JP2022072352A - Servo system - Google Patents

Abstract

To enable reproduction of operation of a device and adjustment of parameters of motor shafts even in a case where a host master controller and all of slave shafts are not provided.SOLUTION: A servo system X comprises: a motor control device 11 for driving a motor 31; and a master controller CNT1 for controlling the motor control device 11. The motor control device 11 includes: a storage unit 15a that stores driving device reproduction parameters required for reproducing driving of the servo motor 31 during a control operation of the servo system X, which corresponds to a position command received from the master controller CNT1, for each position command; and control units 17 and 21 for operating the motor control device on the basis of the driving device reproduction parameters stored in the storage unit 15a in response to the position command.SELECTED DRAWING: Figure 1

Description

The present invention relates to a servo system having a communication system, and in particular, in a servo system that controls motors so that a plurality of slave motors are driven synchronously by a command of a master controller, it is possible to analyze factors of various events. The present invention relates to a servo system that can easily set the adjustment parameters required for proper control.

In devices such as winding machines, packaging machines, and processing machines, there is known a means for controlling a motor or a motor shaft in synchronization with a plurality of drive devices by a command transmitted from a controller via a communication system. There is.

This is embodied as a drive device that controls a motor or the like by a command from a higher-level master controller transmitted by serial communication, as a slave, and positions the motor based on the received position command. ..
As an example, for example, a two-axis synchronous drive device as described in Patent Document 1 is known, in which a difference in the operating position of a drive object of each of the two drive axes is caused by the generation of drive resistance. A technique for operating each driven object evenly even when it occurs is disclosed.

Japanese Unexamined Patent Publication No. 2014-215913

However, providing a control device that deals with such a synchronization shift each time results in redundant control, and it takes time and manpower to adjust fine adjustment parameters and solve the root cause.・ It was costly. This is because, when analyzing the malfunction of the machine in the servo system and identifying the malfunction, a master controller, communication system, all drive devices, etc. are prepared in order to reproduce the operation of each motor in operation. This is because it is necessary to reproduce the same environment and operate the servo system again.

Further, even if it is possible to reproduce the operating status of such a servo system, whether the cause of the malfunction of the machine is due to the master controller, the drive device, or the machine. In order to narrow down and identify factors such as whether it is caused by a certain factor, it is necessary to have an environment in which each element of the servo system can be operated independently and arbitrarily as described above. It will be.

In addition, for mechanical disturbances during motor drive, adjustment parameters (gain, filter, etc.) are usually dynamically determined and executed inside the drive device. Therefore, disturbances such as vibration, noise, torque fluctuation, and noise change in synchronization with the change for each position command. Therefore, the adjustment parameter is used as a clue to the position command using the table or graph of the data obtained in advance. Request to manually set to change in synchronization, acquire and analyze changes in the mechanical system (vibration, noise, followability, etc.) due to manually set adjustment parameters, and take appropriate measures against mechanical disturbances. However, it is extremely difficult to actually perform it, and from this point as well, a servo system that can be easily dealt with has been desired.

In view of the actual situation of the prior art, the present invention reproduces the operation of the drive device by operating only a part of the servo system or when the master controller, the communication system, all the drive devices, etc. are not available. The purpose is to obtain a servo system that can analyze the factors of the event and can easily adjust the adjustment parameters for each motor necessary for proper control.

According to one aspect of the present invention, it is a servo system including a motor control device serving as a slave for driving a motor and a master controller for controlling the motor control device, and the motor control device is derived from the master controller. During the control operation of the servo system based on the received position command, a storage unit that stores the drive device reproduction parameters required for reproducing the drive of the servomotor for each communication cycle of the position command, and a storage unit.
Provided is a servo system characterized by having a control unit for operating the motor control device based on a drive device reproduction parameter stored in the storage unit.

At this time, based on the drive device reproduction parameter stored in the storage unit, the operation of the motor control device can be executed without being based on the position command from the master controller.

