JP4408407B2 - Servo motor control system and servo motor - Google Patents

Description

  The present invention relates to a servo motor control system suitable for setting parameters of a driver for driving and controlling a servo motor, and a servo motor used in the system.

  A driver that drives and controls a servo motor such as a direct drive motor (DD motor) realizes predetermined operations such as a rotation angle and a movement time based on parameter data stored in a memory provided therein. The parameter data can be changed according to the user's usage, etc. The parameter data can be changed, that is, the parameters can be set by connecting a parameter setting device such as a teaching terminal (pendant) or a personal computer to the driver. This is done by inputting parameter data on the editing screen displayed on the screen (for example, see Patent Document 1).

  By the way, in this parameter setting, the parameter data set by the parameter setting device is stored in the memory of the driver, while the servo motor is operated based on the parameter data to determine whether the operation is preferable. Need to do.

  However, the servo motor described above is used as a drive source for manufacturing apparatuses and conveying apparatuses arranged in various places on the factory production line, while the driver is arranged on a control panel provided in a predetermined place in the factory. Yes. Therefore, depending on the location of the servo motor, the servo motor can be installed from the driver side by placing it at a location very far from the driver (for example, 10-20 m away) or by interposing a partition wall with the driver. There were cases where it was not possible to look directly.

  In addition, the connection cable normally prepared in the parameter setting device has a length that does not make the handling complicated (for example, about 1 to 2 m). Therefore, in a state where the connection cable of the parameter setting device is connected to the driver, the arrangement position of the setting device is within the range allowed by the connection cable. That is, the setting operator who operates the parameter setting device is forced to be located near the driver. For this reason, in such a situation, it is impossible for one operator to perform parameter setting and servo motor operation confirmation.

  Therefore, if an extension cable is connected to the connection cable, the extension cable is connected to the driver, and the parameter setting device is moved to a position where the servo motor can be seen directly, parameter setting and servo motor operation check can be performed by one worker. It becomes possible to do. However, the longer the servo motor is from the driver, the longer the extension cable becomes, and the handling of the extension cable becomes complicated. In addition, the extension amount is limited depending on the communication standard.

As a method not using an extension cable, in addition to the operator who operates the parameter setting device, an operator who confirms the operation of the servo motor is arranged near the servo motor separately from the setting operator. It is also possible to set two or more people and set parameters while communicating between workers. However, this requires a large amount of parameter setting work.
JP 2001-92502 A

  A main object of the present invention is to provide a servo motor control system in which one operator can perform parameter setting and servo motor operation confirmation without using an extension cable, and a servo motor used in the system. To do.

  Hereinafter, effective means for solving the above-described problems will be described while showing effects and the like as necessary. In the following, in order to facilitate understanding, the corresponding configuration in the embodiment of the invention is appropriately shown in parentheses, but is not limited to the specific configuration shown in parentheses.

Means 1. A servomotor (motors 12, 12a, 12b) and a memory (memory 23) for storing parameter data for causing the servomotor to perform a predetermined operation; and the servomotor based on the parameter data stored in the memory A driver (drivers 11 and 11a) for driving and controlling the motor,
A servo motor control system configured to be able to change the parameter data stored in the memory to parameter data created by a parameter setting device (parameter setting device 41);
The servo motor is provided with a connector (setting device connection connector 36) to which the connection cable (connection cable 42) of the parameter setting device can be connected,
The driver includes a writing means (driver side CPU22) for storing in the memory the parameter data input from the parameter setting device via the connector of the servomotor. .

  According to the first aspect, the connector that can be connected to the connection cable of the parameter setting device is provided to the servo motor, and the parameter created by the parameter setting device from the connector by connecting the connection cable of the parameter setting device to the connector. Data is entered. The parameter data input from the parameter setting device via the servo motor connector is stored in the memory of the driver by writing means provided in the driver. Accordingly, by connecting the parameter setting device to the connector of the servo motor, the setting device can be arranged in the vicinity of the servo motor without using an extension cable. In other words, since the operator who operates the parameter setting device can be positioned near the servo motor, the servo motor is positioned very far from the driver or the partition between the servo motor and the driver. Even if there is an interference, parameter setting and servo motor operation confirmation can be performed by one worker without being affected by this.

