CN103019169B - Servo driving system - Google Patents
Servo driving system Download PDFInfo
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- CN103019169B CN103019169B CN201210359219.1A CN201210359219A CN103019169B CN 103019169 B CN103019169 B CN 103019169B CN 201210359219 A CN201210359219 A CN 201210359219A CN 103019169 B CN103019169 B CN 103019169B
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- 206010008190 Cerebrovascular accident Diseases 0.000 claims description 4
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- 230000004044 response Effects 0.000 abstract description 13
- 241000894007 species Species 0.000 description 25
- 238000004891 communication Methods 0.000 description 15
- 238000012546 transfer Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 7
- 239000006185 dispersion Substances 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000011159 matrix material Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000005039 memory span Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Control Of Position Or Direction (AREA)
- Control Of Multiple Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention provides a servo driving system capable of improving the control response of the servo control, and according to the characteristics of each axis of the control device, assigning a control arithmetic unit to the sevo amplifier or servo controller. The servo driving system of the present invention, the servo control unit of each axis control servo motor comprises a file generating unit generating the characteristic parameter of the commands of the servo motor, a position control unit controlling the position of the servo motor, a speed control unit controlling the speed of the servo motor, and a current control unit controlling the current of the servo motor motor. The characteristic parameter file generating unit, the position control unit, speed control unit and the current control portions to each axis is assigned to the servo amplifier or servo controller.
Description
Technical field
The present invention relates to the structure and its collocation method of the control operational part in a kind of control device.
Background technology
As one of the servo drive system of the control operational part that can customize (customize) control device, for example
It is known to the invention of patent documentation 1 and 2.Invention described in patent documentation 1 is focused on to realize controlling by matrix calculus
The process of operational part, each key element of each matrix being provided previously by used in all of matrix calculus is used as control parameter.Also, it is logical
Change control parameter is crossed, arbitrary control rule can be changed to.
Invention described in patent documentation 2 is acted on the excessive of the CPU of each numerical control device by Host Detection and is born
Carry, the drive control of a part of servo motor is transferred to into disposal ability there are other numerical control devices more than needed such that it is able to
Reduce the load of the numerical control device of overload state.
Prior art literature
Patent documentation
Patent documentation 1：Japanese Unexamined Patent Publication 2002-312003 publications
Patent documentation 2：Japanese Unexamined Patent Publication 9-305212 publication
However, the invention described in patent documentation 1 can be determined in the so-called servo controller of control servo amplifier
The device of system control operational part.The controlling cycle of servo controller is longer than the controlling cycle of servo amplifier under normal circumstances, because
This servo-controlled control response is not necessarily high.Additionally, the load of each control device is realized in the invention described in patent documentation 2
Dispersion, does not account for the load dispersion and function dispersion on each axle of each control device.
The content of the invention
The present invention makes in view of the foregoing, to provide a kind of servo drive system as problem, it is possible to increase watch
The control response of clothes control, according to the characteristic of each axle of control device, is assigned in control arithmetic section servo amplifier or watches
Take controller.
Servo drive system involved by technical scheme 1, including：Servo amplifier, drives the servo arranged to each axle
Motor；And servo controller, multiple servo amplifiers are controlled, the servo drive system has to each axle control servo motor
Servo control portion, it is characterised in that servo control portion includes：Characterisitic parameter file (profile) generating unit, generates servo horse
The instruction for reaching；Position control section, controls the position of servo motor；Speed controlling portion, controls the speed of servo motor；And electric current
Control unit, controls the motor current of servo motor, characterisitic parameter file generated portion, position control section, speed controlling portion and electric current
Control unit is allocated in servo amplifier or servo controller to each axle respectively.
Servo drive system involved by technical scheme 2, in technical scheme 1, servo control portion also includes and servo horse
The additional control portion of the control cooperation for reaching, characterisitic parameter file generated portion, position control section, speed controlling portion, current control division
And additional control portion is according to the input object and object output in additional control portion, each axle is allocated in respectively servo amplifier or
Servo controller.
Servo drive system involved by technical scheme 3, the species, axle in technical scheme 1 or 2, according to control device
Species and be arranged at control device motor unit kind apoplexy due to endogenous wind at least one information, select servo control portion distribution it is right
As servo control portion to be downloaded to respectively servo amplifier or servo controller.
