JP2726339B2 - Servo motor device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a servo motor device used for driving and controlling various devices such as robots and automatic devices.

[0002]

2. Description of the Related Art As a servo motor device, for example, Japanese Patent Application Laid-Open No. 63-190584 discloses motor ID information (hereinafter referred to as motor ID) required by a motor controller and a position control controller connected to a motor at the time of initial setting of parameters. ), That is, a motor ID indicating the model of the motor is stored in the ROM in advance, and the motor is controlled based on the motor ID.

In this apparatus, a bidirectional transmission system is employed in order to reliably transmit a motor ID. A motor ID is read from a ROM and output using a bidirectional transmission means to control the motor. I have. Further, in the above publication, the motor ID after a predetermined time elapses from the power-on timing.
Is output, and a bidirectional servo motor device that sends out an output pulse of a pulse encoder after a predetermined time has elapsed from the output of the motor ID is mentioned.

[0004] Conventional servo motor devices employ a control method in which motor IDs are collectively and unilaterally transmitted, and those using a semiconductor memory such as an EEPROM for storing and setting the motor IDs. In some cases, this is performed by a mechanical contact such as a mechanical switch.

[0005]

However, since the servo motor device described in the above publication employs a bidirectional transmission system of the motor ID, the controller notifies the motor device that the controller has received the motor ID, and then the motor device receives the motor ID. The device requires processing such as switching the output, and has a problem that the circuit itself becomes complicated.

Further, in this apparatus, since the motor ID is stored in the ROM, extra circuits and terminals such as a circuit for writing to the ROM are required, so that the cost is increased and the operation of writing the motor ID to the ROM is performed. There is also a problem that it takes time.

Further, the conventional servo motor device which adopts the unidirectionality of transmitting only the motor ID as the control information of the motor has a problem that the amount of information is small and the reliability of the transmission of the motor ID is reduced. However, a servomotor device that stores a motor ID using a mechanical switch has a problem in that it is inferior in terms of vibration resistance, shock resistance, and oil resistance, and that reliability is reduced.

In view of the above, the invention according to claim 1 has been made in view of the above-mentioned problem. By serially transmitting a divided motor ID, the transmission reliability of the motor ID is high and the circuit configuration is simple. It is an object of the present invention to provide a servo motor device that can be used.

According to the second aspect of the present invention, in addition to the object of the first aspect of the present invention, the storage of the motor ID is not performed by using a semiconductor memory such as a ROM or a mechanical switch as a storage device of the motor ID. It is an object of the present invention to provide a servomotor device which does not require cost and labor for the operation and does not lower the reliability.

[0010]

According to the first aspect of the present invention, there is provided a storage device in which motor ID information indicating a model of a motor is stored in advance, and the motor ID information of the storage device is stored. A servo motor device comprising a controller for determining and controlling the motor on the basis of a pole sensor for detecting a magnetic pole of the motor and outputting it as magnetic pole information, and dividing the motor ID information of the storage device, And a serial interface circuit for superimposing the motor ID information on the magnetic pole information from the pole sensor and transmitting the information to the controller serially.

[0011] In the present invention of claim 2, wherein to achieve the second object, the servo motor according to claim 1, wherein said memory device includes a plurality of having both broken point when connected to the power supply The conductive line has a conductive pattern connected in parallel to the serial interface circuit, and the broken portion is short-circuited by soldering or the like in advance in a connected state, or in a disconnected state as it is, by changing the potential of each conductive line. It is a solder bridge circuit for storing motor ID information.

[0012]

In the configuration of the first aspect, a serial interface circuit is provided for dividing the motor ID information, superimposing the divided motor ID information on the magnetic pole information of the pole sensor, and serially transmitting the divided magnetic field information. Since the configuration is such that the motor ID information can always be transmitted without sacrificing, the controller side may simply use the motor ID information separated and selected from the received information, and the circuit configuration on the motor side can be simplified.

Further, since the motor ID information is divided and transmitted, even if the types of motors increase and the number of bits of the motor ID information increases, the transmission cycle of the information of the pole sensor does not change.

Further, in the configuration according to the second aspect of the present invention, the solder bridge circuit as the storage device may be configured such that the broken portions of the respective conductive lines are short-circuited by solder or the like, respectively, and are connected to each other, or each of the broken lines is directly disconnected. Since the motor ID information is stored by changing the potential of the conductive wire,
The cost and labor for storing the motor ID information are reduced, and the reliability is improved in terms of vibration resistance and the like as compared with the mechanical switch.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a servomotor device according to the present invention will be described below with reference to the drawings.

