CN106685308A - Motor control device - Google Patents
Motor control device Download PDFInfo
- Publication number
- CN106685308A CN106685308A CN201610581200.XA CN201610581200A CN106685308A CN 106685308 A CN106685308 A CN 106685308A CN 201610581200 A CN201610581200 A CN 201610581200A CN 106685308 A CN106685308 A CN 106685308A
- Authority
- CN
- China
- Prior art keywords
- motor
- servo
- target location
- controller
- servo amplifier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/10—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for preventing overspeed or under speed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41002—Servo amplifier
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43097—Table, rom, ram speed table
Abstract
The invention provides a motor control device, which can inhibit amount increase of signal lines connecting controllers and servo amplifiers, and can increase the number of rotary positions for locatable servomotor. In the motor control apparatus (1), a target location table is memorized in a servo amplifier (3). The target location table is formed by correlating a plurality of position data set for target rotary positions and target location numbers set according to each target rotary position, and performing tabulation. A controller (4) has: a serial communication part (6) sending target location number selection instruction for selecting a target location number by serial communication; and a parallel communication part (7) sending motor activating command for activating the servomotor (2) by parallel communication. If the servo amplifier (3) is input with a motor activating command, the servomotor (2) would be activated so as to rotate in accordance with position data corresponding to selected target location number.
Description
Technical field
The present invention relates to a kind of control with the servo amplifier being controlled to servo motor and to servo amplifier output
The controller for motor of the controller of system instruction.
Background technology
In the past, it is known that the motor with the servo amplifier and host controller (controller) being controlled to servo motor
Control device (for example, referring to patent documentation 1).In the controller for motor with servo amplifier and controller, have for
The target location form that servo motor is positioned at the target rotational position of regulation is stored in the motor control dress of servo amplifier
Put.Target location form is multiple location datas for servo motor to be positioned at the target rotational position of regulation and according to every
The target location sequence number of one target rotational position setting is associated simultaneously tabular and is formed.In target location, form is stored in
In the controller for motor of servo amplifier, generally sent from controller to servo amplifier for selecting mesh by parallel communicationss
The selection instruction of cursor position sequence number and the starting order for starting servo-motor.
Patent documentation 1：Japanese Unexamined Patent Publication 2012-22492 publications
Sent from controller to servo amplifier for the selection instruction of selection target position number by parallel communicationss
In the controller for motor for the starting order of starting servo-motor, due to respectively by other holding wire from controller
Selection instruction and the starting order as simple digital signal (being switched on or switched off signal) is sent to servo amplifier, therefore is connected
Connect controller and determine the quantity of selectable target location sequence number with the radical of the holding wire of servo amplifier.That is, in the horse
Up in control device, connect the radical for sending the holding wire of selection instruction in the holding wire of controller and servo amplifier
Determine the quantity of the rotation position of orientable servo motor.For example, in the radical of the holding wire for being used to send selection instruction
In the case of for four, selectable target location serial number 16 (=24) plant, the rotation position of orientable servo motor is
16.
Send from controller to servo amplifier for the selection of selection target position number even by parallel communicationss
Instruction and the controller for motor of the starting order for starting servo-motor, as long as increasing the signal for sending selection instruction
The radical of line, it is also possible to increase the quantity of the rotation position of orientable servo motor.But, if for sending selection instruction
The radical of holding wire increases, then the cost up of holding wire, and needs the larger installation space of holding wire.
The content of the invention
Therefore, problem of the invention is to provide a kind of controller for motor, its target that is stored with servo amplifier
Position form, can suppress to connect the quantity increase of controller and the holding wire of servo amplifier, and can increase and can position
Servo motor rotation position quantity.
