JP2013228917A - Controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator controller that allows connected actuators to operate according to their characteristics without transmitting external input data of a large data size from a host device such as a PLC.SOLUTION: An actuator controller, which is connected with a host device via a network and controls the driving of actuators on the basis of an external input signal that is transmitted from the host device, includes: a communication unit that receives external input data that is transmitted from the host device; a plurality of control units each of which includes a storage unit that stores a plurality of patterns and a control unit that compares for determination a set pattern out of the plurality of patterns stored in the storage unit with data that is output from the communication unit; and motor drive units each of which controls the driving of an actuator on the basis of an instruction which is output from the control unit.

Description

  The present invention relates to a control device that receives external input data transmitted from a host device such as a programmable logic controller (hereinafter referred to as “PLC”) and controls driving of an actuator.

  A control device that controls an actuator or an industrial robot is used in connection with a host device such as a PLC. In addition, actuators and industrial robots are connected to the control device for drive control. As an actuator connected to the control device, for example, there is a slider type actuator. The slider-type actuator is provided with a movable portion for loading a conveyed product, and the movable portion can be moved to a predetermined position by rotating a motor provided in the actuator.

  The control device receives external input data transmitted from the PLC, which is a host device, every communication cycle at the interface unit, and performs drive control of the actuator and the like based on the received external input data.

  FIG. 9 is a block diagram showing the prior art described in Patent Document 1. In FIG.

In the production facility control system shown in FIG. 9, the host control device 1 and m actuator control devices 5 are connected via a serial communication bus 12.
The actuator control device 5 is a module that controls a drive device such as a motor, and includes a communication controller 2 that performs data communication with the host control device 1 and each functional module, a motor controller 6 that commands the operation of the motor, and this An address setting unit 7b for setting the identification address of the actuator control device 5 is provided. The actuator control device 5 detects a displacement of a motor driver 8 that controls the driving of the motor based on a command from the motor controller 6, a motor 9, and a device that is driven based on the rotation of the motor 9. A detector 10 such as an encoder is connected.

  The shared data described in FIG. 10 includes the motor operation state and motor coordinates of the motor handled by the actuator control device 5, and input data and output data handled by an input / output control device (not shown). The motor operating state indicates whether the motor is driven or stopped.

Here, a driving method of the actuator control device 5 will be described.
It is assumed that a linear interpolation movement command is generated from the host control device 1 to the two actuator control devices 5 constituting specific two axes (X axis, Y axis).

When a linear interpolation movement command is generated, first, an X-axis movement amount, a Y-axis movement amount, a composite activation speed, a composite movement speed, and an acceleration / deceleration time are determined.
Based on this value, the X-axis start speed, the Y-axis start speed, the X-axis move speed, and the Y-axis move speed, which are the movement characteristics in the X-axis direction and the Y-axis direction, are calculated. It is transmitted as a position movement command to the actuator control device 5 that controls the movement.

  Upon receiving the position movement command, the X-axis and Y-axis actuator control device 5 performs the X-axis movement amount, the Y-axis movement amount, the X-axis activation speed, the Y-axis activation speed, the X-axis movement speed, the Y-axis movement speed, and the acceleration / deceleration. A command pulse is output to the motor driver 8 based on the time.

  When the command pulse output to the motor driver 8 is completed by the respective X-axis and Y-axis actuator control devices 5, the X-axis and Y-axis motor coordinates in the shared data are read, and the movement to the desired position can be performed. It is confirmed whether or not the movement is completed. When the movement is completed, the motor is stopped and reflected in the X-axis and Y-axis motor operation state flags in the shared data.

  As described above, the production facility control system described in Patent Document 1 has a motor operation state, motor coordinates, input data, and output data as shared data to be updated periodically, and an update cycle of a specific type of shared data. By shortening the length, it is possible to perform linear interpolation movement of the X axis and the Y axis at high speed and high accuracy without reducing the response of the entire system while efficiently using the traffic of the communication line.

