JP2000072387A - Hanging system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent lopsided load on a wire and the inclination of a baton. SOLUTION: An abnormality monitoring part 23 for motor controllers 2a-2c monitors an abnormality generation signal provided by a motor driver 22 during generation of abnormality. When the abnormality generation signal is detected, an abnormality information signal for informing of a wire position of a wire 5 at this time and generation of abnormality is fed from a transfer control part 21 back to a synchronization controller 1 during feedback of the next signal. The synchronization controller 1, when receiving the abnormality information signal fedback from any of motor controllers 2a-2c, judges the direction of up-and-down movement of a baton 6 from the direction of rotation of a motor 33 stored in a rotating direction storage 12 and, if the baton 6 is being moved down, it controls the normal motor controllers 2a-2c so that a position correction part 13 can align a wire position of another wire 5 to the wire position of the stopped wire 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension system for raising and lowering a baton to which a suspension such as a lighting device or a curtain is attached.

[0002]

2. Description of the Related Art FIG. 5 shows a schematic configuration diagram of a conventional suspended object system. In this suspended object system, a baton 6 to which a suspended object (not shown) such as a lighting device or a curtain is attached is suspended by a plurality of wires 5.
Are connected to the drum 31 via pulleys 34, respectively. The rotation of a motor 33 is transmitted to the drum 31 at a reduced speed by a speed reducer 32, and a single motor 33 takes up or sends out a plurality of wires 5 to raise and lower the baton 6.

In this suspended object system, one motor 3
Since the plurality of wires 5 are wound or fed in 3, it is necessary to attach the plurality of wires 5 to the same drum 31 at the time of construction, and there is a problem that the handling of the wires 5 becomes complicated at the time of construction. There is also a problem that it is necessary to prepare motors 33 having different specifications according to the use conditions such as the number of suspended objects attached to the baton 6, the length of the wire 5 and the lifting load.

Therefore, a so-called single-point hanging unit system as shown in FIG. 6 has conventionally been proposed. In this suspended object system, a baton 6 to which a suspended object is attached is suspended by a plurality of wires 5, and these wires 5 are individually wound or fed by a motor 33, and the baton 6 is moved up and down. , A plurality of motor controllers 2 a to 2 for individually controlling the driving of each motor 33.
c is connected to the synchronization controller 1 via the transmission line 4.
In this suspended object system, a plurality of wires 5 attached to the baton 6 are wound or sent out by individual motors 33, and only one wire 5 is attached to each motor 33. Of the wire 5 can be easily performed. In addition, since a plurality of motors 33 having the same specification are installed at each hanging point of the baton 6, various use conditions can be met by changing the number of motors 33, and motors 3 having different specifications can be used.
There is no need to prepare a plurality of 3s.

Here, the synchronous controller 1 transmits control data for controlling the driving of the motor 33 to each of the motor controllers 2a to 2c at a predetermined control cycle. Each motor controller 2
In a to 2c, a motor driver (not shown) is controlled based on the control data received from the synchronization controller 1 to drive each motor 33, and the operation amount and the operation state of the motor 33 are monitored as synchronous data as monitoring data. The baton 6 is raised and lowered horizontally by returning the motors 33 to each other and operating the motors 33 in synchronization. Each motor controller 2a is set with an individual address, so that the synchronization controller 1 can individually recognize each motor controller 2a by the address. Further, the same group number is set to the motor controllers 2a... For raising and lowering the same baton 6, and the motor controllers 2a... See JP-A-4-332584).

[0006]

In the suspended object system having the above-described structure, the synchronous controller 1 transmits control data to each of the motor controllers 2a to 2c at a predetermined transmission cycle. 2c drives the motor 33 based on the control data transmitted from the synchronous controller 1. The following describes the operation of the suspended object system when raising and lowering the baton 6 with reference to the flowchart in FIG.

