JP5995688B2 - Actuator control device - Google Patents

Description

  The present invention relates to an actuator control device capable of predicting in advance an overload protection stop due to deterioration of an actuator over time.

  In an actuator driven by a motor, if an excessive load is applied to the actuator, an excessive current is supplied to the motor to resist it, and the motor may burn out due to heating. For this reason, the actuator control device generally calculates a load factor based on the current value supplied to the motor, and when the calculated load factor exceeds a predetermined value, the motor is decelerated and stopped to prevent motor burnout. ing. This is called actuator overload protection stop.

In addition, the actuator may deteriorate over time due to various factors such as wear and corrosion of constituent elements over the years, which increase the load required to operate the actuator. That is, although the actuator operating conditions such as the operating path and the operating speed are not changed, the actuator load becomes excessive due to the deterioration of the actuator over time, and the overload protection stop of the actuator may occur.
In a production apparatus in which an actuator is used, there is a case where maintenance work of the actuator is periodically performed in order to prevent overload protection stop due to deterioration of the actuator with time. Since the number of actuators used increases as the scale of the production apparatus increases, such production apparatus is required to improve the work efficiency of maintenance work.

  In an actuator control device used in a production device or the like, when such an overload protection stop of the actuator occurs, investigation of the cause and countermeasures are required, and production may have to be stopped. For this reason, production efficiency will fall significantly.

  In order to improve such a problem, there has been proposed a paper machine motor drive device that limits the current supplied to the motor with a load factor calculation value lower than the load factor calculation value at which overload protection is stopped (patent). Reference 1). This electric motor drive device for a paper machine includes an electric motor, means for driving the electric motor, and calculation means for obtaining a load factor calculation value based on the electric current of the electric motor. And this electric motor drive device for paper machine, current limit value signal generating means for limiting the current command value when the obtained load factor calculated value becomes a predetermined value lower than the load factor calculated value to stop protection, It has. As a result, the motor is configured to be capable of continuous operation without stopping protection even during overload operation.

  However, in the electric motor drive device for a paper machine described in Patent Document 1, the current command value is limited when the load factor calculation value becomes a predetermined value lower than the load factor calculation value at which overload protection is stopped. The motor is decelerated to prevent the overload protection from stopping. For this reason, when it is applied to a production apparatus, the operation cycle of the production apparatus is delayed as compared with the normal time due to the deceleration of the motor, and there is a possibility that an unexpected reduction in production efficiency may occur.

Japanese Patent No. 3693796

In the motor drive device for a paper machine described in Patent Document 1, it is impossible to investigate the state of deterioration of the motor over time.
Therefore, the present invention determines the state of deterioration of the actuator over time, predicts overload protection stop due to deterioration of the actuator over time, and implements measures such as maintenance work before the overload protection stop occurs. Provided is an actuator control device that prevents a reduction in efficiency in advance.

  An actuator control apparatus according to the present invention includes a motor, at least one actuator driven by the motor, an operation control unit that controls the operation of the motor, a load factor calculation unit that calculates a load factor calculation value of the motor, and a load factor calculation A first overload warning signal generating means for outputting a first overload warning signal when the value is equal to or greater than a first threshold, and a second threshold greater than or equal to a load factor calculation value smaller than the first threshold A second overload warning signal generating means for outputting a second overload warning signal, and a first number corresponding to the number of times the first overload warning signal is output is measured. The first number measuring means, the second number measuring means for measuring the second number corresponding to the number of times the second overload warning signal is output, and the second overload warning signal are continuously output. Second to measure the second time corresponding to the time And time measuring means, the first number, based on the second number and the second time, and a determining state determination unit the state of aging of the at least one actuator.

  According to the present invention, it is possible to determine the state of deterioration of the actuator over time. For this reason, it is possible to predict an overload protection stop due to the deterioration of the actuator over time, and to take measures such as maintenance work before the overload protection stop occurs to prevent an unexpected decline in production efficiency. Can be prevented.

