CN115811203A - Controller for controlling a motor - Google Patents
Controller for controlling a motor Download PDFInfo
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- CN115811203A CN115811203A CN202310024498.4A CN202310024498A CN115811203A CN 115811203 A CN115811203 A CN 115811203A CN 202310024498 A CN202310024498 A CN 202310024498A CN 115811203 A CN115811203 A CN 115811203A
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- power supply
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- driving
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- Control Of Electric Motors In General (AREA)
Abstract
The present invention provides a controller, comprising: the second type driving unit further includes a power supply board for converting the first power supplied from the power supply unit into a second power having a lower voltage than the first power, and supplying the second power to the driving board to operate the driving board, thereby driving the second type driving object different in type from the first type driving object by the driving board.
Description
The application is a divisional application with the application date of 2016, 9, 27, and the application number of 201680086166.7, entitled controller.
Technical Field
The present invention relates to a technique for driving a driving object such as a motor.
Background
Conventionally, a motor controller is generally used to drive a motor. The motor controller incorporates a drive board on which a drive element such as a power transistor is mounted and a power supply board that generates power, and the drive board receives power supply from the power supply board and drives the motor.
Prior art documents
Patent literature
Patent document 1: japanese patent laid-open publication No. 2006-330805
Disclosure of Invention
Problems to be solved by the invention
However, such a motor controller is sometimes required to cope with the addition of the motor. Therefore, it is conceivable to unitize the power supply board and the drive board as the power supply unit and the drive unit, respectively, and to add the drive unit by adding the motor.
In this case, it is preferable to incorporate a driving unit requiring a low-voltage power supply into the controller for the purpose of minimizing and optimizing the system configuration. However, when such a drive unit is to be incorporated, the following problems arise. That is, a high-voltage power supply of, for example, 200V or more is used for driving the AC servo motor, and a low-voltage power supply of, for example, 24V is used for driving the stepping motor. Therefore, in order to add a drive unit for driving the stepping motor to a motor controller including a drive unit for driving the AC servo motor, it is necessary to separately provide a unit for generating a low-voltage power supply from a high-voltage power supply, such as a basic housing unit described in patent document 1.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique that does not require a separate unit for generating a low-voltage power supply from a high-voltage power supply when a drive unit requiring a low-voltage power supply is incorporated into a controller including a drive unit requiring a high-voltage power supply.
Means for solving the problems
The controller of the present invention includes: the second type driving unit further includes a power supply board for converting the first power supplied from the power supply unit into a second power having a lower voltage than the first power, and supplying the second power to the driving board to operate the driving board, thereby driving the second type driving object different in type from the first type driving object by the driving board.
The drive unit of the present invention includes: a power supply substrate that converts a first power supply supplied from the outside into a second power supply having a lower voltage than the first power supply; and a drive substrate that operates upon receiving the supply of the second power source, thereby driving the drive target.
In the present invention (controller, driver) configured as described above, the driving unit (second type driving unit) includes a power supply board that converts the first power supply (high-voltage power supply) into the second power supply (low-voltage power supply), and drives the driving board to drive the driving object by the second power supply generated by the power supply board. Therefore, when a drive unit (second type drive unit) requiring a second power supply (low voltage power supply) is incorporated into a controller including a drive unit (first type drive unit) requiring a first power supply (high voltage power supply), a unit for generating a low voltage power supply (second power supply) from the high voltage power supply (first power supply) does not need to be separately added.
Effects of the invention
According to the present invention, when the drive unit requiring the low-voltage power supply is incorporated into the controller including the drive unit requiring the high-voltage power supply, it is not necessary to separately add a unit for generating the low-voltage power supply from the high-voltage power supply.
Drawings
Fig. 1 is a block diagram showing an electrical configuration of a motor controller according to a first embodiment of the controller of the present invention.
Fig. 2 is a block diagram showing a relationship between the drive unit and the AC servomotor.
Fig. 3 is a block diagram showing a relationship between the driving unit and the stepping motor.
Fig. 4 is a front view schematically showing an external configuration of the motor controller shown in fig. 1.
Fig. 5 is a front view schematically showing an external configuration of the motor controller shown in fig. 1.
Fig. 6 is a block diagram showing an electrical configuration of a motor controller according to a second embodiment of the controller of the present invention.
Fig. 7 is a block diagram showing an electrical configuration of a motor controller according to a third embodiment of the motor controller of the present invention.
Detailed Description
Fig. 1 is a block diagram showing an electrical configuration of a motor controller according to a first embodiment of the controller of the present invention. As shown in fig. 1, the motor controller 1 includes a power supply unit 2, a plurality of drive units 3, and a main controller unit 4. Incidentally, in the example of fig. 1, 2 drive units 3 are shown, but as will be described later, in the motor controller 1 of the present embodiment, the number of drive units 3 can be increased or decreased as appropriate. When the 2 drive units 3 shown in fig. 1 are divided, they are appropriately denoted as a drive unit 3A and a drive unit 3B, respectively.
The power supply unit 2 includes 2 power supply input terminals T21 and T22, a strong current output terminal T23, a weak current output terminal T24, and a power supply board 21 on which a power supply circuit for generating a power supply is mounted. The power input terminal T21 is a main power input terminal to which a main power (for example, AC 200V) is externally input, and the power input terminal T22 is a control power input terminal to which a control power (for example, DC 24V) is externally input. The power input terminals T21 and T22 are connected to the power board 21, respectively, and the power board 21 generates various power supplies necessary for the operation of the drive unit 3 and the main controller unit 4 from the power supplies input to the power input terminals T21 and T22. That is, the power supply board 21 generates a strong Ph (for example, DC 280V) from the main power supply input to the power supply input terminal T21, and outputs the strong Ph from the strong output terminal T23. The power supply board 21 generates a weak current Pw (for example, DC 24V) from the control power supply input to the power supply input terminal T22, and outputs the weak current Pw from the weak current output terminal T24. The power supply unit 2 includes a strong electric connector H2 and a weak electric connector W2, a strong electric output terminal T23 is provided on the strong electric connector H2, and a weak electric output terminal T24 is provided on the weak electric connector W2.
