JP5409111B2 - Recording device - Google Patents

Description

  The present invention relates to a recording apparatus mounted on a mechanical device such as an industrial robot, a mounting machine, an injection molding machine, a machine tool, a printing machine, a semiconductor manufacturing apparatus, a packaging machine, an elevator, an air conditioner, or an in-vehicle device.

  In Patent Document 1, a group is formed and stored with the 2 n power data collected first, and then every time 2 n power data is collected, the data is stored as one group. A technique for obtaining and storing one representative value based on two adjacent data for each data in a previously formed group is disclosed. According to this technique, it is possible to record long-term data while recording recent data in detail.

JP-A-4-348226

  There is a demand for a recording apparatus that records data useful for preventive maintenance of the above-described mechanical device to record data related to operation for as long a period as possible in a limited storage area. However, according to the above-described conventional technology, the above-mentioned demand has not been sufficiently answered.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a storage device that efficiently stores data for as long a period as possible.

In order to solve the above-described problems and achieve the object, the present invention provides a plurality of ring buffers each storing a predetermined number of recording data, and an average of a plurality of recording data stored in the respective ring buffers. A plurality of average value calculating means each for calculating a value, and each of the average value calculating means calculates an average value each time the predetermined number of recording data is written to the ring buffer, and calculates the average writes the value to the next stage of the ring buffer, the recording data to be written at the bottom of the ring buffer, the motor position error, positioning time, friction identification value, the current command, an overshoot amount, motor speed, motor acceleration, estimated disturbance Including at least one of the information on the.

  According to the present invention, recent data can be recorded finely, old data can be recorded coarsely, and data equivalent to a longer period of time can be recorded as compared with the prior art. There is an effect that a storage device that efficiently stores long-term data can be obtained.

FIG. 1 is a diagram illustrating a configuration of a mechanical device including the recording device according to the first embodiment. FIG. 2 is a diagram illustrating the configuration of the recording apparatus according to the first embodiment. FIG. 3 is a diagram for explaining the configuration of a mechanical apparatus including the recording apparatus according to the second embodiment. FIG. 4 is a diagram illustrating a configuration of a mechanical device including the recording device according to the third embodiment. FIG. 5 is a diagram illustrating the configuration of the recording apparatus according to the fourth embodiment. FIG. 6 is a diagram illustrating the configuration of the recording apparatus according to the fifth embodiment. FIG. 7 is a diagram illustrating the configuration of the recording apparatus according to the sixth embodiment. FIG. 8 is a diagram illustrating the configuration of the recording apparatus according to the eighth embodiment. FIG. 9 is a diagram illustrating the configuration of the recording apparatus according to the tenth embodiment. FIG. 10 is a diagram illustrating a configuration of a recording apparatus according to the fourteenth embodiment. FIG. 11 is a diagram illustrating the configuration of the mechanical device according to the fifteenth embodiment. FIG. 12 is a diagram illustrating the configuration of the recording apparatus according to the fifteenth embodiment.

  Embodiments of a recording apparatus according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
The recording apparatus according to the first embodiment of the present invention is, for example, a machine device such as an industrial robot, a mounting machine, an injection molding machine, a machine tool, a printing machine, a semiconductor manufacturing apparatus, a packaging machine, an elevator, an air conditioner, and an in-vehicle device. Installed. FIG. 1 is a diagram illustrating a configuration of a mechanical device.

  As illustrated, the mechanical device 1000 generates a motor 100 that drives a drive unit of the mechanical device 1000, a motor control device 200 that controls the motor 100, and a command to the motor control device 200, and the generated command is transmitted to the motor control device. 200 includes a command generation device 300 that transmits to 200, and a host control device 400 that performs generation of a program for operating the command generation device 300, monitoring of an internal state of the device, and the like.

  The motor control device 200 includes a recording device 500 for calculating and recording data used for preventive maintenance of the mechanical device 1000 from the motor control state quantity of the motor 100 controlled by the motor control device 200. The motor control state quantity may be any value, for example, motor current command, motor current, motor position, motor speed, motor acceleration, motor position command, motor speed command, motor acceleration command, motor position error, There is a motor speed error. Here, the motor current command is taken up as the motor control state quantity.