The drive device regeneration parameter is
The position command from the master controller, the torque command inside the drive device, the actual position or position deviation fed back from the motor, the actual torque of the motor, the mechanical vibration or sound of the motor are combined with the motor control device. It is preferable that the data is stored for each communication cycle of the master controller.

Further, it is preferable that the operation of the motor control device based on the drive device regeneration parameter is executed at the same timing as the communication cycle by the internal timer held by the motor control device.

Further, it is preferable that the internal timer is provided in each of the plurality of motor control devices and synchronizes the motor control devices with each other. At that time, which internal timer is used as a reference is arbitrary.

father,
The motor control device is
It is preferable to have at least a data communication device that performs data communication between the master controller and the motor control device.

The storage unit is
A first storage unit that temporarily stores the drive device reproduction parameter,
A second storage unit that stores the drive device regeneration parameter non-temporarily (permanently), and
It is preferable to have a storage control unit that detects the difference in the stored data between the first storage unit and the second storage unit and reflects the difference in the stored data in the second storage unit.

In the present invention, the position command from the master controller, the internal torque command, the position deviation (followability), the actual torque, the mechanical vibration and the sound are recorded in the storage unit of the servo amplifier for each communication cycle. By executing the recorded position command by the internal timer at the same timing as the communication cycle, even if the position command is not transmitted from the master controller, it can be received for some reason such as an abnormality in the communication system. Even if it cannot be done, the operation of the motor control device can be reproduced, and the operation of only a part of a plurality of motors or the like can be reproduced.

According to the present invention, when the master controller, communication system, all drive devices, etc. are not available, or when only a part of the servo system is operated to reproduce the operation of the drive device, it is possible to analyze the factors of various events. In addition, it is possible to obtain a servo system in which adjustment parameters for each motor required for appropriate control can be easily adjusted.

It is a block diagram which shows the schematic structure example of the analysis system by embodiment of this invention. It is a functional block diagram which shows the detailed configuration example of the servo system A and the analysis system by this embodiment, and is the functional block diagram in the recording mode which records the parameter for driving device reproduction. It is a functional block diagram which shows the detailed configuration example of the servo system A and the analysis system by this embodiment, and is the functional block diagram in the reproduction mode which reproduces the system based on the parameter for the drive apparatus reproduction. It is a functional block diagram which shows the detailed configuration example of the servo system A and the analysis system by this embodiment, and is the functional block diagram in the reproduction mode which reproduces the system based on the parameter for the drive apparatus reproduction. It is a flowchart which shows the flow of processing in the recording mode which records the driving device reproduction parameter. It is a flowchart which shows the flow of processing in the reproduction mode (with a controller) based on the drive device reproduction parameter. It is a flowchart which shows the flow of the switching of the reproduction execution / recording mode in a drive device.

In the present invention, "non-temporary" is a term contrasted with "temporary" and means that memory is retained regardless of whether the power is turned on or off.
Further, in the present invention, the "synchronizing" function is a function capable of keeping specified information in the same state between two or more different devices (devices). For example, it is a function to make the retained data the same.

The servo system according to the following embodiment of the present invention will be described in detail with reference to the drawings.
First, the procedure for analyzing failures and the like in the servo system having the communication system of the present invention will be briefly described below.

1) The motor control device records commands from the master controller, such as position commands, internal torque commands, fed-back actual position or position deviation, actual torque, mechanical vibration and sound in the internal storage unit for each cycle. do.
The motor control device can reproduce the operation of the control device without a master controller by executing the position command recorded in the internal storage unit by the internal timer at the same timing as the communication cycle.

2) At the output timing of the operation start signal, each servo driver reads the position command recorded in the storage unit and executes it at the same time, so that the drive device playback parameter stored in the storage unit without a command from the master controller Based on, the same operation as the last time can be realized.
As a result, the drive of the motor can be operated independently without a command from the master controller, and failure analysis and noise analysis can be easily performed.