The drive unit 3A of the plurality of drive units 3 functions to drive an AC servomotor Ma (fig. 2). Here, fig. 2 is a block diagram showing a relationship between the drive unit and the AC servomotor. As shown in fig. 1 and 2, the drive unit 3A includes a strong current input terminal T31 to which a strong current Ph is input, a weak current input terminal T32 to which a weak current Pw is input, a strong current output terminal T33 connected to the strong current input terminal T31, and a weak current output terminal T34 connected to the weak current input terminal T32, wherein the strong current Ph input to the strong current input terminal T31 is output from the strong current output terminal T33, and the weak current Pw input to the weak current input terminal T32 is output from the weak current output terminal T34. The drive unit 3A includes a signal input terminal T35 to which the control signal Sc is input and a signal output terminal T36 connected to the signal input terminal T35, and the control signal Sc input to the signal input terminal T35 is output from the signal output terminal T36.
The drive unit 3A includes 2 strong electric connectors H31 and H32 and 2 weak electric connectors W31 and W32. The strong electric input terminal T31 is provided to the strong electric connector H31, the strong electric output terminal T33 is provided to the strong electric connector H32, the weak electric input terminal T32 and the signal output terminal T36 are provided to the weak electric connector W31, and the weak electric output terminal T34 and the signal input terminal T35 are provided to the weak electric connector W32.
The drive Unit 3A includes a CPU (Central Processing Unit) 31, a motor control board 32, and a power circuit board 33. The CPU31 and the motor control board 32 are connected to the weak current input terminal T32, and operate upon receiving supply of the weak current Pw input to the weak current input terminal T32. The CPU31 is connected to the signal input terminal T35, and transfers the control signal Sc input to the signal input terminal T35 by serial communication to the motor control board 32, and the motor control board 32 controls the power circuit board 33 by the received control signal Sc. On the other hand, the power circuit board 33 is connected to the strong electric input terminal T31, and operates by receiving supply of a strong electric Ph input to the strong electric input terminal T31. That is, the power circuit board 33 is mounted with a drive element such as a power transistor, and supplies a drive signal Sa (drive current) generated by switching the drive element to which a strong electric current Ph is applied based on the control signal Sc to the AC servo motor Ma. Thereby, AC servo motor Ma rotates in accordance with control signal Sc. Then, a detection value of an encoder of AC servo motor Ma (a rotational position of AC servo motor Ma) is input to motor control board 32, and motor control board 32 controls power circuit board 33 based on the detection value, thereby performing feedback control of the rotation of AC servo motor Ma.
In addition, the drive unit 3B of the plurality of drive units 3 functions to drive the stepping motor Ms (fig. 3). Here, fig. 3 is a block diagram showing a relationship between the driving unit and the stepping motor. The driving unit 3B is different from the driving unit 3A in that a low-voltage power supply Pl is generated by stepping down a strong current Ph to drive the stepping motor Ms. Therefore, the following description will be focused on differences from the drive unit 3A, and the components common to the drive unit 3A will be given corresponding reference numerals and omitted from the description.
As shown in fig. 1 and 3, the drive unit 3B includes a power supply board 34 on which a power supply circuit for generating a voltage is mounted, in addition to the configuration of the drive unit 3A. The power supply board 34 is connected to the strong-current input terminal T31, and generates a low-voltage power supply Pl (for example, DC 24V) having a voltage lower than a strong current Ph from the strong current Ph (high-voltage power supply) supplied to the strong-current input terminal T31. The low-voltage power supply Pl is supplied from the power supply board 34 to the power circuit board 33. The power circuit board 33 is mounted with a driving element such as a power transistor, and supplies a driving signal Ss (driving current) generated by switching the driving element to which the low-voltage power supply Pl is applied based on the control signal Sc to the stepping motor Ms. Thereby, the stepping motor Ms rotates in accordance with the control signal Sc. Then, a detection value of the encoder of the stepping motor Ms (the rotation position of the stepping motor Ms) is input to the motor control board 32, and the motor control board 32 controls the power circuit board 33 based on the detection value, thereby performing feedback control on the rotation of the stepping motor Ms.
The main controller unit 4 functions to generate a control signal Sc to be output to each of the drive units 3. The main controller unit 4 includes a weak current input terminal T41 to which a weak current Pw is input, a signal output terminal T42 that outputs a control signal Sc, and a weak current connector W4, and the weak current input terminal T41 and the signal output terminal T42 are provided in the weak current connector W4. The main controller unit 4 is provided with a CPU41. The CPU41 is connected to the weak current input terminal T41, and operates upon receiving supply of the weak current Pw input to the weak current connector W4. The CPU41 generates a control signal Sc for causing the motors Ma and Ms to perform an operation taught by a teach pendant or the like, and outputs the control signal Sc from a signal output terminal T42.
Fig. 4 and 5 are front views schematically showing an external configuration of the motor controller shown in fig. 1. The motor controller 1 can take a state in which the respective units 2, 3A, 3B, 4 are separated from each other as shown in fig. 4 and a state in which the respective units 2, 3A, 3B, 4 arranged in the arrangement direction D are connected as shown in fig. 5.
The power supply unit 2 includes a power supply case 20 having a rectangular parallelepiped shape, and a power supply substrate 21 is housed in the power supply case 20. A power input terminal T21 and a power input terminal T22 are attached to the front surface 20a of the power supply case 20, and an external power supply is connected to each of the power input terminal T21 and the power input terminal T22. Further, a strong electric connector H2 and a weak electric connector W2 are mounted on the power supply side surface 20c of the side surfaces 20b and 20c of the power supply case 20. The high-voltage connector H2 and the low-voltage connector W2 are receptacle connectors, the high-voltage connector H2 has a high-voltage output terminal T23 as a connector tab, and the low-voltage connector W2 has a low-voltage output terminal T24 as a connector tab.