JP 2003-76413 A

Conventional production control systems have the following problems.
Assume that the conventional production equipment control system generates a linear interpolation movement command to the two actuator control devices 5 constituting specific two axes (X axis, Y axis) from the host control device 1 which is a host device. First, the X-axis movement amount, the Y-axis movement amount, the combined starting speed, the combined moving speed, and the acceleration / deceleration time are determined, and based on these values, the X-axis starting speed, which is a moving characteristic in the X-axis direction and the Y-axis direction, The Y-axis activation speed, the X-axis movement speed, and the Y-axis movement speed are calculated, and a position movement command is transmitted to each of the two actuator control devices 5 constituting the two axes (X axis and Y axis).

  Therefore, it is necessary to transmit the data of the starting speed and the moving speed of each axis from the host controller 1 which is the host device to each actuator controller 5, and the data size of the external input data to be transmitted becomes large. Further, the address of the transmission destination can be set by the address setting means 7b. However, as the number of connected actuator control devices 5 increases, more addresses are required, so that the data size of the external input data is further increased. turn into.

Further, the conventional control apparatus has the following problems.
Conventionally, the operation command from the host device such as PLC to the control device is only a simple movement command. In practice, however, various commands may be required depending on the type of actuator to be connected and the method of use. For example, in the case of an actuator with a brake unit, the brake unit is installed to prevent the moving part from falling. However, if you want to release the brake from a host device such as a PLC, send the conventional position movement command as external input data. I couldn't cope with it.

In order to solve the above-described problems, the control device of the present invention has the following configuration. The invention according to claim 1 is connected to a host device via a network and is transmitted from the host device. In the control device for driving and controlling the actuator based on the communication unit, a communication unit that receives external input data transmitted from the host device, a storage unit that stores a plurality of patterns, and a plurality of patterns stored in the storage unit A plurality of control units including a control unit that compares and determines a set pattern and data output from the communication unit, and a motor that controls driving of the actuator based on a command output from the control unit And a drive unit.
According to the second aspect of the present invention, the communication unit receives an external input signal transmitted from a host device, a distribution unit that divides data transmitted from the interface unit, and the distribution unit includes a plurality of control units. The divided data is transmitted.
According to a third aspect of the present invention, the control unit includes an interface unit that receives data transmitted from the distribution unit, a storage unit that stores position data, data received by the interface unit, and a set pattern. And a movement command generation unit that generates a movement command based on a result determined by the determination unit and position data stored in advance in a storage unit. .
The invention described in claim 4 is characterized in that a signal processing unit is provided that generates a command other than the movement command based on the result determined by the determination unit.
The invention according to claim 5 is a reception step of receiving external input data from the host device at the interface unit of the communication unit, a distribution step of transmitting the received external input data as data divided for each control unit, It comprises a determination step for comparing and determining the divided data and a set pattern, a command generation step for generating a command based on the determined result, and a drive control step for driving and controlling the actuator based on the command It is characterized by that.

According to the present invention, it is possible to perform an operation in accordance with the characteristics of an actuator connected to a control device without transmitting external input data having a large data size from a host device such as a PLC.
Even when the type of actuator is changed, a desired operation can be performed by changing the pattern setting. Therefore, it is possible to easily change the actuator and add functions.
In addition, since it is not necessary to set a transmission destination address, transmission can be performed without making a mistake in the transmission destination of the external input data.

The block diagram which shows the connection relationship with the control apparatus 100 in embodiment of this invention. The block diagram which shows the control unit 120a in embodiment of this invention. The figure which shows the structure of the external input data in embodiment of this invention. The figure which shows the structure of the external output data in embodiment of this invention. The figure which shows the position data memory | storage part 1222a in embodiment of this invention. The figure which shows the pattern memorize | stored in the pattern memory | storage part 1221a in embodiment of this invention. The figure which shows the flowchart which shows the process in embodiment of this invention. The figure which shows operation | movement of the movable part of the actuator 30a in embodiment of this invention. The block diagram which shows the structure of the conventional production equipment control system. The figure which shows the shared data of the conventional production equipment control system.

Examples of the present invention will be described below.
FIG. 1 is a block diagram showing an embodiment of the present invention. As shown in FIG. 1, the control device 100 is connected to a PLC 20 that is a host device and a plurality of actuators 30a, 30b, 30c, and 30d.

  The PLC 20 and the control device 100 are connected via a network 21 and data is transmitted and received at regular intervals. The network 21 is composed of a serial communication bus, but may be wireless communication.

