JP2018010561A - Control device, driving device, control method, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute maintenance and inspection with high frequency during a stop of an industrial apparatus.SOLUTION: There is provided a control device 10 comprising: a timing determination part 12a determining diagnostic timing of a driving device 20 according to an operation state of the driving device driving a motor 30; an instruction part 12b instructing the driving device to diagnose the driving device at the diagnostic timing; a result acquisition part 13 acquiring a diagnostic result from the driving device; and a result output part 14 outputting diagnostic information corresponding to the diagnostic result. A maintenance and inspection system 100 subjecting an industrial apparatus to maintenance and inspection by utilizing a network using the control device 10 is constructed, the maintenance and inspection is executed with high frequency during a stop of the industrial apparatus, and an accident can be prevented.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device, a drive device, a control method, and a control program.

For example, an industrial apparatus having an electric motor (also simply referred to as a motor) or an entire system such as a production line including the apparatus is periodically stopped (for example, once a year) to be used as an industrial apparatus, particularly a motor. Maintenance inspection of a power conversion device (inverter device or simply called an inverter) for supplying drive power or a motor drive device including the power conversion device is performed (see, for example, Patent Document 1). However, there may be a relatively minor accident such as motor stoppage due to deterioration or failure of the device that was not found during regular maintenance and inspection. Also, in the past, workers were isolated from the work area where industrial equipment was installed to ensure safety. However, due to the recent background of high-mix low-volume production, workers often work in the work area. Therefore, there are concerns that accidents involving workers will increase.
Patent Document 1 JP 2014-174684 A

  However, since it is difficult to detect deterioration or failure of the apparatus that causes relatively minor accidents in periodic maintenance inspections, it is desirable to perform maintenance inspections at a high frequency. On the other hand, there is a situation that the frequency of maintenance and inspection cannot be sufficiently increased because the industrial apparatus or the entire system including the industrial apparatus is stopped.

  In the first aspect of the present invention, a timing determination unit that determines a diagnosis timing of the drive device according to an operation state of the drive device that drives the motor, and an instruction that instructs the drive device to diagnose the drive device at the diagnosis timing A control device is provided that includes a unit, a result acquisition unit that acquires a diagnosis result from the drive device, and a result output unit that outputs diagnosis information corresponding to the diagnosis result.

  According to a second aspect of the present invention, there is provided a drive device connected to the control device of the first aspect, and a diagnosis instruction for instructing diagnosis of the drive device is issued from the control device at a diagnosis timing determined by the control device. A driving device is provided that includes a receiving unit that receives the diagnostic unit, a diagnostic unit that diagnoses the driving device according to a diagnostic instruction, and a transmission unit that transmits a diagnosis result of the diagnostic unit to a control device.

  In a third aspect of the present invention, determining a diagnosis timing of the drive device according to an operation state of the drive device driving the motor, instructing the drive device to diagnose the drive device at the diagnosis timing, A control method is provided that includes a step of obtaining a diagnostic result from the drive device and a step of outputting diagnostic information corresponding to the diagnostic result.

  In the fourth aspect of the present invention, the computer is instructed to the drive device for diagnosis of the drive device at a procedure for determining the diagnosis timing of the drive device in accordance with the operation status of the drive device that drives the motor, and at the diagnosis timing. There is provided a control program for executing a procedure, a procedure for obtaining a diagnostic result from the drive device, and a procedure for outputting diagnostic information corresponding to the diagnostic result.

  The above summary of the present invention does not enumerate all of the features of the present invention. A sub-combination of these feature groups can also be an invention.

The structure of the maintenance inspection system which concerns on this embodiment is shown. The diagnostic processing flow by a control apparatus is shown. An example of a method for determining diagnosis timing will be described. Another example of a diagnosis timing determination method will be described. The diagnostic processing flow by a drive device is shown. The confirmation of the result of the diagnostic process of the drive controller is shown. 2 shows an example of a hardware configuration of a computer according to the present embodiment.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  FIG. 1 shows a configuration of a maintenance / inspection system 100 according to the present embodiment. The purpose of the maintenance and inspection system 100 is to construct a system for maintaining and inspecting industrial devices using a network, and to carry out maintenance and inspection at a high frequency while the industrial devices are stopped to prevent accidents. Here, as an example, the industrial device includes a motor driving device including a motor and an inverter that supplies driving power to the motor. The maintenance and inspection system 100 includes a control device 10 and a drive device 20 that drives the motor 30.

  The control device 10 and the drive device 20 are connected to each other via a network 40 such as Ethernet (registered trademark) so as to be able to communicate with each other. Further, the drive device 20 is not limited to one drive device 20 for the control device 10, and a plurality of drive devices 20 may be connected to the network 40.