BRIEF DESCRIPTION OF THE DRAWINGS Schematic of the production apparatus provided with the actuator control apparatus in this embodiment, and this actuator control apparatus. The graph which showed the example of the time dependence of the load factor calculated value at the time of continuous operation | movement of an actuator. The flowchart which showed operation | movement of the controller of the actuator control apparatus in this embodiment, and a state determination part.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments using an actuator control device according to the present invention will be described with reference to the drawings. It should be noted that the drawings shown below may be drawn at a scale different from the actual scale so that the present invention can be easily understood.

  Fig.1 (a) is the schematic of the production apparatus 500 provided with the actuator control apparatus 100 in this embodiment.

A production apparatus 500 according to the present embodiment includes an actuator control apparatus 100, a work apparatus 101, a work apparatus 102, and a transfer apparatus 103. The actuator control device 100 controls the work devices 101 and 102 and the transfer device 103, and includes controllers 200, 220, 240, 260 and 280, programmable controllers 300, 320 and 340, and a server 400. The work device 101 includes actuators 10, 20, and 30, and the work device 102 includes actuators 40, 50, and 60. The transport apparatus 103 includes actuators 70 and 80. The work device 101 and the work device 102 are work devices that perform different work on the work 90, and are installed along the transfer device 103. When the work by the work device 101 is completed, the work 90 is transferred to the work device 102 in the direction indicated by the arrow X by the operation of the transfer device 103. Each of the actuators 10 to 60 is configured such that, for example, a ball screw screwed with a ball nut is connected to the rotation shafts of the motors 11 to 61, and an arbitrary device is attached to the tip of a rod fixed to the ball screw. When the motors 11 to 61 are rotated in an appropriate direction, the ball screw is also rotated in the same direction, and the ball nut and the rod screwed to the ball screw are reciprocated in a uniaxial direction. The actuators 70 and 80 are driven by motors 71 and 81, respectively.
The controllers 200 to 280 are control devices that control at least one of the actuators 10 to 80 in accordance with signals from programmable controllers 30 to 340 that are higher-level control devices. Specifically, the controller 200 controls the actuator 10 according to a signal from the programmable controller 300, and the controller 220 controls the actuators 20 and 30 according to a signal from the programmable controller 300. Further, the controller 240 controls the actuators 70 and 80 in accordance with a signal from the programmable controller 320. Furthermore, the controller 260 controls the actuators 50 and 60 according to a signal from the programmable controller 340, and the controller 280 controls the actuator 40 according to a signal from the programmable controller 340. That is, the programmable controllers 300 to 340 are control devices that control the work device 101, the work device 102, and the transfer device 103.

  Note that the configuration of the production apparatus 500 in the present embodiment, in particular, the number of actuators, motors, controllers, programmable controllers, etc., does not limit the present invention, and any number can be used.

  Next, details of the actuator control apparatus 100 according to the present embodiment will be described.

  FIG. 1B is a schematic diagram of the actuator control apparatus 100 in the present embodiment.

  In FIG. 1B, only the actuator 10, the controller 200, the programmable controller 300, and the server 400 are taken out, but the other components are the same and are omitted. The controller 200 that controls the actuator 10 includes a basic control unit 201, an operation control unit 202, a load factor calculation unit 203, an overload determination unit 204, a measurement unit 207, a storage unit 212, a state determination unit 217, and a signal input / output unit 218. It is constituted by. In addition, you may provide these components provided in the controller by the number of actuators connected to the controller.

  The basic control unit 201 is an upper control unit of the operation control unit 202. The basic control unit 201 decodes and executes an operation program including a sequence such as an operation start of the actuator 10 in accordance with a signal input from the programmable controller 300. In addition, when the operation program is executed, the operation control unit 202 controls the operation direction and the operation speed of the actuator 10.

  In the operation control unit 202, when the operation program is executed, the operation direction and the operation speed when the actuator 10 moves from the operation start point to the operation end point are calculated, and the current supplied to the motor 11 is calculated based on the calculation result. A directive is generated.

