JP2014187791A - Motor control device, motor control method, and game machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor control device capable of driving a plurality of motors connected to a serial bus with accuracy, independently of the amount of control signals.SOLUTION: A motor control device 1A controlling drive states of a plurality of motors 101 connected to a serial bus 110, comprises: a plurality of motor controllers 11 outputting control signals for controlling the drive states of the motors 101; a first buffer part 121 and a second buffer part 122 each provided in a path between the motor controller 11 and the motor 101; and a switching part 13 switching one for storing the control signals, between the first buffer part 121 and the second buffer part 122. The switching part 13 switches the buffer for storing the control signals at an arbitrary timing to make the second buffer part 122 store the control signals outputted from the motor controllers 11 and to make the first buffer part 121 output the stored control signals, for example.

Description

  The present invention relates to a motor control device, a motor control method, and a game machine that control driving states of a plurality of motors.

  Conventionally, a configuration described in Patent Document 1 is known as a motor control device that controls driving states of a plurality of motors. The motor control device according to the invention described in Patent Document 1 is provided with a motor control block for controlling the driving of each motor in each of the plurality of motors, and one motor control block and one motor are connected to one communication line. It has a configuration to connect with. Each motor control block is configured to store a pulse data value for generating a signal for controlling and driving the motor, and to drive and control the motor based on the pulse data value sequentially transferred from the storage unit. It is the structure provided with the pulse generation means which produces | generates this signal and outputs it to a motor.

Japanese Patent Laid-Open No. 2007-330,000

  However, the invention described in Patent Document 1 is parallel connection, and the number of wires increases as the number of motors increases. For this reason, in the invention described in Patent Document 1, the number of pins is required as many as the number of wires, which increases the cost and the inside of a housing in which a large number of devices are installed, for example, the inside of a gaming machine body, etc. When arranging the motor control device on a narrow site, it may be difficult to arrange the wiring. In parallel connection, it is difficult to synchronize signals flowing through the wirings. Therefore, in the invention described in Patent Document 1, when the drive level of the motor frequently changes and a large amount of control signals flow like a gaming machine, the signals are synchronized with each other so that a plurality of motors can be accurately used. There is a problem that it is difficult to operate.

  In order to cope with this problem, it can be considered that a plurality of motors and a plurality of motor control devices are serially connected by a serial bus. However, when the drive level of each motor changes frequently, such as a motor arranged in a gaming machine, for example, a large amount of control signals are transmitted in a short time from the motor controller. As a result, there is a problem that the amount of the control signal may exceed the bandwidth of the serial bus, resulting in a situation where the loss of the control signal occurs and the motor is hindered.

  The present invention has been made in view of the above problems, and it is an object of the present invention to provide a motor control device that can accurately drive a plurality of motors connected to a serial bus regardless of the amount of control signals. It is said.

  In order to solve such a problem, the invention according to claim 1 is a motor control device for controlling the driving states of a plurality of motors connected to a serial bus, the control for controlling the driving states of the motors. A plurality of motor control means for outputting signals; a plurality of buffer means disposed in a path between the motor control means and the motor; and the buffer means for storing the control signal among the plurality of buffer means. Switching means for switching, and the switching means switches the buffer means for storing the control signal at an arbitrary timing, and causes the at least one buffer means to store the control signal output from the motor control means. And outputting the control signal stored in the buffer means other than the at least one buffer means. It is characterized in.

  According to a second aspect of the present invention, in addition to the configuration of the first aspect, the switching unit switches the buffer unit that stores the control signal for each set arbitrary time zone.

  According to a third aspect of the present invention, in addition to the configuration according to the first aspect, the switching unit is configured such that the control signal is stored when the control signal is stored up to an arbitrary amount with respect to the at least one buffer unit. The buffer means for storing is switched.

  According to a fourth aspect of the present invention, in addition to the structure according to any one of the first to third aspects, the buffer means is a double buffer.

  According to a fifth aspect of the present invention, in addition to the structure according to any one of the first to fourth aspects, the buffer means is a ring buffer.

  According to a sixth aspect of the present invention, in addition to the configuration according to any one of the first to fifth aspects, a signal output from each motor control unit between the motor control unit and the buffer unit. And a signal adjusting means for adjusting and unifying the differences.

