JP2008220116A - Motor driving device - Google Patents

Motor driving device Download PDF

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JP2008220116A
JP2008220116A JP2007057009A JP2007057009A JP2008220116A JP 2008220116 A JP2008220116 A JP 2008220116A JP 2007057009 A JP2007057009 A JP 2007057009A JP 2007057009 A JP2007057009 A JP 2007057009A JP 2008220116 A JP2008220116 A JP 2008220116A
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motor
input signal
external input
motor position
signal
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JP2008220116A5 (en
JP4941011B2 (en
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Yoshishige Ikeuchi
慶成 池内
Kenichi Suzuki
健一 鈴木
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Panasonic Holdings Corp
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Matsushita Electric Industrial Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor driving device capable of accurately detecting a point passage position by preventing erroneous detection. <P>SOLUTION: The motor driving device includes a motor position capturing means 14 for capturing a position counter value in a motor position detector 21 by serial communication at the timing of the edge of a motor position latch signal 18 generated at a constant cycle for storing the position counter value in numbers equivalent to the past (n) times, a counter storing means 12 for storing the value of an internal counter 11 at a timing of each edge of the motor position latch signal 18 and the external input signal 17 in numbers equivalent to the past (m) times, an external signal reading means 16 for reading the on/off state of the external input signal 17 at a constant cycle and for turning on the internal flag of the external input signal 14 when the external input signal is continuously in on-state for a p-cycle, and a detecting position computing means 13 for computing the motor position at a timing when the external input signal 17 is turned on. The detecting position computing means 13 estimates a motor position change amount from when the motor position latch signal is turned on until when the external input signal 17 is turned on. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、シリアル通信にてモータ位置をモータ位置検出器から取り込み、外部入力信号の入力タイミングでのモータ位置を検出する機能を有するモータ駆動装置に関する。   The present invention relates to a motor drive device having a function of taking a motor position from a motor position detector by serial communication and detecting a motor position at an input timing of an external input signal.

図６、図７に示すように従来技術では、モータ位置検出器９１付きのモータ９０をモータ駆動装置８０に接続し、モータ駆動装置８０はモータ位置検出器９１で検出したモータ位置を一定周期（モータ制御周期）にてシリアル通信手段８９を通じてモータ位置取り込み手段８４に取り込み、その値をモータ制御手段８５に入力し、モータ制御処理用位置カウンタを更新することでモータ位置フィードバック制御を行っていた。   As shown in FIGS. 6 and 7, in the prior art, a motor 90 with a motor position detector 91 is connected to a motor drive device 80, and the motor drive device 80 detects the motor position detected by the motor position detector 91 at a certain period ( The motor position feedback control is performed by taking in the motor position taking means 84 through the serial communication means 89 in the motor control cycle), inputting the value to the motor control means 85, and updating the motor control processing position counter.

また、ある目標ポイント通過時のモータ位置を検出し、その検出位置に移動させるような用途においては、目標ポイント通過時にオンを出力する外部センサを設置し、外部センサの出力信号である外部入力信号８７を外部信号読み込み手段８６に入力し、外部入力信号８７がオンとなった場合にモータ制御手段８５内で実行されるモータ位置フィードバック制御演算で使用したモータ位置をモニタ値９３として出力し、上位装置はそのモニタ値９３を取り込みその位置に移動させる指令９２をモータ駆動装置８０に与えていた（例えば、特許文献１参照）。
特開２００２−１９６８２４号公報 Also, in applications where the motor position when passing through a certain target point is detected and moved to that detection position, an external sensor that outputs ON when passing through the target point is installed, and the external input signal that is the output signal of the external sensor 87 is input to the external signal reading means 86, and when the external input signal 87 is turned on, the motor position used in the motor position feedback control calculation executed in the motor control means 85 is output as the monitor value 93. The apparatus gave a command 92 for taking the monitor value 93 and moving it to the position to the motor drive device 80 (see, for example, Patent Document 1).
JP 2002-196824 A

