CN105629871B - The control method of servomotor, device and servo-drive system in servo-drive system - Google Patents
The control method of servomotor, device and servo-drive system in servo-drive system Download PDFInfo
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- CN105629871B CN105629871B CN201410623959.0A CN201410623959A CN105629871B CN 105629871 B CN105629871 B CN 105629871B CN 201410623959 A CN201410623959 A CN 201410623959A CN 105629871 B CN105629871 B CN 105629871B
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Abstract
The present invention relates to motor control technologies, more particularly to a kind of control method of servo-drive system, device and servo-drive system, to realize the control to servo-drive system operation duration.The present invention sets a total operation duration threshold value in servo amplifier, total operation duration is accumulated since needing to monitor the startup first of servo-drive system operation duration, and every time after startup servomotor, when the operation total duration of servomotor is equal to total operation duration threshold value, limitation servomotor is again started up, until limitation is released from.So as to realize the purpose of control servo-drive system operation duration.
Description
Technical field
The present invention relates to motor control technologies, more particularly to a kind of control method of servomotor, device and servo
System.
Background technology
Servomotor (Servo Motor) refers to the engine of the control machinery equipment operation in servo-drive system, is one
The kind indirect speed change gear of subsidy motor.Servomotor can make control speed, and positional precision control is very accurate, can be by electricity
Pressure signal is converted into torque and rotating speed with drive control object.Servo motor rotor rotating speed is controlled by input signal, and can be fast
Speed reaction, in automatic control system, as executive component, and with electromechanical time constant is small, the linearity is high, pickup voltage etc.
Characteristic, the angular displacement that the electric signal received can be converted on motor reel or angular speed output.
In the application scenarios of servo-drive system, it is sometimes desirable to which the operation duration of servo-drive system is controlled.
The content of the invention
The embodiment of the present invention provides a kind of control method of servomotor, device and servo-drive system, to realize pair
The control of servo-drive system operation duration.
Based on this, the one side of the embodiment of the present invention is to provide a kind of controlling party of servomotor in servo-drive system
Method, including：
Before starting the servomotor, judge whether the servomotor is again started up by limitation；
The servomotor is not started when the servomotor, which is limited, to be again started up, when the servomotor
Start the servomotor when not being again started up by limitation, obtain the accumulative total operation duration of the servo-drive system, and work as institute
State total operation duration to be more than or equal to or during more than defined total operation duration threshold value, limit the servomotor by again
Start.
In one embodiment of the invention, described total operation duration threshold value, is tested according to the proof rule of regulation
Set after having demonstrate,proved setting authority.Defined proof rule has a variety of, such as in one embodiment of the invention, described tests
Card rule includes：At least two parameters of input, verification algorithm as defined in satisfaction.
In order to repeatedly be reset to total operation duration threshold value as needed, and improve proof rule
Reliability, in one embodiment of this invention, at least two input parameter, verification algorithm as defined in satisfaction include：In head
It is secondary to set total operation duration threshold value and verify when setting authority, verify calculation as defined in all parameters satisfaction that checking inputs first
Method；And every time for reset total operation duration threshold value verify set authority when, verify re-enter wherein extremely
Verification algorithm as defined in a few parameter and the other specification satisfaction for inputting and preserving before.In this embodiment, except for the first time
Set during total operation duration threshold value, it is necessary to be verified as defined in verifying whether to meet according to all parameters inputted first and calculate
Method, the follow-up parameter for only needing at least one input therein again, using the parameter re-entered, and inputs and protects before
The other specification deposited is verified, so that the personnel only with setting authority could obtain whole parameter values, so as to
It ensure that the security of proof rule.
In one embodiment of this invention, each servomotor is limited be again started up after, if again according to regulation
Proof rule demonstrate setting authority, then release the servomotor startup limitation.
In view of in the application process of servomotor, it is possible to which appearance need not limit servo-drive system operation duration
Situation, in an embodiment of the present invention in methods described, using total operation duration threshold value, it also can indicate that limitation operation duration
When not limiting two kinds of mode of operations of operation duration, such as total operation duration being set as into Invalid parameter, servo-drive system is set
It is set to the mode of operation for not limiting total operation duration.At this moment, methods described also includes：Before starting the servomotor, sentence
Whether disconnected total operation duration threshold value is arranged to Invalid parameter, when total operation duration threshold value is arranged to invalid
Parameter then starts the servomotor, is then judged when total operation duration threshold value is not configured to Invalid parameter
The step of whether servomotor is again started up by limitation.So as to control servomotor to be operated in different two kinds
In pattern, one kind is not limit operation duration, and another kind is limitation operation duration.
