JP2022177438A - Power transmission mechanism management apparatus, and program management system - Google Patents

Abstract

To provide a power transmission mechanism management apparatus and a program management system which can easily realize addition and modification of software function for managing a power transmission mechanism and data related to the function.SOLUTION: The present invention is directed to a power transmission mechanism management apparatus 3 for managing a power transmission mechanism for transmitting, to a load side device 70, power of a an electric motor 4 in an industrial equipment system 1 in which a plurality of industrial equipment are operated in cooperation with one another. The power transmission mechanism management apparatus has an operation control unit for controlling the electric motor to make the power transmission mechanism executing a predetermined operation, a state management unit for executing a first management program to manage a state of the power transmission mechanism based on input information input from the electric motor, an external communication unit for communicating with an external device so as to acquire a second management program in response to a kind of the power transmission mechanism, and an updating unit for replacing the second management program with the first management program so that the state management unit can execute it.SELECTED DRAWING: Figure 1

Description

The present invention relates to a power transmission mechanism management device and a program management system. As a non-limiting specific field, a management device that manages the operating state of the power transmission mechanism connected to the electric motor of industrial equipment (such as transport or machine tools) used in factories and offices. etc.

In general, in various industrial equipment such as conveying equipment, injection molding machines, and press equipment, power is supplied from a power source (typically, an electric motor that generates power by alternating current or direct current) to some load side device via a power transmission mechanism. is supplied. Various types of hardware parts such as timing belts, ball screws, cams, and gears can be used as power transmission mechanisms for electric motors used in such industrial equipment.

On the other hand, in industrial equipment equipped with such a power transmission mechanism, it is necessary to use various software programs and management data to monitor the state of the electric motor and power transmission mechanism, and to manage the maintenance and durability of parts. For this reason, many industrial devices are equipped with functions for controlling the position, speed, and torque of the electric motor that drives the load-side device, monitoring the operating state of the electric motor, and various other functions.

In addition, once deterioration of a power transmission mechanism such as a belt begins, the deterioration progresses rapidly. Therefore, there is a demand for an industrial equipment system having a function of detecting an abnormality in the power transmission mechanism. For example, Patent Literature 1 describes an abnormality diagnosis device having a function of detecting an abnormality in a power transmission mechanism (such as a belt) and an abnormality diagnosis method thereof. The technique described in Patent Document 1 focuses on the fact that when a belt or the like driven by an electric motor deteriorates, the frequency of the signal intensity of the current flowing through the electric motor increases (the frequency of occurrence of spectrum peaks). It is described that an abnormality in the power transmission mechanism is detected by performing FFT analysis or the like.

WO2018/109993

By the way, when trying to realize the abnormality detection function as described in Patent Document 1 with a software program, if the power transmission mechanism connected to the electric motor is changed, it may be necessary to change the algorithm itself to be used. .

For example, if the power transmission mechanism is changed from a timing belt to a ball screw, the driving mode of the electric motor itself will change, so it will be necessary to change the algorithm used and the entire software program that performs the abnormality detection function. Occur.

On the other hand, in conventional industrial equipment, there are limitations on the resources of the built-in arithmetic unit and memory device, etc., and the implementation is limited to a limited number of functions. I couldn't. Therefore, if it becomes necessary to add a function, or if you want to use an upgraded function, or a newly developed function (such as an anomaly detection algorithm), please purchase industrial equipment with the added function. It was necessary to newly introduce (purchase, lease, etc.). Against this background, in the field of industrial equipment, it is believed that there is a growing need or seed for the ability to add new functions or change existing functions without having to purchase new equipment.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a power transmission mechanism management device and a software management system that can easily add or change software functions for managing a power transmission mechanism and data related to the functions.

A brief outline of typical inventions disclosed in the present application is as follows.

A power transmission mechanism management device according to a representative embodiment of the present invention includes an operation control unit that controls an electric motor and causes the power transmission mechanism to perform a predetermined operation, and a first management program that executes a first management program and receives input from the electric motor. a state management unit that manages the state of the power transmission mechanism based on the input information; an external communication unit that communicates with an external device so as to acquire a second management program corresponding to the type of the power transmission mechanism; and a second management an updating unit that replaces the program with the first management program and updates it so that the state management unit can execute it.

Among the inventions disclosed in the present application, the effects obtained by representative ones are briefly described below.

That is, in the power transmission mechanism management device of the representative embodiment of the present invention, the existing first management program is replaced with the second management program corresponding to the type of power transmission equipment, and the second management program is updated so that it can be executed in the state management part. Therefore, it is possible to easily add or change software functions for managing the power transmission mechanism and data related to the functions.

In addition, even if it is necessary to add a function that has not been implemented in the management device, or if it is necessary to add a newly developed function (such as an anomaly detection algorithm), the second management program is obtained through the external communication unit. By updating the software, the function can be used. Therefore, there is no need to introduce new industrial equipment, and the cost can be reduced.

2 is a block diagram for explaining configurations of a power transmission mechanism management device (motor control device) and an industrial equipment system (program management system) according to Embodiment 1; FIG. 4 is a flowchart showing an example of processing of an abnormality detection program for diagnosing deterioration of a power transmission mechanism; FIG. 3 is a graph showing an abnormality detection operation during execution of the abnormality detection program shown in FIG. 2 together with waveforms of motor operation information (p(t), v(t), iq(t)); FIG. FIG. 10 is a flowchart for explaining another example of processing of an abnormality detection program for diagnosing deterioration of a power transmission mechanism, showing an algorithm added with an abnormality detection teacher data switching function; FIG. FIG. 10 is a diagram showing the configuration of another embodiment of a motor control device, and is a block diagram illustrating an example in which the content (algorithm) of a motor control program to be executed can be updated. 6 is a diagram schematically showing a hardware configuration (inverter circuit) equivalent or similar to the program configuration shown in FIG. 5; FIG. FIG. 10 is a flowchart showing an outline of processing for acquiring and updating a new function program;

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below. Each embodiment described below is an example for realizing the present invention, and does not limit the technical scope of the present invention. In the embodiments, members having the same functions are denoted by the same reference numerals, and repeated description thereof will be omitted unless particularly necessary.

<Overview>
First, an outline of an embodiment to which the present invention is applied will be described. In the following embodiments, in an industrial equipment system in which a plurality of industrial equipment operate in cooperation, a power transmission mechanism management device (hereinafter referred to as , simply referred to as a “management device”).

The management device includes an operation control unit that operates the power transmission mechanism so that the operation of the power transmission mechanism corresponds to the operation of a linked device that cooperates with the power transmission mechanism by performing feedback control on the electric motor;
Data of input information input (feedback) from the electric motor to the operation control unit (hereinafter sometimes referred to as "related data") is obtained by deploying the management program (first management program) in a working memory and executing it. a state management unit that manages the state of the power transmission mechanism through a signal using a
an external communication unit (also referred to as a “management program acquisition unit”) that communicates with an external device so as to acquire a management program (second management program) corresponding to the type of power transmission mechanism;
an update unit that replaces the acquired management program (second management program) with the management program (first management program) in the working memory and updates it so that the state management unit can execute it; Prepare.

With the configuration as described above, it is possible to easily add or change the software functions implemented in the management apparatus and related data derived from or related to the software functions.

Hereinafter, embodiments in which the above configuration is more concretely described will be described in detail with reference to the drawings. In the following example, the functions of the operation control unit, state management unit, management program acquisition unit, and update unit are executed by the same (single) hardware processor. , these functions may be executed by a plurality of hardware processors.

(Embodiment 1)
FIG. 1 is a block diagram for explaining configurations of a power transmission mechanism management device (motor control device) and an industrial equipment system (program management system) according to Embodiment 1. As shown in FIG. Hereinafter, the industrial equipment system 1 shown in FIG. 1 will be abbreviated as "this system" as appropriate.