  The control device 10 is connected to one or a plurality of drive devices 20 that drive the motor 30, and controls and manages the operation of the motor 30 in normal operation of each industrial device (also simply referred to as normal operation). In the present embodiment, as an example, consider maintenance and inspection of one drive device 20. The control device 10 expresses its function by causing an information processing device including a computer, a microcontroller, etc. to execute a control program, and includes a communication unit 11, a schedule management unit 12, a result acquisition unit 13, a result output unit 14, and An access diagnosis processing unit 15 is provided.

  The communication unit 11 is connected to the network 40 and communicates with the drive device 20 via the network 40. For example, the communication unit 11 receives the operation status from each drive device 20, transmits them to the schedule management unit 12, and transmits the diagnosis instruction generated by the schedule management unit 12 to the drive device 20 targeted.

  The schedule management unit 12 is a unit that generates a diagnostic instruction for the drive device 20, and includes a timing determination unit 12a and an instruction unit 12b.

  The timing determination unit 12a determines the diagnosis timing of the drive device 20. The timing determination unit 12a receives the operation status from the plurality of drive devices 20 via the communication unit 11, and has the operation schedule of each of the plurality of drive devices 20 (or from the plurality of drive devices 20 together with the operation status). Receiving) and determining the drive device 20 to perform maintenance and inspection and the diagnosis timing thereof according to the operation state and / or the operation schedule. A method for determining the diagnosis timing will be described later. The determined maintenance inspection target and diagnosis timing are transmitted to the instruction unit 12b.

  The instruction unit 12b instructs the drive device 20 to make a diagnosis. The instruction unit 12b generates a diagnosis instruction at the diagnosis timing determined by the timing determination unit 12a, and transmits this through the communication unit 11 to the drive device 20 to be subjected to maintenance inspection determined by the timing determination unit 12a. . Here, the diagnosis of the drive device 20 includes the command execution diagnosis of the drive controller 23 included in the drive device 20, the characteristic diagnosis of the switching element included in the inverter 24 included in the drive device 20, and the access diagnosis of the storage device 25 included in the drive device 20. And at least one of data verification in the storage device 25 included in the drive device 20, drive diagnosis of the motor 30, and input / output diagnosis of an I / O interface (not shown) included in the drive device 20.

  Note that an instruction to drive the motor 30 by normal operation may be received during diagnosis of the drive device 20. In such a case, the instruction unit 12 b generates an instruction to interrupt the diagnosis of the drive device 20 in response to receiving the drive instruction for the motor 30, and transmits the instruction to the target drive device 20. When the diagnosis of the drive device 20 is interrupted, the instruction unit 12b generates an instruction to resume the interrupted diagnosis at the subsequent diagnosis timing, and transmits the instruction to the target drive device 20. As a result, the drive device 20 can be diagnosed giving priority to the normal operation.

  The instruction unit 12b stores drive range information for defining a rotation range in which the motor 30 may be driven in the drive diagnosis of the motor 30. In the drive diagnosis of the motor 30, the instruction unit 12 b generates an instruction for driving the motor 30 within the range of the drive range information by the drive device 20, and transmits this to the target drive device 20.

  The result acquisition unit 13 acquires a diagnosis result and / or a measurement value from the drive device 20 via the communication unit 11 and transmits the result to the result output unit 14.

  The result output unit 14 is a unit that outputs diagnostic information according to the diagnosis result and / or measurement value, and includes a history storage unit 14a, a comparison unit 14b, and a determination unit 14c.

  The history storage unit 14a stores diagnosis data and / or history data of measurement values acquired in the past by the result acquisition unit 13. The drive device 20 may perform diagnosis when it is initialized. In such a case, the history storage unit 14a receives the result of the diagnosis performed by the drive device 20 in response to the initialization. , May be added to the history data.

  The comparison unit 14b includes the diagnosis data and / or measurement value newly acquired by the result acquisition unit 13 and the history data recorded in the history storage unit 14a (that is, the diagnosis result and / or measurement value acquired in the past). Compare.

  The determination unit 14c determines at least one of a failure state and a deterioration state of the drive device 20 based on the comparison result by the comparison unit.

  The result output unit 14 outputs diagnostic information corresponding to the comparison result by the comparison unit 14b.

  The access diagnosis processing unit 15 temporarily stores data in the storage device 25 in a storage device (not shown) of the access diagnosis processing unit 15 when the instruction unit 12b instructs an access diagnosis of the storage device 25 included in the drive device 20. The information is saved and returned to the storage device 25 after the access diagnosis.

