JP2006256547A - Electronic control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electronic control device capable of setting identification information without individual difference. <P>SOLUTION: The electronic control device detects the voltage level changing according to the connection order from a master ECU 10 (S100), acquires the number of servo motor control devices connected to the master ECU 10 (S102), and sets identification information by itself by using a map for determining identification information storing the corresponding relationship of the voltage level according to the connection order from the master ECU 10 to identification information for each number of the servo motor control devices connected to connection cables (S106). <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an electronic control device used in a control system configured by connecting a plurality of electronic control devices to a master control device in cascade using a connection cable.

  Conventionally, a plurality of servo motors are provided in a vehicle, and servo motor control devices that drive these servo motors are connected by a LAN. When a plurality of servo motor control devices are connected by LAN in this way, it is necessary to assign an ID (identification information) to each servo motor control device in advance before connecting each servo motor control device via LAN. This ID assignment includes a hardware method for setting an ID by setting a switch or changing a resistance, and a method for storing the ID in a memory at a software level.

In addition, in an apparatus having a plurality of actuators connected via LAN, an address fixing terminal having the same number of terminals is added to a part of the actuator-side connector regardless of the type of actuator, and the harness-side connector differs depending on the type of actuator Some address selector terminals are added so that the type of actuator can be identified on the actuator side according to the connection status between the address fixed terminal and the address selector terminal when the connectors are coupled (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 10-6748

  However, when an ID is assigned to each servo motor control device in advance as described above, a different ID is set for each servo motor control device, so that the product number is required for the number of servo motor control devices connected via LAN. Become.

  Moreover, in the apparatus described in Patent Document 1, it is necessary to add different address selector terminals to the harness side connector according to the type of actuator.

  Thus, in the above-described configuration, it is necessary to make a difference between the servo motor control device and the LAN connection connector.

  The present invention has been made in view of the above problems, and an object thereof is to set identification information without causing individual differences.

  In order to achieve the above object, according to the first or second aspect of the present invention, an electronic control device used in a control system configured by connecting a plurality of electronic control devices to a master control device in cascade using a connection cable. And detecting means for detecting a physical quantity that changes in accordance with a connection order from the master control device when connected in cascade using the connection cable, and connected from the master control device to the connection cable. Identification information indicating the correspondence between physical quantity and identification information according to the connection order from the master control device for each number of electronic control devices connected to the connection cable, and connection number acquisition means for acquiring the number of electronic control devices Based on the storage means for storing the determination map, the number of electronic control devices acquired by the connection number acquisition means, and the physical quantity detected by the detection means, Serial and from said stored correspondence relationship storage means and the identification information setting means for setting identification information, comprising the.

  In this way, the identification information setting means sets identification information by itself based on the physical quantity that changes in accordance with the number of servo motor control devices connected to the connection cable and the connection order from the master control device.

  Therefore, identification information corresponding to the connection order from the master control device is given to each electronic control device, and the identification information can be set without causing a difference.

  A schematic configuration of a servo motor control system according to an embodiment of the present invention is shown in FIG. The servo motor control system in the present embodiment includes a master ECU 10 as a master control device, first to fourth servo motor control devices 21 to 24 and electronic servo devices 31 to 34 as electronic control devices. Has been.

  First, the master ECU 10 will be described. Power is supplied to the master ECU 10 from a battery (not shown) via an ignition switch. The master ECU 10 has a constant voltage power source (not shown) that generates a constant voltage (5 V) from the voltage (12 V) of the power source supplied via the ignition switch, and the constant voltage generated by the constant voltage power source. To the internal circuit.

  The master ECU 10 includes a resistor 11 and a CPU (not shown) having ROM, RAM, EEPROM, and an A / D conversion circuit, a power supply terminal 110 connected to a power supply supplied via an ignition switch, and A / D conversion of the CPU. An identification terminal 111 connected to an input terminal of the circuit, a communication terminal 112 for communicating with the outside, and a ground terminal 113 are provided. Further, a 10 k ohm resistor 11 is provided between the identification terminal 111 and the output of the constant voltage power source.

  Next, the first to fourth servo motor control devices 21 to 24 will be described. Since the first to fourth servo motor control devices 21 to 24 have the same configuration, the first servo motor control device 21 will be described here.

  The first servo motor control device 21 includes an IC 21a and a resistor 21b. The resistance value of the resistor 21b is 10k ohms.