Means for solving the problems
In order to solve above-mentioned problem, the controller for motor of the present invention has：Servo amplifier, the servo amplifier pair
Servo motor is controlled；And controller, the controller to servo amplifier transmission control instruction, servo amplifier have
Storage part, be stored with target location form in the storage part, and the target location form is for servo motor to be positioned
In multiple location datas and the target location sequence number according to each target rotational position setting of the target rotational position of regulation
It is associated simultaneously tabular and is formed, controller has：Serial communication portion, the serial communication portion is by serial communication to servo
Amplifier sends the target location sequence number selection instruction for selection target position number；And parallel communicationss portion, it is described parallel
Communication unit sends motor starting order for starting servo-motor, target location sequence number by parallel communicationss to servo amplifier
Selection instruction and motor starting order are imported into successively servo amplifier, if servo amplifier is transfused to motor starting order,
Then starting servo-motor, makes servo motor according to corresponding with the target location sequence number selected according to target location sequence number selection instruction
Location data rotation.
The present invention controller for motor in, controller have sent for selecting to servo amplifier by serial communication
The serial communication portion of the target location sequence number selection instruction of target location sequence number is selected, serial communication portion is by serial communication to servo
Amplifier sends target location sequence number selection instruction.Therefore, in the present invention, even if the letter of connection controller and servo amplifier
The quantity of number line is fixed, and serial communication portion can also send plurality of target position number selection instruction, and servo amplifier being capable of root
Plurality of target position number is selected according to the target location sequence number selection instruction sent from serial communication portion.Also, in the present invention
In, servo amplifier makes servo motor according to corresponding with the target location sequence number selected according to target location sequence number selection instruction
Location data rotate, even if therefore connect controller fix with the quantity of the holding wire of servo amplifier, servo amplifier also can
It is enough servo motor is revolved according to various location datas respectively according to the target location sequence number selection instruction sent by serial communication
Turn.Therefore, in the present invention, the quantity increase for connecting controller and the holding wire of servo amplifier can be suppressed, and can
Increase the quantity of the rotation position of orientable servo motor.
Also, in the present invention, controller is had and is sent for starting servo horse to servo amplifier by parallel communicationss
The parallel communicationss portion of the motor starting order for reaching, parallel communicationss portion is sent motor and is started and referred to by parallel communicationss to servo amplifier
Order.I.e., in the present invention, parallel communicationss portion is sent as simple digital signal (being switched on or switched off signal) to servo amplifier
Motor starting order.Therefore, in the present invention, can carry out in servo amplifier using as the horse for being switched on or switched off signal
Up to starting order edge as trigger condition high speed processing, as a result, servo amplifier can be started at short notice
Servo motor.
In the present invention, it is preferred to if motor starting order is imported into servo amplifier and servo motor is started, serial
Communication unit to servo amplifier sends next target location sequence number selection instruction.Although the call duration time of serial communication is than parallel
The call duration time of communication is long, but constitutes if so, then can be defeated to servo amplifier during servo motor is driven
Enter next target location sequence number selection instruction, even if therefore being equiped with the upper equipment of servo motor by servo motor
Rotation and in the case of being carried out continuously multiple actions, even and if by serial communication transmission target location sequence number selection instruction,
Also next action can be at short notice transitioned into.
In the present invention, it is preferred to if servo motor terminates according to the rotation that location data is carried out, servo amplifier passes through
Parallel communicationss send the rotation end signal of servo motor to controller, if controller is transfused to rotation end signal, parallel
Communication unit to servo amplifier sends next motor starting order.Constitute if so, be then equiped with the upper of servo motor
When equipment is carried out continuously multiple actions by the rotation of servo motor, can reliably carry out upper equipment each move
Make.Also, constitute if so, then due to being terminated as the rotation for being switched on or switched off signal to controller transmission by parallel communicationss
Signal, therefore, it is possible to carry out in the controller to rotate the high speed processing at the edge of end signal as trigger condition, its result
It is that controller can at short notice send next motor starting order.
In the present invention, in location data for example, at least including servo motor acceleration-deceleration, the constant speed of servo motor turn
The constant speed rotation time of speed and servo motor.In this case, servo amplifier can be according to location data directly to servo
Motor is controlled.
Invention effect
As described above, in the controller for motor of the present invention, be stored with target location form in servo amplifier, energy
It is enough to suppress connection controller to increase with the quantity of the holding wire of servo amplifier, and orientable servo motor can be increased
The quantity of rotation position.