  The drive device 20 converts, for example, a constant voltage supplied from a constant voltage source into an AC voltage (for example, a three-phase AC voltage), and a motor 30 (for example, a U phase, a V phase, and a W phase of a three-phase motor, respectively). It is the power converter device which drives the motor 30 by supplying to. The drive device 20 expresses its function by causing an information processing device including a computer, a microcontroller, etc. to execute a drive program, and includes a communication unit 21, a diagnostic unit 22, a drive controller 23, an inverter 24, and a storage device 25. Prepare.

  The communication unit 21 is connected to the network 40 and communicates with the control device 10 via this. For example, the communication unit 21 receives a diagnosis instruction from the control device 10 and outputs a diagnosis instruction to the diagnosis unit 22 and an operation instruction to the drive controller 23 accordingly.

  The diagnosis unit 22 is a unit that receives a diagnosis command and performs a diagnosis instructed by the schedule management unit 12 (included in the instruction unit 12b) of the control device 10, and includes a reception unit 22a, a diagnosis unit 22b, and a transmission unit 22c. including.

  The receiving unit 22a receives from the control device 10 a diagnostic instruction that instructs the diagnosis of the drive device 20 at the diagnostic timing determined by the schedule management unit 12 of the control device 10 (the timing determining unit 12a included therein).

  The diagnosis unit 22b performs diagnosis of the drive device 20, particularly diagnosis of the diagnosis unit and diagnosis of the drive controller in response to the reception unit 22a receiving the diagnosis instruction. The diagnosis result is transmitted to the transmission unit 22c.

  The transmission unit 22 c transmits the diagnosis result from the diagnosis unit 22 b to the control device 10 via the communication unit 21.

  The drive controller 23 is a unit that controls driving of the motor 30 by receiving an operation instruction and transmitting a control signal to the inverter 24. Further, the drive controller 23 receives various measurement values from the inverter 24 and transmits them to the control device 10 via the communication unit 21.

  The inverter 24 is a converter that receives a control signal from the drive controller 23, converts a constant voltage supplied from a constant voltage source into an AC voltage, and supplies the AC voltage as a drive voltage to the motor 30. The inverter 24 has three legs connected to the U phase, the V phase, and the W phase of the motor 30 (for example, a three-phase motor). Each leg has two switching elements that are connected between the positive electrode and the negative electrode of the constant voltage source, and are connected in series with a point connecting to each layer of the motor 30. Here, the parts including the elements connected to the positive and negative sides of the constant voltage source among the two switching elements are referred to as an upper arm and a lower arm.

  The storage device 25 is a device that stores parameters and the like required to drive the motor 30 by controlling the inverter 24 by the drive controller 23, and may be a nonvolatile memory such as an EEPROM, for example.

  FIG. 2 shows a diagnostic processing flow 200 by the control device 10.

  In step 202, the operation status (and operation schedule) is acquired from each drive device 20 by the schedule management unit 12 (timing determination unit 12 a) of the control device 10. In addition, the control apparatus 10 acquires the operation condition of each drive device 20 regularly by implementing the diagnostic process flow 200 regularly or repeating step 202 regularly. The operation status includes, for example, driving and stopping.

  In step 204, the operation schedule of each drive device 20 is confirmed by the schedule management unit 12 (timing determination unit 12a) of the control device 10. The operation schedule includes, for example, an operation schedule for each day in a period of one week, a month, etc., and the operation schedule for each day includes, for example, driving from 9 o'clock to 12 o'clock and from 13 o'clock to 17 o'clock.

  In step 206, the schedule management unit 12 (timing determination unit 12 a) of the control device 10 determines the diagnosis timing of the drive device 20.

FIG. 3 shows an example of a method for determining diagnosis timing. In step 202, the operation status of the drive device 20 is periodically acquired by the control device 10. Here, representing the current time and _{t 0.} The timing determination unit 12a, based on the operation history of the drive unit 20 until the current time t _0, to infer a free drive device 20 does not operate time. In the example of the figure, the timing determination unit 12a generates a historical movement pattern w1 based on the operation history, it is possible to estimate the free time Td operation pattern w2 and subsequent at the current time t ₀ from now. Therefore, the timing determination unit 12a determines the diagnosis timing to be a timing during the idle time Td.

