JP2001218499A - Method of judging abnormality of ac servo motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the possibility of the winding of an AC servo motor burning by the application of a detected current for judgment of abnormality, in the case that abnormality occurs in the winding of each phase of the AC servo motor or external winding, and further to enable discrimination from actual mechanical overloading. SOLUTION: The existence of abnormality in the winding of a servo motor or external winding is judged by issuing a command to apply such a current for first detection that the winding of that motor does not overheat, to the line of the second phase (V phase) and the third phase (W phase) from the line of the first phase (U phase) of the three-phase line to which that motor is connected, when a drive current to generate usual torque is not applied, and detecting the applied currents to each line of U phase and V phase, respectively, with first and second current detectors 5U and 5V, in a circuit which drives the AC servo motor 6 by applying the DC current obtained by rectifying and filtering three-phase AC power 1, as a drive current to generate usual torque by means of a switching circuit 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improved method for determining an abnormality in windings and external wiring of an AC servomotor.

[0002]

2. Description of the Related Art As a power source for driving each link of a manipulator of an industrial robot, an AC servomotor is used because high precision and high speed controllability are required. FIG. 1 is a diagram illustrating a general configuration of an articulated robot that is an example of an industrial robot. In FIG.
Is a manipulator, 12 is a robot control device for controlling the manipulator 11, and 13 is a teach pendant for operating the manipulator 11. A
The C servo motor is provided inside each link of the manipulator 11 (shown in the same figure) or outside the link (shown in the same figure), and the rotational force of the AC servo motor is transmitted through a reduction gear composed of a gear or a timing belt. To each link. For example, a six-axis manipulator is provided with six AC servomotors.

FIG. 2 shows a general A-type motor for controlling a conventional star-connected AC servomotor using a switching element.
It is a figure showing composition of a C servo motor drive. In the figure, reference numeral 1 denotes a three-phase AC power supply, and 2 denotes a three-phase AC power supply 1.
A rectifier circuit that rectifies the output of the
Reference numeral 3 denotes a smoothing circuit for smoothing the output of the rectifier circuit 2. Reference numeral 4 denotes an AC servo motor 6 which performs PWM conversion on the output of the smoothing circuit 3.
A first current detector 5u and a second current detector 5v are a U-phase and a V-phase flowing from the drive switching circuit 4 to the AC servomotor 6 respectively. Are current detectors that respectively detect the current values of the current. Reference numeral 6 denotes an AC servomotor whose windings are star-connected. Reference numeral 7 denotes a driving switching control circuit, which includes a first current detector 5u and a second
And outputs a signal for performing PWM conversion corresponding to the output signal of the driving current value setting unit 8 to the driving switching circuit 4. Rectifier circuit 2,
The smoothing circuit 3, the driving switching circuit 4, the first current detector 5u, the second current detector 5v, the driving switching control circuit 7, and the driving current value setting device 8 are the robot controller 12 shown in FIG. It is provided within.

The above-described AC servomotor driving device is composed of an AC servomotor driving device.
It is assumed that a balanced three-phase current is flowing to generate a desired torque in the servo motor 6. In this case, the current flowing in the U phase is Iu, and the current flowing in the V phase is Iu.
Assuming that the currents flowing in the v and W phases are Iw, the vector sum I of the currents flowing in each phase is I = Iu + Iv + Iw = 0. The calculation is performed to control the current flowing through the AC servomotor 6.

[0005]

However, even if the drive switching circuit 4 outputs a balanced three-phase current, if an abnormality occurs in the windings or external wiring of each phase of the AC servomotor, the AC servomotor is not operated. The vector sum I of the flowing current does not become zero, and the AC servomotor cannot generate a regular torque. In such an abnormal state, A
If an attempt is made to generate a proper torque in the C servomotor, a current that is three to four times the rated current value of the AC servomotor continues to flow through the winding, and the winding is burned. As a first method of preventing the winding from being burnt, conventionally, after turning on the power of the robot, the current for two phases of the three phases of the AC servomotor is detected, the overload is determined, and the power is cut off. The method is adopted. However, in this first method, AC
If an abnormality occurs in the windings or external wiring of each phase of the servomotor, a current several times the rated current flows to the AC servomotor. When the integration time until the load is judged is required, and when the detection current for overload judgment is repeated, the AC servomotor winding cannot be synchronized with the temperature rise of the AC servomotor winding, and the AC servomotor winding is burned. There is a possibility that. Further, when detecting an overload, it may not be possible to distinguish between an overload and a winding abnormality due to a failure caused by the mechanical structure of the AC servomotor. Therefore, as a second method for preventing the winding from being burnt, conventionally, a current detector is provided on all three-phase lines of an AC servomotor to detect three-phase current values.
A method has been proposed in which when the calculated value exceeds a predetermined threshold value, an open phase condition occurs and the power supplied to the AC servomotor is cut off.

However, this second method requires the provision of three current detectors, which hinders extra cost and downsizing of the robot controller 12. Therefore, the present applicant does not use three current detectors as in the second method, but uses two conventional current detectors and performs switching without adding a new device. Control circuit 7
The present invention proposes an AC servomotor abnormality determination method in which a new program is added to a program memory provided in the AC servo motor to make a determination.

[0007]

According to the first aspect of the present invention, there is provided a method for determining the presence or absence of an abnormality in a winding and an external wiring of an AC servomotor. Is not energized, the windings of the AC servomotor do not burn from the first phase line to the second phase line and the third phase line of the three-phase line to which the AC servomotor is connected. An instruction is made to supply a current for detecting a current value, and the current supplied to the first phase line and the second phase line is detected to determine whether there is an abnormality in the winding of the AC servomotor and the external wiring. This is an AC servo motor abnormality determination method.

The invention according to claim 2 at the time of filing is a method for distinguishing a line in which a winding of an AC servomotor has an abnormality, and when a drive current for generating a normal torque is not supplied. In the three-phase line to which the AC servomotor is connected, the first phase line having a current value that does not burn out the winding of the AC servomotor from the first phase line to the second phase line and the third phase line. An instruction is made to supply a detection current, a conduction current between the first-phase line and the second-phase line is detected, and then the first-phase line and the third-phase line are detected from the second-phase line. Of the current value at which the winding of the AC servomotor does not burn out
Of the first phase line and the second phase line are detected, and the line in which the winding of the AC servomotor and the external wiring are abnormal is determined. A
This is a method for determining the abnormality of the C servomotor.

The invention according to claim 3 at the time of filing is a method for distinguishing a line in which an abnormality has occurred in a winding of an AC servomotor, when a drive current for generating a normal torque is not supplied. In the three-phase line to which the AC servomotor is connected, the first phase line having a current value that does not burn out the winding of the AC servomotor from the first phase line to the second phase line and the third phase line. A first discriminating condition for giving a command to supply a detection current, detecting a conducting current between the first phase line and the second phase line, and discriminating the state of the winding and the external wiring of the AC servomotor. And a command to flow a second detection current from the second phase line to the first phase line and the third phase line so that the winding of the AC servomotor does not burn out. Then, the current flowing through the first phase line and the second phase line is detected, and the AC servo motor is detected. An abnormality determination method for an AC servomotor in which the second and a determination condition of the AC servo motor windings and external wiring anomaly to determine the line generated to determine the state of the winding and an external wiring data.

In the invention described in claim 4 at the time of filing, the first phase line of claim 1, 2 or 3 at the time of filing is U-phase, and the second phase line is V-phase. This is an AC servomotor abnormality determination method for determining whether there is an abnormality in the windings and external wiring of the AC servomotor in which the phase of the phase is the W-phase.

In the invention described in claim 5 at the time of filing, the first phase line of claim 1, 2 or 3 at the time of filing is V-phase, and the second phase line is U-phase. This is an AC servomotor abnormality determination method for determining whether there is an abnormality in the windings and external wiring of the AC servomotor in which the phase of the phase is the W-phase.

According to the invention described in claim 6 at the time of filing, the current for detecting a current value that does not burn out the winding of the AC servomotor according to claim 1 or 2 or 3 at the time of filing is This is a method for determining an abnormality of the AC servomotor, which is a current value at which the winding of the AC servomotor does not overheat even if the operation is repeated.

According to a seventh aspect of the present invention, there is provided a switching circuit in which the detection current according to the first, second, or third aspect of the present invention supplies a drive current for generating a normal torque. This is a method for determining the abnormality of the AC servomotor, which is the current output from the detection / drive switching circuit 10 which also serves as the control circuit.

The invention according to claim 8 at the time of filing is the switching circuit for detecting and driving 1 according to claim 7 at the time of filing.
This is an AC servomotor abnormality determination method in which the detection current output by 0 is a current for controlling a DC current by PWM conversion to a predetermined value.

According to a ninth aspect of the present invention, the detection current of the first aspect of the present invention is such that the detection current is transferred from the first phase line to the second phase line and the third phase line. This is a method for determining an abnormality of the AC servomotor, which is a current output from the detection / drive switching circuit 10 which receives a command to supply a detection current.

According to the invention as set forth in claim 10 at the time of filing, the first detection current according to claim 2 or 3 at the time of filing applies the first phase line to the second phase line and The second detection current is a current output from the detection / drive switching circuit 10 that receives a command to supply a detection current to the third phase line, and is supplied from the second phase line to the first phase. This is a method for judging an abnormality of the AC servomotor, which is a current output from the detection / drive switching circuit 10 which receives a command to energize the third phase line and the third phase line.

[Invention of Subordinate Concept of Claim 1 at the time of filing] The invention described in Claim 11 at the time of filing is a subordinate concept of Claim 1 at the time of filing. A method of determining the state of windings and external wiring of an AC servo motor in a star connection or a delta connection according to claim 9, wherein the switching circuit supplies a drive current for generating a normal torque. When the drive current for generating the torque is not supplied, the DC current is subjected to PWM conversion, and the first of the three-phase line to which the AC servomotor is connected.
From the phase line to the second phase line and the third phase line,
A command is issued to supply a first detection current having a current value at which the winding of the AC servomotor does not burn out, and the first phase line and the second
An AC servo motor abnormality is detected by detecting the current flowing through the phase line of the AC servo motor to determine the state of the winding and the external wiring of the AC servo motor and determining the line in which the winding and the external wiring of the AC servo motor are abnormal. This is a determination method.

[Invention of Subordinate Concept of Claim 2 at the time of filing]
[First and Second Embodiments (Star Connection / Determination of Abnormality of Each Winding) Means] The invention according to claim 12 at the time of filing is a star-connected AC servomotor, which is shown in FIG. 4 or FIG. As shown, the detected current value Iv of the line of the second phase (V phase)
Is 1/2 of the detected current value Iu of the first phase (U phase) line, or as shown in FIG. 12 or FIG. 14, the detected current value Iu of the second phase (U phase) line. Is が of the detected current value Iv of the first phase (V phase) line, it is determined that there is no disconnection in the winding and external wiring of each phase. This is a method for determining an abnormality of the AC servomotor described above.

The invention according to claim 13 at the time of filing is a star-connected AC servomotor, and as shown in FIG. 5, the detected current value Iu and the detected current value Iu of the first phase (U-phase) line. If the detected current value Iv of the 2 phase (V phase) line is zero,
The AC according to claim 1 or claim 11 at the time of filing, which determines that the external wiring or winding of the first phase (U phase) is disconnected.
This is a servo motor abnormality determination method.

The invention according to claim 14 at the time of filing is a star-connected AC servomotor, and as shown in FIG. 6, the detected current value Iu of the first phase (U-phase) line is set in advance. If it is a predetermined value and the detected current value Iv of the second phase (V phase) line is zero, it is determined that the external wiring or winding of the second phase (V phase) is disconnected. An abnormality determination method for an AC servomotor according to claim 1 or 11 at the time.

The invention according to claim 15 at the time of filing is a star-connected AC servomotor, and as shown in FIG. 7, the detected current value Iv of the second phase (V phase) line 1
If the detected current value Iu of the line of the third phase (U-phase) is the same, it is determined that the external wiring or winding of the third phase (W-phase) is disconnected. Item 12 is an AC servomotor abnormality determination method according to item 11.

The invention according to claim 16 at the time of filing is a star-connected AC servomotor, and as shown in FIG. 10 or 11, the detected current value of the second phase (V phase) line Iv is 1 of the detected current value Iu of the first phase (U phase) line.
/ 2, the resistance of the winding of the second phase (V-phase) or the winding of the third phase (W-phase) has changed, or FIG.
As shown in FIG. 3 or FIG. 15, when the detected current value Iu of the second-phase (U-phase) line is not の of the detected current value Iv of the first-phase (V-phase) line, the second The abnormality of the AC servomotor according to claim 1 or claim 11, wherein it is determined at the time of filing that the resistance value of the winding of the phase (U phase) or the resistance of the winding of the third phase (W phase) is changed. This is a determination method.

[Third and Fourth Embodiments (Delta Connection / Determination of Abnormality of Each Winding)] Means The invention according to claim 17 at the time of filing is an AC servo motor with delta connection, as shown in FIG. As shown in FIG. 22, if the detected current value Iv of the second phase (V phase) line is １ ／ of the detected current value Iu of the first phase (U phase) line, the external current of each phase is reduced. The wiring and the inter-phase winding (VU-phase winding) between the first phase (U-phase) and the second phase (V-phase) and the first phase (U-phase) and the third phase (W-phase) There is no disconnection in the inter-phase winding (UW inter-phase winding) or, as shown in FIG. 24 or FIG. 30, the detected current value Iu of the second phase (U phase) line is the first phase (V phase). If the detected current value Iv of the line is 1/2, the external wiring of each phase and the first phase (V phase)
And a second phase (U phase) (UV phase) and a first phase (V phase) and a third phase (W phase).
Claim 1 at the time of filing the application which determines that there is no disconnection in the W-phase winding
Alternatively, an AC servomotor abnormality determination method according to claim 11 is provided.

The invention according to claim 18 at the time of filing is an AC servomotor connected in delta, and as shown in FIG. 18, the detected current value Iu and the detected current value Iu of the first phase (U phase) line are changed. If the detected current value Iv of the second phase (V phase) line is zero, the external wiring of the first phase (U phase) is disconnected or, as shown in FIG. V) and the detected current value I of the second phase (U phase) line.
12. The application according to claim 1, wherein when u is zero, it is determined that the external wiring of the first phase (V phase) is disconnected.
The method for determining an abnormality of an AC servomotor described in (1).

The invention according to claim 19 at the time of filing is an AC servomotor connected in delta, and as shown in FIG. 19, the detected current value Iu of the first phase (U phase) line is set in advance. If the detected current value Iv of the line of the second phase (V phase) is zero, the external wiring of the second phase (V phase) is disconnected, or as shown in FIG. First, the first phase (V
When the detected current value Iv of the second phase (U phase) line is a predetermined value and the detected current value Iu of the second phase (U phase) line is zero, the external wiring of the second phase (U phase) is Is an AC servomotor abnormality determining method according to claim 1 or claim 11 at the time of filing, in which it is determined that the AC servomotor is disconnected.