3) Phenomena such as mechanical vibration, sound, and delay in tracking occur in synchronization with the executed position command. Therefore, by changing the adjustment parameters (gain (KP, KVP) notch filter, feedforward gain, torque addition) according to this cycle, it is possible to identify the cause and coping method of a complicated event that requires manual tuning. It is possible to provide a servo system capable of factor analysis of various events and easily setting adjustment parameters necessary for appropriate control.
Therefore, for example, by changing the adjustment parameters at the same timing as the position command, creating a fixed table for comparison, and executing them in synchronization, the previous operation can be easily reproduced, and analysis of defects etc. can be performed. can do.

Next, an embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration example of an analysis system X according to the present embodiment.

As shown in FIG. 1, the servo system A and the analysis system X according to the present embodiment include one or a plurality of servomotors 31a, 31b, 31c ... and drive devices (servo amplifiers) AMP1 to AMP3 (servo amplifiers) for driving them. The number of the drive device group B is three, which is an example, and may be one or more), and the master controller CNT1 controlled by connecting the drive device group B to the network NT.

Further, in the analyzer X of these servo systems _A , the drive devices AMP1, 2, 3, ... Of one or a plurality of servomotors 31a, 31b, 31c, ... Is a synchronized system. It is necessary to reproduce the drive of the servomotor 31 by the data storage start (trigger) signal of any of the external trigger S _IN1 , the internal timer setting _STM , and the serial communication signal _SCNT , which will be described in detail later, during the operation of the system. The control cycle is the parameter for driving device reproduction that can reproduce the servo motor control operation of the driving device without control by the master controller CNT1 such as position command, actual torque, encoder, vibration sensor and sound sensor. It is equipped with a mechanism to create a table together and save it in order.

Such parameters for reproduction are stored in the storage unit 15a of the drive devices AMP1, 2, 3, .... The storage unit 15 may be stored in the first storage unit (1) 15a and the second storage unit (2) 15b, but the configuration of such a storage unit will be described later.
The parameters for the drive device reproduction recorded in the first storage unit (1) 15a are, for example, the terminal device C by using the control function of the CPU 101 including the wireless function of the wireless communication unit 105 and the data organization function. Is stored in the storage unit 103 of. Parameters for driving device reproduction are stored in the storage unit 103 in a table format or the like. Thereby, the data of the parameters necessary for reproducing the drive device can be provided from the terminal C.

Although WiFi is shown as an example of the communication mode between the terminal C and the drive devices AMP1, 2, 3, ... In FIG. 1, the communication mode may be Bluetooth or a proprietary protocol. Further, a wired communication form may be used instead of wireless communication. As described above, the present invention does not limit the communication mode.

As explained below, various trigger settings and playback modes (playback mode, CNT enabled setting (with / without controller), synchronization master setting) are set by connecting to the drive device from a personal computer or smartphone via wireless / wired communication. Will be done. The settings are stored in the internal memory of the drive device and are set inside the drive device in the initialization mode. The data recorded during the execution of the recording mode is stored in the storage unit (1) 15a, and the data can be transferred to the personal computer (terminal) C, graphed / table TB1, and confirmed / analyzed.

Each drive device transfers the position command data stored in the storage unit (1) 15a to the storage unit (2) 15b, and each drive device sequentially executes a reproduction process in accordance with the synchronization signal. The same reproduction process can be reproduced without receiving the position command of the synchronous operation executed by the drive device.
In the "reproduction mode" in which the position command data saved in the storage unit is read out and the reproduction process is executed, the controller and the drive device shift from the initialization mode to the synchronous position mode, and the reproduction mode flag is ON. It is effective in some cases.

The trigger for starting / stopping the reproduction operation is executed by a start command from the master controller CNT1, a start time designation by a timer, and an external input. Further, it can be selected and executed from a plurality of data stored in the storage unit (1) 15a. Selection from a plurality of data can be performed by operating a personal computer (terminal) B or a smartphone, and when the reproduction process is executed, the data required for reproduction is stored in the storage unit (1) 15a to the storage unit (2) 15b. Read and play are executed.

When analyzing the influence of adjustment parameters such as gain on the position command again after analyzing the data recorded in the storage unit, the terminal (personal computer) C displays each data as table data TB1. Parameters are set according to changes in the time axis (cycle) and position commands, and the parameters are transferred to each drive device.