Servo drive system involved by technical scheme 4, in technical scheme 3, can be carried out when control device starts
Select and download.
Servo drive system involved by technical scheme 5, in technical scheme 3 or 4, servo amplifier and servo controller
Between be attached via network in the way of it can download servo control portion.
Servo drive system according to involved by technical scheme 1, servo control portion is allocated in servo and puts to each axle respectively
Big device or servo controller, therefore, it is possible to according to the appropriately configured servo control portion of characteristic of each axle of control device, can be to every
Individual axle realizes the function dispersion of servo control portion.
Servo drive system according to involved by technical scheme 2, input object of the servo control portion according to additional control portion
And object output, respectively servo amplifier or servo controller are allocated in each axle, therefore, it is possible to according to institute of additional control portion
The appropriately configured servo control portion of control response of needs.
Servo drive system according to involved by technical scheme 3, the species of species, axle according to control device and is arranged at
At least one information of the kind apoplexy due to endogenous wind of the motor unit of control device, selects the distribution object of servo control portion and is downloaded, because
This can be according to the appropriately configured servo control portion of these species.
Servo drive system according to involved by technical scheme 4, can carry out servo control portion when control device starts
Distribution object selection and the download of servo control portion, therefore, it is possible to accordingly carry out SERVO CONTROL with the startup of control device
The distribution in portion 6, can automatically be controlled the initiating task of device.
Servo drive system according to involved by technical scheme 5, between servo amplifier and servo controller with can under
The mode for carrying servo control portion is attached via network, therefore, it is possible to efficiently download SERVO CONTROL to multiple servo amplifiers
Portion.Therefore, compared with the situation of servo control portion is individually downloaded, working performance is improved, and flow chart is reduced such that it is able to real
Existing cost degradation.
Description of the drawings
Fig. 1 is the structure chart of the servo drive system involved by the 1st embodiment.
Fig. 2 is to represent that in FIG servo control portion is respectively allocated one of the state in servo amplifier or servo controller
The schematic diagram of example.
Fig. 3 is the block figure of of the control block for representing the axle 1 shown in Fig. 2.
Fig. 4 is the block figure of of the control block for representing the axle 2 shown in Fig. 2.
Fig. 5 is the block figure of of the control block for representing the axle 3 shown in Fig. 2.
Fig. 6 is related to the 2nd embodiment, represents that servo control portion is respectively allocated in servo amplifier or servo controller
The schematic diagram of of state.
Label declaration
1：Servo motor
2：Servo amplifier
3：Servo controller
4：Host controller
5：Information transfer path
6：Servo control portion
61：Characterisitic parameter file generated portion 62：Position control section 63：Speed controlling portion
64：Current control division 65：Additional control portion
Specific embodiment
Hereinafter, embodiments of the present invention are illustrated with reference to the accompanying drawings.For each embodiment, common position is marked with jointly
Label and be mapped, so as to the repetitive description thereof will be omitted.In addition, accompanying drawing is concept map, the size of detailed construction is not specified.
(1) the 1st embodiment
(1-1) structure of servo drive system
Fig. 1 is the structure chart of the servo drive system involved by present embodiment.It is right that servo drive system 100 possesses driving
The servo amplifier 2 of the servo motor 1 set by each axle, control watching for multiple (being 3 in the figure) servo amplifiers 2,2,2
Take controller 3 and the host controller 4 of the move of control object is provided to servo controller 3.
The position detector 11 of the position of detection servo motor 1 is provided with servo motor 1, position detector 11 can
The positional information of servo motor 1 is synchronously outputted with the rotation of servo motor 1.Servo motor 1 and position detector 11 can make
With known servo motor and position detector employed in numerical control device.For example there are AC servo motors and encoder etc..
In the case of incremental encoder, positional information is that pair train of pulse corresponding with the swing offset amount of servo motor 1 is carried out
The count value for counting to get.In the case of using absolute encoder, positional information is the swing offset amount pair with servo motor 1
The output code answered.Positional information can include the various data such as the error message of servo motor 1, according to the predetermined cycle via letter
Breath transmitting path 5 is sent to servo amplifier 2.
Servo amplifier 2 has CPU20, memorizer 21, input/output interface 22 and communication interface 23, can send reception
Various data and control signal ground are attached by bus 25.The positional information sent from position detector 11 is defeated via being input into
Outgoing interface 22, bus 25 are sent to memorizer 21.CPU20 can send via bus 25, communication interface 23 to servo controller 3
The positional information of servo motor 1.