The invention according to claim 20 at the time of filing is an AC servomotor connected in delta, and as shown in FIG. 20 or FIG. 23, a detected current value of a second phase (V phase) line. If Iv and the detected current value Iu of the first phase (U-phase) line are the same, the external wiring of the third phase (W-phase) or the first phase (U-phase) and the third phase (U-phase) (U-phase winding) is disconnected or, as shown in FIG. 27 or FIG. 29, the detected current value Iu of the second-phase (U-phase) line and the first If the detected current value Iv of the phase (V phase) line is the same, the external wiring of the third phase (W phase) or the first phase (V phase)
12. The application according to claim 1 or claim 11, wherein it is determined that an inter-phase winding (VW-phase winding) between the second phase and the third phase (W phase) is disconnected.
The method for determining an abnormality of an AC servomotor described in (1).

The invention according to claim 21 at the time of filing is an AC servomotor connected in delta, and as shown in FIG. 32 or FIG. 34, the detected current value of the line of the second phase (V phase). Iv is 1 of the detected current value Iu of the first phase (U phase) line.
/ 2, the first phase (U-phase) and the second phase (V-phase)
Phase) (UV phase winding) or the first phase (U
Phase) and a third phase (W phase) interphase winding (UW interphase winding)
36, or as shown in FIG. 36 or FIG. 37, the detected current value Iu of the second phase (U phase) line is the detected current value of the first phase (V phase) line. When it is not 1/2 of Iv, the interphase winding (UV phase winding) of the first phase (V phase) and the second phase (U phase) or the first phase (V phase) and the third phase 12. The application according to claim 1 or claim 11, wherein it is determined that the resistance value of the interphase winding (VW phase winding) with the phase (W phase) has changed.
The method for determining an abnormality of an AC servomotor described in (1).

[Invention of Subordinate Concept of Claim 3 at the time of filing] The invention described in Claim 22 at the time of filing is a subordinate concept of Claim 3 at the time of filing. Claim 9
And a method of determining the state of the windings and external wiring of the star-connected or delta-connected AC servomotor according to claim 11, wherein the switching circuit supplies a drive current for generating a normal torque. When the drive current for generating the torque is not supplied, the DC current is PWM-converted and the AC servomotor is connected.
A command is issued to pass a first detection current having a current value at which the winding of the AC servomotor does not burn out from the first phase line to the second phase line and the third phase line of the phase line, A first determination condition for detecting a current flowing through the first phase line and the second phase line to determine the state of the windings and the external wiring of the AC servomotor; A command is sent to the first phase line and the third phase line to supply a second detection current having a current value at which the winding of the AC servomotor does not burn out from the line to the first phase line and the third phase line. From the second determination condition for determining the state of the winding and the external wiring of the AC servomotor by detecting the current flowing through the two-phase line, the line in which the winding and the external wiring of the AC servomotor have failed is determined. This is an AC servomotor abnormality determination method for determination.

[Second Embodiment (Star Connection / Determination of Resistance Change of Each Phase Winding)] The invention according to claim 23 at the time of filing is a star-connected AC servomotor,
As shown in FIG. 8, the first determination condition is the second phase (V
Phase), the detected current value Iv of the line is half of the detected current value Iu of the first phase (U phase) line, and the second determination condition is as follows:
As shown in FIG. 12, when the detected current value Iu of the first phase (U phase) line is １ ／ of the detected current value Iv of the second phase (V phase) line, The A according to claim 3 or claim 22, wherein at the time of filing the application which determines that the resistance value of the winding is normal.
This is a method for determining the abnormality of the C servomotor.

The invention according to claim 24 at the time of filing is the star-connected AC servomotor, wherein the first determination condition is that the second phase (V phase) line is as shown in FIG. Is the detected current value Iv of the line of the first phase (U phase).
u, and the second determination condition is that the detected current value Iv of the line of the second phase (V phase) is a predetermined value as shown in FIG. The detected current value Iu of the (U phase) line is 1 of the detected current value Iv of the second phase (V phase) line.
3 or 2 at the time of filing, when it is determined that the resistance value of the winding of the first phase (U-phase) has changed when it is not / 2.
2 is a method for determining an abnormality of the AC servomotor according to 2.

An invention according to claim 25 at the time of filing is an AC servomotor connected in a star connection, and the first determination condition is that the first phase (U) is set as shown in FIG. 10 or FIG.
Phase) the detected current value Iu of the line is a predetermined value,
The detected current value Iv of the second phase (V phase) line is not half of the detected current value Iu of the first phase (U phase) line,
Is determined in the second phase (V phase) as shown in FIG.
The detected current value Iv of the line is a predetermined value, and the first
The detected current value Iu of the phase (U phase) line is the second phase (V phase).
When the detected current value Iv of the (phase) line is 1/2, it is determined that the resistance value of the winding of the second phase (V phase) has changed, and the second determination condition is as shown in FIG. As shown in the figure, the detected current value Iv of the second phase (V-phase) line is a predetermined value, and the detected current value Iu of the first phase (U-phase) line is the second phase (U-phase). 23. The application according to claim 3 or claim 22, wherein it is determined that the resistance value of the winding of the third phase (W-phase) is changed when the detected current value Iv of the (V-phase) line is not １ ／. AC described in
This is a servo motor abnormality determination method.

The invention according to claim 26 at the time of filing is the star-connected AC servomotor, wherein the first determination condition is that the second phase (V phase) line is as shown in FIG. Is the detected current value Iv of the line of the first phase (U phase).
When the value is 1/2 of u, the resistances of the windings of the second phase (V phase) and the windings of the third phase (W phase) are normal, and the second determination condition is as shown in FIG. As shown in (1), when the detected current value Iu of the first phase (U phase) line is １ ／ of the detected current value Iv of the second phase (V phase) line, the winding of each phase Is normal, and as shown in FIG. 13, the first phase (U phase)
If the detected current value Iu of the line of the second phase (V phase) is not 1/2 of the detected current value Iv of the line of the second phase (V phase), the first phase (U phase)
23. An abnormality determination method for an AC servomotor according to claim 3 or claim 22, wherein it is determined that the resistance value of the winding has changed. [Summary of Claim 26 at the time of filing] First discriminating condition FIG. 8 = FIG. 9 Iu = predetermined value, Iv = Iu / 2 → normal resistance value of V-phase and W-phase windings 1 FIG. 12 Iv = predetermined value, Iu = Iv / 2 → normal resistance value of U-phase and W-phase windings (normal resistance value of each phase winding from 1 of first and second determination conditions) 13) Iv = predetermined value, Iu ≠ Iv / 2 → resistance change of U-phase or W-phase winding (from 2 of the first determination condition and the second determination condition to U (Phase winding resistance change)

An invention according to claim 27 at the time of filing is the star-connected AC servomotor, wherein the first determination condition is that the second phase (V phase) line is as shown in FIG. Is not 1/2 of the detected current value Iu of the first phase (U phase) line, and the second determination condition is the first phase (U phase) as shown in FIG. When the detected current value Iu of the second line (V phase) is １ ／ of the detected current value Iv of the second phase (V phase) line, the resistance value of the winding of the second phase (V phase) changes. If the detected current value Iu of the first phase (U-phase) line is not 1/2 of the detected current value Iv of the second phase (V-phase) line as shown in FIG. An AC servomotor abnormality determining method according to claim 3 or claim 22, wherein it is determined that the resistance value of the winding of the third phase (W phase) has changed. [Summary of Claim 27 at the time of filing] First discriminating condition FIG. 10 Iu = predetermined value, Iv ≠ Iu / 2 → resistance change of V-phase or W-phase winding 1 of second discriminating condition Iv = predetermined value, Iu = Iv / 2 → Normal resistance value of U-phase and W-phase windings (change in resistance value of V-phase winding from 1 of first and second determination conditions) Second FIG. 15 Iv = predetermined value, Iu ≠ Iv / 2 → resistance change of U-phase or W-phase winding (from 1st determination condition and 2nd determination condition 2 to W-phase winding) Resistance change)

[Third Embodiment (Determination of Delta Connection / Presence of Disconnection of Interphase Winding)] Means The invention according to claim 28 at the time of filing is an AC servomotor with delta connection, and As shown in FIG. 17, the determination condition is the second phase (V
The detected current value Iv of the line of the first phase (U phase) is １ ／ of the detected current value Iu of the line of the first phase (U phase), and as shown in FIG. When the detected current value Iu is の of the detected current value Iv of the second phase (V phase) line, a request at the time of filing is determined to determine that there is no disconnection of the external wiring of each phase and the winding of each phase. An AC servo motor abnormality determination method according to item 3. [Summary of Claim 28 at the time of filing] First determination condition FIG. 17 Iu = predetermined value, Iv = Iu / 2 → No disconnection in each external wiring, UV phase winding and UW phase winding. Determination condition FIG. 24 Iv = predetermined value, Iu = Iv / 2 → There is no disconnection in each external wiring and the winding between the UV phase and the winding between the VW phases (from the first determination condition and the second determination condition, each external wiring There is no disconnection of the interphase windings and no change in the resistance value.)

An invention according to claim 29 at the time of filing is an AC servomotor connected in delta, and the first determination condition is that the first phase (U) is set as shown in FIG. 19 and FIG.
The detected current value Iu of the line of the (phase) line is a predetermined value, the detected current value Iv of the line of the second phase (V phase) is zero, and the second determination condition is as shown in FIG. , The first phase (U
When the detected current value Iu of the line of the phase (phase) and the detected current value Iv of the line of the second phase (V phase) are zero, the external wiring of the V phase is disconnected, and as shown in FIG. Phase 2 (V phase)
When the detected current value Iv of the first line (U phase) is zero, the detected current value Iv of the first line (U phase) is zero.
Interphase winding (U) of a first phase (U phase) and a second phase (V phase)
Claim 3 at the time of filing which determines that the V-phase winding is broken.
Alternatively, an abnormality determination method for an AC servomotor according to claim 22 is provided. [Summary of Claim 29 at the time of filing] First discriminating condition Fig. 19 = Fig. 21 Iu = predetermined value, Iv = 0 → disconnection of winding between UV phases or disconnection of V-phase external wiring One of second discriminating conditions 26 Iv = 0, Iu = 0 → U-phase external wiring disconnection or V-phase external wiring disconnection (1 to V of first and second determination conditions)
FIG. 28 Iu = 0, Iv = predetermined value → UV phase winding disconnection or U-phase external wiring disconnection (first determination condition and second determination condition 2) From UV phase winding disconnection)

The invention according to claim 30 at the time of filing is an AC servomotor with a delta connection, and the first determination condition is that the second phase (V) is set as shown in FIGS.
The detected current value Iv of the line of the first phase (U-phase) is the same as the detected current value Iu of the line of the first phase (U-phase), and the second determination condition is, as shown in FIG. When the detected current value Iu of the line of the phase (phase) is the same as the detected current value Iv of the line of the second phase (V phase), the external wiring of the third phase (W phase) is disconnected, and FIG. As shown in (1), when the detected current value Iu of the first phase (U phase) line is の of the detected current value Iv of the second phase (V phase) line, the first phase (U phase) The A according to claim 3 or claim 22, wherein at the time of filing an application, it is determined that the interphase winding (UW phase winding) between the third phase (W phase) and the third phase (W phase) is disconnected.
This is a method for determining the abnormality of the C servomotor. [Summary of Claim 30 at the time of filing] First discrimination condition Fig. 20 = Fig. 23 Iu = predetermined value, Iv = Iu-> W-phase external wire disconnection or UW-phase winding disconnection One of the second determination conditions 27 Iv = predetermined value, Iu = Iv → W-phase external wiring disconnection or VW-phase winding disconnection (from first determination condition and second determination condition 1 to W-phase external wiring disconnection) 2 FIG. 30 Iv = predetermined value, Iu = Iv / 2 → Normal winding between UV-phase and winding between VW-phases (breakage of winding between UW-phases from 2 of first and second determination conditions)

The invention according to claim 31 at the time of filing is an AC servomotor connected in delta, and the first determination condition is that the first phase (U phase) line is as shown in FIG. Is a predetermined value, and the second phase (V
29, the detected current value Iv of the line of the first phase (U phase) is １ ／ of the detected current value Iu of the line of the first phase (U phase). The detected current value Iu of the phase (U phase) line is the detected current value Iu of the second phase (V phase) line.
Claim 3 or claim 4 at the time of application which determines that the interphase winding (VW interphase winding) between the second phase (V phase) and the third phase (W phase) is disconnected when v is the same. An AC according to claim 22,
This is a servo motor abnormality determination method. [Summary of Claim 31 at the time of filing] First discriminating condition FIG. 22 Iu = predetermined value, Iv = Iu / 2 → No disconnection in each external wiring, UV phase winding and UW phase winding. Determination condition FIG. 29 Iv = predetermined value, Iu = Iv → W-phase external wiring or V
W-phase winding disconnection (VW-phase winding disconnection based on first and second determination conditions)

Fourth Embodiment (Delta Connection / Determination of Resistance Change of Interphase Winding) Means The invention according to claim 32 at the time of filing is a delta connection AC servomotor, and As shown in FIG. 31, the determination condition is the second phase (V
Phase), the detected current value Iv of the line is half of the detected current value Iu of the first phase (U phase) line, and the second determination condition is as follows:
As shown in FIG. 35, when the detected current value Iu of the first phase (U-phase) line is １ ／ of the detected current value Iv of the second phase (V-phase) line, the interphase winding It is determined that the resistance value of the line is normal, and as shown in FIG. 37, the detected current value Iu of the first phase (U phase) line is changed to the detected current value Iv of the second phase (V phase) line. When the resistance value of the interphase winding (VW interphase winding) of the second phase (V phase) and the third phase (W phase) is not changed when the application is not applied, An AC servomotor abnormality determination method according to claim 3 or 22. [Summary of Claim 32 at the time of filing] First determination condition FIG. 31 = FIG. 33 Iu = predetermined value, Iv = Iu / 2 → normal resistance value of winding between UV phase and winding between UW phase Second determination Condition 1 FIG. 35 Iv = predetermined value, Iu = Iv / 2 → normal resistance value of winding between UV-phase and winding between VW-phase (first discriminating condition and second
(1) from the discrimination condition 1 to the resistance value of each phase winding is normal) 2) The second discrimination condition 2 FIG. 37 Iv = predetermined value, Iu ≠ Iv / 2 → resistance change of UV phase winding and VW phase winding (First discrimination condition and second discrimination
Of the VW-phase winding from the condition 2