  According to a seventh aspect of the present invention, there are provided a plurality of motor control means for outputting a control signal for controlling a driving state of the motor, and a plurality of buffer means disposed in a path between the motor control means and the motor. A switching means for switching the buffer means for storing the control signal among the plurality of buffer means, and a serial bus to which the motor control means is connected, and a path between the motor control means and the motor. A plurality of the motors connected to a serial bus in a motor control device comprising: a plurality of buffer means disposed; and a switching means for switching the buffer means for storing the control signal among the plurality of buffer means. A motor control method for controlling the driving state of the motor, wherein the switching means stores the control signal at an arbitrary timing. The buffer means is switched, and the control signal output from the motor control means is stored in at least one buffer means, and the control signal stored in the buffer means other than the at least one buffer means is stored. The output is performed.

  The invention described in claim 8 is a gaming machine, and includes the motor control device according to any one of claims 1 to 6.

  According to the first and seventh aspects of the present invention, a plurality of buffer means disposed in a path between the motor control means and the motor, and a buffer means for storing a control signal among the plurality of buffer means. Switching means for switching, the switching means switches the buffer means for storing the control signal at an arbitrary timing, causes the at least one buffer means to store the control signal output from the motor control means, and at least one buffer. By outputting the control signal stored in the buffer means other than the means, the control signal output from the motor control means is temporarily accumulated in the buffer means, and a large amount of control signals flow into the serial bus at once. Can be prevented. Further, by switching a plurality of buffer means, it is possible to continuously store the control signal in the buffer means and output from the buffer means simultaneously. Therefore, it is possible to suppress a situation in which a large amount of signals flow into the serial bus at a time within a short period of time and control signals are lost in the serial bus. Accordingly, it is possible to provide a motor control device that can be easily disposed on a small site and can prevent a large amount of control signals transmitted from the motor controller in a short time from exceeding the bandwidth of the communication device.

  According to the second aspect of the present invention, the switching means switches the buffer means for storing the control signal at regular intervals by switching the buffer means for storing the control signal for each set arbitrary time zone. Therefore, the buffer means can be switched easily and easily.

  According to the invention described in claim 3, the switching means switches the control signal to the at least one buffer means by switching the buffer means for storing the control signal when the control signal is stored up to an arbitrary amount. The buffer means to be stored can be switched depending on the capacity of the buffer means and the amount of the control signal stored in the buffer means, and the number of times of switching the buffer means can be minimized.

  According to the fourth aspect of the present invention, since the buffer means is a double buffer, control is performed by sequentially using a plurality of buffer means while minimizing the number of buffer means and reducing the consumption of resources such as memory. The accumulation of the signal in the buffer means and the output from the buffer means can be performed simultaneously and continuously.

  According to the fifth aspect of the present invention, since the buffer means is a ring buffer, a plurality of buffer means can be sequentially used to accumulate and output signals at high speed.

  According to the sixth aspect of the invention, since the signal adjusting means is provided, adjustments such as unifying the standard of the control signal output from each motor control means are performed, and the signals are output from the plurality of motor control means. Even when the control signals are transmitted through the common serial bus, the desired motor can be controlled by the respective control signals.

  According to the eighth aspect of the present invention, motor control that can be easily arranged in a small site and can prevent a large amount of control signals transmitted from the motor controller in a short time from exceeding the bandwidth of the communication device. A gaming machine equipped with the device can be provided.

It is a functional block diagram which shows the outline | summary of the whole structure of the motor control system which concerns on Embodiment 1 of this invention, and a motor control apparatus. It is a functional block diagram which shows the whole structure of a motor control apparatus same as the above. It is a flowchart which shows the operation | movement procedure of a motor control apparatus same as the above. It is a functional block diagram which shows the whole structure of the motor control apparatus which concerns on this Embodiment 2.

Embodiment 1 of the Invention
1 to 3 show a first embodiment of the present invention.

  FIG. 1 is a functional block diagram showing an overall configuration of the motor control system according to the first embodiment and an outline of the motor control device.