[0007] First, the synchronous controller 1 synchronizes all the motor controllers 2a with the elevating speed for raising and lowering the baton 6 and the group number assigned to the motor controllers 2a for raising and lowering the baton 6. This is reported (step S1). Receive the elevating speed and the group number transmitted from the synchronous controller 1, and the motor controllers 2a, 2b,.
In step 2c, the motor 33 is rotated at a predetermined speed to move the baton 6 up and down at the designated elevating speed (step S2), and the feed amount (wire position) of the wire 5 and the operating state of the motor 33 at that time. Is stored (step S3). Each of the motor controllers 2a to 2c calculates the rotation amount of the motor 33 (that is, the wire position of the wire 5) by integrating control signals (drive pulses) output to the motor driver.

Thereafter, the synchronous controller 1 is controlled by the motor controller 2a.
, A request signal is sent to return the wire position and the operating state (step S4), and the motor controller 2a, which has received the request signal from the synchronous controller 1, transmits the wire position and the operating state stored in step S3. Is returned to the synchronization controller 1 (step S5). Next, the synchronous controller 1 transmits a request signal to the motor controller 2b to return the wire position and the operating state (step S6), and receives the request signal from the synchronous controller 1 2b is step S
The wire position and the operating state stored in step 3 are returned to the synchronous controller 1 (step S7). Further, the synchronization controller 1 transmits a request signal to the motor controller 2c to return the wire position and the operating state (step S8), and receives the request signal from the synchronization controller 1 to the motor controller 2c. Returns the wire position and the operating state stored in step S3 to the synchronization controller 1 (step S9). Hereinafter, the synchronous controller 1 simultaneously broadcasts control data to the motor controllers 2a... Every predetermined control cycle, and repeatedly executes the above processing.

Here, while the baton 6 is lowered, an abnormality occurs in the motor driver of the motor controller 2c, and the motor controller 2c
The operation of the suspended object system when the motor 33 connected to c is stopped will be described with reference to FIGS.

Synchronous controller 1 and motor controllers 2a-2
c repeatedly executes the processing of steps S11 to S19 for each predetermined control cycle T to send out the wire 5,
It is assumed that an abnormality occurs in the motor driver of the motor controller 2c at time t1 while the motor 33 is lowered, and the motor 33 controlled by the motor controller 2c stops. The operations in steps S11 to S19 are the same as those in steps S1 to S19 described above.
Since the operation is the same as the operation up to 9, the description is omitted.

As described above, each of the motor controllers 2a to 2c
When the control data is transmitted from the synchronous controller 1 every predetermined control cycle T, the motor 33 is controlled based on the control data.
, And the wire position and the operating state at that time are stored. Therefore, even if an abnormality occurs in the motor driver of the motor controller 2c at the time t1, the motor controller 2c cannot detect the abnormality of the motor driver at this time, and the next control cycle T
At the time t2 when the error occurs, the abnormality of the motor driver is detected, and the wire position when the motor 33 is stopped is stored. Thus, if an abnormality occurs in the motor driver and the motor 3
After the motor 3 stops, the control signal is output to the motor driver until time t2. Therefore, the wire position detected by each of the motor controllers 2a to 2c includes the rotation of the motor 33 between the time when the motor stops and time t2. Will include an error corresponding to the amount delivered.

Thereafter, the synchronization controller 1 executes steps S20 to S20.
In S23, the wire position and the operation state are returned from the motor controllers 2a and 2b, and further, in step S24, a request signal is transmitted to the motor controller 2c to return the wire position and the operation state. In step S25, the motor control is performed. The controller 2c returns to the synchronous controller 1 the wire position at the time of stopping the motor and the operation state indicating that the motor 33 has stopped. Upon receiving the abnormality notification signal indicating that an abnormality has occurred from the motor controller 2c, the synchronization controller 1 detects the abnormality of the motor controller 2c at that time (time t3) (step S26), and normalizes at time t4. The control data for stopping the motor 33 is transmitted to the motor controllers 2a and 2b that are operating at the same time, and the motor controllers 2a and 2b stop the motor 33 (step S27).

As described above, each of the motor controllers 2a to 2c monitors the operation state of the motor 33 at each control cycle T, and when the synchronous controller 1 requests the return of the wire position and the operation state, the synchronous Since the wire position and the operating state are returned to the controller 1, the synchronous controller 1 controls the other motor controllers 2a and 2b after an abnormality occurs in the motor controller 2c and the motor 33 stops. A time delay occurs before the motor 33 is stopped. Therefore, a difference dP is generated between the wire positions of the normal motor controllers 2a and 2b and the wire position of the abnormal motor controller 2c, and the load applied to a certain wire 5 is exceeded or the baton 6
There was a problem that would tilt.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a suspended object system in which a load applied to a wire is prevented and a baton is prevented from tilting. .

