JP2006072696A - Motor control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control device that can prevent malfunctions caused by a conflict between respective commands from a master device and an operation device and by unnecessary processing. <P>SOLUTION: The motor control device comprises a communication part A9 having a transmission/reception function corresponding to communication A4 for data exchange between a master device 1 and the motor control device 2; a communication part B10 having a transmission/reception function corresponding to communication B5 for data exchange between an operation device 11 and the motor control device 2; and a storage part 3 for storing a plurality of parameters of motor control. The storage part 3 has an access control parameter 8 switchable to a permission or prohibition mode of parameter change processing via the communication A4 to thereby prevent malfunctions or the like caused by a conflict over parameter change processing via the communication A4 and communication B5 and by unnecessary processing. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention provides a master device that issues a command, a motor control device that controls a motor based on a command from the master device via communication, setting of parameters for motor control via communication, and data in the motor control device. The present invention relates to a motor control system that prevents malfunctions and unsafe operations caused by conflicts of commands issued from a master device and an operation device and unnecessary processing in a motor control system having an operation device that performs monitoring and the like.

  FIG. 7 shows the configuration of a conventional motor control system. The master device 101 and a plurality of motor control devices 102 (102a, 102b, 102c) are connected by communication A104.

  The motor control device 102 includes a communication unit A109 having a transmission / reception function corresponding to the communication A104, a communication unit B110 having a transmission / reception function corresponding to the communication B105 for transmitting / receiving data between the operation device 111 and the motor control device, and a motor control. And a central control unit 112 that performs communication data processing and the like, and the central control unit 112 includes a storage unit 103 that stores parameters such as motor control gain.

  During normal operation, the master device 101 and each motor control device 102 are connected by communication A104, and operation commands for the motors 106 (106a, 106b, 106c) connected to each motor control device 102, position information of the motor 106, etc. Sending and receiving data.

When adjusting the motor control gain or teaching work for each motor control device 102 in the machine 115, it is ideal to check the operation of the machine 115 visually, but the master device 101 and the machine 115 are In many cases, they are installed remotely, and it is common to perform adjustment of a motor control gain, teaching work, and the like using an operation device 111 that is easy to carry (see, for example, Patent Document 1).
JP-A-10-105206

  The problem to be solved is that when the operating device is used when adjusting the motor control gain or teaching work, the command from the master device and the command from the operating device conflict, and the adjusted data is overwritten. There has been a problem that causes problems such as.

  In order to avoid this, measures such as changing the program of the master device and stopping the command from the master device were necessary, but there was a problem that the program of the master device could not be changed or was not easy to change. It was.

  In addition, when the program of the master device is stopped or communication A is stopped, there is no command from the master device, that is, the adjustment is made only with the command from the operating device. There was a problem that the control gain could not be adjusted.

  In addition, although the adjustment of the entire motor control system is completed, the adjustment value may be overwritten due to an erroneous operation of the operation device, and there is a problem that readjustment is necessary.

  In addition, depending on the adjusted value, the motor may run away, which may affect other drive shafts and resonate greatly throughout the machine. However, because the master device is away from the machine, the entire machine is brought to an emergency stop. There was a problem that the machine could not be broken and the machine was broken or unsafe.

  The present invention solves the above-mentioned problems, eliminates the need to change the program of the master device, prevents the conflict between the master device and the operating device, and prevents erroneous operation, and makes the machine unsafe. It is an object of the present invention to provide a motor control device that can safely stop the entire machine even in the case.

  In order to solve the above-described problem, the present invention arranges an access control parameter for switching a processing permission or prohibition mode based on a command via communication A or communication B in a storage unit of a motor control device, or an access control parameter and By providing an access control switch having an equivalent function in the motor control device, it is possible to prevent processing conflicts based on commands via communication A and communication B and malfunctions caused by unnecessary processing. Become.

  Also, even if the motor runs out of control while working with the operating device, the emergency stop command is sent from the operating device to the master device via the motor control device, so that work can be performed safely even at a location away from the master device. It becomes possible.

  According to the motor control device of the present invention, the program of the master device can be changed by arranging the access control parameter for switching the permission or prohibition mode of the parameter change processing via the communication A in the storage unit in the motor control device. In addition, it is possible to prevent malfunction caused by competition and unnecessary processing of parameter change processing such as motor control gain from the master device and operation device, and to improve adjustment workability and unsafe state. It can be avoided.

