JP2014228900A - Motor drive device and method for checking operation thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a burden of an expert of an electric system when constructing an entire system including a motor drive device.SOLUTION: A motor drive device has a first mode that receives a motor drive signal from a PLC 4 to perform drive control of a motor, and a second mode that ignores the motor drive signal from the PLC 4. A mode changeover can be performed with a mode changeover switch 128. The device further has a mode selection section with which at least a JOG mode can be selected for actuating the motor according to operation of a user when being the second mode, and the device has a display section 102 for displaying that the device is in the JOG mode when the JOG mode is selected with the mode selection section, and an operation section 106 for actuating the motor according to the operation of the user when the JOG mode is selected with the mode selection section.

Description

  The present invention generally relates to a motor drive device that is connected to a PLC and controls driving of the motor in cooperation with the PLC, and an operation confirmation method thereof.

  Patent Document 1 discloses a typical motor driving device (servo amplifier). This type of motor driving apparatus is called in the industry by terms such as a motor driver, a servo driver, a motor amplifier, and a servo amplifier. The motor driving device disclosed in Patent Document 1 will be described. The motor driving device has a housing in which a terminal block and a port for connecting to an external device are arranged so as to be accessible to the outside. And the method of performing the setting and the change of the parameter memorize | stored in the motor drive apparatus with the personal computer which is an external apparatus provided with the display part, and the parameter simple change apparatus is employ | adopted.

  The parameter simple change device includes a 7-segment display or a dot matrix display, and an operation unit including an up / down key, a registration key, and the like.

  The invention of Patent Document 1 manages whether the number of parameters increases as servo amplifiers (motor amplifiers) become more sophisticated and functional, and the setting values of these many parameters have been changed from the values at the time of shipment. In view of the current situation that is difficult to do, a display method using a simple parameter changing device has been proposed.

  The motor drive device controls the motor. The entire system including the motor includes a machine incorporating the motor and a PLC which is a host device of the motor driving device. When constructing such a system, it is necessary for electrical experts and mechanical experts to work together. For example, setting various parameters of the motor drive device requires specialized knowledge of the electrical system, and it is necessary to actually operate the machine to determine the suitability of the set parameters. Check the suitability of the machine operation. In addition, expertise in mechanical systems is required.

  As can be seen from Patent Document 1, the conventional motor drive device is based on the basic standpoint of enhancing its convenience for engineers who have expertise in electrical systems. Functional development has been underway.

JP 2008-197898 A

  Since the control panel on which the motor driving device is installed tends to be downsized from the viewpoint of space saving, the development of the motor driving device in the future is expected to be directed toward downsizing. In other words, downsizing is required in addition to higher performance and higher functionality.

  Under such circumstances, the inventors of the present application have come up with the present invention as a result of observing what work the motor driving device is accompanied on site. As described above, when constructing the entire system including the motor drive device, it is necessary to work together with specialized expertise of the electrical system and specialized knowledge of the mechanical system. Of course, if one person has both electrical and mechanical expertise, there is no problem in the development position of the conventional motor drive device, but it is unrealistic to demand this widely.

  As described in Patent Document 1, the motor driving device needs to be set with many parameters. Further, specialized knowledge of the electric system is required if the motor drive device is mainly viewed, such as connection settings with the PLC, which is the host device, and settings related to the operation of the motor drive device. However, this is a particular problem when constructing the entire system. However, when setting several parameters related to the operation of the motor to be controlled, adjustment of the machine in which this motor is incorporated is required. There are many. A typical example is whether the machine is stopped at an appropriate position at the stop position of the motor, or whether the operating speed of the motor is overloading the machine. In such a case, joint work of electrical experts and mechanical experts is necessary.

  An object of the present invention is to provide a motor drive device that can reduce the burden on an electrical expert when an entire system including the motor drive device is constructed.

  It is a further object of the present invention to allow a mechanical expert to check the operation of the motor, that is, the operation of the apparatus incorporating the motor, in the construction of the entire system including the motor drive device. It is an object of the present invention to provide a motor driving device and an operation confirmation method that can be easily performed without bothering.

The above technical problem is, according to one aspect of the present invention,
A motor drive device connected to a motor and a host device, receiving a motor drive signal from the host device and performing drive control of the motor,
A first mode in which a motor drive signal from the host device is received and the motor drive control is performed; and a second mode in which the motor drive signal from the host device is ignored. And a mode changeover switch for selectively switching between the second mode,
A mode selection unit capable of selecting at least a JOG mode for operating the motor in response to a user operation when in the second mode;
A display unit for displaying that the motor driving device is currently in the JOG mode when the JOG mode is selected by the mode selection unit;
This is achieved by providing a motor drive device having an operation unit capable of operating the motor in accordance with a user operation when the JOG mode is selected by the mode selection unit.

  ADVANTAGE OF THE INVENTION According to this invention, when the expert of the machine incorporating the motor which is a control object of a motor drive device adjusts the said machine, it can operate a motor using said JOG mode. This operation is only an operation that can be dealt with satisfactorily without the expertise of the electric system of selecting the JOG mode while looking at the mode changeover switch and the display section. Therefore, the specialist of the machine to be installed can operate the motor using the motor driving device with his / her hand without bothering the hands of the expert of the electric system.

  In a preferred embodiment of the present invention, the motor is operated based on a user operation via the operation unit while the display unit displays that the current JOG mode is displayed. The display indicating that it is in the JOG mode may be displayed on the display unit by displaying characters or figures that can be intuitively recognized as being in the “JOG mode”, or when operating in the “JOG mode”. It may be a lighting means such as an LED or a light emitting means.

  In a preferred embodiment of the present invention, parameters for driving a motor operated in the JOG mode can be registered. This registration can be performed by operating the operation unit of the motor drive device. In other words, the personal computer can be registered without having to connect to the motor drive device. As a more preferred embodiment, a test operation for operating the motor based on the registered parameters can be performed. If the result of the test operation is good, the parameter can be set by operating the operation unit. In JOG mode, the motor operation according to the user's intention, the registration of parameters, and then the test operation according to the registered parameters, and the series of operations for setting the parameters can be performed sufficiently even without being an electrical expert. . Therefore, when the specialist of the machine performs installation and adjustment of the machine that is substantially controlled by the motor driving device according to the present invention, the specialist of the mechanical system is required until the setting work without bothering the hands of the electrical specialist. Can be done with the hands of the house.

According to another aspect of the present invention, the aforementioned technical problem is
A first mode that receives a signal from the host device during operation and performs motor drive control; and a second mode that ignores a signal from the host device, and the first mode and the first mode are operated by a user operation. A mode selector switch for selectively switching between two modes;
Connecting a motor driving device having a JOG mode selectable by the user in the second mode to a motor to be controlled;
When the second mode and the JOG mode is selected, the user operates the operation unit to operate the motor corresponding to the user's operation to perform alignment,
A step of registering parameters related to the alignment step by a user operating the operation unit;
This is achieved by providing a method for confirming the operation of the motor drive device, comprising the step of performing a test operation of the motor based on the registered parameters when in the second mode.

  Other objects of the present invention and the effects of the present invention will become apparent from the following detailed description of the preferred embodiments of the present invention.

It is the perspective view which looked at the several motor amplifier of the Example arrange | positioned at the control panel from diagonally forward. It is the perspective view which looked at the plurality of motor amplifiers of FIG. 1 from diagonally backward. It is a front view for demonstrating the structure of the front surface of the motor amplifier of an Example. It is a figure for demonstrating the connection of I / O type motor amplifier and PLC which is the high-order apparatus. It is a figure for demonstrating the connection of pulse train type motor amplifier and PLC which is the host device. It is a block diagram of an I / O type motor amplifier. It is a block diagram of a pulse train type motor amplifier. It is a figure for demonstrating an example of control of a motor amplifier. It is a figure for demonstrating an example of the connection method of several motor amplifier and PLC which is the high-order apparatus. It is a figure for demonstrating the other example of the connection method of several motor amplifier and PLC which is the high-order apparatus. It is a flowchart for demonstrating the transition of the display relevant to the various settings using the operation part provided in the motor amplifier of an Example. It is a figure for demonstrating the transition of the display in the setting mode of the origin return parameter which a user can set using the operation part of the motor amplifier of an Example. It is a figure for demonstrating the transition of the display in the setting mode of the system parameter which a user can set using the operation part of the motor amplifier of an Example. It is a figure for demonstrating the transition of the display in the parameter setting mode common to the some motor which a user can set using the operation part of the motor amplifier of an Example. It is a figure for demonstrating the several operation mode of the motor amplifier of an Example. It is a flowchart for demonstrating the flow of operation which can be performed using the operation part of the motor amplifier of an Example by a specific example. It is a figure for demonstrating one specific example of the content which can be performed by the teaching mode ("TEACH") and automatic mode ("AUTO") which can be switched with the mode change switch installed in the motor amplifier of an Example. It is a figure for demonstrating the other specific example of the content which can be performed by the teaching mode ("TEACH") and automatic mode ("AUTO") which can be switched with the mode change switch installed in the motor amplifier of an Example. It is a basic flowchart of the operation | work accompanied by the switching operation of the mode change switch installed in the motor amplifier of an Example. FIG. 10 is a transition diagram of display in the teaching mode (“TEACH”). FIG. 21 is a display transition diagram in the teaching mode (“TEACH”) following FIG. 20. FIG. 22 is a display transition diagram in the teaching mode following FIG. 21. It is a basic flow figure of control in automatic mode ("AUTO") at the time of operation. FIG. 10 is a transition diagram of display in a limited display mode that can be selected in an automatic mode (“AUTO”). FIG. 6 is a transition diagram of display in a full display mode that can be selected in an automatic mode (“AUTO”). It is a figure for demonstrating the display in the alarm mode, and its cancellation | release. It is a flowchart for demonstrating the example of control of the motor emergency stop in emergency. 7 is a flowchart for explaining a specific control example in which the operation of the mode changeover switch is disabled while the motor is operating in the automatic mode (“AUTO”). 7 is a flowchart for explaining a specific control example in which the operation of the mode changeover switch is disabled while the motor is operating in the JOG mode included in the teaching mode (“TEACH”). It is a front view for demonstrating the modification of the front structure of a motor amplifier.

