JP2000078891A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control the speed and the position of a motor by forming an excitation switching signal without forming a command pulse, reduce circuit scale, miniaturize an apparatus, reduce the cost, and facilitate manufacturing, in motor control equipment of decentralized control system. SOLUTION: A plurality of motor control units 26 are coupled with a host control apparatus 21 via SCB 25. Data concerning a plurality of excitation signal sequences corresponding to the kinds of motors 33 as objects to be controlled are stored in storage devices 30. Excitation signals of the motors 33 are outputted from excitation signal generating parts 31. In response to a control command outputted from the host control apparatus 21, CPU 28 refers to the data of the storage devices 30, and controls the excitation signal generating parts 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device, and more particularly, to a distributed control for controlling, via serial communication, each motor control device that controls a multi-axis motor by a single host control device. The present invention relates to a motor control device of a system.

[0002]

2. Description of the Related Art Various types of stepping motor driving devices and driving methods have been developed. For example,
JP-A-6-209598 discloses an apparatus as shown in FIG.

In FIG. 8, a command pulse train a shown in FIGS. 9A and 9B is output from a command pulse generator 1 to a driving device 2. In the driving device 2, first, the command pulse train a is modulated by the stabilizing device 5, and the modulated signal is output to the excitation switching signal generation circuit 6. Next, this signal is input to the excitation switching signal generation circuit 6, and a signal is output to the drive unit 7. Then, the drive unit 7 drives the stepping motor 3 according to this signal.

The stabilizing device 5 includes a single-shot negative pulse generating circuit 9 and a sawtooth wave generating circuit 1 constituting a delay circuit 10.
2 and a comparator 13 and an AND gate 11.

The single-shot negative pulse generating circuit 9 is triggered by a command pulse a, and outputs a single-shot negative pulse d shown in FIGS. 9A and 9B. In the delay circuit 10, the command pulse a is modulated, and a modulated pulse e shown in FIGS. 9A and 9B is output. In the AND gate 11, the output of the single-shot negative pulse generation circuit 9 and the output of the delay circuit 10 are ANDed.

In the sawtooth wave generating circuit 12, a sawtooth voltage b is generated from the pulse train a and output. The sawtooth wave generating circuit 12 includes at least a capacitor, switch means connected in series or parallel to the capacitor, and a current source or resistor connected in series or parallel to the capacitor. The comparator 13 compares the sawtooth voltage b with the speed error voltage c, and outputs a high-level signal when the value of the sawtooth voltage is greater than the value of the speed error voltage, and outputs a low-level signal when the value is smaller. (F in FIGS. 9A and 9B).

In a steady state where no command pulse is input, the output b of the sawtooth wave generating circuit 12 is 0V.
When the signal b is 0 V, the comparison result f of the comparator 13 between the signal b and the speed error voltage c, which is a threshold, becomes low level, and the output e of the delay circuit 10 also becomes low level.

On the other hand, when the command pulse a is input,
The sawtooth wave generating circuit 12 outputs one sawtooth wave b having a trailing edge. And the comparator 13
When the sawtooth voltage b exceeds the threshold (speed error voltage) c, the high level is output as the output f, and when the sawtooth voltage b is lower than the threshold c, the low level is output as the output f.

Therefore, the output e of the delay circuit 10 is a single positive pulse, and the output e of the delay circuit 10 is a single positive pulse. In the single-shot negative pulse generation circuit 9,
When the command pulse a is input, a single negative pulse d having a sufficiently short width is output.

As shown in FIG. 9A, the value obtained by calculating the logical product of the signal d and the signal e, that is, the output g of the stabilizing device 5 is a positive single shot which is the output of the comparator 13. The leading edge of the pulse e is missing for the single negative pulse d. Here, since the width of the single-shot negative pulse d is sufficiently short as described above, the influence on the modulation pulse e can be ignored. Therefore, when the command pulse is output at a relatively low speed, the conventional circuit can appropriately drive the stepping motor according to the command pulse.

