JP2008167644A - Network type actuator module - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a network type actuator module. <P>SOLUTION: A single actuator module integrally consists of a drive part, a sensor, a network part, and a control part. The actuator modules are connected together by a multidrop method to constitute one actuator module network. In the network type actuator module, an actuator module is controlled through a process of reading/writing data of the control table incorporated in the actuator module for effective network communication. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a network type actuator module, and more specifically, an actuator module in which a drive unit, a sensor unit, a network unit, and a control unit are integrally formed in one module is connected by a multi-drop method to form a single unit. The present invention relates to a network type actuator module that constitutes an actuator module network and is controlled through data reading and writing processes of a control table built in the actuator module for effective network communication.

  Recently, as robotics has been developed, robotic engineering mechanisms that have been used for industrial purposes have been linked to other industrial fields. Robots for various uses such as home use, educational use and entertainment use are produced.

  One of the core technologies that will lead to the development of the robot field is a technology for controlling a drive motor, that is, an actuator, adopted by the robot. In the case of a robot in which several to several tens of actuators are mounted on one robot, in order to accurately control each actuator and to organically control all the actuators so that they are interrelated, it is difficult to A good control mechanism is needed.

  In particular, when a plurality of actuators are controlled by one central controller, as shown in FIG. 1, a sensor unit that senses the state of each actuator (ie, encoder 1,..., N; 22). And a drive unit (that is, motor 1,..., N; 21) for providing a drive voltage to the actuator, the actuator control unit (ie, motor controller) 20 and the drive unit 21 are Four wires are required, and six wires are separately required between the actuator control unit (that is, the motor controller) 20 and the sensor unit 22. Therefore, when n actuators are connected to the actuator control unit 20, a total of 10n wires are required. Therefore, as the number of actuators constituting the robot increases, the robot processing becomes more diversified due to the difficulty of wiring processing. There were many restrictions on what to do. In addition, when the number of actuators has to be sensitized due to design deformation of the robot, this causes a problem that the actuator controller 20, the sensor unit 22, and the drive unit 21 must all be changed.

  On the other hand, since the type of information that can be fed back by the actuator sensor unit is limited to the motor speed and position in the past, it is possible to directly grasp when there is a problem in actuator operation such as overcurrent or internal overheating. Thus, it has been difficult to implement an automatic control mechanism to cope with this.

  In addition, in a system in which a plurality of actuators are directly connected to the actuator control unit, in order to control the plurality of actuators so as to be interrelated, the plurality of actuators are simultaneously or sequentially very accurately. Although it must be controlled, it is difficult to expect smooth operation of a robot composed of multiple actuators because the signal processing load according to such a control process is concentrated on one actuator controller. It was.

  An object of the present invention is to provide an actuator module in which a sensor unit, a drive unit, a control unit, and a network unit are all built-in, and the difficulty of wiring processing and the inconvenience in design change according to increase / decrease of the actuator are solved. .

  Another object of the present invention is to detect not only the rotational speed and position of the motor, but also whether overcurrent is generated, the internal temperature of the actuator, the mechanical load of the actuator, etc. It is another object of the present invention to provide an actuator module having a built-in processor that copes with an abnormal situation by, for example, stopping a motor operation.

  Still another object of the present invention is to provide a force feedback function capable of feeding back the magnitude of the mechanical load applied to the actuator to cope with a chronic sudden situation of the actuating system. In addition, when used in a virtual reality situation, it is not necessary to provide a separate load measuring means for measuring an external force, and to provide an actuator module capable of appropriately controlling the torque of a motor according to the magnitude of the mechanical load of the external force. is there.

  Still another object of the present invention is to provide a network-type actuator module including a network function therein so that signals can be transmitted between a plurality of actuator modules and between a plurality of actuator modules and a main controller. It is to provide.

  Still another object of the present invention is that a plurality of actuator modules are connected by a multi-drop method, and a plurality of actuator modules share the same physical link, thereby simplifying a network topology. Because parallel signal transmission between multiple actuator modules and between multiple actuator modules and the main controller is possible at the same time, robot systems, virtual reality systems, and haptic systems composed of multiple actuator modules Another object is to provide a network type actuator module suitable for a factory automation system.

