JP2007236145A - Motor control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor control system for driving a plurality of motors, using a single-shaft output port and a single motor driver. <P>SOLUTION: The motor control system 2 is constituted so as to selectively drive a plurality of the motors M, by successively outputting a plurality of operating signals, corresponding to a plurality of the motors M from a device controller 1. The system is provided with a motion controller 3, which generates each drive operation data corresponding to each motor M, on the basis of each operating signal successively outputted from the device controller 1 so as to output each generated drive operation data from an output port 10 corresponding to a single shaft portion; a single-pulse conversion part 15, which outputs each driving operation data outputted from the output port 10, after converting each driving operation data to each pulse row; a single drive circuit part 16, which outputs drive power for each motor on the basis of each pulse row outputted from the pulse conversion part 15; and an output switching circuit part 17 for outputting the drive power outputted from the drive circuit part 16 to each corresponding motor M, after selectively switching to it. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a motor control system that controls driving of a plurality of motors.

Conventionally, as this type of motor control system, one motor is connected to an output port for one axis of a motion controller via one motor driver (consisting of a pulse conversion unit, a drive circuit unit, and the like). One that drives and controls one motor with an output port for one shaft and one motor driver is known (see Patent Document 1). Thereby, when driving control of a plurality of motors simultaneously, an output port for a plurality of axes and a plurality of motor drivers are required.
JP-A-8-271287

  However, according to the above configuration, even when the motors do not need to be simultaneously controlled, that is, even when the plurality of motors are individually driven without overlapping, the output ports for the plurality of axes and the plurality of motor drivers are provided. I need it. More specifically, when controlling four motors using a motion controller having output ports for two axes, two motion controllers and four motor drivers must be used. At this time, if an attempt is made to add a motor, a motion controller and a motor driver must be newly added. This increases the cost of the motor control system and increases the apparatus configuration.

  It is an object of the present invention to provide a motor control system capable of driving a plurality of motors with a single-axis output port and a single motor driver.

  The motor control system of the present invention sequentially outputs a plurality of operation signals corresponding to a plurality of motors from the apparatus controller, and each operation sequentially output from the apparatus controller in a motor control system that selectively drives the plurality of motors. Based on the signal, each drive operation data corresponding to each motor is generated, a motion controller that outputs each generated drive operation data from the output port for one axis, and each drive operation data output from the output port, A single pulse converter that converts and outputs each pulse train, a single drive circuit that outputs the drive power of each motor based on each pulse train output from the pulse converter, and an output from the drive circuit And an output switching circuit unit that selectively switches and outputs the drive power to the corresponding motors.

  In this case, it is preferable that the plurality of motors are composed of a plurality of stepping motors and have the same configuration.

  According to this configuration, since a plurality of motors can be driven by the output port for one axis, there is no need to increase the number of motion controllers even when a new motor is added. Thereby, an apparatus structure does not become large and the cost concerning expansion can also be reduced. Of course, it is needless to say that heat radiation can be suppressed because the drive circuit portion can be used in common.

  In this case, the device controller outputs each operation signal corresponding to each motor and outputs each switching signal corresponding to each motor, and the output switching circuit unit outputs to each corresponding motor based on each switching signal. It is preferable to switch the output.

  According to this configuration, by outputting each operation signal and each switching signal from the device controller, the output switching circuit can be switched appropriately, so that each corresponding motor can be driven appropriately.

  In another motor control system of the present invention, a plurality of operation signals corresponding to a plurality of motors are sequentially output from the device controller, and the motor controller selectively drives the plurality of motors. Based on each operation signal, it generates each drive operation data corresponding to each motor, outputs each generated drive operation data from the output port for one axis, and each drive operation data output from the output port. Is converted into each pulse train by a single pulse converter, and driving power based on each pulse train output from the pulse converter is converted by a plurality of drive circuit units that output to each motor, and the pulse converter. A pulse train switching unit that selectively switches each of the pulse trains to the corresponding drive circuit unit and outputs the selected pulse train.

  According to this configuration, since a plurality of motors can be driven by the output port for one axis, the device configuration does not increase even when a new motor is added, and the cost for the extension is reduced. can do. Note that since the drive circuit section is not shared, different motors can be used.

  In this case, the device controller outputs each operation signal corresponding to each motor and also outputs each switching signal corresponding to each motor, and the pulse train switching unit corresponds to each corresponding driving circuit unit based on each switching signal. It is preferable to switch the output.

  According to this configuration, by outputting each operation signal and each switching signal from the device controller, the pulse train switching unit can be switched appropriately, so that each corresponding motor can be driven appropriately.