  The load factor calculation unit 203 calculates a load factor calculation value F based on the current value supplied from the operation control unit 202 to the motor 11. As a calculation method of the load factor calculation value F, for example, the temperature rise amount of the motor 11 is predicted by subtracting the predicted value of the heat release amount of the motor 11 from the predicted value of the heat generation amount of the motor 11, and this temperature rise amount is calculated by the motor. 11 is added to the current temperature of 11, and a predicted temperature value of the motor 11 is calculated. There is a method of dividing the temperature (temperature limit value) at which the motor 11 may burn out from the predicted temperature value of the motor 11. Separately, the load factor calculation value F can be obtained from the ratio of the supplied current value to the rated current value of the motor.

  The overload determination unit 204 is provided with an internal memory (not shown), and a load factor calculation value that is as large as possible within a range in which motor burnout can be prevented is lower than the first threshold value F1. A predetermined load factor calculation value is stored as the second threshold value F2. The overload determination unit 204 includes first overload warning signal generation means 205 and second overload warning signal generation means 206. The overload determination unit 204 compares the load factor calculation value F calculated by the load factor calculation unit 203 with the first threshold value F1, and when the load factor calculation value F becomes equal to or greater than the first threshold value F1, The first overload warning signal generation means 205 outputs the first overload warning signal to the measuring unit 207. Similarly, the load factor calculation value F is compared with the second threshold value F2, and when the load factor calculation value F becomes equal to or greater than the second threshold value F2, the second overload warning signal generation means 206 The second overload warning signal is output to the measuring unit 207.

  The measuring unit 207 includes a first number measuring unit 208 that measures a first number corresponding to the number of times the first overload warning signal is output, and a number of times the second overload warning signal is output. A second number measuring means 209 for measuring the corresponding second number is provided. Further, the measurement unit 207 includes a first time measuring unit 210 that measures a first time corresponding to a time when the first overload warning signal is continuously output, and a second overload warning signal. The second time measuring means 211 for measuring the second time corresponding to the output time is provided. Then, the obtained first number, second number, first time, and second time are output to the storage unit 212.

  The storage unit 212 stores a first number storage unit 213 that stores the first number of times output from the measurement unit 207 and a second number storage unit 214 that stores the second number of times output from the measurement unit 207. Is provided. The storage unit 212 also includes a first time storage unit 215 that stores the first time output from the measurement unit 207 and a second time storage that stores the second time output from the measurement unit 207. Means 216 are provided.

  In the state determination unit 217, the determination condition set in advance and the first number, the second number, the first time, and the second time stored in the storage unit 212 are compared. When the determination condition is satisfied, an alarm notifying the deterioration of the actuator 10 with time (aging deterioration) is output to the display unit 600 outside the controller 200 via the signal input / output unit 218 and displayed.

  A method for determining the first threshold value F1 and the second threshold value F2 when the actuator is continuously operated will be described with reference to FIG.

  FIG. 2 is a graph showing an example of time dependency of the load factor calculation value F during the continuous operation of the actuator of the present embodiment. In addition, although it demonstrates using each component shown by FIG.1 (b) below, it applies similarly also to each component which is not shown by FIG.1 (b).

  When the actuator 10 is continuously operated, the load factor calculation value F tends to increase gradually and vibrationally due to deterioration with time of the constituent elements of the actuator 10 such as wear and corrosion. For this reason, the actuator 10 is continuously operated for a predetermined time before the increase of the load factor calculated value F due to deterioration with time of the actuator 10 starts, and the average load factor calculated value for the predetermined time is set as the reference load factor calculated value F0. It is desirable to obtain it. The second threshold value F2 may be set to a value obtained by multiplying the reference load factor calculation value F0 by a predetermined value. Moreover, what is necessary is just to set the largest load factor calculated value in the range which can prevent the burning of the motor 11 to the 1st threshold value F1.

  Next, a method for determining the determination condition of the state determination unit 217 when the actuator 10 is continuously operated will be described with reference to FIG.

