JP6711117B2 - Multi-axis drive device and servo amplifier - Google Patents

Description

The present invention relates to a multi-axis drive device and a servo amplifier, and more particularly to a multi-axis drive device and a servo amplifier that supply AC control power to a servo motor.

Conventionally, a multi-axis drive device and a servo amplifier that supply AC control power to a servo motor are known (for example, refer to Patent Document 1).

The above-mentioned Patent Document 1 discloses a multi-axis motor drive system including a plurality of servo amplifiers for transmitting AC power and position commands to a servo motor to drive the servo motor. This multi-axis motor drive system is provided with a common converter that supplies DC power to a plurality of servo amplifiers. In addition, the common converter is provided with a control unit that calculates an average output value of the plurality of servo amplifiers and performs control for comparing the rated output of the common converter and the average output value of the plurality of servo amplifiers. Then, the control unit is configured to perform control to stop the operation of the servo motor when the average output value of the plurality of servo amplifiers exceeds the rated output of the common converter. Further, each of the plurality of servo amplifiers is provided with a control unit for controlling the drive of the servo motor.

JP-A-2002-199792

However, in the multi-axis motor drive system described in Patent Document 1, the common converter is separately provided with a control unit in order to calculate the average output value of the plurality of servo amplifiers. Therefore, there is a problem that the common converter becomes large and the multi-axis motor drive system becomes large.

The present invention has been made to solve the above problems, and one object of the present invention is to calculate the total output value of a plurality of servo amplifiers while suppressing an increase in size of the device. It is to provide a multi-axis drive device and a servo amplifier capable of performing the same.

In order to achieve the above-mentioned object, a multi-axis drive device according to a first aspect of the present invention includes a converter unit for converting AC power into DC power, and DC power converted into AC control power to convert the AC control. The servo amplifier includes a plurality of servo amplifiers that supply electric power to the servo motors to drive the servo motors, and the servo amplifiers include a control unit that controls the drive of the servo motors and a communication unit that can communicate with other servo amplifiers. When the control unit determines that the servo amplifier of the controller is the first amplifier that calculates the total output value of the output values of the plurality of servo amplifiers, the second amplifier of the plurality of servo amplifiers other than the first amplifier is determined. It is configured to acquire output information of the servo amplifier from the other servo amplifier via the communication unit and perform control to calculate the total output value based on the acquired output information of the servo amplifier , Whether the control unit is the first amplifier, based on the connection information that is the information about the connection between the servo amplifier and the converter unit that is acquired based on the connection between the servo amplifier and the converter unit that is own, Alternatively, it is configured to perform control to determine which is the second amplifier . In the specification of the present application, “multi-axis” is described as meaning two or more axes (servo motor and servo amplifier).

In the multi-axis drive device according to the first aspect of the present invention, as described above, the control unit of the servo amplifier acquires the output information of the servo amplifier from the other servo amplifier via the communication unit and acquires the acquired servo information. The control is performed to calculate the total output value of the output values of the servo amplifier based on the output information of the amplifier. Then, the control unit is the first amplifier based on the connection information that is the information about the connection between the servo amplifier and the converter unit that is acquired based on the connection between the servo amplifier and the converter unit that is the controller. Or the second amplifier is configured to be controlled. With this, the total output value of the output values of the servo amplifiers can be calculated without providing the control unit in the converter unit, and thus the size increase of the converter unit can be suppressed. Further, since the conventional servo amplifier is provided with a control unit for controlling the drive of the servo motor in advance, by configuring the control unit of the servo amplifier provided in advance as described above, It is possible to calculate the total output value of a plurality of servo amplifiers while suppressing an increase in the size of the amplifier. As a result, it is possible to calculate the total output value of the plurality of servo amplifiers while suppressing an increase in size of the multi-axis drive device.

In the multi-axis drive device according to the first aspect described above, preferably, the control unit is the first amplifier or the second amplifier based on connection information that is information about connection between the servo amplifier of the own device and the converter unit. It is configured to perform control to determine which is an amplifier. According to this structure, as compared with the case where the user individually sets the first amplifier or the second amplifier for the plurality of servo amplifiers, the servo amplifiers can be easily set based on the connection position of the servo amplifiers. The connected servo amplifier can be set to either the first amplifier or the second amplifier.

