The method of self-checking and returning to zero of the stepping motor motion system

Abstract

The invention provides a self-check zero returning method for a stepping motor motion system. According to the method, a stepping motor starts at any zero returning initial position Pr, through slow-speed and rapid-speed combination and switching, the stepping motor moves in only one direction, a global zero point P0 is found out, after the global zero point P0 is found out, correction to an actual zero point Pa is carried out, and a self-check zero returning method is accomplished. The self-check zero returning method is advantaged in that the time of a self-check zero returning process, bumping and debugging of the stepping motor motion system can be reduced, rapid and reliable self-check zero returning of the stepping motor motion system can be realized, the self-check zero returning process is rapid and reliable, noise generated in the self-check zero returning process can be effectively reduced, moreover, a debugging process and a debugging program can be further simplified, and diagnosis of possible faults of hardware and the structure of the stepping motor can be facilitated.

Description

technical field [0001] The invention relates to a method for self-checking and returning to zero of a stepping motor motion system. Background technique [0002] Stepper motor is an open-loop control motor that converts electrical pulse signals into angular displacement or linear displacement. It is the main executive element in modern digital program control systems and is widely used. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change. When the stepper driver receives a pulse signal, it will drive the stepper motor to press The set direction rotates a fixed angle, which is called "step angle", and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed and acceleration of the motor rotation c...

AI Technical Summary

Problems solved by technology

[0016] The power-on zero-return device disclosed in Comparative Document 1 uses a driver chip to realize the zero-return work. This method has poor versatility and cannot be used in the micro-step driving mode.

Compared with the robot joint zero return control method disclosed in document 2, it is necessary to repeatedly detect the zero point position in the positive and negative directions to complete the zero return process, which will affect the speed and efficiency of the zero return to a certain extent, and collisions may occur during the repeated detection process. zero accuracy is poor

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