  When the actuator 10 is in an initial state of deterioration over time, the load factor calculation value F tends to change in the vicinity of the second threshold value F2. For this reason, when the number of times the load factor calculated value F becomes equal to or greater than the second threshold F2 is equal to or greater than the predetermined number (in FIG. 2, between time T1 and T2), it is determined as the initial state of deterioration over time. What is necessary is just to set the determination conditions of the state determination part 217 so that it may do. In addition, when the actuator 10 is in the middle state of deterioration over time, the load factor calculation value F always exceeds the second threshold value F2, but does not tend to reach the first threshold value F1. For this reason, when the time when the load factor calculated value F continuously becomes equal to or greater than the second threshold F2 becomes equal to or greater than a predetermined time (between times T2 and T3 in FIG. 2), the middle period of deterioration with time What is necessary is just to set the determination conditions of the state determination part 217 so that it may determine with a state. Further, when the actuator 10 is in the terminal state of deterioration with time, the load factor calculation value F tends to always exceed the second threshold value F2 and reach the first threshold value F1. For this reason, when the number of times the load factor calculated value F becomes equal to or greater than the first threshold value F1 becomes equal to or greater than the predetermined number (in FIG. 2, time T3 or more), it is determined that the terminal state is deteriorated with time. What is necessary is just to set the determination conditions of the state determination part 217. FIG.

  That is, in the state determination unit 217, when the second number of times becomes equal to or greater than the predetermined number of times, it is determined as the initial state of deterioration with time, and when the second time becomes equal to or longer than the predetermined time, the intermediate state of deterioration with time It is determined. In addition, the state determination unit 217 determines that the deterioration with time is the final state when the first number of times is equal to or greater than the predetermined number. Thus, the determination condition for determining the state of deterioration of the actuator 10 with time is set in the state determination unit 217.

  When the state determination unit 217 determines that the actuator 10 is in the initial state of deterioration with time, a first alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218. It is comprised so that. Further, when the state determination unit 217 determines that the actuator 10 is in an intermediate state of deterioration with time, a second alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218. It is comprised so that. Furthermore, when the state determination unit 217 determines that the actuator 10 is in the terminal state of deterioration with time, a third alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218. It is comprised so that.

When the increasing tendency of the load factor calculation value F is different due to the intermittent operation of the actuator 10, it is possible to determine the state of deterioration of the actuator 10 with time by changing the determination condition of the state determination unit 217. For example, an operation frequency storage unit 219 for newly storing the operation frequency of the actuator 10 is provided in the storage unit 212. Then, the operation count stored in the operation count storage means 219 is changed to be determined as an initial state of deterioration with time when the second count becomes equal to or greater than the predetermined count for the predetermined number of times. To do. In addition, the operation count stored in the operation count storage means 219 is changed so that it is determined as an intermediate state of deterioration with time when the second time becomes equal to or longer than a predetermined time for a predetermined number of operations. To do. Furthermore, with respect to the number of operations stored in the operation number storage means 219, a change is made so that the end state of deterioration with time is determined when the first number of times reaches a predetermined number of times consecutively for a predetermined number of operations. To do. As described above, even when the increasing tendency of the load factor calculation value F is different by changing the determination condition, it is possible to determine the state of deterioration of the actuator 10 with time.
Further, when the second number of times increases compared to the previous operation for a predetermined number of times with respect to the number of operations stored in the operation number storage means 219, it is determined that the initial state of deterioration with time is determined. Change to Further, when the second time increases compared to the immediately preceding operation continuously for a predetermined number of times with respect to the number of operations stored in the operation number storage unit 219, it is determined that the state is deteriorated with time. Change to Further, when the first number of times of the operation number stored in the operation number storage means 219 continues to increase compared to the immediately preceding operation, the end state of deterioration with time is determined. change. As described above, even when the increasing tendency of the load factor calculation value F differs by changing the determination condition, it is possible to determine the state of deterioration of the actuator 10 with time.

  The operation of the controller 200 when the load factor calculation value F is equal to or greater than the first threshold value F1 will be described with reference to the flowchart of FIG. A program corresponding to this flowchart is stored in an internal memory (not shown) in the controller 200, and a CPU (not shown) reads the program from the internal memory and executes it.