A motor control system 100 shown in FIG. 1 includes n (n> 1) motors 101 ₁ , 101 ₂ ,... 101 _n provided in a gaming machine such as a pachinko machine and the motors 101 ₁ , 101 _2. ,... 101 _n includes a motor control device 1 _</ b _> A for controlling the driving of _n and a serial bus 110. The motor control apparatus 1A is connected to the serial bus 110, respective motors _{101 1, 101 2, ··· 101} n is connected motor drive circuit _{102 1,} 102 2, through the · · · 102 _n to the serial bus 110 Has been. The motors 101 ₁ , 101 ₂ ,... 101 _n , the motor drive circuits 102 ₁ , 102 ₂ ,... 102 _n , and the motor control device 1A are disposed in one gaming machine body (not shown). . However, the motor control device 1A may be provided separately from the gaming machine main body (not shown), and one motor control device 1A is provided in each of a plurality of gaming machine main bodies (not shown). 101 ₁ , 101 ₂ ,... 101 _n may be controlled.

Motors 101 ₁ , 101 ₂ ,... 101 _n are stepping motors and the like, and their driving states are controlled by control signals supplied from motor control device 1A. Motor drive circuit _{102 1, 102 2, ··· 102} n are transistor circuits, etc., the motor _{101 1,} 101 2 on the basis of the control signal, current and the coil of · · · 101 _n, for each of the coils Turn the power on and off. As shown in FIG. 1, a motor drive circuit _{102 1, 102 2, ··· 102} n , the shift register _{103 1,} 103 2, and a · · · 103 _n. The shift registers 103 ₁ , 103 ₂ ,... 103 _n drive control of the motors 101 ₁ , 101 ₂ ,... 101 _{n using} motor control data (described later) converted from control signals in the crossbar 14 described later. The signal is converted back to a control signal.

  The motor control device 1A includes at least one CPU 21, and the operation of the motor control device 1A is controlled by processing of commands and data in the CPU 21. Further, the motor control device 1A includes a RAM 22 that functions as a work area in the processing of the CPU 21, a ROM 23 that stores various data, an EEPROM (not shown), a magnetic disk (not shown), and the like. The motor control device 1A may include various components for sequence control instead of the CPU 21, and the operation may be controlled by the operation of the configuration.

The serial bus 110 forms a path for supplying a control signal output from the motor control device 1A to each of the motors 101 ₁ , 101 ₂ ,... 101 _n . Specifically, the serial bus 110 includes a clock line 111, a data line 112, and a strobe line 113. The data line 112 transmits a control signal as a serial signal together with data, and the control signal is transmitted to each motor 101. ₁ , 101 ₂ ,... 101 _n .

Since the motor control device 1A and the motors 101 ₁ , 101 ₂ ,... 101 _n are connected by the serial bus 110, the control signal transmission cable can be reduced and disposed in a narrow area. even narrow area such as the interior of the not shown), the motor control device 1A and the motor _{101 1,} 101 2, can easily and reliably arranged wiring between · · · 101 _n.

FIG. 2 is a functional block diagram showing the overall configuration of the motor control device 1A of the first embodiment. As shown in the figure, the motor control device 1A includes n (n> 1) motor controllers 11 ₁ , 11 ₂ ,..., 11 _n as “motor control means”, a buffer 12, and “switching means”. ”, A crossbar 14 as“ signal adjusting means ”, and a PS converter 15. The motor controllers 11 ₁ , 11 ₂ ,..., 11 _n , the switching unit 13, the crossbar 14, and the PS conversion unit 15 are mainly configured by hardware logic, and the buffer 12 is formed in an arbitrary area in the RAM. The However, all or part of the motor controller 11, the buffer 12, the switching unit 13, the crossbar 14, and the PS conversion unit 15 may be functional means formed by processing of a program in the CPU 21.

Motor controller _{11 1,} 11 2, · · ·, 11 _n, each motor _{101 1,} 101 2, control signals for controlling the driving of · · · 101 _n, outputs, for example pulse signal or the like. Each of the motor controllers _{11 1,} 11 2, · · ·, 11 _n is the motor _{101 1,} 101 2, respectively, associated with one-to-one · · · 101 _n, one motor controller for example, a motor controller 11 _1, one motor, for example the driving of the motor 101 ₁ (via one motor drive circuit motor drive circuit 102 ₁ for example) to control. However, it may be configured such that one motor controller for example, a motor controller 11 ₁ performs a plurality of motors for example, a motor ₁₀₁ 1, 101 ₂ of the drive control, a plurality of the motor controller such as a motor controller ₁₁ 1, 11 ₂ are single it may be configured to perform the drive control of the motor, for example the motor 101 _1.