  In particular, when the servo motor is used as a drive source for a manufacturing apparatus, a conveying apparatus, or the like that is arranged at various places on a production line in the factory, the driver is arranged on a control panel provided at a predetermined place in the factory. For this reason, the above effect is great because the servo motor is likely to be located at a location very far from the driver or a partition wall is interposed between the servo motor and the driver.

Mean 2. The driver is provided with a connector (setting device connection connector 26) to which the connection cable of the parameter setting device can be connected,
2. The servo motor control system according to claim 1, wherein the writing means stores the parameter data input from the parameter setting device via a connector of the driver in the memory.

  According to the means 2, the driver is provided with a connector to which the connection cable of the parameter setting device can be connected, and parameter data inputted from the parameter setting device via the driver connector is also stored in the memory by the driver writing means. Is done. That is, parameter setting using the parameter setting device can be performed on the driver side in addition to the servo motor side. Thereby, the freedom degree of parameter setting becomes large.

  Means 3. 3. The means 1 or 2, wherein the servo motor and the driver each include a microcomputer (motor side CPU 33, driver side CPU 22) having at least a function of transmitting and receiving a signal including the parameter data. Servo motor control system.

  According to the means 3, it is possible to send and receive advanced signals including parameter data by means of microcomputers respectively provided in the servo motor and the driver. In addition to this, by using a microcomputer, advanced control of the servo motor, improved compatibility of the servo motor and driver, communication with the host controller that supervises the driver (preventing data discrepancy with the host controller, etc.), host Various additional functions such as rewriting of the controller program can be performed.

  Means 4. 4. The servo motor control system according to claim 3, wherein the servo motor and the driver exchange the signal by serial communication.

  According to the means 4, since transmission / reception of data (signals) between the servo motor and the driver is performed by serial communication, when the servo motor and the driver are connected by a cable, the number of signal lines of the cable is reduced. The cable can be easily routed.

Means 5. A servo motor that is driven and controlled based on parameter data stored in a memory (memory 23) provided in the driver (driver 11),
A connector (setting device connection connector 36) to which a connection cable (connection cable 42) of a parameter setting device (parameter setting device 41) for changing the parameter data stored in the memory can be connected is provided. Servo motor.

  According to the means 5, the connector that can be connected to the connection cable of the parameter setting device is provided to the servo motor, and the parameter created by the parameter setting device from the connector by connecting the connection cable of the parameter setting device to the connector. Data is entered. In this case, if a driver having means for storing parameter data input from the parameter setting device via the servo motor connector in the memory is used, the parameter setting is performed from the servo motor side as in the above means 1. Can do.

  Means 6. 6. The servo motor according to claim 5, further comprising a microcomputer (motor-side CPU 33) having at least a function of exchanging signals including the driver and the parameter data.

  According to the means 6, the servo motor is provided with a microcomputer, and the driver is provided with the microcomputer as well, so that it is possible to exchange advanced signals including parameter data. In addition to this, by using a microcomputer, advanced control of the servo motor, improved compatibility of the servo motor and driver, communication with the host controller that controls the driver (preventing data discrepancies with the host controller, etc.), host Various additional functions such as rewriting of the controller program can be performed.

  Incidentally, the servo motors described in the above means 1 to 6 are preferably, for example, direct drive motors (DD motors) that directly drive a load with an output shaft. Here, since the servo motor is often used in a device that originally requires a predetermined operation including a rotation angle, a moving time, etc., the parameter setting using the parameter setting device on the motor side is performed as described above. The effect that can be done is great. In particular, among such servo motors, a DD motor directly drives a load without using a speed reduction mechanism, a drive transmission mechanism, or the like, so that the load to be operated is located very close to the motor. For this reason, when it is possible to set parameters on the motor side, the operation of the load can be confirmed together with the motor in front of the operator's eyes.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, an embodiment of the invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a servo motor control system in the present embodiment. The servo motor control system includes a driver 11 and a motor (servo motor) 12 that performs predetermined operations such as a rotation angle and a movement time based on drive control of the driver 11. The motor 12 is attached to a predetermined location of the apparatus so as to be used as a drive source for a manufacturing apparatus, a transport apparatus, and the like disposed at various locations on the manufacturing line 13 in the factory, while the driver 11 is installed at a predetermined position in the factory. It is arranged on the control panel 14 provided.