The actuators 30a, 30b, 30c, and 30d are slider type actuators, and include a motor, a ball screw, and a ball nut (not shown). A ball screw is connected to the motor, and the ball screw connected to the motor is rotated by rotating the motor. Ball nuts are fixed to the movable parts of the actuators 30a, 30b, 30c, 30d, and the ball screw and the ball nut are screwed together. Therefore, by rotating the motor, the ball screw rotates, and the slider, which is a movable part to which the ball nut is fixed, slides due to the relationship between the screw and the nut.
The actuator 30b is equipped with a brake unit that prevents the movable part from falling when used vertically.

Next, the control apparatus 100 of the Example shown in FIG. 1 is demonstrated.
The control device 100 includes a communication unit 110, control units 120a, 120b, 120c, and 120d, motor drive units 130a, 130b, 130c, and 130d, and a power supply unit 140.

  The power supply unit 140 supplies power to the communication unit 110, the control units 120a, 120b, 120c, and 120d, and the motor drive units 130a, 130b, 130c, and 130d, respectively.

  The communication unit 110 includes an interface unit 111, a distribution unit 112, and a coupling unit 113. The interface unit 111 is connected via the PLC 20 and the network 21 and receives external input data transmitted from the PLC 20 every predetermined cycle. Further, the interface unit 111 transmits external output data indicating the states of the actuators 30a, 30b, 30c, and 30d and the control device 100 to the PLC 20 at predetermined intervals.

The external input data transmitted from the PLC 20 is 16-bit, that is, 2-byte data as shown in FIG. 3, and corresponds to data for the four axes of the actuators 30a, 30b, 30c, and 30d.
External output data transmitted from the interface unit 111 of the communication unit 110 to the PLC 20 is also 16-bit, that is, 2-byte data as shown in FIG.

  The control units 120a, 120b, 120c, and 120d shown in FIG. 1 include interface units 121a, 121b, 121c, and 121d, storage units 122a, 122b, 122c, and 122d, and control units 123a, 123b, 123c, and 123d. ing. The interface units 121a, 121b, 121c, and 121d are connected to the distribution unit 112 and the coupling unit 113 of the communication unit 110, respectively.

Next, the configuration of the control units 120a, 120b, 120c, and 120d will be described with reference to FIG.
Since the control units 120a, 120b, 120c, and 120d have the same configuration, the control unit 120a will be described.

The storage unit 122a of the control unit 120a will be described.
The storage unit 122a includes a pattern storage unit 1221a and a position data storage unit 1222a.

The position data storage unit 1222a will be described with reference to FIG.
In the position data storage unit 1222a, position data such as a movement position, a movement speed, an acceleration, and a deceleration is stored in advance in association with the position number as shown in FIG.
The moving position indicates the position at which the movable part of the actuator 30a is moved, the moving speed indicates the speed at which the movable part of the actuator 30a moves, the acceleration indicates the acceleration at which the movable part of the actuator 30a accelerates to the moving speed, and the deceleration Indicates deceleration until the actuator 30a reaches the moving speed and then stops.
That is, in the case of position number 1, the moving part of the actuator 30a is accelerated to a moving speed of 200 mm / s at an acceleration of 0.3 G, and then is operated at a constant speed at a moving speed of 200 mm / s, and then decelerated and moved at 0.3 G. Position to position 200mm.

  A plurality of patterns are stored in advance in the pattern storage unit 1221a of the storage unit 122a. In the present embodiment, it is assumed that the pattern storage unit 1221a stores three patterns of pattern 1, pattern 2, and pattern 3.

The pattern memorize | stored in the pattern memory | storage part 1221a is demonstrated using FIG.
The pattern 1 will be described. Pattern 1 shown in FIG. 6 is composed of 4-bit input data and 4-bit output data.
The 4 input bits are defined as follows:
ST0 (start signal) indicates movement to position number 0 stored in the position data storage unit 1222a. ST1 (start signal) indicates movement to position number 1 stored in the position data storage unit 1222a. STP (pause signal) indicates a pause during movement. SVON (motor energization signal) indicates energization or non-energization of the motor.
The output 4 bits are defined as follows.
LS0 (movement completion signal) indicates completion of movement to the position number 0 stored in the position data storage unit 1222a. LS1 (movement completion signal) indicates completion of movement to position number 1 stored in the position data storage unit 1222a. MOVE (drive state signal) indicates the drive state of the actuator 30a. That is, 1 is output during driving and 0 is output during stoppage. ALM (alarm signal) is output when there is an abnormality in the actuator 30a, the motor drive unit 130a, and the control unit 120a.

