JP6205206B2 - Multi-axis control system - Google Patents

Description

The present invention relates to a multi-axis control system of the servo motor used in mounting device such as a chip mounter.

  In general, a multi-axis control system is known that controls a plurality of slave motors via a communication line in a master host control device. In the multi-axis control system, the host controller generates a position command for the motor based on the current position of each motor. In this case, a motor drive device is provided for each motor on the slave side, and each motor is connected to each motor drive device. Each motor is provided with an encoder that detects the current position of the motor. The current position detected by the encoder is notified as position data to the host controller after various signal processing is performed in each motor drive device.

  Conventionally, as such a multi-axis control system, one corresponding to an encoder of a different communication method is known (for example, see Patent Document 1). In the multi-axis control system described in Patent Document 1, each motor drive device is provided with a data processing unit for each different communication method. Each motor drive device corresponds to position data from encoders of a plurality of communication systems by switching the data processing unit according to the communication system of the motor. Further, each motor drive device of Patent Document 1 is provided with a data generation unit for generating a request signal for acquiring position data for each communication method. Each motor drive device corresponds to request signals of encoders of a plurality of communication systems by switching the data generation unit according to the motor communication system. As a multi-axis control system, a system in which a host control device and encoders of respective motors are connected in a multi-drop connection is known (see, for example, Patent Document 2). In the multi-axis control system described in Patent Document 2, the position data transmitted from each motor drive device is sequentially processed in the host control device.

JP 2004-247687 A JP 2008-090825 A

  However, in the multi-axis control system described in Patent Document 1, it is necessary to provide data processing units for each motor drive device for each type of communication method. For this reason, the number of data processing units increases in proportion to the increase in the number of motors (the number of axes), and there is a problem that the power consumption increases as the circuit scale increases. In addition, since data generation units must be provided for the types of communication methods, the number of data generation units increases in proportion to the increase in the number of motors, which increases the circuit scale and power consumption. As described above, when the motor is controlled by the slave-side motor control device, the number of processing circuits that perform processing for acquiring the current position of the motor increases by the number of types of communication methods, and the circuit scale increases. There was a problem. In the multi-axis control system described in Patent Document 2, after the position data is acquired from all the slave-side motor drive devices, the host controller sequentially processes the position data of each motor. For this reason, since it takes time for the number of motors until the host controller acquires the position data, the control cycle cannot be shortened.

The present invention has been made in view of such circumstances, without increasing the control period, the multi-axis control system which can suppress the circuit scale expansion and increase in power consumption due to the increase in the number of motor The purpose is to provide.

The multi-axis control system of the present invention is a multi-axis control system in which a plurality of motor driving devices are controlled by a host control device through a communication line, and a motor connected to the motor driving device is driven. A transmission processor that acquires position data including the current position of the motor from a position detector attached to the motor, stores the position data in a packet, and transmits the packet to the host controller through the communication line; The host controller extracts the position data from the packet received from the motor driving device, detects the current position of the motor from the position data, and based on the current position of the motor and a control processing unit for controlling the drive of the motor, the transmission processing unit, for the positional data in the packet Paid region, characterized in that it is designed for the maximum data length of the data length of the position data defined by different communication methods.

According to these configurations, the current position of the motor is not detected by the slave-side motor driving device, but the current position of the motor is detected by the master-side host control device. For this reason, it is not necessary to provide a data processing unit in each motor driving device, and the number of data processing units does not increase even if the number of motors increases. Therefore, an increase in circuit scale and an increase in power consumption accompanying the increase in the number of motors can be suppressed. In addition, the position detectors of different manufacturers can be used simply by providing the host control device with data processing units corresponding to different communication methods. Furthermore, since position data can be extracted for each motor drive device and the motor can be driven and controlled, the control cycle does not become longer as the number of motors increases. Further, position data having different data lengths can be stored in a packet and transmitted to the host control device. Therefore, the motor drive device can be made to correspond to a position detector having a different communication method.

  In the multi-axis control system of the present invention, the data processing unit has a plurality of detection circuits corresponding to different communication methods, and detects the current position of the motor by a detection circuit corresponding to the communication method of the position data. To do. According to this configuration, it is possible to minimize an increase in circuit scale and an increase in power consumption by providing detection circuits in the host controller for the types of communication methods.

The multi-axis control system of the present invention is a multi-axis control system in which a plurality of motor driving devices are controlled by a host control device through a communication line, and a motor connected to the motor driving device is driven. The host controller includes a processing circuit that performs processing for obtaining the current position of the motor from the position detector attached to the motor via the motor driving device, and the motor based on the current position of the motor. A control processing unit that performs drive control, the information input to and output from the processing circuit is stored in a packet and communicated through the communication line between the host control device and the motor driving device, and the processing circuit Is a data generation unit that generates a request signal for acquiring position data including the current position of the motor from the position detector. The control device includes a transmission processing unit that stores the request signal in a packet and transmits the request signal to the motor drive device through the communication line, and the motor drive device extracts the request signal from the packet received from the host control device. A reception processing unit that transmits the request signal to the position detector, wherein the transmission processing unit has a storage area for the request signal in a packet out of the data length of the request signal defined by a different communication method. It is designed according to the maximum data length .