Servo controller 3 has CPU30, memorizer 31 and communication interface 32 ~ 35, can send the various data of reception and control
Signal ground processed is attached by bus 36.Respectively the positional information from 3 transmissions of servo amplifiers 2,2,2 is via communication interface
32 ~ 34, bus 36 is sent to memorizer 31.CPU30 can send to host controller 4 and watch via bus 36, communication interface 35
Take the positional information of motor 1.
Host controller 4 has CPU40, memorizer 41 and communication interface 42, can send the various data of reception and control
Signal ground is attached by bus 43.The move of the control object obtained by CPU40 computings connects via bus 43, communication
Mouth 42,35 and bus 36 are sent to the memorizer 31 of servo controller 3.In servo controller 3 and servo amplifier 2,2,2,
Aftermentioned servo-controlled various computings can be carried out by CPU20,30 and memorizer 21,31.The electric power converters such as inverter 24
Motor current via electric power transmitting path 5M to the supply of servo motor 1 based on various operation results such that it is able to drive servo
Motor 1.
Between communication interface 42,35, between communication interface 32,23, between communication interface 33,23 and communication interface 34,23
Between can send the various data of reception and control signal ground is connected respectively by information transfer path 5 and constitutes network.It is various
Positional information comprising servo motor 1 and described various operation results in data.Communication unit in information transfer path 5,
Agreement etc. is not particularly limited.Network can for example use serving network described later.Alternatively, it is also possible to not constitute network, but
Individually send for example, by known serial communication (RS-232C) etc. and receive various data and control signal.
In addition, the inputoutput data such as positional information of servo motor 1 can also by direct memory access (DMA) (DMA) come
Send.DMA can not via CPU20,30,40 input/output unit and memorizer 21, between 31,41 send receive it is various
Data.For example, can in position detector 11 and memorizer 21, the positional information of servo motor 1 is directly transmitted between 31,41.
(1-2) control of servo drive system
If servo drive system 100 is interpreted as servo-controlled control block, each axle of countershaft 1 ~ axle 3 is watched with control
Take the servo control portion 6,6,6 of motor 1.Servo control portion 6 has the characterisitic parameter file generated of the instruction for generating servo motor 1
Portion 61, the position control section 62 of the position of control servo motor 1, the speed controlling portion 63 of the speed of control servo motor 1, control
The current control division 64 of the motor current of servo motor 1 and the additional control portion 65 cooperated with the control of servo motor 1.Fig. 2 is
Represent that servo control portion in FIG is respectively allocated the schematic diagram of of the state in servo amplifier or servo controller.
As shown in Figure 2, on axle 1, characterisitic parameter file generated portion 61 is configured at servo controller 3, position control section
62nd, speed controlling portion 63, current control division 64 and additional control portion 65 are configured at servo amplifier 2.On axle 2, characterisitic parameter
File generated portion 61, position control section 62 and speed controlling portion 63 are configured at servo controller 3, current control division 64 and additional control
Portion processed 65 is configured at servo amplifier 2.On axle 3, characterisitic parameter file generated portion 61, position control section 62, speed controlling portion
63 and additional control portion 65 be configured at servo controller 3, current control division 64 is configured at servo amplifier 2.
Servo motor 1 of the characterisitic parameter file generated portion 61 according to each axle of move computing from host controller 4
Position command.Position control section 62 is according to the position command from characterisitic parameter file generated portion 61 and from position detector
The deviation of 11 positional information, formation speed instruction.Speed controlling portion 63 according to the speed command from position control section 62 with
The deviation of the velocity information of servo motor 1, generates current-order (torque instruction).The velocity information of servo motor 1 being capable of basis
The frequency of positional information is calculated.Additionally, the velocity information of servo motor 1 can also use the speed of detection servo motor 1
Speed detector testing result.The method of position control and speed controlling is not particularly limited.It is, for example possible to use PID
The known feedback control such as control.