  The first servo motor control device 21 includes a first terminal including a first power terminal 210a, a first identification terminal 211a as an input terminal, a first communication terminal 212a, and a first ground terminal 213a. And a second terminal group including a second power terminal 210b, a second identification terminal 211b as an output terminal, a second communication terminal 212b, and a second ground terminal 223b.

  The first and second power supply terminals 210a and 210b, the first and second communication terminals 212a and 212b, and the first and second ground terminals 213a and 213b are connected to each other. The first identification terminal 211a and the second identification terminal 211b are connected via a resistor 21b.

  The IC 21a is constituted by a microcomputer having a CPU, a ROM, a RAM, etc., and a communication circuit that communicates with the outside via the first and second communication terminals 212a and 212b, and the first identification terminal 211a. An A / D conversion circuit that converts a voltage applied to the A / D input terminal into a digital signal, a drive circuit that controls driving of the first servo motor 31 (none of which are shown), and the like are provided.

  Further, the first terminal groups 210 a to 213 a are connected to the terminal groups 110 to 113 of the master ECU 10 using connection cables, and the second terminal groups 210 b to 213 b are the first terminals of the second servo motor control device 22. The terminal groups 220a to 223a are connected using a connection cable.

  That is, the first identification terminal 211a of the first servo motor control device 21 which is the first stage is connected to the power supply output (voltage 5V) via the resistor 11 of the master ECU 10. In addition, the first identification terminal 211a of the subsequent stage servo motor control device is connected to the second identification terminal 211b of the servo motor control device after the first stage, and the second identification of the fourth servo motor control apparatus 24 at the final stage. The terminal 211b is grounded.

  Thus, when the first to fourth servo motor control devices 21 to 24 are cascade-connected to the master ECU 10, the resistor 11, the resistor 21b of the first servo motor control device 21, the second A loop path is formed that reaches the ground terminal 113 of the master ECU 10 via the resistor 22b of the servo motor controller 22, the resistor 23b of the third servo motor controller 23, and the resistor 24b of the fourth servo motor controller 24. Is done.

  Therefore, a voltage obtained by dividing the constant voltage (5 V) of the master ECU 11 by the resistor 11 and the resistors 21b to 24b is applied to the A / D input terminal of the IC 21a of the first servo motor control device 21. Since the resistance values of the resistor 11 and the resistors 21b to 24b in this embodiment are 10 k ohms, a voltage of 4V is applied to the A / D input terminal of the IC 21a.

  Further, a voltage obtained by dividing the constant voltage (5 V) of the master ECU 11 by the resistor 11, the resistor 21b, and the resistors 22b to 24b is applied to the A / D input terminal of the IC 22a of the second servo motor control device 22, A voltage of 3V is applied to the A / D input terminal of the IC 22a. Similarly, a voltage of 2V is applied to the A / D input terminal of the IC 23a, and a voltage of 1V is applied to the A / D input terminal of the IC 24a.

  As described above, when the first to fourth servo motor control devices 21 to 24 are connected in cascade using the connection cable, the A / Ds of the ICs 21a to IC24a of the first to fourth servo motor control devices 21 to 24 are connected. A voltage that changes in accordance with the connection order from the master control device is applied to each input terminal.

  Further, in this embodiment, when a worker cascade-connects a plurality of servo motor control devices to the master ECU 10, the servo motor control device having a lower connection order from the master ECU 10, that is, a servo motor control device far from the master ECU 10 is used. The servo motor control device is connected so that the ID becomes larger in order. Further, after a plurality of servo motor control devices are connected to the master ECU 10, the number of servo motors connected to the master ECU 10 is registered in the EEPROM of the master ECU 10.

  Further, when the ignition switch is turned on and power is supplied from the battery, the CPU of the master ECU 10 starts various processes in accordance with the program stored in the ROM, and the servo motor connected to the master ECU 10 stored in the EEPROM. The number is transmitted to all servo motor control devices connected to the master ECU 10.

  In the present embodiment, the identification information determination maps for the ICs 21a to 24a to determine their own identification IDs are stored in the ROMs of the ICs 21a to 24a of the first to fourth servo motor control devices 21 to 24, respectively. ing. This identification information determination map shows the correspondence between the voltage level and the identification information that changes in accordance with the connection order from the master ECU 10 for each number of servo motor control devices cascade-connected to the master ECU 10.