  FIG. 4 shows another example of a method for determining diagnosis timing. Here, the control device 10 has an operation schedule of the drive device 20 (or acquires an operation schedule of the drive device 20 in step 202). In the example in the figure, it can be seen from the previous day's driving schedule that the driving was scheduled from 9 o'clock to 12 o'clock and from 13 o'clock to 17 o'clock, and the stop was scheduled from 12 o'clock to 13 o'clock and after 17 o'clock. Therefore, the timing determination unit 12a estimates a timing at which the operation of the drive device 20 is not scheduled in the operation schedule of the current day based on the past operation schedule, and determines the diagnosis timing within the timing. In the example in the figure, the diagnosis timing is determined between 12:00 and 13:00 and between 17:00 and 18:00. The diagnosis timing between 17:00 and 18:00 can be a preliminary timing when diagnosis cannot be performed at the diagnosis timing between 12:00 and 13:00 for some reason.

  In step 208, the schedule management unit 12 (instruction unit 12b) of the control device 10 instructs the drive device 20 to perform diagnosis and operation at the determined diagnosis timing. The diagnosis unit 22 of the drive device 20 receives the diagnosis instruction and performs the diagnosis of the drive device 20 instructed at the diagnosis timing. The diagnosis unit 22 of the drive device 20 transmits the diagnosis result when the instructed diagnosis is performed, and the drive controller 23 transmits the measurement value received from the inverter 24 to the control device 10 when the instructed operation is performed. The diagnosis processing flow of the drive device 20 will be described later.

  In step 210, it is determined whether a new diagnosis result and / or measurement value is received from the drive device 20 by the result acquisition unit 13 of the control device 10. When the diagnosis result and / or measurement value is received from the drive device 20, the determination is affirmed and the process proceeds to step 212. If no diagnosis result and / or measurement value is received from the drive device 20, the determination is denied and the routine proceeds to step 218.

  In step 212, the comparison unit 14b of the result output unit 14 reads out the history data recorded in the history storage unit 14a (that is, the diagnosis result and / or measurement value acquired in the past).

  In step 214, the comparison unit 14 b of the result output unit 14 compares the diagnosis result and / or measurement value newly acquired in step 210 with the history data read in step 212. Subsequently, the determination unit 14c of the result output unit 14 determines the failure state and / or the deterioration state of the drive device 20 based on the comparison result by the comparison unit 14b. For example, the determination unit 14c estimates a period during which the drive device 20 can normally operate based on the comparison result. Thereby, based on the estimated period of normal operation, for example, when the period is about to expire, it can be determined that the drive device 20 should be replaced with a new device.

  In step 216, the determination result of the failure state and / or the deterioration state of the drive device 20 is output as diagnostic information by the determination unit 14c of the result output unit 14. Here, the instruction unit 12b of the schedule management unit 12 stops the driving of the motor 30 in the normal operation when, for example, failure and / or deterioration of the drive device 20 is determined based on the determination result of the determination unit 14c. An instruction can be given to the driving device 20.

  In step 218, the elapsed time from the time when the diagnosis of the drive device 20 is instructed in step 208 is measured, and it is determined whether or not this exceeds a predetermined time. If the elapsed time exceeds a predetermined time, the determination is affirmed and the process proceeds to step 216, where the drive device 20 is diagnosed as having failed, the diagnosis information is output, and the diagnosis processing flow 200 is terminated. If the elapsed time does not exceed the predetermined time, the determination is denied and the routine proceeds to step 220.

  In step 220, the control device 10 communicates with the drive device 20 to determine whether the drive device 20 is in operation. If the drive device 20 is in operation, the determination is affirmed and the diagnosis processing flow 200 is terminated. If the drive device 20 is stopped, the determination is denied and the process returns to step 210. Steps 210, 218, and 220 are repeated until a predetermined time elapses, and the diagnosis result and / or measurement value is received from the drive device 20 so that the determination in step 210 is affirmed and the process proceeds to step 212. The determination in step 218 is affirmed when a predetermined time has elapsed, and the process proceeds to step 216, or the diagnosis processing flow 200 is ended when the drive device 20 starts operation.

  FIG. 5 shows a diagnostic processing flow 300 by the drive device 20.

  In step 302, the diagnosis unit 22 receives the diagnosis instruction of the driving device 20 transmitted by the schedule management unit 12 (instruction unit 12 b) of the control device 10 in step 208.

  In step 304, the diagnosis unit 22 determines whether or not the drive device 20 is in operation. If drive device 20 is stopped, the determination is affirmed and the process proceeds to step 306, and if drive device 20 is in operation, the determination is negative and the process proceeds to step 324.

  In step 324, the diagnosis unit 22 notifies the control device 10 that the drive device 20 is in operation, and ends the diagnosis processing flow 300.

  In step 306, the receiving unit 22a of the diagnostic unit 22 outputs a diagnostic instruction, which is received by the diagnostic unit 22b.