Further, in one embodiment of this invention, can using alarm by the way of prompt system arrived to or
More than set operation duration, at this moment methods described also includes：Carried out when limiting the servomotor and being activated again
Alarm, and release the alarm after checking alerts and releases authority.
The present invention also provides a kind of control device of servomotor, including：
Judging unit, for before the servomotor is started, judging whether the servomotor is limited again
Secondary startup；
Processing unit, for not starting the servomotor when the servomotor is limited and is again started up, when
The servomotor, which is limited, does not start the servomotor when being again started up, when the servomotor is not limited again
Start the servomotor during secondary startup, and obtain the accumulative total operation duration of the servo-drive system, and when total operation
Duration is more than or equal to or during more than defined total operation duration threshold value, limits the servomotor and is again started up.
The present invention also provides a kind of servo-drive system, including：
Servomotor；
Servo amplifier, for before the servomotor is started, judging whether the servomotor is limited
It is again started up, does not start the servomotor when the servomotor, which is limited, to be again started up, when the servo-electric
Start the servomotor when machine is not again started up by limitation, and obtain the accumulative total operation duration of the servo-drive system, and
When total operation duration is more than or equal to or during more than defined total operation duration threshold value, the servomotor quilt is limited
It is again started up.
Using control method provided by the invention, a total operation duration threshold value is set in servo amplifier, from need
The startup first for monitoring servomotor operation duration starts to accumulate total operation duration, and when the operation of servomotor is total
Length is equal to total operation duration threshold value, stops servomotor immediately and limits servomotor by again
Start, until limitation is released from.So as to realize the purpose of control servomotor operation duration.The embodiment of the present invention provides
Any embodiment in, the accumulative total operation duration of the servo-drive system can be total operation of the servomotor
Duration, or total operation duration when the servo-drive system is in power-up state.
Brief description of the drawings
Fig. 1 a are the servo system structure schematic diagram using servomotor control method provided in an embodiment of the present invention；
Fig. 1 b are the schematic diagram for illustrating servo-drive system operation duration；
Fig. 2 is a kind of servomotor control method schematic flow sheet that the embodiment of the present invention one provides；
Fig. 3 is a kind of servomotor control method schematic flow sheet that the embodiment of the present invention two provides；
Fig. 4 is a kind of servomotor control method schematic flow sheet that the embodiment of the present invention three provides；
Fig. 5 is a specific method schematic flow sheet for setting total operation duration threshold value in the embodiment of the present invention first；
Fig. 6 is the specific method schematic flow sheet that total operation duration threshold value is reset in the embodiment of the present invention；
Fig. 7 is a kind of structural representation of servo motor control unit provided in an embodiment of the present invention.
Embodiment
As shown in Figure 1a, the servo system structure schematic diagram of the servomotor control method provided for Application Example,
Including servo amplifier 10 and servomotor 20, servo amplifier is also referred to as servo-driver or servo controller, is
For controlling a kind of controller of servomotor, generally by three kinds of position, speed and torque modes to servomotor
It is controlled.Servo amplifier 10 is also possible to be connected with host computer 30, according to the control signal of host computer 30 to control servo
Motor 20.Servo-drive system is generally the coding of closed-loop control, servo amplifier 10 and host computer 30 according to servomotor 20
Device feedback signal, control parameter is adjusted, to improve control accuracy.
In above-mentioned servo-drive system, it is possible to need to be controlled the run time of servo-drive system, such as businessman is from producer
Whole system is bought, then terminal user is rented by the rental period of the run time that sets, at this moment, is expired when the rental period
When, terminal user then has the right to use to servo-drive system no longer, if rented using servo amplifier servomotor
Operation duration in time is automatically controlled, then businessman can be facilitated to manage the servo-drive system hired out.Certain this applied field
Scape is only the example that a kind of needs be controlled to the operation duration of servo-drive system, and other application scene is not another
One enumerates.
