JP2022141032A - Relay and servo system - Google Patents

Abstract

To allow adoption of an encoder outputting a feedback signal and a detection signal with one cable to a servo driver receiving a feedback signal and a detection signal from different cables.SOLUTION: A relay 150 relays communication between a servo driver and an encoder outputting a feedback signal indicating the operation of a motor driven by the servo driver and a detection signal output from a sensor detecting displacement of an object to be driven driven by the motor through a first signal line, and the relay comprises: an input unit 151 that is connected with the first signal line and receives input of an input signal including the feedback signal and detection signal from the encoder; a separation unit 152 that separates the feedback signal and detection signal from the input signal and outputs the separated detection signal to the servo driver through a second signal line; and a communication unit 85 that is connected with a third signal line and outputs the separated feedback signal to the servo driver through the third signal line.SELECTED DRAWING: Figure 3

Description

The present invention relates to repeaters and servo systems.

In a servo system, servo control of a servo motor is generally performed by a servo driver according to commands from a controller such as a PLC. In this servo control, a detection signal from an external sensor other than the encoder of the servomotor may be used. The external sensor can be exemplified by a limit sensor or the like that detects a specific position of an object driven by a motor. Conventionally, such external sensors are connected to the servo driver by sensor cables. Here, in the place where the servo system is applied, the servo driver may be separated from the servo motor for reasons such as layout. In such a case, a relatively long cable is required for connecting between the servo driver and the servo motor. On the one hand, an external sensor for detecting the movement of the driven object must be placed close to the driven object.

If the distance between the servo motor and the servo driver is large, the sensor cable connecting the sensor and the servo driver will also be long. When the sensor cable becomes long, for example, there arises a problem that wiring work of the sensor cable (for example, connection or routing of the sensor cable) requires a great deal of time and effort. Therefore, Patent Document 1 discloses a technique of connecting a sensor to an encoder of a servomotor arranged near the sensor with a cable, and transmitting a detection signal of the sensor and a feedback signal generated by the encoder from the encoder to a servo driver. is disclosed. According to this technology, by connecting the sensor to the encoder, the detection signal of the sensor can be passed to the servo driver, and the wiring between the sensor and the servo driver can be prevented from becoming long.

Japanese Patent No. 6349687

According to the conventional technology, the encoder can output the feedback signal and the detection signal of the sensor through a single cable, so wiring between the servo driver and the encoder can be saved. However, some servo drivers are designed to receive feedback and sense signals from different cables. Since the encoder cannot be used for such a servo driver, it is difficult to save wiring by using the encoder.

The present invention has been made in view of such problems, and provides a servo driver designed to receive the feedback signal and the detection signal from different cables. An object of the present invention is to provide a technology that enables the adoption of an encoder that outputs with a cable of .

A repeater according to one aspect of the present invention includes a feedback signal indicating the operation of a motor driven by a servo driver and a detection signal output from a sensor that detects a parameter related to displacement of an object driven by the motor. through a first signal line, and a repeater for relaying communication with the servo driver. The first signal line is connected to an input section that receives an input signal including a feedback signal and a detection signal from the encoder, and a second signal line is connected to receive the feedback signal and the detection signal from the input signal. A separation section for separating and outputting the separated detection signal to the servo driver via a second signal line is connected to a third signal line, and the feedback signal separated from the input signal by the separation section is sent to the third signal line. and a communication unit for outputting to the servo driver via a signal line.

The repeater receives an input signal including a feedback signal and a sensor detection signal via a first signal line. Then, the repeater separates the detection signal and the feedback signal from the received input signal and transmits them to the servo driver via the second signal line and the third signal line, respectively. Examples of the sensor include an origin sensor related to the position of the driven object, a limit sensor, a fully closed sensor paired with the linear scale, and the like.

That is, this repeater can separate an input signal output from an encoder via one signal line into a feedback signal and a detection signal, and output the signals through different cables. Therefore, according to this repeater, an encoder that outputs the feedback signal and the detection signal through a single cable is adopted for the servo driver designed to receive the feedback signal and the detection signal through different cables. can be made possible.

The repeater may be arranged to receive input signals from a plurality of encoders including the encoder, and may be connected to a servo driver corresponding to each of the plurality of encoders so as to be able to communicate therewith. The separating unit further separates the input signals input from the plurality of encoders into feedback signals and detection signals of the sensors associated with the output source encoders for each output source encoder, and outputs the separated detection signals. It may be sent to the servo drivers corresponding to the original encoders. Then, the communication section may transmit the feedback signal separated by the separation section to the servo drivers corresponding to the output source encoders. According to such a repeater, when input signals are input from a plurality of encoders, feedback signals and detection signals can be appropriately distributed and transmitted to servo drivers corresponding to the output source encoders.

Further, the repeater further drives only the output shaft of the first motor driven by the first servo driver of the servo drivers to displace the driven object when the first predetermined operation is performed. a first processing unit that, when receiving a detection signal from one of a plurality of encoders, recognizes a sensor that has transmitted the detection signal as a first corresponding sensor linked to the first servo driver; When a second predetermined operation of driving only the output shaft of the second motor driven by the second servo driver and displacing the second driven object driven by the second motor is performed, the plurality of a second processing unit that, when receiving a detection signal from any one of the encoders, recognizes the sensor that transmitted the detection signal as a second corresponding sensor linked to the second servo driver. .