This system is constructed so that a plurality of industrial devices operate in cooperation, and FIG. 1 extracts and shows some of the main devices. Specifically, the devices that make up this system include a controller 2, a motor control device 3, a motor 4, a power transmission mechanism (a ball screw 5 is illustrated in FIG. 1), an operation terminal 6, a server 10, a ball screw in the conveying direction. An upstream device 60 arranged on the upstream side of 5, and a downstream device 70 as a load side device arranged on the downstream side of the same.

Among the devices (industrial equipment) constituting the system, the main role of the motor control device 3 is to control the operation of the motor 4 and the power transmission mechanism connected to the motor 4 . In addition, the electric motor control device 3 of the embodiment can also implement a function of diagnosing the state of the power transmission mechanism (whether or not there is an abnormality).

Among the above, the power transmission mechanism and the load-side device are the same in that the power of the electric motor 4 is transmitted and used. is often smaller. However, depending on the gear ratio set in the power transmission mechanism, the mass of the movable part in the power transmission mechanism, and the like, the load of the power transmission mechanism may be larger than that of the load side device. For convenience of explanation, the following assumes that the load of the power transmission mechanism is smaller than that of the load-side device. Details of the function of diagnosing whether or not there is an abnormality in the power transmission mechanism in the electric motor control device 3 will be described later.

As a specific example, this system assumes a system consisting of a plurality of industrial devices installed in an assembly factory for electrical appliances manufactured by assembling a plurality of parts. However, in the present embodiment, the place where the individual industrial equipment is installed (arranged) is not particularly limited. can

In addition, in this system, an existing communication network (in this example, public communication A wide area communication network 100, which is a network, and a communication network 102 based on an industrial communication network are connected so as to be able to transmit and receive data to each other. Among these, the server 10, the operation terminal 6, and the like can be placed at a remote location from the other industrial equipment that constitutes this system.

<server>
The server 10 is a server (for example, an FTP server) that provides a software function program, and corresponds to an "external device". The server 10 includes a processor such as a CPU, a communication section such as a modem, a data storage section such as an HDD, a display section such as an LCD, and an operation input section such as a keyboard and mouse. Since these are known configurations, illustration and detailed description thereof are omitted.

In the example shown in FIG. 1, the server 10 stores an anomaly detection program library group 11 and an anomaly detection data library group 12 in the data storage unit. Among them, the abnormality detection program library group 11 is a collection of a plurality (N types) of abnormality detection programs (see FIG. 1 as appropriate) acquired and executed by the motor control device 3 .

Here, "plurality (N types)" is not particularly limited and can be any number. can be Alternatively, the abnormality detection program may be a different type of program depending on the type (model number, etc.) of the electric motor 4 controlled by the electric motor control device 3 even if the type of power transmission mechanism used is the same. Furthermore, even if the type of the power transmission mechanism and the type (model number, etc.) of the electric motor 4 are the same, the abnormality detection program after the version upgrade is different from the abnormality detection program before the version upgrade. can be treated as different.

On the other hand, the abnormality detection data library group 12 in the server 10 is data (related data) used by each of the plurality (N types) of abnormality detection programs described above. The related data includes, for example, various information used for determining whether or not there is an abnormality in a specific type of power transmission mechanism in the abnormality detection program, such as input information (waveform data, etc.) of the electric motor 4, functions to be used, and abnormality information. This includes data such as thresholds for the presence or absence of

In the following description, it is assumed that the related data or part of the related data is data that can be acquired by the motor control device 3 along with the execution of the corresponding abnormality detection program. Therefore, in this system, it is not necessary to prepare all related data of a plurality (N types) of abnormality detection programs as the abnormality detection data library group 12 in the server 10 . On the other hand, when the abnormality detection program supplied from the server 10 is used (executed) by the motor controller 3 for the first time, it may be necessary to set some reference values or initial values. For this reason, the anomaly detection data library group 12 includes the minimum necessary data (reference values, initial values, etc.) among the data (related data) used in each of the plurality (N types) of anomaly detection programs described above. should be included.

Furthermore, when a software developer upgrades an existing anomaly detection program and adds it to the anomaly detection program library group 11, or develops an anomaly detection program with new functions, control methods, etc., the motor control device It is considered that the related data acquired in 3 (so-called measured data) is often helpful. Therefore, in this system, the related data acquired by the motor control device 3 side can be transmitted (provided) to the server 10 directly or via the controller 2 through the above-described communication network (100, 102). do it. By providing such data, it can be expected that the abnormality detection program library group 11 in the server 10 will be enriched.

<controller>
In this system, the controller 2 essentially plays a main role by sending control signals to the motor control device 3 (commands to start or stop the operation of the motor 4, setting signals related to preset (reserved) basic operations of the motor 4, etc.). is output. Examples of the controller 2 include a PLC (Programmable Logic Controller), a motion controller, and the like.

Further, in the present embodiment, the controller 2 has a function of storing and managing software function programs used by the motor control device 3, and furthermore, stores and manages the aforementioned related data generated by executing the software function programs. It also has the function to Therefore, the controller 2 also corresponds to the "external device".

The controller 2 includes a CPU 20 that controls the entire controller 2, a communication unit such as a communication card for performing wired or wireless communication, a data storage unit such as an HDD, a display unit such as an LCD, and an operation input unit such as a key switch. I have. Since the above-mentioned hardware configuration itself is publicly known, its detailed description will be omitted as appropriate.

In FIG. 1, the data storage unit of the controller 2 stores three types of anomaly detection programs (A) 211, (B) 212, and (C) 213 as a program library 21, and these anomaly detection programs as a data library 22. It shows an example in which data (221 to 223) to be used are stored. That is, the abnormality detection data (A) 221 in the data library 22 is data used for the abnormality detection program (A) 211, and the abnormality detection data (B) 222 is used for the abnormality detection program (B) 212. data, and the abnormality detection data (C) 223 is data used for the abnormality detection program (C) 213 .

In addition, the CPU 20 of the controller 2 selects an arbitrary program (second management program) among the abnormality detection programs (A) 211, (B) 212, and (C) 213 in the data storage unit to It functions as an output control unit that outputs to the control device 3 .

In addition, the CPU 20 of the controller 2 stores an abnormality detection program stored in the data storage unit, and an abnormality detection program and abnormality detection data (hereinafter referred to as an abnormality detection program) stored in the library memory 32 of the motor control device 3 etc.) to manage the abnormality detection program and the like used in the motor control device 3 .

In one specific example, the data storage unit of the controller 2 has a capacity to store more data (abnormality detection program and abnormality detection data) than the library memory 32 of the motor control device 3 . By adopting such a configuration, for example, an abnormality detection program or the like in the motor control device 3 that is used less frequently is stored in the data storage unit of the controller 2, and instead, an abnormality detection program that will be used in the near future is stored. Management such as moving the detection program and the like from the controller 2 to the motor control device 3 (memory 32) is facilitated.

<Operation terminal>
The operation terminal 6 has a function of outputting various commands to arbitrary devices constituting this system, such as the server 10 , the controller 2 and the motor control device 3 . In the example shown in FIG. 1, the operation terminal 6 is a notebook PC, and has a larger display area, more key switches, and a larger data storage unit than the controller 2 described above. there is For this reason, the operation terminal 6 may function as an “external device” like the controller 2 . However, in order to avoid complicating the explanation, only functions specific to the operation terminal 6 will be referred to below. Also, since the hardware configuration of the operation terminal 6 is the same as that of the server 10 described above and is publicly known, illustration and detailed description thereof will be omitted.

<Communication network>
In this system, the controller 2, the motor control device 3, the operation terminal 6, and the server 10 can exchange data with each other via a wide area communication network 100 (public communication network). For example, the user operates the operation terminal 6 to operate and monitor the server 10 and the controller 2, and to transmit the operating state of the motor control device 3 from the controller 2 to the server 10 and the operation terminal 6. It can be carried out.