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

  1-3 is a figure for demonstrating the external appearance of the motor drive device of an Example. FIG. 1 is a diagram for explaining an example in which a plurality of motor amplifiers 100 are arranged. Reference numeral 200 in FIG. 1 indicates a communication unit (details will be described later). The communication unit 200 supplies power to the plurality of motor amplifiers 100 and is also a driving power source for the motor 8. FIG. 2 is a diagram for explaining an example in which the motor amplifier 100 is assembled to the DIN rail 2 included in the control panel (not shown). As a method of assembling the motor amplifier 100 inside the control panel, the motor amplifier 100 may be fixed to the base without using the DIN rail 2. FIG. 3 is a front view for explaining the configuration of the front surface of the motor amplifier 100. As is well known, the motor amplifier 100 mounted on the control panel is connected to a PLC (corresponding to a CPU unit 4 to be described later) which is a host device. The setting of the PLC is performed using a personal computer connected to the PLC. The PLC receives signals from various sensors and supplies command signals to the motor amplifier 100 in accordance with a control program created by a ladder diagram.

  The motor amplifier 100 of the embodiment incorporates a positioning function to be described later, and has a function that allows the user to set main parameters with the motor amplifier 100 without using a personal computer by providing an operation unit operated by the user. doing. Furthermore, the motor amplifier 100 is designed with the aim of minimizing the operations required of the user. Furthermore, it is aimed to avoid complication of setting work, in other words, to make the motor amplifier 100 usable immediately by setting the minimum necessary parameters with simple operation of the user while enhancing the user interface. Designed.

Front configuration of motor amplifier (Figs. 1 and 3) :
Referring to FIGS. 1 and 3, the motor amplifier 100 has a display unit 102, which occupies a large area with respect to the substantially rectangular front surface of the motor amplifier housing. A person skilled in the art will notice that the motor amplifier 100 is extremely downsized compared to the prior art by looking at the display portion 102 that occupies this major portion, and is relatively large. It will be noted that the display unit 102 is provided. In addition, the substantially rectangular front surface of the motor amplifier housing has a long side in the vertical direction and a short side in the left-right direction, and the length of the short side is approximately one half or less of the length of the long side. is there. Thus, the motor amplifier 100 according to this embodiment has a slim shape in the left-right direction (width direction).

  The motor amplifier 100 has a rectangular parallelepiped shape, and is installed in a vertically placed state on the control panel. Therefore, the configuration of the substantially rectangular front surface will be described using the words “upper and lower” with the installation state on the control panel in mind. Referring to FIG. 3, display unit 102 has a plurality of divided display areas 104. Specifically, the display unit 102 includes a long first display area 104a and a small rectangular second display area 104b. The first display area 104a has a long rectangular shape extending from the lower part to the upper end part on one side of the front surface of the motor amplifier. The second display area 104b has a short rectangular shape located at the middle portion in the vertical direction on the other side of the front surface of the motor amplifier. Of course, the second display area 104b may have substantially the same size as the first display area 104a. That is, the second display area 104b is arranged on the right side with respect to the first display area 104a. In the second display area 104b, a display for identifying the current operating state of the motor amplifier 100 and what the character string or character string displayed in the first display area 104a is related to is displayed. Is called. In short, the second display area 104b displays identification information for identifying the meaning of the numeric string displayed in the first display area 104a.

  The first display area 104a and the second display area 104b may be displays such as a liquid crystal display, an organic EL display, and a dot matrix display, but in the embodiment, a 7-segment display (individually displayed to display one character). A 7-segment display composed of 7 segments that can be turned on / off individually is employed. As shown in FIG. 1, the display of the long first display area 104a is horizontally oriented. The same applies to the second display area 104b. That is, characters such as numbers and letters are displayed horizontally, and a plurality of characters are arranged vertically. Referring to FIG. 1, the long first display area 104a has “1”, “2”, “3”, “4”, “5”, “6”, and “7” in order from top to bottom. Seven characters are displayed. This display means the numeric string “1234567” as an example of the display. Thus, by displaying each character horizontally and arranging a plurality of characters in the vertical direction, a 7-digit numerical value can be displayed in the narrow first display area 104a. In other words, the arrangement direction (vertical direction) of the plurality of characters is substantially orthogonal to the extending direction of the DIN rail 2 to which the plurality of motor amplifiers 100 are assembled, and the direction in which the plurality of motor amplifiers 100 are assembled. Both are substantially orthogonal. In other words, the arrangement direction (vertical direction) of the plurality of characters is substantially orthogonal to the connection direction in which the plurality of motor amplifiers 100 are connected.

  In other words, for example, if 7-digit numerical values are displayed side by side, the width of the front surface of the motor amplifier must be increased or the character to be displayed must be reduced. As a most preferable mode, it is preferable to additionally provide an additional display unit 116 capable of displaying “*” or “−” on the first display area 104a, that is, to the left of the above-mentioned numeric string “1234567”. The additional display unit 116 displays “*” when the position coordinate indicated by the numeric string “1234567” is larger than the displayable numerical value, and displays “−” when the coordinate is negative. Is displayed. For example, when the first display area 104a is configured by a liquid crystal display, the additional display unit 116 may be displayed on the liquid crystal display.

  Since the motor amplifier 100 is provided with the display unit 102 that occupies the main part of the front surface thereof, it is possible to display a numerical value having a large number of digits as described above, but this relatively large display unit 102 is used. The error display of the motor amplifier 100 can be displayed with a character string that makes the error contents intuitively understandable, for example, a character string such as “overRoad” (when 8 or more digits can be displayed) in the event of an overload. it can. Thereby, the user can grasp the contents of the error instantly. Conventionally, when an error occurs, a personal computer is connected to the motor amplifier 100 or PLC and the error content is displayed on the personal computer. However, in the embodiment, the error is not used without using the personal computer. The contents can be grasped intuitively.

  Of course, since the motor amplifier 100 is provided with the display unit 102 that occupies the main part of the front surface thereof, a numerical value having a large number of digits can be displayed. Can be displayed in many digits. The user can perform precise positioning while confirming the coordinate values and movement amounts with a large number of digits displayed on the display unit 102. For example, if only 4 digits can be displayed on the display unit 102, only rough positioning can be performed. However, if the display unit 102 can display five or more digits as in the motor amplifier 100 according to the present embodiment, positioning can be performed with high accuracy.

  Still referring to FIG. 3, the front surface of the motor amplifier also has a manual operation unit 106 at the lower end thereof. The operation unit 106 includes a push-type SET / TEST key 110, a push-type mode key (M key) 112, and four push-type direction keys 114. The up key included in the direction key 114 is indicated by reference numeral 114a, the down key is indicated by reference numeral 114b, the right key is indicated by reference numeral 114c, and the left key is indicated by reference numeral 114d. You may employ | adopt a cross-shaped key and a JOG stick as a direction key. Various settings can be made using the keys 110, 112, and 114 constituting the operation unit 106. For example, when the system is assembled and aligned, as will be described in detail later, the right key 114c or the left key 114d is pressed down and the motor 8 is rotated clockwise or counterclockwise to align the position coordinates of a desired position. And the amount of movement can be set. The up / down keys 114a and 114b are used to increase / decrease (increase / decrease) the numerical value displayed on the display unit 102, for example. Of course, the various keys 110, 112, and 114 of the operation unit 106 may be configured by a touch panel, and the touch panel may be integrated with the display unit 102 described above.

  A stop key 118 operated by the user is provided on the front surface of the motor amplifier. The stop key 118 is composed of a push-type button, and is arranged at the upper left corner of the front surface of the motor amplifier. That is, the stop key 118 is arranged at the upper left corner surrounded by the first display area 104a and the second display area 104b.

  The stop key 118 is a dedicated switch that has a function of urgently stopping the motor to be controlled in an emergency, as will be described later, and specialized for urgently stopping the motor. As a modification, the motor emergency stop function may be additionally assigned to an arbitrary key such as the mode key 112, for example. In order to avoid erroneous operation, the stop key 118 is preferably arranged at a position far away from the operation unit 106. That is, the front surface of the housing has a longitudinal direction as a longitudinal direction, and the stop key 118 and the operation unit 106 are separated from each other along the longitudinal direction. As a modified example of the arrangement position of the stop key 118, it may be arranged at the center in the width direction of the upper end of the front surface of the motor amplifier, or may be arranged at the upper right corner. Since the stop key 118 is a switch that should be operated only in an emergency, the color of the stop key 118 is different from the various keys that constitute the operation unit 106 (for example, red that generally recognizes an emergency). It is preferable that the touch such as the appearance, the unevenness, and the like can be differentiated visually and tactilely from the various keys 110, 112, and 114 arranged on the operation unit 106.