  Still another object of the present invention is to perform signal transmission between a plurality of actuator modules connected by a multi-drop method and between a plurality of actuator modules and a main controller in a simple and efficient manner. To provide a network type actuator module in which an actuator module is controlled through a data reading and writing process of a control table built in the actuator module so that the overhead of the protocol can be minimized and the scalability of the actuator module can be increased. It is in.

  Still another object of the present invention is to register a predetermined command in each buffer of a plurality of actuator modules in advance, and execute each command simultaneously at an appropriate time, so that a plurality of actuator modules can be operated at the time of operation. It is an object of the present invention to provide a network type actuator module in which the problem of time difference is improved.

  Still another object of the present invention is to provide a multi-drop network type actuator module capable of simultaneously controlling a plurality of actuator modules by one packet command transfer.

  In order to implement the network type actuator module of the present invention, network protocol technology (CAN, RS485, Ethernet, etc.) assuming multi-drop between a host and a slave as the basic technology of the network, and adaptive control as a motor control technology The implementation of the algorithm and the RISC-based hardware platform configuration and distributed control technology for it, and the simulation and three-dimensional real-time design system for multistage gear design and housing design are required as the gearbox design technology.

  According to the present invention, an actuator module is provided in which a sensor unit, a drive unit, a control unit, and a network unit are all built-in, and the inconvenience in design change according to the difficulty of wiring processing and the increase / decrease of the actuator is eliminated.

  According to the present invention, not only the rotation speed and position of the motor, but also the possibility of overcurrent generation, the internal temperature of the actuator, the mechanical load of the actuator, etc. are detected, and when an abnormality occurs, this is displayed externally, An actuator module having a built-in processor that copes with an abnormal situation by a method such as stopping the operation of a motor is provided.

  According to the present invention, it is possible to cope with a chronic sudden situation of an actuating system by providing a force feedback function capable of feeding back a magnitude of a mechanical load applied to an actuator, and to realize a virtual reality. When used in a situation, there is provided an actuator module that does not require a separate load measuring means for measuring the external force and can appropriately control the torque of the motor according to the magnitude of the mechanical load of the external force.

  According to the present invention, a network type actuator module including a network function therein is provided so that signals can be transmitted between a plurality of actuator modules and between a plurality of actuator modules and a main controller.

  According to the present invention, a plurality of actuator modules are connected by a multi-drop method, and the plurality of actuator modules share the same physical link, so that the network topology can be simplified. It is possible to transmit signals simultaneously between multiple actuator modules and the main controller, so that robot systems, virtual reality systems, haptic systems, and factory automation are composed of multiple actuator modules. A network type actuator module suitable for a system or the like is provided.

  According to the present invention, signal transmission between a plurality of actuator modules connected by a multi-drop method and between a plurality of actuator modules and a main controller is performed in a simple and efficient manner, and protocol overhead is reduced. A network type actuator module is provided in which the actuator module is controlled through a data reading and writing process of a control table built in the actuator module so that the expandability of the actuator module can be minimized and the expandability of the actuator module can be increased.

  According to the present invention, a predetermined command is registered in advance in each buffer of a plurality of actuator modules, and each command is executed at an appropriate time, thereby causing a time difference between the operation times of the plurality of actuator modules. There is provided a network type actuator module that improves the problem.

  According to the present invention, there is provided a multi-drop network type actuator module capable of simultaneously controlling a plurality of actuator modules by one packet command transfer.

  Hereinafter, the configuration of the present invention will be described with reference to the accompanying drawings.

  As shown in FIG. 2, the network type actuator module of the present invention comprises a motor control unit and a network unit for interfacing the motor control unit with a host. In addition, since the actuator module of the present invention is equipped with a sensor unit composed of a position detection sensor, a temperature sensor, and a power supply sensor, it can actively cope with various situations, and thus a personal robot. It is embodied in a form suitable for the configuration.

