JP2022118298A - Servo motor with brake and motor control system - Google Patents

Abstract

To provide a servo motor with a brake that allows reduction in the number of wires, and a motor control system.SOLUTION: A servo motor with a brake comprises: a motor unit (210) which is supplied with motor driving power via a power line (310) and rotates a pivot (211); a brake unit (220) which is supplied with brake driving power and stops the rotation of the pivot (211); an encoder unit (230) which is supplied with encoder power supply and an encoder command are supplied via an encoder line (330), detects the rotation of the pivot (211) and outputs a rotation detection signal; and an internal connection line (234) that transmits brake driving power between the encoder unit (230) and the brake unit (220). The encoder unit (230) generates brake driving power from encoder power supply upon being supplied with an encoder command containing a rotation stop instruction, and supplies the brake driving power to the brake unit (220) via the internal connection line (234).SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a servomotor and a motor control system, and more particularly to a novel improvement in wire saving in a servomotor with a brake and a motor control system.

There are three types of servo motors with brakes: a power line that supplies drive power from the motor controller to the motor, a brake line that supplies brake drive power from the motor controller, and an encoder line that exchanges various signals between the motor controller and encoder. is connected. In the case of a multi-axis robot, a servomotor with a brake is attached to each axis, and the robot as a whole has wiring corresponding to the above three types of wiring times the number of axes. Wiring in a brake-equipped servomotor is described in Patent Document 1.

Utility Model Registration No. 3022656

In applications where a plurality of servo motors with brakes are used, such as multi-axis robots, the weight of the wire harness, which is a bundle of wires, is a problem due to the large number of wires.

Wire-saving and weight reduction of wire harnesses are required in various fields. However, in the case of the brake-equipped servomotor, only the minimum necessary wiring is connected, and there is a problem that further wiring saving and weight reduction cannot be achieved.

SUMMARY OF THE INVENTION An object of the present invention is to provide a brake-equipped servomotor and a motor control system capable of reducing the number of wirings to be connected.

(1) A servomotor with a brake according to the present invention includes a motor section that is supplied with motor drive power through a power line to rotate a rotating shaft, a brake section that is supplied with brake drive power and stops rotation of the rotating shaft, An encoder power supply and an encoder command are supplied via an encoder line, and between the encoder unit that detects the rotation of the rotary shaft and outputs a rotation detection signal, and the encoder unit and the brake unit, the brake is applied from the encoder unit to the brake unit. and an internal connection line for transmitting drive power, wherein the encoder unit generates brake drive power from the encoder power supply when supplied with an encoder command including a rotation stop instruction, and transmits the brake drive power to the brake unit through the internal connection line. characterized by supplying to

(2) A motor control system according to the present invention includes a servo motor with a brake according to claim 1, which includes a motor section, a brake section, and an encoder section. a motor controller that supplies an encoder power source and an encoder command to the encoder unit through an encoder line and a rotation detection signal that is supplied from the encoder unit through an encoder line; the motor controller includes a rotation stop instruction in the encoder command and sends the It is characterized by supplying

According to the brake-equipped servomotor and the motor control system of the present invention, it is possible to omit the conventionally-existing brake line and reduce the wiring between the brake-equipped servomotor and the motor controller.

1 is a configuration diagram showing the configuration of a motor control system including a brake-equipped servomotor according to Embodiment 1; FIG. FIG. 2 is a configuration diagram showing the internal configuration of the brake-equipped servomotor shown in FIG. 1 ; 1 is a configuration diagram showing a configuration of a motor control system including a conventional brake-equipped servomotor; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a brake-equipped servomotor and a motor control system according to the present invention will be described below with reference to the drawings. In addition, in each figure, the same code|symbol is attached|subjected to the same part.

Embodiment 1.
First, a brake-equipped servomotor 200 and a motor control system 1 according to Embodiment 1 will be described with reference to FIGS. 1 and 2. FIG.