  FIG. 2 is a diagram for explaining the configuration of the recording apparatus 500. The recording apparatus 500 includes a recording data calculation unit 501 that calculates recording data from a motor current command that is a motor control state quantity, a recording unit 502 that records recording data calculated by the recording data calculation unit 501, and a recording unit 502 that records data. And cumulative data recording means 503 for recording cumulative data which is data of the past period among the recorded data.

  The recording unit 502 includes a plurality of stages of ring buffers that record data in a ring shape. The number of stages of the ring buffer may be two, but is preferably three or more. In the first embodiment, it is assumed that five stages of ring buffers are provided, and 10 times of data can be recorded in each stage of the ring buffer (the number of ring buffers in each stage is 10). The recording data calculated by the recording data calculation unit 501 is written into the first buffer of the first ring buffer 504 every time it is output from the recording data calculation unit 501. Each time data is written to the first buffer of the first ring buffer 504, the first ring buffer 504 shifts data recorded in each buffer included in the first ring buffer 504 one by one. That is, data recorded in the first buffer is recorded in the second buffer, data recorded in the second buffer is recorded in the third buffer, and data recorded in the ninth buffer is recorded in the tenth buffer. Also, the data recorded in the tenth buffer (final buffer) is erased.

The first average value calculation means 505 is recorded in the first ring buffer 504 every time the recording data is written to the first buffer of the first ring buffer 504 by the number of buffers (10 in the case of the first embodiment). The average value of the recorded data is calculated, and the calculated average value is output to the second ring buffer 506. The first average value calculation means 505 sets the average value as y and the data recorded in the i-th buffer as x [i].
y = (x [1] + x [2] +... + x [10]) / 10 (Expression 1)
The average value is calculated using the following formula. In place of the average value obtained from Equation 1, a moving average value obtained from the following equation may be used. That is, expressing the output of the recording data for 10 times to the first ring buffer 504 as one cycle, the moving average value y [k] at the time of the k-th cycle is
y [k] = y [k-1] + (x [k] -x [k-10]) / 10 (Expression 2)
It becomes.

  Each time a value is output from the first average value calculation means 505, the calculation result of the first average value calculation means 505 is recorded in the first buffer of the second ring buffer 506. Similarly to the first ring buffer 504, the second ring buffer 506 shifts the data recorded in each buffer one by one each time data is recorded in the first buffer. Since data is input from the first average value calculation means 505 every 10 times, the value of the second ring buffer 506 is shifted every 10 times (10 times the motor control period).

  The second average value calculation means 507 stores the data recorded in each buffer included in the second ring buffer 506 every time data is written into the second ring buffer 506 by the number of buffers of the second ring buffer 506 (in this case, 10). The average value is calculated, and the calculated average value is output to a third ring buffer (not shown). The calculation method of the average value of the second average value calculation means 507 is the same as that of the first average value calculation means 505. The second average value calculation means 507 outputs the average value of the second ring buffer 506 every 100 times the motor control period.

  The same operation as described above is also performed in the third ring buffer, third average value calculation means, fourth ring buffer, and fourth average value calculation means (not shown). In the fifth ring buffer 508, which is the uppermost ring buffer of the recording means 502, every time data is output from the fourth average value calculating means, the first buffer of the fifth ring buffer 508 is transferred to the first average value calculating means. Record the calculation results. Each time data is recorded in the first buffer, the data in the fifth ring buffer 508 is shifted one by one, and the final data in the tenth buffer is output to the low-pass filter means 509. The low-pass filter unit 509 performs low-pass filter calculation each time data is input from the fifth ring buffer 508, and the calculation result is recorded in the accumulated data recording unit 503 as accumulated data of data recorded in the recording unit 502. Rewrite the data.