The wide area communication network 100 may be implemented wirelessly as well as wired. For example, when performing wireless communication between devices, an access point 101 conforming to a communication protocol such as Wi-Fi (registered trademark) or Bluetooth (registered trademark) is provided inside the wide area communication network 100, and the controller 2 and the operation terminal 6 (See FIG. 1 where appropriate).

In this system, the controller 2 and the motor control device 3 can exchange data with each other via the communication network 102 . In one specific example, an operation command generated by the controller 2 can be sent to the motor controller 3 and, conversely, the operating state of the motor controller 3 can be received by the controller 2 .

The communication network 102 as an industrial communication network performs communication using a so-called industrial communication protocol (for example, EtherCAT (registered trademark)), but may be an input/output interface using analog signals.

As another system configuration example, the motor control device 3 may be directly connected to the wide area communication network 100, in which case the controller 2 may be omitted.

<Electric motor>
The electric motor 4 is an electric power motor that rotates an internal rotor (not shown) and a rotating shaft 41 integrated with the rotor when supplied with electric power, and in one specific example, is operated by a three-phase alternating current (AC). It is a servo motor that Such a servomotor rotates the rotor around the rotating shaft 41 by an AC voltage and a control signal input from the motor control device 3, and sends out a feedback signal as motor operation information during such rotation. Feedback control of the operation of the electric motor 4 (direction of rotation, speed, time, stop position and timing, etc.) is performed by the electric motor control device 3 to which the feedback signal is input. Regarding the above feedback signal, for example, as shown in FIG. position of the rotor (rotational position information) can be obtained. In the present invention, the type of the electric motor 4 (for example, a DC/AC power supply system, a rotary or linear power generation system, etc.) is not particularly limited.

<Power transmission mechanism>
FIG. 1 illustrates a case where a ball screw 5 is used as a power transmission mechanism for transmitting power of the electric motor 4 . The ball screw 5 is a device that converts the power generated by the rotary motion of the electric motor 4 into linear motion and conveys the mounted parts and the like (workpiece W).

In one specific example, the ball screw 5 includes a screw shaft 51 coupled to the rotary shaft 41 of the electric motor 4, a housing (not shown) rotatably holding the screw shaft 51, and a nut assembled to the screw shaft 51. and a workpiece mounting portion 52 integrated with the nut.

In the ball screw 5, when the screw shaft 51 rotating integrally with the rotor of the electric motor 4 rotates in the direction of the arrow 41a (for example, clockwise) in FIG. 1, for example, to the left in FIG. 1, the work W mounted on the upper surface is conveyed in the same direction. The conveyed work W is delivered to a cooperating device (downstream device 70) arranged downstream of the conveying path.

Thereafter, when the screw shaft 51 rotates counterclockwise (in the direction of the arrow 41b) based on the control of the electric motor 4 by the electric motor control device 3, the work placement portion 52 rotates in the opposite direction to the above, in this example, Move to the right in 1. That is, the work placement unit 52 is placed at an initial position or a predetermined waiting position in order to load the next work supplied from the upstream device 60 (for example, a robot that picks up parts) and transport it to the downstream device 70 . Move to position.

Here, the downstream side device 70 is a load side device (industrial equipment) that uses the power of the electric motor 4, and includes, for example, a belt conveyor (not shown). In general, a belt conveyor includes a pair of rollers, a belt stretched over the two rollers, and a support (frame) that rotatably holds these rollers and supports the belt at a position that does not contact the ground. . The roller shaft of one of the rollers of the belt conveyor is connected to the screw shaft 51 (rotating shaft) of the ball screw 5 via a one-way clutch, so that the workpiece W transferred from the ball screw 5 onto the belt is The sheet is conveyed only in one direction (perpendicular to the paper surface of FIG. 1).

That is, when the screw shaft 51 of the ball screw 5 rotates in a direction corresponding to the opposite direction of the work conveying direction (return direction, i.e. rightward in FIG. 1), the rollers and belt of the belt conveyor convey the work on the upper surface of the belt. direction to convey the workpiece W on the belt. Conversely, when the screw shaft 51 of the ball screw 5 rotates in the direction corresponding to the work conveying direction (leftward in FIG. 1), the rollers and belt of the belt conveyor stop or stop due to the action of the one-way clutch. .

By repeating this operation, the belt conveyor stops until the workpiece W is transferred from the ball screw 5 to the belt conveyor, and while the ball screw 5 rotates in the return direction to place a new workpiece, the belt conveyor rotates the workpiece W on the belt. can be transported. With such a configuration, the power of the electric motor 4 can be used efficiently.

It should be noted that the form of the linked operation and the use of the power of the electric motor 4 described above is an example, and the power of the electric motor 4 can be used by combining various types of power transmission mechanisms and linked devices (devices on the load side). .

<Motor controller>
In this system, the electric motor control device 3 has a function of controlling the operation of the electric motor 4 and the ball screw 5 in order to smoothly perform the cooperative operation between the devices (industrial equipment) as described above.

As shown in FIG. 1, the motor control device 3 includes a control unit 30 that controls the entire motor control device 3, and an external communication unit 31 that communicates with external devices through the communication networks (100, 102) described above. , a library memory 32 for storing programs and data, and an execution memory 33 for executing various programs. The motor control device 3 also includes an operation display unit 36 such as a liquid crystal display with a touch panel. The operation display unit 36 displays the state of each unit of the motor control device 3 under display control by the control unit 30 . The operation display unit 36 also inputs an operation signal to the control unit 30 according to the user's touch operation.

Among the above, the execution memory 33 is, for example, a volatile memory such as a random access memory (RAM). Function.

On the other hand, the library memory 32 is, in one specific example, a non-volatile memory separate from the above memory 33, and can use various storage devices for data storage such as HDD, EEPROM, and flash memory. can. The library memory 32 is not required to read and write at high speed compared to the execution memory 33, but has a higher read/write speed than the execution memory 33 so that it can store a plurality of programs and data obtained by executing the programs. It also has a large data storage capacity.

In the present embodiment, memory 32 and memory 33 are connected via switch 34 and switch 35 . Among them, the switch 34 functions as a switching unit for selectively reading a plurality of abnormality detection programs stored in the library memory 32 to the execution memory 33 . On the other hand, the switch 35 functions as a switching unit for selectively reading out or storing abnormality detection data between the memory 32 and the memory 33 . These switches 34 and 35 are so-called logical switches that are switched under the control of the control section 30 . As another example, the memory 32 and the memory 33 may be the same storage medium (for example, large-capacity RAM), in which case the switches 34 and 35 are not required.

The control unit 30 includes, for example, a processor such as a CPU or MPU, a ROM storing a basic program, and a microcomputer for embedded equipment equipped with various I/O interfaces. It is adapted to perform various functions.

In the example shown in FIG. 1, the library memory 32 stores the above-described abnormality detection program (A) for diagnosing deterioration of the ball screw 5 (hereinafter sometimes referred to as a ball screw deterioration diagnosis program 321A); An abnormality detection program (B) for diagnosing deterioration of the bearing that rotatably supports the shaft 41 (hereinafter sometimes referred to as a bearing deterioration diagnosis program 321B) is stored.

In this embodiment, the bearing deterioration diagnosis program 321B corresponds to the "first management program", and the ball screw deterioration diagnosis program 321A corresponds to the "second management program". In other words, in this system, when the electric motor 4 is replaced, the electric motor controller 3 is also replaced, so the bearing deterioration diagnosis program 321B is implemented as the default software function program (first management program). On the other hand, since it is assumed that the power transmission mechanism connected to the electric motor 4 will be replaced, in FIG. It shows the state after being acquired.

The library memory 32 also stores abnormality detection data (A) 322A as related data used in the ball screw deterioration diagnosis program 321A, and abnormality detection data (B) used in the bearing deterioration diagnosis program 321B. ) 322B are each stored as associated data. The abnormality detection data (A) 322A and the abnormality detection data (B) 322B are data generated based on input information input from the electric motor 4, respectively. The details of the contents of these programs and data will be described later.