The following is for simplicity of explanation, unless particularly necessary to distinguish, the motor _{101 1, 101 2, ··· 101} n, a motor drive circuit _{102 1, 102 2, ··· 102} n, the shift register 103 _{1, 103} 2, ... 103 _n are motor 101, motor drive circuit 102, described as a shift register 103, the motor controller _{11 1,} 11 2,..., and 11 _n to as the motor controller 11.

  The buffer 12 forms a path for supplying the control signal output from the motor controller 11 to each motor 101. However, in the first embodiment, the buffer 12 stores motor control data (described later) formed based on the control signal. The buffer 12 has a double buffer structure including a first buffer unit 121 as a “buffer unit” and a second buffer unit 122 as a “buffer unit”. The first buffer unit 121 and the second buffer unit 122 have the same storage capacity and signal input / output speed. The first buffer unit 121 and the second buffer unit 122 each temporarily store motor control data generated based on a control signal output from the motor controller 11, and a FIFO (First In First Out). Thus, any one of the processes for outputting the stored motor control data is performed.

  The processing contents of the first buffer unit 121 and the second buffer unit 122 in the first embodiment are switched by the switching unit 13. When the motor control data is stored in the buffer unit where the motor control data is not stored, the stored motor control data is output. Specifically, for example, when the motor control data is stored in the first buffer unit 121 and the buffer for storing the motor control data is switched to the second buffer unit 122, the motor controller 11 sends the second buffer unit 122 to the second buffer unit 122. Simultaneously with storing the output motor control data, the motor control data stored in the first buffer unit 121 is output. At this time, the motor control data output from the first buffer unit 121 is sent to the serial bus 110 after being converted into serial data in the PS conversion unit 15 described later.

  As described above, the buffer 12 in the first embodiment is formed in a part of the RAM, but may be formed in another storage medium such as an EEPROM.

  The switching unit 13 switches among the first buffer unit 121 and the second buffer unit 122 that stores the control signal. In the first embodiment, the control signal is stored in the first buffer unit 121 and the second buffer unit 122 in the form of motor control data converted in the crossbar 14.

  Specifically, the switching unit 13 performs processing in the first buffer unit 121 and the second buffer unit 122, that is, processing to store the input motor control data, and processing to output the stored motor control data. , Switch. In the first embodiment, the switching unit 13 switches a buffer for storing motor control data among the first buffer unit 121 and the second buffer unit 122 for each predetermined time zone. The time zone is set to be shorter than the time from the start of storing the motor control data to one of the first buffer unit 121 and the second buffer unit 122 until the capacity is stored. It is desirable.

  The switching unit 13 has various functions necessary for determining the switching timing between the first buffer unit 121 and the second buffer unit 122. Specifically, in the first embodiment, the time from the start of accumulation of motor control data to each of the first buffer unit 121 and the second buffer unit 122 until a predetermined time elapses, that is, motor control data. Has a timer function or the like for measuring the time for switching the buffer unit for storing. If the switching timing between the first buffer unit 121 and the second buffer unit 122 is determined, the free capacity of the first buffer unit 121 and the second buffer unit 122 and the recorded motor control data (or motor control data and other data). ), The switching unit 13 has a function of detecting the free capacity of the first buffer unit 121 and the second buffer unit 122.

  The crossbar 14 has a function of adjusting and unifying differences in control signals output from the respective motor controllers 11. The control signal is adjusted by the crossbar 14 so that the standard of the control signal output from each motor controller 11 is unified, and the control signals output from the plurality of motor controllers 11 are transferred to the common serial bus 110. Even during transmission, desired control can be performed on the desired motor 101 by each control signal without causing collision between the control signals and malfunction of the motor 101.

  The crossbar 14 has a function of converting the control signal output from the motor controller 11 into motor control data that can be stored in the first buffer unit 121 and the second buffer unit 122.

  As described above, the motor control data adjusted by the crossbar 14 is reconverted into a control signal that can drive each motor 101 in the shift register 103 of the motor drive circuit 102.