  A relatively short second display area 104b having a lower end coincident with a height level of the lower end of the first display area 104a, which is located on the right upper portion of the front surface of the motor amplifier, that is, the first display area 104a A plurality of (six in this embodiment) system indicators 122 are arranged in a row along the first display area 104a in the upper right portion 120 surrounded by. The uppermost first indicator 122a is marked with the letters “SYS”. “SYS” means system. The character “ORG” is added to the second indicator 122b that is second from the top. “ORG” means the original position. The third indicator 122c third from the top is marked with “Pt1”. “Pt1” means the first position. The fourth indicator 122d from the top is marked with the letters “Pt2”. “Pt2” means the second position. The fifth indicator 122e from the top is marked with the letters “Pt3”. “Pt3” means the third position. A character “Pt4” is added to the bottom sixth indicator 122f. “Pt4” means the fourth position. The meaning of these first to fourth positions will be described later.

  A status indicator 124 is arranged at the upper right corner of the front surface of the motor amplifier, that is, at the top of the upper right portion 120. The status indicator 124 is lit in green when the motor amplifier 100 is operating normally. On the other hand, when an error occurs, it lights up or blinks in red and issues an alarm to the user.

  A rotary switch 126 for displaying and setting the station number given to the motor amplifier 100 is disposed immediately below the status indicator 124. A mode changeover switch 128 is disposed between the station number display / setting rotary switch 126 and the second display area 104b in the upper right portion 120 on the front surface of the motor amplifier. The mode switch 128 is a manual switch for switching the operation and display mode of the motor amplifier 100, and can be selectively switched between at least two different modes by a user operation. The mode changeover switch 128 may be an arbitrary switch such as a push-push type button switch or a touch panel type display. In this embodiment, a slide type two-position switch is adopted. As will be described in detail later, the user can selectively switch between the teaching mode (“TEACH” mode) and the automatic mode (“AUTO” mode) by operating the mode switch 128.

  In the teaching mode (“TEACH” mode), the motor amplifier 100 is disconnected from the host device PLC. On the other hand, in the automatic mode, the motor amplifier 100 is in a state of receiving a command from the PLC. In order to avoid an erroneous operation, it is preferable to employ a switch mechanism with a clear intention of the user. From this viewpoint, it is suitable to employ a slide switch as the mode changeover switch 128, but the present invention is not limited to this. . For example, the mode switching may be performed only when a “long press” is performed in which the push button switch is pressed for 2 seconds or longer, for example. As another example, mode switching may be performed by simultaneously operating two keys.

  After all the settings are completed, the motor amplifier 100 operates based on the set parameters by setting the mode switch 128 to the automatic mode (“AUTO”) for operation. Therefore, the automatic mode can be called the operation mode. On the other hand, when the operation position of the motor 8, that is, the position and movement amount of the member driven by the motor 8, or the setting change is necessary, the mode changeover switch 128 is switched to the teaching mode ("TEACH" mode). In this state, the right key 114c or the left key 114d is pressed down and the motor 8 is aligned while rotating clockwise or counterclockwise. In the course of this setting operation, the current coordinates and the set coordinates (movement amount) are displayed in the first display area 104a.

  As a preferred mode, it is preferable to display the current motor speed which changes from moment to moment. In the embodiment, the motor speed is displayed by the indicator group 130 arranged in parallel to the first display area 104a on the left side of the long first display area 104a. Each indicator constituting the indicator group 130 (eight indicators in this embodiment) displays the motor speed in a bar format. That is, the display of the indicator group 130 is controlled so that the number of indicators that are lit changes according to the motor speed.

Type of motor amplifier 100 (FIGS. 4 and 5) :
The motor amplifier 100 has two types of amplifiers 100a and 100b having substantially the same appearance. The first motor amplifier 100 (I / O) is called “I / O type” (FIG. 4), and the second motor amplifier 100 (pls) is called “pulse train type” (FIG. 5).

  The I / O type motor amplifier 100 (I / O) will be described with reference to FIG. 4. The I / O type motor amplifier 100 (I / O) is connected to the CPU unit 4 (generally PLC). The ON / OFF signal is received through the I / O unit 6 generated, a control signal (pulse train) is generated by the motor amplifier 100 (I / O), and this pulse train signal is supplied to the motor 8 to be controlled. The motor 8 rotates by an angle corresponding to the number of pulses in the pulse train. Here, the control program for the PLC unit constituting the CPU unit 4 of the host device is typically created in a ladder diagram as described above. The I / O type motor amplifier 100 (I / O) is designed to be optimized for the stepping motor, but can be applied to the servo motor substantially in the same manner. The same applies to the pulse train type motor amplifier 100 (pls).

  Since the stepping motor operates unilaterally upon receiving a command from the motor amplifier 100, an operation error called “step-out” is likely to occur, in which only the number of pulses commanded from the motor amplifier 100 is operated. It is known. In order to cope with this, stepping motors incorporating encoders have appeared. In this stepping motor with an encoder, feedback control can be performed based on a signal from the encoder. In the embodiment, the optimization design is performed with a stepping motor without an encoder as a control target. However, as an alternative, the optimization design may be performed with a stepping motor with an encoder as a control target. By optimizing the control for the stepping motor, the stepping motor can be stepped out and the current value supplied to the motor 100 can be optimized, and the heat generation of the motor can be reduced. Of course, the optimization design may be performed with the servo motor as the control target.

  Referring to FIG. 5, a system including a pulse train type motor amplifier 100 (pls) will be described. The positioning unit 10 connected to the CPU unit 4 causes the motor 8 to perform a desired operation based on parameters set by the user. It has a positioning function. The positioning function will be described taking the case where the motor 8 is a stepping motor as an example. The positioning function calculates the total number of pulse trains and the time interval between pulses included in the pulse train based on parameters set by the user. The pulse train signal generated by the positioning unit 10 is supplied to the motor amplifier 100 (pls). Upon receiving this pulse train signal, the motor amplifier 100 (pls) supplies a control signal (for example, a pulse train) to the motor 8 to be controlled. The detailed configuration and function of the positioning unit 10 will be described later.

Specific configurations of the I / O type motor amplifier 100 (I / O) and the pulse train type motor amplifier 100 (pls) (FIGS. 6 and 7) :
FIG. 6 is a block diagram of an I / O type motor amplifier 100 (I / O). FIG. 7 is a block diagram of a pulse train type motor amplifier 100 (pls). Elements common to both the I / O type and the pulse train type will be described with the same reference numerals.

  Referring to FIG. 6, an I / O type motor amplifier 100 (I / O) has an I / O interface 12 that receives a signal through an I / O unit 6 included in a PLC unit group. An ON / OFF signal is supplied to the control unit 14 via the interface 12. Signals are supplied to the control unit 14 from the operation unit 106 (the stop key 118: FIG. 3 in addition to the SET / TEST key 110, the mode key 112, and the direction key 114). The motor amplifier 100 (I / O) has a parameter storage unit 16, and various parameters stored in the parameter storage unit 16 are rewritten or supplied to the control unit 14 as necessary.

  The control unit 14 controls the entire motor amplifier 100 (I / O) (including the display area 104 (FIG. 3)) and performs various calculations. The control unit 14 also performs arithmetic processing for causing the motor 8 to be controlled to perform a desired operation in cooperation with the positioning command unit 18. The motor 8 may be a servo motor or a stepping motor. Referring to FIG. 8, when the motor 8 performs the illustrated operation at the point pt (n), the motor speed (for example, 100 pls / s) and the movement distance (rotation angle) (for example, 500 pls / s) set by the user. Depending on the acceleration / deceleration rate (for example, 10 pls / s / ms), the calculation processing necessary to define the operation of the motor 8 at the point X is performed. That is, as shown in FIG. 8, based on the hexagonal area data defined by the initial speed, the acceleration rate, the target speed, the deceleration rate, and the final speed, the motor 8 is adjusted so as to reach a moving distance equivalent to this area. An operation based on an operation process for operating is performed. The period of the pulse drive current supplied to the motor 8 is the motor speed.

  The positioning command unit 18 has a function of reading out necessary parameters from the parameter storage unit 16 and generating command information (for example, a pulse train) for causing the motor 8 to perform a desired operation based on the parameters set by the user. The command information generated by the positioning command unit 18 is supplied to the drive signal output unit 20. The motor 8 receives a pulse drive current from the drive signal output unit 20. The motor 8 performs the above operation by this pulse drive current.

  With continued reference to FIG. 6, the I / O type motor amplifier 100 (I / O) has an overheat detection unit 22. The overheat detection unit 22 includes a thermistor disposed inside the motor amplifier 100 (I / O). When the thermistor detects overheat inside the motor amplifier 100 (I / O), the control unit 14 immediately detects the motor 8. The operation is urgently stopped and an alarm is supplied to the host device (CPU unit 4).

  The configuration of the pulse train type motor amplifier 100 (pls) will be described with reference to FIG. 7. The positioning unit 10 connected to the CPU unit 4 of the host device has a positioning command unit 30 and a parameter storage unit 32. The positioning command unit 30 of the positioning unit 10 reads a desired parameter from the parameter storage unit 32 and generates command information for causing the motor 8 to substantially perform a desired operation. A pulse train signal corresponding to the command information generated by the positioning unit 10 is supplied to the control unit 14 of the motor amplifier 100 (pls). The pulse train signal supplied to the control unit 14 may be supplied to the drive signal output unit 20 as command information generated by the positioning command unit 18, or may be output as it is without passing through the positioning command unit 18. (In this case, the control unit 14 and the drive signal output unit 20 are electrically connected without the positioning command unit 18 being interposed).