In the first embodiment configured as described above, it will be described that long-term data can be stored as compared with the conventional technology if the storage capacity is the same. In the first embodiment, as in the prior art, recent data is recorded in detail, and old data is roughly recorded in the form of a representative value (average value), thereby corresponding to a limited storage area as long as possible. Record the data. However, for example, when a storage area having a capacity capable of recording a total of 31 data is used, according to the prior art, a storage area of 16 + 8 + 4 + 2 + 1 can be taken, and only data corresponding to 16 * 5 = 80 cycles can be stored. . On the other hand, according to the first embodiment, if one buffer is set to 10 and the number of stages of the ring buffer is set to 3, the storage area capable of recording 30 data corresponds to 10 ³ = 1000 cycles. You can save data. That is, Embodiment 1 can record data for a longer period of time than in the conventional technique in a storage area having the same storage capacity.

  Thus, in the first embodiment, a plurality of ring buffers each storing a predetermined number of recording data, and a plurality of average values of the plurality of recording data stored in the respective ring buffers are calculated. Average value calculating means, and each average value calculating means calculates an average value every time a predetermined number of recording data is written to the ring buffer, and writes the calculated average value to the next-stage ring buffer. Since it is configured, recent data can be recorded finely, old data can be recorded coarsely, and data corresponding to a longer period can be recorded as compared with the prior art. That is, it is possible to obtain a storage device that efficiently stores data as long as possible. In addition, since it is configured to further comprise a low-pass filter means for performing a low-pass filter operation on the recording data written in the last-stage ring buffer, and a cumulative data recording means for recording a calculation result by the low-pass filter means, It is possible to record old data more efficiently.

  The number of buffers may be other than 10. However, by setting the number of buffers to 10, an effect of easily drawing a logarithmic graph of recording data can be obtained.

Embodiment 2. FIG.
The recording apparatus according to the first embodiment is provided in the motor control device provided in the mechanical device, but may be provided in the command generation device instead of the motor control device. FIG. 3 is a diagram illustrating a configuration of a mechanical apparatus including the recording apparatus according to the second embodiment of the present invention.

  The mechanical device 1001 according to the second embodiment generates a command to the motor 100 that drives the machine, a motor control device 201 that controls the motor 100, and the motor control device 201, and transmits the generated command to the motor control device 201. A command generation device 301 that receives a motor control state amount from the motor control device 201 and records the received motor control state amount, and a host control device 400 that performs program generation of the command generation device 301, monitoring of the internal state of the device, and the like. ing.

  The command generation device 301 includes a recording device 500 that records a motor control state quantity received from the motor control device 201. Since the configuration and operation of the recording apparatus 500 are the same as those in the first embodiment, detailed description thereof is omitted.

  Thus, according to the second embodiment, as in the first embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 3 FIG.
A recording device may be provided in a host control device provided in the mechanical device. FIG. 4 is a diagram illustrating a configuration of a mechanical device including the recording device according to the third embodiment.

  As illustrated, the mechanical device 1002 generates a command to the motor 100 that drives the machine, a motor control device 201 that controls the motor 100, and the motor control device 201, and transmits the generated command to the motor control device 201. The command generation device 302 that receives the motor control state quantity from the motor control device 201, the program generation of the command generation device 302, the monitoring of the internal state of the device, and the like, the motor control state quantity received from the command generation device 302, and the received motor A host control device 401 for recording the control state quantity is provided. Here, the command generation device 302 transmits the motor control state quantity received from the motor control device 201 to the host control device 401 at a coarser cycle than the cycle received from the motor control device 201.

  The host control device 401 includes a recording device 500 that records motor control state quantities. Since the recording apparatus 500 has the same configuration as that of the first embodiment, detailed description thereof is omitted.

  Thus, according to the third embodiment, as in the first embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 4 FIG.
Next, a recording apparatus according to the fourth embodiment will be described. The configuration of the mechanical device on which the recording apparatus of the fourth embodiment is mounted is the same as that of the first embodiment. FIG. 5 is a diagram illustrating a configuration of a recording apparatus according to the fourth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. Here, the recording apparatus is denoted by reference numeral 510.