  The driver 11 includes therein an output unit 21, a driver side CPU (writing means, microcomputer) 22, and a memory 23. A driver side connector 25 and a setting device connector 26 are attached to a driver case 24. Yes. The output unit 21 is connected to the driver side connector 25, and the driver side CPU 22 is connected to the driver side connector 25 and the setting device connection connector 26. The driver side connector 25 is connected to a power supply cable 27 for connection to the motor 12 through a motor side connector 35 described later. Incidentally, the power supply cable 27 includes both a power line that supplies power to the motor 12 and a signal line that transmits and receives signals to and from the motor 12.

  The memory 23 is composed of a rewritable memory, and parameter data for performing a predetermined operation such as the rotation angle and movement time of the motor 12 is stored in the memory 23. The parameter data stored in the memory 23 is read by the driver-side CPU 22, and the CPU 22 generates drive power corresponding to the parameter data and the rotor rotational position of the motor 12 at the output unit 21. Drive power is supplied to the motor 12 through the driver side connector 25 and the power supply cable 27.

  The setting device connector 26 is configured so that a connection cable 42 of a parameter setting device 41 such as a teaching terminal (pendant) or a personal computer can be connected. The parameter setting device 41 creates parameter data for causing the motor 12 to perform a predetermined operation such as a rotation angle and a movement time. The parameter setting device 41 can transmit the parameter data to the driver 11 through the connector 26. Incidentally, in the present embodiment, the length of the connection cable 42 of the parameter setting device 41 is set to about 1 to 2 m so that handling is not complicated. When the connection cable 42 of the parameter setting device 41 is connected to the connector 26 and parameter data created by the setting device 41 is transmitted to the driver 11, the driver side CPU 22 stores the parameter data in the memory 23. (Write) Updates the parameter data stored in the memory 23.

  The motor 12 is composed of, for example, a direct drive motor (DD motor) that directly drives the load 30. The motor 12 includes therein a motor body 31 having a stator and a rotor, a resolver 32, and a motor side CPU (microcomputer) 33. A motor side connector 35 and a setting device connection connector 36 are attached to the motor case 34. It is worn. The motor body 31 is connected to a motor-side connector 35, and the motor-side CPU 33 is connected to a resolver 32, a motor-side connector 35, and a setting device connection connector 36. The power supply cable 27 is connected to the motor side connector 35, and the drive power is supplied from the driver 11 and signals are exchanged with the driver 11.

  The motor main body 31 is supplied with driving power from the driver 11, and the rotor of the main body 31 performs a predetermined rotating operation based on the driving power to drive the load 30. The resolver 32 is configured to be able to detect the absolute position and relative position of the rotational position of the rotor, and both positions, and outputs a position detection signal corresponding to the detected rotational position to the motor side CPU 33. Incidentally, the position detection signal from the resolver 32 is an analog signal.

  The motor side CPU 33 converts the position detection signal made up of an analog signal into digitized position detection data. Further, the motor side CPU 33 converts the position detection data into serial data, and outputs it to the driver side CPU 22 in the driver 11 through the motor side connector 35 and the power supply cable 27. This position detection data is read by the CPU 22 on the driver side, and the CPU 22 detects the rotational position of the rotor from the position detection data.

  Similarly to the setting device connection connector 26 of the driver 11 described above, the setting device connection connector 36 provided in the motor 12 is configured so that the connection cable 42 of the parameter setting device 41 can be connected. Data can be transmitted to the motor 12. When the parameter data created by the parameter setting device 41 is transmitted to the motor 12, the motor side CPU 33 converts the parameter data into serial data and outputs it to the driver side CPU 22 through the motor side connector 35 and the power supply cable 27. To do. The driver side CPU 22 reads the parameter data, stores it in the memory 23 (writes), and updates the parameter data stored in the memory 23.

