JP2016144344A - Control apparatus, robot, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a rotation direction of a motor to be controlled with a relatively simple system configuration.SOLUTION: The control apparatus of a motor includes: a first input terminal and a second input terminal to which a DC voltage for driving the motor is selectively input; and a setting circuit for setting a rotation direction of the motor on the basis of which of the first input terminal and the second input terminal the DC voltage is input.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a motor control device.

  Robots such as electric cylinders using a motor as a drive source have been proposed (for example, Patent Documents 1 to 3). Among such robots, a robot in which a motor control circuit is incorporated in a part of the robot has been proposed (for example, Patent Document 3).

Japanese Patent No. 4531079 Japanese Patent Laid-Open No. 2000-60182 Japanese Patent No. 5268096

  When controlling the rotation direction of the motor, generally, a drive voltage of the motor and a signal voltage indicating the rotation direction of the motor are required. When the motor drive voltage and the signal voltage are different, a higher-level device such as a PLC requires a plurality of types of power supplies, and wiring for each voltage is also required, which may complicate the system configuration.

  An object of the present invention is to enable control of the rotation direction of a motor with a relatively simple system configuration.

  According to the present invention, there is provided a motor control apparatus, wherein a first input terminal and a second input terminal to which a DC voltage for driving the motor is selectively input, and the DC voltage are the first input terminal. And a setting circuit that sets a rotation direction of the motor based on which of the input terminal and the second input terminal is input.

  According to the present invention, the rotational direction of the motor can be controlled with a relatively simple system configuration.

(A) is explanatory drawing of a system structure, (B)-(D) is a figure which shows the example of arrangement | positioning of a circuit board. The circuit block diagram of a control apparatus.

  FIG. 1A is an explanatory diagram of a control system 1 that performs drive control of the robot 2. The control system 1 includes a robot 2, a PLC (programmable logic controller) 3, and a remote I / O 4. The PLC 3 controls the robot 2 via the remote I / O 4. The robot 2 incorporates a control device A, which will be described later, and the PLC 3 is a higher-level device with respect to the control device A.

  In this embodiment, the robot 2 is an electric cylinder, but may be an actuator other than the electric cylinder. The robot 2 includes a housing 21 and a rod 22. The casing 21 is a cylindrical body extending in the d1 direction, and a wiring connection portion 25 is provided on one end side, and a rod 22 is provided on the other end side. The wiring connection unit 25 is a connector to which wiring (for example, a multicore cable) between the robot 2 and the remote I / O 4 is detachably connected, for example. One end of the casing 21 is closed, and the wiring connection portion 25 is fixed to the one end.

  The rod 22 is an operating part that moves forward and backward in the direction of the arrow d1 by the driving force of the motor M. The motor M is accommodated in the housing 21. In the present embodiment, the motor M is a brushless motor, but may be a motor other than a brushless motor.

  In the present embodiment, the transmission mechanism for the driving force of the motor M to the rod 22 is a ball screw mechanism, but may be a transmission mechanism other than the ball screw mechanism. A ball nut 23 is fixed to an end of the rod 22 on the side of a hole 22a described later. The ball nut 23 is slidable in the d1 direction and is disposed in the housing 21 so as not to rotate. Stoppers 21a and 21b are provided in the casing 21 so as to be separated from each other in the d1 direction. The stoppers 21a and 21b abut against the ball nut 23 to restrict the movement thereof. The ball nut 23 can slide in the d1 direction between the stopper 21a and the stopper 21b.

  A ball screw shaft 24 is connected to the output shaft M1 of the motor M. The ball screw shaft 24 is disposed so that the axial direction thereof is the d1 direction, and the ball screw shaft 24 and the ball nut 23 are engaged with each other. The rod 22 is formed with a hole 22 a in the axial direction for avoiding interference with the ball screw 24. The hole 22a is a bottomed hole through which the ball screw shaft 24 can enter.