  As shown in FIG. 5, the recording apparatus 510 according to the fourth embodiment includes a recording unit 512 in which the low-pass filter unit 509 and the cumulative data recording unit 503 are omitted from the configuration of the recording unit according to the first embodiment. . In the first embodiment, when data is shifted by the highest ring buffer (fifth ring buffer 508), the value of the final buffer is input to the low-pass filter unit 509. In the recording apparatus 510, the value of the final buffer is Erased after shifting.

  In the fourth embodiment, the case where the recording device 510 is mounted in the motor control device 200 has been described as an example. However, the recording device 510 is configured to be mounted in the command generation device 300 or the host control device 400. It doesn't matter.

  Thus, according to the fourth embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 5 FIG.
Next, a recording apparatus according to the fifth embodiment will be described. The configuration of the mechanical device on which the recording apparatus of the fifth embodiment is mounted is the same as that of the first embodiment. FIG. 6 is a diagram illustrating a configuration of a recording apparatus according to the fifth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. The recording apparatus of the sixth embodiment is denoted by reference numeral 520.

  As shown in FIG. 6, the recording apparatus 520 has a configuration in which the recording data calculation unit 501 is omitted from the configuration of the recording unit 512 of the fourth embodiment. That is, the motor control state quantity is directly input to the first buffer of the first ring buffer 504.

  Except that the input of the first buffer of the first ring buffer 504 is the motor control state quantity itself, the operation after the data is input to the first buffer of the first ring buffer 504 is the same as that of the fourth embodiment. .

  In the above description, the case where the recording device 520 is mounted in the motor control device 200 has been described as an example. However, the recording device 520 may be mounted in the command generation device 300 or the host control device 400.

  Thus, according to the fifth embodiment, as in the first embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 6 FIG.
Next, a recording apparatus according to the sixth embodiment will be described. The configuration of the mechanical apparatus on which the recording apparatus of the sixth embodiment is mounted is the same as that of the first embodiment. FIG. 7 is a diagram illustrating a configuration of a recording apparatus according to the sixth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. Reference numeral 530 is assigned to the recording apparatus of the seventh embodiment.

  As shown in FIG. 7, the recording device 530 has a configuration in which an initial value recording unit 531 is added to the configuration of the recording device 500 of the first embodiment. The initial value recording means 531 receives the recording data recorded in the first ring buffer 504 immediately after the machine apparatus 1000 is started up, and records the input recording data. For example, when the number of buffers of the initial value recording unit 531 is 30 and the number of buffers of the first ring buffer 504 is 10, the value is output from the value to the tenth buffer of the first ring buffer 504 after the machine device 1000 is started up. Each time the data is recorded in the buffer of the initial value recording means 531 and the data is recorded in all the buffers of the initial value recording means 531 (at the time when the data is written 30 times), the data in the buffer of the initial value recording means 531 is recorded. Recording is always recorded at the time when writing is stopped and writing is stopped.

  In the above description, the case where the recording device 530 is mounted inside the motor control device 200 has been described as an example. However, the recording device 530 may be mounted inside the command generation device 300 or the host control device 400.

  As described above, according to the sixth embodiment, detailed data at the time of starting the apparatus can be recorded. Therefore, in addition to the effects of the first embodiment, the recording is further useful for preventive maintenance and abnormality diagnosis of the mechanical device. There exists an effect that an apparatus can be obtained.

Embodiment 7 FIG.
Next, a recording apparatus according to the seventh embodiment will be described. The configuration of the mechanical device on which the recording device of the seventh embodiment is mounted is the same as that of the second embodiment, and the configuration of the recording device of the seventh embodiment provided in the command generation device 301 of the mechanical device 1001 is also the second embodiment. It is the same. However, the operation of the recording data calculation means of the seventh embodiment is different from the operation of the second embodiment. The operation of the recording data calculation means of the seventh embodiment will be described below.