解決しようとする問題点は、上述した従来の構成ではモータ位置を一定周期（モータ制御周期）にて取り込むため、外部入力信号８７がオンとなるタイミングによっては、最大でモータ制御周期分遅れて更新されたモータ位置をモニタ値９３に出力することとなり、特にポイント通過時の速度が速い場合などに実際のポイント通過時のモータ位置と大きな誤差が発生することである。また、外部入力信号８７にノイズが重畳した場合、ポイント通過を誤検出する可能性がある。   The problem to be solved is that, in the above-described conventional configuration, the motor position is fetched at a constant cycle (motor control cycle). Therefore, depending on the timing when the external input signal 87 is turned on, the update is delayed by the maximum motor control cycle. The motor position thus output is output to the monitor value 93, and particularly when the speed at the time of passing the point is high, a large error occurs from the motor position at the time of passing the actual point. Further, when noise is superimposed on the external input signal 87, there is a possibility that point passing is erroneously detected.

本発明は上記の課題を解決するものであり、シリアル通信にてモータ位置をモータ位置検出器から取り込みフィードバック制御を行うモータ制御システムにおいて、ノイズによる誤検出を防止し、かつ精度よくポイント通過時のモータ位置を推定できるモータ駆動装置を提供することを目的とする。   The present invention solves the above-mentioned problem, and in a motor control system that takes in a motor position from a motor position detector through serial communication and performs feedback control, prevents erroneous detection due to noise and accurately passes a point. An object of the present invention is to provide a motor drive device that can estimate a motor position.

上記課題を解決するために本発明のモータ駆動装置は、シリアル通信にてモータ位置検出器内の位置カウンタ値を、一定周期にて発生するモータ位置ラッチ信号のエッジのタイミングで取り込み、過去ｎ回分（ｎは整数）記憶するモータ位置取り込み手段と、前記モータ位置ラッチ信号と外部入力信号の各エッジのタイミングで、内部カウンタの値をそれぞれ過去ｍ回分（ｍは整数）記憶するカウンタ記憶手段と、前記外部入力信号のオン／オフ状態を一定周期にて読み込み、ｐ周期連続（ｐは整数）でオン状態の場合に前記外部入力信号の内部フラグをオンする外部信号読み込み手段と、前記外部入力信号がオンしたタイミングのモータ位置を演算する検出位置演算手段とを備え、前記ラッチ位置演算手段によって、モータ位置ラッチ信号がオンしてから外部入力信号がオンするまでのモータ位置変化量を推定する。   In order to solve the above-described problem, the motor driving device of the present invention captures the position counter value in the motor position detector by serial communication at the edge timing of the motor position latch signal generated at a constant period, and the past n times. Motor position capturing means for storing (n is an integer); counter storage means for storing the value of the internal counter for the past m times (m is an integer) at the timing of each edge of the motor position latch signal and the external input signal; An external signal reading means for reading an on / off state of the external input signal at a constant period and turning on an internal flag of the external input signal when p period is continuous (p is an integer); Detection position calculation means for calculating the motor position at the timing when the motor is turned on, and the motor position latch signal by the latch position calculation means External input signal from the ON to estimate the motor position change amount until turning on.

請求項１に記載のモータ駆動装置によれば、ポイント通過位置と検出位置との誤差をソフトウェアで補正するため動作速度を落とさずとも精度よくポイント通過時のモータ位置を検出することができ、さらに外部入力信号を複数回読み込むことによりノイズによる誤検出を防止することが可能となる。   According to the motor drive device of claim 1, since the error between the point passing position and the detection position is corrected by software, the motor position at the time of passing the point can be detected accurately without reducing the operation speed, It is possible to prevent erroneous detection due to noise by reading the external input signal a plurality of times.

また、モータ位置検出器に外部入力信号を直接接続しないため、モータ位置検出器のサイズ、コストを低減することができる。   Moreover, since an external input signal is not directly connected to the motor position detector, the size and cost of the motor position detector can be reduced.

