CN106685308B - Controller for motor - Google Patents
Controller for motor Download PDFInfo
- Publication number
- CN106685308B CN106685308B CN201610581200.XA CN201610581200A CN106685308B CN 106685308 B CN106685308 B CN 106685308B CN 201610581200 A CN201610581200 A CN 201610581200A CN 106685308 B CN106685308 B CN 106685308B
- Authority
- CN
- China
- Prior art keywords
- motor
- servo
- target position
- 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.)
- Active
Links
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
A kind of controller for motor can inhibit the quantity for connecting the signal wire of controller and servo amplifier to increase, and can increase the quantity of the rotation position of orientable servo motor.In controller for motor (1), target position table is stored in servo amplifier (3), the target position table be for multiple location datas of target rotational position as defined in being located in servo motor (2) and according to the target position serial number of each target rotational position setting associated and tabular and formed, controller (4) includes serial communication portion (6), and the target position serial number selection instruction for being used for selection target position number is sent by serial communication；And parallel communications portion (7), the motor starting order for being used for starting servo-motor (2) is sent by parallel communications.If servo amplifier (3) is entered motor starting order, starting servo-motor (2) rotates it according to location data corresponding with selected target position serial number.
Description
Technical field
The present invention relates to a kind of to export control with the servo amplifier controlled servo motor and to servo amplifier
Make the controller for motor of the controller of instruction.
Background technique
In the past, it is known that there is the motor to the servo motor servo amplifier controlled and host controller (controller)
Control device (for example, referring to patent document 1).In the controller for motor with servo amplifier and controller, it is used for
The target position table that servo motor is located in defined target rotational position is stored in the motor control dress of servo amplifier
It sets.Target position table is for servo motor to be located in multiple location datas of defined target rotational position and according to every
The target position serial number of one target rotational position setting is associated simultaneously tabular and is formed.In target position, table is stored in
In the controller for motor of servo amplifier, usually sent from controller to servo amplifier for selecting mesh by parallel communications
The selection instruction of cursor position serial number and starting order for starting servo-motor.
Patent document 1: Japanese Unexamined Patent Publication 2012-22492 bulletin
The selection instruction for being used for selection target position number is being sent from controller to servo amplifier by parallel communications
In the controller for motor for the starting order of starting servo-motor, due to passing through an other signal wire respectively from controller
The selection instruction and starting order as simple digital signal (being switched on or switched off signal) are sent to servo amplifier, therefore is connected
The radical for connecing the signal wire of controller and servo amplifier determines the quantity of selectable target position serial number.That is, in the horse
Up in control device, the radical of the signal wire for sending selection instruction in the signal wire of controller and servo amplifier is connected
Determine the quantity of the rotation position of orientable servo motor.For example, in the radical of the signal wire for sending selection instruction
In the case where for four, selectable target position serial number 16 (=24) kind, the rotation position of orientable servo motor is
16.
The selection for being used for selection target position number is sent from controller to servo amplifier even by parallel communications
The controller for motor of instruction and the starting order for starting servo-motor, as long as increasing the signal for sending selection instruction
The radical of line can also increase the quantity of the rotation position of orientable servo motor.But if for sending selection instruction
The radical of signal wire increases, then the cost of signal wire increases, and needs the biggish installation space of signal wire.
Summary of the invention
Therefore, the issue of the present invention is to provide a kind of controller for motor, target is stored in servo amplifier
Position table, the quantity for being able to suppress the signal wire of connection controller and servo amplifier increases, and can increase and can position
Servo motor rotation position quantity.
Means for solving the problems
In order to solve the above problems, controller for motor of the invention includes servo amplifier, the servo amplifier pair
Servo motor is controlled；And controller, the controller send control instruction to servo amplifier, servo amplifier has
Storage unit, is stored with target position table in the storage unit, and the target position table is for positioning servo motor
Multiple location datas in defined target rotational position and the target position serial number according to the setting of each target rotational position
It is associated simultaneously tabular and is formed, controller includes serial communication portion, and the serial communication portion passes through serial communication to servo
Amplifier sends the target position serial number selection instruction for being used for selection target position number；And parallel communications portion, it is described parallel
Communication unit sends the motor starting order for being used for starting servo-motor, target position serial number by parallel communications to servo amplifier
Selection instruction and motor starting order are successively input into servo amplifier, if servo amplifier is entered motor starting order,
Then starting servo-motor makes servo motor according to corresponding with the target position serial number selected according to target position serial number selection instruction
Location data rotation.