  Conversely, by arranging an access control parameter for switching the permission / prohibition mode of parameter change processing via communication B in the storage unit in the motor control device, the parameter may be changed due to an erroneous operation of the operating device despite the completion of the adjustment. It is possible to prevent the occurrence of a case such as a change and a readjustment.

  In addition, the storage area of the storage unit should be divided into a plurality of areas, and the parameter change processing should be permitted or prohibited mode set for each of the divided storage areas according to the setting value of the access control parameter. It is possible to prohibit the change of only the parameter and to permit the change of the parameter for controlling the operation, and the adjustment can be performed under the actual driving conditions of the machine, and as a result, the optimum adjustment can be performed.

  Further, the master device is configured to be able to control not only the parameter change command but also the prohibition of processing and switching of the permission mode based on the specific command from the master device via the communication A by the set value of the access control parameter. Therefore, it is not necessary to take measures such as changing the program and stopping the communication A, and it is possible to prevent malfunction caused by processing conflict or unnecessary processing.

  Conversely, by setting the permission mode or prohibition mode setting based on the command from communication B to be controllable by the setting value of the access control parameter, the operation can be performed despite the completion of adjustment of the entire motor control system. It is possible to prevent a case in which readjustment is required due to an erroneous operation of the apparatus.

  Also, the value of the access control parameter placed in the storage unit is copied to the non-volatile storage unit, and when the system of the motor control device is started, the value of the access control parameter stored in the non-volatile storage unit is centrally controlled. Even when the power is shut down by reading out and copying to the storage unit in the central control unit, processing permission and prohibit mode control based on commands via communication A and communication B are the same as before power shutoff Can be done.

  Further, by providing an access control switch having a function equivalent to the access control parameter in the motor control device, even when the power is shut off as described above, the processing permission based on the commands via communication A and communication B and The prohibit mode can be controlled in the same manner as before the power is turned off.

  Furthermore, in a motor control system in which a plurality of motor control devices are connected by communication A that transmits and receives data between the master device and the motor control device, if one motor runs away due to misadjustment or misoperation, another drive shaft May cause a large resonance in the entire machine, resulting in an unsafe state, but if the master device is away from the machine, an emergency stop command to stop the entire machine cannot be issued. In some cases, the machine may break down or become a dangerous situation involving human life. An emergency stop command is issued to the motor control device via communication B by the operating device, and then the motor control is performed based on this command. The device informs the master device that an emergency stop command has been issued via communication A, and the master device performs emergency stop for all motor control devices. It is possible to safely stop the entire machine by an arrangement to issue a command.

  In a motor control system having a master device that issues a command, a motor control device that controls a motor based on a command from the master device, and an operation device that sets parameters for motor control and monitors data in the motor control device A communication unit A having a transmission / reception function corresponding to communication A for transmitting / receiving data between the master device and the motor control device, and a transmission / reception function corresponding to communication B for transmitting / receiving data between the operation device and the motor control device A communication unit B and a storage unit for storing a plurality of parameters related to motor control are provided. Access control parameters for switching permission / prohibition mode of parameter change processing via communication A are arranged in the storage unit. Caused by conflicting and unnecessary processing of parameter change processing via each Motor control apparatus characterized by preventing operation.

  In FIG. 1, 1 is a master device, 2 is a motor control device, 3 is a storage unit provided in the motor control device, 4 is communication A, 5 is communication B, 6 is a motor, 7 is a load, and 8 is in the storage unit. Access control parameters, 9 is a communication unit A, 10 is a communication unit B, 11 is an operating device, 12 is a central control unit, and 15 is a machine.

  A motor 6 (6a, 6b, 6c) is connected to the motor control device 2 (2a, 2b, 2c), and a load 7 (7a, 7b, 7c) is connected to the motor 6 (6a, 6b, 6c). These are incorporated in the machine 15.

  The master device 1 and the motor control device 2 (2a, 2b, 2c) are connected by communication A4, and the operation device 11 and the motor control device 2a are connected by communication B5. Note that the controller 11 does not have to be connected in a normal operation state, and is connected as necessary, such as when adjusting the motor control gain.

This communication A4 is a one-to-n-axis connection master / slave system, and the topology may be any multi-drop connection or ring connection. The master in the communication A4 is the master device 1, and the slave is the motor control device 2 (2a, 2b, 2c).