In the first predetermined operation, only the first motor is driven, and if there are other drive shafts in the servo system, the other motors are not driven. Therefore, the fact that some detection signal is obtained from the sensor during the period in which the first predetermined operation is performed means that the sensor is related to the first motor, that is, the first motor is driven and controlled. It means that it is a sensor corresponding to the servo driver. Note that the first predetermined motion may be a movement motion in the entire drivable range of the driven object, from when the driven object starts moving from one end to when it reaches the other end. , and other forms of operation. In the second predetermined operation, only the second motor is driven, and if there are other drive shafts in the servo system, the other motors are not driven.

Therefore, when the first processing unit receives a detection signal from a sensor while the first predetermined operation is being performed, the first processing unit recognizes the sensor as a sensor corresponding to the first servo driver (corresponding sensor). Further, when the second processing unit receives a detection signal from a sensor while the second predetermined operation is being performed, the second processing unit recognizes the sensor as a sensor corresponding to the second servo driver (corresponding sensor).

Thus, by means of the first processing unit and the second processing unit, the repeater is arranged to receive the sensor arranged to be received by the first servo driver and the sensor arranged to be received by the second servo driver, respectively. can be preferably recognized.

The repeaters up to the above determine the sensor type of the sensor recognized as the first corresponding sensor by the first processing unit based on the position information in the driving range of the driven object when the sensor is recognized as the first corresponding sensor, The second processing unit may further include a determination unit that determines the sensor type of the sensor recognized as the second corresponding sensor based on the position information in the driving range of the second drive target when the sensor is recognized as the second corresponding sensor. . User convenience can be further improved by determining the sensor type in the recognition process of the corresponding sensor.

Here, the present invention can also be viewed from the aspect of the servo system. That is, the servo system converts a feedback signal indicating the operation of a motor driven by a servo driver and a detection signal output from a sensor that detects a parameter related to displacement of an object driven by the motor into a first signal. It includes an encoder that outputs via a line, and a repeater that relays communication between the servo driver and the encoder. The repeater in the present servo system is connected to the first signal line, is connected to a reception section for receiving an input signal including a feedback signal and a detection signal from the encoder, and is connected to a second signal line, A separation unit for separating the feedback signal and the detection signal from the input signal and outputting the separated detection signal to the servo driver via the second signal line is connected to a third signal line, a communication unit that outputs the feedback signal separated from the input signal by the separation unit to the servo driver via a third signal line. By adopting such a configuration, the servo system can transmit the feedback signal and the detection signal through a single cable, as opposed to the servo driver designed to receive the feedback signal and the detection signal through different cables. It is possible to employ an output encoder.

An encoder that outputs the feedback signal and the detection signal through a single cable can be employed for a servo driver designed to receive the feedback signal and the detection signal through different cables.

1 is a first diagram showing a schematic configuration of a servo system according to an embodiment of the invention; FIG. 1 is a first diagram showing a schematic configuration of a motor; FIG. It is a figure which shows the functional structure of a repeater. FIG. 2 is a second diagram showing a schematic configuration of the servo system according to the embodiment of the invention; It is a figure which shows the functional structure which the isolation|separation part of a repeater has. It is a flowchart which shows the flow of the process performed in a repeater when performing a sensor recognition process. FIG. 7 is a flow chart showing a specific flow of processing performed between the PLC, the repeater, and the servo driver when the sensor recognition processing of the flow chart shown in FIG. 6 is performed; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and the description thereof will not be repeated. This disclosure presents an industrial system as one exemplary form of servo system. However, the application of the servo system according to the present invention is not particularly limited.

<First Embodiment>
FIG. 1 is a block diagram schematically showing a configuration example of a servo system 100. As shown in FIG. Referring to FIG. 1 , servo system 100 includes PLC (Programmable Logic Controller) 1 , servo driver 2 and repeater 150 . A servo driver 2 is arranged to drive and control the servo motor 3 . An output shaft 32 of the servomotor 3 is connected to a screw shaft 52 by a coupling 51 . A precision stage 53 is arranged on the screw shaft 52 , and is configured to be displaced by driving a servomotor (hereinafter referred to as “motor”) 3 . A work 8 is placed on the precision stage 53 . As described above, in the illustrated servo system 100, one drive shaft is provided for the motor 3, but two or more drive shafts may be provided.

A linear scale 54 , an origin sensor 61 , limit sensors 62 and 63 , and a fully closed sensor 64 are arranged on the drive shaft of the motor 3 . These sensors detect parameters related to the displacement of the precision stage 53 to be detected.