  The PS conversion unit 15 has a function of converting an input parallel signal into a serial signal and outputting the serial signal. In the first embodiment, the PS control unit 15 receives motor control data generated based on the control signal output from each motor controller 11, and converts the motor control data into serial data. Then, the motor control data as serial data is output to the data line 112 of the serial bus 110.

  Next, the operation of the first embodiment will be described.

  FIG. 3 is a flowchart showing a processing procedure of the motor control device 1A according to the first embodiment. A processing procedure will be described with reference to FIG.

  First, when the motor drive level fluctuates or when it is desired to fluctuate the motor drive level (step S1), a control signal is output from the motor controller 11 (step S2), and the crossbar 14 adjusts the control signal. To unify all control signals (step S3). At this time, the crossbar 14 also performs processing for converting the control signal into motor control data. The motor control data adjusted and converted in the crossbar 14 is stored in one buffer unit, for example, the first buffer unit 121 (step S4). In the following description of the procedure, the first buffer unit is referred to as the first buffer unit. This will be described as 121.

  The switching unit 13 measures the time during which the process of step S4 is performed, and when a predetermined time has elapsed since the start of the process of step S4, the switching unit 13 determines the bandwidth used for the serial bus 110 and the data storage status of the first buffer unit 121. Check. As a result, if data not yet output is stored in one buffer unit, for example, the first buffer unit 121, and the usage amount of the serial bus 110 is within the band (“Yes” in step S5), the switching unit 13 switches the buffer unit for storing the motor control data from one buffer unit such as the first buffer unit 121 to the other buffer unit such as the second buffer unit 122 (step S6). In the following description of the procedure, the other buffer unit is described as the second buffer unit 122.

  After the process in step S6, the motor control data is stored in the second buffer unit 122 and the motor control data is output from the first buffer unit 121 (step S7). The motor control data output from the first buffer unit 121 is converted into serial data by the PS conversion unit 15 and serially output to the data line 112 of the serial bus 110 (step S8). The serially output motor control data is reconverted into a control signal in the shift register 103 of the motor drive circuit 102 and supplied to the motor 101, thereby controlling the driving of the motor 101.

  Step S8 continues while motor control data exists in the first buffer unit 121 (“Yes” in step S9).

  On the other hand, in step S5, when non-output motor control data is stored in the first buffer unit 121 and the usage amount of the serial bus 110 exceeds the band (“No” in step S5), the switching unit. The switching of the buffer unit 13 (step S6) is not performed, and the motor control data adjusted and converted in the crossbar 14 is continuously stored in the first buffer unit 121. Then, the non-output motor control data stored in the first buffer unit 121 is merged with the motor control data newly stored in the first buffer unit 121 in the next processing of steps S1 to S4 (step S10). After the next buffer switching (step S6), the merged motor control data is output as serial data to the serial bus 110 (steps S7 to S9).

  Whether there is no unoutput motor control data in step S9 (“No” in step S9), or the processing procedure ends after steps S5 to S10.

  As described above, in the first embodiment, among the first buffer unit 121 and the second buffer unit 122, and the first buffer unit 121 and the second buffer unit 122 disposed in the path between the motor controller 11 and the motor 101. And a switching unit 13 that switches a buffer that stores a control signal (motor control data), and the switching unit 13 stores a control signal among the first buffer unit 121 and the second buffer unit 122 at an arbitrary timing. By switching the one, the control signal output from the motor controller 11 is stored in one of the first buffer unit 121 and the second buffer unit 122, and the control signal stored in the other is output. The control signal output from the motor controller 11 is temporarily sent to the first buffer unit 121 or the second buffer unit 1. 2 to be stored, it is a large amount of control signals to the serial bus 110 to suppress a situation that flows at a time. In addition, the first buffer unit 121 and the second buffer unit 122 are switched, and the storage of the control signal in one of the first buffer unit 121 and the second buffer unit 122 and the output from the other are continuously performed simultaneously. Can be done. Therefore, it is possible to suppress a situation in which a large amount of signals flow into the serial bus 110 at a time within a short time and signal loss or the like occurs in the serial bus 110.