本発明のモータ駆動装置は、シリアル通信にてモータ位置検出器内の位置カウンタ値を、一定周期にて発生するモータ位置ラッチ信号のエッジのタイミングで取り込み、過去ｎ回分（ｎは整数）記憶するモータ位置取り込み手段と、前記モータ位置ラッチ信号と外部入力信号の各エッジのタイミングで、内部カウンタの値をそれぞれ過去ｍ回分（ｍは整数）記憶するカウンタ記憶手段と、前記外部入力信号のオン／オフ状態を一定周期にて読み込み、ｐ周期連続（ｐは整数）でオン状態の場合に前記外部入力信号の内部フラグをオンする外部信号読み込み手段と、前記外部入力信号がオンしたタイミングのモータ位置を演算する検出位置演算手段とを備え、前記ラッチ位置演算手段によって、モータ位置ラッチ信号がオンしてから外部入力信号がオンするまでのモータ位置変化量を推定する。以下、図面を参照しながら本発明の実施の形態について説明する。
（実施の形態１） The motor driving device of the present invention takes in the position counter value in the motor position detector by serial communication at the edge timing of the motor position latch signal generated at a constant period and stores it for the past n times (n is an integer). Motor position capturing means, counter storage means for storing the value of the internal counter for the past m times (m is an integer) at the timing of each edge of the motor position latch signal and the external input signal, and ON / OFF of the external input signal An external signal reading means for reading an OFF state at a constant cycle and turning on an internal flag of the external input signal when p cycle is continuous (p is an integer), and a motor position at a timing when the external input signal is turned ON Detection position calculation means for calculating the external input signal after the motor position latch signal is turned on by the latch position calculation means. There estimate the motor position change amount until turning on. Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Embodiment 1)

実施の形態１は、本発明の基本構成であり、ある目標ポイントのモータ位置を検出し、その検出位置に移動させるような使用例について各図を併用して説明する。   The first embodiment is a basic configuration of the present invention, and a use example in which a motor position at a certain target point is detected and moved to the detected position will be described with reference to each drawing.

図１は要部の説明図であり、モータ位置検出器２１付きのモータ２０をモータ駆動装置１０に接続し、モータ駆動装置１０はモータ位置検出器２１で検出したモータ位置カウンタの値を一定周期（モータ制御周期）にてシリアル通信手段１９を通じてモータ位置取り込み手段１４に取り込み、その値をモータ制御手段１５に入力し、モータ制御処理用位置カウンタを更新することでモータ位置フィードバック制御を行う。ここで、モータ位置取り込み手段１４はモータ制御手段１５より一定周期（モータ制御周期）で発生するモータ位置ラッチ信号１８がオンとなる（ここではオン時にＬｏｗ、オフ時にＨｉｇｈとする）タイミングにてモータ位置カウンタの値を取り込むこととする。   FIG. 1 is an explanatory diagram of a main part, in which a motor 20 with a motor position detector 21 is connected to a motor driving device 10, and the motor driving device 10 uses a value of a motor position counter detected by the motor position detector 21 for a certain period. In (motor control cycle), the motor position is fetched into the motor position fetching means 14 through the serial communication means 19, the value is inputted to the motor control means 15, and the motor control processing position counter is updated to perform motor position feedback control. Here, the motor position fetching means 14 has a motor timing at which the motor position latch signal 18 generated by the motor control means 15 at a constant cycle (motor control cycle) is turned on (here, Low when turned on and High when turned off). The value of the position counter is taken in.

ポイント通過時にオンとなる（ここではオン時にＬｏｗ、オフ時にＨｉｇｈとする）外部入力信号１７をカウンタ１１と外部信号読み込み手段１６に入力し、さらに前記モータ位置ラッチ信号１８をモータ制御手段１５よりカウンタ１１にも入力する。   An external input signal 17 that is turned on when passing the point (here, Low when turned on, and High when turned off) is input to the counter 11 and the external signal reading means 16, and the motor position latch signal 18 is countered by the motor control means 15. 11 is also input.