The origin sensor 61 detects the origin position of the precision stage 53, outputs an ON signal when the precision stage 53 reaches the origin position, and outputs an OFF signal when the precision stage 53 is at any other position. The limit sensors 62 and 63 detect the end positions of the movable range of the precision stage 53 on the drive shaft driven by the motor 3, output an ON signal when the precision stage 53 reaches the end positions, and move to other positions. When there is, an OFF signal is output. For example, when the limit sensor 62 or the like is turned on, the precision stage 53 is stopped by stopping the motor 3 . A photoelectric sensor, a proximity sensor, a fiber sensor, or the like can be used for the origin sensor 61 and the limit sensors 62 and 63 as described above. Alternatively, image sensors may be used as origin and limit sensors. In this case, the detection signal by each sensor becomes an image signal.

Also, the linear scale 54 is installed along the axial direction of the screw shaft 52 . The linear scale 54 is, for example, a reflective photoelectric glass scale, and is provided with slits at equal pitches. The fully closed sensor 64 is installed on the precision stage 53 and moves together with the precision stage 53 . The fully closed sensor 64 has a light emitting portion and a light receiving portion (both not shown). The light emitted from the light-emitting portion is reflected by the corresponding slit of the linear scale 54 to generate interference fringes on the light-receiving portion. Since the interference fringes also move when the precision stage 53 moves, the intensity of the output signal from the light receiving section changes according to the movement of the precision stage 53 . Therefore, the amount of movement of the precision stage 53 can be obtained by monitoring the intensity change of the output signal from the light receiving section. That is, the fully closed sensor 64 outputs a detection signal for calculating the amount of movement of the precision stage 53 , and the detection signal is used for fully closed control in the servo driver 2 .

Here, the PLC 1 outputs command signals to the servo driver 2 . The PLC 1 functions, for example, as a monitoring device for the servo driver 2 by executing processing according to a program prepared in advance.

Then, the servo driver 2 receives a command signal from the PLC1. Further, the servo driver 2 receives a feedback signal from the motor 3 and a detection signal output from the corresponding origin sensor 61, limit sensors 62 and 63 or fully closed sensor 64. FIG. In the servo driver 2, a servo system that performs feedback control using a position controller, a speed controller, a current controller, etc. is formed, and these signals are used to servo-control and drive the motor 3. do.

Also, the motor 3 includes a motor body 30 and an encoder 31 . The motor 3 is, for example, an AC servomotor. The motor 3 is supplied with drive current from the servo driver 2 through a power line 40 . Encoder 31 detects the operation of motor body 30 . Encoder 31 outputs a feedback signal indicating the detected motion to repeater 150 via encoder cable 41 .

The repeater 150 separates the feedback signal of the motor body 30, the detection signals of the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64 from the input signal input via the encoder cable 41, and converts the separated signals. They are output to cables 81, 82, 83, 84 and 85, respectively.

Next, the wiring of each sensor will be described. As mentioned above, origin sensor 61 , limit sensors 62 , 63 and fully closed sensor 64 are assigned to the drive shaft associated with motor 3 . 1, the sensor cable from each sensor is connected to the encoder 31 of the motor of the assigned drive shaft.

Next, the functional configuration of the encoder 31 to which the sensors are connected by cables as described above will be described with reference to FIG. Encoder 31 includes signal generator 311 , input unit 312 , A/D (analog-digital) converter 313 , communication unit 314 , power supply unit 315 , and display unit 316 .

The signal generator 311 detects the motion of the motor body 30 of the motor 3 driven by the servo driver 2 and generates a feedback signal indicating the detected motion. The feedback signal is output to communication section 314 . The feedback signal includes, for example, information about the rotational position (angle) of the rotating shaft of the motor body 30, information about the rotating speed of the rotating shaft, information about the rotating direction of the rotating shaft, and the like. For example, a known incremental type or absolute type configuration can be applied to the configuration of the signal generator 311 .

The input unit 312 receives detection signals from each sensor. In the encoder 31 of this embodiment, the cable 71 of the origin sensor 61 , the cable 72 of the limit sensor 62 , the cable 73 of the limit sensor 63 , and the cable 74 of the fully closed sensor 64 are connected to the input section 312 . The input unit 312 is, for example, a terminal block or a connector for connecting wiring. The input unit 312 functions as an input interface for receiving detection signals from each sensor via each cable. The input detection signal is output from the input section 312 to the A/D conversion section 313 . A/D conversion section 313 A/D converts the detection signal from input section 312 and outputs the converted digital signal to communication section 314 .

A communication unit 314 is an interface for communicating with the servo driver 2 . In this embodiment, the communication unit 314 sends feedback signals and detection signals from each sensor via the encoder cable 41 . Here, the servo driver 2 is not designed to receive the feedback signal and detection signal with one encoder cable 41 . Therefore, in the present embodiment, a repeater 150 that relays signal transmission/reception between the encoder 31 and the servo driver 2 is provided. The encoder 31 and repeater 150 are connected by an encoder cable 41 . The communication unit 314 then sends the feedback signal and the detection signal from each sensor to the servo driver 2 via the repeater 150 . In this embodiment, serial communication is applied to the transmission of the feedback signal and detection signal from the communication section 314 . As a result, the number of signal lines included in the cable can be reduced. Serial communication by the encoder cable 41 can employ known communication standards such as RS-232C (Recommended Standards 232), RS-422, or RS-485. Further, power is supplied to the encoder 31 from the servo driver 2 via the repeater 150 and the encoder cable 41 .