FIG. 1 is a configuration diagram showing the configuration of a motor control system 1 including a brake-equipped servomotor 200 according to Embodiment 1. As shown in FIG. FIG. 2 is a configuration diagram showing the internal configuration of the brake-equipped servomotor 200 shown in FIG.

[Constitution]
The motor control system 1 includes a motor controller 100 , a brake-equipped servomotor 200 , and a wiring group 300 .

The motor controller 100 is provided with a control section 110 , a motor drive section 120 and an encoder control section 140 .

Control unit 110 operates motor drive unit 120 and encoder control unit 140 to rotate motor unit 210 at a predetermined number of rotations or stop it at a predetermined timing in accordance with a rotation command/rotation stop command from a higher-level control device. give instructions to
Motor drive unit 120 generates motor drive power for rotating motor unit 210 at a predetermined number of revolutions based on a rotation instruction from control unit 110, and supplies the motor drive power to motor unit 210 through power line 310. do.

Based on instructions from the control unit 110, the encoder control unit 140 supplies an encoder power source and an encoder command to the encoder unit 230 in the brake-equipped servo motor 200 via the encoder line 330, A rotation detection signal is supplied from the encoder section 230 .
Based on the rotation stop instruction supplied from the control unit 110 , the encoder control unit 140 includes the rotation stop instruction in the encoder command and supplies the encoder unit 230 in the servo motor 200 with the brake.

The brake-equipped servo motor 200 is provided with a motor section 210 , a brake section 220 and an encoder section 230 .

The motor unit 210 includes a stator and a rotor (not shown), and rotates a rotating shaft 211 according to motor drive power supplied through a power line 310 .

The brake portion 220 is provided with an excitation portion 221 and a brake operation portion 222 . The excitation unit 221 is supplied with brake driving power from the encoder unit 230 through an internal connection line 234, and the excitation state is switched according to the brake driving power. Here, the brake driving electric power is electric power for setting the excitation unit 221 to an excited state or a non-excited state. The brake operating section 222 acts as an electromagnetic brake, operates in either an excited state or a non-excited state of the excitation section 221 , and stops the rotation of the rotating shaft 211 .

The encoder section 230 is provided with a power supply section 231 , a rotation detection section 232 , an encoder processing section 233 and an internal connection line 234 .

Encoder power is supplied to the power supply unit 231 through the encoder line 330 . The power supply unit 231 supplies power to the rotation detection unit 232 and the encoder processing unit 233 , and supplies brake drive power to the brake unit 220 via the internal connection line 234 based on instructions from the encoder processing unit 233 . The brake drive power is conventionally supplied from the motor controller 100 to the brake unit 220 through the brake line for brake operation.

The rotation detection unit 232 optically detects the rotation angle, number of rotations, rotation phase, etc. of the rotation shaft 211 and supplies the detection result to the encoder processing unit 233 .

The encoder processing section 233 analyzes the encoder command from the motor controller 100 and controls each section within the encoder section 230 according to the instruction indicated by the encoder command. The encoder processing section 233 generates a rotation detection signal in a predetermined format according to the detection result of the rotation detection section 232 and supplies the generated rotation detection signal to the motor controller 100 via the encoder line 330 . When the encoder processing unit 233 detects a command corresponding to an instruction to stop rotation among the encoder commands, the encoder processing unit 233 instructs the power supply unit 231 to supply brake driving power to the brake unit 220 via the internal connection line 234 .

A power line 310 and an encoder line 330 are provided in the wiring group 300 . A power line 310 supplies motor drive power from the motor controller 100 to the brake-equipped servomotor 200 . The encoder line 330 supplies encoder power and encoder commands from the motor controller 100 to the servo motor 200 with brake. The encoder line 330 supplies a rotation detection signal from the brake-equipped servomotor 200 to the motor controller 100 .

[motion]
Next, the operation of the motor controller 100 and the brake-equipped servo motor 200 in the motor control system 1 will be described.