The pattern 2 will be described.
Pattern 2 is a pattern corresponding to the actuator on which the brake unit is mounted, and is composed of 4-bit input data and 4-bit output data as in pattern 1.
The 4 input bits are defined as follows:
ST0 (start signal) indicates movement to position number 0 stored in the position data storage unit 1222a. ST1 (start signal) indicates movement to position number 1 stored in the position data storage unit 1222a. BKRL (brake release signal) indicates release of the brake provided in the actuator 30a. SVON (motor energization signal) indicates energization or non-energization of the motor.
The output 4 bits are defined as follows.
LS0 (movement completion signal) indicates completion of movement to the position number 0 stored in the position data storage unit 1222a. LS1 (movement completion signal) indicates completion of movement to position number 1 stored in the position data storage unit 1222a. SV (motor status signal) indicates whether the motor of the actuator 30a is energized or not energized. ALM (alarm signal) is output when there is an abnormality in the actuator 30a, the motor drive unit 130a, and the control unit 120a.

Next, the pattern 3 will be described.
Similarly to pattern 1 and pattern 2, pattern 3 is composed of 4-bit input data and 4-bit output data.
The 4 input bits are defined as follows:
ST0 (start signal) indicates movement to position number 0 stored in the position data storage unit 1222a. ST1 (start signal) indicates movement to position number 1 stored in the position data storage unit 1222a. ST2 (start signal) indicates movement to position number 2 stored in the position data storage unit 1222a. SVON (motor energization signal) indicates energization or non-energization of the motor.
The output 4 bits are defined as follows.
LS0 (movement completion signal) indicates completion of movement to the position 0 stored in the position data storage unit 1222a. LS1 (movement completion signal) indicates completion of movement to the position 1 stored in the position data storage unit 1222a. LS2 (movement completion signal) indicates completion of movement to the position 2 stored in the position data storage unit 1222a. ALM (alarm signal) is output when there is an abnormality in the actuator 30a, the motor drive unit 130a, and the control unit 120a.

As described above, the pattern storage unit 1221a stores three patterns in advance.
In the present embodiment, description will be made assuming that three patterns are stored in the pattern storage unit 1221a in advance, but the number of patterns is not limited to three. In this embodiment, the number of inputs and outputs is four inputs and four outputs. However, the number of bits may be increased according to the number of inputs and the number of outputs.

Next, the control unit 123a shown in FIG. 2 will be described.
The control unit 123a includes a determination unit 1231a, a signal processing unit 1232a, and a movement command generation unit 1233a.
The control unit 123a determines the data output from the communication unit 110 based on a preset pattern, and generates a command such as a movement command or a brake release command that is output to the motor drive unit 130a.

Similar to the control unit 120a, the control unit 120b includes an interface unit 121b, a pattern storage unit 1221b, a position data storage unit 1222b, a determination unit 1231b, a signal processing unit 1232b, and a movement command generation unit 1233b.
The control unit 120c includes an interface unit 121c, a pattern storage unit 1221c, a position data storage unit 1222c, a determination unit 1231c, a signal processing unit 1232c, and a movement command generation unit 1233c.
The control unit 120d includes an interface unit 121d, a pattern storage unit 1221d, a position data storage unit 1222d, a determination unit 1231d, a signal processing unit 1232d, and a movement command generation unit 1233d.

Next, the motor drive unit 130a will be described.
The motor drive unit 130a drives and controls the actuator 30a.
That is, a motor mounted on the actuator 30a by a known motor control method based on a movement command transmitted from the controller 123a and a signal from a displacement detector such as an encoder or resolver (not shown) provided in the actuator 30a. To control the drive of the movable part of the actuator.
The motor drive unit 130a also releases the brake of the actuator 30a and temporarily stops the movable part.
Further, when the movement of the movable unit to the predetermined position is completed, a movement completion signal is transmitted to the signal processing unit 1232a.
The motor drive unit 130a can be appropriately changed according to the type of motor mounted on the actuator 30a.