Since the reproduction process is executed as it is by the parameters based on the recorded position data, the operation in the drive device does not change as it is, the change in the degree of influence due to the gain parameter can be visualized, and failure analysis can be performed.
It is also possible to perform a process of storing a position command and machine data in parallel while the reproduction mode is being executed.
In this way, the position command data and adjustment parameters saved in the recording mode are processed by a personal computer, recorded again in order to confirm the result downloaded to each drive unit, and the factors of various events are analyzed. It is effective for.

When executing the playback mode using the master controller CNT1, enable the CNT valid setting, and after shifting to the synchronous position mode, call the specified data from the storage unit (1) 15a to the storage unit (2) 15b and execute the mode. do. After receiving the reproduction start trigger, the reproduction process based on the called position command and the adjustment parameter is sequentially executed at the timing of the synchronization signal of the master controller CNT1. Even when the position command data is transmitted from the master controller, the data in the running storage unit (2) 15b has priority during the reproduction mode.

Therefore, the reproduction mode for operating the motor control device can be executed without any instruction from the master controller CNT1. In this case, the CNT valid setting is set to invalid, and any drive device is set as the synchronization master.
The set drive device AMP regenerates a synchronization signal based on its own internal timer, and transmits the signal to each drive device AMP. Each drive device AMP synchronizes each device by synchronizing its own internal timer, selects stored data by a reproduction start trigger, and sequentially executes reproduction processing.

Each drive device AMP is connected by a cable or the like, and after the power is turned on, it is synchronized with an arbitrary synchronization signal in the initialization mode, and the internal timer of the drive device AMP itself is set. Therefore, after synchronization, the synchronized reproduction process can be executed even if the cable is disconnected.
Although the configuration using the terminal C has been described with reference to FIG. 1, the drive device itself may have a function such as tabulation.

Hereinafter, the present embodiment will be described in detail with reference to drawings and the like.
(Recording mode)
FIG. 2 is a functional block diagram showing a detailed configuration example of the servo system A and the analysis system X according to the present embodiment, and is a functional block diagram in a recording mode for recording parameters for driving device reproduction. FIG. 5 is a flowchart showing a flow of processing in a recording mode for recording drive device reproduction parameters.

Although omitted in FIG. 1, as shown in FIG. 2, the master controller CNT1 has a command creating unit 1a for creating a command to be given to the drive device AMP. This is a system in which a plurality of drive devices AMP control the motor 31 by a position command from the master controller CNT1.

The drive devices AMPs 1, 2, 3, ... Have the following configurations. Hereinafter, the drive device AMP1 will be described.
1) Data communication device (communication unit) 11a: The data communication device (communication unit) 11a is a communication unit 11a that communicates with the master controller CNT 1, and includes a communication processing unit 11a-1.
2) Position control unit 17a: The position control unit 17a is based on the position command LC of the serial communication signal _{S CNT} from the master controller CNT 1 and the speed signal Va from the encoder 33a that encodes the speed of the motor 31a. The position control signal _SPC is output.
3) Speed control unit 21a: The speed control unit 21a performs speed control based on the position control signal _SPC from the position control unit 17a and outputs a torque command _TC .

4) Torque control unit 25a: The torque control unit 25a outputs a torque command _TC that performs torque control based on the position control signal _SPC to the motor 31a.

5) Built-in (internal) timer 13a: A built-in timer 13a to which a recording start / recording stop trigger S _IN1 is input, and outputs a timer signal _STM . It is preferable that the internal timer 13a is provided in each of the plurality of motor control devices (drive devices) AMP1, 2, 3, ..., And the motor control devices AMP1, 2, 3, ... Are synchronized with each other. At that time, which internal timer 13a is used as a reference is arbitrary.