Current control division 64 is according to the current-order (torque instruction) from speed controlling portion 63 and the motor of servo motor 1
The deviation of electric current, generates the drive signal of electric power converter 24.The motor current of servo motor 1 can use servo amplifier 2
The testing result of middle built-in amperometric (not shown).Can be used in adjustment from the positional information of position detector 11
Power factor.The drive signal of electric power converter 24 can be wide with disconnection for example, by the connection width of the pulse in PWM controls
The ratio of degree is dutycycle representing.In PWM controls, to phase corresponding with during switching elements ON flow motor current, according to
The time (connection width) of switching elements ON, motor current changes.That is, connection width is longer, and motor current is bigger, connects
Logical width is shorter, and motor current is less.Electric power converter 24 is based on by electricity via electric power transmitting path 5M to the supply of servo motor 1
The motor current of the drive signal that flow control part 64 is generated such that it is able to drive servo motor 1.
Additional control portion 65 is the arbitrary control unit cooperated with the control of servo motor 1.As long as additional control portion 65
The control cooperated with the control of servo motor 1, is not particularly limited.As one of additional control portion 65, for example, there is teeth groove
Effect compensating device (U ギ ン グ Fill Compensation devices).Positional information of the slot effect compensator according to servo motor 1, there is provided offset teeth groove
The current-order (torque instruction) of torque.In addition additional control portion 65 can also compensate the modelling of servo-control system and miss
Difference, friction, interference etc..Additionally, additional control portion 65 individually control rule can be set to according to the user of control device
Lattice.For example, in the case that the output in servo motor 1 is declined due to the aging of control device, additional control portion 65 is also
The slippage can be added on current-order (torque instruction), the output (torque compensator) of servo motor 1 is compensated.
The input in additional control portion 65 can be according to the control content in additional control portion 65 come from characterisitic parameter file generated
Position command, the speed command of the generation of position control section 62, the current-order (torque of the generation of speed controlling portion 63 that portion 61 generates
Instruction) and at least one in the positional information of position detector 11 arbitrarily select.The output in additional control portion 65 can be with root
According to the control content in additional control portion 65, the position command generated with characterisitic parameter file generated portion 61, position control section 62 are given birth to
Into speed command or speed controlling portion 63 generate current-order (torque instruction) be added or subtract each other.In addition, additional control portion
65 can also be any one control in feedback control, the feedforward.Additionally, additional control portion 65 can also put in 1 servo
It is provided with big device 2 or 1 servo controller 3 multiple.
Fig. 3 is the block figure of of the control block for representing the axle 1 shown in Fig. 2.It is input into from position to additional control portion 65
The positional information of detector 11, the output in additional control portion 65 and the output in characterisitic parameter file generated portion 61 are servo motor 1
Position command be added.On axle 1, it is assumed that the control in additional control portion 65 needs the situation of the response of high speed.Here, " needing
The response of high speed " is referred to, needed with identical with the controlling cycle of the servo amplifier 2 shorter than the controlling cycle of servo controller 3
Controlling cycle controlling the situation in additional control portion 65.Conversely, the response of high speed " do not need " refers to, with servo controller
3 controlling cycle identical controlling cycle is controlling the just enough situations of additional control portion 65.Therefore, on axle 1, additional control
Portion 65 needs to be configured at servo amplifier 2.
The object output in the additional control portion 65 of axle 1 is position control section 62.In order to all with the control of servo amplifier 2
Carrying out the control in additional control portion 65, position control section 62 needs to be configured at servo amplifier 2 phase identical controlling cycle.Such as
Upper described, the output of position control section 62 is imported into speed controlling portion 63, and the output of speed controlling portion 63 is imported into electric current
Control unit 64, therefore speed controlling portion 63 and current control division 64 be also required to be configured at servo amplifier 2.Now, characterisitic parameter
File generated portion 61 can be configured at any one in servo amplifier 2 or servo controller 3.Fig. 2 and Fig. 3 characterization parameters
File generated portion 61 is configured at the situation of servo controller 3.Additionally, the input object in the additional control portion 65 of axle 1 is position inspection
Device 11 is surveyed, therefore by the way that position control section 62, speed controlling portion 63, current control division 64 and additional control portion 65 to be configured at and watch
Amplifier 2 is taken, these control units can use the positional information from position detector 11 with identical controlling cycle.
Fig. 4 is the block figure of of the control block for representing the axle 2 shown in Fig. 2.The control block represents such as additional control portion
65 is the situation of above-mentioned slot effect compensator.Now, it is input into additional control portion 65 and believes from the position of position detector 11
Breath, output and the output of speed controlling portion 63 in additional control portion 65 are that the current-order (torque instruction) of servo motor 1 is added.