In controller for motor of the invention, controller has to be sent to servo amplifier for selecting by serial communication
The serial communication portion of the target position serial number selection instruction of target position serial number is selected, serial communication portion passes through serial communication to servo
Amplifier sends target position serial 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 position serial 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 position serial number selected according to target position serial number selection instruction
Location data rotation, therefore even if the quantity of the signal wire of connection controller and servo amplifier is fixed, servo amplifier also can
It is enough to revolve servo motor according to a variety of location datas respectively according to the target position serial number selection instruction sent by serial communication
Turn.Therefore, in the present invention, the quantity for being able to suppress the signal wire of connection controller and servo amplifier increases, and can
Increase the quantity of the rotation position of orientable servo motor.
Also, in the present invention, controller has is sent to servo amplifier for starting servo horse by parallel communications
The parallel communications portion of the motor starting order reached, parallel communications portion send motor starting to servo amplifier by parallel communications and refer to
It enables.That is, in the present invention, parallel communications portion sends to servo amplifier and is used as simple digital signal (being switched on or switched off signal)
Motor starting order.Therefore, in the present invention, can be carried out in servo amplifier using as the horse for being switched on or switched off signal
High speed processing up to the edge of starting order as trigger condition, as a result, servo amplifier can start in a short time
Servo motor.
In the present invention, it is preferred to if motor starting order is input into servo amplifier, servo motor is started, serially
Communication unit sends next target position serial number selection instruction to servo amplifier.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 position serial number selection instruction, therefore even if passes through servo motor in the upper equipment for being installed with servo motor
Rotate and in the case where being carried out continuously multiple movements, and even if sending target position serial number selection instruction by serial communication,
Also it can be transitioned into next movement in a short time.
In the present invention, it is preferred to which servo amplifier passes through if servo motor terminates according to the rotation that location data carries out
Parallel communications sends the rotation end signal of servo motor to controller, if controller is entered rotation end signal, parallel
Communication unit sends next motor starting order to servo amplifier.It constitutes if so, is then being installed with the upper of servo motor
When equipment is carried out continuously multiple movements by the rotation of servo motor, each that can reliably carry out upper equipment is dynamic
Make.Also, it constitutes, then terminates due to being sent to controller as the rotation for being switched on or switched off signal by parallel communications if so
Signal, therefore the edge to rotate end signal can be carried out in the controller as the high speed processing of trigger condition, result
It is that controller can send next motor starting order in a short time.
In the present invention, the constant speed turn of the acceleration-deceleration in location data for example, at least including servo motor, servo motor
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, being stored with target position table, energy in servo amplifier in controller for motor of the invention
The quantity of enough signal wires for inhibiting connection controller and servo amplifier increases, and can increase orientable servo motor
The quantity of rotation position.
Detailed description of the invention
Fig. 1 is the block diagram being illustrated for the structure to controller for motor involved in embodiments of the present invention.
Fig. 2 is the figure being illustrated for an example to the target position table stored in storage unit shown in FIG. 1.
(symbol description)
1 controller for motor
2 servo motors
3 servo amplifiers
4 controllers
5 storage units
6 serial communication portions
7 parallel communications portions
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.
(structure of controller for motor)
Fig. 1 is the block diagram being illustrated for the structure to controller for motor 1 involved in embodiments of the present invention.
Fig. 2 is the figure being illustrated for an example to the target position table stored in storage unit 5 shown in FIG. 1.
The controller for motor 1 of present embodiment includes the servo amplifier 3 controlled servo motor 2；And to
The controller 4 of the transmission control instruction of servo amplifier 3.Servo motor 2 is electrically connected with servo amplifier 3 by defined cable
It connects, servo amplifier 3 is electrically connected with controller 4 by defined cable.