Servo-drive system is in each operation period, first to electric on servo amplifier and other control elements, servo amplification
It is then first in end of run according to the operational mode or control signal of setting, control servomotor operation on device after electricity
Control servomotor out of service, then system power failure.Therefore in servo-drive system, the power-on time of servo-drive system is typically early
In the time that servomotor brings into operation, power down of the corresponding servomotor time out of service earlier than servo amplifier
Time.Such as in Fig. 1 b, in multiple operation periods, if the power-on time of servo-drive system is respectively t11、t12……t1n, fall
The electric time is respectively t21、t22……t2n, then the startup time of corresponding servomotor is respectively s11、s12……s1n, servo electricity
It is respectively s between the stopping of motivation21、s22……s2n.According to different control requirements, need what is controlled in the embodiment of the present invention
Servo-drive system operation duration can be that total operation duration T when being in power-up state to servo-drive system adds up, i.e. T1、
T2……TnAggregate-value.Can also be that accumulative total operation duration S is carried out to servomotor run time, i.e. institute in Fig. 1 b
The S shown1、S2……SnAggregate-value.Certainly, it is necessary to which the servo-drive system run time of control can also be determined according to user's request
The other times of justice, the present invention are simultaneously not limited.
In the embodiment of the present invention, operation duration adds up, and can utilize a meter with servo amplifier with clock signal
Number devices realize, such as during total operation duration T when accumulative servo-drive system is in power-up state, on counter and servo-drive system synchronization
Electricity and during power down, is triggered automatically when upper electric every time, last time it is accumulative on the basis of continue to start to add up, stop during power down tired
Meter, the accumulative numerical value of servo amplifier query counts device would know that accumulative operation duration.If the cumulative time is servo electricity
The operation duration S of motivation, then servo amplifier flip-flop number when starting servomotor, is stopping servomotor time control
Counter processed stops timing.Add up operation duration using counter, be any technique commonly known, those skilled in the art
It can be realized according to content disclosed above is convenient.
In the following examples, it will be explained in meet that the demand provides a kind of controlling party of servomotor
Method, a total operation duration threshold value is set in servo amplifier, from the fortune first for needing monitoring servo-drive system operation duration
The row time started accumulates total operation duration, adds up the operation duration of each run time section.And during accumulative, find fortune
When row total duration is equal to total operation duration threshold value, limitation servomotor is again started up, until starting
Limitation is released from.The control method of servomotor provided in an embodiment of the present invention, go for any as shown in Figure 1 watch
In dress system, the operation duration of servomotor 20 is controlled using servo amplifier 10, in all kinds of servo-drive systems that can be used
In, servo amplifier 10 is connected with host computer 30 sometimes, need not sometimes connect host computer 30.Servo amplifier may basis
Regulated procedure starts servomotor, it is also possible to servomotor is started according to the detection signal of setting, may also also basis
Enabled instruction starts servomotor, then can be according to control set in advance after the startup for finding servomotor is limited
Flow processed stops servomotor at once, can also stop servomotor after this end of run.In the following examples,
It is described in detail exemplified by receiving enabled instruction, enabled instruction may be from host computer, it is also possible to which terminal user is direct
Inputted on the guidance panel of servo amplifier.
Describe servomotor control technology provided by the invention in detail by way of example and in conjunction with the accompanying drawings.
Embodiment one
As shown in Fig. 2 the control method of servomotor provided in an embodiment of the present invention, for monitoring servomotor
Operation duration, servo amplifier perform following steps after the enabled instruction of servomotor is received every time：
Step 201, the enabled instruction for receiving servomotor；
Step 202, judge whether servomotor is again started up by limitation, if it is perform step 208 and (do not perform and open
Dynamic instruction, i.e., do not start servomotor)；Otherwise following steps 203~207 are performed；
If the accumulative total operation duration of servo-drive system is had arrived at when running last time or total operation more than setting
Duration, then in step 207, servomotor have been again started up in last time running by limitation.
How to identify whether servomotor is again started up by limitation, can use to those skilled in the art each
Kind mode is realized, such as a dedicated memory space can be utilized to set a flag bit, and the flag bit can be one specific
Value, when servomotor, which is limited, to be again started up, a particular value is stored in the dedicated memory space, when lifting restrictions again
During secondary startup, the memory space is reset.Then after each start, according to the numerical value stored in the dedicated memory space, so that it may
To judge whether servomotor is again started up by limitation.Those skilled in the art can be also many by the way of, here
It will not enumerate.