Description of the drawings
Fig. 1 is the block diagram for illustrating to the structure of the controller for motor involved by embodiments of the present invention.
Fig. 2 is for a figure for illustrating to the target location form stored in the storage part shown in Fig. 1.
(symbol description)
1 controller for motor
2 servo motors
3 servo amplifiers
4 controllers
5 storage parts
6 serial communication portions
7 parallel communicationss portions
Specific embodiment
Hereinafter, embodiments of the present invention are illustrated referring to the drawings.
(structure of controller for motor)
Fig. 1 is the block diagram for illustrating to the structure of the controller for motor 1 involved by embodiments of the present invention.
Fig. 2 is for a figure for illustrating to the target location form stored in the storage part 5 shown in Fig. 1.
The controller for motor 1 of present embodiment has：The servo amplifier 3 that servo motor 2 is controlled；And to
Servo amplifier 3 sends the controller 4 of control instruction.Servo motor 2 is electrically connected with servo amplifier 3 by the cable of regulation
Connect, servo amplifier 3 is electrically connected with controller 4 by the cable of regulation.
Servo motor 2 is installed in upper equipment and uses.For example, servo motor 2 is installed in industrial robot, makes machine
The arm action of device people.Also, the encoder that servo motor 2 has the rotation position for detecting servo motor 2 and rotating speed (is saved
Sketch map shows).In order to carry out the feedback control of servo motor 2, the output signal of the encoder is imported into servo amplifier 3.
Servo amplifier 3 has storage part 5, is stored with the storage part 5 for servo motor 2 to be positioned at into regulation
The target location form of target rotational position.For example, as shown in Fig. 2 target location form is for servo motor 2 to be positioned at
Multiple location datas of the target rotational position of regulation and the target location sequence number phase according to each target rotational position setting
Associate simultaneously tabular and formed.Acceleration-deceleration, servo motor 2 in one location data for example including servo motor 2 etc.
Constant speed rotation time of fast rotating speed and servo motor 2 etc., when servo motor 2 rotates according to location data, the quilt of servo motor 2
It is positioned at the target rotational position of regulation.
Controller 4 is, for example, PLC (Programmable Logic Controller：Logic range controller can be compiled).The control
Device processed 4 has：Serial communication portion 6, it passes through serial communication and sends for from the multiple of target location form to servo amplifier 3
The target location sequence number selection instruction of specific target location sequence number is selected in the sequence number of target location；And parallel communicationss portion 7, its
The motor starting order for starting servo-motor 2 is sent to servo amplifier 3 by parallel communicationss.Serial communication portion 6 uses
Common holding wire to servo amplifier 3 sends successively target location sequence number selection instruction etc..The serial communication of present embodiment
Portion 6 for example sends target location sequence number selection instruction etc. according to communication standard " RS485 " to servo amplifier 3.
Parallel communicationss portion 7 is sent using the individual other holding wire for sending multiple instruction respectively to servo amplifier 3 includes horse
Up to the multiple instruction of starting order.The instruction that parallel communicationss portion 7 is sent is that digital signal (is switched on or switched off signal (0/1 letter
Number)).Servo amplifier 3 has the input/output port (Parallel I/O (numeral for being input into the instruction sent from parallel communicationss portion 7
I/O), diagram is omitted).In addition, the instruction that parallel communicationss portion 7 is sent refers to for the replacement of servo-controlled starting order or alarm
Order or temporarily ceasing for servo motor 2 instruct and restart instruction etc..
Make servo motor 2 rotate the target rotational position to regulation and move the upper equipment for being equiped with servo motor 2
When making, target location sequence number selection instruction corresponding with the target rotational position that serial communication portion 6 is sent and parallel communicationss portion 7
The motor starting order for being sent is imported into successively servo amplifier 3.If servo amplifier 3 is transfused to motor starting order,
Then starting servo-motor 2, make servo motor 2 according to the target location sequence number pair selected according to target location sequence number selection instruction
The location data rotation answered.Also, if servo motor 2 terminates according to the rotation that location data is carried out, servo amplifier 3 passes through
Parallel communicationss send the rotation end signal of servo motor 2 to controller 4.Now, servo amplifier 3 is from above-mentioned Parallel I/O
Rotation end signal is sent to controller 4.