FIG. 1 is a circuit block diagram showing one embodiment of a servomotor device according to the present invention. As shown in this figure, the AC servomotor 1 has a winding 7 for driving the motor, a pulse encoder 5 for outputting a pulse signal to be described later by rotation of the motor, and a pole position (magnetic pole) of a magnet of the servomotor. In addition to the pole sensor 4 which outputs magnetic pole information, motor ID information (hereinafter referred to as motor ID) for determining the model of the motor, that is, the type of the motor.
D) is stored. Further, in order to reduce the number of wires to the AC servo controller 16 described later, the magnetic pole information from the pole sensor 5 and the motor ID from the solder bridge circuit 2 are stored. And a line driver 6 for amplifying an output signal from the serial interface circuit 3 and outputting the amplified signal to the cable 22.

In this example, the pulse encoder 5 generates A and B phase pulse signals having a frequency of about 1000 (Hz) and a phase shift of 90 degrees at a frequency of about 1000 (Hz) by rotation of the motor, and sends them to the AC servo controller 16. And generates a Z-phase pulse signal synchronized with the rotation of.

On the other hand, the AC servo controller 16 for controlling the drive of the AC servo motor 1
ID and pole sensor 4 sent via
And a serial interface circuit 9 for parallel-converting the information, and a microcomputer 10 for performing information processing.

Further, based on the A and B phase pulse signals sent from the pulse encoder 5 via the cable 23 and the output of the pole sensor 4 and motor ID information processed by the microcomputer 10, the motor Speed calculation unit 12 and phase calculation unit 11 for calculating the speed and phase of the motor and outputting the speed and phase of the motor, and speed control for outputting a torque command based on speed commands from the speed calculation unit 12 and a position controller 21 described later. Part 15
A current controller 14 for converting the output from the current controller 14 into a current output based on the torque command and the output from the phase calculator 11; and a power amplifier 13 for amplifying the output of the current controller 14.

The position controller 21 controls the motor I transmitted through a cable 24 connected to the cable 22.
D and a line receiver 26 for receiving information of the pole sensor 4, a serial interface circuit 20 for parallel-converting the information, a microcomputer 19 for processing an output from the circuit, and a pulse encoder sent via a cable 25 A deviation counter 18 which compares the output of the microcomputer 5 with the output of the microcomputer 19 and outputs the result.
And a D / A converter 17 for D / A converting the output from the controller 8 and outputting it as a speed instruction, and is configured to perform initial setting of parameters.

When the AC servomotor 1 is newly connected to the AC servo controller 16 and the position control controller 21, the cables 22, 24 are connected.
The microcomputers 10 and 19 automatically initialize parameters based on the motor ID built in the AC servomotor 1 sent via the microcomputer. The microcomputer 19 is connected so that a target value relating to motor position control information is input from a host computer or the like (not shown).

FIG. 2 shows a circuit configuration on a circuit board mounted on the AC servomotor 1 shown in FIG. 1. The circuit board 31 has a solder bridge circuit 2 shown in FIG. , A serial interface circuit 3, a line driver 6, a line driver 51 constituting the pulse encoder 5, and a waveform shaping / amplifying circuit 52.

FIG. 3 shows a mounting position of the circuit board 31 shown in FIG. 2 by a partial sectional view of the servomotor device. The circuit board 31 includes a bolt 41p and a nut 41g in an encoder case 41a attached to a rear end of the motor body 40 via a heat insulating plate 40c made of resin or the like.
Is fixed to the tip of the cover 41j so as not to rotate, and the motor body 40 of the circuit board 31
A pole sensor 4 is provided on the side, that is, on the side opposite to the side on which circuits such as the solder bridge circuit 2 and the serial interface circuit 3 shown in FIG. 2 are mounted.

In the encoder case 41a, a magnet holder 41f is attached to the end of the rotation shaft 42 of the motor via a shaft holder 41e, and a ring is provided on the circuit board 31 side of the magnet holder 41f via a yoke 41h. A pole magnet 41i is attached, and when the pole magnet 41i rotates together with the rotating shaft 42, the pole sensor 4 causes the pole magnet 41i to rotate.
Thus, the magnetic pole of the motor can be detected.

A magnetic drum 41g on which magnetic signals are magnetized and recorded at regular intervals in the circumferential direction is fitted and fixed to the outer periphery of the magnet holder 41f, while a sensor base 41c facing the magnetic drum 41g. Although not shown, a magnetic sensor such as a magneto-resistive element (MR element) is provided on the side surface of the device. The magnetic sensor and the magnetic drum 41g provide a pulse signal generator of the pulse encoder 5 of the present apparatus shown in FIG. The pulse signal generator is configured to transmit a pulse signal to the waveform shaping / amplifying circuit 52 shown in FIG.