  When the motor M is driven, the ball screw shaft 24 rotates and the ball nut 23 moves in the d1 direction. Thereby, the rod 22 moves. Depending on the rotation direction of the motor M, the rod 22 moves in a direction protruding from the casing 21 to the outside (sometimes referred to as an extension operation) or moves in a direction accommodated in the casing 21 (contraction operation). May be called). At this time, the stopper 21 a defines the extension operation limit of the rod 22, and the stopper 21 b defines the contraction operation limit of the rod 22.

  An electromagnetic brake Bk is accommodated in the housing 21. The electromagnetic brake Bk is provided between the output shaft M1 and the ball screw shaft 24 and is connected to the output shaft M1. The electromagnetic brake Bk contacts the shaft portion of the ball screw shaft 24 when not energized and resists its rotation (braking state), and does not resist when energized (non-braking state).

  A control device A is also accommodated in the housing 21. In the case of the present embodiment, the control device A includes two circuit boards 5 and 6 that are electrically connected to each other via a harness (not shown). Although the circuit boards 5 and 6 can be configured by a single circuit board, the degree of freedom of arrangement may be improved by configuring the circuit boards 5 and 6 by a plurality of circuit boards.

  The circuit board 5 and the circuit board 6 are arranged so that their board surfaces are parallel to each other, and are separated from each other in a direction orthogonal to the board surface (d1 direction in the present embodiment). . In the present embodiment, the casing 21 is configured to be elongated in the d1 direction. By configuring the control device A with the two circuit boards 5 and 6 and disposing them in the d1 direction, necessary electronic circuit components can be accommodated in the housing 21 in a compact manner.

  Depending on the form of the circuit board storage space formed in the housing 21, the circuit boards 5 and 6 can be arranged side by side in the board surface direction as shown in FIGS. 1B and 1C. It is. In the example of FIG. 1B, the circuit boards 5 and 6 are arranged along a plane orthogonal to the d1 direction. In the example of FIG. 1C, the circuit boards 5 and 6 are arranged along a plane parallel to the d1 direction. Further, as illustrated in FIG. 1D, the circuit boards 5 and 6 can be arranged in parallel to the d1 direction and arranged in a direction orthogonal to the d1 direction.

  The robot 2 is also provided with limit sensors 26a and 26b. The limit sensors 26a and 26b are, for example, mechanical switches. The limit sensor 26a is a sensor that detects that the ball nut 23 has reached a position where it comes into contact with the stopper 21a. The limit sensor 26b is a sensor that detects that the ball nut 23 has reached a position where it comes into contact with the stopper 21b. The limit sensors 26a and 26b are connected to the PLC 3. The PLC 3 can detect the position of the ball nut 23, that is, check the operation of the robot 2.

  The configurations of the circuit board 5 and the circuit board 6 will be described with reference to FIG. This figure is a circuit block diagram of the control device A.

  The circuit board 5 includes terminals 5 a to 5 d connected to the wiring connection portion 25. Therefore, the wiring between the robot 2 and the remote I / O 4 includes the number of wirings of these terminals 5a to 5d.

  The terminals 5a and 5b are input terminals to which a DC voltage V1 for driving the motor M is selectively input. The voltage V1 is, for example, 24V. PLC3 switches the terminal which inputs voltage V1 according to the rotation direction of the motor M made into the target of control. For example, when the motor M is rotated forward, the voltage V1 is supplied to the terminal 5a and not supplied to the terminal 5b. For example, when the motor M is reversely rotated, the PLC 3 supplies the voltage V1 to the terminal 5b and does not supply it to the terminal 5a. Alternatively, the voltage V1 may always be supplied to both the terminals 5a and 5b, and when the motor M is rotated forward, only the terminal 5a may be turned off, and when reversed, only the terminal 5b may be turned off.

  The terminal 5c is an input terminal to which a control signal for driving the electromagnetic brake Bk (voltage when energized is V1) is input. The terminal 5d is a terminal to which a common line (GND) is connected.