According to this configuration, the process for acquiring the current position of the motor is performed not by the slave-side motor drive device but by the master-side host control device. For this reason, it is not necessary to provide a processing circuit in each motor driving device, and the number of processing circuits does not increase even if the number of motors increases. Therefore, an increase in circuit scale and an increase in power consumption accompanying the increase in the number of motors can be suppressed. Further, it is possible to use position detectors of different manufacturers simply by providing a processing circuit corresponding to a different communication system in the host controller. In addition, a request signal is not generated by the slave motor driving device, but is generated by the master host control device. For this reason, it is not necessary to provide a data generation part in each motor drive device, and even if the number of motors increases, the number of data generation parts does not increase. Furthermore, request signals having different data lengths can be stored in a packet and transmitted to the motor drive device. Therefore, the motor drive device can be made to correspond to a position detector having a different communication method.

  In the multi-axis control system according to the present invention, the data generation unit includes a plurality of request generation circuits corresponding to different communication methods, and generates a request signal corresponding to the communication method of the position detector. According to this configuration, it is possible to minimize an increase in circuit scale and an increase in power consumption by providing request generation circuits in the host control device for the types of communication methods.

  According to the present invention, processing of position data by the master-side control device on the master side can suppress an increase in circuit scale and an increase in power consumption accompanying an increase in the number of motors without lengthening the control cycle.

1 is a system configuration diagram of a multi-axis control system according to a first embodiment. It is a figure which shows an example of the position data and packet which concern on 1st Embodiment. It is a system configuration figure of the multi-axis control system concerning the 1st comparative example. It is explanatory drawing of the processing operation of the motor drive device and high-order control apparatus which concern on a 1st comparative example. It is explanatory drawing of the processing operation of the motor drive device and high-order control apparatus which concern on 1st Embodiment. It is a system configuration figure of a multi-axis control system concerning a 2nd embodiment. It is a figure which shows an example of the request signal and packet which concern on 2nd Embodiment. It is a system configuration figure of the multi-axis control system concerning the 2nd comparative example. It is explanatory drawing of the processing operation of the motor drive unit and high-order control apparatus which concern on a 2nd comparative example. It is explanatory drawing of the processing operation of the motor drive unit and high-order control apparatus which concern on 2nd Embodiment.

  Hereinafter, the first embodiment will be described in detail. The overall configuration of the multi-axis control system will be described with reference to FIG. FIG. 1 is a system configuration diagram of a multi-axis control system according to the first embodiment. The multi-axis control system is not limited to the configuration shown in FIG. 1 as long as the master side detects the current position of the motor. In the following description, position detectors from a plurality of manufacturers are used. In addition, it is assumed that the position detectors of each manufacturer employ different communication methods.

  As shown in FIG. 1, the multi-axis control system 1 controls the drive of a motor 4 connected to the motor drive device 3 by controlling a plurality of slave-side motor drive devices 3 in a master host control device 2. Is configured to do. In the multi-axis control system 1, the head motor drive device 3 # 0 is connected to the host control device 2 through a communication line, and the subsequent motor drive devices 3 # 1- # n are connected in series to the head motor drive device 3 # 0. It is connected. A motor 4 is connected to each motor driving device 3, and a position detector 5 is attached to the output shaft of each motor 4. Each position detector 5 is an encoder, for example, and is connected to each motor drive device 3 through a serial line.

  The host controller 2 is configured to output a PWM signal to each motor driving device 3 and to perform current control for the number of axes of each motor 4 (number of motors). The host controller 2 is provided with a servo control circuit 11 as a control processing unit, a communication circuit 12 as a data processing unit, and a plurality of detection circuits 13. The servo control circuit 11 generates a PWM signal so that the current position of the motor 4 approaches the target position. The communication circuit 12 performs various communication processes with each motor driving device 3. The plurality of detection circuits 13 detect the current position of each motor 4 from the position data detected by each position detector 5. In this case, the plurality of detection circuits 13 correspond to different communication methods, and are selected and used according to the manufacturer of the position detector 5.

  Each motor driving device 3 is configured to drive the motor 4 based on the PWM signal transmitted from the host control device 2. Each motor drive device 3 is provided with an amplifier circuit 15, a level conversion circuit 16, and a communication circuit 17 as a transmission processing unit. The amplifier circuit 15 controls the power supplied to the motor 4 based on the PWM signal. The level conversion circuit 16 converts the signal level of the position data of the motor 4 input from the position detector 5 and performs start-stop synchronization. The communication circuit 17 performs various communication processes with the host control device 2.

  In the multi-axis control system 1 configured as described above, a command value for each motor 4 is generated by a CPU (not shown) of the host controller 2. The servo control circuit 11 generates a PWM signal based on each command value input from the CPU, and transmits the PWM signal to each motor drive device 3 via the communication circuit 12. In each motor drive device 3, the communication circuit 17 receives the PWM signal and outputs the PWM signal to the amplifier circuit 15. The amplifier circuit 15 controls the power supplied to the motor 4 based on the PWM signal. The motor 4 is driven according to the power supplied from the amplifier circuit 15. At this time, the current position of the motor 4 is detected by the position detector 5 provided on the output shaft of the motor 4.