[0015]

In order to achieve the above object, according to the first aspect of the present invention, there are provided a plurality of motors for winding and feeding a plurality of wires for suspending a baton for attaching a suspended object, respectively. A plurality of motor controllers for controlling the connected motors according to the control data,
A synchronous controller for transmitting control data to each motor controller so that a plurality of motors operate in synchronization with each other; the synchronous controller is connected to the plurality of motor controllers via a transmission line, and operates each motor. Control data for controlling the motor controller is transmitted to each motor controller at a predetermined control cycle, and the motor controller receiving the control data transmits monitoring data indicating the wire feed amount and the operating state of the motor to the synchronous controller. In the suspended object system that returns to the motor controller, the motor controller drives the motor based on the control data transmitted from the synchronization controller, and an abnormality occurrence signal generated by the motor drive unit when an abnormality occurs. And a failure monitoring unit that monitors the wire feed amount when an abnormality occurs and returns it to the synchronization controller at the next signal return. A rotation direction storage unit that stores the rotation direction of the motor, and an abnormality occurrence returned from the motor controller in which the abnormality has occurred when it is determined that the baton has been lowered when an abnormality has occurred from the rotation direction of the motor stored in the rotation direction storage unit. And a position correction unit for controlling a motor controller to which another motor is connected so as to match the feeding amount of the other wire with the feeding amount of the wire at the time of driving of any one of the motors when the baton is lowered. If an error occurs in the unit and the wire feed stops, the baton may tilt sharply.However, the position correction unit lowers the baton when an abnormality occurs from the rotation direction of the motor stored in the rotation direction storage unit. If it is determined that the wire feed amount is normal, the normal motor controller is controlled so that the feed amount of the other wires is adjusted to the feed amount of the wire when an error occurs. Out amount is the same, to prevent the according to the load to a wire biased, and can keep the baton horizontally.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a conceptual diagram showing a suspended object system according to the present invention.

In this suspended object system, a baton 6 to which a suspended object (not shown) such as a lighting fixture or a curtain is attached is suspended by a plurality of wires 5, and each of the wires 5 is controlled by a hoisting device 3a. The baton 6 is lifted and lowered by being wound up or sent out. The hoisting devices 3a to 3c are driven and controlled by motor controllers (MCUs) 2a to 2c, respectively, and the motor controllers 2a to 2c are connected to a synchronous controller (SCU) 1 via a transmission line 4. . Here, an individual address is set for each of the motor controllers 2a..., So that the synchronization controller 1 can individually recognize each of the motor controllers 2a. Further, the same group number is set for the motor controllers 2a... For raising and lowering the same baton 6, and the motor controller 2 for raising and lowering a certain baton 6 according to this group number.
a ... can be identified. Each wire 5 is attached to the baton 6 so that a load is evenly applied.

An operating device 7 is connected to the synchronous controller 1 via a transmission line 4 '. When the operator operates the operation device 7, an operation signal corresponding to the operation is transmitted from the operation device 7 to the synchronous controller 1.
Is input to The synchronous controller 1 transmits control data to the corresponding motor controllers 2a,... Based on an operation signal input from the operation device 1, and the motor controllers 2a,. Then, the baton 6 is raised and lowered.

In each of the hoisting devices 3a to 3c, the motor 33 is driven by a signal input from the motor controllers 2a to 2c, the rotation of the motor 33 is reduced by the speed reducer 32 and transmitted to the drum 31, Take up or send out.

The motor controllers 2a to 2c include a synchronous controller 1
And a transmission control unit 21 that receives control data transmitted at predetermined control intervals from the control unit 1 and returns monitoring data including the operation amount of the motor 33 (that is, the amount of wire 5 sent out) and the operation state to the synchronization controller 1. A motor driver 22 that drives the motor 33 based on the control data received by the transmission control unit 21 and generates an abnormality occurrence signal when an abnormality occurs, and the motor driver 22 generates the abnormality at a period sufficiently shorter than the control period. When the abnormality occurrence signal is monitored, and the abnormality occurrence signal is detected, the transmission control unit 21 sends a synchronization signal from the transmission control unit 21 at the time of returning the next signal to notify the sending amount (wire position) of the wire 5 and the occurrence of the abnormality when the abnormality occurs. And an abnormality monitoring unit 23 for returning to the unit 1.