6) Gain adjustment parameter generation unit 23a: The gain adjustment parameter generation unit 23a receives the timer signal _STM from the built-in timer 13a, generates the gain adjustment parameter _Sp , and sets the gain adjustment parameter _Sp to the position control unit 17a, Output to the speed control unit 21a and the torque control unit 25a. The position control unit 17a, the speed control unit 21a, and the torque control unit 25a receive the gain adjustment parameter _Sp and reflect the gain adjustment parameter _Sp in each control signal.
7) Sensor unit: External sensor units such as the sound sensor 41a and the vibration sensor 43a also acquire the drive device reproduction parameters and store them in the storage unit 15a.

8) Storage unit 15: The drive device regeneration parameter required to reproduce the drive of the servomotor 31 during the control operation of the corresponding servo system A based on the position command received from the master controller CNT is set as the position command. It is stored in each communication cycle.
The storage unit 15 has a first storage unit (1) 15a and a second storage unit (2) 15b for storing the drive device reproduction parameters required for the drive device reproduction. Here, the first storage unit (1) 15a is a memory for temporarily storing the drive device reproduction parameter by the data storage start signal _SST , and the second storage unit (2) 15b, the drive device reproduction. It stores the parameters for non-temporary (permanent). The drive device reproduction parameters include a timer signal _STM , a position command LC, a sensor signal _{S SEN} , and a torque command (actual torque) _TC .

The first storage unit (1) 15a stores all the data during the first operation, and at the time of reproduction, all the data is transferred to the second storage unit (2) 15b, thereafter. , The system is operated based on the data of the second storage unit (2) 15b.
Then, at the time of reproduction, the data at the time of reproduction is further stored in the first storage unit (1) 15a. That is, the system is operated and recorded in the first storage unit (1) 15a, and then the recording is transferred to the second storage unit (2) 15b. The first storage unit (1) 15a can be expressed as a recording storage unit.

Then, the process of reproducing the recording transferred to the second storage unit (2) 15b can be repeated in a superimposed manner. The second storage unit (1) 15b can be expressed as a storage unit for executing reproduction.
If the storage areas can be distinguished, only one storage unit may be used.
With the above configuration, the motor control device AMP can be operated based on the drive device reproduction parameter stored in the second storage unit (2) 15b without being based on the position command from the master controller CNT1.
Although the example in which there are two storage units has been described, a configuration having one storage unit may be used.

FIG. 5 is a flowchart showing the flow of processing in the standard storage mode in which the drive device reproduction parameter is stored in the storage unit 15a.
Each drive device AMP receives a position command by serial communication from the master controller CNT1 and controls the position of the motor 31. By the trigger of recording start, the position command received by communication, the actual position from the motor / encoder, torque, motor vibration, noise, internal adjustment parameters (KP, KVP, torque addition, filter), etc. are set to the synchronous communication cycle. In addition, recording is performed in the first storage unit (1) 15a.

First, the power of the master controller CNT1 and the drive devices AMP1 to AMP1 to 3 is turned on.
Next, in step S1 and step S11, the master controller CNT1 and the drive devices AMP1 to AMP1 to 3 shift to the initialization mode.
In step S2, the master controller CNT1 transmits a synchronization position mode transition request synchronization signal from the drive devices AMP1 to 3. When the drive devices AMP1 to AMP1 to 3 receive the synchronization position mode transition request from the master controller CNT1 in step S12, the synchronization position mode transition is completed in step S13, and the transition completion flag is transmitted to the master controller CNT1.

In step S3, when the master controller CNT1 receives the transition completion flag from the drive devices AMP1 to 3 in the state of waiting for the transition completion flag, in step S14, the master controller CNT1 shifts to the synchronous position mode and issues a position command LC to the drive devices _AMP1 to 3. Send.

In step S15, the drive devices AMP1 to AMP1 to 3 control the motor 31a by the position command from the master controller CNT1 (step S4).
Next, the drive device reproduction parameter is stored in the first storage unit (1) 15a based on the following trigger signal.

1) The master controller CNT1 records to the drive devices AMP1 to 3 by receiving the external recording start trigger T1 generated by the signal S _CNT or the external input signal S _IN 1 or the external recording start trigger T2 generated at the internal time setting time. When the start trigger is entered (Yes in step S16), the position command received by communication, the actual position from the motor 31a and the encoder 33a, the torque, the vibration of the motor 31a, the noise, and the internal adjustment parameters (KP, KVP, torque addition, Data such as a filter) is stored in the storage unit (1) 15a according to the cycle of synchronous communication.