  In FIG. 2, a motor drive unit is connected to a motor and a reduction gear to a built-in processor and operates according to an adaptive control algorithm. In addition to the voltage sensor and the position sensor, the sensor unit includes a temperature sensor for sensing the internal temperature of the actuator module and a sensor for measuring an external mechanical load on the motor.

  Various information detected by the sensor unit is input to the built-in main processor in real time. When the input sensing value exceeds the allowable value or reaches the scheduled value, the embedded processor can notify the user through a status indicator such as LED or buzzer, and the motor driver A control signal can be sent to stop the operation or operate in a direction to alleviate the abnormal state.

  Built-in processor includes transmission / reception port (TX / RX), AD converter for analog / digital conversion, PWM modulator for adjusting duration of digital signal according to analog signal size, for counting digital pulses It has a counter and a flash ISP.

  In addition, the actuator module is further equipped with a network unit for the communication interface between the main controller and the built-in processor, so parallel control in real time is possible even when an actuator network consisting of multiple actuator modules is used. Networking features.

  The actuator module of the present invention is applied to a physical network in which a host, that is, a main controller and a slave, that is, an actuator module, is connected by a multi-drop method. RS485, Ethernet and the like.

  The actuator module of the present invention preferably uses RS485 [IEEE485], which is a multi-drop system in which a plurality of terminals are connected to one node. RS485 is one of physical standards used in serial communication, and is a system in which a plurality of terminals are connected to one line in the form of a bus. Therefore, transmission and reception cannot occur simultaneously, and while one terminal transmits, all other terminals must be in the input state. For this reason, the main controller that controls the actuator module sets the communication direction to output only during the transfer of the command packet after setting the RS485 communication direction to input.

  Although the RS485 standard is not separately defined for the protocol, in order to efficiently use the RS485 communication standard, the protocol to be used must always provide an addressing and bus control function to a plurality of terminals. One of the biggest advantages of the RS485 communication standard is that all devices can transfer and receive data on the same line. However, the protocol used in the RS485 communication standard must be configured so that the authority to transfer data is given to only one terminal at a time.

  That is, in the RS485 network, the protocol must be operated so that data is not transmitted simultaneously from a plurality of locations. If a plurality of actuator modules transfer packets at the same time, communication problems occur due to packet collision. Therefore, the ID setting of each actuator module must be performed so that there is no actuator module having the same ID in the network node.

  FIG. 3 shows the RS485 communication method.

  In RS485, it is necessary to change the direction to the reception mode at the same timing as the end of transmission. In the CPU of the main controller, TXD_BUFFER_READY_BIT and the transfer data are all in the CPU that informs that the transfer data can be loaded in the buffer in the register that generally displays the general-purpose desynchronized transceiver status (UART_STATUS). There is TXD_SHIFT_REGISTER_EMPTY_BIT which is set when discharged outside of. Between the transmission mode and the reception mode of RS485, the time taken for the actuator module of the present invention to return the status packet after receiving the instruction packet (Instruction Packet) is the return delay time (Return Delay Time). ). The default value is 160 μs, and the return delay time can be changed using the control table.

  On the other hand, FIG. 4 shows a byte interval (byte-to-byte time), which means a delay time between bytes when transferring an instruction packet. If this time exceeds 100 ms, the actuator module considers that a transfer failure has occurred and waits for the packet header [Oxff Oxff]. The instruction packet, status packet, control table, header, etc. will be described later.

  FIG. 5 shows a control method of the network type actuator module in the neck work system set so as to satisfy the above conditions.

  In FIG. 5, N actuator modules are connected to one main controller by a multi-drop method. The main controller and the actuator module communicate by exchanging packets. The packet type includes a command packet transferred from the main controller to the actuator module and a status packet transferred from the actuator module to the main controller. When the main controller transfers a command packet with ID = N, only the motor with ID N is returned among the plurality of motors, and the command is executed.

  As shown in FIG. 5, N actuator modules are connected to one bus, and the control signal from the main controller, that is, the command signal includes the ID of the actuator module to be controlled. Only the actuator provided with the ID is operated, and the response of the actuator is transmitted to the main controller as a status signal.