In this case , preferably, the identification information as the connection information is respectively assigned, further comprising a plurality of connecting portions to which a plurality of servo amplifiers are respectively connected, the control unit acquires the identification information, the acquired identification information is If it is the predetermined identification information, it determines that its own servo amplifier is the first amplifier, and if the acquired identification information is other than the predetermined identification information, it determines that its own servo amplifier is the second amplifier. It is configured to perform a judgment control. According to this structure, by connecting the plurality of servo amplifiers to the plurality of connecting portions, the plurality of servo amplifiers are automatically connected to either the first amplifier or the second amplifier based on the identification information. Can be set.

In this case, preferably, the plurality of connecting portions are respectively configured such that the servo amplifiers are attachable/detachable, and the DC power from the converter portion is supplied to the plurality of servo amplifiers connected to the plurality of connecting portions. It is configured. According to this structure, the servo amplifier can be replaced with the converter unit as needed. For example, even if some of the plurality of servo amplifiers fail, only some of the failed servo amplifiers can be replaced.

In the multi-axis drive device according to the first aspect, preferably, when the servo amplifier of its own is the second amplifier, the control unit controls the other servo amplifier determined to be the first amplifier via the communication unit. It is configured to control the output information of its own servo amplifier. With this configuration, the output information is transmitted from the servo amplifier determined to be the second amplifier to the servo amplifier determined to be the first amplifier, so that the servo amplifier determined to be the first amplifier can easily change to another servo amplifier. The output information of the servo amplifier can be acquired.

In the multi-axis drive device according to the first aspect described above, preferably, the control unit is provided when its own servo amplifier is the first amplifier and when the total output value exceeds a predetermined threshold output value. At least one of issuing a warning, limiting the magnitude of AC control power supplied from a plurality of servo amplifiers to the servo motor, or stopping the operation of at least one of the plurality of servo amplifiers It is configured to control to perform one. According to this structure, even if the total output value of the plurality of servo amplifiers becomes large, it is possible to prevent the converter unit from being damaged due to warning notification or power limitation.

In the multi-axis drive device according to the first aspect, preferably, when the servo amplifier of its own is the first amplifier, the control unit of at least one servo amplifier of its own servo amplifier or another servo amplifier. It is configured to control to set an output value. With this configuration, it is possible to set the output value according to the servo amplifier. For example, increase the output value of the servo amplifier corresponding to the axis with high priority, or correspond to the axis with low priority. Since the output value of the servo amplifier to be used can be limited, the convenience when the user uses the multi-axis drive device can be improved.

In this case, preferably, when the servo amplifier of its own is the first amplifier, the control unit controls the output values of the plurality of servo amplifiers other than the set output values of the servo amplifiers. It is configured to perform control to calculate the total output value of the output values. According to this structure, the total output value of the output values of the servo amplifiers not set among the plurality of servo amplifiers can be acquired in a state where the set output value of the servo amplifier is secured. Thus, for example, it is possible to control such that the sum of the set output value of the servo amplifier and the total output value of the other servo amplifiers does not exceed the rated output value of the converter unit.

In the multi-axis drive device according to the first aspect, preferably, a plurality of encoders having motor information of the servo motor are further provided, and the control unit outputs the plurality of encoders from the plurality of encoders when its own servo amplifier is the first amplifier. Acquires motor information and performs control to acquire the number of servo motors in use based on the acquired motor information, and sets the output values of multiple servo amplifiers based on the number of servo motors in use It is configured to perform control. Here, when the output value of the servo amplifier is set, if the output value is evenly distributed by the number including the servo motors that are not in use, the output value is distributed to the servo amplifiers that do not use electric power. In consideration of this point, in the present invention, the control unit is configured to perform control for setting output values of a plurality of servo amplifiers based on the number of servo motors in use, thereby It is possible to appropriately set and distribute the output value of the servo amplifier that drives the. For example, you can reduce the output value of a servo amplifier connected to a servo motor that is not in use (for example, to zero) and set the output value of the servo amplifier connected to a servo motor that is in use to a higher value. it can.