2) Further, the master controller CNT1 receives the external playback stop trigger T3 by the signal _SCNT or the external input signal _SIN1 or the internal recording start trigger T4 generated at the internal time setting time, and thereby to the drive devices AMP1 to 3. When the recording start trigger of is entered (Yes in step S18), the process proceeds to step S19, and data recording is ended.

By the above processing, the processing in the standard storage mode in which the driving device reproduction parameters are stored in the first storage unit 15a is completed.
The parameter data for driving device reproduction recorded during the execution of the recording mode is stored in the storage unit (1), and the data can be transferred to a personal computer, graphed, confirmed and analyzed.

Table 1 is a diagram showing an example of drive device reproduction parameters stored in the first storage unit (1) 15a.
As shown in Table 1, the drive device reproduction parameters are, for example, the numbers 1 to 16, command data (position command, torque addition command) and state data (actual position, actual torque, sound pressure level) in each number. ), Gain (KP, KVP), filter (on / off of filters 1, 2, etc.).

By using the drive device regeneration parameters as shown in Table 1, the drive device can be regenerated even in a state where the command of the master controller CNT1 does not exist.
For example, the position command from the controller, the internal torque command, the fed-back actual position or position deviation, the actual torque, the mechanical vibration and the sound are recorded in the storage unit of the motor drive device for each communication cycle.

By executing the recorded position command by the internal timer at the same timing as the communication cycle, the operation of the motor drive device can be reproduced without the master controller CNT1.

At the timing of the operation start signal, each servo amplifier reads the position command recorded in the storage unit and executes it at the same time, thereby realizing the same operation as the previous time without receiving the position command from the master controller CNT1. be able to. As a result, even when there is no communication state, the motor drive can be operated independently, which can be utilized for communication failure analysis and noise analysis.

(Playback mode (with controller))
Since FIG. 3 is a diagram corresponding to FIG. 2, a detailed description thereof will be omitted, but it is a functional block diagram showing a detailed configuration example of the servo system A and the analysis system X according to the present embodiment, and is a drive device. It is a functional block diagram in the reproduction mode which reproduces a system based on the parameter for reproduction. FIG. 6 is a flowchart showing a processing flow in a reproduction mode (with a controller) based on a drive device reproduction parameter.

In FIG. 3, by executing the recorded position command LC with the synchronization signal from the master controller _CNT1 during the synchronization position mode, the same operation as the stored operation can be reproduced (realized). The operation start is stored in the first storage unit (1) 15a, for example, the drive device reproduction parameters, for example, the timer signal _STM , the position command LC, the sensor signal _{S SEN} , and the torque command (actual torque) _TC . Is executed by using an external trigger, a timer setting, a signal for starting operation of serial communication, and the like.

FIG. 6 is a flowchart showing the flow of processing in the reproduction mode 1 (with the involvement of the controller) performed based on the drive device reproduction parameter stored in the first storage unit (1) 15a for the drive device reproduction parameter. It is a figure.
First, the power of the drive devices AMP1 to AMP1 to 3 is turned on.

Next, in step S11, the drive devices AMPs 1 to 3 shift to the initialization mode.
In step S21, it is determined whether or not the master controller CNT1 is validly set in the drive devices AMP1 to 3.
In step S21, if Yes, the process proceeds to step S22, and the state waits for reception of the synchronization position mode transition request signal from the master controller CNT1.

Here, in step S4, the synchronization position mode transition request synchronization signal is transmitted from the master controller CNT1 to the drive devices AMP1 to, and when the drive devices AMP1 to 3 receive this, the drive devices AMP1 to 3 are received in step S23. After receiving the synchronization position mode transition request synchronization signal, completes the transition to the synchronization position mode and transmits the transition completion flag to the master controller CNT1 (received in step S4-1). Then, the process proceeds to step S24, and the drive devices AMPs 1 to 3 shift to the synchronous position mode. In step S25, it waits until the reproduction mode is set (with the reproduction mode flag (Yes)), and when the process proceeds to step S26, for example, the selected position command data in the first storage unit (1) 15a is stored in the second storage. Copy to part (2) 15b. Then, the playback trigger wait state is set (step S27).