The invention according to claim 33 at the time of filing is an AC servomotor connected in delta, and the first discrimination condition is that the first phase (U) is set as shown in FIGS.
The detected current value Iu of the second phase (V phase) line is a predetermined value, and the detected current value Iv of the second phase (V phase) line is the first phase (U
36, the second determination condition is that the detected current value Iu of the first-phase (U-phase) line is not the half of the detected current value Iu of the second-phase line. When the detected current value Iv of the (V-phase) line is not １ ／, the resistance value of the inter-phase winding (UV-phase winding) between the first phase (U-phase) and the second phase (V-phase) Is changed, and as shown in FIG. 38, the detected current value Iu of the first phase (U-phase) line is changed to the second phase (V-phase).
The resistance value of the interphase winding (UW phase winding) of the first phase (U phase) and the third phase (W phase) changes to １ ／ of the detected current value Iv of the line An AC servomotor abnormality determination method according to claim 3 or claim 22 at the time of filing the application. [Summary of Claim 33 at the time of filing] First discriminating condition FIG. 32 = FIG. 34 Iu = predetermined value, Iv ／ Iu / 2 → resistance change of winding between UV phase or winding between UW phase Second discrimination Condition 1 FIG. 36 Iv = predetermined value, Iu ≠ Iv / 2 → resistance change of UV phase winding or VW phase winding (first discriminating condition and second
FIG. 38: Iv = predetermined value, Iu = Iv / 2 → normal resistance value of UV-phase winding or VW-phase winding (First discrimination condition and second discrimination
From the judgment condition 2 of the change in the resistance value of the UW interphase winding)

The invention described in claim 34 at the time of filing is a subordinate concept of claim 3 at the time of filing, and is defined by claims 6, 7, 9, 11, and 26. In the method of determining a change in the resistance value of each phase winding of the star-connected AC servomotor according to the second embodiment, a switching circuit that supplies a drive current for generating a normal torque is used.
When a drive current for generating a normal torque is not supplied, the DC current is subjected to PWM conversion to convert the first phase line to the second phase line and the third phase line of the three-phase line to which the AC servomotor is connected. A command to supply a first detection current that does not overheat the winding of the AC servomotor to the line of phase 3
As shown in FIG. 8, the first determination condition for detecting and determining the current flowing through the line of the second phase and the line of the second phase is a detected current value Iv of the line of the second phase (V phase). Is の of the detected current value Iu of the first phase (U phase) line, the resistance of the second phase (V phase) winding and the third phase (W phase) winding The value is normal, and then the second phase line is commanded to pass a second detection current from the second phase line to the first phase line and the third phase line. As shown in FIG. 12, the second determination condition for detecting and determining the current flowing between the first phase (U-phase) line and the second phase line is the detection current value Iu of the first phase (U-phase) line.
Is 1/2 of the detected current value Iv of the second phase (V phase) line, the resistance value of the winding of each phase is normal, and FIG.
, The detected current value I of the first phase (U-phase) line
u is の of the detected current value Iv of the line of the second phase (V phase)
If not, the AC servomotor abnormality determination method determines that the resistance value of the winding of the first phase (U phase) has changed.

The invention described in claim 35 at the time of filing is a subordinate concept of claim 3 at the time of filing.
In the method for determining a change in the resistance value of each phase winding of the delta-connected AC servomotor according to the fourth embodiment described in 2, the normal torque is generated by the switching circuit that supplies a drive current for generating the normal torque. When the drive current for generating the current is not supplied, the DC current is subjected to PWM conversion to convert the first phase line to the second phase line and the third phase line of the three-phase line to which the AC servomotor is connected. AC line
A first determination condition for giving a command to supply a first detection current that does not overheat the windings of the servomotor, and detecting and determining a conduction current between the first phase line and the second phase line is as follows. , FIG.
As shown in FIG. 1, the detected current value Iv of the line of the second phase (V phase) is 1/1 / of the detected current value Iu of the line of the first phase (U phase).
35, and the second determination condition is that, as shown in FIG. 35, the detected current value Iu of the first phase (U-phase) line is the second phase (V-phase).
If the detected current value Iv of the phase (phase) line is 1/2, it is determined that the resistance value of each inter-phase winding is normal, and as shown in FIG. 37, the first phase (U phase) line Is not 1/2 of the detected current value Iv of the second phase (V phase) line, the interphase winding between the second phase (V phase) and the third phase (W phase) is performed. This is an abnormality determination method for an AC servomotor that determines that the resistance value of a wire (winding between VW phases) has changed.

[0042]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to claims 22 and 26, which are a subordinate concept of claim 3 of the present invention.
In the method of determining the change in the resistance value of each phase winding of a servomotor, a switching circuit that supplies a drive current that generates a normal torque outputs a DC current when a drive current that generates a normal torque is not supplied. The PWM conversion is performed, and the AC servomotor is connected to the three-phase line from the first-phase line to the second-phase line and the third-phase line.
A first determination condition for giving a command to supply a first detection current that does not overheat the windings of the servomotor, and detecting and determining a conduction current between the first phase line and the second phase line is as follows. , FIG.
, The detected current value I of the second phase (V-phase) line
v is の of the detected current value Iu of the first phase (U phase) line
When the resistance of the second phase (V phase) winding and the third phase (W phase) winding is normal, the resistance of the second phase (W-phase) winding is normal. A second command for giving a second detection current to the phase line and the third phase line, and detecting and discriminating the current flowing between the first phase line and the second phase line. As shown in FIG. 12, the determination condition is the first phase (U
When the detected current value Iu of the phase (phase) line is 相 of the detected current value Iv of the second phase (V phase) line, the resistance value of the winding of each phase is normal, and FIG. As shown, when the detected current value Iu of the first phase (U-phase) line is not １ ／ of the detected current value Iv of the second phase (V-phase) line, the first phase (U-phase) is detected. AC) for determining that the resistance value of the winding of FIG.
This is a servo motor abnormality determination method.

[0043]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments will be described below in the following order. (1) [First Embodiment] A method for determining whether there is a disconnection in the winding of the star-connected servo motor or a disconnection in the external wiring (1.1) When there is no disconnection in the windings and the external wiring of each phase [ 4 or 8] A detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line. The detection current value Iv of the V-phase line is の of the detection current value Iu of the U-phase line.

(1.2) The U-phase winding or external wiring is broken [FIG. 5] The detection current Iu is supplied. The detection current value of the U-phase line and the detection current value I of the V-phase line
v is zero

(1.3) V-phase winding or external wiring is broken [FIG. 6] A detection current Iu is supplied. A detection current value Iu of a U-phase line is a predetermined value, and a V-phase line is detected. When the current value Iv is zero (1.4) When the W-phase winding or external wiring is broken [FIG. 7] The detection current Iu is supplied. The detection current value Iu of the U-phase line is a predetermined value. When the detected current value Iv of the V-phase line is Iu

(2) [Second embodiment] A method of determining a short circuit (change in winding resistance value) of a part or all of windings of a star-connected servo motor (2.1) Windings of each phase When the resistance value is normal The first determination condition [FIG. 8] (the resistance values of the V-phase and W-phase windings are normal) The first phase is changed from the U-phase line to the V-phase line and the W-phase line. The detection current Iu is supplied (hereinafter, referred to as a first detection current Iu). The detection current value Iv of the V-phase line is の of the detection current value Iu of the U-phase line (the U-phase winding in FIG. 9). The second determination condition [FIG. 12] (the resistance values of the U-phase and W-phase windings are normal) From the V-phase line to the U-phase line and the W-phase A second detection current Iv is supplied to the line (hereinafter, referred to as a second detection current Iv). The detection current value Iu of the U-phase line is one of the detection current value Iv of the V-phase line. 2

(2.2) When the resistance value of the U-phase winding has changed First discriminating condition [FIG. 9] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is supplied. Is the same as Iu / 2 (similar to the normal state in FIG. 8). Second determination condition [FIG. 13] The second detection current Iv is supplied, and is not half of the detection current value Iu of the U-phase line.

(2.3) When the Resistance Value of the V-Phase Winding is Changed First Determination Condition [FIG. 10] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is supplied. Is not Iu / 2 (similar to the case where the resistance value of the W-phase winding in FIG. 11 is changed). Second determination condition [FIG. 14] The second detection current Iv is supplied, and the U-phase When the detected current value Iu of the line is Iv / 2

(2.4) When the Resistance Value of the W-Phase Winding Has Changed First Determination Condition [FIG. 11] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is supplied. Is not Iu / 2 (similar to the case where the resistance value of the V-phase winding in FIG. 10 is changed). Second determination condition [FIG. 15] The second detection current Iv is supplied, and the U-phase The detected current value Iu of the line is not Iv / 2

(3) [Third Embodiment] A method for determining whether or not the external wiring of the delta-connected servo motor or the disconnection of the interphase windings is present (3.1) The external wiring and the interphase windings are normal. At the time of the first determination condition [FIG. 17 (when the external wiring and the winding between the UV phase and the winding between the UW phases are normal)] the first detection current Iu is supplied, and the detection current value of the V-phase line is Iu. / 2 (same as when the winding between VW phases in FIG. 22 is disconnected) Second discriminating condition [FIG. 24 (when the external wiring and the winding between UV phase and the winding between VW phases are normal)] The second detection current Iv is supplied, and the detection current value Iu of the U-phase line is Iv / 2.

(3.2) When U-phase external wiring is disconnected Criteria [FIG. 18] Apply first detection current Iu Detected current value Iu of U-phase line and detected current value of V-phase line Iv is zero (3.3) When the V-phase external wiring is disconnected Criteria [FIG. 26] The second detection current Iv is supplied. The detection current value of the U-phase line and the V-phase line Detection current value I
v is zero (3.4) When W-phase external wiring is disconnected First determination condition [FIG. 20] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is reduced. Iu (same as when the UW interphase winding is disconnected in FIG. 23) Second discriminating condition [FIG. 27] Energizing the second detection current Iv The detection current value Iu of the U-phase line is Iv

(3.5) When the winding between the UV phases is disconnected First determination condition [FIG. 21] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is zero (see FIG. 21). This is the same as when the 19-V external wiring is disconnected.) Second discriminating condition [FIG. 28] The second detection current Iv is supplied. The detection current value Iu of the U-phase line is zero.

(3.6) When the winding between VW phases is disconnected First determination condition [FIG. 22] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is Iu / 2. (This is the same as when there is no disconnection in the external wiring of each phase in FIG. 17 and there is no disconnection in the UV-phase winding and the UW-phase winding.) Second discriminating condition [FIG. 29] The detected current value Iu of the energized, U-phase line is Iv

(3.7) When the UW-phase winding is disconnected First discriminating condition [FIG. 23] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is Iu (see FIG. 23). This is the same as when the W-phase external wiring of No. 20 is disconnected.) Second determination condition [FIG. 30] The second detection current Iv is supplied, and the detection current value Iu of the U-phase line is Iv / 2.

(4) [Fourth Embodiment] Method for Determining Short-Circuit (Change in Winding Resistance Value) of Part or All of Delta-Connected Servo Motor Windings (4.1) Winding of Interphase Windings When the resistance value is normal The first determination condition [FIG. 31] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is Iu / 2 (the resistance value of the VW-phase winding in FIG. 33). The second determination condition [FIG. 35] The second detection current Iv is supplied, and the detection current value Iu of the U-phase line is Iv / 2.

(4.2) When the Resistance Value of the Inter-UV Phase Winding is Changed First Determination Condition [FIG. 32] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is It is not Iu / 2 (similar to the case where the resistance value of the UW interphase winding changes in FIG. 34). Second determination condition [FIG. 36] The second detection current Iv is supplied, and the U-phase line is connected. The detected current value Iu is not Iv / 2

(4.3) When the resistance value of the VW-phase winding is changing First discriminating condition [FIG. 33] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is increased. Iu / 2 (same as when the resistance values of the UV phase winding and the UW phase winding in FIG. 31 are normal) Second discriminating condition [FIG. 37] Second detection current Iv is supplied, U phase Current value Iu of the line is not Iv / 2

(4.4) When the resistance value of the UW-phase winding is changing First discriminating condition [FIG. 34] The first detection current Iu is supplied, and the detection current value Iv of the V-phase line is increased. It is not Iu / 2 (it is the same as when the resistance value of the winding between the UV phases in FIG. 32 changes). Second determination condition [FIG. 38] The second detection current Iv is supplied, and the U-phase line When the detected current value Iu is Iv / 2

Next, a method of supplying the first detection current Iu from the U-phase line to the V-phase line and the W-phase line, and a method of converting the V-phase line to the U-phase line and the W-phase line A method for supplying the second detection current Iv will be described.

[Method of Applying (First) Detection Current Iu]
In FIG. 3 showing the configuration of the driving device for the AC servo motor 6 connected in a star connection and FIG. 16 showing the configuration of the driving device for the AC servo motor 9 in a delta connection, the switching elements 41, 45 and 46 are turned on. Then, the (first) detection current Iu is supplied from the U-phase line to the V-phase line and the W-phase line. This (first) detection current Iu is detected by the first current detector 5u, and the detection / drive switching control circuit 14 is controlled so that the current value becomes a predetermined value. Circuit 10
Are controlled. Switching element 45
And 46 are simultaneously conducted, so that the V-phase line and the W-phase line have the same potential.

[(Second) Method of Applying Detection Current Iv]
Also, in FIG. 3 showing the configuration of the driving device of the AC servo motor 6 connected in a star connection and FIG. Then, the (second) detection current I is transferred from the V-phase line to the U-phase line and the W-phase line.
v is energized. The (second) detection current Iv is detected by the second current detector 5v, and the detection / drive switching control circuit 14 is controlled by the detection / drive switching circuit 14 so that the current value becomes a predetermined value. The switching elements of the circuit 10 are controlled. Switching elements 44 and 4
6 are simultaneously conducted, so that the U-phase line and the W-phase line have the same potential.

Hereinafter, [First Embodiment] to [Fourth Embodiment] will be described. [First Embodiment] The first embodiment is a method for determining whether there is a disconnection of a winding of a star-connected servo motor or a disconnection of an external wiring. FIG. 3 is a diagram showing a configuration of a general AC servomotor driving device for controlling the AC servomotor 6 using the star-connected switching elements of the present invention.
In the figure, reference numeral 10 denotes a switching element 41 for PWM-converting the output of the smoothing circuit 3 and outputting the result to the AC servomotor 6.
And a switching circuit for detecting and driving, comprising: Reference numeral 15 designates a value of a detection current to be supplied to the AC servo motor 6 when a drive current for generating a normal torque is not supplied to determine an abnormality of the windings of the AC servo motor 6 and external wiring. It is a current value setting device for detection. Reference numeral 16 denotes a detection drive setting switching circuit for inputting the output of the drive current value setting device 8 and the output of the detection current value setting device 15 to determine the abnormality of the winding of the AC servomotor 6 and the external wiring. When the detection current is supplied to the a-side, the output of the detection current value setting device 15 is output to the detection / drive switching control circuit 14 to be connected to the a side, and the drive current for generating the normal torque is supplied. Is connected to the b side and outputs the output of the drive current value setting device 8 to the detection / drive switching control circuit 14. Reference numeral 17 denotes a detection current conduction switching circuit, which is a switching element 41 of the detection / drive switching circuit 10 so that the detection current supplied to the AC servomotor 6 is supplied to either the U phase or the V phase.
And the switching control circuit 14 for detection and driving is output. The switching control circuit 14 for detecting and driving is composed of A
When the detection current is applied to determine the abnormality of the winding of the C servo motor 6 and the external wiring, a signal corresponding to the output signal of the detection current value setting unit 15 and the detection current supply switching circuit 17 is detected. The first current detector 5u and the second current detector 5v are output to the dual-purpose switching circuit 10.
To detect an abnormality in the winding of the AC servomotor 6 and the external wiring. When applying a drive current for generating a normal torque to the AC servomotor 6,
The detection signal of the first current detector 5u and the second current detector 5v is input, and a signal for performing the PWM conversion corresponding to the output signal of the drive current value setter 8 is sent to the detection / drive switching circuit 10. Output. The other functions are the same as those in FIG.