A servo amplifier according to a second aspect of the present invention converts AC power into DC power, converts DC power from a common converter unit of a plurality of servo amplifiers into AC control power, and converts the converted AC control power into a servo. A servo amplifier that supplies the motor to drive it, including a control unit that controls the drive of the servo motor and a communication unit that can communicate with other servo amplifiers. Is determined to be the first amplifier which calculates the total output value of the output values of the plurality of servo amplifiers, the other communication section from the other servo amplifier which is the second amplifier other than the first amplifier of the plurality of servo amplifiers It is configured to obtain the output information of the servo amplifier via, and perform the control of calculating the total output value based on the obtained output information of the servo amplifier. It is the first amplifier or the second amplifier, based on the connection information that is the information about the connection between the servo amplifier of its own and the common converter unit, which is acquired based on the connection with the common converter unit. It is configured to perform a control to determine which of the two .

In the servo amplifier according to the second aspect of the present invention, by configuring the control unit as described above, it is possible to suppress the size increase of the common converter unit. As a result, it is possible to provide a servo amplifier capable of calculating the total output value of a plurality of servo amplifiers while suppressing an increase in size of the common converter unit (multi-axis drive device).

According to the present invention, as described above, it is possible to calculate the total output value of a plurality of servo amplifiers while suppressing an increase in size of the device.

It is a block diagram showing the whole multi-axis drive device composition by a 1st-3rd embodiment of the present invention. It is a perspective view showing the composition of the base board part of the multi-axis drive device by a 1st-3rd embodiment of the present invention. FIG. 9 is a perspective view for explaining a state when the servo amplifier is attached to the base board part of the multi-axis drive device according to the first to third embodiments of the present invention. 7 is a flowchart for explaining a control process of the multi-axis drive device according to the first and third embodiments of the present invention. It is a flow chart for explaining control processing of a multi-axis drive device by a 2nd embodiment of the present invention.

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings.

[First Embodiment]
The configuration of the multi-axis drive device 100 according to the first embodiment will be described with reference to FIG. 1. FIG. 1 shows a block diagram of a multi-axis drive device 100.

(Structure of multi-axis drive device)
As shown in FIG. 1, the multi-axis drive device 100 includes a converter unit 1, a plurality of servo amplifiers 2, a plurality of servo motors 3, a base board unit 4, and an encoder 5. Then, the multi-axis drive device 100 is configured to supply the electric power supplied from the AC power supply unit 101 to a plurality of (multi-axis) servo motors 3 to drive the servo motors 3. Further, the AC power supply unit 101 is composed of, for example, a commercial power supply or the like. The converter unit 1 is an example of the “common converter unit” in the claims. The base board unit 4 is an example of a “connecting unit”. Further, in the specification of the present application, “multi-axis” is described as meaning two or more axes (servo motor 3 and servo amplifier 2).

The converter unit 1 includes a power conversion element and the like, and is configured to convert the AC power from the AC power supply unit 101 into DC power. Further, the converter unit 1 is connected to the base board unit 4. The converter unit 1 is, for example, a diode rectifier circuit configured by connecting diodes in a bridge manner, and in this case, the control unit is not provided.

The servo amplifier 2 is configured to convert the DC power from the converter unit 1 into AC control power. Then, the servo amplifier 2 is configured to supply the converted AC control power to the servo motor 3 to drive it.

The servo motor 3 is configured to drive (rotate or parallel move a load) by using AC control power from the servo amplifier 2. Then, the servo motor 3 is configured to transmit the rotational movement or the parallel movement to the load connected to the servo motor 3.

The baseboard unit 4 is configured to be connectable to a plurality of servo amplifiers 2, and is configured to supply the DC power from the converter unit 1 to the connected servo amplifiers 2.