  Accordingly, it is possible to provide the motor control device 1A that can accurately drive the plurality of motors 101 connected to the serial bus 110 regardless of the amount of the control signal.

  In the first embodiment, the switching unit 13 switches the first buffer unit 121 and the second buffer unit 122 that store the control signal for each set arbitrary time zone, thereby switching the first buffer unit 13 and the second buffer unit 122. Of the buffer unit 121 and the second buffer unit 122, the one that stores the control signal can be switched at a constant period, and the switching of the first buffer unit 121 and the second buffer unit 122 can be performed easily and easily. .

  In the first embodiment, the buffer 12 is a double buffer having the first buffer unit 121 and the second buffer unit 122, thereby minimizing the number of buffers and reducing the consumption of resources such as memory. Using the first buffer unit 121 and the second buffer unit 122 in sequence, accumulation of control signals in the buffer 12 and output from the buffer 12 can be performed simultaneously and continuously.

  In the first embodiment, since the crossbar 14 is provided, adjustments such as unifying the standard of control signals output from the respective motor controllers 11 are performed, and the control signals output from the plurality of motor controllers 11 are controlled. Can be transmitted to the desired motor 101 using the respective control signals.

[Embodiment 2 of the Invention]
FIG. 4 shows a second embodiment of the present invention.

  In the second embodiment, the number of buffers 12 of the motor control device 1B is m (m> 2) first buffer units 121, second buffer units 122,... M-th buffer unit as “buffer means”. The ring buffer configured by 12 m is different from that of the first embodiment, and the other configuration is the same as that of the first embodiment of the invention.

  In the second embodiment, when the control signal is stored in the buffer 12, the buffer unit that stores the motor control data generated based on the control signal for each fixed time period is the first buffer unit 121, The second buffer unit 122 is switched to the m-th buffer unit 12m. When the time for storing the motor control data in the m-th buffer unit 12m elapses for a certain time, the motor control data is stored again in the first buffer unit 121. Hereinafter, the second buffer unit 122,. A buffer unit for storing control data is used in a circulating manner.

  As described above, in the second embodiment, the first buffer unit 121, the second buffer unit 122... The m-th buffer unit 12m are ring buffers, so that a plurality of buffers are sequentially used to control signals (motor control). Data) can be stored and output at high speed.

  In each of the above-described embodiments, the switching unit 13 is configured to switch a buffer, for example, the first buffer unit 121 that stores motor control data for each set arbitrary time zone, to another buffer, for example, the second buffer unit 122. However, the present invention is not limited to this, and any timing may be used as long as switching is possible. For example, the switching unit 13 has a function of detecting the free capacity of the first buffer unit 121 and the second buffer unit 122 and the amount of recorded motor control data (or motor control data and other data). 3, the motor control data (or motor control data and other data) is stored in an arbitrary amount of buffer, for example, the first buffer unit 121 up to an arbitrary amount, for example, the capacity. Even when it is detected, the buffer unit for storing the motor control data is switched from one buffer unit to another buffer unit, for example, from the first buffer unit 121 to the second buffer unit 122. Good. With such a configuration, switching of the buffer unit for storing the motor control data, for example, switching from the first buffer unit 121 to the second buffer unit 122, the capacity of the first buffer unit 121 or the second buffer unit 122 is performed. Alternatively, it can be performed depending on the amount of motor control data stored in the first buffer unit 121 or the second buffer unit 122. Therefore, the number of times of switching between the first buffer unit 121 and the second buffer unit 122 can be minimized.

  In each of the above embodiments, the motor control data is always stored in only one buffer unit, for example, the first buffer unit 121. However, the present invention is not limited to this. The buffer unit 121 and the second buffer unit 122 may store the motor control data at the same time. However, in this case, it is desirable that three or more buffer units are provided, or that each buffer unit can store and output motor control data simultaneously.

In the above embodiments, motor control data as serial data transmitted through the serial bus 110 is supplied to all the motors 101 ₁ , 101 ₂ ,... 101 _n connected to the serial bus 110. sell, but the motor control data, may be provided a configuration for the same as those supplied only virtually certain motor, for example the motor 101 _1. For example, in the adjustment of the control signals in the cross bar 14, a control signal output from any of the motor controller for example, a motor controller 11 _1, each of the motors ₁₀₁ 1, which is supplied via the serial bus 110, ₁₀₁ 2, ... , 101 out of _n, the After setting to drive any motor, for example only the motor 101 ₁ may be configured to output to the serial bus 110.