First, a method for judging the presence or absence of the disconnection of the winding of the star connection servo motor or the disconnection of the external wiring is shown in FIG.
A description will be given with reference to FIGS. 5, 6 and 7 showing the state of the supply of the detected current to the star-connected AC servomotor 6.

(1.1) When the windings and external wiring of each phase of the star-connected AC servomotor 6 are normal. Here, when the windings and external wiring of each phase are normal, It means that there is no disconnection in the phase winding and the external wiring, and the resistance value of each phase winding has not changed. FIG.
If the winding of the servomotor is star-connected, AC
When there is no disconnection in the windings and the external wiring of each phase of the servomotor 6, the first phase (hereinafter, referred to as U-phase) line, the second phase (hereinafter, referred to as V-phase) line and the third phase. (W
When the detection current Iu is applied to the line of
It is explanatory drawing that the detection current value Iv of a V-phase line is 1/2 of the detection current value Iu of a U-phase line.

The following currents can be used as the predetermined detection currents. The current value at which the windings of the AC servomotor do not overheat even after repeated energization and stoppage. Detection current that is also used as a switching circuit that supplies drive current. A current for controlling a predetermined value by intermittently supplying a DC current or a current for controlling a DC current to a predetermined value by PWM conversion.

When there is no disconnection in each phase winding and external wiring of the AC servomotor 6, the detection current Iu is branched into V-phase and W-phase windings, and the impedance value of each phase winding is designed to be the same. Therefore, the relationship between the current values flowing through the respective phases is Iv = Iu / 2 and Iw = Iu / 2. Therefore, the detected current value Iv of the V-phase line is equal to the detected current value Iu of the U-phase line.
It is determined that there is no disconnection when the value is 1/2.

(1.2) When the U-phase winding or external wiring of the star-connected AC servomotor 6 is disconnected FIG. 5 shows the case where the winding of the AC servomotor is star-connected. When the U-phase winding or the external wiring of the servo motor 6 is disconnected, and when the detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the U-phase line FIG. 9 is an explanatory diagram showing that both the detected current value and the detected current value Iv of the V-phase line are zero.

As shown in FIG. 5, when the winding of the U-phase or the external wiring of the U-phase is disconnected, no current flows in the U-phase and the V-phase, so that the first current detector 5u and the The second current detector 5v does not detect the current. Therefore, when both the detected current value of the U-phase line and the detected current value Iv of the V-phase line are zero, it is determined that the U-phase winding or the U-phase external wiring is disconnected.

(1.3) When the V-phase Winding or External Wiring of the Star-Connected AC Servo Motor 6 is Disconnected FIG. 6 shows the case where the AC servo motor winding is star-connected. When the detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line when the V-phase winding or the external wiring of the servomotor 6 is disconnected, the U-phase line It is an explanatory view that the detection current value Iu is a predetermined value and the detection current value Iv of the V-phase line is zero.

As shown in FIG. 6, when the winding of the V-phase or the external wiring is disconnected, no current flows in the V-phase, so that the detection current value of the first current detector 5u is Iu. Yes, the second current detector 5v does not detect a current. Therefore, when the detected current value Iu of the U-phase line is a predetermined value and the detected current value Iv of the V-phase line is zero, the V-phase winding or the external wiring of the AC servomotor 6 is disconnected. It is determined that there is.

(1.4) When W-phase Winding or External Wiring of Star-Connected AC Servo Motor 6 is Disconnected FIG. 7 shows a case where the AC servo motor winding is star-connected. When the W-phase winding or external wiring of the servo motor 6 is disconnected, and when the detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the U-phase line It is an explanatory view that a detected current value Iu is a predetermined value and a detected current value Iv of a V-phase line is Iu.

As shown in FIG. 7, when the winding of the W-phase or the external wiring is disconnected, the current flowing in the U-phase flows in the V-phase because no current flows in the W-phase, and Iv = Iu. Become. Therefore, when the detected current value Iu of the U-phase line is a predetermined value and the detected current value Iv of the V-phase line is Iu, A
It is determined that the W-phase winding of the C servo motor 6 or the external wiring is disconnected.

FIG. 39 summarizes a method of determining whether the windings and external wiring of each phase are normal or broken by applying a current to the U phase of the AC servo motor 6 in the star connection.
It becomes as shown in. FIG. 39 is a diagram showing a method for applying a current to the U-phase of the star-connected AC servomotor 6 to determine whether the windings and external wiring of each phase are normal or disconnected. After the windings of each phase or the phase in which the external wiring is disconnected can be identified as described above, the resistance value of the relevant external wiring is measured or continuity is checked, and if there is no abnormality, the winding of the relevant phase is disconnected. It is determined that there is.

The above description has been made for the case where each phase is individually disconnected. However, when two or more of the three phases are disconnected, the detected current value Iu of the U-phase line or the detected current value of the V-phase Since the detected current value Iv of the line becomes zero, disconnection can be determined.

[Second Embodiment] The second embodiment is a method for judging a short circuit of a part or all of the windings of the AC servo motor 6 in a star connection. Some or all of the star-connected phase windings of the AC servomotor 6 are short-circuited and the winding resistance decreases, or the windings partially burn out and the winding resistance increases. 8, 9, 10, 11, 12, 13, 14, and 15, a method of determining an abnormal state (hereinafter, referred to as a change in winding resistance value) is performed. 6 will be described with reference to a diagram showing the state of conduction of the detection current to 6.

(2.1) When the resistance value of the winding of each phase of the AC servo motor 6 in the star connection is normal. FIG. 8 shows the case where the winding of the AC servo motor is star-connected. When the resistance values of the V-phase and W-phase windings of the motor 6 are normal, when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line,
The detected current value Iu of the U-phase line is a predetermined value, and V
The detected current value Iv of the U-phase line is the detected current value Iv of the U-phase line.
It is explanatory drawing which is 1/2 of u.

When the resistance values of the V-phase and W-phase windings of the AC servomotor 6 are normal, the first detection current Iu is V
Since the windings are branched into the phase and W-phase windings and the impedance values of the windings between the phases are designed to be the same, the relationship between the current values flowing in each phase is Iv = Iu / 2 and Iw = Iu / 2.

Therefore, if the detected current value Iv of the V-phase line is U
When the detected current value Iu of the phase line is 1/2, it is considered that the V-phase and W-phase resistance values of the AC servomotor 6 can be determined to be normal.

However, the same applies when the resistance value of the U-phase winding in FIG. 9 is changing, so that the first detection current Iu
, It cannot be determined that the resistance value of the U-phase winding is normal. Therefore, the detected current value Iv of the V-phase line is １ ／ of the detected current value Iu of the U-phase line.
, One of the determination conditions that the resistance value of the winding of each phase of the AC servomotor 6 is normal (hereinafter, referred to as a first determination condition).

In order to determine that the resistance value of the U-phase winding of the AC servo motor 6 is normal, as shown in FIG. Determine if it has changed. FIG. 12 shows that when the windings of the AC servomotor are star-connected, the resistance values of the U-phase and W-phase windings of the AC servomotor 6 are normal.
When the second detection current Iv is supplied from the V-phase line to the U-phase line and the W-phase line, the detected current value Iv of the V-phase line is a predetermined value, and Detection current value I
FIG. 7 is an explanatory diagram illustrating that u is の of a detected current value Iv of a V-phase line. When the resistance values of the U-phase and W-phase windings of the AC servomotor 6 are normal, the second detection current Iv is branched to the U-phase and W-phase windings, and the impedance value of the inter-phase winding is reduced. Since they are designed identically, the relationship between the current values flowing in each phase is Iu = Iv / 2 and Iw = Iv / 2.

Therefore, if the detected current value Iu of the U-phase line is V
When the detected current value Iv of the phase line is 1/2, the second determination condition is that the resistance value of the winding of each phase of the AC servomotor 6 is normal. When the above-described first determination condition and second determination condition are simultaneously satisfied, it is determined that the resistance value of the winding of each phase of the AC servomotor 6 is normal. Conversely, the second determination condition that the resistance values of the U-phase and W-phase windings in FIG. 12 are normal is when the resistance value of the V-phase winding shown in FIG. Therefore, it is not possible to determine that the resistance value of the U-phase winding is normal only by the second determination condition, but the first determination condition and the second
When the determination conditions are simultaneously satisfied, it can be determined that the resistance value of the winding of each phase is normal.

(2.2) When the Resistance Value of the U-phase Winding of the Star-Connected AC Servo Motor 6 Changes FIG. 9 shows the case where the winding of the AC servo motor is star-connected. When the resistance value of the U-phase winding of the servo motor 6 is changing, when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the U-phase It is an explanatory view that the detected current value Iu of the line is a predetermined value, and the detected current value Iv of the V-phase line is Iu / 2.

When the resistance value of the U-phase winding of the AC servomotor 6 shown in FIG. 9 changes, the first detection current Iu is supplied from the U-phase line to the V-phase line and the W-phase line. Then, the detected current value Iu of the U-phase line is a predetermined value, and both the detected current value of the V-phase line and the current value of the W-phase line are Iu / 2. When the detected current value Iv of the V-phase line is 1/2 of the detected current value Iu of the U-phase line, it can be determined that the resistance values of the V-phase and W-phase windings are normal. It is impossible to determine whether the resistance value of the phase winding has changed. However, when the detected current value Iv of the V-phase line is 1/2 of the detected current value Iu of the U-phase line, the resistance value of the U-phase winding of the AC servomotor 6 changes. One of the determination conditions (hereinafter, referred to as a first determination condition).

Next, as shown in FIG. 13, which will be described later, a change in the resistance value of the U-phase is determined by energizing from the V-phase. FIG.
When the resistance of the U-phase winding of the AC servomotor 6 is changing when the winding of the AC servomotor is star-connected, the V-phase line and the W-phase line FIG. 7 is an explanatory diagram showing that the detected current value Iv of the V-phase line is a predetermined value when the second detection current Iv is supplied to the second detection current Iv, and is not １ ／ of the detected current value Iu of the U-phase line. is there.

As shown in FIG. 13, when the resistance value of the U-phase winding changes, the impedance of the U-phase is different from the impedance of the V-phase or W-phase, so that Iu ≠ Iv / 2
And the detected current value Iu of the first current detector 5u is
Does not become 1/2 of the detected current value Iv of the current detector 5v.

Therefore, when the detected current value Iu of the U-phase line is V
When the detected current value Iv of the phase line is not １ ／, the second determination condition is that the resistance value of the U-phase winding changes. When the first and second determination conditions are simultaneously satisfied, it is determined that the resistance value of the U-phase winding of the AC servomotor 6 has changed. Conversely, the second determination condition in which the resistance value of the U-phase winding in FIG. 13 changes is similar to the case where the resistance value of the W-phase winding in FIG. Therefore, it is not possible to determine that the resistance value of the U-phase winding has changed by only the second determination condition, but the first determination condition and the second determination condition are simultaneously satisfied. Then, it can be determined that the resistance value of the U-phase winding has changed.

(2.3) When the resistance value of the V-phase winding of the star-connected AC servomotor 6 is changed. FIG. 10 shows a case where the winding of the AC servomotor is star-connected. When the resistance value of the V-phase winding of the servomotor 6 is changing, when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the U-phase It is an explanatory view that the detected current value Iu of the line is a predetermined value, and the detected current value Iv of the V-phase line is not Iu / 2.

As shown in FIG. 10, when the resistance value of the V-phase winding changes, the impedance of the V-phase is different from the impedance of the U-phase or the W-phase, so that Iv ≠ Iu / 2
Thus, even if the detected current value Iv of the first current detector 5u is equal to the detected current value Iv of the second current detector 5v, Iu /
Does not become 2. Therefore, when the detected current value Iv of the V-phase line is not half of the detected current value Iu of the U-phase line, A
It seems that it can be determined that the resistance value of the V-phase winding of the C servo motor 6 has changed.

However, the same applies when the resistance value of the W-phase winding shown in FIG. 11, which will be described later, is changed. Cannot be determined to have changed. Therefore, the above V
The detected current value Iv of the U-phase line is the detected current value Iv of the U-phase line.
When it is not １ ／ of u, one of the determination conditions that the resistance value of the V-phase winding of the AC servomotor 6 changes (hereinafter, referred to as a first determination condition).

As described above, when it cannot be determined whether the resistance value of the V-phase winding has changed or the resistance value of the W-phase winding has changed, there are the following two ideas. The first idea is that the entire AC servomotor 6 is usually replaced, so it is sufficient to be able to determine that the resistance value of the winding of any phase of the AC servomotor 6 has changed.
As a second concept, as shown in FIG. 14, which will be described later, a change in resistance value is determined by energizing from the V phase. Hereinafter, a case where the second concept is adopted will be further described.

FIG. 14 shows a case where the winding of the AC servomotor is star-connected, and the resistance of the V-phase winding of the AC servomotor 6 is changed. And when the second detection current Iv is applied to the W-phase line, the detection current value Iv of the V-phase line is a predetermined value, and is で of the detection current value Iu of the U-phase line. FIG.

When the resistance value of the V-phase winding of the AC servomotor 6 is changing, the second detection current Iv is divided into U-phase and W-phase windings, and the impedance value of the inter-phase winding is changed. Are designed to be the same, the relationship between the current values flowing in each phase is Iu = Iv / 2 and Iw = Iv / 2.

Therefore, if the detected current value Iu of the U-phase line is V
When the detected current value Iv of the phase line is 1/2, the second determination condition is that the resistance value of the V-phase winding is changing. When the first and second determination conditions are simultaneously satisfied, it is determined that the resistance value of the V-phase winding of the AC servomotor 6 has changed. Conversely, the second determination condition in which the resistance value of the V-phase winding in FIG. 14 is changed is the same as when the resistance value of the V-phase winding in FIG. 12 described later is normal. Therefore, it cannot be determined that the resistance value of the V-phase winding has changed by only the second determination condition, but the first determination condition and the second determination condition are satisfied at the same time. At this time, it can be determined that the resistance value of the V-phase winding has changed.