Step 203, perform enabled instruction；
Execution enabled instruction mentioned here, that is, start servomotor and according to prespecified operation program, or
According to the control signal of host computer, the operation of servomotor is controlled.Specifically, starting servomotor includes connecting servo
The power supply of motor, detect the feedback signal of servomotor, monitoring operational factor etc. operation.
Step 204, obtain the accumulative total operation duration of servo-drive system；
On the basis of step 205, the total operation duration updated after being run in servo-drive system last time, continue accumulative and update servo
The accumulative total operation duration of system；
As it was previously stated, total operation duration that servo-drive system adds up can be total operation duration of servomotor, or watch
Dress system is in total operation duration during power-up state.Or other operation durations for needing to define according to user etc..
The total operation duration updated after being run based on servo-drive system last time, continue accumulative and update total operation of servo-drive system
Duration；
When resetting total operation duration threshold value every time, accumulative total operation duration is reset, if total operation
Duration threshold value be set after first power on, then total operation duration for updating is zero after last time operation.
Step 206, judge whether accumulative total operation duration is equal to or more than defined total operation duration threshold value, if
It is then execution step 207, otherwise return to step 204；
Step 204~206 can perform according to the loop cycle of regulation, until this end of run.
In the embodiment of the present invention, total operation duration can be added up using a counter.According to the judgement cycle of regulation, week
Phase property reads the count value of counter, then compared with total operation duration threshold value.
Step 207, limitation servomotor are again started up.
Limitation servomotor described here is again started up, and concrete operations can set a flag bit carry out table
Show.It is then possible to according to control strategy set in advance, control servomotor is shut down.
Step 208, do not perform enabled instruction.
If servo controller finds that servomotor is again started up by limitation, enabled instruction is not performed.
According to above-mentioned flow, total operation duration of servomotor is equal to defined operation duration once being equal to or more than
No threshold value, be then again started up by limitation, so as to reach the purpose of control servo-drive system operation duration.
When setting total operation duration threshold value, it is necessary to verify that proof rule is many to setting authority, such as based on
Certain algorithm, when the parameter using input can obtain estimated checking computation results, then explanation possesses setting authority, so as to permit
Perhaps total operation duration threshold value is configured.
Embodiment two
On the basis of embodiment one, it can also be alerted and alerted in checking after limitation servomotor is activated
After releasing authority, alarm is released.
As shown in figure 3, on the basis of Fig. 2, after servomotor, which is limited, to be again started up, increase step 301~303,
Wherein：Step 301 is alerted, and alarm mode is a lot, is accused for example with the mode of signal lamp flicker, or using buzzer
It is alert.If necessary to release alarm, then step 302~303 are performed, checking alarm releases authority, then releases alarm, checking alarm
The method for releasing authority is a lot, such as is verified etc. using single proof rule.
Embodiment three
On the basis of embodiment one or embodiment two, if the operation duration of servomotor need not be limited,
Total operation duration threshold value can be arranged to an Invalid parameter, Invalid parameter such as 0, such servo controller receives every time
To servomotor enabled instruction when, first judge whether total operation duration threshold value is arranged to Invalid parameter, if it is
Enabled instruction is directly performed, otherwise judges whether servomotor is again started up by limitation again.
Such as shown in Fig. 4, on the basis of embodiment two, increase step 401~403 both can, wherein：
Step 401, obtain total operation duration threshold value；
Step 402, judge whether total operation duration threshold value is Invalid parameter, if it is directly perform step 208, it is no
Then perform step 403；
Step 403, enabled instruction is performed, start servomotor and control the operation of servomotor, until this fortune
Row terminates.
In above three embodiment, it is necessary to proof rule according to regulation when setting total operation duration threshold value every time
Verify whether that there is setting authority, and after total operation duration threshold value is set, do not allow the operation initialized to it, directly
Just allow to be reset after being verified to setting authority.Each servomotor is limited be again started up after, similarly need
Checking is just allowed to lift restrictions after releasing authority.