ここで、カウンタ１１は、１６ｂｉｔ幅のフリーランカウンタ（００００ｈからＦＦＦＦｈまでカウントアップし、ＦＦＦＦｈを超えると０に戻り再びカウントアップしていく）とする。カウンタ１１は、入力信号がオンとなるタイミング（ＨｉｇｈからＬｏｗに変化する立ち下がりエッジ）にて内部カウンタの値をカウンタ記憶手段１２にコピーして記憶する（ラッチする）。   Here, the counter 11 is a 16-bit free-run counter (counting up from 0000h to FFFFh, returning to 0 and counting up again when exceeding FFFFh). The counter 11 copies and stores (latches) the value of the internal counter in the counter storage means 12 at the timing when the input signal is turned on (falling edge that changes from High to Low).

カウンタ１１は複数の入力信号に対応し、カウンタ記憶手段１２にラッチする記憶領域はそれぞれの入力信号用に区別されている。ここではモータ位置ラッチ信号１８でＣＨ１ラッチレジスタに、外部入力信号１７でＣＨ２ラッチレジスタに記憶することとする。   The counter 11 corresponds to a plurality of input signals, and the storage area latched in the counter storage means 12 is distinguished for each input signal. Here, the motor position latch signal 18 is stored in the CH1 latch register, and the external input signal 17 is stored in the CH2 latch register.

次に、図３を併用して入力信号読み込み手段１６の内部処理について説明する。外部入力信号１７に重畳したノイズによる誤動作を防ぐために、外部信号読み込み手段１６では外部入力信号１７を一定周期（モータ制御周期）で読み込み、ここでは過去３回連続で一
致した場合に外部入力信号の状態を表す信号状態フラグを更新するものとする。信号状態フラグの値がオンの場合にポイント通過を検出したと判断し、ポイント通過検出フラグを設定する。 Next, the internal processing of the input signal reading means 16 will be described with reference to FIG. In order to prevent malfunction due to noise superimposed on the external input signal 17, the external signal reading means 16 reads the external input signal 17 at a constant cycle (motor control cycle). It is assumed that the signal state flag indicating the state is updated. When the value of the signal state flag is on, it is determined that the point passage has been detected, and the point passage detection flag is set.

次に、図２、図４、図５を併用して検出位置演算手段１３の内部処理について説明する。検出位置演算処理は一定周期（モータ制御周期）で行うこととする。まず、モータ位置取り込み手段１４で取り込んだ最新のモータ位置を取り込み、変数Ｐｏｓ（ｋ）に代入する。   Next, the internal processing of the detected position calculation means 13 will be described with reference to FIGS. The detection position calculation process is performed at a constant cycle (motor control cycle). First, the latest motor position captured by the motor position capturing means 14 is captured and substituted into the variable Pos (k).

図中のＰｏｓ（ｋ）は最新の値、Ｐｏｓ（ｋ−１）は１周期前の値、Ｐｏｓ（ｋ−２）は２周期前の値といったように、過去のモータ位置を数回分記憶している。また、ＣＨ１ラッチレジスタの最新の値を変数Ｃａｐ１（ｋ）に代入する。図中のＣａｐ１（ｋ）は最新の値、Ｃａｐ１（ｋ−１）は１周期前の値、Ｃａｐ１（ｋ−２）は２周期前の値といったように過去のＣＨ１ラッチレジスタを数回分記憶している。前記入力信号読み込み手段１６の内部処理にて設定されたポイント通過検出フラグがオンの場合、ＣＨ２ラッチレジスタの値を変数Ｃａｐ２に代入する。   In the figure, Pos (k) is the latest value, Pos (k-1) is the value one cycle before, Pos (k-2) is the value two cycles ago, and the past motor positions are stored several times. ing. Also, the latest value of the CH1 latch register is assigned to the variable Cap1 (k). In the figure, Cap1 (k) is the latest value, Cap1 (k-1) is the value one cycle before, Cap1 (k-2) is the value two cycles ago, and the past CH1 latch register is stored several times. ing. When the point passage detection flag set by the internal processing of the input signal reading means 16 is on, the value of the CH2 latch register is substituted into the variable Cap2.