When the operation of the controller 200 is started (S1), first, when the load factor calculation value F becomes equal to or greater than a preset first threshold value F1, it is output from the first overload warning signal generation means 205. It is determined whether the measurement unit 207 has received the first overload warning signal (S2). If the measurement unit 207 receives the first overload warning signal (Yes in S2), the first time measurement unit 210 starts measuring the first time (S3). Next, it is determined whether or not the reception of the first overload warning signal by the measuring unit 207 is finished (S4). If the reception of the first overload warning signal by the measuring unit 207 is finished (Yes in S4), the measurement of the first time by the first time measuring means 210 is finished (S5). In order to prevent erroneous detection due to the first overload warning signal being instantaneously output from the first overload warning signal generation means 205, a false detection prevention time is set in advance, and in step S5 It is determined whether the obtained first time is longer than the false detection prevention time (S6). If the first time obtained in step S5 is less than the false detection prevention time (No in S6), the reception by the measuring unit 207 is regarded as a false detection, and the process ends (S10). If the first time obtained in step S5 is equal to or longer than the false detection prevention time (Yes in S6), the obtained first time is stored in the first time storage means 215 (S7). Then, in the first number counting means 208, the first number is increased by 1 and stored in the first number storage means 213 (S8). Next, based on the first number stored in the first number storage unit 213 and the first time stored in the first time storage unit 215, the state determination unit 217 causes the actuator 10 to deteriorate over time. In order to determine the state, a state determination start signal is output (S9). Then, the operation ends (S10).
If the first time is equal to or longer than the erroneous detection prevention time, the motor 11 is decelerated and stopped to prevent the motor 11 from burning, and the actuator 10 is stopped from overload protection.

  Next, the operation of the controller 200 when the load factor calculated value F is equal to or greater than the second threshold value F2 will be described using the flowchart of FIG. A program corresponding to this flowchart is stored in an internal memory (not shown) in the controller 200, and a CPU (not shown) reads the program from the internal memory and executes it.

When the operation of the controller 200 is started (S11), first, when the load factor calculation value F becomes equal to or greater than a preset second threshold value F2, it is output from the second overload warning signal generation means 206. It is determined whether the measurement unit 207 has received the second overload warning signal (S12). If the measurement unit 207 receives the second overload warning signal (Yes in S12), the second time measurement unit 211 starts measuring the second time (S13). Next, it is determined whether or not the reception of the second overload warning signal by the measuring unit 207 is completed (S14). If the reception of the second overload warning signal by the measuring unit 207 is finished (Yes in S14), the measurement of the second time by the second time measuring unit 211 is finished (S15). In order to prevent erroneous detection due to the second overload warning signal being instantaneously output from the second overload warning signal generation means 206, a false detection prevention time is set in advance, and in step S15 It is determined whether the obtained second time is longer than the erroneous detection prevention time (S16). If the second time obtained in step S15 is less than the false detection prevention time (No in S16), the reception by the measurement unit 207 is regarded as a false detection, and the process ends (S20). If the second time obtained in step S15 is equal to or longer than the false detection prevention time (Yes in S16), the obtained second time is stored in the second time storage means 216 (S17). Then, in the second number counting means 209, the second number is increased by 1 and stored in the second number storage means 214 (S18). Next, based on the second number stored in the second number storage unit 214 and the second time stored in the second time storage unit 216, the state determination unit 217 causes the actuator 10 to deteriorate over time. In order to determine the state, a state determination start signal is output (S19). Then, the operation is terminated (S20).
Even if the second time is equal to or longer than the erroneous detection prevention time, the motor 11 is not decelerated and stopped.

  Next, an operation in which the state determination unit 217 determines the state of deterioration of the actuator 10 with time will be described with reference to the flowchart of FIG. A program corresponding to this flowchart is stored in an internal memory (not shown) in the controller 200, and a CPU (not shown) reads the program from the internal memory and executes it.