On the other hand, the execution memory 33 stores an electric motor control program 331 for controlling the operation of the electric motor 4, an anomaly detection program 332, and an anomaly detection data 333 used in the anomaly detection program 332. . Here, the abnormality detection program 332 is either one of the ball screw deterioration diagnosis program 321A or the bearing deterioration diagnosis program 321B stored in the memory 32 for library. Similarly, the error detection data 333 is one of the error detection data (A) 322A or the error detection data (B) 322B (data corresponding to the error detection program 332) stored in the library memory 32. be.

In other words, the control section 30 of the motor control device 3 performs the following functions as an "update section". That is, the control unit 30 selectively reads out the abnormality detection program 332 in the execution memory 33 from the plurality (two in this example) of the abnormality detection programs 321A and 321B stored in the library memory 32. By outputting the read abnormality detection program (321A or 321B) to the memory 33 for execution, the abnormality detection program 332 is set or updated (replaced).

Through the above operation, the deterioration diagnosis program corresponding to the type of power transmission mechanism can be executed to determine whether or not there is an abnormality in the power transmission mechanism. A method for such determination will be described later.

<Operation of motor controller>
Next, the operation of the motor control device 3 will be outlined. The control unit 30 of the electric motor control device 3 activates the electric motor control program 331 in the memory 33 for execution and waits in a state in which the drive control of the electric motor 4 can be executed. The control unit 30 also activates the abnormality detection program 332 in the execution memory 33 . Then, the control unit 30 reads the corresponding abnormality detection data 333 and waits in a state where the process (algorithm) described in the abnormality detection program 332 can be executed.

Thereafter, when receiving an operation command as a control signal from the controller 2, the operation terminal 6, or the operation display unit 36 (hereinafter referred to as the controller 2, etc.), the control unit 30 starts driving the electric motor 4 according to the electric motor control program 331. and control its behavior. Specifically, the operation of the electric motor 4 is made to correspond to the operation (driving mode) of the power transmission mechanism and the linking device (the upstream device 60 and the downstream device 70 shown in FIG. 1) used in this system. , is preset in the motor control program 331 . Setting of such operations can be performed through a setting screen (not shown) and operation input of the controller 2 or the like.

The control unit 30 of the electric motor control device 3 controls the operation of the electric motor 4 according to the above settings in the electric motor control program 331 (adjusts the rotation direction, rotation speed, stop timing, etc. of the rotor), thereby power transmission. By controlling (adjusting) the operation of the mechanism (the ball screw 5 in the example of FIG. 1), the cooperative operation (such as the operation of conveying the workpiece W) with the cooperative device is realized. At this time, the control unit 30 of the electric motor control device 3 transmits electric motor operation information (input information) indicating the operation state of the electric motor 4, such as the position of the rotor of the electric motor 4, the rotational speed, and the input current, to the position detector 7 and the A feedback signal is acquired through a current detector 125 (see FIG. 6) or the like, and feedback control is performed using such input information. It should be noted that the input information acquired at this time (such as a waveform signal described later in FIG. 3) can be displayed on an arbitrary display unit (for example, the operation display unit 36 or the display unit of the controller 2 or the operation terminal 6) so that the user can can be monitored.

In this embodiment, the control unit 30 of the motor control device 3 executes the abnormality detection program 332 in the execution memory 33 while the motor control program 331 is being executed. That is, the control unit 30 executes each algorithm described in the motor control program 331 and the abnormality detection program 332 in parallel or concurrently.

In this example, an abnormality detection algorithm for detecting an abnormal state (abnormality) of the ball screw 5 is stored in the abnormality detection program (A) 321A. Therefore, the abnormality detection program (A) 321A is developed in the memory 33 by the control unit 30 and executed as the abnormality detection program 332, thereby detecting whether or not the ball screw 5, which is the power transmission mechanism, is abnormal. The control section 30 of the electric motor control device 3 performs the following function as a "state management section" based on the abnormality detection algorithm of the abnormality detection program (A) 321A.

That is, the control unit 30 analyzes the operating state (input information) such as the position and rotational speed of the rotor of the electric motor 4 described above through the abnormality detection program 332 (in this example, the abnormality detection program (A) 321A). The analysis result is stored in the execution memory 33 as measured data or teacher data (see the abnormality detection data 333). In addition, the control unit 30 compares the abnormality detection data 333 measured in advance and stored in the memory 33 with the current analysis result by the abnormality detection program 332, and if there is a large divergence between the numerical values of the two, the ball screw 5 It determines that there is an abnormality in (the power transmission mechanism) and outputs an abnormality signal.

Specifically, the control unit 30 determines whether there is an abnormality in the ball screw 5 (power transmission mechanism) based on a criterion as to whether the value indicated by the input wave in the motor operation information deviates from the threshold value set in the teacher data. judge.

More specifically, the control unit 30 determines that there is an abnormality in the power transmission mechanism (ball screw 5) when the distortion of the waveform (wave shape) in the electric motor operation information exceeds the threshold set in the teacher data, An abnormal signal to that effect is output.

The output error signal is displayed (output) as a message notifying the occurrence of an error or as an image such as a warning sound or icon on the display unit that displays the motor operating information (waveform, etc.). users can be notified or warned. Therefore, the user (administrator, etc.) of this system monitors or predicts the abnormal state of the power transmission mechanism (ball screw 5) by monitoring the display contents of the display unit (existence of output of an abnormality signal, etc.). be able to.

The example described above assumes that the power transmission mechanism connected to the electric motor 4 is the ball screw 5, and whether or not there is an abnormality in the ball screw 5 is determined through execution of the abnormality detection program (A) 321A. As another example, if the power transmission mechanism connected to the electric motor 4 is a mechanism other than the ball screw 5 (e.g., gear box, etc.), the control unit 30 may include a software function program (e.g., The abnormality detection program (C) 213 shown in FIG. 1 or the corresponding abnormality detection program in the abnormality detection program library group 11 of the server 10) is executed.

That is, the control unit 30 appropriately acquires a software function program corresponding to the type of the power transmission mechanism for determining abnormality detection from an external device, and stores it in the memory 32 for the library and the memory 33 for execution. to run. Such operation, in other words, by updating (replacing) the software function program stored in the execution memory 33 and executed according to the power transmission mechanism to be used, various types of power transmission connected to the electric motor 4 can be achieved. It becomes possible to determine (diagnose) whether there is an abnormality in the mechanism.

Further, the control unit 30 acquires the corresponding anomaly detection program in the anomaly detection program library group 11 of the server 10, stores it in the library memory 32 and further in the execution memory 33 (updates as appropriate), and executes it. It is also possible to determine (diagnose) whether or not there is an abnormality in the load-side device (downstream-side device 70).

<Operation example of anomaly detection program>
Next, an operation example of the anomaly detection program will be described in more detail with reference to FIGS. 2 and 3. FIG. FIG. 2 is a flow chart showing an example of processing of an abnormality detection program for diagnosing deterioration of a power transmission mechanism. FIG. 2 is a processing flow showing part of the algorithm described in the ball screw deterioration diagnostic program 321A (abnormality detection program (A) shown in FIG. 1).

The ball screw deterioration diagnosis program 321A has a configuration for selectively executing two operation modes (algorithms), an abnormality detection teacher data acquisition mode and an abnormality detection operation mode. The user can operate the controller 2 or the like to specify or change the setting of which operation mode is to be used.

In step S1 after activating the ball screw deterioration diagnosis program 321A, the control unit 30 of the electric motor control device 3 determines whether or not the operation mode of the electric motor control device 3 is the teacher data acquisition mode.

Here, when the control unit 30 determines that the operation mode is the teacher data acquisition mode (step S1, YES), the process proceeds to step S2, and after acquiring the teacher data through the processes of steps S2 to S4 described later, , the process returns to the determination process of step S1 described above.