Here, the external reproduction start trigger T11 by the master controller CNT1 or the external input signal is transmitted to the drive devices AMP1 to 3, or the internal reproduction start trigger T12 generated at the internal time setting time is transmitted to the drive devices AMP1 to 3. Then, the process proceeds to step S28, and the drive devices AMPs 1 to 3 start controlling the motor _31a by the position command LC of the second storage unit (2) 15b.

Next, in step S29, the motor control is started from the drive device reproduction parameters such as the gain and the adjustment parameter stored in the second storage unit (2) 15b. Then, the operation is performed until the stop triggers T14 and T15 are received from the master controller CNT1 in step S30, and the motor operation is stopped in step S31.

If No in step S21, the process proceeds to step S41, and it is determined whether or not the synchronization master is set. If Yes (yes) in step S41, the process proceeds to step S42, and a synchronization signal is created and transmitted from the internal timer. Then, the process proceeds to step S43, and after transmission of, for example, 5 clocks, the mode shifts to the synchronous position mode (progresses to step S26).

If No (none) is set in step S41, the process proceeds to step S44, waits for synchronization signal reception, then proceeds to step S45, and after receiving the synchronization signal, the mode shifts to the synchronization position mode, for example, 10 clocks or less (step). Proceed to S26).
As described above, the processing of the reproduction mode 1 (with the controller) is executed based on the control of the master controller CNT1 and the parameters for reproduction of the drive device.

(Playback mode (without controller))
Since FIG. 4 is a diagram corresponding to FIG. 3, a detailed description thereof will be omitted, but it is a functional block diagram showing a detailed configuration example of the servo system A and the analysis system X according to the present embodiment, and is a drive device. It is a functional block diagram in the reproduction mode which reproduces a system based on the parameter for reproduction.

In FIG. 4, by executing the recorded position command _LC with the synchronization signal from the master controller 1 during the synchronization position mode, the same operation as when the parameters are stored in the storage unit can be performed without the master controller 1. It can be reproduced (realized). First, the drive device reproduction parameters, for example, the timer signal _STM , the position command LC, the sensor signal _{S SEN} , and the torque command (actual torque) _TC stored in the first storage unit (1) 15a are externally stored. It is executed by using a trigger, a timer setting, a signal for starting operation of serial communication, and the like.

In FIG. 4, in order to match the execution timing of each drive device AMP without using the master controller CNT1, any drive device transmits a synchronization timing signal in accordance with its own internal timer. Each drive device AMP can synchronize its internal timer with this signal. It should be noted that the processing flow is not such that each trigger is issued from the master controller CNT in FIG. It is the same process except that.

In this process, all the drive device AMPs sequentially execute the position commands in which the reproduction start trigger signal is recorded as a signal, so that the drive device AMP realizes the synchronous operation of the motors.
The tableized and recorded position commands are periodically and sequentially executed inside the drive unit AMP.

Since events such as noise and vibration are synchronized with this position command, the effects can be easily grasped by creating a data table of gain and filter values, valid / invalid, and freely changing them according to the position command.
Further, by adjusting the adjustment parameters such as the torque addition command according to the torque command, the actual torque, and the deviation (followability) according to the timing of the change of the position command, the change in the followability and its influence can be confirmed.

(Playback execution / recording mode switching process)
FIG. 7 is a flowchart showing the flow of switching between the reproduction execution / recording mode in the drive device.
As shown in FIG. 7, the drive device AMP1 is in the recording start trigger waiting state in step S51.

Here, when either the external recording start trigger T2 or the internal recording start trigger T3 is received, that is, when the drive device AMP1 receives the recording start triggers T2 and T3 in step S52 (Yes), the process proceeds to step S53 and the recording trigger is performed. Data is recorded in the storage unit (1) 15a based on the above.