  The I / O type motor amplifier 100 (I / O) and the pulse train type motor amplifier 100 (pls) will be described with reference to FIG. 6 and FIG. 7. The I / O type motor amplifier 100 ( In the system including (I / O) (FIG. 6), the following parameters are stored in the parameter storage unit 16 using the memory included in the motor amplifier 100 (I / O). That is, (i) parameters (coordinates or movement amounts) of one or a plurality of points Pt (n) for operating the motor 8, (ii) parameters for returning the origin of the motor 8, and (iii) system parameters are stored in the parameter storage unit 16. Remembered.

  The system parameters include the upper limit value of the operating current of the motor amplifier 100 (I / O). This upper limit value can be set by the user. The user can set the upper limit value of the operating current by designating a numerical value of, for example, 80% with respect to the maximum current value of the motor amplifier 100 (I / O) with the amount of heat generated in mind. The system parameter includes a stop current value. The stop current value means a hold current value of the motor amplifier 100 (I / O), that is, a current value for fixing the operation of the motor 8 so that the motor 8 does not rotate carelessly when the motor 8 is stopped. To do. The system parameters further include resolution. The resolution means the number of pulses necessary to rotate the motor 8 once (for example, the motor 8 rotates once with 10,000 pulses).

  The parameters (i) to (iii) can be arbitrarily set by the user by operating the operation unit 106 of the motor amplifier 100 (I / O). The operation for setting parameters using the operation unit 106 will be described in detail later. Of course, a configuration in which a personal computer (not shown) or a setting tool is connected to the motor amplifier 100 (I / O) and parameters are set by these external devices may be employed.

The control of the motor 8 by the I / O type motor amplifier 100 (I / O) will be described as an example with reference to FIG.
(1) A command for driving the motor 8 at the first point, for example, is supplied from the CPU unit 4 (PLC) of the host device to the motor amplifier 100 (I / O).
(2) The motor amplifier 100 (I / O) reads the parameter of the first point from the parameter storage unit 16 (FIG. 6), and command information for executing the motor operation of FIG. 8 based on the parameter of the first point. Is generated. This command information is sent to the drive signal output unit 20.
(3) The drive signal output unit 20 supplies a pulsed drive signal to the motor 8. As a result, the motor 8 performs the operation shown in FIG. 8, for example.

  The system including the pulse train type motor amplifier 100 (pls) will be described with reference to FIG. 7. The parameter storage unit 16 included in the pulse train type motor amplifier 100 (pls) stores the above system parameters (iii). The Other parameters (i) and (ii), that is, (i) “parameters of one or more points Pt (n) for operating the motor 8 (position coordinates and movement amounts)”, (ii) “motor 8 ”is stored in the parameter storage unit 32 (FIG. 7) of the positioning unit 10 positioned above the motor amplifier 100 (pls). The user can connect the personal computer to the PLC and store the above (i) and (ii) in the parameter storage unit 32 of the positioning unit 10 using this personal computer. As a modification, the parameters (i) and (ii) are stored in the parameter storage unit 32 of the positioning unit 10 using the operation unit 106 (FIG. 3) of the pulse train type motor amplifier 100 (pls). May be.

Still referring to FIG. 7, the system including the pulse train type motor amplifier 100 (pls) performs the following operation.
(1) The positioning unit 10 reads out, for example, the parameter of the first point from the parameter storage unit 32 included in the positioning unit 10, and provides command information for executing the motor operation of FIG. 8 based on the parameter of the first point. Generate.
(2) When a command is supplied from the CPU unit 4 to the positioning unit 10 at a timing based on the ladder diagram of the CPU unit 4 (PLC), the positioning unit 10 sends the command information (pulse train) of the first point to the motor amplifier 100 (pls ).
(3) The control unit 14 of the motor amplifier 100 (pls) supplies an operation command to the drive signal output unit 20 based on the received pulse train. As this operation command, the continuous pulse received from the positioning unit 10 may be supplied to the drive signal output unit 20 as it is, or after shaping the pulse height or cycle, the shaped continuous pulse is supplied to the drive signal output unit 20. May be supplied.
(4) The drive signal output unit 20 supplies a pulsed drive signal to the motor 8. As a result, the motor 8 performs the operation shown in FIG. 8, for example.

  Generally, a plurality of motors 8 are controlled using a plurality of motor amplifiers 100. Generally, the names “1 axis”, “2 axes”,... Are used for the plurality of motors 8. More specifically, with regard to the device driven by the motor 8, a first motor (one axis) responsible for movement in the X-axis direction, a second motor (two axes) responsible for movement in the Y-axis direction, and Z Three motors 8 of a third motor (three axes) responsible for movement in the axial direction are mounted on the apparatus, and each motor 8 is controlled by a motor amplifier 100 corresponding thereto.

  A method of supplying commands to the plurality of motor amplifiers 100 from the CPU unit 4 which is the host device will be described with reference to FIG. 9 showing an example of the I / O type motor amplifier 100 (I / O). The O unit 6 and each motor amplifier 100 (I / O) may be individually connected, and the command of the CPU unit 4 may be supplied for each motor amplifier 100 (I / O) (FIG. 9). As another method, as shown in FIG. 10, a communication unit 200 related to a plurality of motor amplifiers 100 (pls) is prepared and serial communication is performed between the communication unit 200 and the motor amplifier 100 (pls). It may be adopted. The user can construct a motor amplifier system by only obtaining the communication unit 200 without performing troublesome communication settings and confirmation.

  Further, since the I / O type motor amplifier 100 (I / O) has a positioning function, the CPU unit 4 as its host device simply supplies a motor with a relatively simple command to the motor amplifier 100. 8 controls can be executed. Therefore, complication of the control program of the CPU unit 4 can be avoided.

First display transition (FIGS. 11 to 14) :
Regarding various parameter settings using the operation unit 106 included in the motor amplifier 100, FIG. 11 shows “setting of parameters relating to origin return” “setting of system parameters” “common setting of point parameters” “setting of parameters at each point” FIG. 6 is a diagram for explaining transition of each setting item.

  When a mode key 112 (M key) that constitutes a part of the operation unit 106 is depressed, the motor amplifier 100 enters a setting mode. First, the ORG indicator of the system indicator 122 is lit in red, for example. This ORG indicator means that the return to origin parameter can be set. It is preferable to display in the first display area 104a or the second display area 104b a character that can intuitively understand the meaning that the ORG indicator is lit.

  If, for example, the light key 114c included in the direction key 114 is depressed in this state, the SYS indicator is turned on. This SYS indicator means that system parameters can be set. Next, when the light key 114c is depressed, the first to fourth four-point indicators Pt1 to Pt4 are turned on. When all the four point indicators are lit, it means that a parameter common to all the points can be set. Along with the lighting of the four point indicators, it is preferable to display characters that can intuitively understand this meaning in the first display area 104a or the second display area 104b.

  Next, when the light key 114c is depressed, the first point indicator Pt1 is turned on. When the first point indicator Pt1 is lit, it means that the parameter relating to the first point Pt1 can be set. Along with the lighting of the first point Pt1, it is preferable to display in the first display area 104a or the second display area 104b characters that can intuitively understand this meaning.

  Next, when the light key 114c is depressed, the second point indicator Pt2 is turned on. When the second point indicator Pt2 is lit, it means that the parameter relating to the second point Pt2 can be set. Along with the lighting of the second point Pt2, it is preferable to display in the first display area 104a or the second display area 104b a character that can intuitively understand this meaning.

  Next, when the light key 114c is depressed, the third point indicator Pt3 is turned on. When the third point indicator Pt3 is lit, it means that the parameter relating to the third point Pt3 can be set. Along with the lighting of the third point Pt3, it is preferable to display characters that can intuitively understand this meaning in the first display area 104a or the second display area 104b.

  Next, when the light key 114c is depressed, the fourth point indicator Pt4 is turned on. When the fourth point indicator Pt4 is lit, it means that the parameter relating to the fourth point Pt4 can be set. Along with the lighting of the fourth point Pt4, it is preferable to display in the first display area 104a or the second display area 104b characters that can intuitively understand this meaning. Thus, the indicator of each point can be lit and displayed.

  It should be noted that each indicator of the system indicator 122 can be turned on in the opposite direction to the above transition by depressing the left key 114d which is the opposite direction to the right key 114c.

  For example, when setting the origin return parameter, the motor amplifier 100 can be shifted to the origin return parameter setting mode by depressing the SET / TEST key 110 (FIG. 3) while the ORG indicator is lit.

  For example, when the ORG indicator of the system indicator 122 is lit in red, for example, when the SET / TEST key 110 is depressed, the display is switched to the home return parameter setting mode. FIG. 12 is a diagram for explaining display transition in the origin return parameter setting mode. The display of the origin return parameter setting mode will be described with reference to FIG. 12. A desired parameter required for the origin return control can be selected by depressing the light key 114c. FIG. 12 is a flow showing display transition in the origin return parameter setting mode. The parameters relating to the origin return include at least the motor speed and the direction of the origin return operation, and preferably include the starting speed (corresponding to “initial speed” shown in FIG. 8), the acceleration rate, and the deceleration rate. By depressing the light key 114c, it is possible to switch to the next display. For example, when the acceleration rate parameter is displayed, the letters “Acc” are displayed in the second display area 104b (FIG. 3), and the numerical value of the currently set acceleration rate is displayed in the first display area 104a. The “DEc” regarding the deceleration rate, “SPd” regarding the motor speed, and “dir” regarding the origin return direction are displayed in the second display area 104b. The user can know which parameters can be set now by looking at the characters appearing in the second display area 104b. At the same time, it is possible to know the current setting contents by looking at the characters and numerical values displayed in the first display area 104a.