Next, the operation of the control device 100 will be described using the flowchart of FIG.
In the control units 120a, 120b, 120c, and 120d, one arbitrary pattern is preset for each control unit from a plurality of patterns stored in the storage units 122a, 122b, 122c, and 122d. In this embodiment, pattern 1 is set in the control unit 120a, pattern 2 is set in the control unit 120b, pattern 3 is set in the control unit 120c, and pattern 1 is set in the control unit 120d.

The 16-bit or 2-byte external input data shown in FIG.
This external input data corresponds to data for the four axes of the actuators 30a, 30b, 30c, and 30d.
For example, the external input data is 16 bits of “0010100000100001” as shown in FIG.

  The external input data transmitted from the PLC 20 is received by the interface unit 111 of the communication unit 110.

The external input data received by the interface unit 111 is divided into 4-bit data corresponding to the actuators 30a, 30b, 30c, and 30d by the distribution unit 112, and transmitted to the control units 120a, 120b, 120c, and 120d. .
That is, as shown in FIG. 3, the external input data is divided into four data of “0010”, “1000”, “0010”, and “0001”, which are output to the control units 120a, 120b, 120c, and 120d, respectively. The

The data divided by the distribution unit 112 is input to the interface units 121a, 121b, 121c, and 121d of the control units 120a, 120b, 120c, and 120d.
That is, the data “0010” divided by the distribution unit 112 is input to the interface unit 121a, “1000” is input to the interface unit 121b, “0010” is input to the interface unit 121c, and “0001” is the interface unit. It is input to 121d.

The determination units 1231a, 1231b, 1231c, and 1231d of the control units 123a, 123b, 123c, and 123d are stored in the pattern storage units 1221a, 1221b, 1221c, and 1221d and the data input to the interface units 121a, 121b, 121c, and 121d. It compares and discriminate | determines with one pattern preset among the some patterns currently set.
That is, the data “0010” input to the interface unit 121a is compared with the pattern 1 set in advance by the determination unit 1231a and determined as STP (temporary stop signal).
The data “1000” input to the interface unit 121b is compared with the pattern 2 set in advance by the determination unit 1231b, and is determined as ST0 (start signal).
Further, the data “0010” input to the interface unit 121c is compared with the pattern 3 set in advance by the determination unit 1231c, and is determined as ST2 (start signal).
The data “0001” input to the interface unit 121d is compared with the pattern 1 set in advance by the determination unit 1231d, and is determined as SVON (motor energization signal).

If the determined result is a start signal, the determination units 1231a, 1231b, 1231c, and 1231d output start signals such as ST0, ST1, and ST2 to the movement command generation units 1233a, 1233b, 1233c, and 1233d, and other than the start signal In the case of the above signal, signals such as BKRL (brake release signal), STP (temporary stop signal), SVON (motor energization signal) are output to the signal processing units 1232a, 1232b, 1232c, and 1232d.
That is, the determination unit 1231a outputs STP (temporary stop signal) to the signal processing unit 1232a, the determination unit 1231b outputs ST0 (start signal) to the movement command generation unit 1233b, and the determination unit 1231c outputs ST2 (start signal). The output is output to the movement command generation unit 1233c, and the determination unit 1231d outputs SVON (motor energization signal) to the signal processing unit 1232d.

When the signals output from the determination units 1233a, 1233b, 1233c, and 1233d are start signals (ST0, ST1, and ST2), the movement command generation units 1233a, 1233b, 1233c, and 1233d move based on the output start signals. Generate directives. As described above, the start signal ST0 indicates the movement to the position number 0, the start signal ST1 indicates the movement to the position number 1, and the ST2 indicates the movement to the position number 2. The movement command generation units 1233a, 1233b, 1233c, and 1233d receive the position data such as the movement position, movement speed, acceleration, and deceleration stored in correspondence with the position number from the position data storage units 1222a, 1222b, 1222c, and 1222d. get. The movement command is generated by calculating the acquired position data and acceleration time, constant speed time, deceleration time, etc. when moving from the current position of the actuators 30a, 30b, 30c, 30d to the movement position of the position data.
That is, the movement command generation unit 1233b acquires position data such as the movement position, movement speed, acceleration, and deceleration corresponding to the position number 0 from the position data storage unit 1222b from the start signal ST0 transmitted from the determination unit 1231b. The acceleration time, the constant speed time, and the deceleration time shown in FIG. 8 are calculated to generate a movement command. For example, if position data as shown in FIG. 5 is stored in the position data storage unit 1222b, the movement command generation unit 1233b moves from the current position to the movement position 0 mm at a movement speed of 100 mm / s, an acceleration of 0.3 G, and a deceleration of 0. Calculate the acceleration time, constant speed time, and deceleration time for driving the movable part of the actuator 30b at 3G to generate a movement command.
Similarly, the movement command generation unit 1233c also acquires position data corresponding to the position number 2 from the position data storage unit 1222c from ST2, and generates a movement command.
The position data stored in the position data storage units 1222a, 1222b, 1222c, and 1222d can be different for each of the control units 120a, 120b, 120c, and 120d.