  In another motor control system of the present invention, a plurality of operation signals corresponding to a plurality of motors are sequentially output from the device controller, and the motor controller selectively drives the plurality of motors. Based on each operation signal, each drive operation data corresponding to each motor is generated, a motion controller that outputs each generated drive operation data from the output port for one axis, and a plurality of output ports corresponding to a plurality of motors Branching output ports, and each driving operation data output from each branching output port, and a port switching unit for selectively switching and outputting each driving operation data to each branching output port corresponding to each motor A plurality of pulse converters that convert and output each pulse train, and based on each pulse train output from each pulse converter A plurality of driving circuit for outputting a dynamic power to each motor, further comprising a characterized.

  According to this configuration, since a plurality of motors can be driven by the output port for one axis, the device configuration does not increase even when a new motor is added, and the cost for the extension is reduced. can do. Note that since the drive circuit section is not shared, different motors can be used.

  In this case, the device controller outputs each operation signal corresponding to each motor and outputs each switching signal corresponding to each motor, and the port switching unit outputs each corresponding branch output port based on each switching signal. It is preferable to switch the output.

  According to this configuration, by outputting each operation signal and each switching signal from the apparatus controller, the port switching unit can be switched appropriately, so that each corresponding motor can be driven appropriately.

  In this case, it is preferable that the plurality of drive circuit units perform hold control by supplying power to the plurality of motors whose driving is stopped.

  According to this configuration, the motor after the drive is stopped does not rotate freely. Thereby, for example, when positioning with high accuracy is performed by a motor, positioning can be performed without displacement.

  Hereinafter, a motor control system according to the present embodiment will be described with reference to the accompanying drawings. This motor control system performs drive control of a plurality of motors that are individually driven.

  Referring to FIG. 1, the motor control system 2 is connected to a device controller 1 such as a personal computer. The device controller 1 drives two motors M, for example, so as to perform two operations corresponding to the two motors M. The signals are sequentially output to a motion controller 3 described later. That is, after the operation signal corresponding to one motor M is output and driven, the operation signal corresponding to the other motor M is output and driven. These operation signals are, for example, the amount of movement of the moving object moved by the motor M. Although details will be described later, a switching signal serving as a trigger for switching driving of each motor M is output to the motor driver 4 (described later) together with each operation signal corresponding to each motor M.

  The motor control system 2 includes a motion controller 3 connected to the apparatus controller 1, a motor driver 4 connected to the motion controller 3, and a plurality of motors M connected to the motor driver 4. Here, a case where two motors M are connected to one axis output port 10 (described later) of the motion controller 3 via one motor driver 4 will be described. The two motors M are each composed of a stepping motor or the like and have the same specifications.

  The motion controller 3 has each output port 10 corresponding to each axis. Based on the operation signal input from the apparatus controller 1, the motion controller 3 sets a driving operation such as acceleration / deceleration driving of the motor M by a motion program or the like. Drive operation data is generated. That is, the motion controller 3 sets the movement locus of the moving object and sets the driving operation of the motor M so as to correspond to this movement locus. After generating the driving operation data, the driving operation data is output from one axis (1 output port 10) of the motion controller 3 toward the motor driver 4.

  The motor driver 4 is connected to each output port 10 of the motion controller 3, and a single pulse conversion unit 15 connected to one output port 10 and a single drive connected to the pulse conversion unit 15. The circuit unit 16 and the output switching circuit unit 17 connected to the drive circuit unit 16 are included. The drive circuit unit 16 is composed of a power transistor or the like.

  The pulse converter 15 converts the driving operation data input from the motion controller 3 into a pulse train for actually driving the motor M. The drive circuit unit 16 is supplied with electric power from the outside. The drive circuit unit 16 performs switching with a power transistor based on the pulse train input from the pulse conversion unit 15 to drive power to each phase of the motor M (stepping motor). To feed it and rotate it.

  The output switching circuit unit 17 is interposed between the single drive circuit unit 16 and the two motors M, and the drive power output from the drive circuit unit 16 is supplied to one of the two motors M. It is configured to switch to and output. This switching is switched by a switching signal from the device controller 1 described above. That is, the switching signal is a signal corresponding to each motor M, and the motor M corresponding to each operation signal is driven by inputting the switching signal from the device controller 1 to the output switching circuit unit 17. The output of the output switching circuit unit 17 can be switched.