  In this embodiment, the motor control device 2 has three axes (2a, 2b, 2c). In addition, devices corresponding to the communication A4 other than the motor control device may be connected to the communication A4.

  On the other hand, the communication B5 is a master / slave system with a one-to-one axis connection. The master in the communication B5 is the operation device 11, and the slave is the motor control device 2a (2b, 2c).

  Here, the motor control device 2a will be described on behalf of the motor control device 2, but the same applies to the other motor control devices 2b and 2c.

  The motor control device 2a includes a communication unit A9 having a transmission / reception function corresponding to communication A4, a communication unit B10 having a transmission / reception function corresponding to communication B5, and a central control unit 12 for performing motor control, communication data processing, and the like. The central control unit 12 includes a storage unit 3 that stores parameters such as motor control gain.

  During normal operation, the master device 1 and the motor control device 2a are connected by communication A4, and data such as operation commands for the motor 6a connected to the motor control device 2a and position information from the motor 6a are transmitted and received.

  When adjusting the motor control gain for the motor control device 2a, it is ideal to change the parameter value in the storage unit 3 of the motor control device 2a while visually checking the operation of the machine 15. The device 1 and the machine 15 are often installed apart from each other, and it is common to perform motor control gain and the like using the operation device 11 that is easier to carry than the master device 1.

  However, the parameter change process based on the command from the master device 1 may overwrite the parameter value adjusted based on the command from the operation device 11, and in this case, workability is deteriorated. Depending on the parameter value, the motor 7a may oscillate, resulting in an unsafe state.

  Therefore, the access control parameter 8 that prohibits the parameter changing process via the communication A4 is arranged in the storage unit 3 in the motor control device 2a, and the value of the access control parameter 8 is prohibited to be changed during the adjustment work in the operating device 11. By setting the mode, it is possible to prohibit the parameter changing process based on the command from the master device 1, and to improve the workability at the time of adjustment and prevent an unsafe state. Become.

  After the adjustment work on the controller device 11 is completed, for example, the parameter change command value from the upper master device 1 is changed to the adjusted value, the value of the access control parameter 8 is set to the change permission mode, and the operation is performed. By disconnecting the device 11 from the communication B5, the machine 15 can be operated in the normal operation mode with an optimally adjusted value.

  The basic configuration is the same as that of the first embodiment, and an example in which the function of the access control parameter 8 is changed and the parameter change via the communication B5 is prohibited will be described.

When adjustment of the master device 1 and the machine 15 is completed and normal operation is repeated, if an adjustment error of the machine 15 occurs due to a mistake in the adjustment of another machine, the optimally adjusted value is overwritten. It may be done.

  In order to prevent this, by changing the value of the access control parameter 8 from the master device 1 via the communication A4 and setting the mode for prohibiting the parameter change via the communication B5, the command from the controller device 11 is set. It is possible to prohibit the parameter changing process based on it.

  The basic configuration is the same as in the first and second embodiments, and another example in which the function of the access control parameter 8 is changed will be described with reference to FIGS.

  As shown in FIG. 2, the storage unit 3 storing parameters and the like is divided into a plurality of areas A to areas D. For example, the operation data related to the motor 6a, data such as rotation speed and acceleration are arranged in the area A, the motor control gain is related to the area B, and the model code and serial number of the motor control device 2a are stored in the area C. An access control parameter 8 is arranged in the data-related area D.

  In addition, as shown in FIG. 3, when the access control parameter 8 is 8-bit data and bit 0 is set to 1, the parameter change of the area A in the storage unit 3 via the communication A4 is prohibited, When bit 0 is 0, parameter change in area A in storage unit 3 via communication A4 is permitted. When bit 1 is set to 1, area in storage unit 3 via communication A4 Parameter change for each of a plurality of divided areas of the storage unit 3, such as prohibiting the parameter change of B and permitting the parameter change of the region B in the storage unit 3 via the communication A4 when the bit 1 is 0 Can be prohibited or permitted.

  For example, for parameters related to operation data, only changes from communication B5 are prohibited, changes from motor A4 are prohibited only from communication A4, changes from system A4 and communication B5 are both prohibited, access control parameters In the case where the change from the communication A4 and the communication B5 is permitted, the value of the access control parameter 8 is set to 86 (56 [Hex]). As a result, adjustment can be performed under the driving conditions during normal operation, and as a result, optimal adjustment can be performed.