In the same manner as the situation of axle 1, if the control in the additional control portion 65 of axle 2 needs the response of high speed.Therefore, on axle 2, additional control
Portion processed 65 needs to be configured at servo amplifier 2.
The object output in the additional control portion 65 of axle 2 is current control division 64.In order to all with the control of servo amplifier 2
Carrying out the control in additional control portion 65, current control division 64 needs to be configured at servo amplifier 2 phase identical controlling cycle.This
When, characterisitic parameter file generated portion 61, position control section 62 and speed controlling portion 63 can be configured at servo amplifier 2 or servo
Any one in controller 3.Fig. 2 and Fig. 4 characterization Parameter Files generating unit 61, position control section 62 and speed controlling portion 63
It is configured at the situation of servo controller 3.Additionally, the input object in the additional control portion 65 of axle 2 is position detector 11, thus it is logical
Cross and current control division 64 and additional control portion 65 are configured at into servo amplifier 2, these control units can be with identical control week
Phase uses the positional information from position detector 11.
Fig. 5 is the block figure of of the control block for representing the axle 3 shown in Fig. 2.The control block represents such as additional control portion
65 is the situation of the torque compensator of the above-mentioned aging for control device.Now, come to the input of additional control portion 65
From the position command in characterisitic parameter file generated portion 61, the output in additional control portion 65 and the output of speed controlling portion 63 are servo
The current-order (torque instruction) of motor 1 is added.If the control in the additional control portion 65 of axle 3 does not need the response of high speed.
Because the control in the additional control portion 65 of axle 3 does not need the response of high speed, therefore additional control portion 65 to be configured at and watch
Take controller 3.Additionally, the input object in additional control portion 65 be characterisitic parameter file generated portion 61, additional control portion 65 it is defeated
Go out and be added with the output of speed controlling portion 63.Therefore, in order to next with the controlling cycle identical controlling cycle of servo controller 3
The control in additional control portion 65 is carried out, characterisitic parameter file generated portion 61, position control section 62 and speed controlling portion 63 need to match somebody with somebody
It is placed in servo controller 3.Now, current control division 64 can be configured at arbitrary in servo amplifier 2 or servo controller 3
It is individual, but in view of the characteristic of the current control for needing high-speed response, current control division 64 is configured at servo amplifier 2.
In the present embodiment, servo control portion 6 is respectively arranged at servo amplifier 2 or servo controller 3 to each axle,
Therefore, it is possible to according to the appropriately configured servo control portion 6 of the characteristic of each axle of control device, SERVO CONTROL can be realized to each axle
The function dispersion in portion 6.Additionally, input object and object output of the servo control portion 6 according to additional control portion 65, to each axle point
Servo amplifier 2 or servo controller 3 are not allocated in, are fitted therefore, it is possible to the control response according to required for additional control portion 65
When configuration servo control portion 6.
(mode of texturing)
In the 1st embodiment, it is illustrated in case of the quantity of the axle of control device is 3, but axle
Quantity is not limited to this.Additionally, the distribution of servo control portion 6 is also not limited to above-mentioned embodiment.Table 1 is represented and above-mentioned enforcement
One of the distribution of the different servo control portion 6 of mode.
[table 1]
As shown in the No.1 and No.2 of the table, by by SERVO CONTROL in the past after calculation process in servo controller 3
The part in portion 6 is assigned to servo amplifier 2, can realize servo control portion between servo amplifier 2 and servo controller 3
6 function dispersion.Thereby, it is possible to effective use servo amplifier 2 and the hardware resource of servo controller 3.Additionally, such as the table
Shown in axle 1 shown in No.3 and Fig. 2, if the major part of servo control portion 6 is allocated in into servo amplifier 2, can be with than watching
The controlling cycle of the short servo amplifier 2 of controlling cycle of controller 3 is taken carrying out SERVO CONTROL.Therefore, with by servo control
Device processed 3 carries out most of servo-controlled situation and compares, and servo-controlled response is improved.