  FIG. 2 shows an example of the identification information determination map when the number of servo motor control devices cascaded to the master ECU 10 is four. When the voltage level applied to each A / D input terminal of the ICs 21a to 24a is determined to be 4V from the correspondence stored in the identification information determination map, the ID is set to 04 and determined to be 3V. In this case, the ID is set to 03. If it is determined to be 2V, the ID is determined to be 02. If it is determined to be 1V, the ID is determined to be 01. Further, the determination of the voltage level applied to each A / D input terminal of the IC 21a to IC 24a is provided with a predetermined hysteresis width in order to prevent erroneous determination.

  In addition, in each ROM of IC21a-IC24a of the 1st-4th servo motor control apparatuses 21-24, the correspondence of the voltage level and identification information which change according to the connection order from master ECU10 as shown in FIG. An identification information determination map indicating the relationship is stored for each number of servo motor control devices connected to the master ECU 10.

  Each CPU of the ICs 21a to 24a determines an identification information determination map to be used according to the number of servo motor control devices cascaded to the master ECU 10 from these identification information determination maps, and the determined identification information determination map The ID is determined using.

  Next, with reference to FIG. 3, the ID determination process of each IC 21a to 24a of the first to fourth servo motor control devices 21 to 24 will be described.

  As shown in FIG. 1, after the first to fourth servo motor control devices 21 to 24 are connected to the master ECU 10 in cascade using a connection cable, an ignition switch is turned on, and the master ECU 10 and the first to first ECUs 10 to 1 are connected from the battery. When power is supplied to the fourth servo motor control devices 21 to 24, the CPUs of the ICs 21a to 24a of the first to fourth servo motor control devices 21 to 24 start the process shown in FIG.

  First, the voltage level of the voltage applied to the A / D input terminal via the identification terminal 211a is specified. Specifically, the voltage applied to the A / D input terminal is converted into a digital signal by the A / D conversion circuit, and the voltage level applied to the A / D input terminal is specified (S100). In this embodiment, 4V is specified for the IC 21a, 3V for the IC 22a, 2V for the IC 23a, and 1V for the IC 24a.

  Next, the number of servo motors connected to the master ECU 10 (the number of servo motor control devices) is received from the master ECU 10. In the present embodiment, 4 is received as the number of servo motors connected to the master ECU 10 (S102).

  Next, an identification information determination map corresponding to the number of servo motors connected to the master ECU 10 is determined from the identification information determination map stored in the ROM. In the present embodiment, an identification information determination map is determined when the number of servo motors cascaded to the master ECU 10 is four (S104).

  Next, the identification information is determined using the voltage (voltage value) applied to the A / D input terminal converted into the digital signal in S100 and the identification information determination map determined in S104 (S106). Specifically, as shown in FIG. 2, when the voltage at the A / D input terminal is 4V, the ID is determined as 04, when 3V, the ID is determined as 03, and when 2V, the ID is determined as ID. Is determined as 02, and ID is determined as 01 in the case of 1V. Therefore, for example, the servo motor control device with the lowest connection order from the master ECU 10 determines its own identification information as 01, and the servo motor control device with the second lowest connection order from the master ECU 10 The identification information is determined as 02. In this way, the self identification information is determined, the determined self identification information is stored (set) in each RAM, and the present process is terminated.

  Note that, as described above, when the operator cascade-connects a plurality of servo motor control devices to the master ECU 10, the servo motor control device having a lower connection order from the master ECU 10, that is, a servo motor control device far from the master ECU 10 is used. The servo motor control device is connected so that the ID becomes larger in order.

  Accordingly, the master ECU 10 can issue an operation command to the servo motor control device whose order of connection from the master ECU 10 is lower by, for example, transmitting an operation command with the transmission destination ID being 01. Further, by transmitting the operation command with the transmission destination ID set to 02, the operation command can be issued to the servo motor control device having the second lowest connection order from the master ECU 10.

  As described above, according to the above-described configuration, the voltage level that changes in accordance with the connection order from the master ECU 10 when cascade connection is performed using the connection cable is detected (S100), and the connection from the master ECU 10 to the connection cable is detected. The number of servo motor control devices connected is acquired (S102), and the connection is made based on the voltage level that changes according to the connection order from the master ECU 10 and the number of servo motor control devices connected to the connection cable. For each number of servo motor control devices connected to the cable, the identification information is set using the identification information determination map in which the correspondence between the voltage level corresponding to the connection order from the master ECU 10 and the identification information is stored ( S106).