The drive unit 3A includes a driver case 30 having a rectangular parallelepiped shape, and a CPU31, a motor control board 32, and a power circuit board 33 are housed in the driver case 30. An external encoder input unit 36, a motor encoder input unit 37, and a motor power output unit 38 are mounted on the front surface 30a of the driver housing 30. The motor encoder input unit 37 is connected to the input of the motor control board 32 in the driver housing 30, and the motor power output unit 38 is connected to the output of the power circuit board 33 in the driver housing 30. The encoder output of the AC servomotor Ma is input to the motor control board 32 via the motor encoder input unit 37, and the power circuit board 33 inputs the drive signal Sa to the AC servomotor Ma via the motor power output unit 38.
Similarly to the drive unit 3A, the drive unit 3B includes a rectangular parallelepiped actuator case 30 having an external encoder input unit 36, a motor encoder input unit 37, and a motor power output unit 38 mounted on a front surface 30a thereof. The driver case 30 accommodates a CPU31, a motor control board 32, a power circuit board 33, and a power supply board 34. The motor encoder input unit 37 is connected to the input of the motor control board 32 in the driver housing 30, and the motor power output unit 38 is connected to the output of the power circuit board 33 in the driver housing 30. The encoder output of the stepping motor Ms is input to the motor control board 32 via the motor encoder input unit 37, and the power circuit board 33 inputs the drive signal Ss to the stepping motor Ms via the motor power output unit 38.
Further, a strong electric connector H31 and a weak electric connector W31 are attached to a first side surface 30B on one side Db (on the power supply unit 2 side) in the arrangement direction D of the side surfaces 30B and 30c of the driver housings 30 of the drive units 3A and 3B, which are parallel to each other. The strong electric connector H31 is a plug connector having a shape detachable from the strong electric connector H2 of the power supply unit 2, and has a strong electric input terminal T31 as a connector terminal. The weak current connector W31 is a plug connector having a shape detachable from the weak current connector W2 of the power supply unit 2, and has a weak current input terminal T32 and a signal output terminal T36 as connector contacts.
A strong electric connector H32 and a weak electric connector W32 are attached to a second side surface 30c on the other side Dc (the opposite side to the power supply unit 2) in the arrangement direction D of the side surfaces 30b and 30 c. The high-power connector H32 is a receptacle connector having the same shape as the high-power connector H2 of the power supply unit 2, and has a high-power output terminal T33 as a connector terminal. The electric power connector H32 has a shape detachable from the electric power connector H31. Therefore, the high electric connector H32 of one drive unit 3 is detachable from the high electric connector H31 of the other drive unit 3. The weak current connector W32 is a receptacle connector having the same shape as the weak current connector W2 of the power supply unit 2, and has weak current output terminals T34 and signal input terminals T35 as connector contacts. The weak current connector W32 has a shape detachable from the weak current connector W31. Therefore, the weak current connector W32 of one drive unit 3 is detachable from the weak current connector W31 of the other drive unit 3.
In this way, the strong electric connector H31 and the weak electric connector W31 of the drive unit 3 are configured to be detachable from the strong electric connector H2 and the weak electric connector W2 of the power supply unit 2, respectively. Therefore, the drive unit 3 can be connected to the power supply unit 2. Although both the drive units 3A and 3B can be connected to the power supply unit 2, here, as shown in fig. 5, a case where the drive unit 3A is connected to the power supply unit 2 will be described.
When the first side surface 30b of the drive unit 3A is brought into proximity to the power supply side surface 20c of the power supply unit 2 from the other side Dc in the arrangement direction D and the strong electric connector H31 of the drive unit 3A is coupled to the strong electric connector H2 of the power supply unit 2, the strong electric input terminal T31 of the drive unit 3A comes into contact with the strong electric output terminal T23 of the power supply unit 2. Thus, power circuit board 33 of drive unit 3A receives a strong current Ph from power supply unit 2. Also, if the weak current connector W31 of the drive unit 3A is coupled with the weak current connector W2 of the power supply unit 2, the weak current input terminal T32 of the drive unit 3A contacts the weak current output terminal T24 of the power supply unit 2. Thus, the CPU31 and the motor control board 32 of the drive unit 3A receive the weak current Pw from the power supply unit 2.
The strong electric connector H31 and the weak electric connector W31 of the drive unit 3 are configured to be detachable from the strong electric connector H32 and the weak electric connector W32 of the other drive unit 3, respectively. Therefore, as illustrated in fig. 5, the drive unit 3B can be connected to the drive unit 3A connected to the power supply unit 2. That is, if the first side surface 30B of the drive unit 3B is made to be adjacent to the second side surface 30c of the drive unit 3A from the other side Dc in the arrangement direction D and the strong electric connector H31 of the drive unit 3B is coupled to the strong electric connector H32 of the drive unit 3A, the strong electric input terminal T31 of the drive unit 3B comes into contact with the strong electric output terminal T33 of the drive unit 3A. At this time, in the drive unit 3A, the strong electric output terminal T33 is short-circuited to the strong electric input terminal T31 that is in contact with the strong electric output terminal T23 of the power supply unit 2. Thus, power supply board 34 of drive unit 3B receives a strong electric power Ph from power supply unit 2 via drive unit 3A. Also, when the weak current connector W31 of the drive unit 3B is combined with the weak current connector W32 of the drive unit 3A, the weak current input terminal T32 of the drive unit 3B is brought into contact with the weak current output terminal T34 of the drive unit 3A. At this time, in the drive unit 3A, the weak current output terminal T34 is short-circuited to the weak current input terminal T32 which is in contact with the weak current output terminal T24 of the power supply unit 2. Thus, the CPU31 and the motor control board 32 of the drive unit 3B receive the weak current Pw from the power supply unit 2 via the drive unit 3A.
The main controller unit 4 includes a rectangular parallelepiped main casing 40, and a CPU41 is housed in the main casing 40. A teach pendant connection unit 42, an ethernet connection unit 43, and a field network connection unit 44 (ethernet is a registered trademark) connected to the CPU41 inside the main casing 40 are attached to the front surface 40a of the main casing 40. The weak current connector W4 is attached to the signal supply side surface 40b on one side Db in the arrangement direction D of the side surfaces 40b and 40c of the main housing 40. The weak current connector W4 is a plug connector having the same shape as the weak current connector W31 of the drive unit 3, and has a weak current input terminal T41 and a signal output terminal T42 as connector contacts. Since the weak current connector W4 has this shape, it is detachable from the weak current connector W32 of the drive unit 3.