The power supply unit 315 is a functional unit that supplies part of the power obtained from the servo driver 2 via the repeater 150 and the encoder cable 41 to each sensor connected by the cable. Part of the power is passed from the communication unit 314 to the power supply unit 315 . Although each cable connected to the input unit 312 and each cable connected to the power supply unit 315 are shown separately in FIG. Transmission and reception of detection signals and power supply are performed.

The display unit 316 is an LED that lights up according to the input when a detection signal from each sensor is input to the input unit 312 . That is, the encoder 31 is provided with LEDs corresponding to the number of cables of each sensor connected, and when a detection signal is input, the LED corresponding to the sensor that sent the detection signal lights up. . Note that the display unit 316 may be a display such as a liquid crystal instead of an LED, and in that case, the sensor that receives the input of the detection signal may be displayed on the display.

A functional configuration of the relay 150 that relays signals between the servo driver 2 and the encoder 31 will be described with reference to FIG. Repeater 150 includes an input unit 151 , a separation unit 152 , a communication unit 153 and a power supply unit 154 .

The input unit 151 receives a signal including a feedback signal and a detection signal from each sensor via the encoder cable 41 . The input unit 151 is, for example, a terminal block or connector for connecting the encoder cable 41 . The input unit 151 functions as an input interface for receiving signals including feedback signals and detection signals from each sensor via the encoder cable 41 . A signal input to the input unit 151 is output from the input unit 151 to the separation unit 152 .

The separation unit 152 separates the feedback signal and the detection signal from each sensor from the signal input from the input unit 151 . Separating portion 152 includes, for example, terminal blocks or connectors for connecting cables 81, 82, 83, 84, respectively. The separated feedback signal is input from the separating section 152 to the communication section 153 and output from the communication section 153 to the cable 85 . Detection signals of the separated sensors are output to different cables 81, 82, 83, and 84, respectively. For example, the detection signal from the origin sensor 61 is sent to the cable 81, the detection signal from the limit sensor 62 to the cable 82, the detection signal from the limit sensor 63 to the cable 83, the detection signal from the fully closed sensor 64 to the cable 84, are output respectively. The PLC 1, for example, specifies to which cable the detection signal of each sensor is to be output. The separation unit 152 includes, for example, an arithmetic device, a storage device, and the like, and the processing of the separation unit 152 is realized by executing a predetermined program or the like in the separation unit 152 .

The power supply unit 154 is a functional unit that supplies part of the power obtained from the servo driver 2 to the encoder 31 connected by the encoder cable 41 . Part of the power is passed from the communication unit 153 to the power supply unit 154 . Although the encoder cable 41 connected to the input unit 151 and the encoder cable 41 connected to the power supply unit 154 are shown separately in FIG. 3, each sensor is actually connected via the same cable. Transmission and reception of detection signals from and supply of electric power are performed.

In this embodiment, a signal including a feedback signal and detection signals from each sensor is input from the encoder 31 to the repeater 150 via the encoder cable 41 . The repeater 150 separates the feedback signal and the detection signal of each sensor from the input signal and outputs the separated signals to the cables 81, 82, 83, 84 and 85, respectively. Therefore, according to this embodiment, the detection signal and the feedback signal input from each sensor are integrated into the servo driver 2 designed to receive the feedback signal and the detection signal via different cables. An encoder 31 that outputs with a book encoder cable 41 can be applied.

<Second embodiment>
In the first embodiment, one servo driver 2 is connected to the repeater 150 . In the second embodiment, an example in which two servo drivers are connected to the repeater 150 will be described. The same reference numerals are given to the same configurations as in the first embodiment, and the description thereof will be omitted.

FIG. 4 is a diagram showing a schematic configuration of a servo system according to the second embodiment. The servo system 100 a includes a servo driver 2 a in addition to the servo driver 2 . A communication cable 42 connects the servo driver 2 and the servo driver 2a. A servo driver 2a is arranged to drive and control the motor 3a. An output shaft 32a of the motor 3a is connected to a screw shaft 52a by a coupling 51a. A precision stage 53a is arranged on the screw shaft 52a, and is configured to be displaced by driving the motor 3a. A workpiece 8a is placed on the precision stage 53a.

The motor 3a is supplied with drive current from the servo driver 2a through a power line 40a. The encoder 31a detects the motion of the motor body 30a and outputs a feedback signal indicating the detected motion to the servo driver 2a via the encoder cable 41a.

A linear scale 54a, an origin sensor 61a, limit sensors 62a and 63a, and a fully closed sensor 64a are arranged on the drive shaft of the motor 3a. Encoder 31a, unlike encoder 31, is not designed to accept sensor input. Therefore, in the second embodiment, the origin sensor 61a, the limit sensor 62a,
63a and detection signals from the fully closed sensor 64a are transmitted through cables 71a, 72a, 7
3a and 74a to the encoder 31. FIG. The encoder 31 also outputs detection signals from the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a to the repeater 150 via the encoder cable 41. FIG.