  Next, a series of operations related to motor control of the two motors M in the motor control system 2 will be described. When two operation signals are input to the device controller 1, the device controller 1 first outputs an operation signal corresponding to one motor M to the motion controller 3 and a switching signal corresponding to one motor M. The output is switched to the output switching circuit unit 17 so that the driving power is supplied to one motor M corresponding to the operation signal. When an operation signal is input to the motion controller 3, drive operation data is generated based on the operation signal, and the generated drive operation data is output to the pulse conversion unit 15 via one output port 10 of the motion controller 3. The Thereafter, the drive operation data input to the pulse conversion unit 15 is converted into a pulse train and output to the drive circuit unit 16. The drive circuit unit 16 outputs drive power based on the input pulse train, and drives one motor M via the output switching circuit unit 17. When this driving is completed, the device controller 1 outputs an operation signal corresponding to the other motor M to the motion controller 3, and outputs a switching signal corresponding to the other motor M to the output switching circuit unit 17, The output is switched so that driving power is supplied to the other motor M corresponding to the operation signal. Thereafter, the same operation as described above is performed to drive the other motor M.

  According to the above configuration, the plurality of motors M can be driven and controlled by the output port 10 for one axis of the motion controller 3 and the motor driver 4 for one axis. Therefore, when the motor M is added, the motion controller 3 and the motor driver 4 are not added, thereby preventing an increase in the cost of the motor control system 2 and increasing the device configuration. Nor. In addition, since the drive control of the plurality of motors M can be performed by the single motor driver 4, it is possible to suppress the heat radiation of the motor driver 4.

  Next, a motor control system 2 according to the second embodiment will be described with reference to FIG. In order to avoid duplicate descriptions, only different parts will be described. The motor control system 2 includes a pulse train switching unit 20 instead of the output switching circuit unit 17, and the drive circuit unit 16 has a plurality of (for example, two) configurations. Are each connected with two motors M. That is, the pulse train switching unit 20 is interposed between the pulse conversion unit 15 and the two drive circuit units 16, and outputs the pulse train output from the pulse conversion unit 15 to each corresponding drive circuit unit 16. Switch selectively. Accordingly, the device controller 1 outputs a switching signal to the pulse train switching unit 20. At this time, the two drive circuit units 16 perform hold control by supplying electric power to the motor M in order to apply a static torque to the motor M after driving.

  When two operation signals are input to the device controller 1, the device controller 1 first outputs an operation signal corresponding to one motor M to the motion controller 3 and a switching signal corresponding to one motor M. It outputs to the pulse train switching part 20, and it switches so that a pulse train may be output to one drive circuit part 16 corresponding to an operation signal. When an operation signal is input to the motion controller 3, drive operation data is generated based on the operation signal, and the generated drive operation data is output to the pulse conversion unit 15 via one output port 10 of the motion controller 3. The Thereafter, the drive operation data input to the pulse conversion unit 15 is converted into a pulse train and output to the corresponding one of the drive circuit units 16. One drive circuit unit 16 outputs drive power to the motor M based on the input pulse train to drive one motor M. When driving of one motor M is completed, the corresponding drive circuit unit 16 continues to supply power to one motor M, generates a static torque in the motor M, and puts the motor M in the hold state. Thereafter, the device controller 1 outputs an operation signal corresponding to the other motor M to the motion controller 3 and outputs a switching signal corresponding to the other motor M to the pulse train switching unit 20 to respond to the operation signal. The other drive circuit unit 16 is switched so that a pulse train is output, and thereafter, the same operation as described above is performed to drive the other motor M.

  Also in the above configuration, the plurality of motors M can be driven and controlled by the output port 10 for one axis of the motion controller 3 and the motor driver 4 of one. In addition, a plurality of drive circuit units 16 corresponding to the plurality of motors M are provided, and power is supplied from each drive circuit unit 16 to each motor M after driving, so that the motor M after driving can be placed in a hold state. Therefore, the other positioning can be performed while maintaining one positioning state. Thereby, accurate positioning becomes possible. In addition, by providing the drive circuit unit 16 for each motor M, different types of motors M can be used. Further, the pulse train switching unit 20 may be integrated with the pulse conversion unit 15.

  Next, a motor control system 2 according to the third embodiment will be described with reference to FIG. In this case as well, only the different parts will be described as in the second embodiment. The motor control system 2 includes a port switching unit 30 instead of the pulse train switching unit 20 of the second embodiment, and the pulse conversion unit 15 and the drive circuit unit 16 have a plurality of (for example, two) configurations. The two pulse converters 15 are connected to the two drive circuit units 16, respectively. In other words, the port switching unit 30 is interposed between the output port 10 of the motion controller and the two pulse conversion units 15, and each branch output port 31 branched from the driving operation data output from the output port 10. Are selectively switched so as to be output to the corresponding pulse converters 15. Accordingly, the device controller 1 outputs a switching signal to the port switching unit 30. In this case as well, the two drive circuit sections 16 perform hold control by supplying electric power to the motor M in order to apply a static torque to the motor M after driving.