  In the servo motor control system having such a configuration, the parameter setting device 41 is connected to the setting device connecting connector 36 of the motor 12 so that the connection cable 42 of the setting device 41 is used (without using an extension cable). The setting device 41 can be arranged in the vicinity of the motor 12. In other words, the operator who operates the parameter setting device 41 can be positioned near the motor 12, so that the motor 12 is positioned very far from the driver 11, or between the motor 12 and the driver 11. Even if a partition is interposed between them, one operator can perform parameter setting and operation check of the motor 12 without being affected by this.

  Then, the driver 11 reads out the parameter data stored in the memory 23 in this way by the CPU 22, and outputs a drive power source according to the read parameter data and the rotor rotational position of the motor 12 detected by the resolver 32. 21, and the driving power is supplied to the motor 12. Thereby, the motor 12 performs a predetermined operation based on the parameter data.

  According to the embodiment described above in detail, the following excellent effects can be obtained.

  In the present embodiment, the motor 12 is provided with a setting device connection connector 36 to which the connection cable 42 of the parameter setting device 41 can be connected, and by connecting the connection cable 42 of the parameter setting device 41 to the connector 36, Parameter data created by the parameter setting device 41 is input from the connector 36. The parameter data input from the parameter setting device 41 via the connector 36 of the motor 12 is stored in the memory 23 of the driver 11 by the driver side CPU 22 provided in the driver 11. Thus, by connecting the parameter setting device 41 to the connector 36 of the motor 12, the setting device 41 can be disposed in the vicinity of the motor 12 without using an extension cable. That is, since the operator who operates the parameter setting device 41 can be positioned near the motor 12, the motor 12 is positioned very far from the driver 11, or a partition wall is interposed between the motor 12 and the driver 11. Even in this case, it is possible to perform parameter setting and operation check of the motor 12 by one worker without being affected by this.

  Further, since the motor 12 is a DD motor and directly drives the load 30 without using a speed reduction mechanism or a drive transmission mechanism, the load 30 to be operated is located very close to the motor 12. For this reason, when it is possible to set parameters on the motor 12 side, the operation of the load 30 can be confirmed together with the motor 12 in front of the operator. Significance of application is great.

  Further, when the motor 12 is used as a drive source for a manufacturing apparatus, a transport apparatus, or the like that is arranged at various places on the production line 13 in the factory, the driver 11 is arranged on a control panel 14 provided at a predetermined place in the factory. For this reason, the motor 12 is located very far from the driver 11 or a situation in which a partition wall is interposed between the motor 12 and the driver 11 is likely to occur.

  In the present embodiment, the driver 11 is also provided with a setting device connection connector 26 to which the connection cable 42 of the parameter setting device 41 can be connected, and parameters input from the parameter setting device 41 via the connector 26 of the driver 11. Data is also stored in the memory 23 by the driver side CPU 22. That is, parameter setting using the parameter setting device 41 can be performed on the driver 11 side in addition to the motor 12 side. Thereby, the freedom degree of parameter setting becomes large.

  In the present embodiment, advanced signals including parameter data can be exchanged by the CPUs 33 and 22 provided in the motor 12 and the driver 11, respectively. In addition, by using the CPUs 33 and 22, advanced control of the motor 12, improvement of compatibility between the motor 12 and the driver 11, communication with a host controller (not shown) that supervises the driver 11 (data discrepancy with the host controller) It is possible to implement various additional functions such as rewriting the program of the host controller.

  In the present embodiment, since data (signals) are transmitted and received between the motor 12 and the driver 11 by serial communication, the number of signal lines of the power supply cable 27 that connects the motor 12 and the driver 11 is reduced. The cable 27 can be easily routed.

  In addition, this invention is not limited to the content of description of the said embodiment, For example, you may implement as follows.

  In the said embodiment, although implemented to the motor 12 which mounted CPU33, as shown in FIG. 2, you may implement to the motor 12a which does not mount CPU. In this case, the position detection signal of the resolver 32 and the parameter data from the parameter setting device 41 connected to the setting device connection connector 36 are directly input to the driver 11 (driver side CPU 22). The cable 27a and the driver side connector 25a are matched to this. In addition to the CPU, an integrated circuit such as an ASIC having necessary functions may be mounted.