  The circuit board 5 is a circuit in which a DC voltage V2 and a voltage V3 are mixed in addition to the voltage V1. In the present embodiment, the magnitude relationship between these voltages is V1> V2> V3, the voltage V2 is, for example, 5V, and the voltage V3 is, for example, 3.3V. In FIG. 2, the wiring of voltage V1 is shown by a solid line, the wiring of voltage V2 is shown by a one-dot chain line, and the wiring of voltage V3 is shown by a two-dot chain line.

  The circuit board 5 also includes a setting circuit 51, a power supply circuit 52, level conversion circuits 53a and 53b, level conversion circuits 54a and 54b, a logic IC 55, a photocoupler 56, and an input unit 57.

  In the present embodiment, the setting circuit 51 is a general-purpose microcomputer that operates at a voltage V3, and includes a CPU 51a, a memory 51b, an I / O interface 51c, and a PWM signal generation circuit 51d. The CPU 51 executes a program stored in the memory 51b and controls driving of the motor M. The memory 51b is, for example, a RAM or a ROM. The PWM signal generation circuit 51d is a circuit that generates a PWM signal for driving the motor M, and is, for example, a programmable counter / timer.

  One of the plurality of input ports provided in the setting circuit 51 is connected to the terminal 5a via the level conversion circuit 53a, and the other is connected to the terminal 5b via the level conversion circuit 53b. . These input ports are ports to which signals for setting the rotation direction of the motor are input.

  The voltage level input to the terminals 5a and 5b is V1, and the operating voltage level of the setting circuit 51 is V3. The level conversion circuit 53a is provided between the terminal 5a and the setting circuit 51, and the level conversion circuit 53b is provided between the terminal 5b and the setting circuit 51. The level conversion circuits 53a and 53b convert the voltage V1 into a voltage level signal that can be input to the setting circuit 51. In the present embodiment, the level conversion circuits 53a and 53b convert the voltage level from the voltage V1 to the voltage V3. When the voltage level input to the terminals 5a and 5b is equal to the operating voltage level of the setting circuit 51, the level conversion circuits 53a and 53b are not necessary.

  In the case of this embodiment, the level conversion circuit 53a is a circuit using a transistor as a switching element. The terminal 5a is connected to the base of the transistor via a resistor, and the voltage V3 is applied to the collector via the resistor. . When 0V is input to the terminal 5a, the transistor is OFF, and the voltage V3 is input to the corresponding input port of the setting circuit 51. When the voltage V1 is input to the terminal 5a, the transistor is turned on and 0V is input to the corresponding input port of the setting circuit 51.

  The level conversion circuit 53b has the same configuration. When 0V is input to the terminal 5b, the transistor is OFF, and the voltage V3 is input to the corresponding input port of the setting circuit 51. When the voltage V1 is input to the terminal 5b, the transistor is turned on and 0V is input to the corresponding input port of the setting circuit 51.

  As already described, the PLC 3 switches to either the terminal 5a or the terminal 5b for inputting the voltage V1 in accordance with the rotation direction of the motor M, which is a control target. The setting circuit 51 sets the rotation direction of the motor M based on which of the terminals 5a and 5b the voltage V1 is input to, and outputs a control signal indicating the rotation direction from the output port P1.

  The logic IC 55 is an IC that operates at the voltage V2, and includes a plurality of types of logic circuits. The logic IC 55 converts the voltage level of the signal output from the output port P1 from the voltage V3 to the voltage V2, and outputs it to the terminal 5i. This is due to the fact that the operating voltage of the motor control IC 61, which will be described later, is V2, but also contributes to stabilization of the output voltage.

  The power supply circuit 52 is a circuit that generates the power supply voltage of the control device A from the voltage V1 input to the terminal 5a or the terminal 5b. In the case of this embodiment, the power supply voltages of the control device A are V2 and V3, and the power supply circuit 52 includes a power supply circuit 52a that generates the voltage V2 and a power supply circuit 52b that generates the voltage V3.