  The position detector 5 outputs position data (see FIG. 2) indicating the current position of the motor 4 to the level conversion circuit 16 in response to a request signal from the motor driving device 3. The level conversion circuit 16 performs level conversion and start-stop synchronization, and outputs position data to the communication circuit 17. The communication circuit 17 stores the position data in a packet (see FIG. 2), and transmits the packet toward the host controller 2 via the communication line. In the host controller 2, the communication circuit 12 extracts position data from the packet and outputs the position data to the detection circuit 13. The detection circuit 13 detects the current position of the motor 4 from the position data and outputs it to the servo control circuit 11. The servo control circuit 11 performs servo control based on the current position of each motor 4.

  Here, with reference to FIG.1 and FIG.2, the position data sent toward a high-order control apparatus from a position detector is demonstrated. FIG. 2 is a diagram illustrating an example of position data and a packet according to the first embodiment. In FIG. 2, the upper part of the drawing shows one field of position data, the middle part of the drawing shows one frame of position data, and the lower part of the drawing shows one packet.

  As shown in FIG. 2, the position data is composed of one frame including four fields of a CD feed, an ALM field, a DATA field, and a CRC field. Each field includes 1 start bit, 8 data bits, and 1 stop bit. That is, the position data is represented by a total of 40 bits (5 bytes). The CD field contains transmission control information, the ALM field contains alarm information, the DATA field contains motor position information (current position), and the CRC field contains communication error check information.

  This position data is stored in a storage area for position data secured in advance in the packet. In the first embodiment, 5 bytes are secured in the data area of the packet as a storage area for position data. In the packet storage area, not only the position information is extracted from the position data and stored, but the entire frame of position data is stored. The storage area is designed in accordance with the maximum data length among the data lengths of the position data defined by different communication methods. For this reason, the position data prescribed | regulated by the different communication system can be similarly stored in a packet.

  As shown in FIG. 1, when the position detector 5 receives a request signal from the motor driving device 3, position data including the current position of the motor 4 is transmitted from the position detector 5 to the motor driving device 3. The position data is defined by a different communication method depending on the manufacturer of the position detector 5, and the data length is different for each manufacturer. In the motor drive device 3, position data is stored in a storage area secured in advance in the packet. Further, since the storage area of the packet is matched with the position data having the maximum data length as described above, the position data can be stored in the packet and transmitted to the upper control apparatus 2 regardless of the communication method. Thus, since the motor drive device 3 stores and transmits the entire frame of position data in a packet, there is no need to change the motor drive device 3 for each manufacturer of the position detector 5.

  In the host control device 2, position data is extracted from the packet, and the detection circuit 13 detects the current position of the motor 4. In the first embodiment, the entire position data is stored in a packet and transmitted to the host control device 2 so that the position information detection process is executed on the host control device 2 side. In this case, the host controller 2 can detect the current position of the motor 4 from the position data of all communication methods by providing the detection circuits 13 for the types of communication methods. Therefore, the circuit scale can be increased and the power consumption can be minimized as compared with the configuration in which the detection circuit 13 is provided in each motor driving device 3.

  Specifically, when the detection circuit 13 is provided in each motor driving device 3, it is necessary to provide the detection circuits 13 for the number of motors. Further, in order to support all communication methods, the number of motors × communication method. It is necessary to provide the detection circuit 13 for several minutes (for the number of manufacturers). On the other hand, when the detection circuit 13 is provided in the host control device 2, even if the number of motors is increased, it is possible to cope with all communication methods only by providing the detection circuits 13 corresponding to the number of communication methods. As described above, in the first embodiment, by providing the master-side host control device with the detection circuit 13, it is possible to suppress an increase in circuit scale and an increase in power consumption due to an increase in the number of motors. Yes.

  In the host control device 2, when a plurality of detection circuits 13 are used properly, the manufacturer and communication method of the position detector 5 may be specified from the address information in the header of the packet, or in the CD field of the position data. The manufacturer and the communication method may be specified from the control information. In the multi-axis control system 1 according to the first embodiment, the configuration in which the position detectors 5 of a plurality of manufacturers are used has been described. However, the configuration is not limited to this configuration. The multi-axis control system 1 can be applied to a configuration in which the position detector 5 of a single manufacturer is used.

  With reference to FIG. 3 to FIG. 5, processing operations of the motor drive device and the host control device will be described in comparison with the first comparative example. FIG. 3 is a system configuration diagram of the multi-axis control system according to the first comparative example. FIG. 4 is an explanatory diagram of processing operations of the motor drive device and the host control device according to the first comparative example. FIG. 5 is an explanatory diagram of processing operations of the motor drive device and the host control device according to the first embodiment. First, the first comparative example will be described. In the following description, a case where a request signal is transmitted from the motor drive device will be described.