(1-3) distribution of servo control portion
(hereinafter referred to as control comprising the servo control portion 6 for being divided into each control unit and its control program for building information again
Processing procedure sequence) it is forwarded respectively via information transfer path 5 from the memorizer 41 of host controller 4 and downloads to servo controller 3
The memorizer 21,21,21 of memorizer 31, servo amplifier 2.Memorizer 31,21,21,21 has respectively RAM and ROM, controls journey
Sequence is stored in ROM.ROM is the nonvolatile memory that information can be also kept after dump, it is possible to use such as CPLD,
The programmable logical device such as FPGA.In addition it is also possible to store part or all of control program in RAM.In this case,
Need to transfer and download control program whenever control device is started, but for example, by according to the distribution control journey such as memory span
Sequence, can efficiently use hardware resource.
In the present embodiment, between host controller 4 and servo controller 3 and servo controller 3 and servo amplifier
2nd, network connection is carried out via information transfer path 5 between 2,2, therefore, it is possible to from host controller 4 is to servo controller 3 and watches
Take the efficiently download control program of amplifier 2,2,2.Therefore, compared with the situation of independent download control program, working performance is carried
Height, flow chart is reduced such that it is able to realize cost degradation.In the case of frequent updating control program, its effect is notable
's.
In the present embodiment, according to control device set action list on species, the species of axle and control device
The species of unit, selects the distribution object of servo control portion 6, servo control portion 6 to be downloaded to servo amplifier 2 or servo control respectively
Device processed 3.The distribution of the expression of table 2 servo control portion 6 relative with the species of the species of control device, the species of axle and motor unit
One of pattern.For convenience of description, the allocation model a ~ c of the servo control portion 6 shown in the table 2 is corresponding with No.1 ~ 3 of table 1.
Additionally, the table 2 represents of the allocation model of servo control portion 6, this is not limited to.
[table 2]
For example, the No.1 of table 2 represent control device be device A, axle be axle 1, motor unit be unit 1 in the case of,
The allocation model of servo control portion 6 selects pattern a.No.2 ~ 10 are similarly.The species of control device, the species of axle and action list
Unit species when control device starts from servo amplifier 2,2,2 via information transfer path 5 be sent to servo controller 3 and
Host controller 4.Allocation model represents the optimum allocation method of servo control portion 6 corresponding with these species.Allocation model is pre-
First pass through test running of simulation, control device etc. to determine, preserved together with control program by data base system.
The CPU40 of host controller 4 according to the allocation model of servo control portion 6, memorizer 31 to servo controller 3,
The memorizer 21,21,21 of servo amplifier 2 transfers control program.For example, the dividing as servo control portion 6 in pattern a that have selected
During with pattern, CPU40 to the transfer characteristic Parameter File generating unit 61, position control section 62 of memorizer 31 and additional control portion 65,
Speed controlling portion 63 and current control division 64 are transferred to memorizer 21.CPU20,30 build again information according to servo control portion 6,
Build servo control portion 6 again respectively.It is for building again in servo amplifier 2 and servo controller 3 point to build information again
The information of the servo control portion 6 matched somebody with somebody, comprising for example related to the input and output object of each control unit information, represents what it was located
Address etc..
In the present embodiment, according to control device set action list on species, the species of axle and control device
The species of unit, selects the distribution object of servo control portion 6, and is downloaded, therefore, it is possible to watch according to these species are appropriately configured
Take control unit 6.If especially carrying out the selection and download of the distribution object of servo control portion 6 when control device starts, can
The startup of enough and control device accordingly carries out the distribution of servo control portion 6, therefore, it is possible to be controlled the startup of device automatically
Operation, improves working performance.
For example, in the element fixing apparatus that electronic component is installed on printed base plate, stick electronic components are simultaneously installed
The species of the motor units such as the component mounting head on printed base plate is more.Therefore, if individually being watched when motor unit is changed
The distribution operation of control unit 6 is taken, then operation is numerous and diverse.In the present embodiment, can be when control device starts according to control dress
The species of species, the species of axle and the motor unit put carrying out the distribution of servo control portion 6, therefore with individually carry out servo control
The situation of the distribution operation in portion processed 6 is compared, and working performance is improved.In addition, for example in element fixing apparatus, control device has unit
Part feedway, substrate transfer apparatus, element transfer device etc..Additionally, axle has direct acting axle, rotary shaft etc..