Therefore, the main controller unit 4 can be connected to the drive unit 3. That is, if the signal supply side surface 40b of the main controller unit 4 is adjacent to the second side surface 30c of the drive unit 3 from the other side Dc in the arrangement direction D and the weak electric connector W4 of the drive unit 3 is engaged with the weak electric connector W32 of the drive unit 3, the weak electric input terminal T41 of the main controller unit 4 comes into contact with the weak electric output terminal T34 of the drive unit 3. On the other hand, in the drive unit 3, the weak current output terminal T34 is short-circuited to the weak current input terminal T32 connected to the weak current output terminal T24 of the power supply unit 2. Thereby, the CPU41 of the main controller unit 4 receives the supply of the weak current Pw from the power supply unit 2 via the drive unit 3.
In addition, the signal output terminal T42 of the main controller unit 4 is in contact with the signal input terminal T35 of the drive unit 3 by the combination of the weak electric connector W4 of the main controller unit 4 and the weak electric connector W32 of the drive unit 3. Thereby, the drive unit 3 receives the supply of the control signal Sc from the main controller unit 4. The main controller unit 4 can also supply the control signal Sc to the other drive units 3 via the adjacent drive unit 3. When the drive units 3A and 3B are taken as an example for explanation, if the weak electric connector W32 of the drive unit 3A is coupled to the weak electric connector W31 of the drive unit 3B, the signal input terminal T35 of the drive unit 3A comes into contact with the signal output terminal T36 of the drive unit 3B. On the other hand, in the drive unit 3B, the signal output terminal T36 is short-circuited to the signal input terminal T35 which is in contact with the signal output terminal T42 of the main controller unit 4. Thus, the CPU31 of the drive unit 3A receives the supply of the control signal Sc from the main controller unit 4 via the drive unit 3B.
Incidentally, in a state where the power supply unit 2, the drive unit 3, and the main controller unit 4 are connected, the power supply unit 2, the drive unit 3, and the main controller unit 4 have an equal height h in order to be able to compactly dispose the motor controller 1 on a flat ground surface G. In a state where the motor controller 1 is installed on the ground surface G, the strong electric connectors H2, H31, and H32 are attached so that the heights of the strong electric connectors H2, H31, and H32 from the ground surface G are equal to each other, and the weak electric connectors W2, W31, W32, and W4 are attached so that the heights of the weak electric connectors W2, W31, W32, and W4 from the ground surface G are equal to each other.
As described above, in the present embodiment, the drive unit 3B includes the power supply board 34 that converts a strong electric power Ph (high voltage power supply) into the low voltage power supply Pl, and the drive unit 3B causes the power circuit board 33 to drive the stepping motor Ms by the low voltage power supply Pl generated by the power supply board 34. Therefore, when the drive unit 3B requiring the low-voltage power supply Pl is incorporated into the motor controller 1 including the drive unit 3A requiring the strong Ph, it is not necessary to separately add a unit for generating the low-voltage power supply Pl from the strong Ph.
The power supply unit 2 also includes a strong electric connector H2 attached to the power supply side surface 20c of the power supply case 20, and outputs a strong electric signal Ph from the strong electric connector H2. In contrast, the drive unit 3 includes a high-voltage connector H31 attached to the first side surface 30b of the driver case 30, and the high-voltage connector H31 is detachable from the high-voltage connector H2 of the power supply unit 2. Therefore, if the power supply side surface 20c of the power supply unit 2 and the first side surface 30b of the drive unit 3 are adjacent to each other and the strong electric connector H2 of the power supply unit 2 and the strong electric connector H31 of the drive unit 3 are coupled, a strong electric Ph can be supplied from the power supply unit 2 to the drive unit 3.
The drive unit 3 also includes a strong electric connector H32 attached to a second side surface 30c of the actuator case 30 opposite to the first side surface 30b, and outputs a strong electric Ph input to the strong electric connector H31 to the strong electric connector H32. The strong electric connector H32 of the drive unit 3 has the same shape as the strong electric connector H2 of the power supply unit 2, and is detachable from the strong electric connector H31 of the other drive unit 3. Therefore, in the case of adding the drive units 3, if the second side surface 30c of one drive unit 3 already connected to the power supply unit 2 and the first side surface 30b of the other drive unit 3 are adjacent to each other and the strong electric connector H32 of the one drive unit 3 is coupled to the strong electric connector H31 of the other drive unit 3, it is possible to supply strong electric Ph from the power supply unit 2 to the other drive unit 3 via the one drive unit 3. In the same manner, by connecting a new drive unit 3 to the drive unit 3 connected to the power supply unit 2 from the opposite side of the power supply unit 2, a strong electric Ph can be supplied to the new drive unit 3. That is, the new drive unit 3 can be easily connected to the power supply unit 2 by connecting the strong electric connector H31 of the new drive unit 3 to the strong electric connector H32 of the connected drive unit 3. In this way, the drive unit 3A can be easily added in accordance with the addition of the AC servomotor Ma, or the drive unit 3B can be easily added in accordance with the addition of the stepping motor Ms.
The addition of the drive unit 3 may be performed by, for example, adding and connecting a drive unit 3 that is provided as a spare, or may be performed by adding and connecting a newly purchased drive unit 3.
The power supply unit 2 has a weak current connector W2 attached to the power supply side surface 20c of the power supply case 20, and weak current Pw generated from the power supply board 21 housed in the power supply case 20 is output from the weak current connector W2. In contrast, the drive unit 3 includes a weak current connector W31 attached to the first side surface 30b of the driver case 30 and a motor control board 32 housed in the driver case 30, and receives the supply of the weak current Pw input to the weak current connector W31, and the motor control board 32 controls the driving of the motors Ma and Ms by the power circuit board 33. The weak current connector W31 of the drive unit 3 is detachable from the weak current connector W2 of the power supply unit 2. Therefore, if the weak-current connector W2 of the power supply unit 2 and the weak-current connector W31 of the drive unit 3 are coupled with the power supply side surface 20c of the power supply unit 2 and the first side surface 30b of the drive unit 3 being adjacent to each other, the weak current Pw can be supplied from the power supply unit 2 to the motor control board 32 of the drive unit 3.
