d, and 1e through the multi-axis card control system 100 can be used to drive and control the six axes, thereby improving the operation convenience of the present invention. Since the axis card 1e is not subsequently connected with other axis cards, the drawing can show the back plate 5e, the plug interface 51e, and the connector 19e of the axis card 1e.

In summary, the multi-axis card control system and method provided by the present invention use the axis card judgment module to determine whether the dial switch is only One is turned on, and the control unit is used to capture the switch code corresponding to the toggle switch that is turned on, and then the multi-axis card judgment module is used to determine whether the switch codes of any two axis cards are different, which makes the present invention compare with In the prior art, the axis card specification structure can be simplified, which is convenient for a large number of manufacturers to manufacture, and each axis card specification structure is the same, so there is no waste of resources and increased costs caused by excess reserve inventory. In addition, the multi-axis card control system and method provided by the present invention can also achieve the effects of the expansion of the axis card that cannot be achieved by the prior art, and further improve the convenience and space utilization of the multi-axis card control system.

With the above detailed description of the preferred embodiments, it is hoped that the features and spirit of the present invention can be more clearly described, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various changes and equivalent arrangements within the scope of the patents to be applied for in the present invention.

Claims (7)

A multi-axis card control system includes: a plurality of axis cards having the same structure, each of which includes: a plurality of finger switches, which are operatively turned on at least one finger switch, and each of the finger switches has a Switch code; an axis card judgment module is electrically connected to the dial switches for generating a single axis card signal when it is determined that only one of the at least one dial switch is turned on; and a control unit, which is electrical Connect the DIP switches and the axis card judgment module in order to retrieve the switch code corresponding to the one that is turned on among the DIP switches when receiving the single axis card signal; a multi-axis card judgment The module is electrically connected to the axis cards, receives the single axis card signals generated by the axis cards and the captured switch codes, and when it is determined that the switch codes are different from each other, An axis card ready signal is generated, and when it is determined that at least two of the switch codes are the same, an axis card warning signal is generated; and a display module is electrically connected to the multiple axis card determination module for receiving Axis card ready signal, a display card is ready axis information, upon receiving the shaft card warning signal, displays a warning axis card information. The multi-axis card control system according to item 1 of the scope of patent application, wherein the axis card judgment module is a digital logic circuit. The multi-axis card control system according to item 2 of the scope of the patent application, wherein the digital logic circuit is composed of a plurality of NOR gates, a plurality of AND gates and an OR gate. Composed of. The multi-axis card control system according to item 1 of the patent application scope, wherein the control unit is a microcontroller (MCU). The multi-axis card control system according to item 1 of the scope of patent application, wherein the multi-axis card judgment module is a microcontroller (MCU). The multi-axis card control system according to item 5 of the scope of patent application, wherein the multi-axis card judgment module and one of the axis cards are modularized to form a single-axis driver. A multi-axis card control method uses a plurality of axis cards with the same structure, a multi-axis card judgment module, and a display module. Each of these axis card systems includes: a plurality of finger switches, and an axis card judgment module. And a control unit, each of which has a switch code with a switch code, and includes the following steps: (a) turning on at least one finger switch in each of the axis cards; (b) using the axis card to determine the mode Group to determine whether only one of the at least one finger switch is turned on. If the determination result is yes, proceed to step (c), if the determination result is no, proceed to step (d); (c) use the axis card to judge The module outputs a single axis card signal corresponding to a logic high level, and uses the control unit to capture the switch code corresponding to the one that is turned on among the dial switches, and enters step (e); (d) Use the axis card judgment module to output a single axis card signal corresponding to a logic low level, and enter step (g); (e) use the multiple axis card judgment module to receive the single axis card signals and the Switch code, and determine whether the switch code for any of these axis cards is Similarly, if the judgment result is no, the process proceeds to step (f). If the judgment result is YES, the process proceeds to step (g); (f) using the multi-axis card judgment module, outputting an axis card ready signal to the control module And enter step (h); (g) use the multiple axis card judgment module to output an axis card warning signal to the control module and enter step (i); (h) use the display module to receive the axis The card ready signal confirms each axis card and its corresponding toggle switch and displays an axis card ready information; (i) using the display module to receive the axis card warning signal and display an axis card warning information.