On the other hand, as shown in FIG. 9B, when the command pulse is input at a high speed and the next command pulse a is input before the sawtooth wave b reaches the threshold value c, the comparator 13 The output f, that is, the output e of the delay circuit 10 remains at the high level. However, in the AND gate 11, the output e is ANDed with the output d of the single-shot negative pulse generation circuit 9. Therefore, the single-shot negative pulse generation circuit 9
Is output g of the stabilizing device 5 as it is, and is output to the excitation switching signal generation circuit 6.

Thus, even when the command pulse is output at a high speed, the circuit of the prior art can supply the command pulse to the excitation switching signal generating circuit 6 and drive the stepping motor in accordance with the command pulse. can do.

[0013]

However, in the above-described motor control device, after the command pulse is generated by the command pulse generator 1, the excitation switching signal is generated by the excitation switching signal generating circuit 6 via the stabilizing device 5. Due to the generation, the circuit scale is large, the motor control device is large and expensive, and the manufacturing of the motor control device is complicated.

In particular, when realizing high-speed and high-accuracy motor control, the command pulse output from the command pulse generator 1 requires high speed (high frequency) and high function (S-shaped drive, interpolation, etc.). The above-mentioned problem becomes more remarkable.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and generates a command pulse in a motor control device of a distributed control system in which a host control device and each motor control device are connected by serial communication. An object of the present invention is to provide a motor control device which generates an excitation switching signal and performs speed control and position control of a motor without generating the same, and has a small circuit scale, a small device, a low cost, and easy manufacture.

[0016]

That is, the present invention relates to a motor control device applicable to a motor control system in which a host control device and a plurality of motor control devices are connected via serial communication. Storage means for storing data relating to a plurality of excitation signal sequences corresponding to the type; excitation signal output means for outputting an excitation signal of the motor to be controlled; and said storage in response to a control command output from the host control device. Processing means for controlling the excitation signal output means with reference to data of the means.

The present invention relates to a motor control device which can be applied to a motor control system in which a host control device and a plurality of motor control devices are connected via serial communication. Data relating to the signal sequence is stored in the storage means, and the excitation signal of the motor to be controlled is output by the excitation signal output means. Then, in response to a control command output from the host control device, the processing unit controls the excitation signal output unit by referring to data in the storage unit.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of the motor control device according to the first embodiment of the present invention.

Referring to FIG. 1, the host control device 21 includes a communication controller 22, an arithmetic control unit 23, and a program memory 24. The host controller 21 is connected to a plurality of motor controllers 26 via a serial communication bus (SCB) 25. Although only two motor control devices 26 are shown in FIG.
A plurality of motor controllers 26 may be connected to the host controller 21 via the SCB 25.

Each motor control unit 26 includes a communication controller 27, a CPU 28 as a central processing unit, and a timer 29.
, A memory 30, an excitation signal generator 31, and a driver 32
And are connected by an internal bus. The communication controller 27 converts a received signal from the host control device 21 into a data format that can be determined by the CPU 28, and a data format that the CPU 28 can use on the SCB 25 to transmit data to be transmitted to the host control device 21 or another motor control device 26. In addition to the conversion into a CP, when receiving a signal from the host control device 21, an interrupt is generated to the CPU 28,
The U28 transmits the data to be transmitted so as not to collide with other data on the SCB 25.

The timer 29 counts on the basis of a fixed clock, and can generate an interrupt to the CPU 28 when the count value matches a certain value, or can clear the count value when there is a command from the CPU 28. In the memory 30,
In addition to storing software programs to be processed by the CPU 28 and variables in the software programs, a sequence of excitation signals corresponding to various motors is stored.

The excitation signal generator 31 is for outputting the sequence of the excitation signal stored in the memory 30 at the timing instructed by the CPU 28. The drive unit 32 is for amplifying the output of the excitation signal generation unit 31 to the power to be applied to the motor 33.

Next, referring to the flowchart of FIG.
The operation of the first embodiment of the present invention will be described.
FIG. 2 shows a motor control device 26 according to the first embodiment.
3 is an example of a flowchart for explaining the operation of a software program processed by a CPU 28 in the inside.

The software programs processed by the CPU 28 in response to various commands from the host controller 21 are omitted here. When a positioning command is issued to the motor 33, the operation is performed as follows.