On the other hand, when the control unit 30 determines that the operation mode is not the teacher data acquisition mode (step S1, NO), it determines that the operation mode is the abnormality detection mode and proceeds to step S5. After diagnosing whether or not there is an abnormality in the ball screw 5 through the process of step S10, the process returns to the determination process of step S1 described above.

First, the operation in the anomaly detection teacher data acquisition mode (hereinafter simply referred to as "teacher data acquisition mode") will be described. In step S2, the control unit 30 issues a command from the controller 2 or the like (i.e., input operation by the user) to start acquiring teacher data that serves as a criterion for detecting an abnormality in the ball screw 5 (teacher data acquiring operation start command). is received, and when this command is received, the process proceeds to step S3.

The standby in step S2 takes into consideration that it takes some time until the rotation state of the electric motor 4 stabilizes, such as when the ball screw deterioration diagnosis 321A is started at the same time as the normal operation. That is, the control unit 30 suspends the acquisition of the teacher data until the rotation state of the electric motor 4 stabilizes, so that the teacher data with higher accuracy can be acquired in the processes of steps S3 and S4 below.

In step S3, the control unit 30 acquires various driving information (p(t), v(t), and iq(t) in this example) based on the input signal (feedback information) detected from the electric motor 4. do. Of these, p(t) is rotational position information of the electric motor 4 at time t. Also, v(t) is rotational speed information of the electric motor 4 at time t. These p(t) and v(t) can be obtained from the detection signal of the position detector 7 described above. Further, iq(t) is torque current information of the electric motor 4 at time t, and is obtained or calculated from the current (AC in this example) input (feedback) from the electric motor 4 to the control unit 30 .

In subsequent step S4, the control unit 30 puts the motor operation information (p(t), v(t ) and iq(t)), the anomaly detection teacher data is derived.

Thereafter, the control unit 30 returns to step S1, and repeats the processing of steps S3 and S4 described above while it is determined that the operation mode is the teacher data acquisition mode (step S1, YES). continues to derive anomaly detection training data. Regarding step S2, the control unit 30 skips the above-described standby process from the second time onward.

FIG. 3 is a graph showing the state of the abnormality detection operation when executing the abnormality detection program shown in FIG. .

In FIG. 3 , the first, second, and third graphs from the top are waveform diagrams of the motor operation information input to the control unit 30 . That is, the waveform diagrams show the rotational position p(t) of the electric motor 4 in the first row from the top, the rotational speed v(t) in the second row from the top, and the torque current iq(t) in the third row from the top. , and each schematically represents how the waveform deteriorates with the passage of time. By referring to these three graphs, it can be seen that distortion occurs in each waveform and the distortion increases with the passage of time.

Usually, when an abnormality occurs in the electric motor 4 or the load side device (the downstream side device 70 in FIG. 1), it often appears as an abnormality in the period or amplitude of the waveform (for example, an abnormality in the period associated with an abnormality in the rotational speed). changes, amplitude changes associated with torque current anomalies, etc.).

On the other hand, when an abnormality occurs in a power transmission mechanism (such as the screw shaft 51 of the ball screw 5 in this example), which has a much smaller load than the downstream device, the distortion shown on the right side of FIG. waveform. That is, when there is an abnormality in the power transmission mechanism, minute vibration waves (hereinafter referred to as minute vibration waves) appear in the waveforms of the rotational position p(t), the rotational speed v(t), and the torque current iq(t) in the motor operating information. occurs. Such micro-vibration waves become more conspicuous in their amplitude components and the like as the degree of abnormality of the ball screw 5 (for example, the degree of wear and distortion of the screw shaft 51) increases. 3 can be detected as a change in amplitude or a change in gradient of the wave in a minute time t, so that the ball screw 5 is detected as an abnormality rather than an abnormality in the electric motor 4 or the downstream device 70 (load side device). It can be determined or estimated that there is an abnormality in the state of

In view of the circumstances as described above, in the present embodiment, the operation of the abnormality detection teacher data acquisition mode described above with reference to FIG. It is desirable that it is executed (implemented) in the initial operating period). By executing the operation of the abnormality detection teaching data acquisition mode (steps S3, S4, etc. in FIG. 2) in such a normal state, as shown on the left side of FIG. data can be generated. This abnormality detection training data has significance as information (teaching data in supervised machine learning) that serves as a reference for performing abnormality determination in the abnormality detection mode described below.

Here, the fourth graph from the top in FIG. ) exceeds the threshold, the signal representing the normal state (for example, "0" of binary value (0/1)) is switched to the signal representing the abnormal state (for example, "1").

Further, the fifth graph from the top in FIG. 3 shows an example of switching from the operation in the abnormality detection teacher data acquisition mode to the operation in the abnormality detection mode in the above-described abnormality detection operation mode. In one specific example, by using the timer function of the motor control device 3, for example, the system can be operated in the abnormality detection teaching data acquisition mode only on the initial operating day of the system, and can be operated in the abnormality detection mode from the next day.

Next, referring to FIG. 2 again, the operation of the abnormality detection mode during execution of the ball screw deterioration diagnosis program 321A will be described.

In step S5, the control unit 30 of the motor control device 3 receives a command to start the operation of detecting an abnormality of the ball screw 5 (an abnormality detection operation start command) from the controller 2 or the like (that is, the user's input operation). When this command is received, the process proceeds to step S6. The significance of waiting in step S6 is the same as in step S2 described above. That is, by suspending the abnormality detection operation until the rotation state of the electric motor 4 stabilizes, unnecessary erroneous detection can be prevented in the following steps S6 to S10, and more accurate state detection can be realized.

In step S6, the control unit 30 generates various motor operation information (p(t), v(t), and iq(t) in this example) based on the input signal (actually measured detection signal or feedback signal). ). Since the process of step S6 is the same as that of step S3 described above, detailed description thereof will be omitted.

In subsequent step S7, the control unit 30 replaces the motor operation information (p(t), v(t), iq(t)) with the parenthesized formula according to the first abnormality detection algorithm (=fan1 (formula)). By substituting, the anomaly detection actual measurement data is derived. The data derivation method itself in step S7 is the same as the anomaly detection teacher data derivation method in step S4 described above.

In the next step S8, the control unit 30 compares the derived anomaly detection actual measurement data with the anomaly detection teaching data described above, calculates the difference between the two, and then proceeds to step S9. In step S9, the control unit 30 determines whether the calculated difference, in other words, the degree of distortion of the waveform of the abnormality detection actual measurement data with respect to the waveform of the abnormality detection teacher data, exceeds a predetermined threshold.

Here, when the controller 30 determines that the degree of strain does not exceed the threshold (step S9, NO), it determines that the state of the ball screw 5 is normal, and proceeds to step S10. On the other hand, when the controller 30 determines that the degree of distortion exceeds the threshold (step S9, YES), it determines that the state of the ball screw 5 is abnormal, and proceeds to step S11.

In step S10, the control unit 30 transmits a display instruction to a predetermined device (for example, the controller 2 and the operation terminal 6) so as to display that the state of the ball screw 5 is normal. On the other hand, in step S11, the control unit 30 outputs an abnormality detection signal and also transmits a display instruction to the above device so as to display that the ball screw 5 is abnormal.

Here, referring to FIG. 3 again, the operation of the abnormality detection mode in relation to the deterioration state of the ball screw 5 will be described. When the ball screw 5 begins to deteriorate, due to its influence, the input operation waveforms of the rotational position information p(t) of the electric motor 4, the rotational speed information v(t) of the electric motor 4, and the torque current information iq(t) of the electric motor 4 are as follows: Unlike the waveform in the normal state, that is, in the abnormality detection teacher data acquisition mode, the waveform deteriorates into a distorted waveform with the above-described minute vibration wave added.

Therefore, the control unit 30 compares the abnormality detection teacher data acquired in the abnormality detection mode with the abnormality detection actual measurement data to calculate the difference (degree of deterioration) between the waveforms (step S8). When the degree exceeds the threshold, it is determined that there is an abnormality in the state of the ball screw 5 (step S9, YES), and the determination result is output as an abnormality detection signal (step S11).