The drive unit 3 has a weak current connector W32 attached to the second side surface 30c of the driver housing 30, and outputs a weak current Pw input to the weak current connector W31 to the weak current connector W32. The weak current connector W32 of the drive unit 3 has the same shape as the weak current connector W2 of the power supply unit 2, and is detachable from the weak current connector W31 of the other drive unit 3. Therefore, in the case of adding the drive units 3, if the weak-electric connector W32 of one drive unit 3 and the weak-electric connector W31 of the other drive unit 3 are joined with the second side face 30c of one drive unit 3 and the first side face 30b of the other drive unit 3 already connected to the power supply unit 2 being adjacent to each other, the weak electric Pw can be supplied from the power supply unit 2 to the motor control substrate 32 of the other drive unit 3 via the one drive unit 3. In the same manner, by connecting a new drive unit 3 to the drive unit 3 connected to the power supply unit 2 from the opposite side of the power supply unit 2, the weak current Pw can be supplied to the motor control board 32 of the new drive unit 3. That is, the weak current connector W31 of the new drive unit 3 is connected to the weak current connector W32 of the connected drive unit 3, whereby the new drive unit 3 can be easily connected to the power supply unit 2. In this way, the drive unit 3A can be easily added in accordance with the addition of the AC servomotor Ma, or the drive unit 3B can be easily added in accordance with the addition of the stepping motor Ms.
In each drive unit 3, the motor control board 32 controls the driving of the motors Ma and Ms by the power circuit board 33 based on the control signal Sc input to the weak electric connector W32. In contrast, the main controller unit 4 includes a weak electric connector W4 attached to the signal supply side surface 40b of the main casing 40, and a CPU41 housed in the main casing 40, and the CPU41 outputs the control signal Sc from the weak electric connector W4. The weak current connector W4 of the main controller unit 4 has the same shape as the weak current connector W31 of the drive unit 3, and is detachable from the weak current connector W32 of each drive unit 3. Therefore, if the second side surface 30c of the drive unit 3, which has been connected to the end of the drive unit 3 on the opposite side of the power unit 2, of the power unit 2 and the signal supply side surface 40b of the main controller unit 4 are made adjacent to each other and the weak electric connector W32 of the drive unit 3 and the weak electric connector W4 of the main controller unit 4 are joined, the control signal Sc can be supplied from the main controller unit 4 to the motor control board 32 of the drive unit 3.
The motor controller 1 can be suitably used as a robot controller of a multi-axis robot. In other words, in such a case, the multi-axis robot can perform a predetermined task by coordinating the movements of the respective axes of the multi-axis robot. In contrast, in the motor controller 1 described above, the plurality of drive units 3 are controlled by the single main controller unit 4. Therefore, there is an advantage that the coordinated operation of the drive units 3 can be easily realized by synchronizing the operations of the plurality of drive units 3 by the main controller unit 4.
In the above-described embodiment, the motor controller 1 corresponds to an example of the "controller" of the present invention, the power supply unit 2 corresponds to an example of the "power supply unit" of the present invention, the power supply housing 20 corresponds to an example of the "power supply housing" of the present invention, the power supply side surface 20c corresponds to an example of the "power supply surface" of the present invention, the high-voltage connector H2 corresponds to an example of the "power connector" of the present invention, the low-voltage connector W2 corresponds to an example of the "low-voltage connector" of the present invention, the high-voltage Ph corresponds to an example of the "first power supply" and the "high-voltage" of the present invention, the low-voltage Pw corresponds to an example of the "low-voltage" of the present invention, the driving unit 3 corresponds to an example of the "driving unit" of the present invention, the driving unit 3A corresponds to an example of the "first driving unit" of the present invention, the driving unit 3B corresponds to an example of the "second driving unit" of the present invention, the power circuit board 33 corresponds to an example of the "driving board" power board "34 corresponds to an example of the" power board "first driving unit" of the present invention, the first side surface 32 "of the present invention, the second-side surface of the second power connector" of the present invention corresponds to an example of the "30B, the second power connector" of the present invention corresponds to the second power connector "30B" of the present invention, the second power connector "is the second power connector" 30B, the present invention, the second power connector "is the second power connector" of the present invention, the second power connector "30B" is the present invention, the second connector "is the second connector" of the present invention, the second connector "32, the second connector" is the present invention, the second connector "is the second connector" 32, the second connector "of the present invention, the main controller unit 4 corresponds to an example of the "main controller unit" of the present invention, the main housing 40 corresponds to an example of the "main housing" of the present invention, the signal supply side surface 40b corresponds to an example of the "signal supply surface" of the present invention, the weak electric connector W4 corresponds to an example of the "control connector" of the present invention, the CPU41 corresponds to an example of the "arithmetic unit" of the present invention, the control signal Sc corresponds to an example of the "control signal" of the present invention, the AC servo motor Ma corresponds to an example of the "first driving target", and the stepping motor Ms corresponds to an example of the "second driving target".
The present invention is not limited to the above-described embodiments, and various modifications other than the above can be made without departing from the spirit of the invention. For example, the motor controller 1 may be configured as follows. Here, fig. 6 is a block diagram showing an electrical configuration of a motor controller according to a second embodiment of the controller of the present invention. The difference from the first embodiment is a point where the main controller unit 4 is omitted by incorporating the function of the main controller unit 4 into the power supply unit 2. Here, the power supply unit 2 incorporating the function of the main controller unit 4 is particularly referred to as an interface unit 5. Hereinafter, the description will be given centering on differences from the first embodiment, and the common points will be given corresponding reference numerals and will not be described as appropriate. However, it is needless to say that the same effects are obtained by the same configuration as the first embodiment.
In the embodiment of fig. 5, the interface unit 5 includes a CPU41 housed in the case and a signal output terminal T42 for outputting the control signal Sc generated by the CPU41, in addition to the configuration of the power supply unit 2 of the first embodiment. The signal output terminal T42 is provided as a connector tab to the weak electric connector W2, and if the weak electric connector W2 of the interface unit 5 is coupled to the weak electric connector W31 of the drive unit 3, the signal output terminal T42 of the interface unit 5 comes into contact with the signal output terminal T36 of the drive unit 3. Thereby, the control signal Sc can be supplied from the interface unit 5 to each of the drive units 3.