Servo motor 2 is installed in upper equipment and uses.For example, servo motor 2 is installed in industrial robot, make machine
The arm of device people acts.Also, there is servo motor 2 encoder of rotation position and revolving speed for detecting servo motor 2 (to save
Sketch map shows).In order to carry out the feedback control of servo motor 2, the output signal of the encoder is input into servo amplifier 3.
Servo amplifier 3 has storage unit 5, is stored in the storage unit 5 defined for servo motor 2 to be located in
The target position table of target rotational position.For example, as shown in Fig. 2, target position table is for servo motor 2 to be located in
Multiple location datas of defined target rotational position and the target position serial number phase set according to each target rotational position
It is associated with simultaneously tabular and is formed.Acceleration-deceleration, servo motor 2 in one location data for example including servo motor 2 etc.
Fast revolving speed and the constant speed rotation time of servo motor 2 etc., when servo motor 2 is rotated according to location data, 2 quilt of servo motor
It is located in defined target rotational position.
Controller 4 is, for example, PLC (Programmable Logic Controller: can compile logic range controller).The control
Device 4 processed includes serial communication portion 6, is sent to servo amplifier 3 for from the multiple of target position table by serial communication
The target position serial number selection instruction of specific target position serial number is selected in the serial number of target position；And parallel communications portion 7,
The motor starting order for being used for starting servo-motor 2 is sent to servo amplifier 3 by parallel communications.Serial communication portion 6 uses
Common signal wire successively sends target position serial number selection instruction etc. to servo amplifier 3.The serial communication of present embodiment
Portion 6 is such as sending target position serial number selection instruction to servo amplifier 3 according to communication standard " RS485 ".
It includes horse that parallel communications portion 7, which is sent using the other signal wire for sending multiple instruction respectively to servo amplifier 3,
Up to the multiple instruction of starting order.Instruction transmitted by parallel communications portion 7 is that digital signal (is switched on or switched off signal (0/1 letter
Number)).Input/output port (Parallel I/O (the number for the instruction that there is servo amplifier 3 input to send from parallel communications portion 7
I/O), illustration omitted).In addition, instruction transmitted by parallel communications portion 7 refers to for the resetting of servo-controlled starting order or alarm
It enables or temporarily ceasing for servo motor 2 instructs and restart instruction etc..
Make the rotation of servo motor 2 to defined target rotational position and is keeping the upper equipment for being installed with servo motor 2 dynamic
When making, target position serial number selection instruction corresponding with target rotational position transmitted by serial communication portion 6 and parallel communications portion 7
Transmitted motor starting order is successively input into servo amplifier 3.If servo amplifier 3 is entered motor starting order,
Then starting servo-motor 2, make servo motor 2 according to the target position serial number pair that is selected according to target position serial number selection instruction
The location data rotation answered.Also, if servo motor 2 terminates according to the rotation that location data carries out, and servo amplifier 3 passes through
Parallel communications sends the rotation end signal of servo motor 2 to controller 4.At this point, servo amplifier 3 is from above-mentioned Parallel I/O
Rotation end signal is sent to controller 4.
Also, multiple movements are carried out continuously by the rotation of servo motor 2 in the upper equipment for being installed with servo motor 2
In the case where, if motor starting order is input into servo amplifier 3, servo motor 2 is started, and serial communication portion 6 is to servo
Amplifier 3 sends next target position serial number selection instruction.If also, sending next target position serial number selection instruction
The rotation end signal that the rotation of the servo motor 2 of Shi Xuanzhuan is sent after terminating from servo amplifier 3 is input into control
Device 4, then parallel communications portion 7 sends next motor starting order to servo amplifier 3.
(main effect of present embodiment)
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 position serial number selection instruction of target rotational position, serial communication portion 6 by serial communication to
Servo amplifier 3 sends target position serial number selection instruction.Therefore, in the present embodiment, even if connection controller 4 and servo
The quantity of the signal 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 position serial number selection instruction sent from serial communication portion 6.
For example, servo amplifier 3 can be selected with a character if the bit length of the communication data sent by serial communication is eight
256 (=28) kind target position serial number.