Further, the synchronous controller 1 is provided with each motor controller 2
a transmission control unit 11 for transmitting and receiving control data and monitoring data between a and c, a rotation direction storage unit 12 for storing a rotation direction of the motor 33 (that is, a vertical direction of the baton 6),
When the transmission control unit 11 receives the abnormality notification signal returned from any of the motor controllers 2a, the normal motor controllers 2a to 2c adjust the wire positions of the other wires 5 to the wire positions at the time of occurrence of the abnormality. Correction unit 13 for controlling
And

Here, since the abnormality monitoring unit 23 monitors the abnormality occurrence signal of the motor driver 22 in a cycle shorter than the control cycle, the motor driver 22 is compared with the case where the abnormality is monitored in each control cycle. Can be detected at an early stage. In the synchronous controller 1, when an abnormality notification signal is returned from the motor controllers 2a to 2c in which the abnormality has occurred when the abnormality occurs, the motor 33 stored in the rotation direction storage unit 12 is returned.
Is read, that is, the direction in which the baton 6 moves up and down, and the direction in which the baton 6 moves up and down is determined. If the baton 6 is moving up, the synchronous controller 1 will control the other motor controllers 2a to 2c.
To stop the motor 33. On the other hand, when the baton 6 is descending, the position correction unit 13 controls the normal motor controllers 2a to 2c so as to adjust the wire positions of the other wires 5 to the wire position at the time of occurrence of the abnormality. By making the wire position of the wire 5 the same, it is possible to prevent the load from being biased to a certain wire 5 and to make the baton 6 horizontal.

FIG. 2 shows a specific example of the suspended object system. Note that the same components as those of the above-described suspended object system of FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted.

The synchronous controller 1 includes a microcomputer 10 and a power supply circuit 16 for supplying power to the microcomputer 10. Each of the motor controllers 2a to 2c includes a microcomputer 20 and a microcomputer 20.
Motor driver 22 that controls motor 33 in accordance with a control signal (drive pulse) input from a microcomputer, and power supply circuit 24 that supplies power to microcomputer 20 and motor driver 22
The operation device 7 includes a microcomputer 71, an operation input circuit 72 that outputs an operation signal according to an operation of the operator to the microcomputer 71, a power supply circuit 73 that supplies power to the microcomputer 71 and the operation input circuit 72, and It has. Here, the microcomputer 10 of the synchronization controller 1 is connected to the microcomputer 20 of each of the motor controllers 2a to 2c via the transmission line 4 and to the microcomputer 71 of the operation device 7 via the transmission line 4 '. ing.

FIG. 3 is a block diagram showing functional blocks realized by software in the microcomputers 10 and 20 of the synchronization controller 1 and the motor controllers 2a to 2c in the hanging object system shown in FIG. In FIG. 3, the power supply circuits 16 and 24, the hoisting devices 3a to 3c, the wires 5, and the batons 6 are omitted.

The microcomputer 10 of the synchronization controller 1 has a transmission control unit 14 for receiving an operation signal transmitted from the operation unit 7 via the transmission line 4 ′ and a transmission control unit 14 based on the operation signal received by the transmission control unit 14. A system control unit 15 that creates control data to be transmitted to each of the motor controllers 2a to 2c, and transmits the control data created by the system control unit 15 to each of the motor controllers 2a to 2c via the transmission line 4. The transmission control unit 11 that receives the operation amount (the amount of the wire 5 sent) and the operation state of the motor 33 transmitted from the motor controllers 2a to 2c and outputs the operation state to the system control unit 15, and stores the rotation direction of the motor 33. When the transmission control unit 11 receives an abnormality notification signal notifying that an abnormality has occurred in the rotation direction storage unit 12 and the motor driver 22 of one of the motor controllers 2a to 2c, a normal motor control is performed. A position correction unit 13 for transmitting control data for correcting the wire feed amount (wire position) to the controllers 2a to 2c is provided.