  When the operation of the state determination unit 217 is started (S21), first, it is determined whether the state determination unit 217 has received a state determination start signal (S22). If the state determination unit 217 receives the state determination start signal (Yes in S22), it is determined whether the second number stored in the second number storage unit 214 is equal to or greater than a predetermined number (S23). . If the second number is less than the predetermined number (No in S23), the process is terminated (S29). If the second number is equal to or greater than the predetermined number (Yes in S23), the first alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218 (S24). Next, it is determined whether the second time stored in the second time storage means 216 is equal to or longer than a predetermined time (S25). If the second time is less than the predetermined time (No in S25), the process ends (S29). If the second time is equal to or longer than the predetermined time (Yes in S25), a second alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218 (S26). Next, it is determined whether or not the first number stored in the first number storage unit 213 is equal to or greater than a predetermined number (S27). If the first number is less than the predetermined number (No in S27), the process ends (S29). If the first number is equal to or greater than the predetermined number (Yes in S27), a third alarm is output to the display unit 600 outside the controller 200 via the signal input / output unit 218 (S28), and processing is performed. Is finished (S29).

  A server 400 of the actuator control apparatus 100 according to the present embodiment will be described with reference to FIGS.

  The server 400 includes an alarm frequency measurement unit 401, an alarm frequency storage unit 402, and an alarm frequency comparison unit 403. The alarm number measuring unit 401 is input from each signal input / output unit of each controller via each programmable controller, and represents the first alarm number, second alarm number, Each of the three alarms is measured for each actuator. The alarm number storage unit 402 stores the first alarm number, the second alarm number, and the third alarm number for each actuator measured by the alarm number measurement unit 401. The alarm frequency comparison unit 403 compares the first alarm frequency, the second alarm frequency, and the third alarm frequency for each actuator stored in the alarm frequency storage unit 402 with each other. As a result, the actuator whose deterioration with time is closer to the terminal state is ranked higher, and the ranking result is output to the display unit 600 and displayed.

  As described above, the first threshold value F1 and the second threshold value F2 are set, and the determination condition of the state determination unit is set, so that the state of deterioration of the actuator over time is determined by the number of times and the time exceeding the respective threshold values. It becomes possible to do. For this reason, it is possible to predict an overload protection stop due to the deterioration of the actuator over time, and it is possible to anticipate an unexpected decline in production efficiency by taking measures such as maintenance work before the actuator stops overload protection. Can be prevented.

  Further, when the state determination unit determines that the actuator is in an initial state of deterioration with time, the first alarm is output to a display unit outside the controller via the signal input / output unit. Yes. Further, when it is determined that the actuator is in an intermediate state of deterioration with time, a second alarm is output to a display unit outside the controller via the signal input / output unit. Furthermore, when it is determined that the actuator is in the final stage of deterioration with time, a third alarm is output to a display unit outside the controller via the signal input / output unit. With this configuration, a plurality of different alarms are output to the display unit outside the controller according to the determination result of the state determination unit, so that the time-degraded state of each actuator is visualized by a host controller such as a programmable controller. It becomes possible. For this reason, the state of deterioration with time of each actuator can be clarified, and it can be urged to take measures such as maintenance work before the overload protection stop occurs.

  Further, the actuator control apparatus according to the present embodiment is configured such that when a plurality of actuators are controlled, an actuator whose rank of deterioration with time is closer to the terminal state can be ranked higher. For this reason, even when the number of actuators is large, it is possible to take countermeasures such as maintenance work in order from the one that has deteriorated with time, and it is possible to improve work efficiency.

  Further, in the actuator control apparatus according to the present embodiment, when the load factor calculation value F is equal to or greater than the second threshold value F2, that is, when the second frequency is equal to or greater than a predetermined number, the actuator is deteriorated with time. The determination condition of the state determination unit is set so as to determine that the state is in the initial state. In addition, when the load factor calculation value F is continuously greater than or equal to the second threshold value F2, that is, when the second time is greater than or equal to a predetermined time, it is determined that the actuator is in the middle state of deterioration over time. The determination conditions of the state determination unit are set so as to do this. Further, when the load factor calculation value F is equal to or greater than the first threshold value F1, that is, when the first number is equal to or greater than a predetermined number, it is determined that the actuator is in the terminal state of deterioration with time. Determination conditions for the state determination unit are set. In this way, since the determination conditions for determining the deterioration of the actuator over time are set, it is possible to determine the deterioration of the actuator over time more accurately than the conventional actuator control device, and to suppress erroneous alarm output. can do.