First, when the power is turned on to the host control device 21, the motor control device 26, the motor 33, and the like, various initial setting operations are performed by the CPU 28 in step S1. This operation is performed by, for example, the SCB 25, the communication controller 27, the timer 29, the memory 30, the excitation signal generation unit 3
Settings such as 1 and initialization are performed.

Next, in step S2, it is determined whether various errors have occurred. Here, it is determined whether various errors such as overheating and overload of the drive unit 32 and a parity error of the communication controller 27 have occurred. If various errors have occurred, the process proceeds to step S3, and if not, the process proceeds to step S3.
Move to 4.

In step S3, the drive unit 32 stops the motor 33, and sets an error occurrence flag. Then, data such as an error occurrence flag and an error code are output to the communication controller 27. Thereafter, the process returns to step S2. The activated error occurrence flag is transmitted to the host control device 21 via the communication controller 27 to inform the host control device 21 that an error has occurred in the motor control device 26.

On the other hand, if no various errors have occurred, the flow proceeds to step S4 to receive various commands from the host control device 21 transmitted to the motor control device 26 at the time of reception, that is, to receive various commands. It is determined whether or not it is.

In step S4, if no command has been generated, that is, if no command has been received, the process returns to step S2. On the other hand, if there is a command, the process proceeds to step S5, the type of command is determined, and what kind of command is recognized. Then, in step S6,
Processing is performed according to the recognized command. Thereafter, the process returns to step S2.

In step S8, the communication controller 2
Step S9 is a motor drive related interrupt operation generated by the timer 29. The operations in steps S8 and S9 have priority over the operations in steps S2, S3, S4, S5, and S6 described above. Hereinafter, these interrupt operations will be described.

After step S1 is completed, step S
At the time of the positioning command that is focused on during the infinite loop of 2, S3, S4, S5, and S6, the position command value is transmitted as serial data from the host control device 21 to the motor control device 26 via the SCB 25 together with the position command command. You. When the position command command and the position command value are input to the communication controller 27 as serial data, the CPU 2
8 is converted into data of an appropriate data width that can be recognized.
Then, in the communication controller 27, a reception interrupt is issued to the CPU 28 so that a communication-related operation is performed. This is the operation of step S8.

The operation of step S8 is an operation which has a higher priority than the above-described steps S2, S3, S4, S5, S6 and step S9 which will be described later. An instruction or the like is executed as a priority operation.

Similarly, step S9 is inserted as an interrupt of the motor drive-related operation generated by the timer 29 and the like, and is an operation having priority over steps S2, S3, S4, S5, and S6 described above.

When the motor control device 26 receives a position command command via the SCB 25, the CPU 28 causes the received position command value and an excitation signal corresponding to a preset starting speed, moving speed, and acceleration / deceleration time. Is calculated (see step S6). Specifically, the time from the first pulse to the second pulse is calculated from the received position command value and the preset starting speed, moving speed, and acceleration / deceleration time, and the output timing value of the second pulse is calculated. The timer 29 is set. The set output timing value is compared with a count value by a constant clock, and when they match, a timer interrupt is generated to the CPU 28 (step S).
9).

When a timer interrupt occurs, the CPU 28
The number of timer interrupts is counted, and a change in the excitation signal is transmitted to the excitation signal generator 31. In the excitation signal generator 31, the output is changed to an excitation signal according to the structure of the motor 33. For example, when the motor 33 is a two-phase stepping motor, two signals of a desired excitation method are changed at each timing. Also, if the motor 33 has three phases A
In the case of a C motor, three sine wave signals having phases shifted by 120 ° are changed at each timing. The sequence of these excitation signals is stored in the memory 30, and an appropriate sequence according to the type of the motor 33 is determined by the CPU 2.
8 can be selected.

Here, the motor 33 is shown as a motor having no detector, but in the present invention, the type of the motor is not limited. When the excitation signal is output from the excitation signal generation unit 31, the power is amplified by the drive unit 32 and the motor 3
3 is applied.

