JP2008217662A - Multi-axis control system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multi-axis control system, in which connection of a combination of motor drive unit and motor designated by a host controller can be confirmed without increasing excessive wiring or moving a motor. <P>SOLUTION: In the multi-axis control system adapted so that a host controller 1 controls a multi-axis motor 3 by a motor drive unit 2 through a communication network 4, the motor drive unit 2 includes a notification means 21 and the motor 3 includes a notification means 31. When a communication command for designating the motor drive unit 2 is formed and transmitted on the host controller 1 side, the notification means 21 of the motor drive unit 2 designated by the communication command and the notification means 31 of the motor 3 connected to the designated motor drive unit 2 perform notification operation. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to connection confirmation of a multi-axis control system in which a multi-axis motor is controlled by a motor drive device by a host controller via a communication network.

  In a multi-axis control system consisting of a combination of a host controller, a multi-axis motor and a motor drive device, it has always been a challenge in the field to check whether these are correctly connected as intended. .

  On the other hand, an erroneous wiring detection system has been proposed in which a connection confirmation signal line is reciprocated between two pairs of interfaces connecting a host controller and a motor drive device to detect connection of an incorrect combination (for example, Patent Document 1). reference).

  On the other hand, a method for identifying a corresponding motor by using a function of moving a motor by a single motor driving device has been proposed (for example, see Patent Document 2).

Furthermore, a method has been proposed in which the motor drive device is provided with a response simulation function to check the connection between the host controller and the motor drive device (for example, see Patent Document 3).
JP 2005-149066 A Japanese Patent Laid-Open No. 3-169284 Japanese Patent Laid-Open No. 11-272307

  However, according to the technique of Patent Document 1 described above, two wirings unnecessary for the original control are required between the host controller and the motor drive device, which becomes a big problem particularly when the number of axes increases.

  On the other hand, according to the technique of Patent Document 2, since it is necessary to drive the motor by energizing it, if the wiring is wrong or the control gain is not set, the device is damaged due to abnormal operation. there's a possibility that.

  Furthermore, according to the technique of Patent Document 3, it is possible to confirm the connection between the host controller and the motor drive device, but there is a problem that the connection with the corresponding motor cannot be confirmed because it is a simulation.

  The present invention solves the above-described conventional problems, and can confirm the connection between the motor drive device and the motor combination designated by the host controller without increasing the number of extra wires and without moving the motor. The purpose is to provide.

  In order to solve the above problem, a multi-axis drive system according to claim 1 is a multi-axis control system in which a multi-axis motor is controlled by a motor drive device by a host controller via a communication network. When the communication command specifying the motor drive device is generated and transmitted on the host controller side, the motor drive device specified by the communication command and the motor connected to the specified motor drive device are notified. Performs a notification operation.

  In addition, the host controller includes an input unit operated from outside, a communication command can be created by operating the input unit, and a communication command can be directly transmitted by the input unit.

  In addition, an operation unit for notifying the transmission source to at least one of the motor driving device and the motor is provided, and the notification unit of the motor connected to the transmission source by the operation unit or the motor driving device performs a notification operation.

  Further, the host controller includes a display unit, and the display unit displays the axis number connected to the transmission source by the operation unit of the motor drive device.

  According to the multi-axis drive system of the first aspect, it is possible to confirm the combination of the motor and the motor drive device without requiring wiring other than the communication network and without operating the motor directly.

  Further, according to the multi-axis drive system according to claim 2, creation and transmission of a communication command can be easily performed by an input unit by an external operation, and generally without performing a complicated operation of a host controller having a complicated function, Connection confirmation on site can be easily performed.

  Moreover, according to the multi-axis drive system of Claim 3, the motor or motor drive device connected to the transmission source can be easily confirmed by the notification operation.

  According to the multi-axis drive system of the fourth aspect, since the axis number of the transmission source motor drive device is displayed on the host controller, the connection relationship between the host controller and the motor drive device can be easily confirmed. .

  Furthermore, according to the multi-axis drive system of the fifth aspect, since visual confirmation is possible, it can be easily confirmed even if the notification means is close.

  In a multi-axis control system in which a multi-axis motor is controlled by a motor drive device by a host controller via a communication network, the motor and the motor drive device are provided with notification means, and a communication command for designating the motor drive device is sent to the host controller side When the transmission is made and transmitted, the motor driving device specified by the communication command and the motor notification means connected to the specified motor driving device perform a notification operation.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 is an explanatory diagram of a multi-axis control system according to the first embodiment. In FIG. 1, a host controller 1 and a plurality of motor drive devices 2a, 2b, 2c are connected by a communication network 4, and corresponding motors 3a, 3b, 3c are connected to each motor drive device 2. .

  Each motor drive device 2 includes LEDs 21a, 21b, and 21c as notification means, and each motor 3 similarly includes LEDs 31a, 31b, and 31c. The LEDs as the notification means 21 and 31 are provided in the encoders of the motor drive device 2 and the motor 3 and can notify the worker of the connection state by light emission.

The input unit built in the host controller 1 is composed of a rotary switch 12, and in order to designate a combination of the motor driving device 2 and the motor 3, at the timing when the operator moves the rotary switch 12, A notification operation start command including the set value as an axis number and including this in the data portion can be transmitted from the host controller 1 to the communication network 4 as an interrupt or asynchronous communication command.

  When the motor drive device 2 constantly monitors the communication network 4 and receives the notification operation start command, the motor drive device 2 pre-assigns the axis number assigned to the motor drive device 2 and the axis number included in the data portion of the notification operation start command. Only when they match, the built-in notification means 21 is operated in a specific pattern, for example, by repeatedly flashing all the LEDs and turning them all off. Thereafter, the motor drive device 2 sends a notification operation start command to the connected motor 3 to cause the notification device 31 with a built-in motor to operate in a specific pattern similar to the motor drive device.