  When a desired item appears, the setting can be changed by depressing the SET / TEST key 110. Specifically, the numerical value displayed in the first display area 104a (FIG. 3) can be increased or decreased by using the up key 114a and the down key 114b. When the numerical value in the first display area 104a reaches a desired value, the setting of this value is completed by depressing the SET / TEST key 110 (FIG. 3).

  FIG. 13 is a diagram for explaining the transition of display in the system parameter setting mode. Configurable system parameters include operating current and system hold current, preferably overdrive peak current, overcurrent value, allowable overdrive time, overcurrent detection current value, allowable position deviation pulse number, motor selection Is included. Here, the “overdrive peak current” means a current that can flow to the motor beyond the rating. “Allowable overdrive time” means the time during which the overdrive peak current can be passed to the motor beyond its rating. “Allowable position deviation pulse number” means the maximum number of position deviation pulses that do not cause an excessive deviation error. “Motor selection” means that the user selects a motor size and the system automatically sets an operation current, a system hold current, and the like suitable for the selected motor. The operation for setting this system parameter is the same as the above-described origin return parameter setting.

  FIG. 14 is a diagram for explaining display transition in a common parameter setting mode at a plurality of points that can be set by the user. The common parameters at a plurality of points include the starting speed (initial speed) of the motor 8, a special operation, and a rotation angle shortcut. Here, the “special operation” means a special operation that does not use a point parameter, such as a palletizing operation, a pitch feed operation, and a rotation angle shortcut operation. “Turning around the rotation angle” means an operation of automatically selecting a direction with a small amount of movement from the current angle and rotating to a target coordinate. The operation in this point parameter common setting is the same as the above-described origin return parameter setting.

Overview of characteristic functions of motor amplifier 100 :
(1) Immediately after turning on the power to the motor amplifier 100, the motor can be rotated by operating the JOG key. The parameters required for the operation of the motor amplifier 100 are set to default values at the time of shipment. When the JOG key (the right key 114c or the left key 114d) is depressed immediately after the power is turned on, the motor 8 moves at a constant speed and the JOG key. If it is the operation direction, that is, the light key 114c, it moves to the right. Then, by aligning by operating the JOG key, the current position and movement amount can be registered as the point Pt (n).

  Here, the JOG operation is an operation for positioning the motor 8 in accordance with a user operation (manual operation) without designating the number of rotations (movement amount) at which the motor 8 rotates. In this embodiment, the motor 8 rotates while the user presses the right key 114c or the left key 114d. As another JOG operation, for example, a modification in which the rotation of the motor 8 is started when the user depresses the JOG operation start button and the rotation of the motor 8 is stopped when the user depresses the JOG operation end button. obtain. In short, the JOG operation is performed on the control unit 14 based on the user's operation via the operation unit 106 after the rotation start command of the motor 8 is issued to the control unit 14 based on the user's operation via the operation unit 106. It can also be said that the motor 8 rotates until the rotation stop command for the motor 8 is issued. The “JOG mode” to be described later is a mode that enables such a JOG operation.

(2) The motor amplifier 100 has (i) “speed mode” and (ii) “position mode” as operation modes (FIG. 15).
(3) The “speed mode” is used for control such as rotating the belt conveyor when a trigger signal is received from the PLC, for example. In this “speed mode”, the setting of the rotational speed of the motor 8 is important for the user. The user can set “the rotational speed of the motor 8” by operating the operation unit 106 of the motor amplifier 100.

  (4) Still referring to FIG. 15, the “position mode” includes two control modes. The first control mode is used, for example, in the case of repeatedly cutting a bar with a certain length. In the first control mode, a signal “Rotate for example 5000 pulses from the current position” is supplied to the motor 8. When this is called “relative position control”, in this relative position control, the setting of the number of rotations (movement amount) of the motor 8 is important for the user. The user can set “the number of rotations (movement amount) of the motor 8” by operating the operation unit 106 of the motor amplifier 100.

  (5) In the second control mode included in the “position mode”, a signal “move from the first point to the second point” is supplied to the motor 8. When this is called “absolute position control”, the motor 8 performs the operation described with reference to FIG. 8 in this absolute position control. The first point, the second point, and the nth point are displayed on the first display area 104a of the motor amplifier 100 by the user, and the user can set the coordinate value and movement amount of the nth point by the operation unit. Registration (parameter setting) can be performed by operating 106. As another method, the coordinates and movement amount of the point Pt (n) can be registered (parameter setting) by teaching described in the above (1).

  (6) The motor amplifier 100 has a manual switch, that is, a mode changeover switch 128, and the mode can be changed by operating the mode changeover switch 128 by the user. In this mode switching, the motor amplifier 100 is in the automatic mode (“AUTO”), that is, the operation mode at the first position of the switch 128. The motor 8 is controlled in this automatic mode. At the second position of the switch 128, the motor amplifier 100 switches to the teaching mode ("TEACH"). In this teaching mode, the motor amplifier 100 is disconnected from the PLC that is the host device, that is, the motor amplifier 100 does not accept a signal from the PLC. As described above, the motor amplifier 100 according to the embodiment includes the JOG mode in which the motor 8 is operated based on the user's operation. The command is input from the PLC during the JOG mode, and the command from the PLC is changed. Therefore, it is not preferable that the motor 8 starts to move regardless of the user's intention. In the motor amplifier 100 according to the embodiment, when switching to the teaching mode, the motor amplifier 100 is disconnected from the PLC, so that it can be promised that the motor 8 operates based only on the user's operation during the JOG operation.

  In the teaching mode, the user can adjust the position while visually confirming the actual movement, and can register the position data in the motor amplifier 100. Further, in the embodiment of the present invention in which the mode switching is performed by adopting the manual switch 128 that requires an operation with a clear intention of the user, the operation of the user is compared with the case where the mode switching is performed by software. Complexity can be avoided. When mode switching is performed by software, it is a general technique to stratify the flow. However, although the motor amplifier 100 includes a relatively large display unit 102, information that can be displayed by this is as follows. Limited. The display unit 102 that can perform only limited display must employ a method of sequentially displaying information one by one based on user operations. In order to switch the mode, the display flow must be hierarchized, and the user needs to perform a plurality of operations to call the mode switching display to the display unit 102 in the hierarchization. .

  As a typical example, when the motor amplifier 100 is installed on the site, two types of specialists are required to construct a system for associating electronic devices and machines with each other. I am a mechanical specialist and an electrical specialist. Until the system construction is completed, both mechanical and electrical specialists will work together. For example, it is often performed by a mechanical expert until the motor 8 is operated and aligned, and the alignment is appropriate. However, when the alignment is completed, the coordinate position and the movement amount are registered. A mechanical specialist handles mechanical problems, as is done by electrical specialists, and registration (parameter setting) for properly operating the motor amplifier 100 is an electrical specialist. Do. These two types of different operations are related to each other to perform a system construction operation.

  In this system construction work, it is meaningful for both mechanical and electrical specialists to use the relatively large display unit 102 provided in the motor amplifier 100 to perform a display that can be intuitively grasped by the operator. However, the electric system specialist switches the mode by looking at the display on the display unit 102, then the mechanical specialist performs alignment and registration (parameter setting) is performed by the electrical expert. The situation where a mechanical expert performs a test run to confirm the result and a fine adjustment of the setting is performed by an electrical expert is not necessarily an efficient operation. In addition, when mode switching is performed in a software manner while displaying on the display unit 102 in a hierarchical manner, a mechanical expert who is not familiar with the operation of the motor amplifier 100 may see the display of the motor amplifier 100. There is a frequent need to call electrical specialists. In the embodiment of the present invention, a physical switch 128 is provided in the motor amplifier 100, the mode is switched by operating the switch 128, and the work to be performed by a mechanical specialist is consolidated into one mode. This can reduce the turn of electrical specialists. Furthermore, if this one mode (teaching mode in this embodiment) can be easily performed even by a mechanical expert, registration (parameter setting), which was conventionally performed by an electrical expert, The burden on electrical specialists can be reduced.

  In the teaching mode, the motor amplifier 100 is disconnected from the PLC that is the host device. In other words, in the teaching mode, a signal from the PLC is not accepted. On the other hand, the automatic mode described above is a state where the motor amplifier 100 receives a signal from the PLC. In the teaching mode, if a jog mode for operating the motor 8 based on a manual operation in which the user operates the operation unit 106 of the motor amplifier 100 is provided, mechanical specialists may interfere with alignment or between members. This is convenient for checking the load of the motor 8. Preferably, if the mechanical specialist can register the coordinates and movement amount in the motor amplifier 100 immediately after the alignment is completed, the burden on the electrical specialist can be reduced. More preferably, if the test operation described below can be carried out in the same teaching mode, the mechanical specialist will have the electrical expert take care of the initial alignment, registration, and test operation. It is preferable that this can be done without any problems. Of course, it is also possible to perform a test operation by receiving a signal from the PLC even in the automatic mode. The test operation in the automatic mode is generally performed by an electrician.

  The JOG mode included in the teaching mode is effective and effective not only in the absolute position control described above but also in the relative position control. When the motor amplifier 100 is used for mechanical linkage, for example, when something falls, this object is transported by the belt conveyor. When the motor amplifier 100 is used, the belt conveyor conveys the first position from which the fallen object is received. Registration and adjustment of the second position to be conveyed can be performed in the teaching mode.