  Further, when the signals output from the determination units 1231a, 1231b, 1231c, and 1231d are BKRL (brake release signal), STP (temporary stop signal), and SVON (motor energization signal) other than the start signal, the signal processing unit 1232a generates commands corresponding to the respective signals, and outputs the generated commands to the motor drive units 130a, 130b, 130c, and 130d. That is, the signal processing unit 1232a generates a temporary stop command based on the STP (temporary stop signal) output from the determination unit 1231a, and the signal processing unit 1232d is based on the SVON (motor energization signal) output from the determination unit 1231d. The motor energization command is generated and output to the motor drive units 130a and 130d.

The motor drive units 130a, 130b, 130c, and 130d are received from the pause command, brake release command, motor energization command, or movement command generation units 1233a, 1233b, 1233c, and 1233d transmitted from the signal processing units 1232a, 1232b, 1232c, and 1232d. The actuators 30a, 30b, 30c, and 30d are driven and controlled based on the output movement command and other commands.
That is, the motor drive unit 130a temporarily stops the movable part of the actuator 30a based on the temporary stop command output from the signal processing unit 1232a.
Further, the motor drive unit 130b can move the actuator 30b based on the movement command output from the movement command generation unit 1233b based on the movement command and a signal from a position detector such as an encoder or resolver (not shown) by a known motor control method. Is moved to the position of position number 0. Further, when the movement of the actuator 30b is completed to the position of position number 0, the motor drive unit 130b outputs a movement completion signal to the signal processing unit 1232b.
The motor drive unit 130c can move the actuator 30c based on the movement command output from the movement command generation unit 1233c based on the movement command and a signal from a position detector such as an encoder or a resolver (not shown) by a known motor control method. Is moved to the position of position number 2. Further, when the movement of the actuator 30c is completed to the position of position number 2, the motor drive unit 130c outputs a movement completion signal to the signal processing unit 1232c.
The motor drive unit 130d energizes the motor of the actuator 30a based on the motor energization command output from the signal processing unit 1232d.

The control units 123a, 123b, 123c, and 123d generate the respective axis state data based on the patterns set in the respective units and the movement completion signals output from the motor drive units 130a, 130b, 130c, and 130d.
That is, the control unit 123a generates the respective axis state data shown in the output 1 to the output 4 of the pattern 1 set in advance among the three patterns shown in FIG. Since the motor drive unit 130a has performed a temporary stop process, no movement completion signal is output from the motor drive unit 130a, and since the motor drive unit 130a is temporarily stopped, the movable part of the actuator 30a is not operating. The output 3 MOVE is 0, and the alarm signal which is the output 4 ALM is also 0. Therefore, the control unit 123a generates each axis state data “0000”.
Moreover, the control part 123b produces | generates each axis | shaft state data shown to the output 4 of the preset pattern 2 among the three patterns shown in FIG. Since the motor drive unit 130b has moved to position number 0, a movement completion signal is output from the motor drive unit 130b. LS1 of output 1 is 1. Further, since the motor is in an energized state, the SV of output 3 is 1. The alarm signal which is ALM of output 4 is zero. Therefore, the control unit 123b generates each axis state data “1010”.
Moreover, the control part 123c produces | generates each axis | shaft state data shown to the output 4 of the preset pattern 3 among the three patterns shown in FIG. Since the motor drive unit 130c has moved to position number 2, a movement completion signal is output from the motor drive unit 130c. LS2 of output 3 is 1. The alarm signal which is ALM of output 4 is zero. Therefore, the control unit 123c generates each axis state data “0010”.
Further, the control unit 123d generates the respective axis state data shown in the output 1 to the output 4 of the pattern 1 set in advance among the three patterns shown in FIG. Since the motor drive unit 130d has energized the motor of the actuator 30a, no movement completion signal is transmitted from the motor drive unit 130a. Further, since the movable part of the actuator 30a is not operating, the output 3 MOVE is 0 and the output 4 ALM alarm signal is also 0. Therefore, the control unit 123d generates each axis state data “0000”.