Thus, the excitation signal whose motor speed is controlled from the first pulse to the second pulse can be applied to the motor 33. When a timer interrupt generated at the output timing of the second pulse enters the CPU 28, the number of timer interrupts is counted, and a change in the excitation signal is transmitted to the excitation signal generator 31. Thereafter, it is confirmed that the count value of the timer interrupt count has not reached the position command value designated by the host control device 21, the time from the second pulse to the third pulse is calculated, and the output timing of the third pulse is calculated. The value is set in the timer 29. Then, in the same manner as the above-described operation, the set output timing value is compared with a count value by a constant clock. Here, if they match, a timer interrupt is generated to the CPU 28 (see step S9).

The CPU 28 counts the number of timer interrupts and notifies the excitation signal generator 31 of a change in the excitation signal. In the excitation signal generator 31, the output is changed to an excitation signal corresponding to the structure of the motor 33,
The power is amplified and applied to the motor 33.

In this manner, the excitation signal whose motor speed is controlled from the second pulse to the third pulse can be applied to the motor 33. Similarly, from the operation of calculating the output timing of the excitation signal according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time, the change of the excitation signal is transmitted to the excitation signal generating unit 31 in accordance with the timer interrupt timing. Up to the operation, the series of operations of the CPU 28 includes the number of changes in the excitation signal,
That is, it is repeated until the number of timer interrupts equal to the output pulse reaches the position command value designated by the host control device 21.

This is determined by the operation of the CPU 28 counting the number of timer interrupts. When the position command value has been reached, the output timing value, the timer interrupt count, and other values are cleared, and a series of operations ends. Thus, the processing for the positioning command from the host control device 21 to the motor control device 26 is completed. At this time, by performing an operation in which the number of timer interrupts equal to the output pulse matches the position command value, an excitation signal whose motor position is controlled can be applied to the motor 33.

In this way, the desired speed control can be performed by controlling the time of the excitation change at the timing of the timer interrupt, and the desired position control can be performed by repeating a series of processes by the position command value. Therefore, the motor 33 can rotate according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time.

Next, a second embodiment of the present invention will be described. FIG. 3 is a block diagram illustrating a configuration of a motor control device according to a second embodiment of the present invention.

Referring to FIG. 3, the host control device 21 includes a communication controller 22, an arithmetic control unit 23, and a program memory 24. The host controller 21 has a plurality of types of motor controllers 26 via the SCB 25.
a and 26b are connected.

The motor controller 26a includes a communication controller 27, a motor controller 28, and a motor driver 36a for driving a motor 33a. Similarly, the motor control device 26b includes a communication controller 27, a motor controller 28, and a motor driver 36b for driving the motor 33b, and is connected to an internal bus.

Here, as an example, the motor driver 2
6a uses the signal of the detector 37 as a feedback signal,
The motor driver 26b is a driver for driving the motor 33a, and the motor driver 26b is a driver for driving the motor 33b without using the detector 37. Here, the motor control device having the motor driver 36a is referred to as 26a, and the motor control device including the motor driver 36b is referred to as 26b.

Similarly, as an example of the motor, the motor 33
a is a motor having the detector 37, and a motor 33b is a motor having no detector 37. FIG. 4 is a block diagram showing an example of a detailed configuration of the motor control device 26a of FIG.

In FIG. 4, the communication controller 27
It comprises a DIP-SW 40 for address setting, a serial bus interface 41, and a serial communication unit 42. In addition, the motor controller 35
CPU 28, timer 29, I / O 43, RAM 4
4 and the ROM 45. Further, the motor driver 36a includes an excitation signal generating unit 31 and a driving unit 32.
And a detection signal processing unit 46.

Here, as a form of communication, the communication controller 22 of the host control device 21 becomes the main station, and the communication controller 27 of each of the motor control devices 26a and 26b.
Becomes a slave. The connection is made up of one master station and n slave stations.
n. The ROM 45 stores an excitation sequence.

The host controller 21 and each motor controller 2
From the viewpoint of data exchange between 6a and 26b,
The communication controller 22 and the communication controller 27 merely mediate between the arithmetic control unit 23 of the host control device 21 and the motor controller 35 of each of the motor control devices 26a and 26b. It behaves as if it were directly coupled to the controller 35. Further, the arithmetic control unit 2 of the host control device 21
3, or the motor controller 35 of each motor control device 26a, 26b can concentrate on the original program execution or motor control without directly involved in complicated communication control.