  In this way, identification information is set on the basis of the number of servo motor control devices connected to the connection cable and the voltage level that changes according to the connection order from the master control device. Information can be set.

  The correspondence relationship between the configuration in the above embodiment and the configuration of the claims will be described. The processing in S100 in FIG. 3 corresponds to the detection unit, the processing in S102 corresponds to the connection number acquisition unit, and the processing in S106. Corresponds to identification information setting means.

  In addition, this invention is not limited to the said embodiment, Based on the meaning of this invention, it can implement with a various form.

  For example, in the above embodiment, the servo is constituted by the master ECU 10 as the master control device, the first to fourth servo motor control devices 21 to 24 as the electronic control device, and the first to fourth servo motors 31 to 34. Although the motor control system is shown as an example, the use of the electronic control device is not limited to the servo motor control system. For example, the system is a system that transmits a detection signal detected using a sensor to the master control device. It may be used.

  In the first embodiment, in the first servo motor control device 21, the first identification terminal 211a and the A / D input terminal of the IC 21a are directly connected, and the voltage of the first identification terminal 211a is the A / D of the IC 21a. Although an example in which the voltage is directly applied to the input terminal is shown, for example, a resistor is provided between the first identification terminal 211a and the A / D input terminal of the IC 21a, and the A / D input terminal of the IC 21a is connected via this resistor. The voltage of the first identification terminal 211a may be applied.

  In the above embodiment, in S100 of FIG. 3, the level of the voltage applied to the identification terminal is detected as a physical quantity that changes in accordance with the connection order from the master ECU when connected in cascade using the connection cable. Although an example has been shown, physical quantities other than voltage may be used.

  In the above embodiment, when the first to fourth servo motor control devices 21 to 24 are cascade-connected to the master ECU 10, the power supply voltage (5V) of the master ECU 10 is divided by the resistors 21b to 24b connected in series. Although an example in which pressure is applied is shown, the power supply voltage (12 V) of the master ECU 10 may be divided by resistors 21b to 24b connected in series. In this case, since it is considered that the power supply fluctuation of the power supply voltage (12V) of the master ECU 10 becomes large, the power supply voltage (12V) of the master ECU 10 is also A / D converted by the ICs 21a to 24a. The voltage applied to the A / D input terminal may be corrected based on the value converted by A / D conversion.

  In addition, the process of each step of the flowchart shown in FIG. 3 is grasped as a means for realizing each function, and the ICs 21a to 24a are configured by software as shown in the above-described embodiment. The configuration is not limited to hardware.

It is a figure which shows schematic structure of the servomotor control system which concerns on one Embodiment of this invention. It is a figure which shows an example of the map for identification information determination. It is a figure which shows the determination process of identification ID of each IC of a 1st-4th servomotor control apparatus.

Explanation of symbols

10 ... Master ECU, 11, 21b-24b ... Resistance, IC ... 21a-24a,
31-34 ... Servo motors.

Claims (2)

An electronic control device used in a control system configured by connecting a plurality of electronic control devices to a master control device in cascade using a connection cable,
Detecting means for detecting a physical quantity that changes in accordance with a connection order from the master control device when cascade-connected using the connection cable;
Connection number acquisition means for acquiring the number of electronic control devices connected to the connection cable from the master control device;
Storage means for storing an identification information determination map indicating a correspondence relationship between a physical quantity and identification information according to the connection order from the master control device for each number of electronic control devices connected to the connection cable;
Identification information setting means for setting identification information from the correspondence stored in the storage means based on the number of electronic control devices acquired by the connection number acquisition means and the physical quantity detected by the detection means An electronic control device characterized by that. Having one end connected to the input terminal and the other end connected to the output terminal;
Among the plurality of cascaded electronic control devices, the output terminal of the preceding electronic control device is connected to the input terminal of the subsequent electronic control device, and the input terminal of the first electronic control device is the power source of the master control device. The master control is performed by the series-connected resistors in a state where the resistors of the plurality of electronic control devices are connected in series so that the output terminal of the final-stage electronic control device is grounded. The electronic control device according to claim 1, wherein the detection unit detects the physical quantity based on a voltage obtained by dividing a power supply voltage of the device.

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