Illustrate that the setting procedure of total operation duration threshold value and limitation are again started up respectively below with a specific example
Releasing flow, in the specific example, set the specific proof rule of authority as：Two can input parameter PaAnd PbAnd wait
In can input parameter Pc.For convenience of description, if TzFor total operation duration threshold value.Parameter Pa、PbAnd Pc, and parameter Tz, watching
When dress system dispatches from the factory, 0 is all initialized as, but sets the verification algorithm of authority, is pre-arranged in servo controller, opens
After machine, servo amplifier calls verification algorithm checking setting authority.
The initial specific setting procedure of total operation duration threshold value is as shown in figure 5, comprise the following steps：
Step 501, allow input parameter PcAnd receive the parameter P of inputc；
Step 502, allow input parameter PaAnd receive the parameter P of inputa；
Step 503, allow input parameter PbAnd receive the parameter P of inputb；
Step 504, judge PaAnd PbWhether sum is equal to Pc, if it is, performing step 505 allows input parameter TzAnd
Receive the parameter T of inputz, otherwise performing step 506 does not allow input parameter Tz。
Such as：Pc=8888, then work as Pa=1234, PbWhen=7654, it is allowed to arrange parameter Tz。
It may occur to persons skilled in the art that servo amplifier can utilize chip microcontroller, single-chip microcomputer can be connected with
One guidance panel, if directly carrying out above-mentioned flow on servo amplifier, when allowing parameter input, corresponding input window
Mouthful for can input state, otherwise for can not input state.Can be under input state, it be visible aobvious in input window that parameter, which is,
Show state, can not be sightless non-display state in parameter value input window under input state.This flow, can also
Completed using the host computer of servo amplifier connection, host computer is usually a computer, in Computer display, can be utilized
Defined inputting interface completes parameter input.
Parameter TzOnce being set, then do not allow to be initialised, until next time is once again set up.Moreover, unless setting
Authority be verified after reset during, parameter TzNo longer show.
As shown in fig. 6, include in the flow that total operation duration threshold value on process base, is once again set up shown in Fig. 5 as follows
Step：
Step 601, allow to re-enter parameter PbAnd receive the parameter P re-enteredb；
The P that step 602, judgement input beforeaWith the P re-enteredbWhether sum is equal to Pc, if it is, performing step
603, while step 605 is performed, if it is not, then performing step 604；
Step 603, allow to re-enter parameter TzAnd receive the parameter T re-enteredz；
Step 604, input parameter T is not allowedz。
Step 605, release because of the startup limitation that operation duration has arrived at and takes servomotor.
Such as：Pc=8888, then work as Pa=1234, PbWhen=7654, it is allowed to arrange parameter Tz。
When resetting total operation duration threshold value, according to the proof rule of regulation, the parameter re-entered and defeated before
The parameter for entering and preserving still meets defined proof rule, that is, the P re-enteredbDo not change, then can determine have
There is setting authority, so as to allow Reparametrization Tz, meanwhile, release the startup limitation to servomotor.Resetting
Parameter PbDuring, PaAnd PcAll the time do not show, so as to ensure that only there are the personnel of setting authority just can know that whole
Parameter value, also ensure that the security of proof rule.In this specific example, it is only necessary to three parameters, it is possible to convenient
Realize parameter TzSetting and change.Two parameters, such as P can also only be neededcAnd Pa, verification algorithm Pc=Pa。
The above-mentioned operation duration for servomotor controls, and Authority Verification rule is to be set in advance by production firm's initialization
Put in servo controller, buy servomotor businessman obtained at production firm as defined in rule, according to regulation
Regular input parameter Pc、PaAnd Pb, Authority Verification by rear, can by terminal user rent time span, as parameter TzIf
Determine into servo controller, servo controller is in the running of servomotor, according to the parameter T of regulationzControl servo
The operation duration of motor.
The proof rule of above-mentioned setting authority is only an example, the number of input parameter and how to be joined according to input
Number obtains result PcVerification algorithm it is also very more, verification algorithm can use decimal system algorithm, can also use binary system calculate
Method.As long as verification algorithm is set in advance in servo controller, then servo amplifier is setting total operation duration for the first time
Before threshold value, verify whether all at least two parameters inputted first meet defined verification algorithm；And watching every time
Take motor limited be again started up after need to reset total operation duration threshold value before, checking described at least two
Whether at least one parameter re-entered in parameter, and the parameter for inputting and preserving before remaining meet that defined checking is calculated
Method.According to different verification algorithms, it is necessary to input parameter quantity it is different, specific verification algorithm is also very more, here no longer
Illustrate one by one.