Hereinafter, a description will be given of the order of motor control for multiple axes. First, an operation mode is instructed from the host control device 21 to the designated motor control devices 26a and 26b. The motor controllers 26a and 26b are ready for this and return a mode command response to the host controller 21. In the host control device 21, when a normal response to the mode command is recognized, the operation start signal is activated together with the position command value.

In the motor controllers 26a and 26b, the positioning control is executed based on each data, and when the positioning is completed, the distribution completion signal is activated and the host controller 21
Returned to In the host control device 21, the completion is recognized, and the operation start signal is made inactive. Thereafter, in the motor control devices 26a and 26b, the distribution completion signal is made non-active.

When changing the operation mode, the same procedure is performed. The above is the operation of the distributed control system via serial communication in the second embodiment, and the operation during normal operation after the entire control system including the multi-axis positioning control device is completed.

Here, the processing operation of the CPU 28 will be described focusing on the positioning command for the motor 33a. FIG.
9 is an example of a flowchart of a software program processed by the CPU 28 according to the second embodiment.
The CPU for various commands from the host control device 21
The software program to be processed at 28 is omitted here.

First, when the host controller 21, the motor controller 26a, the motor 33a, the detector 37, and the like are turned on, the CPU 28 controls the bus, the I / O 43, the timer 29, the RAM 44, and the excitation in step S11. The settings and initialization of the signal generator 31, the detection signal processor 46, the serial communication unit 42, and the like are performed.

Thereafter, in step S12, it is determined whether various errors such as overheating and overload of the motor driver 36a and a parity error of the communication controller 27 have occurred. Here, if various errors have not occurred, the process returns to step S12. If various errors have occurred, the process proceeds to step S13.

In step S13, the motor driver 36
The motor 33a is stopped by a, and an error occurrence flag for transmitting an error occurrence to the host control device 21 is set. Then, the process returns to step S12.

Step S15 is executed as an operation in which a state monitoring command including confirmation of an error occurrence flag (not shown), a motor control command, and the like are given priority. This step S15
Is a communication-related interrupt operation generated by the communication controller 27, the timer 29, and the like.
3 and an operation which is prioritized over step S16 described later.

In other words, during the endless loop of steps S12 and S13 after the end of step S11, when the focused positioning command is being watched, the position command value together with the position command command is converted into serial data by the host controller 21.
To the motor control device 26a via the SCB 25. When the position command and the position command are input to the serial bus interface 41 as serial data, the serial communication unit 42
And converted into data having an appropriate data width that the CPU 28 can recognize. Then, the serial communication unit 4
From 2, the CPU 28 is interrupted to perform a communication-related operation (see step S15).

Step S16 is an interrupt operation related to motor drive generated by the timer 29 and the like, and has higher priority than the above-described steps S12 and S13. When the motor control device 26a receives a position command command via communication, the CPU 28 outputs the received position command value and the output timing of the excitation signal according to the preset starting speed, moving speed, and acceleration / deceleration time. Is calculated.
The output timing for changing the excitation signal is generated by the timer 29.
The change in the excitation signal is transmitted from 28 to the excitation signal generator 31. The operation of calculating the output timing and transmitting the change in the excitation signal is performed by an interrupt as a motor drive-related operation in step S16, but some operations are appropriately performed in steps S12 and S13 so as to reduce the interrupt processing time. May move to an infinite loop operation.

When a change in the excitation signal is transmitted from the CPU 28 to the excitation signal generator 31, the excitation signal generator 31
The output is changed to an excitation signal according to the structure of the motor 33a. When the excitation signal is output from the excitation signal generator 31,
The power is amplified by the drive unit 32 and applied to the motor 33a. Thus, the motor 33a rotates according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time.

As shown in FIG. 4, when the detector 37 is attached to the motor 33a, the rotation state of the motor 33a is detected by the detector 37, and the detection state is detected by the detection signal processing unit 46. Is converted into a data format that the CPU 28 can decode. This detection state is used for feedback control and the like, and the output timing of the excitation signal by the timer 29 and the power amplification amount by the drive unit 32 are corrected. However, the method is not limited to the present invention.