Also in the second embodiment, the repeater 150 separates the feedback signal and the detection signal of each sensor from the signal received via the encoder cable 41 . As described above, in the second embodiment, both the detection signal to be input to the servo driver 2 and the detection signal to be input to the servo driver 2 a are input to the repeater 150 .

The detection signal from each sensor must reach the specific servo driver that needs it. Detection signals from the origin sensor 61 , limit sensors 62 and 63 , and fully closed sensor 64 are detection signals to be input to the servo driver 2 . Detection signals from the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a are detection signals to be input to the servo driver 2a. Therefore, the repeater 150 transfers the detection signals of the origin sensor 61, the limit sensors 62, 63, and the fully closed sensor 64 to the servo driver 2, and the detection signals of the origin sensor 61a, the limit sensors 62a, 63a, and the fully closed sensor 64a. Transfer to the servo driver 2a.

In order to distribute the detection signal to each servo driver in this way, the link between the sensor that transmits the detection signal and the servo driver corresponding to the destination of the detection signal, that is, the repeater 15
Recognition processing of the corresponding sensor (sensor corresponding to the servo driver) by 0 is required. The recognition processing will be described below.

Here, FIG. 5 shows a schematic configuration of functional units of the separating unit 152 of the repeater 150. As shown in FIG. Each functional unit shown in FIG. 5 is implemented by the separation unit 152 executing a predetermined program or the like. The separation unit 152 has a storage unit 1521, a first processing unit 1522, a second processing unit 1523, a determination unit 1524, and a sorting unit 1525, but may have other functional units.

The sorting unit 1525 separates the feedback signal and the detection signal from the signal passed from the input unit 151 . Then, the separated feedback signal is output to communication section 153 . Further, the distributing unit 1525 outputs the separated detection signal to the first processing unit 1522 when the first predetermined operation described later is performed, and outputs the separated detection signal when the second predetermined operation described later is performed. Output to the second processing unit 1523 .

The storage unit 1521 is a functional unit that stores information related to the processing performed by the separation unit 152 , such as information necessary for recognition processing of the corresponding sensor by the separation unit 152 . Note that the storage unit 1521 stores information (correspondence information) indicating the linking relationship between the servo driver and each sensor, which is determined by recognition processing of the corresponding sensor, which will be described later. Then, based on the stored correspondence information, the separation unit 152 sorts the destination of the detection signal sent from each sensor, and performs processing for sending the detection signal from the specific sensor to the destination servo driver. conduct.

When the first processing unit 1522 receives a detection signal from a specific sensor when the first predetermined operation of driving the output shaft 32 of the motor 3 to displace the precision stage 53 is performed, the first processing unit 1522 activates the specific sensor. It is a functional unit that recognizes a corresponding sensor linked to the driver 2 . The first predetermined operation is realized, for example, by the encoder 31 controlling the motor 3 according to instructions from the repeater 150 via the encoder cable 41 . The particular sensor has not yet undergone recognition processing by the separation unit 152, but is arranged so that its detection signal is received by the repeater 150, and is the sensor that should be finally assigned to the servo driver 2. , in the case of this embodiment, the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64 correspond. Note that the first predetermined motion is a movement motion in the entire drivable range from when the precision stage 53 starts moving from one end to reaches the other end.

When the second processing unit 1523 receives a detection signal from a specific sensor when the second predetermined operation of driving the output shaft 32a of the motor 3a and displacing the precision stage 53a is performed, the second processing unit 1523 activates the specific sensor. It is a functional unit that recognizes a corresponding sensor linked to the driver 2a. The second predetermined operation is realized, for example, by the encoder 31a controlling the motor 3a in accordance with an instruction from the repeater 150 via the encoder cable 41a. The particular sensor has not yet undergone recognition processing by the separation unit 152, but is arranged so that its detection signal is received by the repeater 150, and is the sensor that should be finally assigned to the servo driver 2a. , in the case of this embodiment, the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a. The second predetermined motion is a movement motion in the entire drivable range from when the precision stage 53a starts moving from one end to reaches the other end.

The determination unit 1524 determines the sensor type of the sensor recognized by the first processing unit 1522 and the sensor recognized by the second processing unit 1523 based on the position information of the precision stages 53 and 53a when each sensor is recognized. It is a functional unit that determines. The detection signals of the origin sensors 61, 61a, the limit sensors 62, 63, 62a, 63a, and the fully closed sensors 64, 64a vary according to the displacement of the precision stages 53, 53a. There is a strong correlation with the position of 53a. Using the correlation, the determination unit 1524 performs sensor type determination processing. The result of recognition processing by the first processing unit 1522 and the second processing unit 1523 and the result of sensor type determination by the determination unit 1524 are stored in the storage unit 1521 .

Then, when the storage unit 1521 stores the result of recognition processing by the first processing unit 1522 and the second processing unit 1523 and the determination result of the sensor type by the determination unit 1524, the sorting unit 1525 stores According to the stored information, each detection signal of each sensor is output to the associated servo driver via cables 81, 82, 83, 84, 91, 92, 93, and 94.