(mode of texturing)
The distribution object of servo control portion 6 is selected to according to the species of control device, the species of axle and control device
At least one information of the kind apoplexy due to endogenous wind of upper set motor unit carrying out, in addition, additionally it is possible to using related to production
Various information carry out the selection of the distribution object of servo control portion 6.Additionally, the selection of the distribution object of servo control portion 6 and under
Load is when being not limited to the startup of control device, can be arbitrarily being carried out by the operator of control device.Now, can be in control dress
The selection picture of the upper distribution object for showing servo control portion 6 such as display part put, carries out the distribution object of servo control portion 6
Select and download.
Additionally, the selection of the distribution object of servo control portion 6 and download can also be carried out by servo controller 3.Now, watch
The allocation models of the CPU30 according to servo control portion 6 of controller 3 is taken, to the memorizer 21,21,21 of servo amplifier 2 control is transferred
Processing procedure sequence.CPU20,30 build again information according to servo control portion 6, build servo control portion 6 again respectively.In addition, servo control
The selection and download of the distribution object in portion processed 6 can also individually enter in servo controller 3 and servo amplifier 2,2,2
OK.
(2) the 2nd embodiments
Fig. 6 is the signal of that represents the state that servo control portion is respectively allocated in servo amplifier or servo controller
Figure.Present embodiment has and the 1st embodiment essentially identical configuration, action effect.Common position is marked with common
Label, is illustrated centered on different piece.In the present embodiment, it is characterised by, servo amplifier 2,2,2 and servo control
Device processed 3 carries out network connection by information transfer path 5,5,5,5 with ring-type.
Constitute the communication unit of network, agreement to be not particularly limited, for example, can constitute network using serving network.Servo
Network can pass through synchronous communication function and the data for receiving predetermined quantity are sent according to the cycle set in advance.In present embodiment
In, servo amplifier 2,2,2 and servo controller 3 can send in synchronization according to some cycles and receive various data and control
Signal processed.Additionally, serving network is jumped the queue work(by pair periodically producing the starting jumped the queue of starting with each node of network connection
Can, easily realize run-in synchronism.In the present embodiment, periodically servo amplifier 2,2,2 can be performed in synchronization
And the SERVO CONTROL of servo controller 3, the run-in synchronism between multiple (in figure be 3) servo motors 1 becomes easy.
In the present embodiment, servo amplifier 2,2,2 and servo controller 3 carry out network connection with ring-type, therefore make
With the address of identification servo amplifier 2,2,2, the selection and download of the distribution object of servo control portion 6 are carried out.For example, in Fig. 6
In, the address of servo amplifier 2 set on axle 1 is set to into A1, the address of servo amplifier 2 set on axle 2 is set
For A2, the address of servo amplifier 2 set on axle 3 is set to into A3.Send according to address to information transfer path 5,5,5,5
The control program of the servo amplifier 2,2,2 of A1 ~ A3 identifications.The CPU20 of servo amplifier 2 set on axle 1 receives address
The control program of A1.The CPU20 of servo amplifier 2 set on axle 2 receives the control program of address A2.Equally, institute on axle 3
The CPU20 of the servo amplifier 2 of setting receives the control program of address A3.Also, each CPU20 according to servo control portion 6 again
Structure information builds again respectively servo control portion 6.In addition, the selection of the distribution object of the servo control portion 6 in servo controller 3
And download identical with the 1st embodiment.
(3) other
The present invention is not limited to described above and embodiment illustrated, can be without departing from appropriate in the range of purport
Change to implement.
Claims (6)
1. a kind of servo drive system, including：Servo amplifier, drives the servo motor arranged to each axle；And SERVO CONTROL
Device, controls multiple servo amplifiers, and it is described that corresponding each the described axle of the servo drive system is respectively arranged to control
Each servo control portion of servo motor, it is characterised in that
The servo control portion includes：Characterisitic parameter file generated portion, generates the instruction of the servo motor；Position control section,
Control the position of the servo motor；Speed controlling portion, controls the speed of the servo motor；And current control division, control
The motor current of the servo motor,
The characterisitic parameter file generated portion, the position control section, the speed controlling portion and current control division difference
The servo amplifier or the servo controller are allocated according to the characteristic of each axle to axle each described.
2. servo drive system according to claim 1, wherein,
The servo control portion also includes the additional control portion cooperated with the control of the servo motor,
The characterisitic parameter file generated portion, the position control section, the speed controlling portion, the current control division and described
Additional control portion is allocated in respectively described watching according to the input object and object output in the additional control portion to axle each described
Take amplifier or the servo controller.