As described above, the motor control devices 26a,
By having the CPU 28, the timer 29, and the ROM 45 storing the excitation sequence in 6b, it is possible to control the timing of changing the excitation sequence and the number of times the excitation sequence is changed, and generate an excitation signal corresponding to a desired speed and position. An excitation signal can be generated without generating a command pulse. Further, since the excitation signal generating section 31 is formed by the CPU 28 and the ROM 45, the circuit scale can be made smaller and simple.

Next, as a third embodiment of the present invention, an example of controlling a five-phase stepping motor without generating a command pulse will be described with reference to FIGS. FIG. 6 is a block diagram illustrating a configuration of a motor control device according to the third embodiment. In the third embodiment, the same parts as those in the above-described first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

In FIG. 6, the motor control device 26 includes an address setting DIP-SW 40, a serial bus interface 41, a serial communication unit 42, an I / O
43, a CPU 28, a timer 29, a RAM 44,
It has a ROM 45 and a constant current circuit 48. Also, the serial communication unit 42, the I / O 43, and the C
The PU 28, timer 29, RAM 44, and ROM 45 are connected by an internal bus. Incidentally, 49 is a five-phase stepping motor.

The ROM 45 stores a software program for operating the CPU 28, and also stores the state of excitation signals of five systems to the five-phase stepping motor 49 and an excitation sequence in which the states change.
The constant current circuit 48 includes a current detector, a current compensator, and a switching unit (not shown).

FIG. 7 shows a CPU according to the third embodiment.
28 is an example of a flowchart of a software program to be processed. The description of the software programs processed by the CPU 28 in response to various commands from the host control device 21 is omitted here.

First, when power is turned on to the motor control device 26, the five-phase stepping motor 49, and the like, step S2
At 1, the CPU 28 sets and initializes the internal bus, the I / O 43, the timer 29, the RAM 44, the serial communication unit 42, and the like, and enables the peripheral interrupts of the serial communication unit 42 and the like.

Next, in step S22, it is determined whether various errors have occurred. If no error has occurred, the process returns to step S22. If an error has occurred, the process proceeds to step S23, where the motor 49 is stopped and an error flag is set.
Thereafter, the process returns to step S22.

In step S25, during the infinite loop of steps S22 and S23 after the end of step S21, a communication-related operation generated by the serial communication unit 42 or the like enters as an interrupt. This step S25 is an operation having a higher priority than the above-mentioned steps S22 and S23 and a step S26 to be described later, and a state monitoring command, a motor control command and the like (not shown) are executed as prioritized operations. An error flag is also checked. If the error flag is set, the host control device 21
Then, the address and the content of the error in the distributed control system of the motor control device 26 are transmitted via serial communication.

Further, during the infinite loop of steps S22 and S23, in addition to the operation of step S25 described above, a motor drive related operation generated by the timer 29 is interrupted as step S26. This step S26 is an operation that takes precedence over steps S22 and S23. When the serial communication unit 42 receives a motor control command (not shown), a timer is executed until the processing of the CPU 28 up to the designated position command value ends. 29 is set to the interrupt enabled state.

In the interruption of the permission state, the CPU 28 first calculates the output timing of the excitation signal according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time. That is,
The number of interrupts in step S26 after the permission state is counted. Then, depending on how many times this interrupt is performed among the position command values, a desired starting speed, moving speed,
The time to enter the next interrupt is determined according to the acceleration / deceleration time.

Next, the timer 29 according to the next interruption time
Is set, and the next interrupt is set. And
The excitation sequence stored in the ROM 45 is referred to in accordance with the number of interruptions in step S26 after the permission state is reached, and the referenced excitation signal state is output from the output port of the I / O 43.

Further, step S after the permission state is set.
It is determined whether or not the number of interruptions at 26 matches the position command value. Here, if the number of interrupts matches the position command value, the timer 29 is disabled. Each time an interrupt of step S26, which is a motor drive related operation, is entered, C
In the PU 28, the above-described operation is repeated. This allows
The desired excitation signal state is defined as a pulse frequency corresponding to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time, and I / O4
3 output port.

When the state of the excitation signal is output from the output port of the I / O 43, the five currents are made constant by the constant current circuit 48. Then, the voltage is applied to the five-phase stepping motor 49, and the five-phase stepping motor 49 is rotated according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time.