  Terminals 5a and 5b are connected to the power supply circuit 52a via backflow prevention diodes D1 and D2, and the voltage V1 is stepped down to generate a voltage V2. The power supply circuit 52b steps down the voltage V2 output from the power supply circuit 52a to generate a voltage V3. Thus, in the present embodiment, the power supply voltage of the control device A can be secured if the voltage V1 is input to either the terminal 5a or the terminal 5b.

  The setting circuit 51 also outputs a PWM signal from the output port P2 when the voltage V1 is input to either the terminal 5a or the terminal 5b. The voltage level of the PWM signal output from the output port P2 is converted from the voltage V3 to the voltage V2 by the logic IC 55 and output to the terminal 5h.

  The setting circuit 51 sets the duty ratio of the PWM signal based on the input result to the input unit 57. The input unit 57 is a unit that can adjust the rotation speed (for example, the maximum speed) of the motor M, and adjusts the rotation speed of the motor M at the time of reverse rotation and a switch 57a that adjusts the rotation speed of the motor M at the time of normal rotation. And a switch 57b. The moving speed of the rod 22 can be adjusted independently by both the extension operation and the contraction operation by the switches 57a and 57b. In addition, when the moving speed of the rod 22 is made common between the extending operation and the contracting operation, only one switch is required. Further, when the moving speed of the rod 22 is single, the input unit 57 may not be provided.

  In the present embodiment, the switches 57a and 57b are rotary switches to which the voltage V3 is supplied, and one speed can be selected from a plurality of speeds by switching the contacts. As shown in FIG. 1, the housing 21 includes an opening 21c that exposes the input unit 57 to the outside, and an operator can switch the contacts of the switches 57a and 57b through the opening 21c. . The switches 57a and 57b are not limited to rotary switches, and may be other switches such as dip switches.

  An output signal (for example, a signal having a phase difference) of the rotary encoder EC is input to the level conversion circuits 54a and 54b via terminals 6l and 6m of the circuit board 6 and terminals 5l and 5m of the circuit board 5. In the present embodiment, the operating voltage of the rotary encoder EC is V2, and the operating voltage level of the setting circuit 51 is V3. The level conversion circuit 54 a is provided between the terminal 5 l and the setting circuit 51, and the level conversion circuit 54 b is provided between the terminal 5 m and the setting circuit 51. The level conversion circuits 54 a and 54 b convert the voltage V 2 into a voltage level signal that can be input to the setting circuit 51. In the present embodiment, the level conversion circuits 54a and 54b convert the voltage level from the voltage V2 to the voltage V3. When the voltage level of the output signal of the rotary encoder EC is equal to the operating voltage level of the setting circuit 51, the level conversion circuits 54a and 54b are not necessary.

  In the case of this embodiment, the level conversion circuit 54a is a circuit using a transistor as a switching element. The terminal 5l is connected to the base of the transistor via a resistor, and the voltage V3 is applied to the collector via the resistor. . When 0 V is input to the terminal 51, the transistor is OFF, and the voltage V3 is input to the corresponding input port of the setting circuit 51. When the voltage V2 is input to the terminal 5l, the transistor is turned on and 0V is input to the corresponding input port of the setting circuit 51.

  The level conversion circuit 54b has the same configuration. When 0V is input to the terminal 5m, the transistor is OFF, and the voltage V3 is input to the corresponding input port of the setting circuit 51. When the voltage V2 is input to the terminal 5m, the transistor is turned on and 0V is input to the corresponding input port of the setting circuit 51.

  The setting circuit 51 can determine, for example, whether or not the motor M is rotating from the output signal of the rotary encoder EC.

  The circuit board 5 includes terminals 5j and 5k to which the electromagnetic brake Bk is connected. A terminal 5j connected to the + side of the electromagnetic brake Bk is connected to the terminal 5c via a diode D3. The drive voltage of the electromagnetic brake Bk is V1, and the electromagnetic brake Bk can be operated by inputting the voltage V1 from the PLC 3 to the terminal 5c in the case of maintenance or the like. The terminal 5k connected to the negative side of the electromagnetic brake Bk is connected to GND and connected to the terminal 5j via the diode D4, and suppresses the back electromotive force when the electromagnetic brake Bk is turned ON → OFF.