On the other hand, the microcomputer 20 of each of the motor controllers 2a to 2c receives the control data transmitted from the synchronous controller 1 at a predetermined control cycle, and sends out the amount of the wire 5 and the operating state of the motor 33. Transmission control unit 21 for returning to the synchronization controller 1 as monitoring data
And a motor control unit 25 that outputs a control signal for operating the motor 33 to the motor driver 22 based on the control data received by the motor control unit 25 and an abnormality occurrence signal generated by the motor driver 22 when an abnormality occurs. And a failure monitoring unit 23 that monitors the failure occurrence signal and outputs an abnormality occurrence signal to the motor control unit 25 when an abnormality occurrence signal is detected.
When an abnormality occurs, the abnormality monitoring unit 23 sends the
, The motor control unit 25 causes the transmission control unit 21 to transmit the abnormality occurrence signal to the synchronization controller 1. The motor control unit 25 calculates the feed amount (wire position) of the wire 5 by integrating the control signal (drive pulse) output to the motor driver 22.

The operation of the suspended object system will be described below.

When the operator operates the operation device 7, an operation signal corresponding to the operation of the operator is transmitted from the operation device 7 to the synchronization controller 1. Here, the operation signal transmitted from the operation device 7 includes the information of the rotation speed and the rotation direction of the motor 33 and the group number indicating the baton 6 to be raised and lowered.

The transmission control unit 14 of the synchronization controller 1
When the operation signal transmitted from is received, the operation signal is output to the system control unit 15. System control unit 15
Stores the rotation direction included in the operation signal on the basis of the operation signal input from the transmission control unit 14,
And the transmission control unit 11 transmits control data including information on the rotation speed and the rotation direction of the motor 33 to all the motor controllers 2a to 2c belonging to the group specified by the group number.

In each of the motor controllers 2a to 2c, the transmission control unit 21 receives the control data transmitted from the synchronization controller 1 and outputs the control data to the motor control unit 25. When the control data is input, the motor control unit 25 generates a control signal for operating the motor driver 22 based on the control data, outputs the control signal to the motor driver 22, and outputs the control signal to the current wire 5.
The transmission position of the wire position and the operation state of the motor 33
1 to the synchronization controller 1. Each motor controller 2a
To 2c, based on the control signal input from the motor control unit 25, respectively.
Is rotated by the same amount, so that the baton 6 moves up and down horizontally.

By the way, while the operation signal transmitted from the operation device 7 to the synchronization controller 1 continues, the synchronization controller 1
Each motor controller 2a to 2 corresponding to each predetermined control cycle T
In addition to transmitting the control data to c, the monitoring data including the information on the wire position and the operating state returned from each of the motor controllers 2a to 2c is received. Therefore, if any abnormality occurs in the synchronous controller 1 during the raising and lowering of the baton 6, control data is not transmitted from the synchronous controller 1 to each of the motor controllers 2a to 2c.
2c can stop the output of the control signal to the motor driver 22 and safely stop the baton 6.

The abnormality monitoring unit 23 of each of the motor controllers 2a to 2c has a period (for example, 1/10 of the control period T) that is sufficiently shorter than the control period T of the control data transmitted from the synchronous controller 1. Monitors the abnormality occurrence signal generated by the motor driver 22, and when the abnormality occurrence signal is detected,
The abnormality occurrence signal is immediately output to the motor control unit 25. If no abnormality has occurred, the abnormality monitoring unit 23 continues to monitor the abnormality occurrence signal.

Here, if the control cycle T is lengthened, the transmission speed of the signal transmission between the synchronous controller 1 and each of the motor controllers 2a to 2c is reduced to reduce the cost, and the motor control which can be controlled all at once. Can be increased, but when an abnormality occurs in the synchronous controller 1, it is delayed that the motor controller 2a... Detects the abnormality of the synchronous controller 1 and stops the baton 6. If there is an abnormality in the motor controllers 2a, the detection may be delayed. Therefore, the control cycle T may be appropriately set according to the use conditions of the system.