Also, multiple actions are carried out continuously by the rotation of servo motor 2 in the upper equipment for being equiped with servo motor 2
In the case of, if motor starting order is imported into servo amplifier 3, servo motor 2 is started, and serial communication portion 6 is to servo
Amplifier 3 sends next target location sequence number selection instruction.If also, sending next target location sequence number selection instruction
The rotation end signal that the rotation of the servo motor 2 of Shi Xuanzhuan sends after terminating from servo amplifier 3 is imported into control
Device 4, then parallel communicationss portion 7 send next motor starting order to servo amplifier 3.
(main efficacy results of present embodiment)
It is as described above, in the present embodiment, controller 4 have by serial communication to servo amplifier 3 send with
The serial communication portion 6 of the corresponding target location sequence number selection instruction of target rotational position, serial communication portion 6 by serial communication to
Servo amplifier 3 sends target location sequence number selection instruction.Therefore, in the present embodiment, even if connection controller 4 and servo
The quantity of the holding wire of amplifier 3 is fixed, and serial communication portion 6 can also send plurality of target position number selection instruction, servo
Amplifier 3 can select plurality of target position number according to the target location sequence number selection instruction sent from serial communication portion 6.
For example, if the bit length of the communication data sent by serial communication is eight, servo amplifier 3 can be selected with a character
256 (=28) plant target location sequence number.
Also, in the present embodiment, due to servo amplifier 3 make servo motor 2 according to according to target location sequence number
The corresponding location data rotation of target location sequence number that selection instruction is selected, even if therefore connection controller 4 and servo amplifier 3
The quantity of holding wire fix, servo amplifier 3 also can select refer to according to the target location sequence number sent by serial communication
Order makes servo motor 2 be rotated according to various location datas respectively.Therefore, in the present embodiment, can suppress to connect controller 4
Increase with the quantity of the holding wire of servo amplifier 3, and the number of the rotation position of orientable servo motor 2 can be increased
Amount.
In the present embodiment, controller 4 is had and is sent for starting servo horse to servo amplifier 3 by parallel communicationss
Up to the parallel communicationss portion 7 of 2 motor starting order, parallel communicationss portion 7 sends motor and rises by parallel communicationss to servo amplifier 3
Dynamic instruction.I.e., in the present embodiment, parallel communicationss portion 7 sends to servo amplifier 3 and (is connected as simple digital signal
Or cut-off signal) motor starting order.Therefore, in the present embodiment, can carry out in servo amplifier 3 using as connecing
The edge of the motor starting order of on-off ON signal as trigger condition high speed processing, as a result, the energy of servo amplifier 3
Enough starting servo-motor 2 at short notice.
In the present embodiment, continuously entered by the rotation of servo motor 2 in the upper equipment for being equiped with servo motor 2
In the case of the multiple actions of row, if motor starting order is imported into servo amplifier 3, servo motor 2 is started, and serial is led to
Letter portion 6 to servo amplifier 3 sends next target location sequence number selection instruction.Therefore, in the present embodiment, can watch
Take and be input into next target location sequence number selection instruction to servo amplifier 3 during motor 2 is driven.Although passing through serial
The transmission time ratio that communication sends instruction is long by the transmission time of parallel communicationss transmission instruction, but in the present embodiment,
Due to next target location sequence number selection instruction can be input into servo amplifier 3 during servo motor 2 is driven,
Even if being therefore carried out continuously the situation of multiple actions by the rotation of servo motor 2 in the upper equipment using servo motor 2
Under, even and if target location sequence number selection instruction is sent by serial communication, it is also possible to the next one is transitted at short notice
Action.