Next, sensor recognition processing realized by cooperation of these functional units will be described with reference to FIGS. 6 and 7. FIG. FIG. 6 is a flowchart schematically showing the flow of processing performed by the repeater 150, and FIG. 7 schematically shows the flow of processing between the PLC 1 and the repeater 150 when sensor recognition processing is executed. 2 is a flow chart shown in FIG.

First, based on FIG. 6, the flow of processing performed by the repeater 150 will be described. The processing shown in FIG. 6 is repeatedly executed at predetermined time intervals. First, in S101, it is determined whether or not an instruction to perform sensor recognition processing has arrived from the PLC1. If an affirmative determination is made in S101, the process proceeds to S102, and if a negative determination is made, the process is terminated.

In S<b>102 , the repeater 150 instructs the servo driver 2 to perform the first predetermined operation according to the sensor recognition processing instruction received from the PLC 1 . Here, the scanning operation by the first predetermined operation and the second predetermined operation is performed in each drive axis where sensor recognition processing is performed, and when only the corresponding motor is driven, a detection signal is output in response to the driving operation. It is the motion of the motor that moves the precision stage from one end of its drive shaft to the other, ie, through the full range of motion, to extract the sensor. More specifically, from a state in which the precision stage 53 is in contact with a stopper (not shown) provided at one end of the movable range along the screw shaft 52, the stopper provided at the other end is moved. (not shown), the motor 3 is driven at a low and constant speed until the precision stage 53 contacts. During this drive, the torque of the motor 3 is controlled to reduce the impact as much as possible when the precision stage 53 comes into contact with the stopper.

At S103, the scanning operation by the first predetermined operation, that is, the scanning operation by the motor 3 is started. In this case, assuming that the limit sensor 62 is arranged at one end of the screw shaft 52 and the limit sensor 63 is arranged at the other end, the scanning operation causes the limit sensor 62, the origin sensor 61, the limit sensor In the order of 63, detection signals are sent from each sensor to the repeater 150 via the encoder 31 of the connection destination. Furthermore, the detection signal from the fully closed sensor 64 is transmitted to the repeater 150 throughout the scanning operation. Further, the encoder 31 is provided with a display section 316, and when the detection signal from each sensor is input to each encoder, the diode of the display section 316 lights up at the input timing of the detection signal. Thereby, the user can visually recognize the input of the detection signal of the sensor. The detection signal from each sensor contains identification information for identifying the sensor that generated the signal. can be grasped. After the process of S103 is completed, the process proceeds to S104.

In S104, sensor recognition processing is performed by the first processing unit 1522 according to the scanning operation started in S103. Specifically, when the detection signals of the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64 reach the repeater 150 along with the scanning operation by the first predetermined operation, the first processing unit 1522 It recognizes that the sensor is a sensor corresponding to the servo driver 2 .

Furthermore, in S104, the determination unit 1524 determines the sensor type. Specifically, of the limit sensors 62 and 63, the origin sensor 61, and the full-closed sensor 64, the limit sensors 62 and 63 output detection signals when the position of the precision stage 53 is positioned on the outermost side of the movable range. Therefore, the sensor type can be determined as a "limit sensor" based on the positional information (positional information indicating the outermost position) of the precision stage 53 when the detection signal is issued. Also, the type of sensor that outputs a detection signal in the middle of the movable range of the precision stage 53 can be determined as the "origin sensor". Further, while the scanning operation is being performed, that is, a sensor that constantly outputs a detection signal regardless of the position of the precision stage 53 can be determined as a "fully closed sensor". When the process of S104 is completed, the process proceeds to S105.

At S105, the scanning operation by the second predetermined operation, that is, the scanning operation by the motor 3a is started. The details of the scanning operation by the motor 3a are the same as those of S102, so the description thereof is omitted. In S106, the detection signal from each sensor is input to the repeater 150 as in S103. In S107, sensor recognition processing and sensor type determination are performed. The details of the sensor recognition process and the sensor type determination process are the same as those of the process in S104, so description thereof will be omitted. Through the processing of S106 and S107, the detection signals of the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a reach the repeater 150 along with the scanning operation by the second predetermined operation, so that the second processing unit 1523 It recognizes that these sensors are sensors corresponding to the servo driver 2a.

In S108, the result of the sensor recognition processing in S104 and S107 is stored in the storage unit 1521. FIG. By the above processing, the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64 are recognized as sensors corresponding to the servo driver 2. FIG. Also, the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a are recognized as sensors corresponding to the servo driver 2a.

Next, exchanges between the PLC 1, the repeater 150, and the servo drivers 2 and 2a when the processing shown in FIG. 6 is executed by the repeater 150 will be described with reference to FIG. First, in S11, the PLC 1 issues a sensor recognition processing instruction to the repeater 150 and all the servo drivers 2 and 2a included in the servo system 100a. According to this instruction, the processing shown in FIG. 6 is executed by the repeater 150 and each servo driver. Then, by the processing of S21, the motor 3 is driven by the servo driver 2 in S31 to start the scanning operation (see the processing of S102 in FIG. 6). At this time, the motor 3a is stopped (see the processing of S41). Along with the scanning operation, detection signals from the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64 are transmitted from the encoder 31 to the repeater 150 (S22).