The operation of the suspended object system when an abnormality occurs in the motor driver 22 of a certain motor controller 2a will be described below with reference to FIG.

The abnormality monitoring unit 23 monitors an abnormality occurrence signal generated by the motor driver 22 at a cycle sufficiently shorter than the control cycle T. When an abnormality occurs at time t11 while the wire 5 is sent out and the baton 6 is lowered, the motor driver 22 generates an abnormality occurrence signal. At this time, the abnormality monitoring unit 23 detects an abnormality occurrence signal of the motor driver 22 in the next monitoring cycle (time t12), and outputs the detected abnormality occurrence signal to the motor control unit 25. The abnormality monitoring unit 2
3 detects the abnormality occurrence signal of the motor driver 22 (time t12), the motor 33
Has already been stopped by

When an abnormality occurrence signal is input from the abnormality monitoring unit 23, the motor control unit 25 stops driving pulses output to the motor driver 22. Here, motor driver 2
Since the motor control unit 25 continues to output the drive pulse to the motor driver 22 even after the motor 33 is stopped due to the abnormality of the motor 2, the actual feeding amount (P1) of the wire 5 stopped due to the abnormality of the motor driver 22 An error dP ′ is generated between the motor control unit 25 and the feed amount (P2) of the wire 5, and in the motor control unit 25, a period in which the abnormality monitoring unit 23 monitors the abnormality occurrence signal (for example, a control period). The feeding amount of the wire 5 at the time of occurrence of an abnormality can be detected with an accuracy including an error corresponding to the feeding amount sent by the rotation of the motor 33 at a time corresponding to approximately 1/10 of T). Then, at the next time when the signal is returned, the motor control unit 25 causes the transmission control unit 21 to return the synchronous controller 1 with the abnormality notification signal for notifying that the abnormality has occurred in the motor driver 22 and the current wire position.

In the synchronous controller 1, at time t14, the transmission control unit 11 receives the abnormality notification signal transmitted from the motor controllers 2a in which the abnormality has occurred, and outputs the abnormality notification signal to the system control unit 15. The system control unit 15 outputs control data for stopping the motor 33 to the motor controllers 2a operating normally based on the abnormality notification signal, and outputs the control data of the motor 33 stored in the rotation direction storage unit 12. The rotation direction is read, and the elevating direction of the baton 6 is determined from the rotation direction of the motor 33.

The motor controller 2a during the lowering of the baton 6
If an abnormality occurs in the motor driver 22 to 2c and the corresponding hoisting device 3 is stopped, the wire 5 is not sent out from the hoisting device 3, so that the load of the baton 6 is imbalanced on the wire 5. The baton 6 is inclined.
Therefore, at time t15, the motor control unit 25 outputs a correction signal for correcting the wire position of the other wire 5 to the position correction unit 13, and the position correction unit 13 determines the position of the stopped wire 5 and the position of the other wire 5. Compare with the wire position,
The excess amount of the other wire 5 is calculated. Then, the position correction unit 13 causes the transmission control unit 11 to transmit control data including the overtravel amount of the wire 5 and the rotation direction of the motor 33 to the normal motor controllers 2a to 2c. The normal motor controllers 2a to 2c control the hoisting device 3 in accordance with the control data received from the synchronization controller 1 so that the wire position of the wire 5 is adjusted to the wire position at the time of occurrence of an abnormality. The wire position of the wire 5 can be adjusted to the wire position of the stopped wire 5 with the accuracy including the above-described error dP ′, and the baton 6 can be controlled to be substantially horizontal by quickly eliminating the inclination of the baton 6. .

On the other hand, if an abnormality occurs in the motor driver 22 of the motor controllers 2a to 2c while the baton 6 is rising,
When the corresponding hoisting device 3 is stopped, the wire 5 is not taken up by the hoisting device 3, but the baton 6 is lifted horizontally by the other wire 5. The baton 6 is continuously raised without correcting the position.

In the present embodiment, the baton 6 is hung by the three wires 5. However, the baton 6 is not hung by three wires, but the baton 6 is hung by the plurality of wires 5. You can make it lower. In addition, baton 6
Is suspended from the viewpoint of safety, but if the baton 6 is suspended by two wires 5 and one of the wires 5 stops, the baton 6 is lifted. The baton 6 tilts regardless of the descent, but even if the baton 6 tilts, the load is not biased to one wire 5.