  The access control parameter 8 does not have to be 8 bits long, the data length may be determined according to the number of divided areas, and the bit allocation may be determined according to the use. .

  The basic configuration is the same as in the first to third embodiments, and another example in which the function of the access control parameter 8 is changed will be described with reference to FIGS. 1 and 4.

  As shown in FIG. 4, when the access control parameter 8 is 8-bit long data and bit 0 is set to 1, the command A via the communication A4 is prohibited, and when the bit 0 is 0, the communication A4 When the bit 1 is set to 1, the command B via the communication A4 is prohibited, and when the bit 1 is 0, the command B via the communication A4 is permitted. For example, for each command from the master device 1 to the motor control device 2a and from the operation device 11 to the motor control device 2a, it is possible to switch the prohibition or permission mode of processing based on the command.

For example, the command A is an operation command, the command B is a parameter change command, the command C is a restart command, and the command D is a stop command. Command A is prohibited only via communication B5, Command B is prohibited only via communication A4, Command C is prohibited via both communication A4 and communication B5, and Command D is via communication A4 and communication B5
In the case of permitting both vias, the value of the access control parameter 8 is 86 (56 [Hex]). As a result, it is possible to prevent malfunction caused by processing conflict or unnecessary processing.

  The basic configuration is the same as in the first to fourth embodiments, and FIG. 5 is used for a motor control device to which a non-volatile storage unit that can hold the value of an access control parameter is added even when the power is turned off. I will explain.

  In FIG. 5, 1 to 12 and 15 are the same as those in FIG. Reference numeral 13 denotes a nonvolatile storage unit, and reference numeral 14 denotes access control parameter holding data.

  With only the configuration of the first to fourth embodiments, the value of the access control parameter 8 in the storage unit 3 disappears when the power of the motor control device 2a is cut off. The access control parameter 8 is copied to the access control parameter holding data 14 arranged in the non-volatile storage unit 13 that can be held.

  Generally, the copy process is a method of performing a process based on a command from the master device 1 or a command from the operation device 11, or a copy is performed before the power supply voltage drops to an inoperable voltage by detecting a power shutdown. There is a method, but the copy processing method is not particularly limited. Further, parameters other than the access control parameter 8 arranged in the storage unit 3 may be copied simultaneously.

  When the power is turned on, the central control unit 12 in the motor control device 2a reads the value of the access control parameter holding data 14 held in the non-volatile storage unit 13, and the access control parameter in the storage unit 3 is read. Copy to 8.

  As a result, it is not necessary to reset the value of the access control parameter 8 every time the power is turned on, and the processing based on the commands via the communication A and the communication B can be controlled in the same manner as before the power is turned off.

  The basic configuration is the same as in the first to fourth embodiments, and a motor control device including an access control switch having a function equivalent to the access control parameter 8 instead of the access control parameter 8 will be described with reference to FIG.

  In FIG. 6, 1 to 12 and 15 are the same as those in FIG. Reference numeral 16 denotes an access control switch.

  The access control switch 16 has, for example, two 4-bit resolution rotary switches (8-bit resolution). When the motor control device 2a is turned on, the central control unit 12 reads the value of the rotary switch, and the processing based on the command via the communication A and the communication B can be controlled by the set value.

  The basic configuration is the same as that of the first to sixth embodiments, and the securing of safety in the case where the motor 6a runs away due to an adjustment error during the adjustment operation in the operating device 11 and the entire machine 15 resonates will be described with reference to FIG. .

When the motor 6a goes out of control due to misadjustment or misoperation, it affects other drive shafts and causes a large resonance in the entire machine 15. 11 performs an operation of issuing an emergency stop command to the motor control device 2a via the communication B5.

  Furthermore, the motor control device 2a uses the motor control information for periodically confirming that the master device 1 has received the emergency stop command from the operation device 11 from the master device 1 via the communication A4. Send to. Next, the master device 1 detects that the motor control device 2a has received an emergency stop command from the operation device 11, and issues an emergency stop command to each of the motor control devices 2 (2a, 2b, 2c).

  Upon receiving this emergency stop command, the motor control device 2 (2a, 2b, 2c) stops the motor 6 (6a, 6b, 6c), respectively.