In FIG. 3, reference numeral 41b denotes a leaf spring, reference numeral 41d denotes a bearing, and reference numeral 41k denotes cables 22 and 23 shown in FIGS.
Is a lead wire.

FIG. 4 shows an embodiment of the solder bridge circuit 2 shown in FIGS. 1 and 2 together with the serial interface circuit 3. This solder bridge circuit 2
Has a six-stage ladder-type conductive pattern 2a, and each stage is provided with a disconnected portion, that is, a portion in a connected state.
One side of each stage is grounded, and the other side is connected in parallel with the power supply voltage Vcc to the serial interface circuit 3 via resistors R1 to R6 and connected to the input terminal of the serial interface circuit 3. Have been.
Although the present embodiment has been described using the six-stage solder bridge circuit 2, the number of stages may be other than six, and the number of stages may be increased if necessary, or decreased if unnecessary. Further, the solder bridge circuit 2 may have a configuration in which the power supply voltage Vcc and GND are connected in reverse, instead of the configuration shown in FIG.

FIG. 5 shows the appearance of the conductive pattern 2a of the solder bridge circuit 2 shown in FIG. 4. As shown in this figure, the conductive pattern 2a has a ladder type having a disconnection at each stage. An appropriate one of the six stages of disconnection is soldered 2b to make each stage conductive or non-conductive so that the input of each conductive line to the serial interface circuit 3 is set to "LOW". "Or" HIGH "to represent and store the motor ID in 6 bits so that up to 64 (2 ⁶ ) types of motors can be distinguished.

FIG. 6 shows the input and output of the motor ID and the like in the serial interfaces 3 and 9. That is, in this figure, the 6-bit motor IDs (1) to (6), the Z-phase of the pulse encoder 5, and the U, V, and W information of the pole sensor 4 are input in parallel to the serial interface 3, and the serial The interface circuit 3 converts the serial output and outputs the serial output. The line driver 6 amplifies and outputs the amplified serial output via the cable 22. The line receiver 8 receives the serial output and the serial interface circuit 9 converts the parallel output. Is shown. That is, from the serial interface circuit 9, the motor ID (IDSD), the Z-phase of the pulse encoder 5, and the U,
In addition to V and W, clock pulse (IDCK, IDCK × 16) information for reading the motor ID is converted into parallel and output, and the motor IDs (1) to (6) are output serially for each bit. Will be.

FIG. 7 shows the structure of a frame which is always serially transmitted from the serial interface circuit 3 to the serial interface circuit 9, and one frame is composed of 18 frames.
Motor ID consisting of characters and represented by 6 bits
The superposition of (1) to (6) is performed with one bit of each character from # 10 to # 15. Also, the character #
In 1 to # 8, the motor ID is stopped (Manchester "1" level) instead of the motor ID. In # 9, ST (start bit Manchester "0" level). In # 16, zero Manchester "0" level is always used. The parity bit (even number) and # 18 are set to SP (stop bit Manchester “1” level).

FIG. 8 shows the structure of one character shown in FIG. 7. Each character is composed of 14 bits, that is, 2 bits of a start flag. U, V,
W, and 5 bits for each motor ID (1)-(6),
It consists of 4 bits for a cyclic check code (CRC) and 3 bits for a stop (pause) flag. Therefore, in this embodiment, the motor ID
(1) to (6) are # 10 to # 1 as shown in FIG.
The Z-phase of the pulse encoder 5 and the U, V, W of the pole sensor 4 are superimposed on each character of # 15 and serially transmitted one bit at a time.

Next, the operation of the servo motor device configured as described above will be described.

First, in FIG. 1, when the AC servomotor 1 operates, the pulse encoder 5 and the pole sensor 4
Respectively, a pulse signal is generated.
The V and W phase information and the Z phase information of the pulse encoder 5 are input to the serial interface circuit 3, and from the serial interface circuit 3, as shown in FIG. In the state where the information is superimposed, and as shown in FIG.
Is transmitted to the AC servo controller 16 through
In the C servo controller 16, the line receiver 6 receives next and sends it to the serial interface circuit 9.

In the serial interface circuit 9, FIG.
As shown in (1), the microcomputer 10 converts each received information into one character, that is, each bit of the motor ID, and outputs it.
Send to The microcomputer 10 receives information from the serial interface circuit 9, determines the type of the AC servomotor 1, sends commands to the speed calculation unit 12 and the transfer calculation unit 11, and outputs the position controller 12, the speed control unit 15, the current The current supply to the winding 7 on the AC servomotor 1 side is controlled via the control unit 14 and the power amplifier 13.