  The output of the light receiving element 56b of the photocoupler 56 can be input to the terminal 5j. The photocoupler 56 includes a light emitting element 56a such as a light emitting diode and a light receiving element 56b such as a phototransistor or a photoMOSFET. A voltage V3 is applied to the light emitting element 56a, and the light emission and light emission can be controlled by switching the port of the setting circuit 51 between High and Low. The voltage V1 is applied to the light receiving element 56b, and when the light emitting element 56a emits light, the voltage V1 is input to the electromagnetic brake Bk via the terminal 5j. When stopping the motor M, the setting circuit 51 can turn off the light emitting element 56a to put the electromagnetic brake Bk in a braking state, stop the output of the PWM signal, and instantaneously stop the movement of the rod 22. .

  In the present embodiment, the electromagnetic brake Bk is employed as the brake, but a mechanical brake mechanism may be provided instead of the electromagnetic brake Bk.

  Next, the circuit board 6 will be described. The circuit board 6 is a circuit in which the voltage V1 and the voltage V2 are mixed. The circuit board 6 includes terminals 6a to 6c. The terminals 6a to 6c are respectively connected to the terminals 5e to 5g of the circuit board 5, and supply of the voltage V1, supply of the voltage V2, and connection of GND are performed. The voltage V2 input to the terminal 6b is supplied to the rotary encoder EC and the motor control IC 61 to operate them. The voltage V1 input to the terminal 6a is supplied to the FET 62 and operates the FET 62.

  The circuit board 6 includes terminals 6e and 6d. A control signal indicating the rotation direction of the motor M is input to the terminal 6e via the terminal 5i, and this control signal is input to the motor control IC 61. A PWM signal is input to the terminal 6d via the terminal 5h, and the PWM signal is input to the motor control IC 61.

  The circuit board 6 includes terminals 6i to 6k. Terminals 6i to 6k are connected to Hall elements h1 to h3 of the motor M, and signals from the Hall elements are input to the motor control IC 61. A drive voltage of voltage V2 is supplied from the circuit board 6 to each of the hall elements h1 to h3.

  The circuit board 6 includes terminals 6f to 6h. Terminals 6f to 6h are connected to a motor winding of motor M.

  The motor control IC 61 and the FET 62 are drive circuits that drive the motor M. The motor control IC 61 is a switching signal of the FET 62 that switches energization of each phase of the motor M based on the control signal and PWM signal indicating the rotation direction of the motor M from the setting circuit 51 and the signals from the Hall elements h1 to h3. Is output to the FET 62 (voltage V2). The FET 62 supplies the voltage V1 to each phase by the switching signal, and the motor M rotates.

  Next, a control example of the system 1 will be described. The operator sets the rotational speed (moving speed of the rod 22) at the time of forward rotation and reverse rotation of the motor M with the switches 57a and 57b in advance. Thereafter, the operation of the PLC 3 is started. Here, it is assumed that the PLC 3 is programmed so that the voltage V1 is input to the terminal 5a when the motor M is rotated forward, and the voltage V1 is input to the terminal 5b when the motor M is rotated reversely. Further, it is assumed that the rod 22 performs an extending operation when the motor M rotates forward and a contracting operation when the motor M rotates backward.

  First, the case where the motor M is rotated forward will be described. The PLC 3 inputs the voltage V1 to the terminal 5a. When the voltage V1 is input to the terminal 5a, the power supply circuit 52 secures the power supply voltages V2 and V3 necessary for the control device A, and the CPU 51a of the setting circuit 51 executes the program stored in the memory 51b.