  As shown in FIG. 3, the multi-axis control system 21 according to the first comparative example includes the multi-axis control system 1 according to the first embodiment and the detection circuit 33 in each motor drive device 23. It is different in point. Therefore, detailed description of each part of the multi-axis control system 21 according to the first comparative example is omitted. In the multi-axis control system 21 according to the first comparative example, position data is transmitted from the position detector 25 to the motor drive device 23, and the current position of the motor 24 is detected by the detection circuit 33 of the motor drive device 23. The current position of the motor 24 detected by the detection circuit 33 is stored in a packet and transmitted to the host control device 22, and is used for servo control in the servo control circuit 31 of the host control device 22.

  In the multi-axis control system 21 according to this comparative example, each motor drive device 23 must be provided with a detection circuit 33, so that the circuit scale of the entire system is increased and the power consumption is increased. In particular, when the multi-axis control system 21 is compatible with all communication methods, it is necessary to provide each motor driving device 23 with as many detection circuits 33 as the number of communication methods (number of manufacturers), which further increases the circuit scale. In addition, the power consumption further increases.

  As shown in FIG. 4, in the multi-axis control system 21 according to the first comparative example, when a request signal is transmitted from each motor drive device 23 to each position detector 25, each position detector 25 receives a response signal. Position data is transmitted to each motor drive device 23. When each motor driving device 23 has received the position data, it performs a level conversion process for the position data and a process for detecting the position information of the motor 24 as internal processing. In this case, each motor drive device 23 is provided with a detection circuit 33 corresponding to the communication method of the position detector 25, and each detection circuit 33 performs position information detection processing according to the communication method.

  When the position information detection process is completed in each motor drive device 23, each motor drive device 23 stores the position information of the motor 24 in a packet and transmits it to the host control device 22. In the first comparative example, packets are sequentially transmitted from the motor drive device 23 # 0 directly connected to the host control device 22. At this time, the transmission timing is adjusted between the motor drive devices 23, and the packet is transmitted to the host control device 22. Further, in each motor drive device 23, the processing time of the position information detection process may differ depending on the communication method, and the transmission timing is adjusted in consideration of the time difference of this processing time.

  The host controller 22 receives a packet from each motor drive unit 23, and sequentially performs servo control processing as an internal process from the received packet. Here, the packet reception process and the servo control process are performed in parallel. For example, when the reception of the packet from the motor drive device 23 # 0 is completed, the current position of the motor 24 # 0 is extracted from the packet and the servo control process is performed. The host control device 22 receives a subsequent packet from the motor drive device 23 # 1 during the servo control processing of the motor 24 # 0.

  As described above, the multi-axis control system 21 according to the first comparative example shortens the control cycle by performing the packet reception process and the servo control process in parallel. However, since the detection circuit 33 is provided in each motor driving device 23, the circuit scale is increased and the power consumption is increased as the number of motors 24 is increased. Moreover, there is a problem that the control configuration becomes complicated.

  On the other hand, as shown in FIG. 5, in the multi-axis control system 1 according to the first embodiment, when a request signal is transmitted from each motor driving device 3 to each position detector 5, each position detection is performed as a response signal. Position data is transmitted from the device 5 to each motor drive device 3. When each motor drive device 3 finishes receiving the position data, the entire position data is stored in a predetermined storage area of the packet and transmitted to the host control device 2. In the first embodiment, packets are sequentially transmitted from the motor drive device 3 # 0 directly connected to the host control device 2.

  At this time, the transmission timing is adjusted between the motor driving devices 3, but each motor driving device 3 only performs a level conversion process or the like as an internal process. There is no big time difference. Therefore, the packet transmission timing can be easily adjusted as compared with the multi-axis control system 21 according to the first comparative example.

  The host controller 2 receives a packet from each motor drive device 3 and sequentially performs a position information detection process and a servo control process as internal processes from the received packet. Here, packet reception processing, position information detection processing, and servo control processing are performed in parallel. For example, when the reception of the packet from the motor drive device 3 # 0 is completed, the position data of the motor 4 # 0 is extracted from the packet, and the detection circuit 13 performs position information detection processing. Then, the host control device 2 performs servo control processing based on the position information of the motor 4 # 0. The host controller 2 receives subsequent packets from the motor driver 3 # 1 during the position information detection process and servo control process of the motor 4 # 0.

  In this case, the host control device 2 is provided with several types of detection circuits 13 corresponding to the communication method of the position detector 5, and the detection circuits 13 are selectively used according to the communication method of the position detector 5. As described above, in the multi-axis control system 1 according to the first embodiment, the detection circuit 13 is provided in the host controller 2, thereby suppressing an increase in circuit scale and an increase in power consumption due to an increase in the number of motors. ing. Further, the control configuration is not complicated. Furthermore, if the host controller 2 is provided with as many detection circuits 13 as the number of communication systems, it can be adapted to all communication systems. Further, the multi-axis control system 1 according to the first embodiment can shorten the control cycle by performing the packet reception process and the servo control process in parallel, and the multi-axis control system according to the first comparative example. Compared to 21, the control cycle does not become longer.

  As described above, according to the multi-axis control system 1 according to the first embodiment, the current position of the motor 4 is not detected by the slave-side motor driving device 3 but the master-side higher-level control device 2. In, the current position of the motor 4 is detected. For this reason, it is not necessary to provide the detection circuit 13 in each motor drive device 3, and even if the number of motors increases, the number of the detection circuits 13 does not increase. Therefore, an increase in circuit scale and an increase in power consumption accompanying the increase in the number of motors can be suppressed. Moreover, the position detector 5 of a different manufacturer can be used only by providing the host controller 2 with the detection circuit 13 corresponding to a different communication method. Furthermore, since the position data is taken out for each motor drive device 3 and the motor 4 can be driven and controlled, the control cycle does not become longer as the number of motors increases.

  Next, a second embodiment will be described in detail. With reference to FIG. 6, the overall configuration of the multi-axis control system according to the second embodiment will be described. FIG. 6 is a system configuration diagram of a multi-axis control system according to the second embodiment. In the following description, as in the first embodiment, it is assumed that the position detectors of a plurality of manufacturers are used, and the position detectors of each manufacturer adopt different communication methods. In the first embodiment, only the detection circuit is provided as the processing circuit in the host control device. However, in the second embodiment, the detection circuit and further the request generation circuit as the processing circuit in the host control device. Is provided. As described above, the second embodiment is different from the first embodiment in that the processing for obtaining the current position of the motor is performed by the detection circuit and the request generation circuit. In the second embodiment, the position data processing is the same as in the first embodiment, and a part of the description is omitted.

  As shown in FIG. 6, the multi-axis control system 101 controls driving of a motor 104 connected to the motor driving device 103 by controlling a plurality of slave-side motor driving devices 103 in a master-side upper control device 102. Is configured to do. In the multi-axis control system 101, the head motor drive device 103 # 0 is connected to the host control device 102 through a communication line, and the subsequent motor drive devices 103 # 1- # n are connected in series to the head motor drive device 103 # 0. It is connected. Each motor driving device 103 is connected to a motor 104, and a position detector 105 is attached to the output shaft of each motor 104. Each position detector 105 is an encoder, for example, and is connected to each motor drive device 103 through a serial line.

  The host control device 102 is configured to output a PWM signal to each motor driving device 103 and perform current control for the number of axes of each motor 104 (number of motors). The host control device 102 is provided with a servo control circuit 111, a communication circuit 112 as a transmission processing unit, and a plurality of detection circuits 113 as data processing units. A transmission request circuit 118 and a plurality of request generation circuits 119 as data generation units are provided between the servo control circuit 111 and the communication circuit 112. The servo control circuit 111 generates a PWM signal so that the current position of the motor 104 approaches the target position. The communication circuit 112 performs various communication processes with each motor driving device 103.

  The plurality of detection circuits 113 detect the current position of each motor 104 from the position data detected by each position detector 105. In this case, the plurality of detection circuits 113 correspond to different communication methods, and are selected and used according to the manufacturer of the position detector 105. The transmission request circuit 118 transmits request signal generation instruction information to the request generation circuit 119. The plurality of request generation circuits 119 generate request signals with a frame configuration corresponding to the communication method of each position detector 105 based on the request signal generation instruction information. The plurality of detection circuits 113 and the plurality of request generation circuits 119 are processing circuits that perform processing for obtaining the current position of the motor 104 from the position detector 105 via the motor driving device 103.

  Each motor driving device 103 is configured to drive the motor 104 based on the PWM signal transmitted from the host control device 102. Each motor drive device 103 is provided with an amplifier circuit 115, a level conversion circuit 116, and a communication circuit 117 as a reception processing unit. The amplifier circuit 115 controls the power supplied to the motor 104 based on the PWM signal. The level conversion circuit 116 performs level conversion and start-stop synchronization of the request signal input from the host controller 102, and conversion of signal level and start-stop synchronization of the position data of the motor 104 input from the position detector 105. The communication circuit 117 performs various communication processes with the host controller 102.

  In the multi-axis control system 101 configured as described above, a command value for each motor 104 is generated by a CPU (not shown) of the host controller 102. The servo control circuit 111 generates a PWM signal based on each command value input from the CPU, and transmits the PWM signal to each motor driving device 103 via the communication circuit 112. In each motor driving device 103, the communication circuit 117 receives the PWM signal and outputs the PWM signal to the amplifier circuit 115. The amplifier circuit 115 controls the power supplied to the motor 104 based on the PWM signal. The motor 104 is driven according to the power supplied from the amplifier circuit 115.

  In addition, request signal generation instruction information is transmitted from the transmission request circuit 118 to the request generation circuit 119. Upon receiving the request signal generation instruction information, the plurality of request generation circuits 119 generate request signals (see FIG. 7) with a frame configuration corresponding to the communication method of each position detector 105, and send the request signals to the communication circuit 112. Send. The communication circuit 112 stores the request signal received from the request generation circuit 119 in a packet (see FIG. 7), and transmits the packet to the motor driving device 103 via the communication line.

  In the motor driving device 103, the communication circuit 117 extracts a request signal from the packet and outputs the request signal to the level conversion circuit 116. The level conversion circuit 116 performs level conversion and start-stop synchronization, and transmits a request signal to the position detector 105. The current position of the motor 104 is detected by a position detector 105 provided on the output shaft of the motor 104. The position detector 105 outputs position data (see FIG. 2) indicating the current position of the motor 104 to the level conversion circuit 116 in response to a request signal from the level conversion circuit 116. The level conversion circuit 116 performs level conversion and start-stop synchronization, and outputs position data to the communication circuit 117.

  The communication circuit 117 stores the position data in a packet (see FIG. 2), and transmits the packet to the host controller 102 via the communication line. In the host controller 102, the communication circuit 112 extracts position data from the packet and outputs the position data to the detection circuit 113. The detection circuit 113 detects the current position of the motor 104 from the position data and outputs it to the servo control circuit 111. Then, the servo control circuit 111 performs servo control again based on the current position of each motor 104.

  Here, with reference to FIG. 6 and FIG. 7, a request signal sent from the host control device to the motor drive device will be described. FIG. 7 is a diagram illustrating an example of a request signal and a packet according to the second embodiment. In FIG. 7, the upper part of the figure shows one frame of the request signal, and the lower part of the figure shows one packet.

  As shown in FIG. 7, the request signal includes a 1-bit start bit, a sync code, a command code, a CRC code, and a 1-bit stop bit. The request signal is represented by 26 bits, for example. The sync code includes information for synchronization, the command code includes information for transmission control, and the CRC code includes information for communication error check.

  This request signal is stored in a request signal storage area secured in advance in the packet. In the second embodiment, for example, 5 bytes are secured in the data area of the packet as the storage area for request signals. In the packet storage area, not all of the information is extracted from the request signal and stored, but the entire frame of the request signal is stored. In addition, the storage area is designed according to the maximum data length among the data lengths of request signals defined by different communication methods. For this reason, the request signal prescribed | regulated by the different communication system can be similarly stored in a packet.

  As shown in FIG. 6, when the request generation circuit 119 receives request signal generation instruction information from the transmission request circuit 118, the request signal is transmitted to the communication circuit 112. The request signal is defined by a different communication method depending on the manufacturer of the position detector 5, and the data length is different for each manufacturer. In the host controller 102, the request signal is stored in a storage area reserved in advance in the packet. Further, since the packet storage area is matched with the request signal having the maximum data length as described above, the request signal can be stored in the packet and transmitted to the motor driving device 103 regardless of the communication method. In this way, since the host controller 102 stores the entire frame of the request signal in a packet and transmits it, there is no need to change the motor drive device 103 for each manufacturer of the position detector 105.

  In the second embodiment, the entire request signal is stored in a packet and transmitted to the motor driving device 103, and a request signal corresponding to the communication method of the position detector 105 is extracted by the communication circuit 117. Each request signal is transmitted to the position detector 105 via the level conversion circuit 116. In this case, the host control device 2 can transmit request signals for all communication methods to each motor drive device 103 by providing request generation circuits 119 for the types of communication methods. Therefore, compared with a configuration in which the request generation circuit 119 is provided in each motor driving device 103, the circuit scale can be increased and the power consumption can be minimized.

  Specifically, when the request generation circuit 119 is provided in each motor driving device 103, it is necessary to provide the request generation circuits 119 for the number of motors. Further, in order to support all communication methods, the number of motors × Request generation circuits 119 corresponding to the number of communication systems (the number of manufacturers) must be provided. On the other hand, when the request generation circuit 119 is provided in the host control apparatus 102, even if the number of motors is increased, it is possible to cope with all communication methods only by providing the request generation circuits 119 corresponding to the number of communication methods. Thus, in the second embodiment, by providing the request generation circuit 119 in the master host control device, it is possible to suppress an increase in circuit scale and an increase in power consumption accompanying an increase in the number of motors. ing.

  In the host controller 102, when using a plurality of request generation circuits 119, the manufacturer and communication method of the position detector 105 may be specified from the address information in the header of the packet, or the command code of the request signal The manufacturer and communication method may be specified from the control information. In the multi-axis control system 101 according to the second embodiment, the configuration in which the position detectors 105 of a plurality of manufacturers are used has been described. However, the configuration is not limited to this configuration. The multi-axis control system 101 can be applied to a configuration in which the position detector 105 of a single manufacturer is used.

  With reference to FIGS. 8 to 10, processing operations of the motor drive device and the host control device will be described in comparison with the second comparative example. FIG. 8 is a system configuration diagram of a multi-axis control system according to a second comparative example. FIG. 9 is an explanatory diagram of processing operations of the motor drive device and the host control device according to the second comparative example. FIG. 10 is an explanatory diagram of processing operations of the motor drive device and the host control device according to the second embodiment. First, a comparative example will be described.

  As shown in FIG. 8, the multi-axis control system 121 according to the second comparative example includes a multi-axis control system 101 according to the second embodiment, a detection circuit 133, and a request generation circuit 139. Is different in that it is provided. Therefore, detailed description of each part of the multi-axis control system 121 according to the second comparative example is omitted. In the multi-axis control system 121 according to the second comparative example, request signal generation instruction information is transmitted from the transmission request circuit 138 of the host control device 122 to the motor drive device 123.

  The request signal generation instruction information is transmitted to the request generation circuit 139 via the communication circuit 137 of the motor driving device 123. Upon receiving the request signal generation instruction information, the plurality of request generation circuits 139 generate request signals with a frame configuration corresponding to the communication method of each position detector 125. The request signal is transmitted to the position detector 125 via the level conversion circuit 136. The position detector 125 outputs position data to the motor driving device 123 in response to a request signal from the level conversion circuit 136. The detection circuit 133 of the motor driving device 123 detects the current position of the motor 124. The current position of the motor 124 detected by the detection circuit 133 is stored in a packet and transmitted to the host control device 122, and is used for servo control in the servo control circuit 131 of the host control device 122.

  In the multi-axis control system 121 according to this comparative example, the request generation circuit 139 and the detection circuit 133 must be provided in each motor driving device 123, so that the circuit scale of the entire system is increased and the power consumption is increased. In particular, when the multi-axis control system 121 supports all communication methods, it is necessary to provide each motor driving device 123 with the request generation circuit 139 and the detection circuit 133 by the number of communication methods (number of manufacturers). As the circuit scale further increases, the power consumption further increases.

  As shown in FIG. 9, in the multi-axis control system 121 according to the second comparative example, when the request signal generation instruction information is transmitted from the transmission request circuit 138 of the host controller 122 to the communication circuit 132, the communication circuit 132. The packet transmission process is performed by. When the packet transmission process is performed, a packet is transmitted from the communication circuit 132 to the motor driving device 132. In the motor driving device 123, the communication circuit 137 performs packet reception processing, and subsequently performs request signal generation instruction information separation processing.

  When the request signal generation instruction information is sent from the communication circuit 137 to the request generation circuit 139, the request generation circuit 139 generates a request signal. In this case, the motor driving device 123 is provided with a request generation circuit 139 corresponding to the communication method of the position detector 125, and each request generation circuit 139 generates a request signal according to the communication method. The request signal is transmitted to the position detector 125, and the position data is transmitted from the position detector 125 to the motor driving device 123 as a response signal. Thereafter, the position detection process is performed in the same flow as in Comparative Example 1 (see FIG. 4).

  As described above, in the multi-axis control system 121 according to the second comparative example, the request generation circuit 139 and the detection circuit 133 are provided in each motor driving device 123, so that the circuit scale increases as the number of motors 124 increases. At the same time, power consumption increases. Moreover, there is a problem that the control configuration becomes complicated.

  On the other hand, as shown in FIG. 10, in the multi-axis control system 101 according to the second embodiment, when request signal generation instruction information is transmitted from the transmission request circuit 118 of the host controller 102 to the request generation circuit 119. The request generation circuit 119 generates a request signal. In this case, the host controller 102 is provided with a request generation circuit 119 corresponding to the communication method of the position detector 105, and each request generation circuit 119 generates a request signal according to the communication method.

  The request signal is transmitted to the communication circuit 112, and the communication circuit 112 stores the request signal in the packet as packet transmission processing. When the request signal is stored in the packet, the packet is transmitted from the communication circuit 112 to the motor driving device 103. In the motor drive device 103, the communication circuit 117 performs packet reception processing, and subsequently performs request signal separation processing. The request signal is transmitted from the communication circuit 117 to the position detector 105, and the position data is transmitted from the position detector 105 to the motor driving device 103 as a response signal. Thereafter, the position detection process is performed in the same flow as in the first embodiment (see FIG. 5).

  As described above, the multi-axis control system 101 according to the second embodiment is provided with the request generation circuit 119 and the detection circuit 113 in the host control device 102, so that the circuit scale increases with the increase in the number of motors 104. And increase in power consumption. Further, the control configuration is not complicated. Furthermore, if the host control device 102 is provided with the request generation circuits 119 and the detection circuits 113 corresponding to the number of communication methods, it is possible to support all communication methods.

  As described above, according to the multi-axis control system 101 according to the second embodiment, a request signal is not generated in the slave motor driving device 103 but in the master host control device 102. Is generated. Therefore, it is not necessary to provide the request generation circuit 119 in each motor driving device 103, and the number of request generation circuits 119 does not increase even if the number of motors increases. Therefore, an increase in circuit scale and an increase in power consumption accompanying the increase in the number of motors can be suppressed. Further, the position detector 105 of a different manufacturer can be used only by providing the host controller 102 with the request generation circuit 119 corresponding to a different communication method.

  In addition, this invention is not limited to the said embodiment, It can change and implement variously. In the above-described embodiment, the size, shape, and the like illustrated in the accompanying drawings are not limited to this, and can be appropriately changed within a range in which the effects of the present invention are exhibited. In addition, various modifications can be made without departing from the scope of the object of the present invention.

  For example, in the above-described embodiment, the detection control circuit is provided for each communication method in the host control device. However, the present invention is not limited to this configuration. The host control device may be configured in any way as long as the host control device can handle all communication methods. For example, the host controller may have a single detection circuit corresponding to different communication methods.

  In the above-described embodiment, the host control device is provided with the request generation circuit for each communication method. However, the present invention is not limited to this configuration. The host control device may be configured in any way as long as the host control device can handle all communication methods. For example, the host controller may have a single request generation circuit that supports different communication methods.

  Further, in the above-described embodiment, the configuration is such that a storage area for position data is secured in advance in the packet, but the present invention is not limited to this configuration. A configuration may be adopted in which a storage area for position data is secured in the packet in accordance with an instruction from the host controller. In the embodiment described above, the storage area for position data is secured in the data area of the packet, but the storage area for position data may be secured in the header.

  In the above embodiment, the request signal storage area is secured in advance in the packet. However, the present invention is not limited to this configuration. A configuration may be adopted in which a request signal storage area is secured in the packet in accordance with an instruction from the host controller. Further, in the above-described embodiment, the request signal storage area is secured in the packet data area, but the request signal storage area may be secured in the header.

  In the above-described embodiment, the encoder is exemplified as the position detector. However, the present invention is not limited to this configuration. The position detector may have any configuration as long as it can detect the current position of the motor.

  In the above-described embodiment, the plurality of request generation circuits and the plurality of detection circuits are processing circuits. However, the present invention is not limited to this configuration. The processing circuit may be configured to perform other processing as long as the processing circuit performs processing for obtaining the current position of the motor from the position detector via the motor driving device.

  Further, in the above-described embodiment, the information input / output to / from the processing circuit is the request signal and the position data, but is not limited to this configuration. The information input / output to / from the processing circuit may be information stored in a packet and communicated through a communication line.

  Further, in the above-described embodiment, the host control device has a storage medium such as a random access memory (RAM) and a read only memory (ROM) not shown. The data of the type of motor used and its communication method are sent to this storage medium from an input / output device (not shown) or a top-level control device that controls the entire device. Based on this data, the host control device can easily generate a request signal with a frame configuration corresponding to the communication method.

  As described above, the present invention has an effect of suppressing an increase in circuit scale and an increase in power consumption accompanying an increase in the number of motors without lengthening the control cycle. This is useful for a multi-axis control system and a multi-axis control method for a servo motor used in a mounting apparatus.

DESCRIPTION OF SYMBOLS 1,101 Multi-axis control system 2,102 Host control device 3,103 Motor drive device 4,104 Motor 5,105 Position detector 11,111 Servo control circuit (control processing part)
12 Communication circuit (data processing unit)
13, 113 Detection circuit (data processing unit)
15, 115 Amplifier circuit 16, 116 Level conversion circuit 17 Communication circuit (transmission processing unit)
112 Communication circuit (transmission processing unit)
117 Communication circuit (reception processing unit)
118 Transmission request circuit 119 Request generation circuit (data generation unit)

Claims (4)

A multi-axis control system in which a plurality of motor drive devices are controlled by a host control device through a communication line, and a motor connected to the motor drive device is driven.
The motor driving device is
A position sensor including a current position of the motor is acquired from a position detector attached to the motor, and a transmission processing unit that stores the position data in a packet and transmits the packet to the host controller through the communication line,
The host controller is
A data processing unit for extracting the position data from the packet received from the motor driving device and detecting the current position of the motor from the position data;
A control processing unit that performs drive control on the motor based on the current position of the motor ;
The transmission processing unit is designed such that a storage area for the position data in a packet is designed in accordance with the maximum data length of the position data defined by different communication methods. . Wherein the data processing unit includes a plurality of detection circuits corresponding to different communication methods, according to claim 1, characterized in that to detect the current position of the motor by the detection circuit corresponding to the communication method of the position data Multi-axis control system. A multi-axis control system in which a plurality of motor drive devices are controlled by a host control device through a communication line, and a motor connected to the motor drive device is driven.
The host controller includes a processing circuit that performs processing for obtaining a current position of the motor from a position detector attached to the motor via the motor driving device, and the motor based on the current position of the motor. A control processing unit that performs drive control on the
Between the host control device and the motor drive device, information input to and output from the processing circuit is stored in a packet and communicated through the communication line ,
The processing circuit is a data generation unit that generates a request signal for acquiring position data including the current position of the motor from the position detector,
The host controller includes a transmission processing unit that stores the request signal in a packet and transmits the request signal to the motor driving device through the communication line,
The motor drive device includes a reception processing unit that extracts the request signal from the packet received from the host controller and transmits the request signal to the position detector.
The transmission processing unit is designed such that a storage area for the request signal in a packet is designed in accordance with a maximum data length of data lengths of request signals defined by different communication methods. . The multi-axis control according to claim 3 , wherein the data generation unit includes a plurality of request generation circuits corresponding to different communication methods, and generates a request signal according to the communication method of the position detector. system.

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