(2.4) When the Resistance Value of the W-phase Winding of the Star-Connected AC Servo Motor 6 Changes FIG. 11 shows the case where the winding of the AC servo motor is star-connected. When the resistance value of the W-phase winding of the servo motor 6 is changing, when the first detection current Iu is supplied from the U-phase line to the V-phase line and the W-phase line, the U-phase The detected current value Iu of the line is a predetermined value, and the detected current value of the V-phase line and the energized current value of the W-phase line are Iu /
FIG. As shown in FIG.
When the resistance value of the phase winding is changing, since the impedance of the W phase is different from the impedance of the U phase or the V phase, Iv ≠ Iu / 2, and the detected current value Iu of the first current detector 5u is obtained. However, the detected current value Iv of the second current detector 5v is not Iu / 2. Therefore, the detected current value Iv of the V-phase line is one of the detected current value Iu of the U-phase line.
When it is not / 2, it seems that it can be determined that the resistance value of the W-phase winding of the AC servomotor 6 has changed.

However, the same applies when the resistance value of the V-phase winding shown in FIG. 10 is changing. Therefore, the current value of the W-phase winding can be obtained only by applying the first detection current Iu. Cannot be determined to have changed. Therefore, the above V
The detected current value Iv of the U-phase line is the detected current value Iv of the U-phase line.
One of the determination conditions that the resistance value of the W-phase winding changes when it is not 1/2 of u (hereinafter, referred to as a first determination condition).
Becomes

As described above, when it cannot be determined whether the resistance value of the W-phase winding has changed or the resistance value of the V-phase winding has changed, there are the following two ideas. The first idea is that the entire AC servomotor 6 is usually replaced, so it is sufficient to be able to determine that the resistance value of the winding of any phase of the AC servomotor 6 has changed.
As a second concept, as shown in FIG. 15, which will be described later, a change in resistance value is determined by energizing from the V phase. Hereinafter, a case where the second concept is adopted will be further described.

FIG. 15 shows that, when the windings of the AC servomotor are star-connected, when the resistance value of the W-phase winding changes, the V-phase line and the W-phase line When the second detection current Iv is applied to the line, the detection current value Iv of the V-phase line is a predetermined value, and the detection current value Iu of the U-phase line is the detection current value of the V-phase line. 1/2 of Iv
FIG. When the resistance value of the W-phase winding changes, the second detection current Iv branches to the U-phase and W-phase windings, and the resistance value of the W-phase winding changes. Then, the current value Iw flowing through the W-phase winding is not Iv / 2, and therefore, the detected current value Iu of the U-phase line whose resistance value has not changed is not Iv / 2.

Therefore, the detected current value Iu of the U-phase line is V
When the detected current value Iv of the phase line is not １ ／, the second determination condition is that the resistance value of the W-phase winding changes.
When the above-described first determination condition and second determination condition are simultaneously satisfied, it is determined that the resistance value of the W-phase winding of the AC servomotor 6 has changed.

As described above, when the resistance value of the V-phase or W-phase winding changes, regardless of the detected current value Iu of the first current detector 5u, the second current detector 5v Since it is not 1/2 of the detected current value Iv, it cannot be determined which of the V-phase or W-phase windings has changed its resistance value.
Conversely, the second determination condition in which the resistance value of the W-phase winding in FIG. 15 is changed is when the resistance value of the U-phase winding in FIG. 13 is changed. Therefore, it is not possible to determine that the resistance value of the W-phase winding has changed by only the second determination condition, but the first determination condition and the second determination condition are different from each other. Is satisfied at the same time, it can be determined that the resistance value of the W-phase winding has changed.

FIG. 40 shows a method of determining whether the resistance value of the winding of each phase is changed by supplying electricity from the U and V phases of the star-connected AC servomotor 6 described above. . FIG. 40 is a diagram illustrating a method of determining that the resistance value of the winding of each phase is changed by supplying electricity from the U-phase and the V-phase of the star-connected AC servomotor 6.

The above description has been made on the case where the resistance of each winding of each phase changes individually. However, when the resistance of two or more windings of the three phases changes, U When the first detection current Iu is applied from the phase line to the V-phase line and the W-phase line, Iv ≠ Iu / 2, so that it is determined that the resistance value of the winding has changed. Can be.

The above description is only for the star-connected AC servomotor 6, but is it necessary to determine whether the winding of the AC servomotor is normal or not, including the delta-connected AC servomotor 9 described later? Alternatively, depending on the purpose of determining whether the disconnection or the change in the resistance value of any one of the phase windings is determined, the energization of the first detection current Iu in FIGS. 8, 9, 10, and 11 described above is performed. Some or all of them may be implemented, or the second part of FIGS. 12 and 13 and FIGS.
Or some or all of the application of the detection current Iv may be performed,
The implementation may be started from energization of the first detection current Iu, may be started from energization of the second detection current Iv, or may be implemented by appropriately combining both.

[Third Embodiment] The third embodiment is a method for judging the presence or absence of a disconnection of the winding of the AC servomotor 9 connected in a delta connection or a disconnection of the external wiring. FIG. 16 is a diagram showing a configuration of a general AC servomotor driving device for controlling the AC servomotor 9 using the delta-connected switching elements of the present invention. In the figure, reference numeral 9 denotes an AC servomotor whose windings are delta-connected, and the other functions are the same as those in FIG. The method for determining whether the external wiring of each phase delta-connected to the AC servomotor 9 and the windings between the phases are normal or abnormal will be described with reference to FIGS.
19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, and 30 to supply a detected current to the delta-connected AC servomotors 9. This will be described with reference to a diagram showing the situation.

(3.1) When the interphase windings and the external wiring of the delta-connected AC servomotor 9 are normal. Here, the case where the interphase windings and the external wiring are normal means that the interphase windings are normal. This refers to the case where there is no break in the wire and the external wire, and the resistance value of each interphase winding has not changed. FIG.
When the windings of the AC servomotor are delta-connected, when there is no disconnection in the external wiring of each phase of the AC servomotor 9 and the resistance values of the UV phase winding and the UW phase winding do not change, When the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the detection current value Iu of the U-phase line is a predetermined value, and The detected current value Iv is の of the detected current value Iu of the U-phase line
FIG. When there is no disconnection in the external wiring of each phase of the AC servomotor 9 and the resistance values of the UV phase winding and the UW phase winding do not change, the first detection current I
u is branched into a winding between the UV phase and a winding between the UW phases, and the V terminal and the W terminal of the delta connection are connected in the drive switching circuit 4 as shown in FIG. No current flows through the wires, and the impedance values of the inter-phase windings are designed to be the same, so that the relationship between the current values flowing through the wires is Iv = Iu / 2, Iw = Iu / 2
Becomes

Therefore, the detection value I of the second current detector 5v
When v is １ ／ of the detection value Iu of the first current detector 5u, it can be determined that the external wiring of each phase is not disconnected. A
If it is only determined that the external wiring of each phase of the C servo motor 9 is not broken, current is supplied from the U phase and only the detection value Iv = Iu / 2 of the second current detector 5v may be determined. .

However, as shown in FIG. 16, they are connected in the drive switching circuit 4 and have the same potential,
Since no current flows through the W-phase winding, it cannot be determined that the VW-phase winding has no disconnection or the resistance value has not changed. Therefore, there is no disconnection in each inter-phase winding or the resistance value of each inter-phase winding. It cannot be determined that has not changed. Therefore, when the detected current value Iv of the V-phase line is Iv = Iu / 2, one of the determination conditions in which there is no disconnection in the winding between the phases of the AC servomotor 9 (hereinafter, referred to as a first determination condition). Become. In order to determine that the external wiring of each phase and the inter-phase winding, particularly the above-mentioned VW inter-phase winding have no disconnection or no change in the resistance value, as shown in FIG. To determine.

FIG. 24 shows that when the windings of the AC servomotor are delta-connected, there is no disconnection in the external wiring of each phase.
When the resistance values of the UV-phase winding and the VW-phase winding do not change, when the second detection current Iv is applied from the V-phase line to the U-phase line and the W-phase line, The detected current value of the line becomes Iu = Iv / 2.

Therefore, the detected current value of the U-phase line Iu = I
v / 2, there is no disconnection in the external wiring of each phase, and UV
The second determination condition is that the resistance values of the inter-phase winding and the VW inter-phase winding do not change. When the first determination condition and the second determination condition described above are simultaneously satisfied, it is determined that the external wiring and the inter-phase winding of each phase of the AC servomotor 9 are normal. Conversely, the second determination condition in which there is no disconnection in the external wiring of each phase in FIG. 24 and the resistance values of the UV-phase winding and the VW-phase winding do not change is the UW-phase winding in FIG. Since it is the same as when the wire is broken, it is not possible to determine that the external wiring and the inter-phase windings are broken by only the second determination condition. When the second determination condition is satisfied at the same time, it can be determined that the external wiring and the inter-phase windings are normal.

(3.2) When the U-phase external wiring of the delta-connected AC servomotor 9 is broken. FIG. 18 shows a case where the winding of the AC servomotor 9 is delta-connected. When the first detection current Iu is supplied from the U-phase line to the V-phase line and the W-phase line when the external wiring is disconnected, the detection current value of the U-phase line and the V-phase line It is explanatory drawing that the detected current value Iv of a line is all zero. As shown in FIG. 18, when the U-phase external wiring is disconnected, the first detection current Iu
Is not energized, the first current detector 5u and the second current detector 5v do not detect current.

Therefore, even if an energizing circuit for the first detection current Iu is formed, if the detected current value of the U-phase line and the detected current value Iv of the V-phase line are both zero, the AC It is determined that the U-phase external wiring of the servo motor 9 is disconnected.

(3.3) When the V-phase External Wiring of AC Servo Motor 9 Connected in Delta is Disconnected FIG. 26 shows the case where the winding of AC servo motor 9 is connected in delta. When the V-phase external wiring is disconnected, and when the second detection current Iv is applied from the V-phase line to the U-phase line and the W-phase line, the detected current value of the U-phase line and It is explanatory drawing that the detection current value Iv of a V-phase line | wire is all zero. As shown in FIG. 26, when the V-phase external wiring is disconnected, the second detection current Iv does not flow, so that the first current detector 5u and the second current detector 5v Not detected.

Therefore, even if an energizing circuit for the second detection current Iv is formed, if both the detected current value of the U-phase line and the detected current value Iv of the V-phase line are zero, the AC It is determined that the V-phase external wiring of the servo motor 9 is disconnected.

(3.4) When W-phase External Wiring of AC Servo Motor 9 Connected in Delta is Disconnected FIG. 20 shows a case where the winding of AC servo motor 9 is connected in delta. When the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line when the W-phase external wiring is disconnected, the detected current value Iv of the V-phase line is Is the same as the first detection current Iu, and is an explanatory diagram showing that the W-phase conduction current Iw is zero. As shown in FIG. 20, when the W-phase external wiring is disconnected, the W-phase current Iw does not flow, the detected current value Iv = Iu of the V-phase line is obtained, and the first current detector 5u And the second current detector 5v have the same detection value.

Therefore, as described above, the detected current value Iv = Iu of the V-phase line, that is, the first current detector 5u and the second current detector 5u
It is considered that when the detection value of the current detector 5v is the same, it is possible to determine that the W-phase external wiring of the AC servomotor 9 is disconnected.

However, as shown in FIG. 23, the same applies when the winding between the UW phases of the AC servomotor 9 is disconnected, so that the W-phase external wiring can be obtained only by applying the first detection current Iu. Cannot be determined to be disconnected.
Therefore, when the detected current value Iv = Iu of the V-phase line is one of the determination conditions for disconnection of the W-phase external wiring of the AC servomotor 9 (hereinafter, referred to as a first determination condition). .

In order to determine that the W-phase external wiring of the AC servomotor 9 is disconnected, as shown in FIG. Is determined. FIG. 27 shows that when the winding of the AC servomotor is delta-connected, and when the W-phase external wiring of the AC servomotor 9 is disconnected, the V-phase line is switched to the U-phase line and the W-phase line. FIG. 9 is an explanatory diagram showing that when a second detection current Iv is supplied, the detection current value Iu of the U-phase line is Iv, and the W-phase supply current Iw is zero. FIG.
As shown in the figure, when the W-phase external wiring is disconnected,
The phase conduction current Iw is not conducted, and the detection current value of the U-phase line = Iv, that is, the detection values of the first current detector 5u and the second current detector 5v become the same.

Therefore, if the detected current value Iu of the U-phase line is V
When the detected current value is the same as that of the phase line, the second determination condition is that the W-phase external wiring of the AC servomotor 9 is disconnected. When the first and second determination conditions are simultaneously satisfied, it is determined that the W-phase external wiring of the AC servomotor 9 is disconnected. Conversely, W in FIG.
The second determination condition that the external wiring of the phase is disconnected is the same as that when the winding between VW phases in FIG. 29 described later is disconnected. Although it cannot be determined that the wiring is disconnected, it can be determined that the W-phase external wiring is disconnected when the above first and second determination conditions are simultaneously satisfied. it can.

(3.5) When the winding between the UV phases of the delta-connected AC servomotor 9 is broken FIG. 21 shows the case where the winding of the AC servomotor 9 is delta-connected. When the UV-phase winding is disconnected, and when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the detection current value Iu of the U-phase line is set in advance. The detected current value Iv of the V-phase line is zero, and the W-phase conduction current Iw is Iu
FIG. As shown in FIG.
When the interphase winding is disconnected, the detected current value Iv of the V-phase line is 0, the W-phase conduction current Iw = Iu, and the second current detector 5v does not detect the current.

Therefore, as described above, when the detected current value Iv = 0 of the V-phase line, the UV
It is considered that it is possible to determine that the interphase winding is disconnected.

However, as shown in FIG. 19, the same applies when the V-phase external wiring of the AC servomotor 9 is disconnected.
Although it cannot be determined that the inter-phase winding is disconnected, when the detected current value Iv of the V-phase line is 0, A
This is one of the conditions for determining that the winding between the UV phases of the C servo motor 9 is disconnected (hereinafter, referred to as a first determination condition).

In order to determine that the winding between the UV phases of the AC servomotor 9 is broken, it is determined that the winding between the UV phases is broken, as shown in FIG. 28 described later. FIG.
8, when the winding of the AC servomotor is delta-connected, and when the winding between the UV phases of the AC servomotor 9 is broken, the second from the V-phase line to the U-phase line and the W-phase line FIG. 5 is an explanatory diagram showing that when a detection current Iv is supplied, the detection current value Iu of the U-phase line is zero and the W-phase conduction current Iw is Iv. As shown in FIG. 28, when the winding between the UV phases is disconnected, the detected current value of the U-phase line does not flow, and the W-phase conduction current Iw = Iu, so that the first current detector 5u detects the current. Not detected.