次に、ポイント通過位置の検出値の演算を行う。図４、図５に示すように、一定周期（モータ制御周期）ごとにモータ制御処理が行われ、モータ制御処理起動信号より前にモータ位置ラッチタイミング信号が発生し、このタイミングでモータ位置取り込み手段１４はシリアル通信手段１９を通じてモータ位置取り込み手段１４上のモータ位置バッファの値を更新する。モータ制御手段１５は、モータ制御処理の先頭でモータ位置取り込み手段１４上のモータ位置バッファの値を読み出し、モータ制御処理で使用するモータ制御処理用位置カウンタの値を更新する。   Next, the detection value of the point passing position is calculated. As shown in FIG. 4 and FIG. 5, motor control processing is performed every fixed cycle (motor control cycle), and a motor position latch timing signal is generated before the motor control processing start signal. 14 updates the value of the motor position buffer on the motor position capturing means 14 through the serial communication means 19. The motor control means 15 reads the value of the motor position buffer on the motor position fetch means 14 at the head of the motor control process, and updates the value of the motor control process position counter used in the motor control process.

故に、ポイント通過（外部入力信号がオンとなるエッジ）タイミングがモータ制御処理起動信号出力後かつモータ位置ラッチタイミング出力前の場合（図４）はそのモータ制御処理で使用しているモータ位置を基準にポイント通過位置の検出値を演算し、逆にモータ位置ラッチタイミング出力後かつモータ位置ラッチタイミング出力前の場合（図５）は、次のモータ制御処理で使用しているモータ位置を基準に演算する必要がある。   Therefore, if the point passing timing (edge at which the external input signal is turned on) is after the motor control processing start signal is output and before the motor position latch timing is output (FIG. 4), the motor position used in the motor control processing is used as a reference. If the detected value of the point passing position is calculated, and after the motor position latch timing is output and before the motor position latch timing is output (FIG. 5), the calculated value is based on the motor position used in the next motor control process. There is a need to.

つまり、Ｃａｐ２＜Ｃａｐ１（ｋ−２）の場合には前者のタイミングとなりＰｏｓ（ｋ−３）に推定変化量１を加えたものを、それ以外の場合には後者のタイミングとなりＰｏｓ（ｋ−２）に推定変化量２を加えたものをポイント通過位置の検出値として設定する。推定変化量１と推定変化量２の計算例を下記に示す。   That is, when Cap2 <Cap1 (k-2), the former timing is obtained by adding the estimated change amount 1 to Pos (k-3). Otherwise, the latter timing is obtained and Pos (k-2). ) Plus the estimated change amount 2 is set as the detected value of the point passing position. A calculation example of the estimated change amount 1 and the estimated change amount 2 is shown below.

推定変化量１ａ＝（Ｐｏｓ（ｋ−２）−Ｐｏｓ（ｋ−３））×（Ｃａｐ２−Ｃａｐ１（ｋ−３））／（Ｃａｐ１（ｋ−２）−Ｃａｐ１（ｋ−３））
推定変化量２ａ＝（Ｐｏｓ（ｋ−１）−Ｐｏｓ（ｋ−２））×（Ｃａｐ２−Ｃａｐ１（ｋ−２））／（Ｃａｐ１（ｋ−１）−Ｃａｐ１（ｋ−２））
また、外部入力信号１７の伝達遅れ時間などの固定遅延時間があらかじめ算出されている場合は、下記のように計算してもよい。 Estimated change 1a = (Pos (k−2) −Pos (k−3)) × (Cap2−Cap1 (k−3)) / (Cap1 (k−2) −Cap1 (k−3))
Estimated change 2a = (Pos (k-1) -Pos (k-2)) * (Cap2-Cap1 (k-2)) / (Cap1 (k-1) -Cap1 (k-2))
Further, when a fixed delay time such as a transmission delay time of the external input signal 17 is calculated in advance, it may be calculated as follows.