Fig. 7 is a block diagram showing an electrical configuration of a motor controller according to a third embodiment of the motor controller of the present invention. The difference from the first embodiment is the point where the electrical connection of the power supply unit 2, the drive unit 3, and the main controller unit 4 is made via the backplane 6. Hereinafter, the differences from the first embodiment will be mainly described, and common points will be denoted by corresponding reference numerals and will not be described as appropriate. However, it is needless to say that the same effects are obtained by providing the structure common to the first embodiment.
In the third embodiment, the high-voltage connector H2 and the low-voltage connector W2 of the power supply unit 2 are attached to the rear surface of the power supply case 20, and output a high-voltage Ph and a low-voltage power supply Pl, respectively. In each drive unit 3, a strong electric connector H31 and a weak electric connector W33 are attached to the back surface of the driver case 30, the strong electric connector H31 has a strong electric input terminal T31 as a connector tab, and the weak electric connector W33 has a weak electric input terminal T32 and a signal input terminal T35 as a connector tab. The high electric connector H32 and the low electric connectors W31 and W32 are not provided. Further, in the main controller unit 4, a weak electric connector W4 is mounted on the back surface of the main casing 40.
On the back plate 6 provided in the motor controller 1, power connectors Ca and Cb are attached corresponding to the power supply unit 2, driver connectors Cc and Cd are attached corresponding to the respective drive units 3, and a main connector Ce is attached corresponding to the main controller unit 4.
The power supply connector Ca has a strong electric power input terminal Ta as a connector terminal, and is detachable from the strong electric connector H2 of the power supply unit 2. When the power connector Ca is connected to the strong electric connector H2, the strong electric output terminal T23 contacts the strong electric input terminal Ta, and a strong electric power Ph is input to the strong electric input terminal Ta. The power connector Cb has a weak current input terminal Tb as a connector tab, and is detachable from the weak current connector W2 of the power unit 2. When the power supply connector Cb is connected to the weak current connector W2, the weak current output terminal T24 contacts the weak current input terminal Tb, and the weak current Pw is input to the weak current input terminal Tb.
The driver connector Cc has weak current output terminals Tc1 and signal output terminals Tc2 as connector terminals, and is detachable from the weak current connector W33 of the drive unit 3. And, when the driver connector Cc is combined with the weak current connector W33, the weak current output terminal Tc1 is in contact with the weak current input terminal T32, and the signal output terminal Tc2 is in contact with the signal input terminal T35.
The main connector Ce has a weak current output terminal Te1 and a signal input terminal Te2 as connector terminals, and is detachable from the weak current connector W4 of the main controller unit 4. When the main connector Ce is connected to the weak current connector W4, the weak current output terminal Te1 contacts the weak current input terminal T41, the signal output terminal T42 contacts the signal input terminal Te2, and the control signal Sc is input to the signal input terminal Te 2.
In the rear plate 6, the strong electric input terminal Ta is short-circuited to each strong electric output terminal Td, the weak electric input terminal Tb is short-circuited to each weak electric output terminal Tc1 and weak electric output terminal Te1, and the signal output terminal Te2 is short-circuited to each signal output terminal Tc2. Therefore, a strong electric power Ph is input from the power supply unit 2 to the strong electric power input terminal T31 of each drive unit 3 via the backplane 6, a weak electric power Pw is input from the power supply unit 2 to the weak electric power input terminal T32 of each drive unit 3 via the backplane 6, and a weak electric power Pw is input from the power supply unit 2 to the weak electric power input terminal T41 of the main controller unit 4 via the backplane 6. Then, the control signal Sc is input from the main controller unit 4 to the signal input terminal T35 of each drive unit 3 via the backplane 6.
Further, modifications other than those shown in fig. 5 and 6 may be made. For example, in the above-described embodiment, the power supply unit 2, the drive unit 3A, and the drive unit 3B are arranged in this order along the arrangement direction D and connected to each other. However, the power supply unit 2, the drive unit 3B, and the drive unit 3A may be connected to each other in the arrangement direction D by replacing the arrangement order of the drive units 3A and 3B.
In addition, the above-described embodiment was explained while showing 2 driving units 3. However, the number of drive units 3 may be changed as appropriate depending on the number of AC servo motors Ma and stepping motors Ms.
Each of the drive units 3 is configured to drive 1 motor. However, the drive unit 3 may be configured to drive a plurality of motors.
The object to be driven by the drive unit 3 is not limited to the AC servomotor Ma and the stepping motor Ms described above, and may be another type of motor such as a DC servomotor. Alternatively, the driving unit 3 may be configured to drive a driving target such as an actuator other than the motor.
In the first and second embodiments, the high-voltage connector H31, the low-voltage connector W31, and the low-voltage connector W4 provided on one side Db in the arrangement direction D are plug connectors, and the high-voltage connector H2, the low-voltage connector W2, the high-voltage connector H32, and the low-voltage connector W32 provided on the other side Dc in the arrangement direction D are receptacle connectors. However, the high electric connector H31, the low electric connector W31, and the low electric connector W4 provided on one side Db in the arrangement direction D may be formed by receptacle connectors, and the high electric connector H2, the low electric connector W2, the high electric connector H32, and the low electric connector W32 provided on the other side Dc in the arrangement direction D may be formed by plug connectors.
The high-voltage connector H31 and the high-voltage connector H32 mounted on the same actuator case 30 may be integrally formed, or may be separately formed and connected by a substrate or the like. The weak current connector W31 and the weak current connector W32 attached to the same actuator case 30 may be integrally formed in the same manner, or may be separately formed and connected by a substrate or the like.
Further, the type and shape of each of the connectors H2, H31, H32, W2, W31, and W4 may be changed as appropriate, and conventionally generally known connectors may be used as appropriate.
As described above, various modifications can be added to the present invention as appropriate, for example, as described below.