  The operator can confirm the connection number of the shaft number, the motor drive device 2 and the motor 3 by confirming these notification means 21 and 31. First, while paying attention to the notification means of the motor drive device 2, the rotary switch 12 is moved to visually check whether the correspondence between the axis number and the motor drive device 2 is correct. If there is an error, the connection is corrected. be able to. Thereafter, the rotary switch 12 is moved while paying attention to the notification means 31 of the motor 3 so that the relationship between the axis number and the motor 3 can be confirmed and reworked. During these confirmation operations, it is not necessary to drive the motor 3 directly.

  As the notification means 21 on the motor drive device 2 side, an LED indicating a communication state, a 7seg LED, a liquid crystal panel, etc. that are used for general purposes can be used. In addition, a sound such as a buzzer or a speaker is used, or a combination thereof is also conceivable. It is also useful in the sense of avoiding an increase in cost that a display that has been used in the past is used together for the purpose of this time, and for example, the 7segLED is turned on and off and repeatedly flashed. .

  In addition, depending on the type of the communication network 4, there is one that can supply power through a communication line. In this case, the power of the notification means 21, 31 can be switched to the host controller without turning on the motor driving device 2 and the motor 3. A circuit configuration that supplies directly from the side is also conceivable.

  As the notification means 31 on the motor 3 side, in general, a position detector such as a rotary encoder or resolver, which is almost always connected, is preferably provided with an LED, a buzzer, or the like for detecting the position of the servo motor. In the case of a resolver, it may be possible to cause the motor with a resolver to output a sound using a structural resonance point by changing the frequency of the excitation signal or changing the carrier frequency of the motor.

  Further, for the motor 3 and the motor drive device 2 that are in the blind spot of visual and auditory sense, the motor 3 or the motor drive device 2 may be provided with an input / output terminal for externally controlling these notification means. . Further, the rotary switch 12 is not essential for the input unit of the host controller 1 as long as it can create and transmit a notification operation start command by a simple operation, and there is no problem even if it is incorporated as a function in normal control software.

  Here, the motor 3 and the motor drive device 2 connected to the communication network 4 are taken as an example, but I / O, sensors, various actuators, hubs, repeaters, line monitors, data loggers connected to the same communication network 4 are exemplified. The same method can be used.

In addition, the merit of reduced wiring is lost, but even if the communication network is replaced with a conventional I / O connection, the essence of the present invention is that the connection status can be notified by a simple operation in a manner that is easy for the operator to understand. Is not to reduce.
(Embodiment 2)
FIG. 2 is an explanatory diagram of the multi-axis control system according to the second embodiment. Compared with Embodiment 1, LED display 11 as a display means built in host controller 1 and the point that push button switches 22a, 22b, and 22c are added as operation unit 22 to each motor driving device 2 are different.

  With this system configuration, the notification means 31 of the connected motor 3 is operated not by the operation from the host controller 1 as in the first embodiment but by the operation from the motor drive device 2, and the host controller 1 drives the motor. The axis number assigned to the device 2 can be displayed on the LED display 11, and the degree of freedom of connection confirmation can be greatly expanded.

  For example, when the push button switch 22b of the motor driving device 2b is pressed, the motor driving device 2b sends a notification operation start command to the connected motor 3b. When the motor 3b receives this notification operation start command, the built-in LED 31b In a specific pattern.

  At the same time, the motor drive device 2 returns the state of the push button switch 22 to the host controller 1 through the communication network 4. Receiving this, the host controller 1 displays the motor drive device 2, for example, an axis number on the built-in LED display 11. The operator can recognize the connection state by checking the LED display 11 and the LED 31.

  Note that the operation unit 22 of the second embodiment is provided in the motor 3, and the notification unit 21 of the motor drive device 2 and the LED display 11 of the host controller 1 can be operated in a specific pattern in the same manner. Furthermore, it goes without saying that various combinations of the operation unit and the display means can be considered.

  As described above, the multi-axis control system of the present invention is useful for confirming the connection of the combination of the motor driving device and the motor at the site without increasing the extra wiring and without moving the motor.

The block diagram of the multi-axis control system in Embodiment 1 of this invention The block diagram of the multi-axis control system in Embodiment 2 of this invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 High-order controller 2 (2a, 2b, 2c) Motor drive device 3 (3a, 3b, 3c) Motor 4 Communication network 11 Display means (LED display)
12 Input section (rotary switch)
21 (21a, 21b, 21c) Notification means (LED)
22 (22a, 22b, 22c) operation unit (push button switch)
31 (31a, 31b, 31c) Notification means (LED)

Claims (5)

In a multi-axis control system in which a multi-axis motor is controlled by a motor drive device by a host controller via a communication network, the motor and the motor drive device are provided with notification means, and a communication command for designating the motor drive device is sent to the host controller side A multi-axis control system in which when the motor drive device designated by the communication command and the motor notification means connected to the designated motor drive device perform the notification operation when created and transmitted by The multi-axis control system according to claim 1, wherein the host controller includes an input unit operated from the outside, a communication command can be created by operating the input unit, and a communication command can be directly transmitted by the input unit. The operation unit for notifying the transmission source to at least one of the motor driving device and the motor, and a notification unit of the motor connected to the transmission source by the operation unit or the motor driving device performs a notification operation. Axis control system. The multi-axis drive system according to claim 3, wherein the host controller includes display means, and the display means displays an axis number connected to a transmission source by an operation unit of the motor drive device. The multi-axis control system according to any one of claims 1 to 3, wherein the notification means is a light emitting element and the notification operation is blinking.