JP5845434B2 - Motor drive device - Google Patents

Description

  The present invention relates to a motor drive device having a positioning completion determination function for determining that a motor has reached a target position.

  In semiconductor-related devices, electronic component mounting machines, and the like, high-speed response is important, and in particular, a reduction in positioning settling time, which is an index of followability to a position command, is required. Normally, a device that controls a motor, such as a servo amplifier, determines that the target position has been reached if the deviation of the motor position from the target position (hereinafter referred to as the “positional deviation” as appropriate) is less than the settling width. Output. The host controller confirms that the positioning completion signal has been output and starts the next operation. In particular, for an axis that operates in conjunction with two axes, the axis B is operated on the assumption that the axis A is at the target position. For this reason, when the positioning complete signal is output, it must be within the settling range. If it is out of the settling range, the positioning complete signal must be turned off and transmitted to the host controller. .

  Conventionally, for example, a technique as disclosed in Patent Document 1 has been proposed as a method for determining such positioning completion. Patent Document 1 discloses a galvano scanner device that moves an irradiation position of a laser beam by a mirror and a mirror driving device. This apparatus determines that the positioning is completed after the standby time has elapsed since the mirror driving apparatus detects that the mirror driving position has reached a predetermined settling range including the target angle. And by changing the standby time according to the mirror drive angle and the target angle, the standby time is minimized and high throughput is realized.

JP 2003-90974 A

  However, the conventional technique described above causes a positioning completion crack when a phenomenon occurs that once enters the positioning range and then goes out of the range again due to vibration at the time of settling. It is not always within the settling range. That is, when such a phenomenon occurs, arrival within the settling range is detected a plurality of times. Then, since it is determined that the positioning is completed after the standby time elapses from these detections, a positioning completion crack that repeats the completion and incompleteness also occurs in the positioning completion signal. In addition, when a positioning completion crack occurs, the timing of entering the positioning range occurs several times. Since the internal detection sampling is a finite time, there is a possibility that it will vary in what timing reference, and in that case, the start of the waiting time varies, and as a result, the time until the positioning completion determination varies, There has been a problem that positioning completion determination becomes unstable.

  FIG. 4 is a diagram illustrating an example where a positioning completion crack occurs in the conventional method. FIG. 4 shows a positioning completion signal including a positional deviation and a positioning completion crack. That is, in the example of FIG. 4, a phenomenon occurs in which the position deviation once enters a level within the positioning complete width that becomes the positioning range and then goes out of the range again due to vibration at the time of settling. The positioning complete crack has occurred. In the conventional determination method, such a positioning completion crack occurs, so it is necessary to cope with it by lowering the control gain so that the vibration of the position deviation does not occur, resulting in a long positioning settling time, The takt time as a device also becomes longer.

  Further, in the method of giving a delay time after the position deviation enters the positioning completion range as in Patent Document 1, the time itself within which the position deviation enters the positioning completion range varies due to device variations. There is also a problem that the time for outputting the positioning completion varies, and the positioning completion determination becomes unstable.

  The present invention has been made to solve the above-described conventional problems, and an object of the present invention is to provide a motor drive device capable of performing stable positioning completion determination.

  The motor drive device according to the present invention is a motor drive device that controls the position of a motor having a position detector. The motor drive device includes a storage unit for storing a positioning completion width and a positioning determination delay time, a position deviation between the motor position signal and the position command value from the position detector, and a positioning determination delay signal. And a positioning start signal output unit that generates and outputs a positioning completion signal based on the position command value, the motor position signal, the positioning completion width, and the determination start signal. Then, the determination start signal output unit outputs the determination start signal after the positioning determination delay time has elapsed after the position command value becomes zero. Further, the positioning completion signal output unit outputs the positioning completion signal only after the determination start signal is input and only when the position deviation is within the positioning completion width.

  According to this configuration, even when vibration exceeding the positioning completion width occurs in the difference (position deviation) between the position command value and the motor position signal due to vibration during settling, etc., the positioning judgment delay time is set appropriately. By doing so, it is possible to output stably without breaking the positioning completion signal output. In the unlikely event that the position deviation exceeds the positioning completion width after settling by an external force or the like after the positioning determination delay time, the positioning completion signal output can be appropriately turned off.

  According to the motor driving device of the present invention, even when vibration exceeding the positioning completion width is generated in the difference (position deviation) between the position command and the motor position due to vibration at the time of settling, the determination delay time is appropriately set. By setting, a stable output is possible without breaking the positioning completion signal output. In the unlikely event that the position deviation exceeds the positioning completion width after settling by an external force after the determination delay time, the positioning completion signal output can be appropriately turned off.

The block diagram of the motor drive device in the Example of this invention The block diagram which shows the detailed structure of the positioning completion process part in the Example of this invention. The timing diagram which shows an example of each signal in the Example of this invention The figure which shows an example when the conventional positioning completion crack occurs

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described in embodiments with reference to the drawings.