For this reason, according to this embodiment, since the control system of the conventional bidirectional AC servomotor device is not employed, the circuit configuration is extremely simplified as shown in FIGS. In addition, since the serial interface circuit 3 superimposes a lot of information such as the motor ID and the like together with the magnetic pole information of U, V and W of the pole sensor 4 by the serial interface circuit 3, it is constantly transmitted to the AC servomotor side. The AC servomotor 1 can be controlled based on more accurate information.

Also, by dividing the motor ID and superimposing it one bit at a time on the magnetic pole information of the pole sensor 4 and serially transmitting it to the AC servo controller 16, the number of motor models increases and the number of bits of the motor ID increases. Also, the transmission cycle of the pole information of the pole sensor 4 does not change.

Further, since the motor ID is stored by the solder bridge circuit as described above, unlike a semiconductor memory such as a ROM or a mechanical switch, the cost and labor for storing the motor ID are not required, and the mechanical switch is not used. In comparison with the above, there is no fear of deterioration in terms of vibration resistance, shock resistance, and oil resistance, and reliability is improved.

[0038]

As is apparent from the configuration described above, according to the first aspect of the present invention, the motor ID is divided and superimposed on the information of the pole sensor for serial transmission. The motor ID can be sent at all times without substantially sacrificing the transmission period of the magnetic pole information of the pole sensor, and the information to be received can be switched only on the controller side. By splitting and transmitting the ID, the number of motor models increases, and even if the number of bits of the motor ID increases, the transmission cycle of the magnetic pole information of the pole sensor does not change.

According to the second aspect of the present invention, since the storage means for storing the motor ID is constituted by a solder bridge circuit, unlike a semiconductor memory such as a ROM or a mechanical switch, the cost for storing the motor ID is reduced. In addition, there is no need to worry about deterioration in terms of vibration resistance, shock resistance and oil resistance as compared with a mechanical switch, and reliability is improved.

[Brief description of the drawings]

FIG. 1 is a circuit block diagram showing an embodiment of the device of the present invention.

FIG. 2 is an explanatory circuit diagram of a circuit board portion of the servo motor shown in FIG. 1;

FIG. 3 is a cross-sectional view showing a cross section of a main part of the servo motor device according to the present invention.

FIG. 4 is a solder bridge circuit 2 shown in FIGS. 1 and 2;
FIG. 2 is a circuit diagram showing one embodiment together with a serial interface circuit 3.

FIG. 5 is an explanatory diagram showing an appearance of a conductive pattern 2a of the solder bridge circuit 2 shown in FIG.

FIG. 6 is a circuit configuration diagram showing transmission of a motor ID.

FIG. 7 is a configuration diagram showing a configuration of a serially transmitted frame.

FIG. 8 is a configuration diagram showing the configuration of one character in the frame shown in FIG. 7;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 AC servomotor 2 Solder bridge circuit 2a Conductive pattern 3 Serial interface circuit 4 Pole sensor 7 Winding 9 Serial interface circuit 10 Microcomputer 16 AC servo controller

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Tetsuo Ryugo 10th Hanazono Todocho, Ukyo-ku, Kyoto-shi OMRON Corporation (72) Inventor Kenji Sawai 10th Hanazono-Todocho, Ukyo-ku Kyoto City (72) Inventor Bunichi Imae, 10 Odron, Hanazono Todo-cho, Ukyo-ku, Kyoto-shi (72) Inventor Soichiro Kita 10-Omron, Todo-cho, Hanazono, Ukyo-ku, Kyoto City Omron Co., Ltd. (10) Hanazono Todocho, Ukyo-ku, Kyoto (56) References JP-A-63-190584 (JP, A) JP-A-1-157284 (JP, A) JP-A-61-150686 (JP, A) A) JP-A-61-42293 (JP, A) JP-A-2-107293 (JP, U)

Claims (2)

(57) [Claims] 1. A servo motor device comprising: a storage device in which motor ID information indicating a model of a motor is stored in advance; and a controller for determining and controlling a motor based on the motor ID information in the storage device. A pole sensor that detects the magnetic pole of the pole sensor and outputs it as magnetic pole information, and divides the motor ID information in the storage device, superimposes the divided motor ID information on the magnetic pole information from the pole sensor, and serially transmits the information to the controller. A servo motor device comprising: a serial interface circuit. 2. A servo motor apparatus of claim 1, wherein said memory device includes a plurality of conductive lines with both broken point when connected to the power supply has a parallel-connected conductive pattern to the serial interface circuit A servo bridge circuit for storing motor ID information by changing the potential of each conductive wire by connecting each of the above-mentioned broken portions to a connection state by short-circuiting with solder or the like in advance, or changing the potential of each conductive line as it is; Motor device.