推定変化量１ｂ＝（Ｐｏｓ（ｋ−２）−Ｐｏｓ（ｋ−３））×（（Ｃａｐ２−Ｃａｐ１（ｋ−３））／（Ｃａｐ１（ｋ−２）−Ｃａｐ１（ｋ−３））＋固定遅延時間／モータ制御周期）
推定変化量２ｂ＝（Ｐｏｓ（ｋ−１）−Ｐｏｓ（ｋ−２））×（（Ｃａｐ２−Ｃａｐ１（ｋ−２））／（Ｃａｐ１（ｋ−１）−Ｃａｐ１（ｋ−２））＋固定遅延時間／モータ制御周期）
検出位置演算手段１３により演算したポイント通過位置の検出値を、モータ制御手段１
５を通じてモニタ値２３として出力する。上位装置はそのモニタ値２３を参照してポイント通過位置の検出値を取り込むことが可能となり、さらに上位装置は取り込んだポイント通過位置の検出値に移動させる指令２２をモータ駆動装置１０に与えることでポイント通過位置の検出値に位置決め動作を行う。 Estimated change 1b = (Pos (k−2) −Pos (k−3)) × ((Cap2−Cap1 (k−3)) / (Cap1 (k−2) −Cap1 (k−3)) + fixed Delay time / motor control cycle)
Estimated change 2b = (Pos (k−1) −Pos (k−2)) × ((Cap2−Cap1 (k−2)) / (Cap1 (k−1) −Cap1 (k−2)) + fixed Delay time / motor control cycle)
The detected value of the point passage position calculated by the detection position calculation means 13 is used as the motor control means 1.
5 is output as a monitor value 23. The host device can take in the detected value of the point passing position with reference to the monitor value 23, and the host device can give the motor drive device 10 a command 22 for moving to the detected value of the point passing position. Positioning operation is performed on the detected value of the point passing position.

この構成により、シリアル通信にてモータ位置をモータ位置検出器から取り込みフィードバック制御を行うモータ制御システムにおいて、ポイント通過位置と検出位置との誤差をソフトウェアで補正するため動作速度を落とさずとも精度よくポイント通過時のモータ位置を検出することができ、さらに外部入力信号を複数回読み込むことによりノイズによる誤検出を防止することが可能となる。   With this configuration, in a motor control system that takes in the motor position from the motor position detector via serial communication and performs feedback control, the error between the point passing position and the detected position is corrected by software, and the point can be accurately pointed without reducing the operating speed. It is possible to detect the motor position at the time of passage, and to prevent erroneous detection due to noise by reading the external input signal a plurality of times.

また、モータ位置検出器に外部入力信号を直接接続しないため、モータ位置検出器のサイズ、コストを低減することができる。   Moreover, since an external input signal is not directly connected to the motor position detector, the size and cost of the motor position detector can be reduced.

本発明のモータ駆動装置は、外部センサを使用してポイント通過位置を精度よく検出し、検出ポイントに位置決めするような半導体製造装置や電子部品実装機などに有用である。   The motor driving device of the present invention is useful for a semiconductor manufacturing apparatus, an electronic component mounting machine, or the like that uses an external sensor to accurately detect a point passing position and positions the detected position.

本発明の実施の形態１におけるモータ駆動装置の要部説明図Explanatory drawing of the principal part of the motor drive device in Embodiment 1 of the present invention. 本発明のラッチ位置演算手段における内部処理の説明図Explanatory drawing of the internal processing in the latch position calculation means of the present invention 本発明の外部信号読み込み手段における内部処理の説明図Explanatory diagram of internal processing in external signal reading means of the present invention 本発明の実施の形態１における演算タイミングの説明図Explanatory drawing of the calculation timing in Embodiment 1 of this invention 本発明の演算タイミングにおける別の説明図Another explanatory diagram in the calculation timing of the present invention 従来のモータ駆動装置の説明図Explanatory drawing of a conventional motor drive device 従来のモータ駆動装置の外部信号読み込み手段における内部処理の説明図Explanatory diagram of internal processing in external signal reading means of a conventional motor drive device