In the present embodiment, if servo motor 2 terminates according to the rotation that location data is carried out, servo amplifier 3 leads to
Cross the rotation end signal that parallel communicationss send servo motor 2 to controller 4.Also, in the present embodiment, watch being equiped with
Take motor 2 upper equipment multiple actions are carried out continuously by the rotation of servo motor 2 in the case of, if next sending
The rotation knot that the rotation of the servo motor 2 rotated during the sequence number selection instruction of target location sends after terminating from servo amplifier 3
Beam signal is imported into controller 4, then parallel communicationss portion 7 sends next motor starting order to servo amplifier 3.Therefore,
In the present embodiment, it is carried out continuously by the rotation of servo motor 2 in the upper equipment for being equiped with servo motor 2 multiple dynamic
When making, each action of upper equipment can be reliably carried out.Also, in the present embodiment, due to by parallel communicationss
Rotation end signal is sent to controller 4, therefore, it is possible to the edge to rotate end signal is carried out in controller 4 as triggering
The high speed processing of condition, as a result, controller 4 can at short notice send next motor starting order.
(other embodiment)
Above-mentioned embodiment is of the optimal way of the present invention, but is not limited to this, can not change this
Various modifications are carried out in the range of the objective of invention.
In the above-described embodiment, it is continuous by the rotation of servo motor 2 in the upper equipment for being equiped with servo motor 2
In the case of carrying out multiple actions, if motor starting order is imported into servo amplifier 3, servo motor 2 is started, serial
Communication unit 6 to servo amplifier 3 sends next target location sequence number selection instruction.In addition, for example can also be in installing
In the case that the upper equipment for having servo motor 2 is carried out continuously multiple actions by the rotation of servo motor 2, serial communication portion
6 after the rotation end signal of servo motor 2 is imported into controller 4, to servo amplifier 3 next target location are sent
Sequence number selection instruction.
Claims (4)
1. a kind of controller for motor, it is characterised in that have：
Servo amplifier, the servo amplifier is controlled to servo motor；And
Controller, the controller to the servo amplifier sends control instruction,
The servo amplifier has storage part, and be stored with target location form in the storage part, the target location table
Lattice are multiple location datas for the servo motor to be positioned at the target rotational position of regulation and according to described in each
The target location sequence number of target rotational position setting is associated simultaneously tabular and is formed,
The controller has：Serial communication portion, the serial communication portion is sent by serial communication to the servo amplifier
For selecting the target location sequence number selection instruction of the target location sequence number；And parallel communicationss portion, the parallel communicationss portion
Motor starting order for starting the servo motor is sent to the servo amplifier by parallel communicationss,
The target location sequence number selection instruction and the motor starting order are imported into successively the servo amplifier,
If the servo amplifier is transfused to the motor starting order, the servo motor is started, make the servo motor
Revolved according to the location data corresponding with the target location sequence number selected according to the target location sequence number selection instruction
Turn.
2. controller for motor according to claim 1, it is characterised in that
If the motor starting order is imported into the servo amplifier and the servo motor is started, the serial communication
Portion to the servo amplifier sends the next target location sequence number selection instruction.
3. controller for motor according to claim 2, it is characterised in that
If the servo motor terminates according to the rotation that the location data is carried out, the servo amplifier passes through parallel communicationss
The rotation end signal of the servo motor is sent to the controller,
If the controller is transfused to the rotation end signal, the parallel communicationss portion is under servo amplifier transmission
One motor starting order.