  (7) It is preferable that a test operation can be performed for each point Pt (n) in the teaching mode. The user can change the lighting position of the system indicator 122 by operating the operation unit 106. FIG. 3 shows a state where the user has selected the first point Pt1. When it is desired to execute the test operation of the first point Pt1, by operating the operation unit 106, it is possible to execute the test operation in which the motor 8 operates according to the parameters registered by the user and moves to the first point Pt1. Similarly, the test operation can be executed at other points Pt (n). With this test operation, it is possible to confirm whether or not the coordinate value and the movement amount registered at each point Pt (n) are appropriate. The operation will be explained in detail later, but the test operation can be performed without any special operation that requires an electrical specialist, so the mechanical specialist can easily perform the test operation. Can be made.

  If it can be confirmed that the coordinate value and the movement amount are appropriate in the test operation, the operation is shifted to the automatic mode and the normal operation is performed. On the other hand, when the coordinate value and the movement amount are not appropriate, the process returns to the teaching mode and appropriate parameters are registered again. That is, parameter registration (that is, parameter setting) is performed, and then a test operation is performed. If the parameter setting is not appropriate, parameter re-registration, that is, parameter resetting is performed.

  (8) As a preferred embodiment, the parameter can be adjusted in the automatic mode (“AUTO”). This automatic mode is generally used by electrical experts. Parameters relating to the operation of the entire system, such as the target speed of the motor 8 and the acceleration / deceleration rate, can be optimized by the hands of this electric expert. The automatic mode is an operation mode used during operation, and the display unit 102 displays information that is convenient for confirming the operation state. That is, the operation in the automatic mode is performed while integrating the entire system related to the command from the PLC of the host device.

  When the mode switch 128 is switched from the teaching mode to the automatic mode, the motor amplifier 100 is in a state associated with the PLC that is the host device. When the parameter setting display displayed on the display unit 102 is selected in the automatic mode, various indicators included in the system indicator 122 are sequentially turned on. That is, the indicator of the nth point Pt (n) is sequentially lit, such as lighting of the first point Pt1, then lighting of the second point Pt2, and then lighting of the third point Pt3. If you want to change parameters such as the target speed and acceleration / deceleration rate of the desired nth point Pt (n), select the desired nth point Pt (n) and various parameters included in the nth point Pt (n) Can be displayed on the display unit 102 based on the operation of the operation unit 106 and the display can be changed. For example, when it is desired to change the target speed parameter, the display value can be changed by operating the up key 114 a or the down key 114 b when the target speed is displayed on the display unit 102. When a desired target speed value is reached, the target speed parameter can be adjusted and reset by selecting this value. Adjustment of the parameters in the automatic mode will be mainly performed by electrical specialists.

  In the above example, the parameter setting mode is included in the automatic mode, but the parameter setting mode may be included in the teaching mode (FIG. 17).

  One specific example will be described with reference to FIG. 16. For example, when the position of the first point Pt1 is registered using the teaching mode, the operation at the first point Pt1 is confirmed and the position and acceleration / deceleration are confirmed. If you want to check the operation, etc., perform the test operation described above. In this test operation, the parameter of the coordinate position is appropriate. However, when it is desired to change the parameter of the operation, the JOG operation described above may be made possible during the test operation. The mode switch 128 is switched to the automatic mode (“AUTO”) and the parameter setting mode included in the automatic mode is selected. And when the indicator of the 1st point Pt1 of the system indicator 122 lights, the operation parameter of the said 1st point Pt1 can be changed by selecting this 1st point Pt1.

  When it is desired to check whether the changed operation parameter is appropriate, the mode changeover switch 128 can be switched to the teaching mode (“TEACH”) to perform the test operation of the first point Pt1. By repeating this, various parameters of the first point Pt1 can be optimized. By performing the same operation for other points Pt (n), not only the optimization of the absolute coordinates of the point Pt (n) but also the operation at the point Pt (n) can be optimized. This parameter optimization can be performed in a self-contained manner by displaying on the display unit 102 of the motor amplifier 100 and operating the operation unit 106 without using a personal computer. Of course, as a modification, a shortcut key setting may be performed so that the automatic mode can be directly transferred to the test operation mode, or a shortcut key setting capable of directly returning from the test operation mode to the automatic mode may be performed. Good. FIG. 16 shows a flow using this shortcut key. For the shortcut key setting, it is conceivable that the above-mentioned direct transition is performed when any two keys arranged on the operation unit 106 are simultaneously depressed.

Specific operations and functions (FIGS. 17 to 23) :
FIG. 17 shows one example relating to mode switching. FIG. 18 shows another example relating to mode switching. The difference between the example of FIG. 17 and the example of FIG. 18 is that, in the other example shown in FIG. 18, the parameter can be changed when the mode switch 128 is operated to select “automatic mode (“ AUTO ”)”. It is. However, in the example shown in FIG. 17, the parameter cannot be changed in the automatic mode, but the parameter can be changed in the teaching mode (“TEACH”). As a typical example, specific operations and functions will be described below with reference to the example shown in FIG.

  In the pulse train type motor amplifier 100 (pls), when the teaching mode (“TEACH”) is selected by operating the sliding mode changeover switch 128, the right key 114c and the left key 114d are used in this teaching mode. The position can be adjusted by rotating the motor 8 clockwise or counterclockwise. In the case of the pulse train type motor amplifier 100 (pls) having the configuration shown in FIG. 7, the parameter storage unit 16 of the motor amplifier 100 (pls) stores only the system parameters, and the point parameters and the origin. The return parameter is stored in the positioning unit 10 of the host device. For this reason, teaching of coordinates in the teaching mode and its test operation are virtually impossible. Needless to say, teaching and test operation in the teaching mode can be performed by adopting a configuration in which the point storage parameter and the origin return parameter are stored in the parameter storage unit 16 of the pulse train type motor amplifier 100 (pls).

Teaching mode ("TEACH") :
Referring to FIG. 19, motor amplifier 100 enters teaching mode by setting slide mode changeover switch 128 (FIG. 3) to the “TEACH” position (step S <b> 1 in FIG. 19). In the teaching mode, a JOG mode in which the user can perform positioning by operating the operation unit 106, and preferably a teaching operation for registering position data in the motor amplifier 100 following the JOG mode are possible. Whether the motor amplifier 100 is in the teaching mode can be confirmed by looking at “tch” displayed in the second display area 104b (FIG. 18). “Tch” means teaching mode. The first display area 104a displays current coordinate values or command values from the PLC. When the JOG mode is entered, the characters “JOG” are displayed in the second display area 104b.

  For example, if teaching of the first point pt1 is desired, the JOG mode can be entered by depressing the SET / TEST key 110 (FIG. 18). In the JOG mode, the motor 8 can be rotated clockwise or counterclockwise by depressing the right key 114c or the left key 114d (step S2 in FIG. 19). When the alignment of the first point pt1 is completed, the coordinates and movement amount of the position are stored in the parameter storage unit 16 of the motor amplifier 100 when the user depresses the SET / TEST key 110 for a certain time (for example, 1 second). (Held or registered). Thereby, even if the power of the motor amplifier 100 is turned off, the coordinates and the movement amount of the position are held. As described above, the motor amplifier 100 performs the JOG operation based on the user operation (the right key 114c or the left key 114d), and after the alignment to the desired position is completed, the next user operation (the long press of the SET / TEST key 110) is performed. ), The coordinates and movement amount of the desired position are held in the parameter storage unit 16.

  The teaching will be described in detail with reference to FIGS. 20 and 21. The JOG operation is performed at a motor speed selected by the user from two operation speeds (motor speeds) of low speed and high speed.

  When the teaching mode (“TEACH”) is entered, any of the indicators Pt1 to Pt4 of the system indicator 122 is lit. If the Pt1 indicator lights up, it means that teaching for the first position is possible. If the Pt2 indicator lights up, it means that teaching for the second position is possible. If the Pt3 indicator is lit, it means that teaching for the third position is possible. If the Pt4 indicator is lit, it means that teaching for the fourth position is possible. The mode key 112 (M key) may be pressed to change the position where the system indicator 122 is lit.

  20 and 21 are flowcharts for teaching the first to fourth positions (Pt1 to Pt4) in order. Referring to FIG. 20, if teaching at the first position Pt1 is performed, after confirming that the indicator at the first position is lit, the low speed or high speed of the JOG operation is selected. This selection can be performed by operating the right key 114c or the left key 114d. When the speed is low, “JL” is displayed in the second display area 104b. When the speed is high, “JH” is displayed in the second display area 104b. For example, when selecting high speed, it is possible to register the JOG operation mode at high speed by depressing the SET / TEST key 110 after confirming that “JH” is displayed in the second display area 104b. it can.

  In the JOG mode, the user can perform alignment by rotating the motor 8 clockwise or counterclockwise by operating the right key 114c or the left key 114d. 20 and 21 exemplify a device for moving the member W by a screw rod 24 connected to the motor 8. If the member W can be aligned with the first position Pt1 by the JOG operation based on the user's operation, the SET / TEST key 110 may be depressed in order to register the coordinates and movement amount of the position. As a result, the value aligned in the JOG mode is stored in the parameter storage unit 16. This teaching (setting) may be performed based on, for example, long pressing of the mode key 112 (for example, pressing and holding for 2 seconds or more). In the first display area 104a, current coordinate values and movement amounts are displayed. The command value from the PLC, the current coordinate value, and the movement amount may be alternately displayed in the first display area 104a by the user's operation of the operation unit 106.

  In the same way for the second to fourth positions Pt2 to Pt4, the position coordinates and the movement amount can be taught. Of course, teaching (parameter registration, parameter setting) can be performed only at the second position Pt2, for example. At that time, the lighting position of the system indicator 122 is moved by operating the mode key 112 (M key), and the indicator of the position Pt2 is turned on, and then the JOG operation and the teaching (setting) following the above procedure are performed. It is sufficient to perform key operations for.