The encoder 5 is arranged near the servo motor 3 and is configured to acquire drive information (position information) of the servo motor 3. The encoder 5 includes a memory, and the memory stores the motor type information of the servo motor 3. For example, the motor type information is configured as identification information (for example, motor ID) indicating the type (type, model) of the servo motor 3. The motor type information may include not only the motor ID, but also the rated torque value of the corresponding servo motor 3, the maximum motor current value (rated motor current value), the rated motor speed value, and the like. The motor type information is an example of "motor information" in the claims. The encoder 5 is connected to the servo amplifier 2 and is configured to transmit drive information and motor type information to the servo amplifier 2.

In the first embodiment, the multi-axis drive device 100 is provided with the servo amplifiers 2a to 2d, the servo motors 3a to 3d, and the encoders 5a to 5d. , The servo motor 3, and the encoder 5 will be described. For example, the servo motors 3a to 3d are different from each other in type and are configured to have different rated motor current values.

(Structure of servo amplifier)
As shown in FIG. 1, the servo amplifier 2 includes a power conversion unit 21, an amplification unit 22, a control unit 23, a storage unit 24, a communication unit 25, an operation unit 26, a current detection unit 27, and a notification. It includes a portion 28, an amplifier side fitting connection portion 29, and connection portions 29c and 29d.

The power conversion unit 21 includes an power conversion element and the like, and is composed of an inverter that converts DC power into AC control power based on a command from the amplification unit 22. Then, the power conversion unit 21 is configured to supply the AC control power to the servo motor 3.

The amplification unit 22 includes, for example, a position amplifier and a speed amplifier. Then, the amplification unit 22 is configured to control the drive of the power conversion element of the power conversion unit 21 based on the position command signal and the speed command signal from the control unit 23 and the position information from the encoder 5. There is.

The control unit 23 is configured to transmit the command signal to the amplification unit 22 based on the program stored in the storage unit 24. That is, the control unit 23 is configured to control the driving of the servo motor 3 via the amplification unit 22 and the power conversion unit 21.

The storage unit 24 is composed of, for example, a non-volatile memory or the like. Then, storage unit 24 includes converter rated output information. For example, when the servo amplifier 2 is configured as a dedicated product for the converter unit 1, the storage unit 24 stores the converter rated output value Pt as the converter rated output information. When the servo amplifier 2 is configured as a general-purpose product instead of the dedicated product for the converter unit 1, the converter rated output information is configured by, for example, a table. That is, as the converter rated output information, each converter rated output information is stored corresponding to the converter type. The storage unit 24 also stores information on the rated output value of its own servo amplifier 2.

The communication unit 25 is configured to be serially communicable with another servo amplifier 2. For example, the communication unit 25 is configured to be capable of serial communication (SPI (Serial Peripheral Interface) communication) via the communication lead wire 45, and is configured to be capable of mutual communication with other servo amplifiers 2.

The operation unit 26 includes operation buttons, operation switches, and the like, and is configured to be able to receive an input operation from a user. Then, the operation unit 26 is configured to transmit the information of the input operation from the user to the control unit 23.

The current detection unit 27 is configured by a current transformer, for example, and is configured to be able to detect an alternating current value. The current detection unit 27 is arranged between the power conversion unit 21 of the servo amplifier 2 and the servo motor 3, and calculates the current value (current detection value Id) output from the power conversion unit 21 to the servo motor 3. Is configured to detect.

The notification unit 28 is configured as, for example, a display unit or a speaker. Then, when the control unit 23 detects an overload, based on a command from the control unit 23, at least one of displaying a warning on the display unit and generating a warning sound from a speaker is performed. It is configured.

The amplifier side fitting connection part 29 is configured to be fittable with the board side fitting connection part 42 of the base board part 4. Then, the amplifier-side fitting connection portion 29 includes an amplifier-side power connection portion 29a and an amplifier-side communication connection portion 29b, as shown in FIG. Then, the output power (DC) from the converter unit 1 is transmitted to the power conversion unit 21 in a state where the amplifier-side power connection unit 29 a and the board-side fitting connection unit 42 are connected. Further, by connecting the amplifier-side communication connection section 29b and the board-side fitting connection section 42, communication signals are mutually transmitted between the communication section 25 and the other servo amplifier 2.