  In the actuator control device of the present embodiment, the first overload warning signal and the second overload warning signal are processed inside the controller, but these warning signals are output to the outside via the signal input / output unit. It is also possible to do. In this case, the number of times that the load factor calculation value F is equal to or greater than each threshold value indicates the state of deterioration of the actuator over time by providing a measurement unit, a storage unit, a state determination unit, and the like in a higher-level control device such as a programmable controller. It becomes possible to judge by time.

  Further, in the actuator control device of the present embodiment, when the first alarm is not output, the second alarm is not output, but the output condition of each alarm is divided, and the first alarm is divided. Even when the alarm is not output, the second alarm may be output.

  Similarly, the actuator control apparatus according to the present embodiment is configured such that the third alarm is not output when the first alarm and the second alarm are not output. However, the output conditions of the respective alarms may be divided so that the third alarm is output even when the first alarm and the second alarm are not output.

10, 20, 30, 40, 50, 60, 70, 80 Actuator 11, 21, 31, 41, 51, 61, 71, 81 Motor 202 Operation control unit 203 Load factor calculation unit 205 First overload warning signal is generated Means 206 Second overload warning signal generation means 208 First number measurement means 209 Second number measurement means 211 Second time measurement means 217 State determination unit

Claims (7)

A motor,
At least one actuator driven by the motor;
An operation control unit for controlling the operation of the motor;
A load factor calculation unit for obtaining a load factor calculation value of the motor;
A first overload warning signal generating means for outputting a first overload warning signal when the load factor calculation value is equal to or greater than a first threshold;
Second overload warning signal generating means for outputting a second overload warning signal when the load factor calculation value is equal to or greater than a second threshold value smaller than the first threshold value;
A first number measuring means for measuring a first number corresponding to the number of times the first overload warning signal is output;
A second number measuring means for measuring a second number corresponding to the number of times the second overload warning signal is output;
Second time measuring means for measuring a second time corresponding to a time when the second overload warning signal is continuously output;
A state determination unit that determines a state of deterioration with time of the at least one actuator based on the first number of times, the second number of times, and the second time;
An actuator control device comprising: When the second number of times is equal to or greater than a predetermined number of times, a first alarm is output, and when the second time is equal to or greater than a predetermined time, a second alarm is output, And when the first number of times is equal to or greater than a predetermined number, a signal input / output unit that outputs a third alarm;
An alarm number measuring unit that measures the number of times of the first alarm, the number of times of the second alarm, and the number of times of the third alarm that are output corresponding to each of the at least one actuator;
An alarm number comparison unit that compares the number of times of the first alarm, the number of times of the second alarm, and the number of times of the third alarm for each of the at least one actuator;
Further comprising
2. The actuator control device according to claim 1, wherein a ranking is provided regarding deterioration with time of the at least one actuator based on the comparison by the alarm frequency comparison unit. First time measuring means for measuring a first time corresponding to a time when the first overload warning signal is continuously output;
Further comprising
The actuator control device according to claim 2, wherein the operation control unit stops the motor when the first time is equal to or longer than a predetermined time.   Stores the first number, the second number, the first time, the second time, the number of the first alarm, the number of the second alarm, and the number of the third alarm, respectively. The actuator control device according to claim 3, further comprising at least one storage unit.   5. The actuator control device according to claim 1, wherein the calculated load factor is a ratio of a predicted temperature value of the motor to a temperature limit value of the motor.   5. The actuator control device according to claim 1, wherein the load factor calculation value is a ratio of a supply current value of the motor to a rated current value of the motor. The state determination unit
When the second number is equal to or greater than a predetermined number, it is determined that the corresponding actuator is in an initial state of deterioration with time,
When the second time is equal to or longer than a predetermined time, it is determined that the corresponding actuator is in an intermediate state of deterioration with time,
The actuator control according to any one of claims 1 to 6, wherein when the first number of times is equal to or greater than a predetermined number of times, the corresponding actuator is determined to be in a terminal state of deterioration with time. apparatus.

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