  On the other hand, according to FIG. 6, the actuator of the present invention is controlled by a command from the main controller, and the main controller is also connected to a user terminal such as a PC or a wired / wireless remote controller. If the user inputs a program for controlling each actuator to control the operation of the robot through the user terminal, the control signal from the user terminal is transferred to the main controller for actuator control through, for example, the RS232 bus. The main controller converts the control signal into an RS485 command packet suitable for actuator control, and transfers it to each or all actuator modules by a multi-drop method.

  In the multi-drop network of the present invention in which a plurality of actuator modules are connected to the main controller, signal transmission between the plurality of actuator modules and between the plurality of actuator modules and the main controller is simple and efficient. A communication protocol for the input / output and transfer of control and data signals must be supported, as is done in the scheme.

<Control table>
The actuator module of the present invention uses a control table for controlling the actuator module. The control table is composed of data relating to the state and driving of the actuator module. By writing a value in the control table (Writing), the actuator module is driven, and by reading a value in the control table (Reading), the state of the actuator module is grasped. An exemplary control table is illustrated in FIG. Hereinafter, a description will be given with reference to FIG.

  The control table is composed of a RAM area and an EEPROM area. The data in the RAM area is set to the initial value every time power is applied, but the data in the EEPROM area is saved even when the power is turned off. Is done. The control table includes items such as an address (Address), an item (Item), an access method (Access), and an initial value (Initial Value).

  The address means an address of a memory to which a value is written and read.

  An item means the type of data specified for each address.

  The access method displays whether the item can be written or read.

  The initial value is a factory default value in the case of data in the EEPROM area, and means an initial value held when power is applied in the case of data in the RAM area.

  Hereinafter, the meaning of the data designated for each address will be described. First is the EEPROM area.

  0X00, 0X01: Model number

  0X02: Firmware version

  0X03: A unique number (ID) for identifying the actuator module. Each linked actuator module must be assigned a different ID.

  0X04: Board rate for determining the communication speed, and the calculation formula is “Speed [BPS] = 2000000 / [Address4 + 1]”. Illustratively, the data values by major board rate are as follows: In the case of a UART (Universal Asynchronous Receiver / Transmitter), if the error of the board rate is within 3%, there is no problem in communication.

  0X05: Return delay time, that is, the delay time taken until the status packet is returned after the instruction packet is transferred.

  0X06, 0X07, 0X08, 0X09: Operation angle limit. Sets the angle interval in which the actuator module is allowed to operate.

  0X0B: Maximum limit temperature. It means the operation limit temperature of the actuator module.

  0X0C, 0X0D: Minimum / maximum limit voltage. It means the upper limit line and the lower limit line of the operating voltage range of the actuator module.

  0X0E, 0X0F: Maximum torque. This is the maximum torque output value of the actuator module. When this value is set to '0', a free run state with no torque is set. The maximum torque (Max Torque / Torque Limit) is assigned to the EEPROM area (0X0E, 0X0F) and the RAM area (0X22, 0X23). When the power is turned on, the value in the EEPROM area is copied to the RAM. Is done. The torque of the actuator module is limited by the values (0X22, 0X23) located in the RAM.

  0X10: State return level. After the command packet is transferred, it is determined whether the actuator module returns a status packet, and has the following values. On the other hand, in the case of a broadcast ID (OXFE) command packet, the status packet is not returned regardless of the status return level value.

  0X11: Alarm LED. When an error occurs, if the corresponding error bit for each instruction is set to 1, the LED blinks. The corresponding error correspondence table for each instruction is as follows.

  The function of each bit is operated with 'OR' logic. That is, when set to 0X05, the LED blinks even if an input voltage error occurs, and the LED blinks even if an overheating error occurs. After the error occurs, the LED stops blinking after 2 seconds when the normal state is restored.

  0X12: Alarm shutdown. When an error occurs, if the corresponding error bit for each instruction is set to 1, the actuator module is torque-off, ie, the operation is stopped. The corresponding error correspondence table for each instruction is as follows.