As shown in fig. 7, the embodiment of the present invention also provides a kind of control device of servomotor, for servo controller
In, control device includes：
Judging unit 701, opened again for before servomotor is started, judging whether servomotor is limited
It is dynamic；
Processing unit 702, for not starting servomotor when servomotor is limited and is again started up, otherwise start
Servomotor, total operation duration of servo-drive system is obtained, and when total operation duration is more than or equal to or more than defined total fortune
During row duration threshold value, limitation servomotor is again started up.
, can be according to total operation duration threshold value of regulation, when controlling the operation of servo-drive system according to above-mentioned control device
It is long.
As shown in fig. 7, control device can also include setting unit 703, demonstrated for the proof rule according to regulation
After setting authority, it is allowed to which total operation duration threshold value is set.
Wherein, proof rule used in setting unit 703 and had been described in foregoing teachings, such as can be with
At least two parameters are inputted, verification algorithm as defined in the parameter satisfaction simply entered, it is determined that there is setting authority.It is such as a kind of
Specific proof rule can be before total operation duration threshold value is set for the first time, setting unit 703 verify it is all first
Whether at least two parameters of input meet defined verification algorithm；And after each servomotor is limited and is again started up
Before resetting total operation duration threshold value, setting unit 703 verifies at least one at least two parameters re-enter
Whether parameter, and the parameter for inputting and preserving before remaining meet defined verification algorithm.
The startup limitation of servomotor is released, can also be completed by setting unit 703, then in setting unit 703 again
While demonstrating setting authority according to the proof rule of regulation, the startup limitation of servomotor can be released.
Preferably, total operation duration threshold value can be set when operation duration control need not be carried out to servo-drive system
Invalid parameter is set to, then judging unit can judge total operation duration thresholding when receiving the enabled instruction of servomotor
Whether value is arranged to Invalid parameter；Processing unit performs startup when total operation duration threshold value is arranged to Invalid parameter and referred to
Order, is otherwise further continued for judging whether servomotor is again started up by limitation.
As shown in fig. 7, being alerted if desired, then servo motor control unit can also include alarm control unit
704, after limiting servomotor startup, carry out alarm control, such as the triggering sound such as light alarm device or buzzer
Sound alarm device etc..The releasing of alarm can also perform after verifying authorization, such as alarm control unit 704 can have in checking
There is alarm to release and alarm is released after authority, alarm releases proof rule example password rule as the aforementioned etc. of authority, and password can be with
It is that production firm pre-sets and informs businessman or businessman's sets itself and be input in servo amplifier.
Shown in reference picture 1, the servomotor control method that the embodiment of the present invention passes through can be used for any servo
In system, the operation of servo amplifier control servomotor in the servo-drive system, if necessary to control the fortune of servo-drive system
Row duration, then before servomotor is started every time, first judge whether servomotor is again started up by limitation, when servo electricity
Motivation, which is limited, does not start servomotor when being again started up, and otherwise starts servomotor, obtains total operation of servo-drive system
Duration, when total operation duration is more than or equal to or during more than defined total operation duration threshold value, control servomotor is shut down
And limit servomotor startup.Specific control method, has been previously described in detail, and repeats no more here.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method or computer program product.
Therefore, the present invention can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Form.Deposited moreover, the present invention can use to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (17)
- A kind of 1. control method of servomotor in servo-drive system, it is characterised in that including：Before starting the servomotor, judge whether the servomotor is again started up by limitation；Do not start the servomotor when the servomotor, which is limited, to be again started up, when the servomotor not by Limitation starts the servomotor when being again started up, and obtains the accumulative total operation duration of the servo-drive system, and when described total Operation duration is more than or equal to or during more than defined total operation duration threshold value, limits the servomotor and is opened again It is dynamic.
- 2. the method as described in claim 1, it is characterised in that described total operation duration threshold value, is testing according to regulation Set after card rule verification setting authority.
- 3. method as claimed in claim 2, it is characterised in that described proof rule is：At least two input parameters, meet Defined verification algorithm.