  In addition to the motor position command and the motor position being periodically input to the recording data calculation unit 501 in the seventh embodiment, a position command completion flag and a positioning completion flag are input. The position command completion flag is 0 at the start of each operation, and is changed to 1 when the position command reaches the target position. The positioning completion flag is 0 at the start of each operation, and is 1 when the motor position falls within a predetermined vicinity of the target position. The recording data calculation means 501 measures the time until the positioning completion flag changes to 1 every time the position command completion flag changes to 1, and stores the measured result in the period when the position command completion flag becomes 0 next. Write to the first buffer of the first ring buffer 504 included in 502. The storage unit 502 writes a value to the first buffer of the first ring buffer 504 each time a value is output from the recording data calculation unit 501, and shifts the recording data.

  In the above description, the time from when the position command completion flag is set to 1 until the positioning completion flag is changed to 1 (settling time) is the output of the recording data calculation means, but the position command completion flag is set to 1. The absolute value of the difference between the motor position command and the motor position in the section where the difference between the motor position command and the motor position from when the positioning completion flag changes to 1 is negative may be output as an overshoot value. .

  Further, although the case where the recording apparatus 500 is mounted inside the command generation apparatus 301 has been described as an example, it may be mounted inside the motor control apparatus 201 or the host control apparatus 400.

  Thus, according to the seventh embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 8 FIG.
Next, a recording apparatus according to the eighth embodiment will be described. The configuration of the mechanical device on which the recording apparatus of the eighth embodiment is mounted is the same as that of the first embodiment. FIG. 8 is a diagram illustrating a configuration of a recording apparatus according to an eighth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. Reference numeral 540 is assigned to the recording apparatus of the eighth embodiment.

  As shown in FIG. 8, the recording apparatus 540 has the configuration of the recording apparatus 500 of the first embodiment, that is, a configuration having a plurality of unit recording apparatuses each including a recording data calculation unit 501, a recording unit 502, and a cumulative data recording unit 503. It has become. FIG. 8 shows a first unit recording device 541 and a second unit recording device 542.

  In the first embodiment, only one type of motor control state quantity, that is, only the motor current command absolute value is used as the recording data. However, each unit recording device included in the recording device 540 records different types of recording data. For example, the first unit recording device 541 receives a motor current command, and the recording data calculation means 501 included in the first unit recording device 541 calculates the motor current command absolute value from the input motor current command, and the first unit recording device 541 The recording means 502 of the recording device 541 records the motor current command absolute value as recording data. The second unit recording device 542 receives the motor position error, and the recording data calculation means 501 provided in the second unit recording device 542 calculates the absolute value of the motor position error from the input motor position error. A recording unit 502 of 542 records the calculated motor position error absolute value as recording data. Further, a motor current value is input to a third unit recording device (not shown), and a recording data calculation means 501 provided in the third unit recording device calculates an effective value of the absolute value of the motor current oscillation component from the input motor current value. The recording unit 502 of the third unit recording apparatus records the effective value of the calculated motor current oscillation component absolute value as recording data. The input of the motor control state quantity to the recording data calculation means 501 provided in each unit recording apparatus has the same cycle and timing. Since the configuration and operation of the recording unit 502 included in each unit recording apparatus and the operation of the cumulative data recording unit 503 are the same as those in the first embodiment, description thereof will be omitted.

  In the above description, the motor current command absolute value, motor position error absolute value, and motor current oscillation component absolute value effective value are listed as data to be recorded, but other values such as motor speed error and motor current effective value may be used. I do not care. Also, the type of data to be recorded need not be limited to three, and may be two or four or more. Furthermore, although the case where the recording unit 502 is mounted inside the motor control device 200 has been described as an example, it may be mounted inside the command generation device 300 or the host control device 400.

  Thus, according to the eighth embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 9 FIG.
Next, a recording apparatus according to the ninth embodiment will be described. The configuration of the recording apparatus of the ninth embodiment is the same as that of the eighth embodiment, but the input timing of the motor control state quantity to each unit recording apparatus is different in the ninth embodiment.