That is, the controller may be configured such that the power supply unit includes a power supply case and a power supply connector attached to a power supply surface of the power supply case, and first power is output from the power supply connector, each of the drive units includes a driver case accommodating the drive substrate, a first connector attached to a first surface of the driver case, and a second connector attached to a second surface of the driver case opposite to the first surface, first power input to the first connector is output from the second connector, the drive substrate of the first type of drive unit operates upon receiving supply of the first power input to the first connector, the power substrate of the second type of drive unit converts the first power input to the first connector into second power, the second connector of each of the drive units has the same shape as the power supply connector of the power supply unit, and the first connector of each of the drive units is detachable from the power supply connector of the power supply unit and detachable from the second connector of another drive unit.
In the controller configured as described above, the power supply unit has a power supply connector attached to the power supply surface of the power supply case, and the first power supply is output from the power supply connector. In contrast, the drive unit has a first connector attached to the first surface of the driver housing, and the first connector is detachable from the power supply connector of the power supply unit. Therefore, if the power connector of the power supply unit and the first connector of the drive unit are coupled with the power supply surface of the power supply unit and the first surface of the drive unit being adjacent to each other, the first power can be supplied from the power supply unit to the drive unit.
The drive unit has a second connector attached to a second surface of the driver housing opposite to the first surface, and outputs the first power supply input to the first connector to the second connector. The second connector of the drive unit has the same shape as the power supply connector of the power supply unit and is detachable from the first connector of the other drive unit. Therefore, in the case of adding the driving units, if the second surface of one driving unit, which has been connected to the power supply unit, and the first surface of the other driving unit are adjacent to each other and the second connector of one driving unit is coupled to the first connector of the other driving unit, the first power can be supplied from the power supply unit to the other driving unit via the one driving unit. In the same manner, the first power supply can be supplied to the new drive unit by connecting the new drive unit to the drive unit connected to the power supply unit from the opposite side of the power supply unit. That is, by connecting the first connector of the new drive unit to the second connector of the connected drive unit, the new drive unit can be easily connected to the power supply unit. Thus, the drive unit can be easily added in accordance with the addition of the drive target.
That is, the controller may be configured such that the power supply unit further includes a weak current connector attached to the power supply surface, and the controller outputs a strong current as the first power supply from the power supply connector and outputs a weak current from the weak current connector, and each of the driving units further includes: a third connector mounted to the first face of the driver housing; a fourth connector mounted to the second face of the driver housing; and a control board which receives supply of weak current input to the third connector, controls driving by the driving board, and is accommodated in the driver housing, wherein the fourth connector of each driving unit has the same shape as the weak current connector of the power supply unit, and the third connector of each driving unit is detachable with respect to the weak current connector of the power supply unit and detachable with respect to the fourth connector of another driving unit.
In the controller thus configured, the power supply unit has a weak current connector attached to the power supply surface of the power supply case, and weak current generated by the power supply board housed in the power supply case is output from the weak current connector. In contrast, the drive unit has a third connector attached to the first surface of the driver housing, and the driver housing accommodates a control board that receives supply of weak current input to the third connector and controls driving by the drive board. The third connector of the drive unit is detachable from the weak current connector of the power supply unit. Therefore, if the weak current connector of the power supply unit and the third connector of the drive unit are coupled with the power supply surface of the power supply unit and the first surface of the drive unit being adjacent to each other, the weak current can be supplied from the power supply unit to the control board of the drive unit.
The drive unit has a fourth connector attached to the second surface of the driver case, and outputs weak current input to the third connector to the fourth connector. The fourth connector of the drive unit has the same shape as the weak current connector of the power supply unit, and is detachable from the third connector of the other drive unit. Therefore, in the case of adding the drive units, if the fourth connector of one drive unit is joined to the third connector of the other drive unit by making the second surface of one drive unit already connected to the power supply unit and the first surface of the other drive unit adjacent to each other, weak current can be supplied from the power supply unit to the control substrate of the other drive unit via the one drive unit. In the same manner, by connecting a new drive unit to a drive unit already connected to the power supply unit from the opposite side of the power supply unit, weak current can be supplied to the control board of the new drive unit. In other words, the third connector of the new drive unit is connected to the fourth connector of the connected drive unit, whereby the new drive unit can be easily connected to the power supply unit. Thus, the drive unit can be easily added in accordance with the addition of the drive target.
The controller may further include a main controller unit including a main case, a control connector attached to a signal supply surface of the main case, and an arithmetic unit housed in the main case, and configured to output a control signal generated by the arithmetic unit from the control connector, wherein the control board controls driving by the driving board in each of the driving units based on a control signal input to the fourth connector, the third connector of each of the driving units has the same shape as the control connector of the main controller unit, and the fourth connector of each of the driving units is detachable from the control connector of the main controller unit.
In the above configuration, the control board controls the driving by the driving board in each driving unit based on the control signal input to the fourth connector. In contrast, the main controller unit has a control connector attached to a signal supply surface provided in the main casing, and the main casing houses a calculation unit that outputs a control signal from the control connector. The control connector of the main controller unit has the same shape as the third connector of the drive unit, and is detachable from the fourth connector of each drive unit. Therefore, if the second surface of the drive unit connected to the end of the drive unit on the opposite side of the power unit among the drive units of the power unit and the signal supply surface of the main controller unit are made adjacent to each other and the fourth connector of the drive unit is coupled to the control connector of the main controller unit, a control signal can be supplied from the main controller unit to the control board of the drive unit.
Alternatively, the controller may be configured such that the power supply unit has an arithmetic unit housed in the power supply case, the control signal generated by the arithmetic unit is output from the weak current connector, and the control board controls the driving by the driving board in each driving unit based on the control signal input to the third connector. In the above configuration, the control board controls the driving by the driving board in each driving unit based on the control signal input to the third connector. In contrast, the power supply unit outputs the generated control signal from the weak current connector. In this way, the control signal can be supplied from the power supply unit to the control board of the drive unit.
Industrial applicability
The present invention can be applied to all techniques for driving a driving object such as a motor.