Also, in the present embodiment, due to servo amplifier 3 make servo motor 2 according to according to target position serial number
The corresponding location data rotation of the target position serial number of selection instruction selection, therefore even if connection controller 4 and servo amplifier 3
The quantity of signal wire fix, servo amplifier 3 can also refer to according to the target position serial number selection sent by serial communication
Order rotates servo motor 2 according to a variety of location datas respectively.Therefore, in the present embodiment, it is able to suppress connection controller 4
Increase with the quantity of the signal 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 has is sent to servo amplifier 3 for starting servo horse by parallel communications
Up to the parallel communications portion 7 of 2 motor starting order, parallel communications portion 7 sends motor to servo amplifier 3 by parallel communications and rises
Dynamic instruction.That is, in the present embodiment, parallel communications portion 7 sends to servo amplifier 3 and (connects as simple digital signal
Or cut-off signal) motor starting order.Therefore, in the present embodiment, can be carried out in servo amplifier 3 using as connecing
High speed processing of the edge of the motor starting order of on-off ON signal as trigger condition, as a result, 3 energy of servo amplifier
Enough starting servo-motor 2 in a short time.
In the present embodiment, the upper equipment for being installed with servo motor 2 by the rotation of servo motor 2 continuously into
In the case where the multiple movements of row, if motor starting order is input into servo amplifier 3, servo motor 2 is started, serial logical
Letter portion 6 sends next target position serial number selection instruction to servo amplifier 3.Therefore, in the present embodiment, can watch
It takes and inputs next target position serial number selection instruction to servo amplifier 3 during motor 2 is driven.Although by serial
The sending time that communication sends instruction is longer than the sending time for sending instruction by parallel communications, but in the present embodiment,
Since next target position serial number selection instruction can be inputted to servo amplifier 3 during servo motor 2 is driven,
Even if therefore the case where being carried out continuously multiple movements by the rotation of servo motor 2 using the upper equipment of servo motor 2
Under, and even if sending target position serial number selection instruction by serial communication, it can also transit in a short time next
Movement.
In the present embodiment, if servo motor 2 terminates according to the rotation that location data carries out, servo amplifier 3 is logical
Cross the rotation end signal that parallel communications sends servo motor 2 to controller 4.Also, it in the present embodiment, watches being installed with
Take motor 2 upper equipment multiple movements are carried out continuously by the rotation of servo motor 2 in the case where, if send it is next
The rotation knot that the rotation of the servo motor 2 rotated when the serial number selection instruction of target position is sent after terminating from servo amplifier 3
Beam signal is input into controller 4, then parallel communications portion 7 sends next motor starting order to servo amplifier 3.Therefore,
In the present embodiment, it is carried out continuously in the upper equipment for being installed with servo motor 2 by the rotation of servo motor 2 multiple dynamic
When making, each movement of upper equipment can be reliably carried out.Also, in the present embodiment, due to passing through parallel communications
Rotation end signal is sent to controller 4, therefore can carry out edge to rotate end signal in controller 4 as triggering
The high speed processing of condition, as a result, controller 4 can send next motor starting order in a short time.
(other embodiments)
Above embodiment is an example of preferred embodiment of the invention, but it's not limited to that, can not change this
Various modifications are carried out in the range of the objective of invention.
In the above-described embodiment, continuous by the rotation of servo motor 2 in the upper equipment for being installed with servo motor 2
In the case where carrying out multiple movements, if motor starting order is input into servo amplifier 3, servo motor 2 is started, serially
Communication unit 6 sends next target position serial number selection instruction to servo amplifier 3.In addition to this, it such as can also install
In the case where thering is the upper equipment of servo motor 2 to be carried out continuously multiple movements by the rotation of servo motor 2, serial communication portion
6 send next target position after the rotation end signal of servo motor 2 is input into controller 4, to servo amplifier 3
Serial number selection instruction.