  In the ninth embodiment, the input cycle to each unit recording device is the same, and the input cycle is, for example, a cycle equal to or an integral multiple of the motor control cycle. However, the input start to each unit recording apparatus is not simultaneous, but is shifted by one cycle or an integral multiple cycle. For example, input to the first unit recording device 541 starts from the start of motor control, input to the second unit recording device 542 starts from one cycle after the start of motor control, and motor control starts to 2 to the third unit recording device. Input starts after a period.

  By shifting the data recording start timing in this way, the timing at which the first average value calculating means 505 performs the calculation in the recording means 502 provided in each unit recording apparatus is shifted, so according to the ninth embodiment, In addition to the effect of the eighth aspect, it is possible to obtain the effect that the calculation load can be leveled among the plurality of unit recording apparatuses.

Embodiment 10 FIG.
Next, a recording apparatus according to the tenth embodiment will be described. The configuration of the mechanical device on which the recording apparatus of the tenth embodiment is mounted is the same as that of the first embodiment. FIG. 9 is a diagram illustrating a configuration of a recording apparatus according to the tenth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. Reference numeral 550 is assigned to the recording apparatus of the tenth embodiment.

  As shown in FIG. 9, the recording apparatus 550 has one recording data calculation means 551 and a plurality of pairs of recording means and cumulative data recording means. The recording data calculation means 551 divides the operating range of the motor 100 into a plurality of areas, and records the individual motor control state quantities obtained for each divided area in separate recording means. Each divided area is distinguished by attaching a lower case alphabetic code, and a code 552, 553 of the recording means for recording the motor control state quantity of each divided area and a code 552, 553 of the cumulative data recording means respectively. Assume that the same subscript is added to distinguish each. That is, the recording means for recording the motor control state quantity in area a and the cumulative data recording means are denoted by 552a and 553a, respectively, and the recording means for recording the motor control state quantity in area b and the cumulative data recording means are denoted by 552b. 553b.

  With the above configuration, data is not written to the recording means corresponding to all areas every period, but data is written only to the recording means in the area corresponding to the current position of the motor 100. Each area recording means performs data writing and data shifting only when data is written from the recording data calculation means. The operation of the recording means in each area is not performed every period, but only when data is written, except for the recording means and accumulated data in the recording means of the first embodiment. Since the operation is the same as that of the recording means, description thereof is omitted.

  Thus, according to the tenth embodiment, since data is recorded separately for each area, there is an effect that it is easy to detect an abnormality when a specific area of a machine element is damaged.

Embodiment 11 FIG.
In the tenth embodiment, the motor control state quantity is recorded in different recording means for each area. In the eleventh embodiment, the recording means to which each ring buffer is assigned can be changed. Further, the allocation of the ring buffer is changed so that the number of steps increases in the area where the motor 100 moves well.

  The first ring buffer 504 of each area recording means (recording means 552a, recording means 552b,...) Has a recording means to which it belongs. After the second ring buffer of the recording means in each area, allocation is performed from the area in which data is written up to the ring buffer one stage below.

  Thus, according to the eleventh embodiment, it is possible to allocate more storage areas to areas that operate more frequently.

Embodiment 12 FIG.
In the first embodiment, the number of buffers in each ring buffer is the same. However, the number of buffers may be changed for each ring buffer. In the twelfth embodiment, the number of buffers in each ring buffer is reduced as the upper ring buffer. For example, in FIG. 2, the number of buffers included in the first ring buffer 504 to the fifth ring buffer 508 is 10, but in the twelfth embodiment, the number of buffers of the first ring buffer 504 is 14, The number of buffers in the ring buffer 506 is 12, the number of buffers in the third ring buffer is 10, the number of buffers in the fourth ring buffer is 8, and the number of buffers in the fifth ring buffer 508 is 6. With this configuration, the recent value can be recorded more finely in the storage area of the same size by reducing the number of buffers in the upper ring buffer.