  FIG. 1 is a block diagram of a motor drive device according to an embodiment of the present invention. As shown in FIG. 1, the motor driving device 100 of the present invention is connected to the motor 20 and drives the motor 20. For example, as is generally known, the motor 20 includes a stator having a drive winding and a mover having a permanent magnet. The mover moves by applying a voltage to the winding of the motor 20 and causing a current to flow. The motor drive device 100 has a position control function for moving the position of the mover to a predetermined position. In order to realize this function, a position detector 21 is attached to the motor 20. The position detector 21 detects the position of the mover of the motor 20, and the detected position is supplied to the motor driving device 100 as the motor position signal 10. Further, the position command value 11 is notified to the motor drive device 100 from, for example, an external host controller 22 or the like. The motor driving device 100 generates a voltage command signal 19 that is a voltage for control so that the position based on the motor position signal 10 follows the position command value 11. The motor driving apparatus 100 performs position control so as to move the mover to the target position by applying the generated voltage command signal 19 to the winding of the motor 20.

  The motor driving apparatus 100 includes a position control unit 110 that performs position control and a positioning completion processing unit 120 that performs positioning completion processing.

  The position control unit 110 generates a voltage command signal 19 for controlling the position based on the motor position signal 10 to follow the position command value 11 and outputs the voltage command signal 19 to the motor 20. That is, the position control unit 110 obtains a position deviation between the position based on the motor position signal 10 and the position command value 11 and generates a voltage command signal 19 based on the position deviation.

  The positioning completion processing unit 120 executes a positioning completion determination function for determining that the motor has reached the target position. That is, the positioning completion processing unit 120 determines whether or not the positioning is completed in the position control executed by the position control unit 110. If the positioning completion processing unit 120 determines that the positioning is completed, the positioning completion processing unit 120 generates a positioning completion signal 15 indicating that the positioning is completed. Output to the host controller 22.

  FIG. 2 is a block diagram illustrating a detailed configuration of the positioning completion processing unit 120. As shown in FIG. 2, the positioning completion processing unit 120 includes a positioning completion signal output unit 1, a determination start signal output unit 2, and a storage unit 3 in order to execute processing related to positioning completion.

  The storage unit 3 stores a positioning determination delay time 12 that is a predetermined delay time for delaying the positioning determination, and a positioning completion width 14 that indicates a predetermined level range for determining the completion of positioning. Yes. The storage unit 3 outputs such positioning determination delay time 12 and positioning completion width 14.

  The position command value 11 is supplied from the host controller 22 to the determination start signal output unit 2, and the determination start signal output unit 2 reads the positioning determination delay time 12 from the storage unit 3. The determination start signal output unit 2 monitors whether the position command value 11 has become zero. When the determination start signal output unit 2 determines that the position command value 11 has become 0, the determination start signal 13 is output as a positioning completion signal output unit at a time delayed by the positioning determination delay time 12 from the time at which it is determined that the position command value 11 has become 0. Output to 1. As described above, the determination start signal output unit 2 generates and outputs the determination start signal 13 based on the position command value 11 and the positioning determination delay time 12.

  The positioning completion signal output unit 1 is supplied with the position command value 11 from the host controller 22 and the motor position signal 10 from the position detector 21. Further, the positioning completion signal output unit 1 is supplied with the determination start signal 13 from the determination start signal output unit 2, and the positioning completion signal output unit 1 reads the positioning completion width 14 from the storage unit 3. The positioning completion signal output unit 1 indicates that the difference (position deviation) between the position command value 11 and the motor position signal 10 is within the range of the positioning completion width 14 when the determination start signal 13 is notified from the determination start signal output unit 2. It is determined whether or not. When the positioning completion signal output unit 1 determines that the difference between the position command value 11 and the motor position signal 10 is within the range of the positioning completion width 14, the positioning completion signal output unit 1 outputs a positioning completion signal 15. As described above, the positioning completion signal output unit 1 is based on the position command value 11 from the host controller 22 and the like, the motor position signal 10 from the position detector 21, the positioning completion width 14, and the determination start signal 13. Is generated and output. The positioning completion signal output unit 1 outputs the positioning completion signal 15 only after the determination start signal 13 is input and when the position deviation is within the positioning completion width 14. Such a positioning completion signal 15 is output from the motor drive device 100 to the host controller 22.

  The positioning completion processing unit 120 is configured as described above. With such a configuration, the position command value 11, the motor position signal 10, and the like after the positioning determination delay time 12 elapses after the position command value 11 becomes 0. If the difference is within the range of the positioning completion width 14, a positioning completion signal 15 is output.

  Next, the operation of the motor drive device 100 of this embodiment will be described. FIG. 3 is a timing chart showing an example of each signal in the present embodiment. FIG. 3 shows the position command value 11, the difference between the position command value 11 and the motor position signal 10, that is, the position deviation, and the timing of the positioning completion signal 15.