After completing the first predetermined operation, the servo driver 2 stops the motor 3 in S32 and notifies the repeater 150 of the end of the first predetermined operation in S33. The repeater 150, which has been notified of the end of the first predetermined operation, recognizes the origin sensor 61, the limit sensors 62 and 63, and the fully closed sensor 64, which have received detection signals up to that point, as sensors corresponding to the servo driver 2 in S23. Further, in S24, the sensor type of each sensor is determined (see the processing of S104 in FIG. 6).

When the determination of the sensor type is completed, the repeater 150 notifies the servo driver 2a to perform the second predetermined operation in S25. Thereby, the servo driver 2a knows that it is the turn to perform the scanning operation on its own drive axis.

Next, in S42, the motor 3a is driven in the servo driver 2a to start the scanning operation (see the process of S105 in FIG. 6). Along with the scanning operation, detection signals from the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a are sent to the encoder 31 from each sensor. Then, the repeater 150 receives the detection signal from each sensor from the encoder 31 (S26).

Upon receiving these detection signals, the repeater 150 recognizes the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a as sensors corresponding to the servo driver 2a in S27. The type is determined (see the process of S107 in FIG. 6). The sensor recognition result and the sensor type determination result are stored in the storage unit 1521 of the repeater 150 (S29). After that, in S2A, the repeater 150 notifies the PLC 1 that the scanning operations on all drive axes have ended. Thereby, PLC1 is S12 and knows that the sensor recognition process was completed.

By performing the sensor recognition processing in the servo system 100a described above, the repeater 150 can recognize the sensors corresponding to the servo drivers 2 and 2a, respectively. It will be preferably delivered to the servo driver provided.

In FIG. 4, the feedback signal from encoder 31a is input to servo driver 2a, and the detection signals from origin sensor 61a, limit sensors 62a and 63a, and fully closed sensor 64a are input to repeater 150 via encoder 31. , the feedback signal of the encoder 31a, and the detection signals of the origin sensor 61a, the limit sensors 62a and 63a, and the fully closed sensor 64a. Then, the separating unit 152 of the repeater 150 converts the input signal received by the input unit 151 into a feedback signal and a detection signal for each corresponding encoder (encoders 31 and 31a). may be separated. Then, the separation unit 152 may output the separated detection signals to the servo drivers 2 and 2a, and the communication unit 153 may output the feedback signals separated by the separation unit 152 to the servo drivers 2 and 2a. Which signal is to be output to which servo driver may be determined, for example, based on information that associates the signal received from the PLC 1 with the servo driver. may be determined using

<Appendix 1>
Sensors (61, 62, 63) for detecting feedback signals indicating the operation of a motor (3) driven by a servo driver (2) and parameters related to the displacement of a driven object (53) driven by the motor (3) , 64) through a first signal line (41), and a repeater (150) for relaying communication with the servo driver (2), ,
an input unit (151) to which the first signal line (41) is connected and which receives an input signal including the feedback signal and the detection signal from the encoder (31);
Second signal lines (81, 82, 83, 84) are connected to separate the feedback signal and the detection signal from the input signal, and send the separated detection signal to the servo through the second signal line. a separation unit (152) that outputs to a driver;
A third signal line (85) is connected to output the feedback signal separated from the input signal by the separating section (152) to the servo driver (2) through the third signal line (85). and a communication unit (153) to
repeater.

<Appendix 2>
Sensors (61, 62, 63, 64) for detecting feedback signals indicating the operation of the motor driven by the servo driver (2) and parameters related to the displacement of the driven object (53) driven by the motor (3) an encoder (31) that outputs a detection signal output from through a first signal line (41);
a relay (150) for relaying communication between the servo driver (2) and the encoder (31);
A servo system (100) comprising:
The repeater (150)
an input unit (151) to which the first signal line (41) is connected and which receives an input signal including the feedback signal and the detection signal from the encoder (2);
Second signal lines (81, 82, 83, 84) are connected to separate the feedback signal and the detection signal from the input signal, and send the separated detection signal to the servo through the second signal line. a separation unit (152) that outputs to a driver;
A communication unit connected to a third signal line (85) and configured to output the feedback signal separated from the input signal by the separating unit to the servo driver (2) via the third signal line (85). (153) and
servo system.