  Note that each of the above-described embodiments is an exemplification of the present invention, and it is needless to say that the present invention is not limited to the above-described embodiments.

1A, 1B ... Motor control device 11, 11 ₁ , 11 ₂ , ... 11 _n ... Motor controller (motor controller)
12 ... Buffer 13 ... Switching unit (switching means)
14: Crossbar (signal adjustment means)
101, 101 ₁ , 101 ₂ ,... 101 _n ... Motor 110... Serial bus 121.
122 ... Second buffer section (buffer means)
12m ... mth buffer section (buffer means)

In order to achieve such an object, the invention described in claim 1 is a motor control device for controlling the driving states of a plurality of motors connected to a serial bus, and the control for controlling the driving states of the motors. A plurality of motor control means for outputting a signal; a plurality of buffers arranged in a path between the motor control means and the motor; and a switching means for switching the buffer for storing the control signal among the plurality of buffers. The switching means confirms the storage state of the control signal in the buffer and the use band of the serial bus at an arbitrary timing, and the control signal is stored in the buffer as a result of the confirmation. wherein, when the bandwidth use of a serial bus is within a predetermined band, switch the buffer for storing the control signal in conjunction with, the system Signal with stores the control signal outputted from the motor control means on at least one of the buffer is not stored, the control signals other than said at least one said buffer is stored from the buffer stored the to output a control signal, characterized in Rukoto.
The invention according to claim 2 is a motor control device that controls the driving state of a plurality of motors connected to a serial bus, and a plurality of motor controls that output a control signal for controlling the driving state of the motor. Means, a plurality of buffers disposed in a path between the motor control means and the motor, a switching means for switching the buffer for storing the control signal among the plurality of buffers, the motor control means, and the A signal adjusting unit that adjusts and unifies the difference between signals output from the respective motor control units, and the switching unit stores the control signal at an arbitrary timing. And the control signal output from the motor control means is stored in at least one of the buffers, and at least the Characterized in that to output the control signal stored from the buffer other than the one of the buffer.

According to a third aspect of the present invention, in addition to the configuration according to the first or second aspect , the switching unit switches the buffer for storing the control signal for each set arbitrary time zone. .

According to a fourth aspect of the present invention, in addition to the configuration according to the first or second aspect , the switching means controls the control when the control signal is stored up to an arbitrary amount for the at least one buffer. The buffer for storing a signal is switched.

According to a fifth aspect of the present invention, in addition to the structure according to any one of the first to fourth aspects, the buffer is a double buffer.

According to a sixth aspect of the present invention, in addition to the structure according to any one of the first to fourth aspects, the buffer is a ring buffer.

The invention according to claim 7 is a plurality of motor control means for outputting a control signal for controlling the driving state of the motor, a plurality of buffers disposed in a path between the motor control means and the motor, A motor control apparatus comprising: a switching unit that switches the buffer that stores the control signal among the plurality of buffers; and a motor control method that controls a driving state of the plurality of motors connected to a serial bus. In the switching means , at any timing, the storage state of the control signal in the buffer and the use band of the serial bus are confirmed, and as a result of the confirmation, the control signal is stored in the buffer and the control signal is stored in the buffer. If the bandwidth use of a serial bus is within the predetermined band, switch the buffer for storing the control signals, before Together with the control signal and stores the control signal outputted from the motor control means on at least one of the buffer is not stored, the control signals other than said at least one said buffer is stored from the buffer stored The control signal is output.