  Further, the CPU 51a acquires the states of the corresponding input ports of the terminals 5a and 5b, recognizes that the voltage V1 is input to the terminal 5a, and sets the rotation direction of the motor M to normal rotation. The CPU 51a acquires the state of the input port corresponding to the switch 57a, and sets the duty ratio of the PWM signal. The CPU 51a outputs a control signal indicating the rotation direction of the motor M and a PWM signal. Also, monitoring of the output signal of the rotary encoder EC is started. Further, the CPU 51a causes the light emitting element 56a to emit light after the elapse of a predetermined time (for example, 100 msec) after starting the output of the PWM signal, and sets the electromagnetic brake Bk to the non-braking state.

  The motor control IC 61 starts driving the motor M based on the control signal from the setting circuit 51 and the PWM signal. As the motor M is driven, the rod 22 starts to extend.

  When the ball nut 23 moves to a position where it comes into contact with the stopper 21a, the motor M cannot rotate. When the output signal of the rotary encoder EC does not change for a certain period of time, the CPU 51a considers that the ball nut 23 has come into contact with the stopper 21a, turns off the light emitting element 56a, puts the electromagnetic brake Bk into a braking state, and further outputs a control signal and The output of the PWM signal is stopped to reliably stop the rotation of the motor M.

  The movement of the ball nut 23 to the position where it comes into contact with the stopper 21a is also detected by the limit sensor 26a, and the PLC 3 recognizes this by the output signal of the limit sensor 26a. The PLC 3 executes a process of stopping the PWM output signal after a predetermined time elapses (for example, after the CPU 51a turns off the light emitting element 56a and puts the electromagnetic brake Bk into a braking state, and after a predetermined time elapses (for example, 10 msec)). After the necessary time has elapsed), the input of the voltage V1 to the terminal 5a is stopped.

  Next, although the case where the motor M is reversely rotated will be described, it is basically the same as the case where the motor M is rotated forward.

  The PLC 3 inputs the voltage V1 to the terminal 5b. When the voltage V1 is input to the terminal 5b, the power supply circuit 52 secures the power supply voltages V2 and V3 necessary for the control device A, and the CPU 51a of the setting circuit 51 executes the program stored in the memory 51b.

  Further, the CPU 51a acquires the states of the corresponding input ports of the terminals 5a and 5b, recognizes that the voltage V1 is input to the terminal 5b, and sets the rotation direction of the motor M to reverse. The CPU 51a acquires the state of the input port corresponding to the switch 57b and sets the duty ratio of the PWM signal. The CPU 51a outputs a control signal indicating the rotation direction of the motor M and a PWM signal. Also, monitoring of the output signal of the rotary encoder EC is started. Further, the CPU 51a causes the light emitting element 56a to emit light after the elapse of a predetermined time (for example, 100 msec) after starting the output of the PWM signal, and sets the electromagnetic brake Bk to the non-braking state.

  The motor control IC 61 starts driving the motor M based on the control signal from the setting circuit 51 and the PWM signal. As the motor M is driven, the rod 22 starts to contract.

When the ball nut 23 moves to a position where it comes into contact with the stopper 21b, the motor M cannot be rotated. When the output signal of the rotary encoder EC does not change for a certain period of time, the CPU 51a considers that the ball nut 23 has come into contact with the stopper 21b, turns off the light emitting element 56a, puts the electromagnetic brake Bk into a braking state, and further outputs a control signal and The output of the PWM signal is stopped to reliably stop the rotation of the motor M.

The movement of the ball nut 23 to the position where it comes into contact with the stopper 21b is also detected by the limit sensor 26b, and the PLC 3 recognizes this by the output signal of the limit sensor 26b. The PLC 3 stops the input of the voltage V1 to the terminal 5b after a predetermined time has elapsed. As described above, the robot 2 can be repeatedly extended and contracted.

  As described above, in the present embodiment, the terminals 5a and 5b of the circuit board 5 are also used as the input terminal for the drive voltage of the motor M and the input terminal for the control signal in the rotation direction of the motor M. In other words, the drive voltage was also used as a control signal. Thereby, it is sufficient if there is a power source for generating the voltage V1 on the PLC3 side. Two wirings for driving voltage and control signal between the PLC 3 and the robot 2 are sufficient. This can be reduced by one compared to a system including, for example, a drive voltage wiring, a normal rotation instruction wiring, and a reverse rotation instruction wiring.