  In step 308, the diagnostic unit 22 performs a self-diagnosis. As a self-diagnosis, the diagnosis unit 22 performs, for example, an instruction execution diagnosis of the drive controller 23 included in the drive device 20, an access diagnosis of the storage device 25, and data verification in the storage device 25.

  In the instruction execution diagnosis of the drive controller 23, the diagnosis unit 22 diagnoses whether or not an instruction that expresses the function of the drive controller 23 is correctly processed by the processor in the information processing device constituting the drive device 20. In addition to the instruction execution diagnosis, it may be further diagnosed whether or not the register can be rewritten.

  In the access diagnosis of the storage device 25, the diagnosis unit 22 diagnoses the storage device 25 by, for example, the Abraham method. At the time of access diagnosis, the access diagnosis processing unit 15 of the control device 10 temporarily saves data in the storage device 25, executes diagnosis for an unused area, and stores the saved data in the area where diagnosis is completed. Return. Thereby, the failure of the storage device 25 can be diagnosed without damaging the data.

  In the data verification in the storage device 25, the diagnosis unit 22 verifies the content of data by, for example, a cyclic redundancy check (CRC). A data verification unit that performs data verification in the storage device 25 may be provided independently of the diagnostic unit 22.

  In addition, the diagnosis unit 22 may diagnose an emergency stop button for emergency stop of the drive device 20 (drive controller 23) as input / output diagnosis of an I / O interface (not shown) of the drive device 20. . For example, a predetermined voltage (or periodic pulse) is input to the emergency stop button, and when the emergency stop button is pressed, the voltage is cut off to operate. Therefore, in the input / output diagnosis, the voltage output to the emergency stop button and the voltage input therefrom are diagnosed.

  In step 310, the diagnosis of the drive controller 23 is performed by the diagnosis unit 22. As a diagnosis of the drive controller 23, the diagnosis unit 22 performs, for example, a characteristic diagnosis of a switching element included in the inverter 24 included in the drive device 20 and a drive diagnosis of the motor 30.

  In the characteristic diagnosis of the switching element, the diagnosis unit 22b of the diagnosis unit 22 transmits an instruction to the drive controller 23, applies a diagnosis signal to the gate of the switching element included in the inverter 24, and changes the potential difference between both ends of the switching element. To detect. Here, the diagnostic signal may have a predetermined pulse width, for example, and the diagnosis unit 22b may detect the width of the pulse generated in the potential difference between both ends of the switching element with respect to the pulse width.

  The switching element characteristic diagnosis is performed at different timings for each of the plurality of legs in the inverter 24 and for each of the upper arm switching element and the lower arm switching element of each leg. Thereby, a drive voltage is not applied to each layer of the motor 30, and the diagnosis can be executed without driving the motor 30. However, when a plurality of switching elements are provided in parallel on each arm of each leg, the characteristic diagnosis may be simultaneously performed on the plurality of switching elements. Alternatively, multiple leg switching elements may be diagnosed simultaneously.

  In the drive diagnosis of the motor 30, the diagnosis unit 22 diagnoses whether the motor 30 is driven. The diagnosis unit 22 controls the inverter 24 via the drive controller 23 to drive the motor 30 within the range of the drive range information stored by the schedule management unit 12 (instruction unit 12b) of the control device 10. Thereby, it can be confirmed whether the motor 30 drives within the range.

  FIG. 6 shows confirmation of the result of the diagnostic processing of the drive controller 23 by the diagnostic unit 22. In step 310, when the diagnosis unit 22 instructs the drive controller 23 to perform diagnosis processing for any item, the diagnosis unit 22 holds the result value processed for the item, and the drive controller 23 performs diagnosis processing for the instructed item. The processing result is transmitted to the diagnosis unit 22. The diagnosis unit 22 confirms the processing result by receiving the processing result and comparing it with the result value of the corresponding item.

  In step 312, the diagnostic unit 22 stores the results in the storage device 25 when the self-diagnosis of the diagnostic unit 22 and the diagnosis of the drive controller 23 are completed.

  In step 314, the drive controller 23 receives the operation instruction of the drive device 20 transmitted by the schedule management unit 12 (instruction unit 12 b) of the control device 10 in step 208.

  In step 316, the drive controller 23 outputs a control signal to the inverter 24. Thereby, the inverter 24 operates the motor 30 and measures a response thereto, for example, a current value energized in each phase of the motor 30, a voltage value applied to each layer, a driving speed of the motor 30, and the like.

  In step 318, the measurement value is received from the inverter 24 by the drive controller 23.

  In step 320, the drive controller 23 stores the measurement value received from the inverter 24 in the storage device 25.