According to the first and seventh aspects of the present invention, a plurality of buffer means disposed in a path between the motor control means and the motor, and a buffer means for storing a control signal among the plurality of buffer means. Switching means for switching, the switching means switches the buffer means for storing the control signal at an arbitrary timing, causes the at least one buffer means to store the control signal output from the motor control means, and at least one buffer. By outputting the control signal stored in the buffer means other than the means, the control signal output from the motor control means is temporarily accumulated in the buffer means, and a large amount of control signals flow into the serial bus at once. Can be prevented. Further, by switching a plurality of buffer means, it is possible to continuously store the control signal in the buffer means and output from the buffer means simultaneously. Therefore, it is possible to suppress a situation in which a large amount of signals flow into the serial bus at a time within a short period of time and control signals are lost in the serial bus. Accordingly, it is possible to provide a motor control device that can be easily disposed on a small site and can prevent a large amount of control signals transmitted from the motor controller in a short time from exceeding the bandwidth of the communication device.
According to the second aspect of the invention, since the signal adjusting means is provided, adjustments such as unifying the standard of the control signal output from each motor control means are performed, and the signals are output from the plurality of motor control means. Even when the control signals are transmitted through the common serial bus, the desired motor can be controlled by the respective control signals.

According to the third aspect of the present invention, the switching means switches the buffer means for storing the control signal at regular intervals by switching the buffer means for storing the control signal for each set arbitrary time zone. Therefore, the buffer means can be switched easily and easily.

According to the invention described in claim 4 , the switching means switches the control signal to the at least one buffer means by switching the buffer means for storing the control signal when the control signal is stored up to an arbitrary amount. The buffer means to be stored can be switched depending on the capacity of the buffer means and the amount of the control signal stored in the buffer means, and the number of times of switching the buffer means can be minimized.

According to the fifth aspect of the present invention, since the buffer means is a double buffer, control is performed by sequentially using a plurality of buffer means while minimizing the number of buffer means and reducing the consumption of resources such as memory. The accumulation of the signal in the buffer means and the output from the buffer means can be performed simultaneously and continuously.

According to the sixth aspect of the present invention, since the buffer means is a ring buffer, a plurality of buffer means can be sequentially used to accumulate and output signals at high speed.

The invention according to claim 7 is a plurality of motor control means for outputting a control signal for controlling the driving state of the motor, a plurality of buffers disposed in a path between the motor control means and the motor, A motor control apparatus comprising: a switching unit that switches the buffer that stores the control signal among the plurality of buffers; and a motor control method that controls a driving state of the plurality of motors connected to a serial bus. In the switching means , at any timing, the storage state of the control signal in the buffer and the use band of the serial bus are confirmed, and as a result of the confirmation, the control signal is stored in the buffer and the control signal is stored in the buffer. If the bandwidth use of a serial bus is within the predetermined band, switch the buffer for storing the control signals, before Together with the control signal and stores the control signal outputted from the motor control means on at least one of the buffer is not stored, the control signals other than said at least one said buffer is stored from the buffer stored The control signal is output.

Claims (8)

A motor control device for controlling the driving states of a plurality of motors connected to a serial bus,
A plurality of motor control means for outputting a control signal for controlling the driving state of the motor;
A plurality of buffers disposed in a path between the motor control means and the motor;
Switching means for switching the buffer for storing the control signal among the plurality of buffers,
The switching unit switches the buffer for storing the control signal at an arbitrary timing, stores the control signal output from the motor control unit in at least one buffer, and other than the at least one buffer. A motor control device that outputs the control signal stored in the buffer.   The motor control device according to claim 1, wherein the switching unit switches the buffer that stores the control signal for each set arbitrary time zone.   2. The motor control according to claim 1, wherein the switching unit switches the buffer for storing the control signal when the control signal is stored up to an arbitrary amount with respect to the at least one buffer. apparatus.   The motor control device according to claim 1, wherein the buffer is a double buffer.   The motor control device according to claim 1, wherein the buffer is a ring buffer.   6. A signal adjusting means for adjusting and unifying differences in signals output from the respective motor control means between the motor control means and the buffer. The motor control apparatus as described in any one. A plurality of motor control means for outputting a control signal for controlling the driving state of the motor;
A plurality of buffers disposed in a path between the motor control means and the motor;
A motor control apparatus comprising: a switching unit that switches the buffer that stores the control signal among the plurality of buffers; and a motor control method that controls a driving state of the plurality of motors connected to a serial bus. ,
The switching unit switches the buffer for storing the control signal at an arbitrary timing, stores the control signal output from the motor control unit in at least one buffer, and other than the at least one buffer. A motor control method comprising causing the control signal stored in the buffer to be output.   A gaming machine comprising the motor control device according to any one of claims 1 to 6.

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