Motor rotation:
In the motor controller 100, the control section 110 gives a rotation instruction to the motor driving section 120 to rotate the motor section 210 at a predetermined number of rotations in accordance with a rotation instruction from a higher control device (not shown).
Motor drive unit 120 generates motor drive power for rotating motor unit 210 at a predetermined number of revolutions based on a rotation instruction from control unit 110 , and transmits the generated motor drive power to motor unit 210 through power line 310 . supply to
The motor unit 210 rotates the rotating shaft 211 at a predetermined number of revolutions according to the motor drive power supplied through the power line 310 .

The encoder control section 140 in the motor controller 100 supplies encoder power necessary for the operation of the encoder section 230 to the encoder section 230 through the encoder line 330 . A power supply unit 231 in the encoder unit 230 supplies encoder power supplied through the encoder line 330 to the rotation detection unit 232 and the encoder processing unit 233 .

The rotation speed, rotation angle, etc. of the rotary shaft 211 are detected by a rotation detection section 232 in the encoder section 230 . The encoder processing section 233 generates a rotation detection signal in a predetermined format according to the detection result of the rotation detection section 232 and supplies the generated rotation detection signal to the motor controller 100 via the encoder line 330 .

The encoder control unit 140 in the motor controller 100 extracts rotation detection information such as the rotation speed and rotation angle of the rotating shaft 211 included in the rotation detection signal, and supplies the information to the control unit 110 . The control unit 110 refers to the number of rotations, the rotation angle, and the like included in the rotation detection information, and corrects the rotation instruction given to the motor driving unit 120 as necessary.

Stopping motor rotation:
In the motor controller 100, the control unit 110 gives the encoder control unit 140 a rotation stop instruction for stopping the rotation of the rotating shaft 211 of the motor unit 210 in accordance with a rotation stop instruction from a higher control device (not shown).

Based on the rotation stop instruction supplied from the control unit 110 , the encoder control unit 140 includes the rotation stop instruction in the encoder command and supplies the encoder unit 230 in the servo motor 200 with the brake.

In the encoder unit 230, when the encoder processing unit 233 detects a command corresponding to the rotation stop instruction in the encoder command, the encoder processing unit 233 instructs the power supply unit 231 to supply brake driving power to the brake unit 220 via the internal connection line 234. . The power supply unit 231 supplies brake drive power to the excitation unit 221 in the brake unit 220 via the internal connection line 234 based on instructions from the encoder processing unit 233 .

In the brake section 220, the excitation section 221 is supplied with brake drive power from the power supply section 231 in the encoder section 230 through the internal connection line 234, and the excitation state is switched according to the brake drive power. The brake operating unit 222 operates the electromagnetic brake according to the switching of the excitation state of the excitation unit 221 to stop the rotation of the rotating shaft 211 .

Note that the brake unit 220 may be in an excitation operation that operates the brake in an excited state, or may be in a non-excitation operation that operates the brake in a non-excitation state. Therefore, in the case of the excitation operation, the brake drive power from the power supply unit 231 is switched from power off to power on in response to the rotation stop instruction. On the other hand, in the non-excitation operation, the brake driving power from the power supply unit 231 is switched from power-on to power-off in response to the rotation stop instruction.

[Comparison of composition]
Next, the configuration of a conventional brake-equipped servomotor 200A and motor control system 1A will be described with reference to FIG.

FIG. 3 is a configuration diagram showing the configuration of a motor control system 1A including a conventional brake-equipped servomotor 200A. A conventional motor controller 100A is provided with a brake drive section 130 that generates brake drive power. The brake drive power generated by the brake drive unit 130 is supplied to the brake unit 220 in the brake-equipped servomotor 200A through the brake line 320 included in the wiring group 300A.

Therefore, in the conventional motor controller 100A and motor control system 1A, the wiring group 300A is provided with the brake line 320 in addition to the power line 310 and the encoder line 330, and there is a problem that the number of wiring is large.

On the other hand, in the motor controller 100 and the motor control system 1 of Embodiment 1, the wiring group 300 includes only the power line 310 and the encoder line 330, but does not include the brake line. That is, according to the brake-equipped servo motor 200 and the motor control system 1 of the first embodiment, the conventionally existing brake line 320 can be omitted, and the number of wires in the wiring group 300 can be reduced.