符号の説明Explanation of symbols

１０ モータ駆動装置
１１ カウンタ
１２ カウンタ記憶手段
１３ 検出位置演算手段
１４ モータ位置取り込み手段
１５ モータ制御手段
１６ 外部信号読み込み手段
１７ 外部入力信号
１８ モータ位置ラッチ信号
１９ シリアル通信手段 DESCRIPTION OF SYMBOLS 10 Motor drive device 11 Counter 12 Counter memory | storage means 13 Detection position calculating means 14 Motor position taking-in means 15 Motor control means 16 External signal reading means 17 External input signal 18 Motor position latch signal 19 Serial communication means

Claims (1)

シリアル通信にてモータ位置検出器内の位置カウンタ値を、一定周期にて発生するモータ位置ラッチ信号のエッジのタイミングで取り込み、過去ｎ回分（ｎは整数）記憶するモータ位置取り込み手段と、前記モータ位置ラッチ信号と外部入力信号の各エッジのタイミングで、内部カウンタの値をそれぞれ過去ｍ回分（ｍは整数）記憶するカウンタ記憶手段と、前記外部入力信号のオン／オフ状態を一定周期にて読み込み、ｐ周期連続（ｐは整数）でオン状態の場合に前記外部入力信号の内部フラグをオンする外部信号読み込み手段と、前記外部入力信号がオンしたタイミングのモータ位置を演算する検出位置演算手段とを備え、前記検出位置演算手段によって、モータ位置ラッチ信号がオンしてから外部入力信号がオンするまでのモータ位置変化量を推定することを特徴とするモータ駆動装置。 Motor position fetching means for fetching the position counter value in the motor position detector by serial communication at the edge timing of the motor position latch signal generated at a constant period and storing it for the past n times (n is an integer); Counter storage means for storing the value of the internal counter for the past m times (m is an integer) at the timing of each edge of the position latch signal and the external input signal, and reading the on / off state of the external input signal at a constant cycle , External signal reading means for turning on the internal flag of the external input signal when p is continuous (p is an integer), and detection position calculation means for calculating the motor position at the timing when the external input signal is turned on. The motor position from when the motor position latch signal is turned on until the external input signal is turned on by the detected position calculation means Motor driving apparatus characterized by estimating the reduction amount.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010246256A (en) * 2009-04-06 2010-10-28 Panasonic Corp Motor drive
JP2015002595A (en) * 2013-06-14 2015-01-05 パナソニック株式会社 Motor driver
JP2015002596A (en) * 2013-06-14 2015-01-05 パナソニック株式会社 Motor driver
WO2020149002A1 (en) 2019-01-18 2020-07-23 パナソニックＩｐマネジメント株式会社 Motor control device

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JPH02223215A (en) * 1989-02-23 1990-09-05 Matsushita Electric Works Ltd Decision method of input of self power source counter
JPH0331710A (en) * 1989-06-29 1991-02-12 Okuma Mach Works Ltd Absolute encoder
JPH04172203A (en) * 1990-11-06 1992-06-19 Fanuc Ltd Serial encoder

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Publication number Priority date Publication date Assignee Title
JPH02223215A (en) * 1989-02-23 1990-09-05 Matsushita Electric Works Ltd Decision method of input of self power source counter
JPH0331710A (en) * 1989-06-29 1991-02-12 Okuma Mach Works Ltd Absolute encoder
JPH04172203A (en) * 1990-11-06 1992-06-19 Fanuc Ltd Serial encoder

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010246256A (en) * 2009-04-06 2010-10-28 Panasonic Corp Motor drive
JP2015002595A (en) * 2013-06-14 2015-01-05 パナソニック株式会社 Motor driver
JP2015002596A (en) * 2013-06-14 2015-01-05 パナソニック株式会社 Motor driver
WO2020149002A1 (en) 2019-01-18 2020-07-23 パナソニックＩｐマネジメント株式会社 Motor control device
KR20210116464A (en) 2019-01-18 2021-09-27 파나소닉 아이피 매니지먼트 가부시키가이샤 motor control unit
EP3913789A4 (en) * 2019-01-18 2022-03-02 Panasonic Intellectual Property Management Co., Ltd. Motor control device

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