Description of the reference numerals
1 \8230, a motor controller (controller) 2 \8230, a power supply unit 20 \8230, a power supply housing 20c \8230, a power supply side face (power supply face) 3 \8230, a drive unit 3A \8230, a drive unit (first drive unit) 3B \8230, a drive unit (second drive unit) 30 \8230, a driver housing 30B \8230, a first side face (first face) 30c \8230, a second side face (second face) 32 \8230, a motor control substrate (control substrate) 33 \8230, a power circuit substrate (drive substrate) 34 \8230, a power supply substrate 4 \8230, a main controller unit 4, 40 \8230, a main housing 40B \8230, a signal supply side face (signal supply face) \ 8230 41 \8230, a CPU (arithmetic part), ph \8230, a strong current (first power supply), pw \8230, a weak current, pl \8230, a low voltage power supply (second power supply), sc \8230, a control signal, H2 \8230, a strong current connector (power supply connector), H31 \8230, a strong current connector (first connector), H32 \8230, a strong current connector (second connector), W2 \8230, a weak current connector (weak current connector), W31 \8230, a weak current connector (third connector), W32 \8230, a weak current connector (control connector), ma 8230, an AC servo motor (first driving object Ms), a step motor (second driving object) and the like.
Claims (2)
1. A controller is provided with:
a power supply unit outputting a first power supply; and
a plurality of driving units having a driving substrate which is operated by receiving power supply,
the plurality of driving units include a first type of driving unit and a second type of driving unit different in kind from the first type of driving unit,
the first type of driving unit supplies the first power supplied from the power supply unit to the driving board to operate the driving board, thereby driving a first type of driving object via the driving board,
the second type of drive unit further includes a power supply board that converts the first power supplied from the power supply unit into a second power having a voltage lower than that of the first power, and drives a second type of drive target different from the first type of drive target via the drive board by supplying the second power to the drive board and operating the drive board,
the power supply unit has a power supply case, a power supply connector attached to a power supply surface of the power supply case, and a power supply unit power supply board which is housed in the power supply case and generates the first power supply, the first power supply is output from the power supply connector,
each of the drive units includes a driver housing that houses the drive board, a first connector attached to a first surface of the driver housing, and a second connector attached to a second surface of the driver housing opposite to the first surface, the first power supply input to the first connector being output from the second connector,
the drive board of the first type of drive unit operates by receiving the supply of the first power supply input to the first connector,
the power supply substrate of the second type of driving unit converts the first power supply input to the first connector into the second power supply,
the second connector of each of the drive units has the same shape as the power supply connector of the power supply unit,
the first connector of each of the drive units is detachable with respect to the power supply connector of the power supply unit and detachable with respect to the second connector of another drive unit,
the power supply unit further includes a weak current connector attached to the power supply surface, and outputs strong current as the first power supply from the power supply connector and weak current from the weak current connector,
each of the drive units further has: a third connector attached to the first surface of the driver housing, a fourth connector attached to the second surface of the driver housing, and a control board which receives the weak current input to the third connector, controls the driving of the driver board, and is housed in the driver housing,
the fourth connector of each of the driving units has the same shape as the weak current connector of the power supply unit,
the third connector of each of the drive units is detachable from the weak current connector of the power supply unit and detachable from the fourth connector of another drive unit,
the power supply unit has an arithmetic part housed in the power supply case, outputs a control signal generated by the arithmetic part from the weak current connector,
in each of the drive units, the control board controls driving by the drive board based on the control signal input to the third connector,
the power supply unit power supply board generates the strong current by a main power supply input to the first power supply input terminal, and generates the weak current by a control power supply input to the second power supply input terminal.
2. The controller of claim 1,
the arithmetic unit operates in response to the weak current.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310024498.4A CN115811203A (en) | 2016-09-27 | 2016-09-27 | Controller for controlling a motor |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201680086166.7A CN109257951A (en) | 2016-09-27 | 2016-09-27 | Controller, driving unit |
| PCT/JP2016/078366 WO2018061074A1 (en) | 2016-09-27 | 2016-09-27 | Controller and driver unit |
| CN202310024498.4A CN115811203A (en) | 2016-09-27 | 2016-09-27 | Controller for controlling a motor |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680086166.7A Division CN109257951A (en) | 2016-09-27 | 2016-09-27 | Controller, driving unit |
Publications (1)
| Publication Number | Publication Date |
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| CN115811203A true CN115811203A (en) | 2023-03-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680086166.7A Pending CN109257951A (en) | 2016-09-27 | 2016-09-27 | Controller, driving unit |
| CN202310024498.4A Pending CN115811203A (en) | 2016-09-27 | 2016-09-27 | Controller for controlling a motor |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680086166.7A Pending CN109257951A (en) | 2016-09-27 | 2016-09-27 | Controller, driving unit |
Country Status (3)
| Country | Link |
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| JP (1) | JP6591083B2 (en) |
| CN (2) | CN109257951A (en) |
| WO (1) | WO2018061074A1 (en) |
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| CN111371377A (en) * | 2020-03-31 | 2020-07-03 | 浙江捷昌线性驱动科技股份有限公司 | Motor drive circuit integrated control system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6297612B1 (en) * | 1999-08-27 | 2001-10-02 | Robotic Control Group, L.L.C. | Motion control coupling apparatus |
| JP2007282302A (en) * | 2006-04-03 | 2007-10-25 | Honda Motor Co Ltd | Controller for motor generator |
| CN101615842A (en) * | 2009-07-31 | 2009-12-30 | 东南大学 | Electric and electronic power unit module |
| JP2013051745A (en) * | 2011-08-30 | 2013-03-14 | Denso Corp | Power conversion system |
-
2016
- 2016-09-27 JP JP2018541744A patent/JP6591083B2/en active Active
- 2016-09-27 CN CN201680086166.7A patent/CN109257951A/en active Pending
- 2016-09-27 WO PCT/JP2016/078366 patent/WO2018061074A1/en active Application Filing
- 2016-09-27 CN CN202310024498.4A patent/CN115811203A/en active Pending
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| Publication number | Publication date |
|---|---|
| JPWO2018061074A1 (en) | 2019-02-07 |
| WO2018061074A1 (en) | 2018-04-05 |
| CN109257951A (en) | 2019-01-22 |
| JP6591083B2 (en) | 2019-10-16 |
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