A user or maintenance manager of this system can detect or predict an abnormal state of the ball screw 5 by monitoring the presence or absence of output of such an abnormality detection signal and the display screen of the external device.

By the way, the software program responsible for the abnormality detection function as described above, which is executed by the electric motor control device 3, performs similar abnormality detection when the type of power transmission mechanism to which the power of the electric motor 4 is transmitted is changed. To do so, we need to use different algorithms.

Specifically, FIG. 1 illustrates the case where the power transmission mechanism connected to the electric motor 4 is the ball screw 5, but the ball screw 5 may be connected to another power transmission mechanism (for example, a timing belt via gears (not shown)). There are cases where it is changed to

That is, in the case of the ball screw 5, since it is necessary to reciprocate as described above, it is necessary to rotate the electric motor 4 in both forward and reverse directions (see the arrows in FIG. 1). On the other hand, when the power transmission mechanism is a timing belt, it is sufficient to rotate the electric motor 4 in one direction in the basic operation for moving the work W and transferring it to the downstream device 70 . Alternatively, if the linkage device or system configuration is to be changed significantly, it is necessary to use another type of power transmission mechanism or downstream device. control content during basic operation by the device 3) is changed.

Thus, if the type of power transmission mechanism (basic operation during normal operation, etc.) is different, the drive mode of the electric motor 4 will also be different. comes differently. In this case, the normal waveform information obtained as the abnormality detection teaching data also differs.

On the other hand, regardless of the type of power transmission mechanism, the basic method of acquiring the above-described abnormality detection teacher data and actual measurement data and comparing these data to determine the presence or absence of an abnormality in the power transmission mechanism are as follows. Can be used in common.

Based on this knowledge, the present system is provided with a configuration that allows the software program to be executed to be changed (updated) according to the type of power transmission mechanism connected to the electric motor 4 and the like.

Specifically, the control unit 30 of the motor control device 3 functions as an updating unit that updates the software program to be executed by the motor control device 3, in this example, the program and data that are implemented or developed in the execution memory 33. I decided to have

Further, in the present embodiment, the control unit 30 has a function of acquiring a software program (management program) having a power transmission mechanism management (abnormality detection) function from an external device (server 10 or controller 2). I decided to let

<Main effects of this embodiment>
According to the present embodiment in which the control unit 30 of the motor control device 3 is provided with the above functions, management such as abnormality detection for various power transmission mechanisms can be executed without changing the hardware of the motor control device 3. become. Therefore, the performance of the motor control device 3 can be improved at low cost. Further, according to the present embodiment, the type of power transmission mechanism, load-side device, etc. (industrial equipment that constitutes the system) connected to the electric motor 4 can be changed without adding (replacement) the electric motor control device 3 and the controller 2. , arrangement, etc. can be changed appropriately and flexibly.

(Embodiment 2)
Next, Embodiment 2 will be described with reference to FIG. FIG. 4 is a flowchart for explaining another example of processing of an abnormality detection program for diagnosing deterioration of a power transmission mechanism, and shows an algorithm added with an abnormality detection teacher data switching function.

For example, the algorithm shown in FIG. executed. The same step numbers are assigned to the same processes as those described above with reference to FIG. 2, and the description thereof is omitted as appropriate.

The algorithm shown in FIG. 4 can be utilized, for example, during trial operation of the system. Specifically, the waveform of the motor operation information input from the motor 4 and displayed on the predetermined display unit can be judged to be abnormal from the amplitude value, but there is no distortion (micro vibration wave) in the waveform. , there may be cases where an overcurrent state occurs due to a temporary overload when the workpiece W is conveyed. In such a case, by saving the waveform of the motor operation information as teacher data and using it later, it is possible to improve the accuracy of determining whether there is an abnormality in the power transmission mechanism.

In step S4A in the teacher data acquisition mode, the control unit 30 adds the motor operation information (p(t), v(t ) and iq(t)), the anomaly detection teacher data is derived. In this teacher data acquisition mode, the third anomaly detection algorithm (=fan3 (formula)) is the same as in FIG. Similar processing is performed.

Further, in the abnormality detection mode, the control unit 30 derives teacher data by the same processing as in step S4A (step S7A), and performs the comparison processing in step S8 and the determination processing in step S9 in the same manner as in FIG. conduct. The display processing in step S10 after it is determined in step S9 that the degree of distortion (degree of deterioration of the waveform) does not exceed the threshold value (step S9, NO) is also the same as in FIG.

On the other hand, when the control unit 30 determines that the degree of distortion (degree of deterioration of the waveform) exceeds the threshold (step S9, YES), the process proceeds to step S9A. In step S9A, the control unit 30 determines whether or not a teacher data switching command for switching the teacher data has been input. Here, if the controller 30 determines that the teaching data switching command has not been input (step S9A, NO), it determines that there is an abnormality in the state of the ball screw 5, and similarly to the case of FIG. The display processing of S11 is performed.

On the other hand, when the controller 30 determines that the teacher data switching command has been input (step S9A, YES), it determines that the state of the ball screw 5 is normal, and proceeds to step S12. In step S12, the controller 30 saves the measured data being input in the abnormality detection data 333 so as to add it to the teacher data. At this time, the control unit 30 may update the abnormality detection data (322A or 322B) stored in the memory 32 for library. In addition, the control unit 30 performs display processing to indicate that the state of the ball screw 5 is normal.

By performing the above-described processing, for example, the teacher data can be updated according to instructions based on the operation input of the user who is monitoring the operation of this system and the operation information (waveform) during the test run, and the power transmission can be performed. This can be used to improve the accuracy of determining whether there is an abnormality in the mechanism.

(Embodiment 3)
5 and 6 are diagrams for explaining the third embodiment. In the third embodiment, the content (algorithm) of the motor control program 331 executed by the control unit 30 can be updated or switched as appropriate. From another point of view, in the third embodiment, a plurality of motor control programs are stored in the library memory 32, and the control unit 30 of the motor control device 3 selects such a motor control program as a function of the updating unit. The motor control program in the execution memory 33 is updated so that it can be executed directly.

For the sake of simplicity, FIG. 5 omits illustration of the downstream device 70 that cooperates with the electric motor 4, the operation display unit 36 in the electric motor control device 3, the CPU 20 in the controller 2, and the like. In order to avoid complication, FIG. 5 shows that only the motor control program 331 is stored in the memory 33 for execution. A program for determining can also be stored in the execution memory 33 and executed.

FIG. 5 is a diagram showing the configuration of another embodiment of the motor control device, and is a block diagram illustrating an example in which the content (algorithm) of the motor control program to be executed can be updated. In the third embodiment, the position control program, speed control program, and current control program that constitute the motor control program 331 shown in FIG. obtained from the server 10 via

6 schematically shows a hardware configuration (inverter circuit) equivalent or similar to the program configuration shown in FIG.

In the first and second embodiments described with reference to FIGS. 1 to 4, during normal operation, the motor control program 331 and the abnormality detection program 332 separate from the motor control program 331 (that is, abnormal power detection by supervised machine learning) are performed. A program for detecting an abnormality in the transmission mechanism) and are executed concurrently.

On the other hand, FIGS. 5 and 6 show, as the electric motor control program 331, a position control program for controlling the rotational position of the electric motor 4 and a speed control program for controlling the rotational speed of the electric motor 4. , and a current control program for controlling the current flowing through the electric motor 4 are shown. However, the control unit 30 can concurrently execute the program for determining whether or not there is an abnormality in the power transmission mechanism.

First, the contents of the motor control program 331 will be described with reference to FIG. FIG. 5 schematically shows how the control unit 30 drives the electric motor 4 by loading and executing the electric motor control program 331 in the memory 33 for execution.