Therefore, when the second detection current Iv is supplied and the detection current value Iu of the U-phase line is zero, the second discrimination condition that the UV phase winding of the AC servomotor 9 is disconnected. Becomes When the first determination condition and the second determination condition described above are simultaneously satisfied, it is determined that the UV phase winding of the AC servomotor 9 is disconnected. Conversely, the second condition for disconnection of the inter-UV-phase winding in FIG. 28 is the same as that when the external wiring of the U-phase in FIG. 25 is disconnected. Although it is not possible to determine that the inter-UV-phase winding is broken only by the determination condition, when the above-described first determination condition and the second determination condition are simultaneously satisfied, the UV-phase winding is disconnected. Can be determined.

(3.6) When the VW Interphase Winding of the AC Servo Motor 9 Connected in Delta is Disconnected FIG. 22 shows the case where the winding of the AC servo motor 9 is delta connected. When the VW-phase winding is disconnected, and when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the detected current values Iv and W Phase currents Iw are both Iu
FIG. As shown in FIG.
When the VW interphase winding is disconnected, the first detection current I
u is branched into a UV phase winding and a UW phase winding, the detected current value Iv = Iu / 2 of the V-phase line, and the W-phase current Iw
= Iu / 2.

Accordingly, as described above, when the first detection current Iu is supplied, the detection current value Iv =
When it is Iu / 2, it is considered that it is possible to determine that the winding between the VW phases of the AC servomotor 9 is disconnected.

However, as shown in FIG. 17, when the first detection current Iu is applied, there is no disconnection in the external wiring of each phase, and there is no disconnection in the UV phase winding and the UW phase winding. Since the same applies, it is impossible to determine that the inter-VW-phase winding is broken only by applying the first detection current Iu. However, when the first detection current Iu is applied, When the detected current value Iv = Iu / 2 of the V-phase line is one of the conditions for determining that the winding between the VW phases of the AC servomotor 9 is disconnected (hereinafter, referred to as a first determination condition).

In order to determine that the winding between the UV phases of the AC servomotor 9 is broken, it is determined that the winding between the VW phases is broken, as shown in FIG. 29 described later. FIG.
When the windings of the AC servomotor are delta-connected, and when the winding between the VW phases of the AC servomotor 9 is broken, the second phase is changed from the V-phase line to the U-phase line and the W-phase line. FIG. 7 is an explanatory diagram showing that when a detection current Iv is supplied, the detection current value Iu of the U-phase line is Iv, and the W-phase conduction current Iw is zero. As shown in FIG. 29, when the winding between VW phases is disconnected, the second detection current Iv is U
It flows through the winding between V phases, and the detected current value Iu = I of the U phase line
The energizing currents Iw = 0 for the v and W phases.

Therefore, if the detected current value Iu of the U-phase line is V
When the detected current value is the same as that of the phase line, the second determination condition that the VW interphase winding of the AC servomotor 9 is disconnected is satisfied. When the first determination condition and the second determination condition described above are simultaneously satisfied, it is determined that the winding between the VW phases of the AC servomotor 9 is disconnected. Conversely, the second determination condition for disconnection of the VW interphase winding in FIG.
7 is the same as when the W-phase external wiring is disconnected. Therefore, it is not possible to determine that the VW-phase winding is disconnected by only the second determination condition. When the determination condition and the second determination condition are simultaneously satisfied, V
It can be determined that the W-phase winding is disconnected.

(3.7) When the winding between UW phases of the AC servomotor 9 in the delta connection is broken. FIG. 23 shows the case where the winding of the AC servomotor 9 is delta-connected. When the UW-phase winding is disconnected, and when the first detection current Iu is applied from the U-phase line to the V-phase line and the W-phase line, the detected current value Iv of the V-phase line becomes Iu. FIG. 9 is an explanatory diagram showing that the W-phase conduction current Iw is zero. As shown in FIG.
When the W-phase winding is disconnected, the first detection current Iu
Flows through the winding between the UV phases, and the detected current value Iv =
Iu, and the W-phase conduction current Iw = 0.

Therefore, as described above, the detected current value Iv = Iu of the V-phase line, that is, the first current detector 5u and the second
It is considered that when the detection value of the current detector 5v is the same, it can be determined that the UW-phase winding of the AC servomotor 9 is disconnected.

However, as shown in FIG. 20, the same applies when the W-phase external wiring of the AC servomotor 9 is disconnected, so that the UW can be obtained only by applying the first detection current Iu.
Although it cannot be determined that the inter-phase winding is disconnected, when the detected current value Iv = Iu of the V-phase line described above,
One of the conditions for determining that the UW interphase winding of the AC servomotor 9 is disconnected (hereinafter, referred to as a first determination condition).

In order to determine that the UW-phase winding of the AC servomotor 9 is disconnected, as shown in FIG. 30, which will be described later, it is determined that the UW-phase winding is disconnected by energizing from the V phase. I do. FIG. 30 shows that when the winding of the AC servomotor is delta-connected, and when the winding between UW phases of the AC servomotor 9 is broken, the V-phase line is changed to the U-phase line and the W-phase line. 2, the detection current value Iu of the U-phase line and the conduction current I of the W-phase
It is explanatory drawing that w is both Iv / 2. FIG.
As shown in (2), when the UW-phase winding is disconnected, the U-phase current Iu and the W-phase current Iw are both Iv / 2, and the detected current value of the U-phase line = Iv / 2. .

Therefore, when the detection current value of the U-phase line is Iv / 2 when the second detection current Iv is supplied, the second UW-phase winding of the AC servomotor 9 is disconnected. This is a determination condition. When the above-described first and second determination conditions are simultaneously satisfied, it is determined that the UW-phase winding of the AC servomotor 9 is disconnected. Conversely, the second determination condition for disconnection of the UW-phase winding in FIG. 30 is the same as that when the UV-phase winding and the VW-phase winding in FIG. 24 described above are normal. Although it is not possible to determine that the UW-phase winding is disconnected only by the second determination condition, when the first and second determination conditions are simultaneously satisfied, the UW-phase winding is disconnected. Can be determined to be disconnected.

The first detection current Iu and the second detection current Iv are supplied to the delta-connected AC servomotor 9 to determine whether the external wiring of each phase and the winding between the phases are normal or abnormal. FIG. 41 shows a summary of the method.
FIG. 41 shows a method of applying the first detection current Iu and the second detection current Iv to the delta-connected AC servomotor 9 to determine whether the external wiring of each phase and the inter-phase winding are normal or abnormal. FIG. After the phases of the windings of each phase or the external wiring of each phase can be identified as described above, the resistance of the relevant external wiring is measured or continuity is checked. It is determined that the line is broken.

The above description has been made for the case where each phase is individually disconnected. However, when two or more of the three phases are disconnected, Iu = 0 or Iv = 0 or Iu = Iv Therefore, disconnection can be determined.

In the above, it is determined whether or not only the AC servo motor 9 connected in delta connection or the external wiring and winding of the AC servo motor including the AC servo motor 6 connected in star connection are normal. FIG. 17 and FIG.
8, FIG. 19, FIG. 20, FIG. 21, FIG. 22, and FIG.
A part or all of the application of the first detection current Iu of No. 3 may be performed, or FIGS. 24, 25, 26, and 27.
And the second detection current I in FIGS. 28, 29 and 30.
Some or all of the energization of v may be performed, some or all of the two may be performed, or the energization of the first detection current Iu may be started, The implementation of the second detection current Iv may be started from energization, or both may be combined as appropriate.

[Fourth Embodiment] The fourth embodiment is a method for judging a short circuit (change in resistance value) of a part or all of the windings of the AC servomotor 6 connected in delta.

(4.1) When the resistance values of the UV phase winding, the VW phase winding, and the UW phase winding of the delta-connected AC servomotor 9 are normal. FIG. In the case of the delta connection, when the resistance value of each phase winding of the AC servomotor 9 is normal, the first detection current Iu is supplied from the U-phase line to the V-phase line and the W-phase line. Then, the detected current value Iu of the U-phase line is a predetermined value, and the detected current value Iv of the V-phase line is one of the detected current value Iu of the U-phase line.
FIG. When the resistance value of the winding of each phase of the AC servomotor 9 is normal, as shown in FIG. 31, the first detection current Iu is branched to the UV phase winding and the UW phase winding, and Since the impedance values of the windings are designed to have the same value, the relationship between the detection currents is Iv =
Iu / 2, Iw = Iu / 2.

Accordingly, if the detected current value Iv of the V-phase line is U
When the detected current value Iu of the phase line is ２, it is considered that the resistance value of the winding of each phase of the AC servomotor 9 can be determined to be normal.

However, as shown in FIG. 33, the same applies when the resistance value of the VW interphase winding changes, so that the first
It is not possible to determine that the resistance value of the VW interphase winding is normal only by applying the detection current Iu of the above, but the detection current value Iv of the V-phase line is equal to the detection current value of the U-phase line. When it is 1/2 of Iu, the VW of AC servomotor 9
This is one of the conditions for determining that the resistance value of the interphase winding is changing (hereinafter, referred to as a first determination condition).

In order to determine that the resistance value of the VW phase winding of the AC servomotor 9 is normal, as shown in FIG. Determine. FIG. 35 shows the VW of the AC servomotor 9 when the winding of the AC servomotor is delta-connected.
When the interphase winding and the resistance value of the UV interphase winding are normal,
When the second detection current Iv is supplied from the V-phase line to the U-phase line and the W-phase line, the detected current value Iv of the V-phase line is a predetermined value, and Detection current value I
FIG. 7 is an explanatory diagram illustrating that u is の of a detected current value Iv of a V-phase line. When the resistance values of the VW phase winding and the UV phase winding of the AC servomotor 9 are normal, the second detection current Iv is branched into the U phase and W phase windings, and the impedance value of each phase winding Are designed to be the same, the relationship between the current values flowing in each phase is Iu = Iv / 2, Iw = Iv / 2
Becomes

Therefore, the detected current value Iu of the U-phase line is V
When the detected current value Iv of the phase line is 1/2, the resistance value of the VW interphase winding of the AC servomotor 9 is normal.
Is the determination condition. When the above-described first and second determination conditions are simultaneously satisfied, the AC servo motor 6
It is determined that the resistance value of the interphase winding of each phase is normal. Conversely, the second determination condition that the inter-UV-phase winding and the inter-VW-phase winding in FIG. 35 are normal is the same as that when the resistance value of the UW-phase winding in FIG. 38 described later changes. Therefore, it is not possible to determine that all the windings of the AC servomotor 9 are normal only by the second determination condition, but when the first determination condition and the second determination condition are simultaneously satisfied. Then, it can be determined that all the windings of the AC servomotor 9 are normal.

(4.2) When the resistance value of the winding between the UV phases of the AC servo motor 9 in the delta connection is changed. FIG. 32 shows the case where the winding of the AC servo motor 9 is in the delta connection. When the resistance value of the UV phase winding of the motor 9 changes, the U-phase line to the V-phase line and W
FIG. 7 is an explanatory diagram showing that even when a first detection current Iu is supplied to a phase line, neither the detected current value Iv of the V-phase line nor the current value Iw of the W-phase line is Iu / 2. As shown in FIG. 32, when the resistance value of the UV phase winding of the AC servomotor 9 changes, the resistance of the UV phase winding differs from the resistance of the UW phase winding, so that Iv ≠ Iu / 2. Become. Therefore, when the detected current value Iv of the V-phase line is not １ ／ of the detected current value Iu of the U-phase line, it can be determined that the resistance value of the UV phase winding of the AC servomotor 9 has changed. Can be considered.

However, as shown in FIG.
Since the same applies when the resistance value of the UW interphase winding of the C servo motor 9 changes, it is determined that the resistance value of the UV interphase winding has changed only by applying the first detection current Iu. However, when the detected current value Iv of the V-phase line is not 1/2 of the detected current value Iu of the U-phase line, the resistance value of the UV phase winding of the AC servomotor 9 changes. (Hereinafter referred to as a first determination condition).

As described above, when it is impossible to determine whether the resistance value of the UV phase winding has changed or the resistance value of the UW phase winding has changed, there are the following two ideas. First
The idea is that the entire AC servomotor 9 is usually replaced, so it is sufficient if it can be determined that the resistance value of the winding of any phase of the AC servomotor 9 has changed.
As a second concept, as shown in FIG. 36 described later, current is supplied from the V phase to determine a change in resistance value. Hereinafter, a case where the second concept is adopted will be further described.

FIG. 36 shows that, when the windings of the AC servomotor are delta-connected and the resistance value of the winding between the UV phases of the AC servomotor 9 changes, the V-phase line to the U-phase line When the second detection current Iv is applied to the W-phase line, the detection current value Iv of the V-phase line is a predetermined value, and the detection current value Iu of the U-phase line and the W-phase line It is an explanatory view that none of the current values Iw is not Iv / 2.

When the resistance value of the winding between the UV phases of the AC servomotor 9 changes, the second detection current Iv is branched to the windings of the UV phase and the VW phase, and the resistance of the UV correlation winding changes. Therefore, the relationship between the current values flowing in each phase is Iu ≠ I
v / 2, Iw ≠ Iv / 2.

Therefore, if the detected current value Iu of the U-phase line is not 1/2 of the detected current value Iv of the V-phase line when the second detection current Iv is supplied, the AC servomotor 9
Is the second determination condition in which the resistance value of the inter-UV phase winding changes. When the first determination condition and the second determination condition described above are simultaneously satisfied, it is determined that the resistance value of the winding between the UV phases of the AC servomotor 6 has changed. Conversely,
The second determination condition in which the resistance value of the inter-UV winding in FIG. 36 changes is the same as that in the case where the resistance value of the VW inter-phase winding in FIG. 37 described later changes. Although it is not possible to determine that the resistance value of the UV-phase winding has changed by the determination conditions alone, when the above-described first determination condition and the second determination condition are simultaneously satisfied, the UV-phase winding is not changed. Can be determined to have changed.

(4.3) When the Resistance Value of the VW Interphase Winding of the Delta-Connected AC Servo Motor 9 is Changing FIG. 33 shows the case where the winding of the AC servo motor is delta-connected. When the resistance value of the VW interphase winding of the motor 9 changes, the U-phase line and the V-phase line and W
When the first detection current Iu is applied to the phase line, the detected current value Iu of the U-phase line is a predetermined value, and the detected current value Iv of the V-phase line and the current value of the W-phase line It is an explanatory view that Iw is all Iu / 2. As shown in FIG. 33, when the resistance value of the VW interphase winding of the AC servomotor 9 is changing, when the first detection current Iu is applied, no current flows through the VW interphase winding. , And the detected current value Iv of the V-phase line and the current value Iw of the W-phase line are both Iu / 2. Therefore, when the detected current value Iv of the V-phase line is 1/2 of the detected current value Iu of the U-phase line, it can be determined that the resistance value of the VW-phase winding of the AC servomotor 9 has changed. It seems like.