Each axis state data generated by the control units 123a, 123b, 123c, and 123d is output from the interface units 121a, 121b, 121c, and 121d to the coupling unit 113 of the communication unit 110, respectively.
That is, the axis state data “0000”, “1010”, “0010”, and “0000” are respectively output from the interface units 121a, 121b, 121c, and 121d to the coupling unit 113 of the communication unit 110.

Each axis state data input to the combining unit 113 is combined with 16-bit (2 bytes) external output data as shown in FIG. 4 and transmitted to the PLC 20 via the interface unit 111.
That is, each 4-bit axis state data “0000”, “1010”, “0010”, “0000” is combined as 16-bit (2 bytes) external output data of “0000101000100000” and connected to the PLC 20 via the interface unit 111. Sent to.

  As described above, according to the present invention, it is possible to cause the actuators 30a, 30b, 30c, and 30d to perform a desired operation only by transmitting small data of 16 bits (2 bytes) from the PLC 20, which is the host device. Also, an arbitrary pattern according to the type of actuator can be set from a plurality of patterns. Further, since there is no need to set a transmission destination address from the PLC 20, erroneous transmission can be prevented.

DESCRIPTION OF SYMBOLS 1 Host controller 2a Communication controller 2b Communication controller 3 Operation control part 4 Program memory 5 Actuator control apparatus 6 Motor controller 7b Address setting part 9 Motor 10 Detector 11 Detection signal processing part 12 Serial communication bus 20 Programmable logic controller (PLC)
21 Network 30a, 30b, 30c, 30d Actuator 100 Control device 110 Communication unit 111 Interface unit 112 Distribution unit 113 Coupling unit 120a, 120b, 120c, 120d Control unit 121a, 121b, 121c, 121d Interface unit 122a, 122b, 122c, 122d Storage units 1221a, 1221b, 1221c, 1221d Pattern storage units 1222a, 1222b, 1222c, 1222d Position data storage units 123a, 123b, 123c, 123d Control units 1231a, 1231b, 1231c, 1231d Discriminating units 1232a, 1232b, 1232c, 1232d Units 1233a, 1233b, 1233c, 1233d Movement command generation unit 130 Power supply unit

Claims (5)

In a control device that is connected to a host device via a network and drives and controls an actuator based on an external input signal transmitted from the host device.
A communication unit for receiving the external input data transmitted from the host device;
A storage unit storing a plurality of patterns;
Among the plurality of patterns stored in the storage unit, a plurality of control units including a set unit and a control unit that determines by comparing data output from the communication unit;
An actuator control device comprising: a motor drive unit that drives and controls the actuator based on a command output from the control unit. The communication unit receives the external input signal transmitted from a host device; and
A distribution unit for dividing data transmitted from the interface unit;
The actuator control apparatus according to claim 1, wherein the distribution unit transmits data divided for each of the plurality of control units. The control unit includes an interface unit that receives data transmitted from the distribution unit;
A storage unit storing position data;
A discriminating unit that discriminates by comparing data received by the interface unit with a set pattern;
The movement command generation unit that generates a movement command based on a result determined by the determination unit and position data stored in the storage unit in advance is provided. Actuator control device. 4. The actuator control device according to claim 1, further comprising a signal processing unit that generates a command other than the movement command based on a result of the determination performed by the determination unit. 5. A receiving step of receiving external input data from the host device at the interface unit of the communication unit;
A distribution step of transmitting the received external input data as data divided for each control unit;
A determining step of comparing and comparing the divided data and a set pattern;
A command generation step for generating a command based on the determined result;
An actuator control method comprising: a drive control step for driving and controlling the actuator based on the command.