  In the above embodiment, the power supply cable 27 including both the power line for supplying power to the motor 12 and the signal line for transmitting and receiving signals to and from the motor 12 is used. However, as shown in FIG. The power cable 27b for supplying power to the motor 12b and the signal cable 27c for transmitting / receiving a signal to / from the motor 12b may be separately provided. Accordingly, the driver 11a is provided with a power connector 25b and a signal connector 25c, and the motor 12b is provided with a power connector 35b and a signal connector 35c.

  In the said embodiment, although implemented in the motor 12 carrying the resolver 32 which detects a rotor rotational position, you may mount other position detection sensors. Further, although the motor 12 is a DD motor, it may be implemented in a servo motor other than the DD motor.

  In the above-described embodiment, the setting device connection connectors 36 and 26 are provided in both the motor 12 and the driver 11. However, if the connector 36 on the motor 12 side is sufficient, the connector 26 on the driver 11 side may be omitted. good.

  In the above embodiment, transmission / reception of data (signal) between the motor 12 and the driver 11 is serial communication, but parallel communication may be used. This eliminates the need for serial-parallel conversion, thus improving the communication speed as compared with serial communication.

  In the above embodiment, the motor 12 and the driver 11 are connected by the power supply cable 27, and data (signals) are transmitted and received between the power supply cable 27, but a transmission / reception device is connected to the motor 12 and the driver 11. Each may be provided to transmit and receive data (signals) wirelessly. In this way, especially when the power cable 27b and the signal cable 27c are separated as in the embodiment of FIG. 3, the work of routing the signal cable 27c is eliminated.

  In the above-described embodiment, the parameter setting device 41 performs parameter setting for causing the motor 12 to perform a predetermined operation such as a rotation angle and a movement time. The motor 12 may be directly driven by the input rotation angle, moving time, or the like, or the motor 12 may be stopped in an emergency.

  In the above-described embodiment, the motor 12 is used as a drive source for a manufacturing apparatus, a conveying apparatus, and the like that are arranged at various locations on the manufacturing line 13 in the factory. However, the motor 12 may be used for other purposes.

It is a block diagram which shows the outline of the servomotor control system in one Embodiment. It is a block diagram which shows the outline of the servomotor control system in another example. It is a block diagram which shows the outline of the servomotor control system in another example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 11, 11a ... Driver, 12, 12a, 12b ... Motor (servo motor), 22 ... Driver side CPU (writing means, microcomputer), 23 ... Memory, 26 ... Setting device connection connector (driver connector), 33 ... Motor Side CPU (microcomputer), 36... Setting device connection connector (servo motor connector), 41... Parameter setting device, 42.

Claims (6)

A servo motor, a driver for storing parameter data for causing the servo motor to perform a predetermined operation, a driver for controlling driving of the servo motor based on the parameter data stored in the memory, and the driver A signal line connecting the servo motor and the driver to transmit a signal for the drive control to the servo motor ;
A servo motor control system configured to be able to change the parameter data stored in the memory to parameter data created by a parameter setting device,
Said servo motor, together with the connection cable of the parameter setting device provided with a setting device for connector connectable when changing the parameter data,
The driver is inputted from the parameter setting device via the setting device connector and the signal line from the parameter setting device when the connection cable of the parameter setting device is connected to the setting device connector. A servo motor control system comprising writing means for storing the parameter data in the memory. Provide a connector to which the connection cable of the parameter setting device can be connected to the driver,
The servo motor control system according to claim 1, wherein the writing unit stores the parameter data input from the parameter setting device via a connector of the driver in the memory.   3. The servo motor control system according to claim 1, wherein each of the servo motor and the driver includes a microcomputer having at least a function of transmitting and receiving a signal including the parameter data.   The servo motor control system according to claim 3, wherein the servo motor and the driver exchange the signal by serial communication. A servo motor that is used in a state of being connected to a driver via a signal line and is driven and controlled based on parameter data stored in a memory provided in the driver,
With a connection cable connector for setting apparatus connectable when changing the parameter data parameter setting device for changing the parameter data stored in said memory,
If the connection cable to the connector the setting device is connected, characterized in that the output from the parameter setting device parameter data inputted via the connector the setting device, the driver through the signal line Servo motor.   6. The servo motor according to claim 5, further comprising a microcomputer having at least a function of performing transmission / reception of signals including the driver and the parameter data.

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