However, as shown in FIG.
The same applies when the resistance values of the UV-phase winding and the UW-phase winding of the C servomotor 9 are normal, so that the resistance value of the VW-phase winding changes only by applying the first detection current Iu. Can not be determined that it is. Therefore, the above V
The detected current value Iv of the U-phase line is the detected current value Iv of the U-phase line.
u is one of the conditions for determining that the resistance value of the VW-phase winding of the AC servomotor 9 is changing (hereinafter, referred to as “the resistance value”).
(Referred to as a first determination condition).

As described above, when it is impossible to determine whether the resistance value of the UV phase winding has changed or the resistance value of the VW phase winding has changed, there are the following two ideas. First
The idea is that the entire AC servomotor 9 is usually replaced, so it is sufficient to be able to determine that the resistance value of any one of the interphase windings of the AC servomotor 9 has changed.
The second concept is to determine a change in resistance value by energizing the V phase as shown in FIG. 37 described later. Hereinafter, a case where the second concept is adopted will be further described.

To determine that the resistance value of the UV phase winding of the AC servomotor 9 has changed, as shown in FIG. 37 described later, it is determined that the resistance value of the UV phase winding has changed. I do. FIG. 37 shows that, when the windings of the AC servomotor are delta-connected and the resistance value of the VW-phase winding of the AC servomotor 9 changes, the V-phase line and the U-phase line FIG. 9 is an explanatory diagram showing that when a second detection current Iv is applied to the line, neither the detected current value Iu of the U-phase line nor the current value Iw of the W-phase line is Iu / 2. As shown in FIG. 37, when the resistance value of the VW-phase winding changes, the detected current values Iu and W of the U-phase line are changed because the VW-phase winding resistance is different from the UV-phase winding resistance.
The current value Iw of the phase line is no longer Iu / 2.

Therefore, when the detected current value Iu of the U-phase line is not half of the detected current value Iv of the V-phase line when the second detection current Iv is supplied, the resistance of the VW-phase winding is reduced. This is the second determination condition in which the value is changing. The first mentioned above
It is determined that the resistance value of the winding between the VW phases of the AC servomotor 6 has changed when the determination condition and the second determination condition are simultaneously satisfied. Conversely, the second determination condition in which the resistance value of the VW interphase winding changes in FIG. 37 is the same as that when the resistance value of the UV interphase winding changes in FIG. 36 described above. Although it cannot be determined that the resistance value of the VW interphase winding has changed by only the second determination condition, when the first determination condition and the second determination condition are simultaneously satisfied, , It can be determined that the resistance value of the VW interphase winding has changed.

(4.4) When the resistance value of the UW interphase winding of the delta-connected AC servomotor 9 is changing. FIG. 34 shows a case where the winding of the AC servomotor is delta-connected. When the resistance value of the UW interphase winding of the motor 9 changes, the U-phase line and the V-phase line and W
FIG. 7 is an explanatory diagram showing that when a first detection current Iu is applied to a phase line, the detected current value Iv of the V-phase line and the current value Iw of the W-phase line are both Iu / 2. As shown in FIG. 34, when the resistance value of the UW-phase winding changes, the detected current values Iv and W of the V-phase line are changed because the UW-phase winding resistance is different from the UV-phase winding resistance. All of the current values Iw of the phase lines are not Iu / 2. Therefore,
When the detected current value Iv of the V-phase line is not half of the detected current value Iu of the U-phase line, the UW
It seems that it can be determined that the resistance value of the interphase winding has changed.

However, as shown in FIG.
The same applies when the resistance value of the winding between the UV phases of the C servo motor 9 is changing. Therefore, if only the first detection current Iu is supplied, the resistance value of the UW-phase winding changes. Although it cannot be determined, when the detected current value Iv of the V-phase line is not half of the detected current value Iu of the U-phase line, the resistance value of the UW-phase winding of the AC servomotor 9 changes. This is one of the determination conditions (hereinafter, referred to as a first determination condition).

As described above, when it is impossible to determine whether the resistance value of the UV phase winding has changed or the resistance value of the UW phase winding has changed, there are the following two ideas. First
The idea is that the entire AC servomotor 9 is usually replaced, so it is sufficient to be able to determine that the resistance value of any one of the interphase windings of the AC servomotor 9 has changed.
The second concept is to determine a change in resistance value by energizing the V phase as shown in FIG. 38 described later. Hereinafter, a case where the second concept is adopted will be further described.

FIG. 38 shows that, when the windings of the AC servomotor are delta-connected and the resistance value of the winding between the UW phases of the AC servomotor 9 changes, the V-phase line and the U-phase line are changed. It is an explanatory view that when a second detection current Iv is applied to the W-phase line, the detected current value Iu of the U-phase line and the current value Iw of the W-phase line are both Iu / 2. As shown in FIG. 38, when the resistance value of the UW-phase winding changes, no current flows through the UW-phase winding, so that the second detection current Iv supplied from the V phase is Since the current branches and flows into the winding and the VW-phase winding, the detected current value Iu of the U-phase line and the current value Iw of the W-phase line both become Iv / 2.

Therefore, when the detection current value Iu of the U-phase line is 1/2 of the detection current value Iv of the V-phase line when the second detection current Iv is supplied, the AC servomotor 9
The second determination condition is that the resistance value of the UW interphase winding changes. When the first and second determination conditions are simultaneously satisfied, it is determined that the resistance value of the UW-phase winding of the AC servomotor 6 has changed. Conversely,
The second determination condition that the resistance value of the UW interphase winding changes in FIG. 38 is the same as when the UV interphase winding and the VW interphase winding in FIG. 35 described above are normal. It is not possible to judge that the resistance value of the UW interphase winding has changed by the judgment condition alone, but when the above first judgment condition and the second judgment condition are simultaneously satisfied, the UW interphase winding is not changed. It can be determined that the resistance value of the line has changed

A method for discriminating a change in the resistance value of each inter-phase winding by applying the first detection current Iu and the second detection current Iv to the delta-connected AC servomotor 9 described above will be described. 42. FIG. 42 is a diagram showing a method of discriminating a change in the resistance value of each interphase winding by supplying a first detection current Iu and a second detection current Iv to the delta-connected AC servomotor 9.

In the above description, the case where the resistance of each inter-phase winding is individually changed is described. However, when the resistance of two or more of the three phases is changed, the first phase is changed. When the detection current Iu is supplied, Iv ≠ Iu / 2, and the second
When the detection current Iv is applied, Iu ≠ Iv / 2, so that a change in the resistance value of the winding can be determined.

When the disconnection of the inter-phase winding or the change of the resistance value or the disconnection of the external wiring of each phase is detected, the detection / drive switching control circuit 14 stops the operation of the detection / drive switching circuit 10. A signal is output to the detection / drive switching circuit 10 so that the AC servomotor is energized in an abnormal state for a long time and is prevented from rotating, so that it can be distinguished from an actual mechanical overload.

The present invention is applied not only to the AC servomotor provided for driving each link of the manipulator of the industrial robot, but also to the winding abnormality determination of the AC servomotor provided in another machine. be able to.

[0162]

According to the present invention having the above-described structure, the AC switching can be achieved by simply adding a program in the drive switching control circuit 7 without using any conventionally provided equipment and adding any equipment. It is possible to detect a disconnection or a change in resistance value of a winding of each phase or a winding of each phase of the servomotor, or a disconnection of external wiring of each phase.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a general configuration of an articulated robot that is an example of an industrial robot.

FIG. 2 is a diagram showing a configuration of a general AC servo motor driving device that controls a conventional star-connected AC servo motor 6 using a switching element.

FIG. 3 shows a star-connected AC servomotor 6 of the present invention.
FIG. 2 is a diagram showing a configuration of a general AC servo motor driving device that controls the power supply using a switching element.

FIG. 4 is a diagram illustrating a first detection current Iu when the windings and external wiring of the AC servo motor 6 in a star connection are in a normal state.
It is a figure which shows the energization state when energizing.

FIG. 5 is a diagram showing an energization state when a first detection current Iu is applied when a U-phase winding or a U-phase external wiring of the star-connected AC servomotor 6 is disconnected. .

FIG. 6 is a diagram showing an energization state when a V-phase winding or a V-phase external wiring of a star-connected AC servomotor 6 is disconnected and when a first detection current Iu is applied. is there.

FIG. 7 is a diagram showing an energization state when a W-phase winding or a W-phase external wiring of a star-connected AC servomotor 6 is disconnected and when a first detection current Iu is applied. is there.

FIG. 8 shows a first detection current Iu when the winding and external wiring of the star-connected AC servomotor 6 are normal.
It is a figure which shows the energization state when energizing.

FIG. 9 is a diagram showing an energization state when a resistance value of a U-phase winding of the star-connected AC servomotor 6 is changing and when a first detection current Iu is energized.

FIG. 10 is a diagram showing an energization state when a first detection current Iu is applied when the resistance value of the V-phase winding of the AC servo motor 6 in a star connection is changing.

FIG. 11 is a diagram illustrating an energization state when a first detection current Iu is applied while the resistance value of the W-phase winding of the AC servo motor 6 in a star connection is changing.

FIG. 12 is a diagram showing an energization state when a star-connected winding of the AC servomotor 6 and external wiring are in a normal state and when a second detection current Iv is applied.

FIG. 13 is a diagram showing an energization state when the resistance value of the U-phase winding of the star-connected AC servomotor 6 is changing and when the second detection current Iv is energized.

FIG. 14 is a diagram showing an energization state when a second detection current Iv is applied when the resistance value of the V-phase winding of the star-connected AC servomotor 6 is changing.

FIG. 15 is a diagram illustrating an energization state when a second detection current Iv is applied when the resistance value of the W-phase winding of the AC servo motor 6 in a star connection is changing.

FIG. 16 is a diagram showing a configuration of a general AC servo motor driving apparatus for controlling a delta-connected AC servo motor 9 using a switching element according to the present invention.

FIG. 17 shows a first detection current I when the windings and external wiring of the AC servo motor 9 in a delta connection are in a normal state.
It is a figure which shows the energization situation when energizing u.

FIG. 18 shows a first detection current Iu when the U-phase external wiring of the AC servo motor 9 connected in delta is disconnected.
It is a figure which shows the energization state when energizing.

FIG. 19 is a diagram showing an energization state when a first detection current Iu is applied when the V-phase external wiring of the winding of the AC servomotor 9 in the delta connection is disconnected.

FIG. 20 is a diagram showing an energization state when the first detection current Iu is applied when the W-phase external wiring of the winding of the AC servo motor 9 in the delta connection is disconnected.

FIG. 21 is a diagram showing an energization state when a first detection current Iu is applied when the UV phase of the winding of the AC servo motor 9 in a delta connection is broken.

FIG. 22 is a diagram showing an energization state when a first detection current Iu is applied when the VW phase of the winding of the AC servo motor 9 in a delta connection is disconnected.

FIG. 23 is a diagram showing an energization state when a first detection current Iu is applied when the UW phase of the winding of the AC servo motor 9 in the delta connection is disconnected.

FIG. 24 is a diagram showing a second detection current I when the windings and external wiring of the AC servo motor 9 in a delta connection are in a normal state;
It is a figure which shows the energization state when energizing v.

FIG. 25 shows the second detection current Iv when the U-phase external wiring of the AC servo motor 9 in the delta connection is disconnected.
It is a figure which shows the energization state when energizing.

FIG. 26 is a diagram showing an energization state when a second detection current Iv is applied when the external wiring of the V-phase winding of the AC servo motor 9 in a delta connection is disconnected.

FIG. 27 is a diagram showing an energization state when a second detection current Iv is applied when the external wiring of the W-phase winding of the AC servo motor 9 in the delta connection is disconnected.

FIG. 28 shows the UV of the AC servo motor 9 in a delta connection.
It is a figure which shows the energization state at the time of energizing the 2nd detection electric current Iv when the winding of a phase is disconnected.

FIG. 29: VW of AC servo motor 9 connected in delta
It is a figure which shows the energization state at the time of energizing the 2nd detection electric current Iv when the winding of a phase is disconnected.

FIG. 30 is a diagram showing an energization state when the second detection current Iv is applied when the UW phase of the winding of the AC servo motor 9 in the delta connection is disconnected.

FIG. 31 shows a first detection current I when the windings and external wiring of the AC servo motor 9 in a delta connection are in a normal state.
It is a figure which shows the energization situation when energizing u.

FIG. 32 shows the UV of the AC servo motor 9 in a delta connection.
It is a figure which shows the energization state when the 1st detection electric current Iu is applied when the resistance value of an interphase winding is changing.

FIG. 33 shows VW of AC servo motor 9 connected in delta.
It is a figure which shows the energization state when the 1st detection electric current Iu is applied when the resistance value of an interphase winding is changing.

FIG. 34: UW of AC servo motor 9 in delta connection
It is a figure which shows the energization state when the 1st detection electric current Iu is applied when the resistance value of an interphase winding is changing.

FIG. 35: The second detection current I when the windings and the external wiring of the AC servo motor 9 in the delta connection are in a normal state.
It is a figure which shows the energization state when energizing v.

FIG. 36 shows UV of the AC servo motor 9 connected in a delta connection.
It is a figure which shows the energization situation when the 2nd detection electric current Iv is applied when the resistance value of an interphase winding is changing.

FIG. 37: VW of AC servo motor 9 connected in delta connection
It is a figure which shows the energization situation when the 2nd detection electric current Iv is applied when the resistance value of an interphase winding is changing.

FIG. 38: UW of AC servo motor 9 in delta connection
It is a figure which shows the energization situation when the 2nd detection electric current Iv is applied when the resistance value of an interphase winding is changing.

FIG. 39 is a diagram showing a method of determining whether the windings and external wiring of each phase are normal or disconnected by applying a current to the U-phase of the star-connected AC servomotor 6;

FIG. 40 is a diagram illustrating a method of determining that the resistance value of the winding of each phase is changed by supplying power from the U-phase and the V-phase of the star-connected AC servomotor 6;

FIG. 41 shows a first AC servomotor 9 connected in delta.
FIG. 9 is a diagram showing a method of determining whether the external wiring of each phase and the inter-phase winding are normal or abnormal by applying the detection current Iu and the second detection current Iv.