  The function of each bit is operated with 'OR' logic. However, unlike an alarm LED, after an error occurs, the torque-off state continues even if the normal state is restored. Therefore, torque enable [0X18] must be reset to 1 to exit the shutdown state.

  0X14, 0X15, 0X16, 0X17: Calibration. Data for compensating for deviations between potentiometer products and cannot be changed by the user.

  The following addresses are RAM areas.

  0X18: Torque enable. When power is applied to the actuator module in the digital mode, a free-run state in which no torque is generated is entered. At this time, if 1 is set in the 0X18 address, the torque enable state is set.

  0X19: LED. If it is set to 1, the LED is attached, and if it is set to 0, the LED is turned off.

  0X1A, 0X1B, 0X1C, 0X1D: compliance margin and slope. Set the margin and slope to adjust actuator compliance. If compliance is used well, an impact absorbing effect can be obtained. In the output curve according to the position error of FIG. 8, the lengths of A, B, C, and D are compliance values.

  0X1E, 0X1F: target position. It means the position where the actuator module tries to move. In FIG. 9, if the value is set to 0X3ff which is the maximum value, it moves to 300 °.

  0X20, 0X21: Movement speed. It means the speed to move to the target position. If it is set to 0X3ff which is the maximum value, it moves at a speed of 70 rpm. For reference, the lowest speed is set when the speed is set to 1, and when the speed is set to 0, the robot moves at the maximum speed that can be output on the current applied voltage. That is, speed control is not performed.

  0X22, 0X23: Maximum torque. This is the maximum torque output value of the actuator module. When this value is set to '0', a free run state with no torque is set. The maximum torque (Max Torque / Torque Limit) is allocated to the EEPROM area (0X0E, 0X0F) and the RAM area (0X22, 0X23), but when the power is turned on, the value of the EEPROM area is stored in the RAM. Duplicated. The torque of the actuator module is limited by the values (0X22, 0X23) located in the RAM.

  0X24, 0X25: Current position. Current position of the actuator module

  0X26, 0X27: Current speed. Current speed of actuator module

  0X28, 0X29: Current load. The magnitude of the load that the actuator module currently drives.

  In the table below, bit 10 is the direction in which the load is applied.

  0X2A: Current voltage. The voltage currently applied to the actuator module. This value is 10 times the actual voltage. That is, in the case of 10V, 0 [0X64] is read.

  0X2B: Current temperature. Celsius temperature inside the actuator module.

  0X2C: Registration command. It is set to 1 when an instruction is registered by the REG_WRITE instruction, and becomes 0 after the execution of the instruction registered by the ACTION instruction is completed.

  0X2E: Move. It is set to 1 when the actuator module is in a moving state by its own power.

  0X2F: Lock (Lock). If set to 1, only the values of addresses 0X18 to 0X23 can be written, and writing is prohibited in the remaining area. Once locked, it can only be released by turning off the power.

  0X30, 0X31: Punch. The minimum amount of current supplied to the motor during driving. The initial value is 0X20, and can be set up to 0X3FF.

<Data valid area (Range)>
Each data has a valid range. An error is returned if a write (WRITE) instruction is transferred that exits this. The length and range of data that can be written by the user are organized in the table of FIG. 16-bit data is represented by [L] and [H], and two bytes. These two bytes must be written simultaneously in one instruction packet.

<Packet structure>
The instruction packet (INSTRUCTION PACKET) used in the present invention is a packet for the main controller to instruct the actuator module to operate, and its structure is as follows.

  The meaning of each byte forming the instruction packet is as follows.

  0XFF 0XFF: Two 0XFF located at the head are signals for informing the start of a packet.

  ID: ID of the actuator module controlled by the command packet. The ID of the actuator module can be 254 from 0X00 to 0XFD.

  Broadcasting ID: An ID that designates the entire connected actuator module. A broadcasting ID packet with ID set to 0XFE is valid for all connected actuator modules. Therefore, in the case of the packet transmitted to the broadcasting ID, the status packet is not returned.

  LENGTH (length): The length of the instruction packet, and the value is “number of parameters [N] +2”.