1 PLC
2, 2a servo driver 3, 3a motor 30, 30a motor body 31, 31a encoder 32, 32a output shaft 53, 53a precision stage 54, 54a linear scale 61, 61a origin sensor 62, 62a, 63, 63a limit sensor 64, 64a Fully closed sensor 100, 100a Servo system 150 Repeater 151 Input unit 152 Separating unit 153 Communication unit 154 Power supply unit 1521 Storage unit 1522 First processing unit 1523 Second processing unit 1524 Judging unit 1525 Distribution unit 311 Signal generation unit 312 Input unit 314 communication unit 315 power supply unit 316 display unit

Claims (10)

A feedback signal indicating an operation of a motor driven by a servo driver and a detection signal output from a sensor detecting a parameter related to displacement of an object driven by the motor are output via a first signal line. A repeater for relaying communication between an encoder and the servo driver,
an input unit to which the first signal line is connected and which receives an input signal including the feedback signal and the detection signal from the encoder;
a separation unit connected to a second signal line for separating the feedback signal and the detection signal from the input signal and outputting the separated detection signal to the servo driver via the second signal line;
a communication unit connected to a third signal line and outputting the feedback signal separated from the input signal by the separation unit to the servo driver via the third signal line;
repeater. The repeater is arranged so that input signals from a plurality of encoders including the encoder can be input, and is connected to a servo driver corresponding to each of the plurality of encoders so as to be communicable,
The separating unit further separates the input signals input from the plurality of encoders into feedback signals and detection signals of sensors associated with the output source encoders for each output source encoder, and divides the separated detection signals into the Send to the servo driver corresponding to the output source encoder,
The communication unit transmits the feedback signal separated by the separation unit to servo drivers corresponding to the output source encoders.
A repeater according to claim 1. The repeater further
Detected from one of the plurality of encoders when a first predetermined operation of displacing the driven object by driving only the output shaft of a first motor driven by a first servo driver of the servo drivers is performed a first processing unit that, when receiving a signal, recognizes the sensor that transmitted the detection signal as a first corresponding sensor linked to the first servo driver;
when a second predetermined operation of driving only the output shaft of a second motor driven by a second servo driver among the servo drivers to displace a second drive target driven by the second motor is performed; a second processing unit that, when receiving a detection signal from one of the plurality of encoders, recognizes the sensor that transmitted the detection signal as a second corresponding sensor linked to the second servo driver;
3. A repeater according to claim 2. the first predetermined motion is a moving motion of the driven object in the entire drivable range, from when the driven object starts moving from one end until it reaches the other end;
The second predetermined motion is a moving motion of the second drive target in the entire drivable range from one end of the second drive target to the other end.
A repeater according to claim 3. The sensor type of the sensor recognized as the first corresponding sensor by the first processing unit is determined based on the position information in the driving range of the driving target when the sensor is recognized as the first corresponding sensor, and the second processing is performed. a determining unit that determines the sensor type of the sensor recognized as the second corresponding sensor by the unit based on position information in the driving range of the second drive target when the sensor is recognized as the second corresponding sensor;
A repeater according to claim 3 or 4. A feedback signal indicating an operation of a motor driven by a servo driver and a detection signal output from a sensor detecting a parameter related to displacement of an object driven by the motor are output via a first signal line. an encoder;
a relay that relays communication between the servo driver and the encoder;
A servo system comprising
The repeater is
an input unit to which the first signal line is connected and which receives an input signal including the feedback signal and the detection signal from the encoder;
a separation unit connected to a second signal line for separating the feedback signal and the detection signal from the input signal and outputting the separated detection signal to the servo driver via the second signal line;
a communication unit connected to a third signal line and outputting the feedback signal separated from the input signal by the separation unit to the servo driver via the second signal line;
servo system. The repeater is arranged so that input signals from a plurality of encoders including the encoder can be input, and is connected to a servo driver corresponding to each of the plurality of encoders so as to be communicable,
The separating unit further separates the input signals input from the plurality of encoders into feedback signals and detection signals of sensors associated with the output source encoders for each output source encoder, and divides the separated detection signals into the Send to the servo driver corresponding to the output source encoder,
The communication unit transmits the feedback signal separated by the separation unit to servo drivers corresponding to the output source encoders.
7. A servo system according to claim 6. The repeater further
Detected from one of the plurality of encoders when a first predetermined operation of displacing the driven object by driving only the output shaft of a first motor driven by a first servo driver of the servo drivers is performed a first processing unit that, when receiving a signal, recognizes the sensor that transmitted the detection signal as a first corresponding sensor linked to the first servo driver;
when a second predetermined operation of driving only the output shaft of a second motor driven by a second servo driver among the servo drivers to displace a second drive target driven by the second motor is performed; a second processing unit that, when receiving a detection signal from one of the plurality of encoders, recognizes the sensor that transmitted the detection signal as a second corresponding sensor linked to the second servo driver;
A servo system according to claim 7. the first predetermined motion is a moving motion of the driven object in the entire drivable range, from when the driven object starts moving from one end until it reaches the other end;
The second predetermined motion is a moving motion of the second drive target in the entire drivable range from one end of the second drive target to the other end.
9. A servo system as claimed in claim 8. the repeater
The sensor type of the sensor recognized as the first corresponding sensor by the first processing unit is determined based on the position information in the driving range of the driving target when the sensor is recognized as the first corresponding sensor, and the second processing is performed. a determining unit that determines the sensor type of the sensor recognized as the second corresponding sensor by the unit based on position information in the driving range of the second drive target when the sensor is recognized as the second corresponding sensor;
10. Servo system according to claim 8 or 9.

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