  Therefore, the rotation direction of the motor can be controlled with a relatively simple system configuration. In particular, when it is desired to introduce the robot 2 into a part of a system that is operated by sequence control of a single voltage system such as 24 V, the robot 2 can be introduced with less changes in peripheral equipment.

A control device, 1 control system, 2 robot, 51 setting circuit, 5a input terminal, 5b input terminal

Claims (16)

A motor control device,
A first input terminal and a second input terminal to which a DC voltage for driving the motor is selectively input;
A setting circuit that sets a rotation direction of the motor based on which of the first input terminal and the second input terminal the DC voltage is input to.
A control device characterized by that. The control device according to claim 1,
A level conversion circuit that is provided between the first input terminal and the second input terminal and the setting circuit, and converts the DC voltage into a signal of a voltage level that can be input to the setting circuit;
A control device characterized by that. The control device according to claim 2,
The setting circuit includes a first input port and a second input port to which a signal for setting the rotation direction of the motor is input.
The level conversion circuit includes:
A first level conversion circuit provided between the first input terminal and the first input port;
A second level conversion circuit provided between the second input terminal and the second input port,
A control device characterized by that. The control device according to claim 3,
The first level conversion circuit includes a first transistor that receives a DC voltage from the first input terminal, converts a voltage level of the DC voltage, and outputs the voltage level to the first input port.
The second level conversion circuit includes a second transistor that receives a DC voltage from the second input terminal, converts a voltage level of the DC voltage, and outputs the converted voltage level to the second input port.
A control device characterized by that. The control device according to claim 1 or 2,
A power supply for the control device is provided between the first input terminal and the second input terminal and the setting circuit, and the DC voltage input to the first input terminal or the second input terminal. A power supply circuit for generating a voltage;
A control device characterized by that. It is a control device given in any 1 paragraph of Claims 1-5,
An input unit capable of adjusting the rotation speed of the motor;
The control device, wherein the setting circuit sets a rotation speed of the motor based on an input result to the input unit. The control device according to claim 6,
The input unit is
A first switch for adjusting a rotation speed at the time of forward rotation of the motor;
And a second switch for adjusting a rotation speed when the motor is reversely rotated. The control device according to any one of claims 1 to 7,
A circuit board including the first input terminal and the second input terminal, the setting circuit, and a drive circuit that drives the motor in a rotation direction set by the setting circuit;
A control device characterized by that. The control device according to any one of claims 1 to 7,
A first circuit board including the first input terminal, the second input terminal, and the setting circuit;
A second circuit board including a drive circuit that drives the motor according to the rotation direction set by the setting circuit,
A control device characterized by that. The control device according to claim 9,
The first circuit board and the second circuit board are arranged side by side in the board surface direction, or arranged in a direction orthogonal to the board surface direction.
A control device characterized by that. A motor,
A housing for housing the motor;
The control device according to any one of claims 1 to 10, which is housed in the housing.
A robot characterized by that. The robot according to claim 11,
A wiring connection portion is provided on one end side in the longitudinal direction of the housing,
An operation unit that operates with the driving force of the motor is provided on the other end side in the longitudinal direction of the housing,
The wiring connection portion is connected to the first input terminal and the second input terminal.
A robot characterized by that. The robot according to claim 11 or 12,
The robot is an electric cylinder;
A robot characterized by that. A method for controlling a motor,
An input step of inputting a DC voltage for driving the motor into the first input terminal or the second input terminal;
A setting step in which a setting circuit sets a rotation direction of the motor based on whether the DC voltage is input to either the first input terminal or the second input terminal.
A control method characterized by that. The control method according to claim 14, comprising:
A level conversion step of converting the DC voltage input in the input step into a voltage level signal that can be input to the setting circuit;
A control method characterized by that. The control method according to claim 14 or 15, wherein
A step of generating a power supply voltage of the setting circuit from the DC voltage input in the input step;
A control method characterized by that.

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