As shown in FIG. 5, the motor control program 331 includes a position control program 3311 that controls the position of the motor 4, a speed control program 3312 that controls the speed of the motor 4, and a current control program 3313 that controls the current of the motor 4. include. Each program (3311, 3312, 3313) can be executed independently of each other by the control unit 30, or can be executed concurrently.

In one specific example, the control unit 30 switches the control programs (3311, 3312, 3313) to be executed when changing the control method of the electric motor 4. FIG. Here, "when changing the control method" means when changing to a plurality of existing control methods (for example, when three control programs (3311, 3312, 3313) are being executed at the same time, any one of them is changed). such as when only the control program is executed), and when a new control method is developed.

Among the above, the case where a new control method is developed will be described. In the example shown in FIG. 5, switching of the control program is performed by switching one of the two types of control programs stored in the library memory 32 (position control PG (1) 323A or position control PG (2) shown in FIG. 5). 323B, speed control PG (1) 324A or speed control PG (2) 324B, current control PG (1) 325A or current control PG (2) 325B) are developed (updated) in the memory 33 for execution. can also

Such program update is performed by switching logic switches (switches 37, 38, and 39 in the example of FIG. 6) provided between the library memory 32 and the execution memory 33, as in the case of FIG. be able to.

In one specific example, the control PG (323A, 324A, 325A) of (1) in FIG. 5 controls the electric motor 4 (respectively, the position of the rotor, the rotation speed, the amount of current flowing) using the existing control method. The control PG (323B, 324B, 325B) of (2) is a program that controls the electric motor 4 (respectively, the position of the rotor, the rotation speed, and the amount of current flowing) using a newly developed control method. can be

In another specific example, when the control PG (323A, 324A, 325A) of (1) in FIG. When using a timing belt as the transmission mechanism, it can be implemented to.

Furthermore, as shown in FIG. 5, the controller 2 has control PGs (see reference numerals 231, 232, 241, 242, 251, and 252) described above (1) and (2), as well as so-called stocks (3 ) control PG (233,243,253) is saved. These control PGs (233, 243, 253) of (3) are communicated between the controller 2 and the motor control device 3 in the above-described "when changing the control method", and the library of the motor control device 3 By being stored in the memory 32 for use, it becomes executable by the motor control device 3 .

The algorithm for detecting the presence or absence of an abnormality in the power transmission mechanism (ball screw 5, etc.) is as explained with reference to FIGS. 2 to 4. FIG. 5, the server 10 stores the above-described various control programs (control PG) provided to the motor control device 3 or the controller 2, a position control program library group 13 and a speed control program library group 14. , and current control program library group 15, respectively, stored as a database.

The contents of the control of the electric motor 4 by each electric motor control program (3311, 3312, 3313) stored in the memory 33 and executed by the control unit 30 will be described below from the hardware point of view using FIG. The electric motor control device 3 controls the position, speed, and torque of the power transmission mechanism and the load-side device by feedback-controlling the rotational position and speed of the electric motor 4 using an inverter circuit 122 as shown in FIG. In addition, through such feedback control and management, it is possible to detect whether or not there is an abnormality in the power transmission mechanism described above.

As shown in FIG. 6, the inverter circuit 122 includes a rectifier circuit 123 that converts and rectifies the voltage supplied from the AC power supply AC, and a switching element for switching the voltage value supplied to the three-phase drive type motor 4. 124, etc.

Further, as shown in the upper part of FIG. A position control unit 126, a speed control unit 127, and a current control unit 128 are provided for controlling the .

Further, the inverter circuit 122 includes a differentiating circuit 129 for calculating the speed of the rotor of the electric motor 4 and outputting the calculated result to the speed control unit 127, a switching element 130 for switching the signal supplied to the current control unit 128, a triangular wave and a PWM circuit 132 that applies pulse width modulation (PWM) to the standing wave and outputs it.

In the example shown in FIG. 6, the alternating current supplied (input) from the motor control device 3 to the motor 4 consists of three phases Iu, Iv, and Iw, and the current value of each is detected by the current detector 125, and the measured value As (feedback information), current value id(t) and torque value iq(t) at time t are input from current detector 125 to current controller 128 .

Schematically, preset rotor position and speed control commands are output from, for example, the controller 2, and such control commands are provided as signals p*(t) and v*(t), respectively, to the position controller 126. and input to the speed control unit 127 . Further, a position signal p(t) based on a detection signal of the position detector 7 provided on the rotation shaft of the electric motor 4 is input to the position control unit 126, and a differentiating circuit 129 based on the position signal p(t) The calculated rotational speed signal v(t) is input to the speed controller 127 .

The position control unit 126 compares the input signals p*(t) and p(t), calculates the difference value, and outputs the calculated difference value to the speed control unit 127 . When the switching element 130 is in the first state, that is, when the signal v*(t) is not input as shown in FIG. Based on the rotation speed signal v(t) input from 129, the current value signal id*(t) and the torque value signal iq*(t) are output to the current control unit 128 as control signals.

On the other hand, when the switching element 130 is in the second state, the speed control unit 127 receives the speed control command signal v*(t) without inputting the difference value output from the position control unit 126 . In this case, based on the difference between the signal v*(t) and the input signal v(t), the current control unit uses the current value signal id*(t) and the torque value signal iq*(t) as control signals. 128.

Based on the input signals id*(t) and iq*(t) and the signals id(t) and iq(t), the current control unit 128 converts the three-phase control signal Fm for driving the electric motor 4 into a PWM circuit. 132. The PWM circuit 132 PWM-modulates the control signal Fm to generate a switching signal for switching the state (on/off) of each switch of the switching element 124 (three phases×2=6 pieces in the example shown in FIG. 6). generate and output . Thus, by changing the on/off state of the switch, the amplitude and the like of each of the three-phase currents supplied to the electric motor 4 change, thereby changing the rotation direction, rotation speed, and rotation of the rotor of the electric motor 4. Feedback control such as position is performed.

As described above, the control unit 30 of the electric motor control device 3 controls the operation of the rotor of the electric motor 4 according to the waveform signal input (feedback) from the electric motor 4, thereby controlling the downstream side which is the load side device. It functions as an operation control section that operates a power transmission mechanism (for example, the ball screw 5) so as to correspond to the operation of the device 70. FIG.

3, 5 and 6, the control unit 30 of the electric motor control device 3 receives input from the electric motor 4 when controlling the rotational position of the electric motor 4 by executing the position control program 3311. It functions as a state management unit that manages the state of the power transmission mechanism (detects whether there is an abnormality) based on the waveform signal (rotor position information p(t)).

In addition, when controlling the rotation speed of the electric motor 4 by executing the speed control program 3312, the control unit 30 controls the power transmission mechanism based on the waveform signal (rotational speed information v(t)) input from the electric motor 4. It functions as a state management unit that performs state management (detection of abnormalities).

Further, when controlling the current flowing through the electric motor 4 by executing the current control program 3313, the control unit 30 controls the state of the power transmission mechanism based on the waveform signal (torque current iq(t)) input from the electric motor 4. It functions as a state management section that performs management (detection of the presence or absence of anomalies).

Further, the control unit 30 updates each program (3311, 3312, 3313) in the memory 33 to be executed to the control PG (1) stored in the library memory 32 by the function of the updating unit described above. , control PG(2) can be selectively read and updated. Therefore, the control unit 30 uses a combination of various existing or newly developed control methods as an operation control unit, and also functions as a state management unit that manages the state of power transmission (detects whether there is an abnormality). can carry.

<Flow of acquiring and updating programs, etc.>
Next, with reference to FIG. 7, an example of the flow of processing for acquiring and updating a software function program that can be executed by the control unit 30 of the motor control device 3 will be described.

In step S41, the control unit 30 of the motor control device 3 controls the external communication unit 31 to connect to the server 10, which is an external device, through the public or industrial communication network (100, 102) described above. The timing of connection to the server 10 is not particularly limited, and can be performed at any time, for example. Alternatively, a timer function may be used to periodically connect to the server, for example, during a period after normal operation.