  INSTRUCTION: A command to instruct the actuator module to execute.

  PARAMETER 0... N: Used when additional information is required in addition to INSTRUCTION.

  CHECK SUM: The checksum calculation method is as follows.

  CHECK SUM = ~ {ID + LENGTH + INSTRUCTION + PRAMETER 1 +... + PRAMETER N}, if the value calculated by the checksum is greater than 255, the lower byte of the result value is CHECKSUM. “˜” is a Not Bit operator.

  The status packet (STATUS PACKET) used in the present invention is a packet that returns to the main controller as a response after the actuator module receives the transfer of the command packet, and has the following structure.

  The meaning of each byte forming the status packet is as follows.

  0XFF 0XFF: Two 0XFF located at the head are signals for informing the start of a packet.

  ID: ID of the actuator module that returns the status packet. The actuator module ID can be 254 from 0X00 to 0XFD.

  LENGTH (length): The length of the status packet, and the value is “number of parameters [N] +2”.

  ERROR: Indicates an error state generated during the operation of the actuator module. The meaning of each bit is as shown in the following table.

  PARAMETER 0... N: Used when additional information is needed in addition to ERROR.

  CHECK SUM: The checksum calculation method is as follows.

  CHECK SUM = ~ {ID + LENGTH + ERROR + PRAMETER1 +... + PARAMETER N}, if the value calculated by the checksum is greater than 255, the lower byte of the result value is CHECKSUM. “˜” is a Not Bit operator.

<Instruction set>
There are the following types of instruction sets used in the actuator module of the present invention.

1. WRITE_DATA
Function: A command to write data to the control table inside the actuator module.
Length: When N pieces of data are to be written, the length is N + 3.
Instruction: 0X03
Parameter 1: Start address of data writing parameter 2: First data to be written Parameter 3: Second data parameter to be written N + 1: Nth data to be written

  For example, when the ID of the connected actuator module is set to 1, a command for writing 1 to address 3 in the control table may be transferred. The instruction packet when this is transferred to the broadcasting ID (0XFE) is as follows.

  In such a case, the status packet is not returned because it was transferred with the broadcasting ID.

2. READ_DATA
Function: Command length for reading data in the control table in the actuator module: 0X04
Instruction: 0X02
Parameter 1: Start address of data to be read Parameter 2: Length of data to be read

  For example, when the current internal temperature of the actuator module whose ID is 1 is to be read, 1 byte may be read with the address 0X2B value of the control table. The instruction packet in this case is as follows.

  On the other hand, the status packet to be returned is as follows.

  The read data value is 0 × 20, and it can be seen that the internal temperature of the actuator module is currently approximately 32 ° C. [0 × 20].

3. REG_WRITE
Function: The REG_WRITE command is similar to the WRITE_DATA command, or the point in time when the command is executed is different. If a REG_WRITE command packet arrives, its value is stored in the buffer and the WRITE operation remains in a wait state. At this time, Registered Instruction [0X2C] is set to 1. Thereafter, when the ACTION command packet arrives, the first registered REG_WRITE command is executed.
Length: N + 3
Instruction: 0X04
Parameter 1: Start address of the location where data is to be written Parameter 2: First data to be written Parameter 3: Second data parameter to be written N + 1: Nth data to be written

4). ACTION
Function: Command length to execute WRITE operation registered with REG_WRITE command: 0X02
Instruction: 0X05
Parameter: None

  Here, the ACTION command is useful when a plurality of actuator modules should be accurately operated simultaneously. When controlling a plurality of actuator modules with a command packet, there is a slight time difference between the actuator module receiving the command first and the actuator module receiving the command last. However, if REG_WRITE and ACTION commands are used, such a problem is solved. On the other hand, when transferring an ACTION command to two or more actuator modules, a broadcasting ID (0XFE) must be used, but a status packet is not returned.

5. PING
Function: The PING command does not indicate anything. However, it is used when receiving a status packet or confirming the existence of an actuator module having a specific ID.
Length: 0X02
Instruction: 0X01
Parameter: None

  For example, when it is desired to obtain the status packet of the actuator module whose ID is 1, the PING command can be used as follows.