  The motor control device 2a may be configured to stop the motor 2a when an emergency stop command is received from the controller device 11.

  As a result, when the machine 15 is separated from the master device 1, the motor runs away due to misadjustment or erroneous operation using the operation device 11, and the other drive shaft is also affected, resulting in large resonance in the entire machine 15. Even when a dangerous state occurs, the entire machine 15 can be safely and urgently stopped.

  In the motor control system that normally performs processing based on a command from the master device, the motor control device according to the present invention has a command from each of the master device and the operation device when the operation device is used when adjusting the motor control gain. It is useful to prevent malfunctions and unsafe operations caused by conflicts and unnecessary processing.

Block configuration diagram of a motor control system including a motor control device of the present invention The figure explaining the relationship between the area | region and parameter in the memory | storage part of this invention Explanatory drawing of the access control parameter in Example 3 of this invention Explanatory drawing of the access control parameter in Example 4 of this invention Block configuration diagram of a motor control system in Embodiment 5 of the present invention The block block diagram of the motor control system in Example 6, 7 of this invention Block diagram of a conventional motor control system

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Master apparatus 2 Motor control apparatus 3 Memory | storage part 4 Communication A
5 Communication B
6 Motor 7 Load 8 Access control parameter 9 Communication part A
10 Communication part B
DESCRIPTION OF SYMBOLS 11 Operating device 12 Central control part 13 Nonvolatile memory | storage part 14 Access control parameter holding data 15 Machine 16 Access control switch

Claims (8)

In a motor control system having a master device that issues a command, a motor control device that controls a motor based on a command from the master device, and an operation device that sets parameters for motor control and monitors data in the motor control device A communication unit A having a transmission / reception function corresponding to communication A for transmitting / receiving data between the master device and the motor control device, and a transmission / reception function corresponding to communication B for transmitting / receiving data between the operation device and the motor control device A communication unit B and a storage unit that stores a plurality of parameters related to motor control are provided. An access control parameter for switching a permission mode or a prohibition mode of parameter change processing via communication A is arranged in the storage unit, and communication with communication A is performed. Caused by contention and unnecessary processing of parameter change processing via B Motor control apparatus characterized by preventing malfunctions and the like. The motor control device according to claim 1, wherein an access control parameter for switching a permission mode or a prohibition mode of parameter change processing from the operating device via communication B is arranged in the storage unit. The storage area of the storage unit is divided into a plurality of areas, and parameter change processing permission or prohibition mode can be set for each of the divided storage areas by setting values of access control parameters. The motor control device according to claim 2. In a motor control system having a master device that issues a command, a motor control device that controls a motor based on a command from the master device, and an operation device that sets parameters for motor control and monitors data in the motor control device A communication unit A having a transmission / reception function corresponding to communication A for transmitting / receiving data between the master device and the motor control device, and a transmission / reception function corresponding to communication B for transmitting / receiving data between the operation device and the motor control device An access control parameter that includes a communication unit B and a storage unit that stores a plurality of parameters related to motor control, and that switches a permission mode or a prohibition mode of processing based on all commands or specific commands from the master device via communication A. Arranged in the storage unit, the contention of processing based on commands via communication A and communication B respectively Motor control apparatus characterized by preventing malfunction caused by fine unnecessary processing. The motor control device according to claim 4, wherein an access control parameter for switching a mode for permitting or prohibiting processing for all commands or a specific command from the operation device via the communication B is arranged in the storage unit. The motor control device according to any one of claims 1 to 5, further comprising a non-volatile storage unit capable of holding the value of the access control parameter even when the power is shut off. 6. The motor control device according to claim 1, further comprising an access control switch having a function equivalent to an access control parameter. A master device that issues a command, a motor control device that controls a motor based on a command from the master device, and an operation device that performs setting of parameters for motor control and monitoring of data in the motor control device. In a motor control system in which a plurality of motor control devices are connected by communication A that transmits and receives data between the motor control device and the motor control device, communication unit A having a transmission / reception function corresponding to communication A, and between the operation device and the motor control device A communication unit B having a transmission / reception function corresponding to communication B that transmits / receives data of the motor is provided. Based on an emergency stop command from the operating device via communication B, the motor control device performs an emergency stop to the master device via communication A. Notify that the command has been issued and issue an emergency stop command to all motor control devices by the master device to improve safety. Motor control system according to claim.

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