Next, when the external reproduction stop trigger T4 and the internal reproduction stop trigger T5 are received in step S54 (Yes), the recording of data such as parameters for data drive device reproduction is completed (step S55).

By repeating this process, the data can be updated at any time.
As described above, according to the present embodiment, the first storage unit (1) 15a stores all the data during the first operation, and stores all the data at the time of reproduction. The data can be transferred to the storage unit (2) 15b of the second storage unit (2) 15b, and thereafter, as described below, the data can be operated based on the data of the second storage unit (2) 15b.

Then, at the time of reproduction, the data at the time of reproduction is further stored in the first storage unit (1) 15a. That is, the process is executed and recorded, and then the recording is transferred from the first storage unit (1) 15a to the second storage unit (2) 15b, and then transferred to the second storage unit (2) 15b. By repeating the process of reproducing the above, if the master controller, communication system, drive device, etc. are not all available, or if only a part of the servo system is operated, the operation of the drive device can be reproduced. It is possible to analyze the factors of various events, and it is possible to obtain a servo system in which adjustment parameters for each motor required for appropriate control can be easily adjusted.

Processing and control are software processing by CPU (Central Processing Unit) and GPU (Graphics Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field Process System), and other hardware. It can be realized by various ALSIs (Application Specific Integrated Circuits) and the like. In particular, it is not limited to a specific electronic circuit or form.

Further, in the above-described embodiment, the configuration and the like shown in the illustration are not limited to these, and can be appropriately changed within the range in which the effect of the present invention is exhibited. In addition, it can be appropriately modified and implemented as long as it does not deviate from the scope of the object of the present invention.
In addition, each component of the present invention can be arbitrarily selected, and an invention having the selected configuration is also included in the present invention.

The present invention can be used in a servo system.

A Servo system X Analysis system 1 Master controller CNT
AMP1 ~ 3 Motor drive device (servo amplifier)
11 Communication unit 13 Built-in timer 15a First storage unit (1) (Recording storage unit)
15b Second storage unit (2) (reproduction execution storage unit)
17 Position control unit (control unit)
21 Speed control unit (control unit)
23 Gain adjustment parameter generation unit 25 Torque control unit 31 Motor 33 Encoder 41 Sound sensor 43 Vibration sensor 101 CPU
103 Storage unit 105 Wireless communication unit S _IN1 External trigger _STM Internal timer setting S _CNT serial communication signal

Claims (6)

A servo system including a motor control device that is a slave that drives a motor and a master controller that controls the motor control device.
The motor control device is
A storage unit that stores the drive device reproduction parameters required for reproducing the drive of the servomotor for each communication cycle of the position command during the control operation of the servo system based on the position command received from the master controller. ,
It has a control unit for operating the motor control device based on the drive device reproduction parameter stored in the storage unit.
Servo system characterized by that. The drive device regeneration parameter is
The position command from the master controller, the torque command inside the drive device, the actual position or position deviation fed back from the motor, the actual torque of the motor, the mechanical vibration or sound of the motor, the motor control device and the said. The servo system according to claim 1, which is stored for each communication cycle of the master controller. The operation of the motor control device based on the drive device regeneration parameter,
The servo system according to claim 1 or 2, wherein the servo system is executed at the same timing as the communication cycle by the internal timer held by the motor control device. The servo system according to any one of claims 1 to 3, wherein the internal timer is provided in each of the plurality of motor control devices and synchronizes the motor control devices with each other. The motor control device is
It has at least a data communication device that performs data communication between the master controller and the motor control device.
The servo system according to any one of claims 1 to 4, wherein the servo system is characterized in that. The storage unit is
A first storage unit that temporarily stores the drive device reproduction parameter,
A second storage unit that non-temporarily stores the drive device reproduction parameter,
It has a storage control unit that detects a difference in stored data between the first storage unit and the second storage unit and reflects the difference in the stored data in the second storage unit.
The servo system according to any one of claims 1 to 5, wherein the servo system is characterized in that.

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