Furthermore, in the motor controller 100 of Embodiment 1, the brake driving section 130 present in the conventional motor controller 100A becomes unnecessary. In this case, since the encoder control unit 140 has a function of supplying power to the encoder unit 230, it supplies encoder power to the encoder unit 230, including the power to supply the brake driving power to the brake unit 220. do it.

[Effect obtained by the embodiment]
As described above, according to the brake-equipped servomotor 200 and the motor control system 1 of Embodiment 1 of the present invention, the following effects can be obtained.

The brake-equipped servo motor 200 according to the first embodiment is supplied with motor driving power through a power line 310 to rotate a rotating shaft 211, and a motor section 210 is supplied with brake driving power to stop the rotation of the rotating shaft 211. An encoder power source and an encoder command are supplied via a brake section 220 and an encoder line 330, and an encoder section 230 detects the rotation of the rotating shaft 211 and outputs a rotation detection signal. and an internal connection line 234 for transmitting brake drive power from the encoder section 230 to the brake section 220 therebetween. When the encoder unit 230 is supplied with an encoder command including a rotation stop instruction, the encoder unit 230 generates brake driving power from the encoder power source and supplies the brake driving power to the brake unit 220 through the internal connection line 234. The brake line can be omitted, and wiring between the brake-equipped servomotor 200 and the motor controller 100 can be reduced.

(2) The motor control system 1 according to Embodiment 1 supplies the motor driving power to the motor section 210 through the motor section 210, the brake section 220, and the encoder section 230 and the servomotor 200 with the brake, and the power line 310, A motor controller 100 that supplies an encoder power supply and an encoder command to the encoder section 230 through an encoder line 330 and a rotation detection signal that is supplied from the encoder section 230 through the encoder line 330. The motor controller 100 issues a rotation stop instruction. Since the signal is included in the encoder command and supplied to the encoder unit 230, the conventional brake line can be omitted, and the wiring between the brake-equipped servomotor 200 and the motor controller 100 can be reduced.

Since the brake-equipped servomotor 200 and the motor control system 1 of the first embodiment can reduce wiring between the brake-equipped servomotor 200 and the motor controller 100, they can be used in various multi-axis robots and machine tools. Suitable for applications requiring reduced wiring and weight reduction of wire harnesses.

1, 1A motor control system 100, 100A motor controller 110 control unit 120 motor drive unit 130 brake drive unit 140 encoder control unit 200, 200A servo motor with brake 210 motor unit 211 rotary shaft 220 brake 221 excitation unit 222 brake operation unit 230 encoder unit 231 power supply unit 232 rotation detection unit 233 encoder processing unit 300, 300A wiring group 310 power line 320 brake line 330 encoder line.

Claims (2)

a motor unit (210) supplied with motor driving power through a power line (310) to rotate a rotating shaft (211);
a brake part (220) that is supplied with brake drive power and stops the rotation of the rotating shaft (211);
an encoder unit (230) supplied with an encoder power supply and an encoder command via an encoder line (330), detecting rotation of the rotating shaft (211) and outputting a rotation detection signal;
an internal connection line (234) between the encoder section (230) and the brake section (220) for transmitting brake drive power from the encoder section (230) to the brake section (220);
When the encoder unit (230) is supplied with the encoder command including the rotation stop instruction, the encoder unit (230) generates brake driving power from the encoder power supply, and transmits the brake driving power through the internal connection line (234) to the brake unit (230). 220),
A servomotor with a brake, characterized by: A braked servomotor (200) according to claim 1, comprising a motor section (210), a brake section (220) and an encoder section (230);
Motor driving power is supplied to the motor section (210) through the power line (310), encoder power supply and encoder command are supplied to the encoder section (230) through the encoder line (330), and the encoder section (230) is supplied through the encoder line (330). a motor controller (100) supplied with a rotation detection signal from the encoder section (230),
The motor controller (100) includes a rotation stop instruction in the encoder command and supplies it to the encoder section (230).
A motor control system characterized by:

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