[0042]

As described above, the first aspect of the present invention is connected to a plurality of motors for respectively winding and sending out a plurality of wires for suspending a baton for attaching a suspended object, in accordance with input control data. A plurality of motor controllers for controlling the motors, and a synchronous controller for transmitting control data to each motor controller so that the plurality of motors operate synchronously. The motor controller is connected to the motor controller, and transmits control data for controlling the operation of each motor to each motor controller at a predetermined control cycle, and the motor controller receiving the control data transmits the wire feed amount and the like. In a suspended object system that returns monitoring data indicating an operation state of a motor to a synchronous controller, the motor controller drives the motor based on control data transmitted from the synchronous controller. A motor drive unit that monitors the motor drive unit and an error occurrence signal generated by the motor drive unit in the event of an abnormality in a cycle shorter than the control cycle, and returns the wire feed amount in the event of an abnormality to the synchronous controller at the next signal return. A monitoring unit, the synchronous controller stores a rotation direction storage unit that stores the rotation direction of the motor, and when it is determined that the baton has been lowered when an abnormality occurs from the rotation direction of the motor stored in the rotation direction storage unit, A position correction unit for controlling a motor controller connected to another motor so that the wire feed amount of another wire is adjusted to the wire feed amount at the time of the error returned from the motor controller in which the error occurred. If an error occurs in one of the motor drive units when the baton is lowered and the wire feed stops, the baton may tilt sharply. When it is determined that the baton has been lowered when an abnormality has occurred from the rotation direction of the motor stored in the rotation direction storage unit, a normal operation is performed so as to match the amount of wire sent out of another wire with the amount of wire sent out at the time of abnormality occurrence. Since the motor controller is controlled, the feed amounts of the respective wires become the same, and there is an effect that the load is not biased to a certain wire and the baton can be kept horizontal.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram illustrating a suspended object system according to an embodiment.

FIG. 2 is a block diagram showing a specific example of the above.

FIG. 3 is a block diagram showing a main part of the above.

FIG. 4 is an explanatory diagram illustrating an operation when an abnormality occurs in the embodiment.

FIG. 5 is a schematic configuration diagram showing a conventional suspended object system.

FIG. 6 is a schematic configuration diagram showing another hanging object system according to the embodiment.

FIG. 7 is a flowchart illustrating the operation of the above.

FIG. 8 is a flowchart illustrating another operation of the above embodiment.

FIG. 9 is an explanatory diagram illustrating an operation when an abnormality occurs in the embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Synchronization controller 2a-2c Motor controller 5 Wire 6 Baton 12 Rotation direction storage part 13 Position correction part 21 Transmission control part 22 Motor driver 23 Abnormality monitoring part 33 Motor

Claims (1)

[Claims] A plurality of motors for winding and unwinding a plurality of wires for suspending a baton for attaching a suspended object, and a plurality of motor controllers for controlling the connected motors according to input control data. A synchronous controller that transmits control data to each motor controller so that the plurality of motors operate in synchronization, and the synchronous controller is connected to the plurality of motor controllers via a transmission line, and the The control data for controlling the operation is transmitted to each motor controller at a predetermined control cycle, and the motor controller receiving the control data synchronously controls monitoring data indicating the wire feed amount and the motor operating state. In the suspended object system that returns to the container, the motor controller includes a motor driving unit that drives the motor based on control data transmitted from the synchronization controller, An abnormality monitoring unit that monitors the abnormality occurrence signal generated by the motor drive unit at a cycle shorter than the control cycle and returns the wire feed amount at the time of occurrence of the abnormality to the synchronization controller at the next signal return, and has a synchronous control. The vessel is
A rotation direction storage unit that stores the rotation direction of the motor, and an abnormality returned from the motor controller in which the abnormality has occurred when it is determined that the baton has been lowered when an abnormality has occurred from the rotation direction of the motor stored in the rotation direction storage unit. A suspended object system comprising: a position correction unit that controls a motor controller to which another motor is connected so as to match the amount of wire feeding to the amount of wire feeding at the time of occurrence.