FIG. 42 shows a first example of a delta-connected AC servomotor 9;
FIG. 6 is a diagram showing a method for determining a change in the resistance value of each inter-phase winding by applying the detection current Iu and the second detection current Iv.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 3-phase alternating current power supply 2 Rectifier circuit 3 Smoothing circuit 4 Driving switching circuit 41-46 Switching element 5u 1st current detector 5v 2nd current detector 6 AC servomotor whose winding is star-connected 7 Driving switching Control circuit 8 Drive current value setting device 9 AC servomotor with windings delta-connected 10 Switching circuit for detection and drive 11 Manipulator 12 Robot controller 13 Teach pendant 14 Switching control circuit for detection and drive 15 Current value setting for detection 16 Current value setting device for driving 17 Current conduction switching circuit for detection

Claims (35)

[Claims] 1. A method for determining the presence or absence of an abnormality in a winding and an external wiring of an AC servo motor, wherein the AC servo motor is connected when a drive current for generating a normal torque is not supplied. From the first phase line of the phase line to the second
Command to supply a current for detecting a current value at which the winding of the AC servomotor does not burn out to the third-phase line and the third-phase line. An AC servomotor abnormality determining method for detecting whether there is an abnormality in a winding of an AC servomotor and an external wiring by detecting a conduction current. 2. A method for identifying a line in which an abnormality has occurred in a winding of an AC servomotor, wherein the AC servomotor is connected when a drive current for generating a normal torque is not supplied. A command is issued to supply a first detection current having a current value that does not burn out the winding of the AC servomotor from the first phase line of the phase line to the second phase line and the third phase line, The current flowing through the first phase line and the second phase line is detected, and then the AC servomotor is wound from the second phase line to the first phase line and the third phase line. A command to pass a second detection current having a current value at which the wire does not burn out,
An AC servomotor abnormality determining method for detecting an energizing current between a first phase line and a second phase line to determine a line in which an abnormality has occurred in the winding and external wiring of the AC servomotor. 3. A method for identifying a line on which an abnormality of a winding of an AC servomotor has occurred, wherein the AC servomotor is connected when a drive current for generating a normal torque is not supplied. A command is issued to supply a first detection current having a current value that does not burn out the winding of the AC servomotor from the first phase line of the phase line to the second phase line and the third phase line, A first determination condition for detecting a current flowing through the first phase line and the second phase line to determine the state of the winding and the external wiring of the AC servomotor, and then a second phase line From the first phase line and the third phase line to supply a second detection current having a current value at which the winding of the AC servomotor does not burn out. The state of the winding and external wiring of the AC servomotor is detected by detecting the current flowing through the phase line. An AC servo motor abnormality determination method for determining a line in which an abnormality has occurred in the winding and external wiring of the AC servo motor from the second determination condition. 4. The first phase line according to claim 1, 2 or 3, is a U phase, the second phase line is a V phase, and the third phase line is a W phase. An AC servo motor abnormality determining method for determining whether there is an abnormality in the windings and external wiring of the AC servo motor. 5. The method according to claim 1, wherein
Phase line is a V phase, the second phase line is a U phase, and the third phase line is a W phase. Servo motor abnormality determination method. 6. The winding of an AC servomotor according to claim 1, 2 or 3, wherein the current for detecting a current value at which the winding of the AC servomotor does not burn is repeatedly energized and stopped. A method for determining the abnormality of an AC servomotor in which the current value does not overheat. 7. The detection current according to claim 1 or 2 or 3 is output from a detection / drive switching circuit 10 which also serves as a switching circuit for supplying a drive current for generating a normal torque. A method for determining the abnormality of an AC servomotor that is a current. 8. The detection current output from the detection / drive switching circuit 10 according to claim 7, wherein the DC current is P
A method for determining an abnormality of an AC servomotor, which is a current that is subjected to WM conversion and controlled to a predetermined value. 9. The detection current according to claim 1, wherein the detection current is input with a command for passing the detection current from the first phase line to the second phase line and the third phase line. A method for determining an abnormality of an AC servomotor, which is a current output from a drive switching circuit. 10. The first detection current according to claim 2 or 3, causing the detection current to flow from the first phase line to the second phase line and the third phase line. The second detection current is a current output from the detection / drive switching circuit that receives a command as input, and causes the second detection current to flow from the second phase line to the first phase line and the third phase line. A method for determining an abnormality of an AC servomotor, which is a current output from a detection / drive switching circuit that receives a command as an input. 11. A method for judging the state of windings and external wiring of an AC servo motor in a star connection or a delta connection according to claim 6, 7, and 9, wherein a normal torque is supplied. When a drive current for generating a normal torque is not supplied by a switching circuit for supplying a drive current to be generated, the DC current is subjected to PWM conversion and the first phase of a three-phase line to which an AC servomotor is connected. From the line of the second phase to the line of the third phase,
A command is issued to supply a first detection current having a current value that does not burn out the windings of the servo motor, and the current flowing through the first phase line and the second phase line is detected to detect the winding of the AC servo motor. An AC servomotor abnormality determining method for determining the state of a wire and an external wiring and determining a line in which an abnormality has occurred in the winding of the AC servomotor and the external wiring. 12. A star-connected AC servomotor, wherein the detected current value of the second phase line is half the detected current value of the first phase line, or If the detected current value of the line of the first phase is １ ／ of the detected current value of the line of the first phase, it is determined that there is no disconnection in the winding of each phase and the external wiring. 3. The method for determining an abnormality of an AC servomotor according to item 1. 13. An external servo wiring of a first phase when the detected current value of the first phase line and the detected current value of the second phase line are zero in a star-connected AC servomotor. Or determining that the winding is disconnected.
3. The method for determining an abnormality of an AC servomotor according to item 1. 14. A star-connected AC servomotor, wherein a detected current value of a first phase line is a predetermined value and a detected current value of a second phase line is zero. Second
The method for determining an abnormality of an AC servomotor according to claim 1 or 11, wherein it is determined that the external wiring or the winding of the phase is broken. 15. An AC servomotor connected in a star connection, wherein if the detected current value of the second phase line and the detected current value of the first phase line are the same, the outside of the third phase is controlled. 2. The method according to claim 1, wherein it is determined that the wiring or the winding is broken.
2. The method for determining an abnormality of an AC servomotor according to 1. 16. In a star-connected AC servomotor, when the detected current value of the second phase line is not １ ／ of the detected current value of the first phase line, a second phase The method for determining abnormality of an AC servomotor according to claim 1 or 11, wherein it is determined that the resistance value of the winding or the winding of the third phase has changed. 17. An AC servomotor with delta connection, wherein if the detected current value of the second phase line is １ ／ of the detected current value of the first phase line, external wiring of each phase is provided. 12. The AC servomotor according to claim 1, wherein it is determined that there is no disconnection in the interphase winding between the first phase and the second phase and the interphase winding between the first phase and the third phase. Abnormality determination method. 18. An AC servomotor connected in a delta connection, wherein if the detected current value of the first phase line and the detected current value of the second phase line are zero, the first phase external wiring is provided. The method for determining an abnormality of an AC servomotor according to claim 1 or 11, wherein it is determined that is disconnected. 19. A delta-connected AC servomotor, wherein the detected current value of the first phase line is a predetermined value and the detected current value of the second phase line is zero. Second
The AC servomotor abnormality determination method according to claim 1 or 11, wherein it is determined that the external wiring of the phase is disconnected. 20. An AC servomotor in a delta connection, wherein if the detected current value of the second phase line is the same as the detected current value of the first phase line, the external of the third phase is controlled. The AC servomotor abnormality determination method according to claim 1 or 11, wherein it is determined that the wiring or the interphase winding between the first phase and the third phase is disconnected. 21. In a delta-connected AC servomotor, when the detected current value of the second phase line is not half of the detected current value of the first phase line, the first phase and the first phase line are connected to each other. 2. The method according to claim 1, wherein the controller determines that the resistance value of the interphase winding between the second phase and the interphase winding between the first phase and the third phase is changed.
2. The method for determining an abnormality of an AC servomotor according to 1. 22. A method for judging the states of the windings and external wiring of an AC servo motor in a star connection or a delta connection according to claim 6, 7, 9, or 11. When a drive current for generating a normal torque is not supplied by a switching circuit for supplying a drive current for generating a normal torque, the DC current is
After the WM conversion, the current value at which the winding of the AC servomotor does not burn out is transferred from the first phase line to the second phase line and the third phase line of the three-phase line to which the AC servomotor is connected. A first command is issued to supply a first detection current, and a current supplied to the first phase line and the second phase line is detected to determine the state of the windings and external wiring of the AC servomotor. Then, a second detection current having a current value that does not burn out the winding of the AC servomotor is passed from the second phase line to the first phase line and the third phase line. Command and the first
The current flowing between the line of the second phase and the line of the second phase is detected, and A
An AC servomotor abnormality determining method for determining a line in which an abnormality has occurred in the winding and external wiring of an AC servomotor from a second determination condition for determining the state of the winding and external wiring of the C servomotor. 23. A star-connected AC servomotor, wherein the first determination condition is that the detected current value of the second phase line is の of the detected current value of the first phase line, When the second determination condition is that the detected current value of the first phase line is の of the detected current value of the second phase line, it is determined that the resistance value of the winding of each phase is normal. 23. The method for determining an abnormality of an AC servomotor according to claim 3 or claim 22. 24. A star-connected AC servomotor, wherein the first determination condition is that a detected current value of the second phase line is の of a detected current value of the first phase line, The second determination condition is that the detected current value of the second phase line is a predetermined value, and the detected current value of the first phase line is の of the detected current value of the second phase line. 23. The abnormality determination method for an AC servomotor according to claim 3 or 22, wherein it is determined that the resistance value of the winding of the first phase has changed when not. 25. A star-connected AC servomotor, wherein the first determination condition is that the detected current value of the first phase line is a predetermined value, and the detected current value of the second phase line is The value is not 1/2 of the detected current value of the first phase line, the second determination condition is that the detected current value of the second phase line is a predetermined value, and the first phase line is When the detected current value of the second phase is 1/2 of the detected current value of the line of the second phase, it is determined that the resistance value of the winding of the second phase has changed, and the second determination condition is When the detected current value of the second phase line is a predetermined value and the detected current value of the first phase line is not １ ／ of the detected current value of the second phase line, the third 23. The method according to claim 3, wherein it is determined that the resistance value of the phase winding has changed. 26. A star-connected AC servomotor, wherein the first determination condition is that the detected current value of the second phase line is １ ／ of the detected current value of the first phase line. Is
The resistance values of the second phase winding and the third phase winding are normal, and the second determination condition is that the detected current value of the first phase line is the detected current value of the second phase line. When the resistance value of the winding of each phase is normal and the detected current value of the first phase line is not 1/2 of the detected current value of the second phase line, 23. The method according to claim 3, wherein it is determined that the resistance value of the winding of the first phase has changed. 27. A star-connected AC servomotor, wherein the first determination condition is that the detected current value of the second phase line is not １ ／ of the detected current value of the first phase line, When the second determination condition is that the detected current value of the first phase line is １ ／ of the detected current value of the second phase line, the resistance value of the second phase winding changes. If the detected current value of the first phase line is not 1/2 of the detected current value of the second phase line, it is determined that the resistance value of the third phase winding has changed. The method for determining an abnormality of an AC servomotor according to claim 3 or claim 22, wherein the determination is performed. 28. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the second phase line is の of the detected current value of the first phase line, 4. When the detected current value of the line of the first phase is の of the detected current value of the line of the second phase, it is determined that there is no disconnection of the external wiring of each phase and the winding of each phase. 3. The method for determining an abnormality of an AC servomotor according to item 1. 29. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the first phase line is a predetermined value, and the detected current value of the second phase line is Is zero, and the second determination condition is that the detected current value of the first phase line and the detected current value of the second phase line are zero,
When the V-phase external wiring is broken, the detected current value of the second phase line is a predetermined value, and the detected current value of the first phase line is zero, the first phase and the second 23. The method according to claim 3, wherein the interphase winding with the second phase is determined to be disconnected. 30. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the line of the second phase is the same as the detected current value of the line of the first phase, When the detection condition of the first phase line is the same as the detection current value of the second phase line, the external wiring of the third phase is disconnected and the first phase line is disconnected. 4. The method according to claim 3, wherein when the detected current value is の of the detected current value of the second phase line, the interphase winding between the first phase and the third phase is determined to be disconnected. 22. The method for determining an abnormality of an AC servomotor according to claim 22. 31. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the first phase line is a predetermined value, and the detected current value of the second phase line is Is 1/2 of the detected current value of the first phase line, and the second determination condition is that the detected current value of the first phase line is the same as the detected current value of the second phase line. 23. The method according to claim 3, wherein the interphase winding between the second phase and the third phase is determined to be disconnected. 32. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the second phase line is の of the detected current value of the first phase line, When the second determination condition is that the detected current value of the first phase line is 1/2 of the detected current value of the second phase line, it is determined that the resistance value of each inter-phase winding is normal. When the detected current value of the first phase line is not 1/2 of the detected current value of the second phase line, the resistance value of the interphase winding between the second phase and the third phase changes. The AC according to claim 3 or claim 22, wherein the AC
Servo motor abnormality determination method. 33. A delta-connected AC servomotor, wherein the first determination condition is that the detected current value of the first phase line is a predetermined value, and the detected current value of the second phase line is Is not 1/2 of the detected current value of the first phase line, and the second determination condition is that the detected current value of the first phase line is not 1/2 of the detected current value of the second phase line. Sometimes, it is determined that the resistance value of the interphase winding between the first phase and the second phase has changed,
When the detected current value of the line of the second phase is の of the detected current value of the line of the second phase, the resistance value of the interphase winding between the first phase and the third phase changes. 23. The method according to claim 3, wherein the abnormality is determined. 34. A star-connected A according to claim 6, claim 7, claim 9, claim 11, and claim 26.
In the method of determining the change in the resistance value of each phase winding of the C servomotor, the switching circuit that supplies a drive current for generating a normal torque is supplied with a DC current when the drive current for generating a normal torque is not supplied. From the first phase line of the three-phase line to which the AC servomotor is connected to the second phase line and the third phase line.
A first determination condition for giving a command to supply a first detection current that does not cause the winding of the C servo motor to overheat, and detecting and determining a conduction current between the first phase line and the second phase line. Is the second
When the detected current value of the phase line is half of the detected current value of the first phase line, the resistance values of the second phase winding and the third phase winding are normal. Then, a command is issued to cause the second detection current to flow from the second phase line to the first phase line and the third phase line, and the first phase line and the second phase line When the second determination condition for detecting and determining the current flowing through the line is that the detected current value of the line of the first phase is の of the detected current value of the line of the second phase, When the resistance value of the winding is normal and the detected current value of the first phase line is not half of the detected current value of the second phase line, the resistance value of the first phase winding is A method for determining an abnormality of an AC servomotor that determines that the motor is changing. 35. A switching circuit for supplying a drive current for generating a normal torque in the method for determining a change in resistance value of each phase winding of a delta-connected AC servomotor according to claim 22 or 32. Therefore, when the drive current for generating the normal torque is not supplied,
The DC current is PWM-converted, and the windings of the AC servomotor are not overheated from the first phase line to the second phase line and the third phase line of the three-phase line to which the AC servomotor is connected. The first determination condition for giving a command to supply the first detection current and detecting and determining the conduction current between the first phase line and the second phase line is the detection of the second phase line. The current value is の of the detected current value of the first phase line, and the second determination condition is that the detected current value of the first phase line is 1 / １ ／ of the detected current value of the second phase line. If it is 2, it is determined that the resistance value of each inter-phase winding is normal, and the detected current value of the first phase line is the second phase.
An AC servomotor abnormality determining method for determining that the resistance value of the inter-phase winding between the second phase and the third phase has changed when the detected current value is not １ ／ of the detected current value of the line of the phase.