  The status packet returned in response to this is as follows.

  Even if a broadcasting ID is specified or the status return level [0X10] is 0, a status packet is returned for the PING instruction.

6). RESET
Function: Returns the actuator module control table to the factory default state.
Length: 0X02
Instruction: 0X06
Parameter: None

  For example, a command packet when attempting to reset an actuator module whose ID is 0 is as follows.

  The status packet returned in response to the RESET command as described above is as follows.

  Here, the ID is changed to 1 after execution of the RESET command.

7). SYNC_WRITE
Function: This command is used when trying to control multiple actuator modules simultaneously with a single command packet transfer. If the Sync Write command is used, a plurality of commands are transmitted at a time, so that communication time is reduced when controlling a plurality of actuator modules. However, the address and length of the control table to be written to each actuator module must all be the same, and the ID must be transferred to the broadcasting ID.
ID: 0XFE
Length: [L + 1] * N + 4, where L is the data length of the actuator module and N is the number of actuator modules.
Instruction: 0X83
Parameter 1: Start address of the location where data is to be written Parameter 2: Length of data to be written [L]
Parameter 3: ID of the first actuator module
Parameter 4: First data of the first actuator module Parameter 5: Second data of the first actuator module
Parameter L + 3: Lth data of the first actuator module Parameter L + 4: ID of the second actuator module
Parameter L + 5: First data of the second actuator module Parameter L + 6: Second data of the second actuator module
Parameter 2L + 4: Lth data of the second actuator module

  For example, assume that positions and velocities are determined as follows for four actuator modules.

ID0 actuator module: move to 0X010 position, move at speed 0X150 Actuator module at ID1: move to position 0X220, move at speed 0X360 Actuator module at ID2: move to position 0X030, move at 0X170 ID3 in actuator module: move to 0X220 position, speed 0X380 The command packet for instructing such an operation is as follows.

0XFF 0XFF 0XFE 0X18 0X83 0X1E 0X04 0X00
0X1O 0X00 0X50 0X01 0X01 0X20 0X02 0X60 0X03 0X02 0X30 0X00 0X70 0X01 0X03 0X20 0X02 0X80 0X03 0X12

  At this time, since it is transferred with the broadcasting ID, the status packet is not returned.

The control system of the conventional network type actuator module is shown. The internal structure of the network type actuator module of this invention is shown. The return delay time in the RS485 communication system used in the present invention is shown. The byte interval in the RS485 communication system used in the present invention is shown. The control system of the network type actuator module of this invention is shown. 1 shows a system configuration for a user to control a network type actuator module of the present invention. 3 shows a control table for controlling the network type actuator module of the present invention. Fig. 4 shows an output curve according to the position error of the present invention. The target position which the network type actuator module of this invention tends to move is shown. In this invention, the effective area | region of the data which a user can record is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Central controller 20 Motor controller 21 Drive part 22 Sensor part

Claims (3)

A motor, a reducer, a controller, a communication unit, a sensor unit for driving state feedback, an actuator module in which all units for detecting the presence or absence of abnormalities such as overtemperature and overvoltage are configured integrally,
A motor unit including a drive motor and a motor drive unit for driving and controlling the drive motor;
A sensor unit composed of at least one sensor for sensing an operation state of the actuator module;
A control unit connected to the motor unit and the sensor unit to recognize and control operations of the motor unit and the sensor unit;
A network unit for an interface between the control unit and an external controller;
A network-type actuator module comprising:   The sensor unit senses the rotational speed of the drive motor, the possibility of overcurrent generation, the external load, and the internal temperature of the actuator module, and notifies the control unit of this when an abnormality occurs, and the control unit 2. The network type actuator module according to claim 1, wherein the occurrence of abnormality is notified to the external controller and the operation of the motor unit is stopped.   3. The network type actuator module according to claim 1, wherein the actuator module operates by a multi-drop method in which a plurality of actuator modules are controlled simultaneously by one packet command transfer.

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