Embodiment 13 FIG.
In the tenth embodiment, only the recording data input from the recording data calculation unit 551 is written in the buffer of each ring buffer. However, in the thirteenth embodiment, the first recording unit 552a, 552b includes the first data. The date and time (time stamp) written in the first buffer of the ring buffer 504 is also recorded. After the second ring buffer, each time data is written to the first buffer, the time stamp of the data averaged by the average value calculating means 505 is referred to, and the time stamp of the first data and the time stamp of the last data are obtained. Record.

  As described above, according to the thirteenth embodiment, by recording the time stamp together, it is possible to easily determine when the data of each area, in which the data of each period is not necessarily recorded, is recorded. Become.

Embodiment 14 FIG.
Next, a recording apparatus according to the fourteenth embodiment will be described. The configuration of the mechanical device on which the recording apparatus of the fourteenth embodiment is mounted is the same as that of the first embodiment. FIG. 10 is a diagram illustrating a configuration of a recording apparatus according to a fourteenth embodiment provided in the motor control apparatus 200 of the mechanical apparatus 1000. Reference numeral 560 is assigned to the recording apparatus of the fourteenth embodiment.

  As shown in the figure, the recording apparatus 560 of the fourteenth embodiment includes a recording data calculation unit 501 and a recording unit 562. The recording unit 562 includes first to fifth ring buffers 504 to 508 and first to fifth low-pass filter units 565 to 569.

  The recording data input from the recording data calculation unit 501 is input to the first ring buffer 504 provided in the recording unit 562 and also input to the first-stage low-pass filter unit 565. When recording data is input, the data in each buffer of the first ring buffer 504 is shifted as in the first embodiment. Each time data is output from the recording data calculation unit 501 by the number of buffers of the first ring buffer 504, the output of the first low-pass filter unit 565 is input to the second low-pass filter unit 567 and the second ring buffer 506 is output. The data of each buffer of the second ring buffer 506 is shifted in the same manner as the first ring buffer 504. Every time data is input to the second low-pass filter unit 567 and the second ring buffer 506 by the number of buffers of the second ring buffer 506, the output of the second low-pass filter unit 567 is the third low-pass filter unit (not shown). And a third ring buffer (not shown). Thereafter, the same operation is performed in the low-pass filter means and the ring buffer at each stage.

  Thus, according to the fourteenth embodiment, it is possible to obtain a storage device that efficiently stores data for as long a period as possible.

Embodiment 15 FIG.
Next, an embodiment 15 will be described. FIG. 11 shows the configuration of the mechanical device according to the fifteenth embodiment. As shown in the figure, the mechanical device according to the fifteenth embodiment controls the motor 100 that drives the machine, the motor 100, and generates a command to the motor control device 202 that records the motor control state quantity and the motor control device 202. The command generation device 303 that transmits the generated command to the motor control device 202, and the host control device 400 that performs program generation of the command generation device 303, monitoring of the internal state of the device, and the like are provided.

  The recording device 570 according to the fifteenth embodiment is divided into a first recording device and a second recording device, and is mounted on the motor control device 202 and the command generation device 303, respectively. FIG. 12 is a diagram illustrating a configuration of the recording device 570 according to the fifteenth embodiment. As shown in the figure, the recording device 570 of the fifteenth embodiment has a configuration in which the recording means of the fourth embodiment is divided into two. That is, the first recording device 571 includes a recording data calculation unit 501 and a first recording unit 573, and the second recording device 572 includes a second recording unit 574. The first recording unit 573 includes a first ring buffer 504 and a first average value calculation unit 505. The second recording unit 574 has four stages of ring buffers, that is, a second ring buffer 506 to a fifth ring buffer 508, and a second average value calculation unit 507 to a fourth average value calculation unit. The third ring buffer, the fourth ring buffer, the third average value calculating means, and the fourth average value calculating means are not shown.

  The functions of the first to fifth ring buffers 504 to 508 and the first to fourth average value calculating means and the function of the recording data calculating means 501 are the same as those in the fourth embodiment.