  The teaching mode preferably includes a test operation mode in which the operation of the motor 8 can be tried according to the already set parameters. Referring to FIG. 17 and FIG. 18, when teaching of the first to fourth positions Pt1 to Pt4 or teaching of a desired position is completed, if necessary, check the operation based on the parameters already set by the test operation. (Step S4 in FIG. 19).

  When the mode key 112 is depressed while the fourth position indicator Pt4 is lit, the test operation mode is switched to the first position Pt1. When the test operation mode is entered, the display in the second display area 104b changes to “tst” (FIG. 22). “Tst” means the test operation mode. For example, when a test operation of the first position Pt1 is desired, if the SET / TEST key 110 is depressed while the first position Pt1 of the system indicator 122 is lit, the parameter is stored in the motor amplifier 100. A test operation for moving the member W to the first position Pt1 by operating the motor 8 is executed (step S4 in FIG. 19). In this test operation mode, the current coordinates or movement amount is displayed in the first display area 104a. If necessary, the motor speed may be displayed.

  Next, when the test operation of the second position Pt2 is desired, when the mode key 112 is depressed, the second position Pt2 of the system indicator 122 is turned on. When the SET / TEST key 110 is depressed in this state, a test operation is performed in which the motor 8 operates based on the parameters stored in the motor amplifier 100 to move the member W from the first position Pt1 to the second position Pt2. The The same applies to the test operations at the third and fourth positions Pt3 and Pt4. When a test operation for returning to the origin from the fourth position Pt4 is desired, the mode key 112 is depressed to confirm that the origin position ORG of the system indicator 122 is lit (FIG. 22). When the SET / TEST key 110 is depressed, a test operation is performed in which the motor 8 operates to move the member W to the origin ORG based on the parameters stored in the motor amplifier 100 (FIG. 22).

  For example, when the alignment is not successful in the test operation at the second position Pt2, as can be seen from FIG. 22, the mode key 112 can be depressed to return to the JOG mode (FIG. 20).

  As a modification, the test immediately after the teaching is performed, such as the test operation of the first position Pt1 after the teaching of the first position Pt1, the test operation of the second position Pt2 after the teaching of the second position Pt2, etc. You may make it drive | work.

  The JOG mode and the test operation in the teaching mode described above may be performed by a user operating a personal computer connected to the PLC. As described above, in the teaching mode, the user searches for the coordinates of the desired position by JOG operation, and if the coordinates of the desired position are found, the parameter value is registered (teaching) by operating the SET / TEST key 110. Can do. Then, by operating the SET / TEST key 110, whether or not the teaching content is correct can be temporarily executed in a test operation. In short, the motor amplifier 100 according to the present embodiment includes a JOG operation for searching for the coordinates of a desired position in the teaching mode, a teaching operation for storing and holding the coordinates of the desired position in the motor amplifier 100 as parameter values, and teaching. The test operation that temporarily executes the actual motor operation using the parameter values stored and held by the operation can be switched based on the operation of the operation unit 106. Therefore, even a mechanical expert can easily perform the setting necessary for the setting of the motor amplifier 100, that is, JOG operation → teaching → test operation, and thus the burden of setting work can be reduced.

Automatic mode (“AUTO”) :
When the mode changeover switch 128 is operated to switch to the automatic mode (“AUTO”) (step S5 in FIG. 19), the motor amplifier 100 is in a state where it can accept a signal (for example, a motor drive signal) from the PLC. Referring to FIG. 23, in the automatic mode, typically, when a trigger signal (for example, point parameter pt1) is input from the PLC (step S21), the motor amplifier 100 is typically built in the motor amplifier 100. The point parameter stored in the parameter storage unit 16 is read (step S22), and calculation based on this point parameter is performed to generate command information (step S23). Then, a drive signal is output from the drive signal output unit 20 to the motor 8 (step S24), thereby driving the motor 8. The system can be operated in this automatic mode (step S9 in FIG. 19). In the automatic mode, which is a usage pattern at the time of operation, which position is controlled in the first display area 104a and the second display area 104b, what control is being executed, the current speed and the current position Such information may be displayed. The third indicator 122c is lit when the motor is performing an operation defined by the point parameter pt1, and the fourth indicator 122d is lit when the motor is performing an operation defined by the point parameter pt2. To do. That is, when the operation specified by the point parameter pt1 and the operation specified by the point parameter pt2 are alternately performed, the third indicator 122c and the fourth indicator 122d are alternately lit. Thus, the user can recognize the current operating state of the motor 8 by visually checking the indicator 122.

  During operation, the display unit 102 including the first and second display areas 104a and 104b and various indicators display an operation mode that is effective for operation monitoring. It is preferable that the user can designate the display information in advance. As an example, the current position can be displayed in the second display area 104b, and the current or set coordinate value or movement amount can be displayed in the first display area 104a. Further, as another example, characters indicating what information is displayed in the first display area 104a, position (pos), speed (spd), and the like are displayed in the second display area 104b, and the first display area 104a. In addition, the current numerical value of the information designated in the second display area 104b may be displayed.

  In the embodiment shown in FIG. 18, parameters can be set in this automatic mode (steps S6 and S7 in FIG. 19). 24 and 25 show display examples in the automatic mode (“AUTO”). 24 and 25, the initial screen of the automatic mode has a first display mode for displaying position information and a second display mode for displaying speed information, and the user operates the operation unit 106. Thus, one of the first and second display modes can be selected. In the example of FIGS. 24 and 25, by pressing down the up key 114a or the down key 114b, position information (number of position Pt (n) × coordinate or moving amount of the position (current value or set value)) or Any one of speed information (“SPd × speed (current value or set value)” indicating speed information) can be displayed on the display unit 102.

  24 and 25, the parameter setting mode can be entered by depressing the mode key 112 in this automatic mode. The user can adjust or reset the set value using the parameter setting mode included in the automatic mode. This parameter setting mode is generally used by electrical experts.

  FIG. 24 shows display transitions in the limited display mode in which items that can be set using the parameter setting mode are narrowed down. The limited display mode is narrowed down to items with relatively high frequency of setting changes and setting value adjustments. FIG. 25 shows a display transition in the full display mode in which all possible items that can be set using the parameter setting mode are displayed. In the limited display mode of FIG. 24, the operation mode is set, specifically, the relative position control mode (INC) and the absolute position control mode (ABS) shown in FIG. Includes setting of (motor speed). As a preferable mode, as shown in FIG. 24, the setting of the limited display mode or the full display mode may be included. This display item transition can be performed by depressing the light key 114c. Note that when the left key 114d is pressed down, a transition is made in the reverse direction.

  For example, when the user wants to change the setting of the operation speed (motor speed) of the first point Pt1, the indicators of the first to fourth points Pt1 to Pt4 are sequentially turned on by depressing the SET / TEST key 110. Can do. While the indicator of the first point Pt1 is turned on using the SET / TEST key 110, the right key 114c or the left key 114d is depressed to display the operation speed item. In the item of operation speed, as can be seen from FIG. 24, the characters “SPd” are displayed in the second display area 104b, and the set value (“10000” in the illustrated example) is displayed in the first display area 104a. . The numerical value “10000” can be increased by pressing the up key 114a. Conversely, the numerical value “10000” can be decreased by pressing the down key 114b. When the desired operation speed value is reached, the SET / TEST key 110 is depressed to confirm, and the new operation speed target value is stored in the parameter storage unit 16 of the motor amplifier 100 (setting value update). The operation mode and target coordinates (movement amount) can be set by the same operation.

  FIG. 25 shows display items in the full display mode. In this full display mode, in addition to the display items in the limited display mode, "acceleration rate", "deceleration rate", "next point specification", "continuous", "stop sensor setting", "after stop input" "Movement amount" is included. Here, “continuous” means the setting of whether the connection is decelerated to the starting speed or the connection is not performed when the points are crossed. The “stop sensor setting” means setting whether or not to perform a stop operation using an external input. Further, the “movement amount after stop input” means the setting of the movement amount until the stop after an external input is input. Various settings can be changed using the full display mode in the same manner as the limited display mode described above.

  When the setting is performed in the automatic mode (“AUTO”), the test operation can be performed by switching the mode to the teaching mode as described above (steps S8 and S4 in FIG. 19). Of course, a test operation based on a command from the PLC can be performed in the automatic mode.

Alarm release (Fig. 26) :
When an error occurs in the automatic mode or teaching mode, an alarm state occurs. As a specific example of the alarm state, for example, in the I / O type motor amplifier 100 (I / O), even if the numerical value within a predetermined range is taught as the coordinates of the point parameter pt3, the memory is changed. If the coordinates become unexpected due to the above. In this case, when the switching signal from the PLC to the point parameter pt3 is received in the automatic mode and the control unit 14 reads the point parameter pt3 from the parameter storage unit 16, the control unit 14 detects an abnormality. That is, the control unit 14 stores a predetermined range (threshold value) of values that can be taken by the coordinates of the point parameter, and has a function of determining whether the coordinates of the point parameter read from the parameter storage unit 16 are within the predetermined range. doing. And if it is outside a predetermined range, it will be in the alarm state mentioned above. Note that such an alarm state can occur not only in the automatic mode but also in a test operation in the teaching mode. In the alarm state, the motor 8 is forcibly stopped. In addition, the status indicator 124 lights or blinks red. When an alarm is generated in the automatic mode or teaching mode (especially test operation in the teaching mode), the display on the display unit 102 and the system indicator 122 is switched to the alarm display mode, and the alarm state is displayed (FIG. 26). In the alarm display state, the characters “ALM” are displayed in the second display area 104b. “ALM” means that an alarm has occurred. “ALM” may be displayed in red or blinking. Of course, a sound source such as a buzzer may be prepared in the motor amplifier 100, and an alarm sound may be generated in synchronization with the generation of the alarm.