4. controller for motor according to any one of claim 1 to 3, it is characterised in that
Acceleration-deceleration, the constant speed rotating speed of the servo motor and institute in the location data at least including the servo motor
State the constant speed rotation time of servo motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015146302A JP6552314B2 (en) | 2015-07-24 | 2015-07-24 | Motor controller |
| JP2015-146302 | 2015-07-24 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106685308A true CN106685308A (en) | 2017-05-17 |
| CN106685308B CN106685308B (en) | 2019-08-27 |
Family
ID=57950068
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610581200.XA Active CN106685308B (en) | 2015-07-24 | 2016-07-22 | Controller for motor |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6552314B2 (en) |
| KR (1) | KR102495125B1 (en) |
| CN (1) | CN106685308B (en) |
| TW (1) | TW201710812A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110618615A (en) * | 2018-06-20 | 2019-12-27 | 新世代机器人暨人工智慧股份有限公司 | Motor numbering method, automatic control device and recording medium |
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| CN1530784A (en) * | 2003-03-17 | 2004-09-22 | 发那科株式会社 | Numerical value controller |
| CN102214154A (en) * | 2011-05-31 | 2011-10-12 | 上海交通大学 | USB (Universal Serial Bus)-based communication module and communication method for alternating current servo driver |
| CN102375455A (en) * | 2010-07-14 | 2012-03-14 | 富士电机株式会社 | Positioning and controlling device |
| CN102545730A (en) * | 2010-10-18 | 2012-07-04 | 松下电器产业株式会社 | Motor control system |
| JP2012252445A (en) * | 2011-06-01 | 2012-12-20 | Fuji Electric Co Ltd | Positioning device |
| CN103430510A (en) * | 2011-02-25 | 2013-12-04 | 三菱电机株式会社 | Control device, control system, and communication method |
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|---|---|---|---|---|
| US4977359A (en) * | 1989-11-24 | 1990-12-11 | Omron Tateisi Electronics Co. | Servo motor system requiring a reduced number of signal transmission lines |
| JPH047609A (en) * | 1990-04-25 | 1992-01-13 | Fuji Electric Co Ltd | Pulse generator for control of positioning |
| JPH05137183A (en) * | 1991-03-20 | 1993-06-01 | Toei Denki Kk | Servo control system |
| JPH09285190A (en) * | 1996-04-17 | 1997-10-31 | Sony Corp | Motor drive unit and motor driving method |
| JP2000014194A (en) * | 1998-06-17 | 2000-01-14 | Noritsu Koki Co Ltd | Method and apparatus for controlling intelligent driver |
| JP2003058217A (en) * | 2001-08-20 | 2003-02-28 | Toshiba Mach Co Ltd | Robot controller and control method for robot |
| JP2005086918A (en) * | 2003-09-09 | 2005-03-31 | Fanuc Ltd | Motor driving device |
| JP2014087235A (en) * | 2012-10-26 | 2014-05-12 | Iai Corp | Actuator control device and actuator control method |
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2015
- 2015-07-24 JP JP2015146302A patent/JP6552314B2/en active Active
-
2016
- 2016-07-07 TW TW105121626A patent/TW201710812A/en unknown
- 2016-07-20 KR KR1020160091877A patent/KR102495125B1/en active IP Right Grant
- 2016-07-22 CN CN201610581200.XA patent/CN106685308B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1530784A (en) * | 2003-03-17 | 2004-09-22 | 发那科株式会社 | Numerical value controller |
| CN102375455A (en) * | 2010-07-14 | 2012-03-14 | 富士电机株式会社 | Positioning and controlling device |
| CN102545730A (en) * | 2010-10-18 | 2012-07-04 | 松下电器产业株式会社 | Motor control system |
| CN103430510A (en) * | 2011-02-25 | 2013-12-04 | 三菱电机株式会社 | Control device, control system, and communication method |
| CN102214154A (en) * | 2011-05-31 | 2011-10-12 | 上海交通大学 | USB (Universal Serial Bus)-based communication module and communication method for alternating current servo driver |
| JP2012252445A (en) * | 2011-06-01 | 2012-12-20 | Fuji Electric Co Ltd | Positioning device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110618615A (en) * | 2018-06-20 | 2019-12-27 | 新世代机器人暨人工智慧股份有限公司 | Motor numbering method, automatic control device and recording medium |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017028898A (en) | 2017-02-02 |
| KR102495125B1 (en) | 2023-02-02 |
| TW201710812A (en) | 2017-03-16 |
| KR20170012081A (en) | 2017-02-02 |
| JP6552314B2 (en) | 2019-07-31 |
| CN106685308B (en) | 2019-08-27 |
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