Claims (3)
1. a kind of controller for motor comprising:
Servo amplifier, the servo amplifier control servo motor；And
Controller, the controller send control instruction to the servo amplifier,
The servo amplifier has storage unit, and target position table, the target position table are stored in the storage unit
Lattice are for the servo motor to be located in multiple location datas of defined target rotational position and according to described in each
The target position serial number of target rotational position setting is associated simultaneously tabular and is formed,
The controller includes serial communication portion, and the serial communication portion is sent by serial communication to the servo amplifier
For selecting the target position serial number selection instruction of the target position serial number；And parallel communications portion, the parallel communications portion
The motor starting order for starting the servo motor is sent to the servo amplifier by parallel communications,
The target position serial number selection instruction and the motor starting order are successively input into the servo amplifier,
If the servo amplifier is entered the motor starting order, the servo motor is started, makes the servo motor
It is revolved according to the location data corresponding with the target position serial number selected according to the target position serial number selection instruction
Turn,
If the motor starting order is input into the servo amplifier and the servo motor starts, the serial communication
Portion sends next target position serial number selection instruction to the servo amplifier.
2. controller for motor according to claim 1, which is characterized in that
If the servo motor terminates according to the rotation that the location data carries out, the servo amplifier passes through parallel communications
The rotation end signal of the servo motor is sent to the controller,
If the controller is entered the rotation end signal, under the parallel communications portion is sent to the servo amplifier
One motor starting order.
3. controller for motor according to claim 1 or 2, which is characterized in that
Including at least the acceleration-deceleration of the servo motor, the constant speed revolving speed of the servo motor and institute in the location data
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 CN106685308A (en) | 2017-05-17 |
| CN106685308B true 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) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI684081B (en) * | 2018-06-20 | 2020-02-01 | 新世代機器人暨人工智慧股份有限公司 | Motor numbering method, automatic control device, and recording medium |
Citations (5)
| 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 |
| 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 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| KR101499375B1 (en) * | 2011-02-25 | 2015-03-05 | 미쓰비시덴키 가부시키가이샤 | Control device, control system, and communication method |
| JP2014087235A (en) * | 2012-10-26 | 2014-05-12 | Iai Corp | Actuator control device and actuator control method |
-
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 (5)
| 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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2017028898A (en) | 2017-02-02 |
| KR102495125B1 (en) | 2023-02-02 |
| TW201710812A (en) | 2017-03-16 |
| CN106685308A (en) | 2017-05-17 |
| KR20170012081A (en) | 2017-02-02 |
| JP6552314B2 (en) | 2019-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI554022B (en) | Method for setting identification code of smart motor and multi-axis control apparatus using the same | |
| US10913155B2 (en) | Robot and method for controlling joints thereof | |
| CN106685308B (en) | Controller for motor | |
| CN102818102A (en) | Tripod head of monitoring ball machine | |
| CN103259470A (en) | Stepping motor movement system supporting a plurality of working modes | |
| CN101284401A (en) | Multi-line cutting machine in-phase servo drive and constant tension control system | |
| WO2015039944A1 (en) | Communication module for a field bus device | |
| EP2677376A2 (en) | Machine control program generation device, machine control program generation method, program, and information storage medium | |
| KR100784736B1 (en) | Robot control system and method | |
| CN110757459A (en) | Joint test method, device, equipment and storage medium | |
| WO2019220504A1 (en) | Smart servo motor, and drive device using a plurality of smart servo motors | |
| CN203747321U (en) | Peeling, soldering flux dipping and tinning integrated device of wiring harness equipment | |
| JP5472865B2 (en) | Driver setting operation method for stepping motor | |
| US20180141210A1 (en) | Robot and robot system | |
| CN105227041A (en) | The control method of motor driver and motor driven systems | |
| JP2017162156A (en) | Motion controller and synchronization controlling method | |
| CN204996738U (en) | Energy ball automatic sorting device | |
| JP2015162124A (en) | Control device, control system and control method | |
| US3486093A (en) | Motor control in a process control system | |
| CN106227088B (en) | Communication method | |
| KR101702341B1 (en) | Motion controller with easy operating | |
| KR100560859B1 (en) | Servo mortor connectable with control equipment by series or parallel | |
| CN203660944U (en) | Sewing machine centralized-control system | |
| CN109768738A (en) | Control device of electric motor, control system and method for motor control | |
| JP2006314159A (en) | Motor control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |