JP5906850B2 - Control device for production equipment - Google Patents

Description

  The present invention relates to a control device capable of switching between an internal power supply state in which a power supply voltage of an internal power supply is supplied to a load and an external power supply state in which a power supply voltage of an external power supply is supplied to a load in a control device for production equipment. .

  In general, a robot control device includes an internal power supply, and supplies a power supply voltage of the internal power supply to an internal circuit such as a CPU board or an I / O board (see, for example, Patent Document 1). The internal power supply can adjust the level of the power supply voltage to be supplied, and can supply the power supply voltage to an external circuit (load) (internal power supply state). On the other hand, in the robot control device, the power supply voltage of the external power supply can be supplied to the internal circuit and the external circuit (external power supply state). Note that the internal power supply state and the external power supply state are generally switched by a manual operation on the control device.

Japanese Patent No. 4244971

  By the way, the external power supply used in the external power supply state is prepared by each user, and the height of the power supply voltage to be supplied is not adjusted by the control device. For this reason, unlike the power supply voltage supplied from the internal power supply, the power supply voltage supplied from the external power supply may not be appropriately controlled. In this case, when the power supply voltage of the external power supply is suddenly applied to the internal circuit of the control device at the time of starting the control device, an error signal is output from the signal output unit of the I / O board. Discovered by a person. Here, if the error signal is simply removed, a noise filter or the like may be inserted. In this case, the control device is increased in size.

  The same problem may occur not only in the robot control device but also in the production device control device capable of switching between the internal power supply state and the external power supply state.

  The present invention has been made in view of such circumstances, and the main object of the present invention is to output an error signal at start-up even when used in an external power supply state while suppressing an increase in the size of the control device. An object of the present invention is to provide a control device for production equipment that can suppress this.

  The present invention employs the following means in order to solve the above problems.

  The first means is a control device for production equipment, and includes an output unit that outputs a power supply voltage to a load, a field effect transistor that connects and disconnects the supply of the power supply voltage to the output unit, and a high power supply voltage to be supplied. An internal power supply whose length is adjusted by the control device, an internal power supply state in which a power supply voltage of the internal power supply is supplied to the output unit, and an external power supply state in which a power supply voltage of an external power supply is supplied to the output unit A switching unit that switches between the two, and the switching unit switches to the internal power supply state and gradually increases the power supply voltage of the internal power supply, and then the switching unit switches to the external power supply state. It is characterized by that.

  According to the above configuration, the switching unit switches between the internal power supply state in which the power supply voltage of the internal power supply is supplied to the output unit and the external power supply state in which the power supply voltage of the external power supply is supplied to the output unit. In the internal power supply state, the power supply voltage supplied by the internal power supply is adjusted by the control device. Then, a load is connected to the output unit, and the supply of power supply voltage to the output unit is disconnected (cut off and connected) by the field effect transistor.

  Here, it was discovered by the present inventor that an error signal is output from the field effect transistor when the power supply voltage of the external power supply is suddenly applied to the field effect transistor in the external power supply state. In this respect, the switching unit switches to the internal power supply state, and the power supply voltage of the internal power supply is gradually increased. Thereby, the potential of the field effect transistor is gradually increased, and the potential difference between the field effect transistor and the power supply voltage of the external power supply is reduced. Thereafter, since the switching unit is switched to the external power supply state, it is possible to suppress a rapid change in the potential of the field effect transistor before and after the power supply voltage of the external power supply is applied. As a result, even when used in an external power supply state, it is possible to suppress an error signal from being output at the time of startup. In addition, the above-described effects can be achieved only by switching by the switching unit using the configuration originally provided in the control device. That is, by using the internal power supply instead of a filter for an error signal, it is only necessary to add a switching unit, and an increase in the size of the control device can be suppressed.

  Specifically, as in the second means, a configuration in which the power supply voltage of the internal power supply is gradually increased to a predetermined voltage and then switched to the external power supply state by the switching unit can be employed. . According to such a configuration, it is possible to easily determine when to switch to the external power supply state by the switching unit.

  In the third means, the predetermined voltage is a power supply voltage of the external power supply.

  According to the above configuration, the potential of the field effect transistor is raised to the power supply voltage of the external power supply and then switched to the external power supply state by the switching unit. For this reason, the potential change of the field effect transistor can be minimized before and after the power supply voltage of the external power supply is applied. Therefore, it can suppress more effectively that an error signal is output from a field effect transistor.

  Further, as in the fourth means, it is possible to adopt a configuration in which the power supply voltage of the internal power supply is gradually increased until a predetermined period elapses, and then the switching unit is switched to the external power supply state. . Even with such a configuration, it is possible to easily determine when the switching unit switches to the external power supply state.

  In the fifth means, the predetermined period is a period until the power supply voltage of the internal power supply becomes equal to the power supply voltage of the external power supply.

  Also with the above configuration, the potential of the field effect transistor is raised to the power supply voltage of the external power supply, and then switched to the external power supply state by the switching unit. For this reason, the potential change of the field effect transistor can be minimized before and after the power supply voltage of the external power supply is applied.

  In a sixth means, an input / output unit for inputting / outputting a power supply voltage is provided, and the switching unit includes a first switching unit for connecting / disconnecting supply of power supply voltage from the internal power supply to the output unit, and a front switch from the internal power supply. A second switching unit for connecting / disconnecting supply of power supply voltage to the entry output unit, and a third switching unit for connecting / disconnecting supply of power supply voltage from the external power source to the output unit via the input / output unit, In the internal power supply state, the first switching unit and the second switching unit are in a contact state, and the third switching unit is in a disconnected state. In the external power supply state, the first switching unit and the first switching unit are in a disconnected state. In the internal power supply state before switching to the external power supply state, the first switching unit is brought into the contact state and the first switching unit is brought into the contact state. 2. Switch off the second switching unit and the third switching unit

  According to the above configuration, in the internal power supply state, the first switching unit and the second switching unit are brought into contact with each other, so that the power supply voltage of the internal power supply is supplied to the output unit and the input / output unit. Therefore, by connecting a load to the input / output unit, not only the output unit but also the input / output unit can be used to drive the load. Note that nothing may be connected to the input / output unit.

  In the external power supply state, an external power source is connected to the input / output unit. And according to the said structure, since the 3rd switching part is made into a contact state, the power supply voltage of an external power supply is supplied to an output part via an input / output part. At this time, since the first switching unit is turned off, the power supply voltage of the internal power supply is not supplied to the output unit. Therefore, it is possible to avoid the supply voltages of the external power supply and the internal power supply being supplied to the output unit in duplicate. Further, since the second switching unit is turned off, it is possible to avoid the supply voltage of the external power supply being supplied to the internal power supply via the input / output unit.

  Here, in the internal power supply state before switching to the external power supply state, the second switching unit is turned off. For this reason, even if an external power supply is connected to the input / output unit, it is possible to avoid the supply voltage of the external power supply being supplied to the internal power supply via the input / output unit. Therefore, the potential of the field effect transistor can be gradually increased by the power supply voltage of the internal power supply while avoiding interference between the power supply voltage of the internal power supply and the power supply voltage of the external power supply.

  In a seventh means, the internal power supply state is switched to the external power supply state across the state where the first switching unit, the second switching unit, and the third switching unit are disconnected.

  When switching from the internal power supply state to the external power supply state, when both the first switching unit and the third switching unit are in contact, the power supply voltages of the external power supply and the internal power supply are supplied to the output unit redundantly. The Rukoto.

  In this regard, according to the above configuration, the internal power supply state is switched to the external power supply state with the first switching unit, the second switching unit, and the third switching unit in the disconnected state. For this reason, it can avoid reliably that a 1st switching part and a 3rd switching part will be in a contact state together.

  Specifically, as in the eighth means, the field effect transistor may be a metal oxide semiconductor type field effect transistor. According to such a configuration, it is possible to suppress an erroneous signal from being output at the start-up while using a generally inexpensive metal oxide semiconductor field effect transistor.

The electric circuit diagram which shows the control apparatus and external circuit of a robot. The figure which shows the relationship between a power supply state and switching of a relay. The electric circuit diagram which shows the application state of the power supply voltage in an internal power supply state. The time chart which shows the electric potential of each point at the time of starting in an internal power supply state. The electric circuit diagram which shows the application state of the power supply voltage in an external power supply state. The time chart which shows the electric potential of each point at the time of the conventional starting in an external power supply state. The electric circuit diagram which shows the application state of the power supply voltage in the internal power supply state before switching to an external power supply state. The time chart which shows the switching of the relay at the time of switching from an internal power supply state to an external power supply state, and the electric potential of each point.

  Hereinafter, an embodiment will be described with reference to the drawings. The present embodiment is embodied as a control device that controls the operation of a robot (production equipment) and supplies a power supply voltage of an internal power supply or a power supply voltage of an external power supply to a load.

  As shown in FIG. 1, the robot controller 10 includes an internal power supply 11, a positive main power supply line 31, a negative main power supply line 32, relays 21, 22, 23, a noise filter 12, a connector 40, and a driver 14 (drive). Circuit), output FET 15 (field effect transistor), CPU, ROM, RAM, potential detection circuit, position detection circuit, and the like.

  The internal power supply 11 is connected to a three-phase 200V external power supply or the like, and rectifies and transforms the voltage to output a 24V DC power supply voltage. The height of the power supply voltage supplied from the internal power supply 11 is adjusted by the control device 10. As the internal power supply 11, a rechargeable battery that outputs a power supply voltage of 24V DC can be used.

  Relay 21 (RY1), relay 22 (RY2), and relay 23 (RY3) are two-contact normally-open type relays. Relays 21, 22, and 23 (switching units) open and close the two contacts simultaneously based on instructions from the CPU.

  The noise filter 12 is configured by a circuit including a capacitor, a coil, and the like. The noise filter 12 removes noise of the power supply voltage supplied through the positive main power supply line 31 and the negative main power supply line 32.

  The driver 14 outputs a drive signal to the output FET 15 based on an output control signal from the CPU. The output FET 15 is configured by a metal oxide semiconductor type field effect transistor (MOSFET). The output FET 15 connects and disconnects (blocks and connects) the supply of the power supply voltage in accordance with the drive signal from the driver 14. The control device 10 includes a plurality of output channels, and a driver 14 and an output FET 15 are provided in each output channel.

  The connector 40 electrically connects the control device 10 and the external circuit 50 and includes an output unit 41, an input / output unit 42, and a negative electrode connection unit 43. The output unit 41 outputs a power supply voltage supplied via the output FET 15 to an external circuit (load). The input / output unit 42 outputs a power supply voltage supplied from the internal power supply 11 to an external circuit, or inputs a power supply voltage supplied from an external power supply. The negative electrode connecting portion 43 is connected to the negative electrode of the internal power supply 11 or the negative electrode of the external power supply.

  The external circuit 50 includes a load 51 and a switching connection unit 52. The load 51 is an electrical load connected by the user, and is configured by an actuator or the like, for example. The load 51 is driven by a power supply voltage supplied from the output unit 41 of the control device 10. A load and an external power source are switched and connected to the switching connection unit 52 by a user.

  The ROM stores a robot system program, an operation program, and the like. The RAM stores parameter values and the like when executing these programs. The position detection circuit detects the rotation angle of each joint based on a detection signal of an encoder provided in the robot. The CPU performs feedback control of the rotation angle of each joint of the robot to the target rotation angle based on the position information input from the position detection circuit by executing the operation program. In the present embodiment, the CPU controls connection / disconnection of the relays 21, 22, and 23 related to the supply of the power supply voltage based on the detection value of the potential detection circuit.

  The positive electrode of the internal power supply 11 is connected to the positive main power supply line 31 via the first contact 21 a of the relay 21 (first switching unit) by the positive internal power supply line 33. Specifically, the positive internal power supply line 33 is connected between the first contact 23 a of the relay 23 and the positive input portion (+ IN) of the noise filter 12 in the positive main power supply line 31. On the other hand, the negative electrode of the internal power supply 11 is connected to the negative main power supply line 32 via the second contact 21 b of the relay 21 by the negative internal power supply line 34. Specifically, the negative internal power supply line 34 is connected between the second contact 23 b of the relay 23 and the negative input portion (−IN) of the noise filter 12 in the negative main power supply line 32. The negative internal power supply line 34 is grounded.

  The input / output unit 42 is connected to the positive main power supply line 31 by the internal input / output line 35 via the first contact 22a of the relay 22 (second switching unit). Specifically, the internal input / output line 35 is connected to a portion of the positive main power supply line 31 that is downstream of the positive output portion (+ OUT) of the noise filter 12.

  The negative electrode connecting portion 43 is connected to the negative main power supply line 32 via the second contact 22 b of the relay 22 by the internal negative electrode line 36. Specifically, the internal negative electrode line 36 is connected to a portion of the negative main power line 32 that is downstream of the negative electrode output portion (−OUT) of the noise filter 12.

  The positive input part (+ IN) of the noise filter 12 is connected to the internal input / output line 35 via the first contact 23a of the relay 23 (third switching part) by the positive main power line 31. Specifically, the positive main power line 31 is connected to the internal input / output line 35 between the input / output unit 42 and the first contact 22 a of the relay 22.

  The negative input part (−IN) of the noise filter 12 is connected to the internal negative line 36 via the second contact 23 b of the relay 23 by the negative main power line 32. Specifically, the negative main power line 32 is connected between the negative electrode connecting portion 43 and the second contact 22 b of the relay 22 in the internal negative line 36.

  The driver 14 is connected between the positive main power supply line 31 and the negative main power supply line 32. The gate, drain, and source of the output FET 15 are connected to the driver 14, the positive main power supply line 31, and the output unit 41, respectively. Then, when a drive signal is output from the driver 14 to the gate of the output FET 15, the output FET 15 is in a contact state (connected state), and the power supply voltage is supplied from the positive main power supply line 31 to the output unit 41.

  In the external circuit 50, the output unit 41 is connected to the negative electrode connection unit 43 through the load 51 through the output line 56. The input / output unit 42 is connected to the output line 56 via the switching connection unit 52 by the external input / output line 55. Specifically, the external input / output line 55 is connected between the load 51 and the negative electrode connecting portion 43 in the output line 56.

  In the internal power supply state, a load is connected to the switching connection unit 52 by the user, and in the external power supply state, an external power source is connected to the switching connection unit 52 by the user. Note that in the internal power supply state, nothing may be connected to the switching connection unit 52 by the user.

  FIG. 2 shows the relationship between the power supply state and switching of the relays 21, 22, and 23. As shown in the figure, in the internal power supply state, the relay 21 (RY1) and the relay 22 (RY2) are in the contact state (ON state), and the relay 23 (RY3) is in the disconnection state (OFF state). On the other hand, in the external power supply state, the relay 21 (RY1) and the relay 22 (RY2) are disconnected (OFF state), and the relay 23 (RY3) is connected (ON state).

  FIG. 3 shows a power supply voltage application state in the internal power supply state. In the internal power supply state, a load 53 is connected to the switching connection unit 52. In the figure, the portion to which the power supply voltage is supplied is indicated by a thick line.

  The power supply voltage of the internal power supply 11 is supplied to the main power supply lines 31 and 32 via the relay 21. Then, the power supply voltage from which noise is removed through the noise filter 12 is supplied to the driver 14 and the output FET 15. Here, when the output FET 15 is brought into the contact state by the driver 14 based on the output control signal from the CPU, the power supply voltage is output to the output unit 41 of the connector 40. As a result, the load 51 is driven by the power supply voltage supplied from the output unit 41. Further, the power supply voltage from which noise has been removed is output to the input / output unit 42 of the connector 40 via the relay 22. As a result, the load 53 is driven by the power supply voltage supplied from the input / output unit 42. Since the relay 23 is in the disconnected state, it is possible to prevent a power supply voltage not passing through the noise filter 12 from being supplied to the internal circuit or the external circuit.

  When the control device 10 is activated in the internal power supply state, the power supply voltage of the internal power supply 11 is gradually increased. FIG. 4 is a time chart showing the potential of each point at the time of startup in the internal power supply state. The potential at point A represents the potential of the positive main power supply line 31, the potential at point B represents the power supply voltage supplied to the load 51, and the potential at point C represents the power supply voltage of the internal power supply 11. (See FIG. 3). This control is executed by the CPU of the control device 10.

  As shown in FIG. 4, at time t11, the relay 21 (RY1) and the relay 22 (RY2) are brought into a contact state (ON state). Then, the power supply voltage (potential at point C) of the internal power supply 11 is gradually increased from 0V. Along with this, the potential of the positive main power supply line 31 (potential at point A) gradually increases.

  When the potential at point C reaches 24V at time t12, the potential at point A also reaches 24V, and the load 51 can be driven. The power supply voltage (potential at point B) supplied to the load 51 is maintained at 0 V until time t12, and no error signal is output from the output FET 15. That is, when the control device 10 is activated, the output voltage of the output FET 15 can be prevented from being output by gradually increasing the power supply voltage of the internal power supply 11.

  FIG. 5 shows the application state of the power supply voltage in the external power supply state. In the external power supply state, the external power source 54 is connected to the switching connection unit 52. In the figure, the portion to which the power supply voltage is supplied is indicated by a thick line.

  The power supply voltage of the external power supply 54 is supplied to the main power supply lines 31 and 32 via the input / output unit 42, the negative electrode connection unit 43, and the relay 23. Then, the load 51 is driven by the power supply voltage supplied from the output unit 41 in the same manner as in the internal power supply state. Since the relay 21 is in the disconnected state, the power supply voltage of the internal power supply 11 can be prevented from being supplied to the main power supply lines 31 and 32, and the power supply voltage of the external power supply 54 is supplied to the input / output unit 42, It can be prevented that the internal power supply 11 is supplied via the negative electrode connecting portion 43 and the relay 23. Further, since the relay 22 is in a disconnected state, it is possible to prevent a power supply voltage not passing through the noise filter 12 from being supplied to the internal circuit or the external circuit via the input / output unit 42 and the negative electrode connection unit 43. .

  In the conventional control device, the power supply voltage of the external power supply 54 is suddenly applied to the main power supply lines 31 and 32 at the start-up in the external power supply state. FIG. 6 is a time chart showing the potential of each point at the time of conventional startup in the external power supply state. Points A and B are the same as in the internal power supply state, and the potential at point D indicates the power supply voltage of the external power supply 54 (see FIG. 5). Note that this control is executed by the CPU of the control device 10 except for the process in which the user turns on the external power supply 54 at time t21.

  As shown in FIG. 6, when the user turns on the external power supply 54 at time t21, the power supply voltage (potential at point D) of the external power supply 54 becomes 24V. At time t22, the relay 23 (RY3) is brought into a contact state (ON state). At this time, the potential of the positive main power supply line 31 (potential at point A) rises rapidly. For this reason, in the conventional control device, even if the output FET 15 is not brought into contact with the driver 14, noise is generated in the power supply voltage (potential at the point B) supplied to the load 51. Therefore, in order to eliminate the influence of this noise, it is necessary to take measures such as ignoring the signal output to the load 51 when the relay 23 is in the contact state.

  On the other hand, in this embodiment, when the control device 10 is used in the external power supply state, after switching to the internal power supply state and gradually increasing the power supply voltage of the internal power supply 11, the control device 10 enters the external power supply state. Switch. FIG. 7 shows a power supply voltage application state in the internal power supply state before switching to the external power supply state. In the figure, the portion to which the power supply voltage is supplied is indicated by a bold line.

  As shown in the figure, in the internal power supply state before switching to the external power supply state, the relay 21 is brought into a contact state, and the relay 22 and the relay 23 are turned off. For this reason, the power supply voltage of the internal power supply 11 is supplied to the main power supply lines 31 and 32 via the relay 21. Then, the power supply voltage from which noise is removed through the noise filter 12 is supplied to the driver 14 and the output FET 15. Here, the output FET 15 is turned off by the driver 14 based on the output control signal from the CPU. Then, similarly to the internal power supply state described above, the power supply voltage (potential at point C) of the internal power supply 11 is gradually increased from 0V.

  At this time, since the relay 23 is in a disconnected state, the power supply voltage of the external power supply 54 is supplied to the main power supply lines 31 and 32 via the input / output unit 42, the negative electrode connection unit 43, and the relay 23. There is no. For this reason, it is possible to prevent the power supply voltages of the internal power supply 11 and the external power supply 54 from being supplied to the main power supply lines 31 and 32, and the power supply voltage of the external power supply 54 is connected to the input / output unit 42 and the negative electrode. It can be prevented that the internal power supply 11 is supplied via the unit 43. Further, since the relay 22 is in a disconnected state, the power supply voltage of the external power supply 54 is not supplied to the main power supply lines 31 and 32 via the input / output unit 42, the negative electrode connection unit 43, and the relay 22. Absent. For this reason, it is possible to prevent the power supply voltages of the internal power supply 11 and the external power supply 54 from being supplied to the main power supply lines 31 and 32, and the power supply voltage of the external power supply 54 is connected to the input / output unit 42 and the negative electrode. It can be prevented that the internal power supply 11 is supplied via the unit 43.

  Thereafter, the relays 21, 22, and 23 are once turned off, and then switched to the external power supply state as described with reference to FIG. FIG. 8 is a time chart showing relay switching and potential at each point when switching from the internal power supply state to the external power supply state. Points A, B, C, and D are the same points as described above. Note that this control is executed by the CPU of the control device 10 except for the process in which the user turns on the external power supply 54 at time t31.

  As shown in FIG. 8, when the user turns on the external power supply 54 at time t31, the power supply voltage (potential at point D) of the external power supply 54 becomes 24V. At time t32, the relay 21 (RY1) is brought into a contact state (ON state). Then, the power supply voltage (potential at point C) of the internal power supply 11 is gradually increased from 0V. Along with this, the potential of the positive main power supply line 31 (potential at point A) gradually increases.

  At time t33, the relay 21 is turned off (OFF state) on condition that the potential at the point C has reached 24V (predetermined voltage). That is, after gradually increasing the power supply voltage of the internal power supply 11 to the power supply voltage of the external power supply 54, the relay 21 is turned off. Here, when the potential at point C reaches 24V, the potential at point A also reaches 24V. And if the relay 21 is made into a disconnection state, the electric potential of A point will fall gradually.

  After a predetermined period has elapsed since the relay 21 was turned off, the relay 23 (RY3) is brought into a contact state (ON state) at time t34. At this time, the potential of the positive main power supply line 31 (potential at point A) rises, but the amount of increase ΔV is smaller than when the potential at point A rises from 0V to 24V. For this reason, it can suppress that the electric potential of A point changes rapidly. When the potential at point A reaches 24V, the load 51 can be driven. Here, the power supply voltage (potential at point B) supplied to the load 51 is maintained at 0 V until time t34, and no error signal is output from the output FET 15. That is, even when the control device 10 is used in the external power supply state, it is possible to suppress an erroneous signal from being output from the output FET 15 at the time of startup.

  Note that the relay 21 and the relay 23 overlap each other by bringing the relay 23 (RY3) into a contact state after a predetermined period of time has passed since the relay 21 was turned off (time t33) (time t34). It is possible to surely avoid the situation.

  The embodiment described above has the following advantages.

  The relays 21, 22, and 23 are switched to the internal power supply state, and the power supply voltage of the internal power supply 11 is gradually increased. As a result, the drain potential of the output FET 15 is gradually increased, and the potential difference between the drain of the output FET 15 and the power supply voltage of the external power supply 54 is reduced. Thereafter, since the relays 21, 22, and 23 are switched to the external power supply state, it is possible to prevent the drain potential of the output FET 15 from rapidly changing before and after the power supply voltage of the external power supply 54 is applied. As a result, even when used in an external power supply state, it is possible to suppress an error signal from being output at the time of startup. In addition, using the configuration originally provided in the control device 10, the above effect can be achieved only by switching by the relays 21, 22, and 23. That is, by using the internal power supply 11 instead of a filter for erroneous signals, it is only necessary to add the relays 21, 22, and 23, and an increase in the size of the control device 10 can be suppressed.

  The power supply voltage of the internal power supply 11 is gradually increased to a predetermined voltage and then switched to the external power supply state by the relays 21, 22, and 23. According to such a configuration, it is possible to easily determine when to switch to the external power supply state by the relays 21, 22, and 23 by detecting the potential at the point C by the potential detection circuit.

  After the potential of the output FET 15 is raised to the power supply voltage (24 V) of the external power supply 54, it is switched to the external power supply state by the relays 21, 22, and 23. For this reason, the potential change of the drain of the output FET 15 can be minimized before and after the power supply voltage of the external power supply 54 is applied. Therefore, it is possible to more effectively suppress the output of an error signal from the output FET 15.

  In the internal power supply state, since the relay 21 and the relay 22 are brought into a contact state, the power supply voltage of the internal power supply 11 is supplied to the output unit 41 and the input / output unit 42. Therefore, by connecting the load 53 to the input / output unit 42, not only the output unit 41 but also the input / output unit 42 can be used to drive the load 53.

  In the external power supply state, the external power supply 54 is connected to the input / output unit 42 and the relay 23 is brought into the contact state. Therefore, the power supply voltage of the external power supply 54 is supplied to the output unit 41 via the input / output unit 42. At this time, since the relay 21 is turned off, the power supply voltage of the internal power supply 11 is not supplied to the output unit 41. Accordingly, it is possible to avoid the supply voltages of the external power supply 54 and the internal power supply 11 being supplied to the output unit 41 in duplicate. In addition, since the relay 22 is disconnected, it is possible to avoid the supply voltage of the external power supply 54 being supplied to the internal power supply 11 via the input / output unit 42.

  In the internal power supply state before switching to the external power supply state, the relay 22 is turned off. For this reason, even when the external power supply 54 is connected to the input / output unit 42, it is possible to prevent the power supply voltage of the external power supply 54 from being supplied to the internal power supply 11 via the input / output unit 42. Therefore, the drain potential of the output FET 15 can be gradually increased by the power supply voltage of the internal power supply 11 while avoiding interference between the power supply voltage of the internal power supply 11 and the power supply voltage of the external power supply 54.

  The internal power supply state is switched to the external power supply state with the relays 21, 22, 23 in a disconnected state. For this reason, it can be surely avoided that the relay 21 and the relay 23 are both in contact.

  A metal oxide semiconductor type output FET 15 (MOSFET) is employed as the output FET 15. According to such a configuration, it is possible to suppress an erroneous signal from being output at the start-up while using a generally inexpensive MOSFET.

  In addition, the said embodiment can also be deform | transformed and implemented as follows.

  The output FET 15 is not limited to a MOSFET but can be a photocoupler. Even in a photocoupler or the like, an erroneous signal may be output when a voltage is suddenly applied. For this reason, the same effect can be show | played by employ | adopting the said embodiment.

  In the above embodiment, the internal power supply state is switched to the external power supply state with the relays 21, 22, 23 being in the disconnected state, but the state in which the relays 21, 22, 23 are in the disconnected state is omitted. You can also In that case, when the power supply state is switched, the potential at point A can be prevented from dropping.

  In the above embodiment, the power supply voltage of the internal power supply 11 is gradually increased to the power supply voltage (24 V) of the external power supply 54, and then the internal power supply state is switched to the external power supply state. However, after gradually increasing the power supply voltage of the internal power supply 11 to a predetermined voltage that can suppress the output of an error signal from the output FET 15, the internal power supply state is switched from the internal power supply state to the external power supply state. Also good.

  In addition, after gradually increasing the power supply voltage of the internal power supply 11 until a predetermined period elapses, the internal power supply state may be switched to the external power supply state. In this case, as a predetermined period, a period until the power supply voltage of the internal power supply 11 becomes equal to a voltage that can suppress the output of an error signal from the output FET 15, or the power supply voltage of the internal power supply 11 is external. A period until it becomes equal to the power supply voltage of the power supply 54 can be adopted.

  As the relays 21, 22, and 23, one-contact type relays can be connected in parallel. In addition, the circuit configuration may be changed as appropriate within a range in which the same function as that of the above embodiment is exhibited.

  In the above embodiment, the load 51 of the external circuit is adopted as the load driven by the power supply voltage supplied from the output unit 41. However, the load of the internal circuit can also be adopted.

  The above embodiment can be embodied not only as a robot control device but also as a control device for a machine tool or the like.

  DESCRIPTION OF SYMBOLS 10 ... Control apparatus, 11 ... Internal power supply, 15 ... Output FET (electrolytic effect transistor), 21 ... Relay (1st switching part), 22 ... Relay (2nd switching part), 23 ... Relay (3rd switching part), DESCRIPTION OF SYMBOLS 31 ... Positive main power supply line, 32 ... Negative main power supply line, 40 ... Connector, 41 ... Output part, 42 ... Input / output part, 51 ... Load, 53 ... Load, 54 ... External power supply.

Claims (7)

A control device for production equipment,
An output unit for outputting a power supply voltage to a load;
A field effect transistor for connecting and disconnecting the supply of the power supply voltage to the output unit;
An internal power supply whose power supply voltage to be supplied is adjusted by the control device;
A switching unit that switches between an internal power supply state in which a power supply voltage of the internal power supply is supplied to the output unit and an external power supply state in which a power supply voltage of an external power supply is supplied to the output unit;
With
Let me switch to said internal power supply state by the switching unit, the power supply voltage of said internal power supply on condition that gradually increased to a predetermined voltage, and characterized in that to switch to the external power supply state by the switching section Control equipment for production equipment. The production apparatus control device according to claim 1 , wherein the predetermined voltage is a power supply voltage of the external power supply. A control device for production equipment,
An output unit for outputting a power supply voltage to a load;
A field effect transistor for connecting and disconnecting the supply of the power supply voltage to the output unit;
An internal power supply whose power supply voltage to be supplied is adjusted by the control device;
A switching unit that switches between an internal power supply state in which a power supply voltage of the internal power supply is supplied to the output unit and an external power supply state in which a power supply voltage of an external power supply is supplied to the output unit;
With
Let me switch to said internal power supply state by the switching section, the condition that was gradually increased until the supply voltage of the internal power supply is a predetermined time period elapses, that to switch to the external power supply state by the switching section A control device for production equipment. The control apparatus for a production device according to claim 3 , wherein the predetermined period is a period until a power supply voltage of the internal power supply becomes equal to a power supply voltage of the external power supply. An input / output unit that inputs and outputs power supply voltage
The switching unit includes a first switching unit for connecting / disconnecting supply of power supply voltage from the internal power supply to the output unit, and a second switching unit for connecting / disconnecting supply of power supply voltage from the internal power supply to the input / output unit, A third switching unit for connecting / disconnecting supply of power supply voltage from the external power source to the output unit via the input / output unit,
In the internal power supply state, the first switching unit and the second switching unit are brought into a contact state, and the third switching unit is turned off.
In the external power supply state, the first switching unit and the second switching unit are turned off, and the third switching unit is turned on.
In the internal power supply state before switching to the external power supply state, while the first switching unit in contact state, according to claim 1-4 to said second switching unit and the third switching unit in the disconnected state The control apparatus for production equipment according to any one of the above. The production device according to claim 5 , wherein the internal power supply state is switched to the external power supply state across a state in which the first switching unit, the second switching unit, and the third switching unit are disconnected. Control device. The said field effect transistor is a field effect transistor of a metal oxide semiconductor type, The control apparatus of the production apparatus of any one of Claims 1-6 .

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