  In step 322, when the diagnosis process and the operation process are completed, the diagnosis unit 22 (transmission unit 22c) transmits the diagnosis result and the drive controller 23 transmits the measurement value to the control device 10, respectively. Thereby, the diagnostic processing flow 300 is ended.

  FIG. 7 shows an example of the hardware configuration of a computer 1900 according to this embodiment. A computer 1900 according to this embodiment is connected to a CPU peripheral unit having a CPU 2000, a RAM 2020, a graphic controller 2075, and a display device 2080 that are connected to each other by a host controller 2082, and to the host controller 2082 by an input / output controller 2084. Input / output unit having communication interface 2030, hard disk drive 2040, and CD-ROM drive 2060, and legacy input / output unit having ROM 2010, flexible disk drive 2050, and input / output chip 2070 connected to input / output controller 2084 Is provided.

  The host controller 2082 connects the RAM 2020 to the CPU 2000 and the graphic controller 2075 that access the RAM 2020 at a high transfer rate. The CPU 2000 operates based on programs stored in the ROM 2010 and the RAM 2020 and controls each unit. The graphic controller 2075 acquires image data generated by the CPU 2000 or the like on a frame buffer provided in the RAM 2020 and displays it on the display device 2080. Instead of this, the graphic controller 2075 may include a frame buffer for storing image data generated by the CPU 2000 or the like.

  The input / output controller 2084 connects the host controller 2082 to the communication interface 2030, the hard disk drive 2040, and the CD-ROM drive 2060, which are relatively high-speed input / output devices. The communication interface 2030 communicates with other devices via a network. The hard disk drive 2040 stores programs and data used by the CPU 2000 in the computer 1900. The CD-ROM drive 2060 reads a program or data from the CD-ROM 2095 and provides it to the hard disk drive 2040 via the RAM 2020.

  The input / output controller 2084 is connected to the ROM 2010, the flexible disk drive 2050, and the relatively low-speed input / output device of the input / output chip 2070. The ROM 2010 stores a boot program that the computer 1900 executes at startup and / or a program that depends on the hardware of the computer 1900. The flexible disk drive 2050 reads a program or data from the flexible disk 2090 and provides it to the hard disk drive 2040 via the RAM 2020. The input / output chip 2070 connects the flexible disk drive 2050 to the input / output controller 2084 and inputs / outputs various input / output devices via, for example, a parallel port, a serial port, a keyboard port, a mouse port, and the like. Connect to controller 2084.

  A program provided to the hard disk drive 2040 via the RAM 2020 is stored in a recording medium such as the flexible disk 2090, the CD-ROM 2095, or an IC card and provided by the user. The program is read from the recording medium, installed in the hard disk drive 2040 in the computer 1900 via the RAM 2020, and executed by the CPU 2000.

  A program that is installed in the computer 1900 and causes the computer 1900 to function as the control device 10 includes a communication module, a schedule management module, a result acquisition module, and a result output module. These programs or modules work with the CPU 2000 or the like to change the computer 1900 to the communication unit 11, the schedule management unit 12 (timing determination unit 12a and instruction unit 12b), the result acquisition unit 13, and the result output unit 14 (history storage unit 14a). , The comparison unit 14b, and the determination unit 14c). A program that is installed in the computer 1900 and causes the computer 1900 to function as the driving device 20 includes a communication module, a diagnostic module, and a driving module. These programs or modules work on the CPU 2000 or the like to cause the computer 1900 to function as the communication unit 21, the diagnosis unit 22 (reception unit 22 a, diagnosis unit 22 b, and transmission unit 22 c), and the drive controller 23, respectively.

  The information processing described in these programs is read into the computer 1900, whereby the communication unit 11 and the schedule management unit 12 (timing determination) that are specific means in which the software and the various hardware resources described above cooperate with each other. Unit 12a and instruction unit 12b), result acquisition unit 13, result output unit 14 (history storage unit 14a, comparison unit 14b, and determination unit 14c) or communication unit 21, diagnosis unit 22 (reception unit 22a, diagnosis unit 22b, and The transmitter 22c) functions as the drive controller 23. And the specific control apparatus 10 or drive device 20 according to the intended purpose is constructed | assembled by implement | achieving the calculation or processing of the information according to the intended purpose of the computer 1900 in this embodiment by these specific means. .