3. servo drive system according to claim 1 and 2, wherein,
The species of species, axle according to control device and be arranged at the control device motor unit kind apoplexy due to endogenous wind at least 1
Individual information, selects the distribution object of the servo control portion, and the servo control portion is downloaded to respectively into the servo amplifier
Or the servo controller.
4. servo drive system according to claim 3, wherein,
The selection and the download can be carried out when the control device starts.
5. servo drive system according to claim 3, wherein,
Between the servo amplifier and the servo controller so that the servo control portion can be downloaded in the way of via network
It is attached.
6. servo drive system according to claim 4, wherein,
Between the servo amplifier and the servo controller so that the servo control portion can be downloaded in the way of via network
It is attached.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011210923A JP5822621B2 (en) | 2011-09-27 | 2011-09-27 | Servo drive system |
| JP2011-210923 | 2011-09-27 |
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| Publication Number | Publication Date |
|---|---|
| CN103019169A CN103019169A (en) | 2013-04-03 |
| CN103019169B true CN103019169B (en) | 2017-04-12 |
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| CN201210359219.1A Active CN103019169B (en) | 2011-09-27 | 2012-09-24 | Servo driving system |
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| JP (1) | JP5822621B2 (en) |
| CN (1) | CN103019169B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104342791B (en) * | 2013-07-29 | 2016-12-28 | 青岛宏大纺织机械有限责任公司 | The control method of two-for-one twister servo drive system |
| CN103441711B (en) * | 2013-08-21 | 2016-01-13 | 宁波大学 | A kind of realize plane motion servo or step motor control system and control method |
| WO2015063864A1 (en) * | 2013-10-29 | 2015-05-07 | 株式会社安川電機 | Motor control program transfer system, host controller, motor control device, and motor control program transfer method |
| JP5905532B2 (en) | 2014-07-09 | 2016-04-20 | ファナック株式会社 | Control system including a control device for controlling a machine having a plurality of axes |
| JP2016207169A (en) * | 2015-04-28 | 2016-12-08 | 株式会社メレック | Motion control system |
| US10491142B2 (en) | 2015-07-02 | 2019-11-26 | Fuji Corporation | Servomotor drive device |
| JP6576790B2 (en) * | 2015-10-30 | 2019-09-18 | 日本電産サンキョー株式会社 | Motor control device |
| JP6624908B2 (en) * | 2015-12-01 | 2019-12-25 | 株式会社アイエイアイ | Motor controller control system |
| JP6690926B2 (en) * | 2015-12-01 | 2020-04-28 | 株式会社アイエイアイ | Hub device for motor controller |
| JP6356709B2 (en) | 2016-01-13 | 2018-07-11 | ファナック株式会社 | Motion controller with high response control |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
| JP2019216574A (en) * | 2018-06-14 | 2019-12-19 | ファナック株式会社 | Motor control device that drives one spindle by switching between two motors |
| CN113661464B (en) * | 2019-04-05 | 2023-03-24 | 三菱电机株式会社 | Multi-axis control system, multi-axis control method, and multi-axis control program |
| JP7244364B2 (en) * | 2019-05-31 | 2023-03-22 | ファナック株式会社 | Slave unit and servo drive system |
| JP6741924B1 (en) * | 2019-12-23 | 2020-08-19 | 株式会社安川電機 | Distributed motor control system, motor control device, and distributed motor control method |
| JP7229438B1 (en) * | 2022-04-08 | 2023-02-27 | 三菱電機株式会社 | Motor drive and servo drive system |
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| CN1530784A (en) * | 2003-03-17 | 2004-09-22 | 发那科株式会社 | Numerical value controller |
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| US5252902A (en) * | 1990-03-02 | 1993-10-12 | Kabushiki Kaisha Sg | Servo control system |
| CN1519673A (en) * | 2003-01-21 | 2004-08-11 | 发那科株式会社 | Servo controller |
| CN1530784A (en) * | 2003-03-17 | 2004-09-22 | 发那科株式会社 | Numerical value controller |
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| CN103019169A (en) | 2013-04-03 |
| JP2013073351A (en) | 2013-04-22 |
| JP5822621B2 (en) | 2015-11-24 |
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