As described above, C is stored in the motor control device 26.
PU28, timer 29, RO storing excitation sequence
By having M45, an excitation signal can be generated without generating a command pulse.

Further, since the excitation signal generating section is formed by the CPU 28 and the ROM 45, the circuit scale can be made smaller and simple. According to the above embodiment of the present invention, the following configuration can be obtained.

(1) A motor control device applicable to a motor control system in which a host control device and a plurality of motor control devices are connected via serial communication, wherein a timer means for measuring a predetermined time, and the timer means An excitation signal generating means for generating an excitation signal of the motor to be controlled in synchronization with the signal of the control means; and a timer for setting the time measured by the timer means in response to a first command output from the host control device. A motor control device comprising: a processing unit that performs a timer unit setting operation and a control operation of the excitation signal generation unit a number of times in accordance with a second command output from the host control unit.

(2) The motor control device according to (1), wherein the first command and the second command output from the host control device are a speed command and a position command, respectively.

(3) Further, there is provided a memory means for storing a plurality of excitation signal sequences corresponding to the type of the motor to be controlled, and one of the plurality of excitation signal sequences stored in the memory means is used for controlling the motor to be controlled. The motor control device according to the above (1), which is selected according to the type of the motor control device.

[0080]

As described above, according to the present invention, the desired speed control is performed by controlling the time of the excitation change at the timing of the timer interrupt, and a series of processes are repeated by the position command value to thereby obtain the desired speed. Position control can be performed, and the motor rotates according to the position command value, the starting speed, the moving speed, and the acceleration / deceleration time. Therefore, by generating the excitation switching signal without generating the command pulse, it is possible to provide a motor control device of a distributed control system having a small circuit size, a small device, low cost, and easy manufacture.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a motor control device according to a first embodiment of the present invention.

FIG. 2 is a motor control device 26 according to the first embodiment;
3 is an example of a flowchart for explaining the operation of a software program processed by a CPU 28 in the inside.

FIG. 3 is a block diagram showing a configuration of a motor control device according to a second embodiment of the present invention.

FIG. 4 is a block diagram illustrating an example of a detailed configuration of a motor control device 26a of FIG.

FIG. 5 is an example of a flowchart of a software program processed by a CPU 28 according to the second embodiment.

FIG. 6 is a block diagram illustrating a configuration of a motor control device according to a third embodiment.

FIG. 7 is an example of a flowchart of a software program processed by a CPU 28 according to the third embodiment. It is an example of a chart.

FIG. 8 is a block diagram showing a configuration of a conventional motor control device.

9A and 9B are waveform diagrams of signals input and output between blocks in a conventional motor control device, wherein FIG. 9A is a waveform diagram when a pulse is generated at a low speed, and FIG. FIG. 7 is a waveform diagram in the case of being emitted.

[Explanation of symbols]

 Reference Signs List 21 host control device, 22 communication controller, 23 operation control unit, 24 program memory, 25 serial communication bus (SCB), 26, 26a, 26b motor control device, 27 communication controller, 28 CPU, 29 timer, 30 memory, 31 excitation Signal generator, 32 drive unit, 33, 33a, 33b motor, 35 motor controller, 36a, 36b motor driver, 37 detector, 40 address setting DIP-SW, 41 serial bus interface, 42 serial communication unit, 43 input / output, 44 RAM, 45 ROM, 46 detection signal processing unit.

Claims (3)

[Claims] 1. A motor control device applicable to a motor control system in which a host control device and a plurality of motor control devices are connected via serial communication, wherein a plurality of excitation signal sequences corresponding to a type of a motor to be controlled are provided. Storage means for storing data relating to the motor to be controlled, excitation signal output means for outputting an excitation signal for the motor to be controlled, and in response to a control command output from the host control device, referring to the data in the storage means for the excitation. A motor control device comprising: a processing unit that controls a signal output unit. 2. The method according to claim 1, wherein the processing unit includes a timer interrupt unit that generates an interrupt signal at predetermined time intervals, and determines a set time of the interrupt timer according to a command from the host control device. The motor control device according to claim 1. 3. The motor control device according to claim 1, wherein the control target motor includes a polyphase stepping motor.