- 4. method as claimed in claim 3, it is characterised in that at least two described input parameters, meet defined verify Algorithm includes：Total operation duration threshold value is being set first when verifying setting authority, verifies that all parameters for inputting first meet regulation Verification algorithm；AndWhen verifying setting authority every time to reset total operation duration threshold value, wherein at least one re-entered is verified Verification algorithm as defined in individual parameter and the other specification satisfaction for inputting and preserving before.
- 5. method as claimed in claim 2, it is characterised in that each servomotor is limited be again started up after, if weight New root proof rule as defined in demonstrates setting authority, then releases the startup limitation of the servomotor.
- 6. the method as described in claim 1, it is characterised in that the accumulative total operation duration of the servo-drive system is：It is described to watch Take total operation duration of motor, or total operation duration when the servo-drive system is in power-up state.
- 7. the method as described in claim 1~6 is any, it is characterised in that before the startup servomotor, judge Whether the servomotor is again started up by limitation, specifically includes：Before starting the servomotor, judge whether total operation duration threshold value is arranged to Invalid parameter；Start the servomotor when total operation duration threshold value is arranged to Invalid parameter, when total operation Long threshold value is not configured to judge whether the servomotor is again started up by limitation during Invalid parameter.
- 8. the method as described in claim 1~6 is any, it is characterised in that methods described also includes：Alerted when limiting the servomotor and being activated again, andThe alarm is released after checking alerts and releases authority.
- A kind of 9. control device of servomotor, it is characterised in that including：Judging unit, for before the servomotor is started, judging whether the servomotor is limited and opening again It is dynamic；Processing unit, for not starting the servomotor when the servomotor is limited and is again started up, when described Start the servomotor when servomotor is not again started up by limitation, and obtain the accumulative total operation of the servo-drive system Duration, and when total operation duration is more than or equal to or during more than defined total operation duration threshold value, limit the servo Motor is again started up.
- 10. device as claimed in claim 9, it is characterised in that also include：Setting unit, for being advised according to the checking of regulation After then demonstrating setting authority, described total operation duration threshold value is set.
- 11. device as claimed in claim 10, it is characterised in that described proof rule includes：At least two ginsengs of input Number, verification algorithm as defined in satisfaction.
- 12. device as claimed in claim 11, it is characterised in that at least two described input parameters, test as defined in satisfaction Card algorithm includes：Total operation duration threshold value is being set first when verifying setting authority, verifies that all parameters for inputting first meet regulation Verification algorithm；AndWhen verifying setting authority every time to reset total operation duration threshold value, wherein at least one re-entered is verified Verification algorithm as defined in individual parameter and the other specification satisfaction for inputting and preserving before.
- 13. device as claimed in claim 10, it is characterised in that described setting unit, be additionally operable to each servomotor After being again started up by limitation, if demonstrating setting authority again according to defined proof rule, the servo-electric is released The startup limitation of machine.
- 14. device as claimed in claim 10, it is characterised in that the accumulative total operation duration of the servo-drive system is：It is described Total operation duration of servomotor, or total operation duration when the servo-drive system is in power-up state.
- 15. the device as described in claim 10~14 is any, it is characterised in that the judging unit is specifically used for：Judge institute State whether total operation duration threshold value is arranged to Invalid parameter, when total operation duration threshold value is not configured to invalid ginseng Judge whether the servomotor is again started up by limitation during number；AndThe processing unit is additionally operable to, and starts the servo electricity when total operation duration threshold value is arranged to Invalid parameter Motivation.
- 16. the device as described in claim 10~14 is any, it is characterised in that also including alarm control unit, for when limit When making the servomotor and being again started up, alerted, and the alarm is released after checking alerts and releases authority.
- A kind of 17. servo-drive system, it is characterised in that including：Servomotor；Servo amplifier, opened again for before starting the servomotor, judging whether the servomotor is limited It is dynamic；Do not start the servomotor when the servomotor, which is limited, to be again started up, when the servomotor not by Limitation starts the servomotor when being again started up, and obtains the accumulative total operation duration of the servo-drive system, and when described total Operation duration is more than or equal to or during more than defined total operation duration threshold value, limits the servomotor and is opened again It is dynamic.
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