  As the system indicator 122, an indicator corresponding to a part related to a failure or trouble is lit or blinked. Further, the first display area 104a displays a code number indicating the content of the failure or trouble or a character that can be understood intuitively. This alarm can be released by pressing a key other than the mode key 112 included in the operation unit 106. However, some alarms cannot be cleared by this operation. As an example, when the encoder of the stepping motor fails, the alarm display cannot be canceled even if the mode key 112 is depressed. On the other hand, by depressing the mode key 112, the display state immediately before entering the alarm display mode can be restored.

Forced motor stop in emergency (Fig. 27) :
In the motor amplifier 100, the stop key 118 is disposed at a position away from the operation unit 106, that is, a position facing (opposing) the display unit 102, as described above. The stop key 118 is used for emergency stop of the motor 8. For example, the operation of the motor 8 can be stopped by depressing the stop key 118 when an unexpected movement occurs in the test operation. The stop key 118 is constantly monitored for its depression operation (ON output). Referring to FIG. 27, motor amplifier 100 constantly monitors the operation of stop key 118 (steps S30 and S31), and when stop key 118 is depressed, the process proceeds to step S32, during positioning, that is, motor 8 is operating. If YES (during motor operation), the process proceeds to step S33 and the control signal to the motor 8 is cut off. As a result, the motor 8 is forcedly stopped.

Countermeasures against accidents caused by operation of the mode switch 128 (FIGS. 28 and 29) :
As described above, in the automatic mode, the motor amplifier 100 operates based on a command from the PLC of the host device. On the other hand, in the teaching mode, the communication between the PLC and the motor amplifier 100 is cut off. For example, if the mode change switch 128 is operated while the motor 8 is operating in the automatic mode and the mode is switched to the teaching mode, the motor 8 may run away. Similarly, when the mode changeover switch 128 is operated during the test operation in the teaching mode to switch to the automatic mode, the motor 8 may run away in the same way. As described above, if the mode switch 128 is operated while the motor 8 is actually operating, the motor 8 may be unexpectedly operated.

  28 and 29 are countermeasures against this. FIG. 28 shows an example of safety control when the automatic mode is switched to the teaching mode. Referring to FIG. 28, it is assumed that the mode switch 128 is switched from the automatic mode to the teaching mode (S41). The motor amplifier 100 constantly monitors that the motor 8 is operating, that is, positioning operation (S42). When the operation of the motor 8 is completed, the signal of the mode switch 128 is received and the state is determined (S43). In the automatic mode, the motor amplifier 100 continues the automatic mode. Thus, the motor 8 is controlled based on the automatic mode (S44). On the other hand, if the switch 128 is in the teaching mode position, the motor amplifier 100 is switched to the teaching mode. That is, in the example of FIG. 28, while the motor 8 is operating, the process of canceling the state monitoring of the mode change switch 128 is performed. In other words, the reception of the mode change switch 128 is invalidated so that the motor 8 is operating. Mode switching is not performed.

  FIG. 29 shows safety measures when the mode switch 128 is operated during the test operation in the teaching mode. Referring to FIG. 29, the test operation is started (S51), and when the test operation is being executed, the signal of mode switch 128 is canceled (S52). When the test operation ends, that is, when the operation of the motor 8 ends, the signal of the mode switch 128 is received to determine the state (S53). If the switch 128 is in the automatic mode position, the motor amplifier 100 is switched to the automatic mode (S54). On the other hand, if switch 128 is in the teaching mode position, motor amplifier 100 is maintained in the teaching mode.

Modified example of the front configuration of the motor amplifier 100 (FIG. 30):
FIG. 30 is a front view for explaining a front configuration of a modified example of the motor amplifier 100. Referring to FIG. 30, SET / TEST key 110 and mode key (M key) 112 are arranged separately on the left and right of direction key 114. Thereby, it is possible to prevent erroneous pressing of the SET / TEST key 110 and the mode key 112.

  In the front configuration of the modified example of the motor amplifier 100 shown in FIG. 30, the stop key 118 shown in FIG. 3 is not provided, and the function of the stop key 118 is assigned to the mode key 112. The mode key 112 has a function of switching each mode (teaching, JOG operation, test operation, parameter setting, etc.) in the teaching mode (“TEACH”), as already described using the state transition diagrams of FIG. 17 and FIG. It has a function of switching each mode (monitor, parameter setting, etc.) in the automatic mode (“AUTO”). For example, during a test operation in the teaching mode (“TEACH”) (when the motor is actually operating), the motor can be urgently stopped by pressing the mode key 112 to exit the test operation mode. In addition, during normal operation in the automatic mode (“AUTO”) (when the motor is actually operating), the motor can be urgently stopped by pressing the mode key 112 to exit the monitor mode. As described above, the mode key 112 can be used in place of the stop key 118.

  In the front configuration of the modified example of the motor amplifier 100 shown in FIG. 30, the station number display rotary switch 126 is not provided, but the station number setting function is provided to the communication unit 200 (see FIG. 10). That is, the communication unit 200 can have a function of setting a station number for uniquely identifying each motor amplifier 100 based on a user operation.

  In the front configuration of the modified example of the motor amplifier 100 shown in FIG. 30, a JOG / indicator 122g indicating the current JOG mode is provided. The JOG / indicator 122g is controlled by the control unit 14 so as to be lit in the JOG mode in the teaching mode (“TEACH”). Further, the status indicator 124 has an elongated shape on the left and right, and is attached to a position where the user can easily see, that is, above the motor amplifier housing. As described in the first embodiment, the status indicator 124 is lit in green when the motor amplifier 100 is operating normally, and is lit or blinks in red when an error occurs to issue an alarm to the user.

  In the front configuration of the modified example of the motor amplifier 100 shown in FIG. 30, the mode switch 128 can switch between “SETTING” and “MONITOR”, but the teaching mode (“TEACH”) described above is “SETTING”. The above-mentioned automatic mode (“AUTO”) corresponds to “MONITOR”. The mode changeover switch 128 shown in FIG. 30 is configured to be switchable in the left-right direction, unlike FIG. 3 described above (in FIG. 3, it is switched in the up-down direction). That is, the switching direction of the mode switch 128 is a direction substantially orthogonal to the extending direction of the display unit 102.

  In the motor amplifier shown in FIG. 30, four protrusions 149 are provided on the left and right side surfaces (in FIG. 30, since the lower protrusions 149 overlap each other, three protrusions 149 are visible). The four projections 149 on one side are, for example, a male projection on the side of one of the adjacent motor amplifiers, and a female projection on the side of the other motor amplifier. It has a function to temporarily fix the motor amplifier. For example, in FIG. 30, a small-diameter projection 149b (provided on the side surface of the adjacent motor amplifier) is inserted into the internal space of the large-diameter projection 149a, and both motor amplifiers are temporarily fixed.

100 Motor amplifier 4 PLC unit (host device)
DESCRIPTION OF SYMBOLS 14 Control part 16 Parameter memory | storage part 18 Positioning command part 20 Drive signal output part 102 Display part 104 Display area 104a 1st display area 104b 2nd display area 106 Operation part 110 SET / TEST key 112 Mode key (M key)
114 Direction key 118 Stop key 122 System indicator 128 Slide mode switch

Claims (7)

A motor drive device connected to a motor and a host device, receiving a motor drive signal from the host device and performing drive control of the motor,
A first mode in which a motor drive signal from the host device is received and the motor drive control is performed; and a second mode in which the motor drive signal from the host device is ignored. And a mode changeover switch for selectively switching between the second mode,
A mode selection unit capable of selecting at least a JOG mode for operating the motor in response to a user operation when in the second mode;
A display unit for displaying that the motor driving device is currently in the JOG mode when the JOG mode is selected by the mode selection unit;
A motor drive device comprising: an operation unit capable of operating the motor in accordance with a user operation when the JOG mode is selected by the mode selection unit.   The motor driving device according to claim 1, wherein the motor is operated based on a user operation through the operation unit in a state where the display unit is currently displayed as being in the JOG mode. A parameter storage unit for storing parameters related to the operation of the motor;
A setting key for performing teaching by causing the parameter storage unit to store parameters obtained when the motor is operated based on a user operation via the operation unit;
The motor driving device according to claim 1, wherein the mode selection unit can alternatively select the teaching mode and the JOG mode.   The motor drive device according to claim 3, wherein the parameter obtained when the motor is operated is a position coordinate or a movement amount.   5. The motor drive device according to claim 3, wherein the mode selection unit is further capable of selecting a test operation mode in which the motor is operated based on parameters stored in the parameter storage unit by the teaching.   The motor drive device according to claim 5, wherein a user can register a motor speed in the test operation mode. A first mode that receives a signal from the host device during operation and performs motor drive control; and a second mode that ignores a signal from the host device, and the first mode and the first mode are operated by a user operation. A mode selector switch for selectively switching between two modes;
Connecting a motor driving device having a JOG mode selectable by the user in the second mode to a motor to be controlled;
When the second mode and the JOG mode is selected, the user operates the operation unit to operate the motor corresponding to the user's operation to perform alignment,
A step of registering parameters related to the alignment step by a user operating the operation unit;
And a step of performing a test operation of the motor based on the registered parameters when in the second mode.

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