Also, the method of connecting the motor control device 3 and the server 10 is not particularly limited, either. can be done. Alternatively, as another example, the communication connection between the server 10 (10A) and the motor control device 3 may be established by relaying the operation terminal 6 currently connected to the motor control device 3 . Alternatively, the processing of steps S42 to S47, which will be described later, may be performed mainly by the controller 2 by the user operating the controller 2. FIG.

In step S<b>42 , the control unit 30 transmits to the server 10 various information related to industrial equipment, linked equipment, programs, etc. managed by the motor control device 3 . Here, the information managed by the motor control device 3 and transmitted to the server 10 includes, for example, the type (name, model number, etc.) of the motor 4, the power transmission mechanism, and the load side device, and the information installed at that time (that is, the memory 32, 33) and the type of software program (eg, program name). Also, when there is a software program that can be newly acquired, the control unit 30 transmits a command to the server 10 to send a list of the program.

The server 10 that has received the information and instructions described above searches for a corresponding software program, and if there is no new software program that can be provided, sends a message to that effect to the motor control device 3 . In this case, the control unit 30 of the motor control device 3 determines that there is no software program that can be acquired and updated (step S43, NO), ends the connection with the server 10, and ends the routine of FIG.

On the other hand, if there is a new software program that can be provided as a result of the above search, the server 10 transmits a list of applicable programs to the motor control device 3 . In one implementation, the list includes information such as program name, program functionality, capacity, and the like. Here, the functions of the program include, for example, version upgrade contents (new functions, correction contents, etc.) in the case of an upgraded program.

In this case, the control unit 30 of the motor control device 3 determines that there is an obtainable and updateable software program (step S43, YES), and proceeds to step S44.

In step S44, the control unit 30 displays a list of received programs together with selection buttons to display a selection screen for the user to select a program to acquire. Such a selection screen can be displayed by the operation display unit 36 or by the display unit of another device (controller 2, operation terminal 6) being connected.

At this time, the control unit 30 monitors the user's operation input instructions, and when one or more programs displayed in the selection screen are selected, acquires (downloads) the selected programs from the server 10. Then, the acquired program is stored in the library memory 32 (step S45).

When the program acquisition process is completed, the control unit 30 terminates the connection with the server 10 and displays an update screen for the user to select whether to update the program stored in the memory 32 for the next execution. Display processing is performed (step S46). Similar to the selection screen, the update screen can be displayed on the operation display unit 36 or by the display unit of another connected device (controller 2, operation terminal 6).

Thereafter, the control unit 30 monitors the user's operation input instructions, and when a program to be updated is selected, reads the selected program from the library memory 32 and expands it to the execution memory 33. , replaces the program in the memory 33 (step S47: update processing).

As described above, in each of the above-described embodiments, the control unit 30 of the motor control device 3 is provided with a function as an updating unit. It becomes possible to execute management such as anomaly detection. Therefore, the performance of the motor control device 3 can be improved at low cost. In addition, it becomes possible to flexibly change the layout of the industrial equipment that constitutes the system, such as the power transmission mechanism.

Further, the motor control device 3 in each embodiment is connected to an external device such as the server 10 or the controller 2 through the external communication unit 31, and exchanges software function programs and data related to the programs through communication with the external devices. The following effects can be obtained because it is configured to be able to collate the stored programs, etc. That is, the motor control device 3 can acquire necessary programs and data from an external device at any time. In addition, the motor control device 3 can store programs and data that are used less frequently in the controller 2 or the like. In addition, the electric motor control device 3 provides the server 10 with data indicating the operating state of the electric motor 4 during normal operation of the system, and further analysis is performed on the server 10 side to determine whether the power transmission mechanism, etc. It can be used to check the status from other technical points of view, or to improve the corresponding software function program.

In addition, the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the described configurations. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. .

1 industrial equipment system (program management system), 2 controller (external device), 3 electric motor control device (power transmission mechanism management device), 4 electric motor, 5 ball screw (power transmission mechanism), 6 operation terminal, 10 server (external device) , 20 CPU (output control unit), 30 control unit (operation control unit, state management unit, communication control unit, update unit), 31 external communication unit, 32 memory (for library), 33 memory (for execution), 70 downstream side device (cooperating device, load side device), 100 wide area communication network (public communication network), 102 communication network (industrial communication network), 321A anomaly detection program (A) (second management program), 321B anomaly detection program (B) (first management program)

Claims (14)

A power transmission mechanism management device for managing a power transmission mechanism for transmitting power of an electric motor to a load side device in an industrial equipment system in which a plurality of industrial devices operate in cooperation,
an operation control unit that controls the electric motor and causes the power transmission mechanism to perform a predetermined operation;
a state management unit that executes a first management program and manages the state of the power transmission mechanism based on input information input from the electric motor;
an external communication unit communicating with an external device so as to acquire a second management program corresponding to the type of the power transmission mechanism;
an updating unit that replaces the second management program with the first management program and updates the state management unit so that it can be executed;
A power transmission mechanism management device comprising: In the power transmission mechanism management device according to claim 1,
comprising a library memory for storing a plurality of the second management programs;
The power transmission mechanism management device, wherein the update unit selectively reads the second management program from the library memory and replaces the read second management program with the first management program. In the power transmission mechanism management device according to claim 1,
The input information is a waveform signal fed back from the electric motor,
The power transmission mechanism management device, wherein the operation control unit operates the power transmission mechanism so as to correspond to the operation of the load device by controlling the operation of the electric motor according to the waveform signal. In the power transmission mechanism management device according to claim 1,
The power transmission mechanism management device, wherein the external communication unit outputs the second management program to the external device when communicating with the external device. In the power transmission mechanism management device according to claim 3,
The power transmission mechanism management device, wherein the first management program or the second management program is an abnormality detection program for causing the state management unit to determine whether or not there is an abnormality in the power transmission mechanism. In the power transmission mechanism management device according to claim 5,
The state management unit stores the input information as teaching information in response to an instruction received during execution of the abnormality detection program, and determines whether or not there is an abnormality in the power transmission mechanism using the teaching information. Transmission control device. In the power transmission mechanism management device according to claim 5,
The power transmission mechanism management device, wherein the state management unit outputs an abnormality occurrence signal when it is determined that the power transmission mechanism is abnormal. In the power transmission mechanism management device according to claim 5,
The power transmission mechanism management device, wherein the external communication unit outputs the input information to the external device when communicating with the external device. In the power transmission mechanism management device according to claim 1,
The power transmission mechanism management device, wherein the operation control unit controls the electric motor and causes the power transmission mechanism to perform a predetermined operation by executing a position control program for controlling the rotational position of the electric motor. In the power transmission mechanism management device according to claim 1,
The power transmission mechanism management device, wherein the operation control unit controls the electric motor and causes the power transmission mechanism to perform a predetermined operation by executing a speed control program for controlling the rotation speed of the electric motor. In the power transmission mechanism management device according to claim 1,
The power transmission mechanism management device, wherein the operation control unit controls the electric motor and causes the power transmission mechanism to perform a predetermined operation by executing a current control program for controlling current flowing through the electric motor. In the power transmission mechanism management device according to claim 2,
The library memory stores a plurality of control programs for causing the operation control unit to control the electric motor,
The power transmission mechanism management device, wherein the update unit updates the control program in the execution memory so that the operation control unit can selectively execute the control program. In the power transmission mechanism management device according to claim 1,
The power transmission mechanism management device, wherein the external communication unit communicates with the external device via either an industrial communication network or a public communication network. A program management system using the power transmission mechanism management device according to claim 1,
The external device includes a server that supplies the second management program, and a controller that outputs a control signal for controlling the electric motor to the power transmission mechanism management device,
The power transmission mechanism management device includes a library memory that stores a plurality of the second management programs,
The controller includes a storage unit, a communication unit that communicates with the server and the power transmission mechanism management device, and outputs the second management program in the storage unit to the power transmission mechanism management device via the communication unit. and an output control unit,
Program management system.

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