  As described above, since the recording device 570 is divided into two parts, when the storage capacity of the motor control device and the command generation device is limited, by using both together, There is an effect that a lot of data can be recorded.

  In the fifteenth embodiment, the first recording device is mounted on the motor control device and the second recording device is mounted on the command generation device. However, the first recording device is mounted on the motor control device, and the second recording device is mounted on the host control device. The command generation device may be equipped with a first recording device, and the host control device may be equipped with a second recording device.

  As described above, the recording apparatus according to the present invention is mounted on a mechanical apparatus such as an industrial robot, a mounting machine, an injection molding machine, a machine tool, a printing machine, a semiconductor manufacturing apparatus, a packaging machine, an elevator, an air conditioner, and an in-vehicle device. It is suitable to be applied to a recording apparatus.

DESCRIPTION OF SYMBOLS 100 Motor 200, 201, 202 Motor control apparatus 300, 301, 302, 303 Command generation apparatus 400, 401 High-order control apparatus 500, 510, 520, 530, 540, 550, 560, 570 Recording apparatus 501, 551 Recording data calculation means 502, 512, 552a, 552b, 562 Recording means 503, 553a, 553b Cumulative data recording means 504, 506, 508 Ring buffer 505, 507 Average value calculating means 509, 565, 567, 569 Low-pass filter means 531 Initial value recording means 541 , 542 Unit recording device 571 First recording device 572 Second recording device 573 First recording means 574 Second recording means 1000, 1001, 1002 Mechanical device

Claims (7)

A plurality of ring buffers each storing a predetermined number of recording data; and
A plurality of average value calculating means for calculating an average value of a plurality of recording data stored in the ring buffers of the respective stages;
With
Average value calculating means of said respective calculates an average value for each recording data of the predetermined number is written into the ring buffer, write the average value described above is calculated in the next stage of the ring buffer,
The record data written in the lowermost ring buffer includes at least one of motor position error, positioning time, friction identification value, current command, overshoot amount, motor speed, motor acceleration, and estimated disturbance information.
A recording apparatus. A plurality of ring buffers each storing a predetermined number of recording data; and
A plurality of average value calculating means for calculating an average value of a plurality of recording data stored in the ring buffers of the respective stages;
Low-pass filter means for performing a low-pass filter operation on the recording data written in the last-stage ring buffer;
Cumulative data recording means for recording the calculation result by the low-pass filter means;
With
Each of the average value calculating means calculates an average value each time the predetermined number of recording data is written to the ring buffer, and writes the calculated average value to the next-stage ring buffer.
A recording apparatus. A plurality of ring buffers each storing a predetermined number of recording data; and
A plurality of average value calculating means for calculating an average value of a plurality of recording data stored in the ring buffers of the respective stages;
Initial value storage means for storing an initial value of the recording data;
With
Each of the average value calculating means calculates an average value each time the predetermined number of recording data is written to the ring buffer, and writes the calculated average value to the next-stage ring buffer.
A recording apparatus. A plurality of ring buffers each storing a predetermined number of recording data; and
A plurality of low-pass filter means for performing low-pass filter operations on the recording data written to the ring buffers of the respective stages;
With
Each of the low-pass filter means performs a low-pass filter calculation every time the predetermined number of recording data is written to the ring buffer, and writes the calculation result to the next-stage ring buffer.
A recording apparatus. A plurality of ring buffers each storing a predetermined number of recording data; and
A plurality of average value calculating means for calculating an average value of a plurality of recording data stored in the ring buffers of the respective stages;
With
Each of the average value calculating means calculates an average value each time the predetermined number of recording data is written to the ring buffer, and writes the calculated average value to the next-stage ring buffer,
The predetermined number you being different from each ring buffer record device. Wherein the predetermined number of record apparatus according to claim 4 you being different from each ring buffer. The record data written in the lowermost ring buffer includes at least one of motor position error, positioning time, friction identification value, current command, overshoot amount, motor speed, motor acceleration, and estimated disturbance information. the recording apparatus according to any one of claims 2, wherein 6.

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