  As an example, when communication is performed between the computer 1900 and an external device or the like, the CPU 2000 executes a communication program loaded on the RAM 2020 and executes a communication interface based on the processing content described in the communication program. A communication process is instructed to 2030. Under the control of the CPU 2000, the communication interface 2030 reads transmission data stored in a transmission buffer area or the like provided on a storage device such as the RAM 2020, the hard disk drive 2040, the flexible disk 2090, or the CD-ROM 2095, and sends it to the network. The reception data transmitted or received from the network is written into a reception buffer area or the like provided on the storage device. As described above, the communication interface 2030 may transfer transmission / reception data to / from the storage device by a DMA (direct memory access) method. Instead, the CPU 2000 transfers the storage device or the communication interface 2030 as a transfer source. The transmission / reception data may be transferred by reading the data from the data and writing the data to the communication interface 2030 or the storage device of the transfer destination.

  The CPU 2000 is all or necessary from among files or databases stored in an external storage device such as a hard disk drive 2040, a CD-ROM drive 2060 (CD-ROM 2095), and a flexible disk drive 2050 (flexible disk 2090). This portion is read into the RAM 2020 by DMA transfer or the like, and various processes are performed on the data on the RAM 2020. Then, CPU 2000 writes the processed data back to the external storage device by DMA transfer or the like. In such processing, since the RAM 2020 can be regarded as temporarily holding the contents of the external storage device, in the present embodiment, the RAM 2020 and the external storage device are collectively referred to as a memory, a storage unit, or a storage device. Various types of information such as various programs, data, tables, and databases in the present embodiment are stored on such a storage device and are subjected to information processing. Note that the CPU 2000 can also store a part of the RAM 2020 in the cache memory and perform reading and writing on the cache memory. Even in such a form, the cache memory bears a part of the function of the RAM 2020. Therefore, in the present embodiment, the cache memory is also included in the RAM 2020, the memory, and / or the storage device unless otherwise indicated. To do.

  In addition, the CPU 2000 performs various operations, such as various operations, information processing, condition determination, information search / replacement, etc., described in the present embodiment, specified for the data read from the RAM 2020 by the instruction sequence of the program. Is written back to the RAM 2020. For example, when performing the condition determination, the CPU 2000 determines whether the various variables shown in the present embodiment satisfy the conditions such as large, small, above, below, equal, etc., compared to other variables or constants. When the condition is satisfied (or not satisfied), the program branches to a different instruction sequence or calls a subroutine.

  Further, the CPU 2000 can search for information stored in a file or database in the storage device. For example, in the case where a plurality of entries in which the attribute value of the second attribute is associated with the attribute value of the first attribute are stored in the storage device, the CPU 2000 displays the plurality of entries stored in the storage device. The entry that matches the condition in which the attribute value of the first attribute is specified is retrieved, and the attribute value of the second attribute that is stored in the entry is read, thereby associating with the first attribute that satisfies the predetermined condition The attribute value of the specified second attribute can be obtained.

  In addition, the execution order of each process such as operation, procedure, step, and stage in the apparatus, system, program, and method shown in the claims, the specification, and the drawings is particularly “before”, “ It should be noted that “precedent” or the like is not specified, and that the output of the previous process can be realized in any order unless it is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

  The program or module shown above may be stored in an external recording medium. As the recording medium, in addition to the flexible disk 2090 and the CD-ROM 2095, an optical recording medium such as DVD or CD, a magneto-optical recording medium such as MO, a tape medium, a semiconductor memory such as an IC card, and the like can be used. Further, a storage device such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the computer 1900 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. It should be noted that the output can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

  DESCRIPTION OF SYMBOLS 10 ... Control apparatus, 11 ... Communication unit, 12 ... Schedule management part, 12a ... Timing determination part, 12b ... Instruction part, 13 ... Result acquisition part, 14 ... Result output part, 14a ... History storage part, 14c ... Determination part, 14 ... Comparison unit 15 ... Access diagnosis processing unit 20 ... Drive device 21 ... Communication unit 22 ... Diagnostic unit 22a ... Reception unit 22b ... Diagnostic unit 22c ... Transmission unit 23 ... Drive controller 24 ... Inverter , 25 ... storage device, 30 ... motor, 40 ... network, 100 ... maintenance inspection system, 200 ... diagnostic processing flow, 300 ... diagnostic processing flow, 1900 ... computer, 2000 ... CPU, 2010 ... ROM, 2020 ... RAM, 2030 ... Communication interface, 2040 ... hard disk drive, 2050 ... flexible disk drive Eve, 2060 ... CD-ROM drive, 2070 ... output chip, 2075 ... graphic controller, 2080 ... display device, 2082 ... host controller, 2084 ... output controller, 2090 ... flexible disk, 2095 ... CD-ROM.