  When two operation signals are input to the device controller 1, the device controller 1 first outputs an operation signal corresponding to one motor M to the motion controller 3 and a switching signal corresponding to one motor M. It outputs to the port switching part 30, and it switches so that a driving operation data may be output to one pulse conversion part 15 corresponding to an operation signal. When an operation signal is input to the motion controller 3, drive operation data is generated based on the operation signal, and the generated drive operation data is output from one output port 10 of the motion controller 3 to each branch output of the port switching unit 30. The data is output to the corresponding one of the pulse converters 15 via the port 31. Thereafter, the drive operation data input to the pulse converter 15 is converted into a pulse train and output to the drive circuit unit 16. The drive circuit unit 16 outputs drive power to the motor M based on the input pulse train. One motor M is driven. When this driving is completed, the device controller 1 outputs an operation signal corresponding to the other motor M to the motion controller 3 and also outputs a switching signal corresponding to the other motor M to the port switching unit 30 to operate. Switching is performed so that the drive operation data is output to the other pulse conversion unit 15 corresponding to the signal, and thereafter, the same operation as described above is performed to drive the other motor M.

  Also in the above configuration, the plurality of motors M can be driven and controlled by the output port 10 for one axis of the motion controller 3 and the motor driver 4 of one. Moreover, since the motor M after driving can be set in the hold state, it is possible to perform positioning with high accuracy by performing positioning of the other while maintaining one positioning state.

It is explanatory drawing of the motor control system which concerns on this embodiment. It is explanatory drawing of the motor control system which concerns on 2nd Embodiment. It is explanatory drawing of the motor control system which concerns on 3rd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Device controller 2 ... Motor control system 3 ... Motion controller 4 ... Motor driver 10 ... Output port 15 ... Pulse conversion part 16 ... Drive circuit part 17 ... Output switching circuit part 20 ... Pulse train switching part 30 ... Port switching part 31 ... Branch Output port

Claims (8)

In a motor control system for selectively driving a plurality of motors by sequentially outputting a plurality of operation signals corresponding to the plurality of motors from the device controller,
A motion controller that generates drive operation data corresponding to the motors based on the operation signals sequentially output from the device controller, and outputs the generated drive operation data from an output port for one axis; ,
A single pulse converter that converts each drive operation data output from the output port into a pulse train and outputs the pulse train;
Based on each pulse train output from the pulse conversion unit, a single drive circuit unit that outputs the drive power of each motor;
A motor control system, comprising: an output switching circuit unit that selectively switches and outputs the driving power output from the driving circuit unit to each of the corresponding motors.   The motor control system according to claim 1, wherein the plurality of motors includes a plurality of stepping motors, each having the same configuration.   The device controller outputs the operation signals corresponding to the motors and outputs the switching signals corresponding to the motors, and the output switching circuit unit responds based on the switching signals. The motor control system according to claim 1, wherein the output is switched to each motor. In a motor control system for selectively driving a plurality of motors by sequentially outputting a plurality of operation signals corresponding to the plurality of motors from the device controller,
A motion controller that generates drive operation data corresponding to the motors based on the operation signals sequentially output from the device controller, and outputs the generated drive operation data from an output port for one axis; ,
A single pulse converter that converts each drive operation data output from the output port into a pulse train and outputs the pulse train;
A plurality of drive circuit units for outputting drive power based on the pulse trains output from the pulse conversion unit to the motors;
A motor control system comprising: a pulse train switching unit that selectively switches each pulse train converted by the pulse conversion unit to the corresponding drive circuit unit and outputs the pulse train.   The device controller outputs the operation signals corresponding to the motors and outputs the switching signals corresponding to the motors, and the pulse train switching unit is configured to output the corresponding switching signals based on the switching signals. The motor control system according to claim 4, wherein the output is switched to the drive circuit unit. In a motor control system for selectively driving a plurality of motors by sequentially outputting a plurality of operation signals corresponding to the plurality of motors from the device controller,
A motion controller that generates drive operation data corresponding to the motors based on the operation signals sequentially output from the device controller, and outputs the generated drive operation data from an output port for one axis; ,
A port switching unit that branches the output port to a plurality of branch output ports corresponding to the plurality of motors, and selectively switches and outputs the input driving operation data to the branch output ports corresponding to the motors. When,
A plurality of pulse converters that convert the respective driving operation data output from the respective branch output ports into respective pulse trains;
A motor control system comprising: a plurality of drive circuit units that output drive power based on each pulse train output from each pulse conversion unit to each motor.   The device controller outputs each operation signal corresponding to each motor and outputs each switching signal corresponding to each motor, and the port switching unit corresponds to the corresponding switching signal based on each switching signal. The motor control system according to claim 6, wherein the output is switched to each branch output port.   The motor control system according to any one of claims 4 to 7, wherein the plurality of drive circuit units supply power to the plurality of motors whose driving is stopped to perform hold control.

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