  As shown in FIG. 3, when the position command value 11 becomes 0, the determination start signal output unit 2 determines the determination start signal 13 at a time delayed by the positioning determination delay time 12 from the time when the position command value 11 becomes 0. Is output. Further, the positioning completion signal output unit 1 determines whether or not the position deviation is within the range of the positioning completion width 14 when the determination start signal 13 is notified. When the positioning completion signal output unit 1 determines that the position deviation is within the range of the positioning completion width 14, the positioning completion signal output unit 1 outputs a positioning completion signal 15 indicating that the positioning completion is ON as shown in FIG. If the positioning completion signal output unit 1 determines that the position deviation is not within the range of the positioning completion width 14 at the time when the determination start signal 13 is notified, the position deviation falls within the range of the positioning completion width 14. The positioning completion signal 15 is output after waiting.

  As described above, in this embodiment, if the difference between the position command value 11 and the motor position signal 10 is within the range of the positioning completion width 14 after the positioning command delay time 12 has elapsed after the position command value 11 becomes zero. A positioning completion signal 15 is output. Since this embodiment operates in this way, the positioning completion crack does not occur as shown in FIG. 3 compared to the conventional method shown in FIG. 4, and the occurrence of the positioning completion crack can be suppressed.

  As described above, according to the motor drive device 100 of the present embodiment, since the occurrence of the positioning completion crack can be suppressed, the vibration may be oscillated during the positioning determination delay time 12, and the control gain is increased accordingly. As a result, the positioning settling time can be shortened.

  In an apparatus that performs multi-axis control, a target settling time is determined for each axis, and a control gain is adjusted so that positioning is completed within the settling time. At that time, the positioning completion crack is a major obstacle to shortening the settling time. Basically, the control gain must be adjusted so that the crack does not occur. If the system of the present embodiment is used, the positioning determination delay time 12 is set to a time that is the same as or slightly shorter than the target settling time, so that the positioning completion crack can be ignored. For this reason, according to the present embodiment, the control gain can be set higher than before, and the settling time can be shortened.

  Further, as described above, the conventional technique as disclosed in Patent Document 1 has a problem that the time for outputting the positioning completion output varies. On the other hand, in the present embodiment, since the position command value 11 is based on the point where it becomes 0, there is also a feature that the positioning completion output can be always output in a stable time without being affected by the variation of the apparatus. .

  Note that the positioning determination delay time 12 and the positioning completion width 14 stored in the storage unit 3 may be changed by communication, operation on the front panel, or the like.

  In addition, even when the present invention is applied, there is an advantage that there is no need to change the positioning completion detection processing part on the host controller side.

  When the host controller outputs a position command value and confirms that the positioning completion output is turned off and determines that the motor has started operation, the positioning completion output is turned off for short pitch operation. Therefore, depending on the sampling capability of the host controller, a failure may occur and the host controller may not recognize the motor operation. Even for such applications, if the present invention is applied, the time at which the positioning completion signal 15 is turned off can be adjusted by the positioning determination delay time 12, so that this delay time is used as the sampling time of the host controller 22. On the other hand, by making it sufficiently long, the above-described problem of missing can be avoided.

  As described above, in the motor drive device of the present invention, the determination start signal output unit outputs the determination start signal after the positioning determination delay time has elapsed after the position command value becomes 0, and the positioning completion signal output unit The positioning completion signal is output only after the determination start signal is input and only when the position deviation is within the positioning completion width. With this configuration, occurrence of positioning completion cracks can be suppressed, and stable positioning completion can be determined.

  The motor driving device of the present invention is also useful for applications such as delaying the positioning completion signal output.

DESCRIPTION OF SYMBOLS 10 Motor position signal 20 Motor 21 Position detector 22 Host controller 11 Position command value 19 Voltage command signal 100 Motor drive device 110 Position control part 120 Positioning completion process part

Claims (2)

In a motor drive device that controls the position of a motor having a position detector by a position command from a host controller ,
A storage unit for storing a positioning completion width and a positioning determination delay time;
Based on the position command value and the previous Symbol positioning determination Priority determination delay time output from the host controller, and the determination start signal output section for generating and outputting a determination start signal,
A positioning completion signal output unit that generates and outputs a positioning completion signal based on a positional deviation between the position command value and the motor position signal from the position detector , and the positioning completion width and the determination start signal. ,
The determination start signal output unit outputs the determination start signal to the host controller after the positioning determination delay time has elapsed since the position command value becomes 0,
The motor drive device determines a target settling time, adjusts the control gain so that the position deviation is within the positioning completion width within the settling time,
The motor drive apparatus according to claim 1, wherein the positioning determination delay time is set to be equal to or shorter than the target settling time . A plurality of the motors exist, and the motor driving device performs position control for each of the plurality of motors, and adjusts the control gain for each of the plurality of motors to determine the target settling time. The motor drive device according to claim 1.

Images