Claims (20)

A timing determining unit that determines a diagnosis timing of the driving device according to an operation state of the driving device that drives the motor;
An instruction unit for instructing the drive device to diagnose the drive device at the diagnosis timing;
A result acquisition unit for acquiring a diagnosis result from the drive device;
A result output unit for outputting diagnostic information according to the diagnostic result; and
A control device comprising: The timing determination unit
Based on the history of operation of the drive device, guess the idle time when the drive device does not operate,
The control device according to claim 1, wherein the diagnosis timing is determined as a timing during the idle time. The timing determination unit
Obtaining an operation schedule of the drive device;
The control device according to claim 1, wherein the diagnosis timing is determined to be a timing at which the operation of the drive device is not scheduled in the operation schedule.   The said instruction | indication part interrupts the diagnosis of the said drive device according to having received the instruction | indication which drives the said motor by normal operation during the diagnosis of the said drive device. Control device.   The control device according to claim 4, wherein when the diagnosis of the drive device is interrupted, the instruction unit resumes the diagnosis interrupted at the subsequent diagnosis timing.   The instruction unit diagnoses the drive device by using a command execution diagnosis of a drive controller included in the drive device, diagnosis of characteristics of a switching element included in an inverter included in the drive device, and access to a storage device included in the drive device. The control according to any one of claims 1 to 5, wherein the drive device is instructed to execute at least one of diagnosis, drive diagnosis of the motor, and input / output diagnosis of an I / O interface of the drive device. apparatus.   The control device according to claim 6, further comprising an access diagnosis processing unit that temporarily saves data in the storage device and restores the data to the storage device after the access diagnosis. The instruction unit includes:
Storing drive range information for defining a range in which the motor may be driven in the drive diagnosis of the motor;
The control device according to claim 6 or 7, wherein in the drive diagnosis of the motor, the drive device instructs to drive the motor within the range of the drive range information. The result output unit
A history storage unit that stores history data of the diagnosis results acquired in the past;
A comparison unit that compares the newly acquired diagnosis result with the history data;
Have
The control device according to any one of claims 1 to 8, wherein the diagnosis information corresponding to a comparison result by the comparison unit is output.   The control device according to claim 9, wherein the result output unit further includes a determination unit that determines at least one of a failure state and a deterioration state of the drive device based on a comparison result by the comparison unit.   The control device according to claim 10, wherein the instruction unit instructs the drive device to stop driving the motor in a normal operation based on a determination result of the determination unit.   The control device according to claim 10 or 11, wherein the determination unit estimates a period during which the drive device can normally operate based on a comparison result by the comparison unit.   13. The history storage unit according to claim 9, wherein the history storage unit receives a result of a diagnostic process executed by the driving device in response to the initialization of the driving device, and adds the result to the history data. Control device.   The control device according to any one of claims 1 to 13, wherein the control device is connected to the plurality of drive devices and controls normal operations of the plurality of drive devices. A drive device connected to the control device according to any one of claims 1 to 14,
A receiving unit that receives from the control device a diagnostic instruction for instructing diagnosis of the drive device at the diagnosis timing determined by the control device;
A diagnostic unit for diagnosing the drive device according to the diagnostic instruction;
A transmission unit for transmitting a diagnosis result by the diagnosis unit to the control device;
A drive device comprising:   In accordance with the diagnosis instruction, the diagnosis unit performs command execution diagnosis of a drive controller included in the drive device, characteristic diagnosis of a switching element included in an inverter included in the drive device, access diagnosis of a storage device included in the drive device, The drive device according to claim 15, wherein at least one of drive diagnosis of the motor and input / output diagnosis of an I / O interface included in the drive device is executed.   The drive device according to claim 16, wherein in the characteristic diagnosis of the switching element, the diagnosis unit applies a diagnosis signal to a gate of the switching element to detect a change in potential difference between both ends of the switching element.   The diagnostic unit applies the diagnostic signal having a predetermined pulse width to a gate of the switching element in the characteristic diagnosis of the switching element, and detects a width of a pulse generated in a potential difference between both ends of the switching element. The drive device described in 1. Determining a diagnosis timing of the driving device according to an operation state of the driving device driving the motor;
Instructing the drive device to diagnose the drive device at the diagnosis timing;
Obtaining a diagnostic result from the drive device;
Outputting diagnostic information according to the diagnostic result;
A control method comprising: On the computer,
A procedure for determining the diagnosis timing of the drive device according to the operation status of the drive device for driving the motor;
A procedure for instructing the drive device to diagnose the drive device at the diagnosis timing;
A procedure for obtaining a diagnostic result from the drive device;
A procedure for outputting diagnostic information according to the diagnostic result;
Control program to execute

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