The connecting portion 29c is configured to be connected to the servomotor 3 via a conductive wire or the like, and the connecting portion 29d is configured to be connected to the encoder 5 via a conductive wire or the like. Further, the servo amplifier 2 is provided with a hole 29e through which the fastening member 41a can pass.

A plurality of servo amplifiers 2 are provided. For example, in FIG. 1, four servo amplifiers 2 (servo amplifiers 2a to 2d) are arranged in the multi-axis drive device 100. The servo amplifier 2a is connected to the servo motor 3a, the servo amplifier 2b is connected to the servo motor 3b, the servo amplifier 2c is connected to the servo motor 3c, and the servo amplifier 2d is connected to the servo motor 3d. The servo amplifiers 2a to 2d are configured to supply outputs (output power) corresponding to the motor types of the connected servo motors 3a to 3d to the servo motors 3a to 3d.

(Structure of baseboard part)
The baseboard unit 4 is provided with a baseboard housing 41, a board side fitting connection unit 42, a converter unit fitting connection unit 43, a power lead wire 44, and a communication lead wire 45.

As shown in FIGS. 2 and 3, the baseboard housing 41 is configured to have, for example, a box shape having a cavity inside. As shown in FIG. 3, the converter section 1 and a plurality of servo amplifiers 2 are housed and arranged in a cavity inside the baseboard housing 41. FIG. 3 shows a state in which one converter unit 1 and the servo amplifier 2a are accommodated in the baseboard casing 41, and the servo amplifier 2b is accommodated in the baseboard casing 41.

The board-side fitting connection portion 42 is arranged at a position where it is fitted and connected to the amplifier-side fitting connection portion 29 of the servo amplifier 2 in a state where the servo amplifier 2 is arranged in the baseboard housing 41. As a result, when the servo amplifier 2 is attached (stored) in the baseboard housing 41, the amplifier-side fitting connection portion 29 and the board-side fitting connection portion 42 are fitted and connected. Specifically, the board-side fitting connection portion 42 includes a board-side power connection portion 42a and a board-side communication connection portion 42b. The board-side power connection portion 42a is configured to be fitted and connected to the amplifier-side power connection portion 29a. Further, the board-side communication connection portion 42b is configured to be fitted and connected to the amplifier-side communication connection portion 29b.

Further, the base board housing 41 is provided with a hole portion 41b to which the fastening member 41a can be fastened (screwable). Then, the servo amplifier 2 is fixed to the base board casing 41 by fixing the fastening member 41a to the hole 41b in a state where the servo amplifier 2 is housed inside the base board casing 41. There is.

As shown in FIG. 1, the converter part fitting connection part 43 is fitted and connected to the connecting part on the output side (secondary side) of the converter part 1 in a state where the converter part 1 is arranged in the baseboard housing 41. It is located at the position where As a result, the base board unit 4 is configured to acquire the DC current from the converter unit 1 when the converter unit 1 is attached (stored) in the base board housing 41.

The power lead 44 is configured as a lead for transmitting electric power, and is wired so as to connect the converter fitting connection 43 and the board fitting connection 42 (board power connection 42a). ing. The power conductor 44 is configured to transmit the DC power from the converter unit 1 to the servo amplifier 2.

The communication conducting wire 45 is configured as a conducting wire for transmitting a communication signal (for example, an electric signal), and one board-side fitting connecting portion 42 (board-side communication connecting portion 42b) and another board-side fitting connecting portion. 42 (board side communication connection part 42b).

A plurality of board-side fitting connection portions 42 are provided. For example, as shown in FIG. 1, the base board part 4 is provided with four board-side fitting connection parts 42. Here, in the first embodiment, the four board-side fitting connection portions 42 each have identification information as connection information (for example, a fitting servo amplifier axis number (hereinafter, “axis number”) (port number)). Has been assigned. For example, the axis number #1 is assigned to the board-side fitting connection portion 42 that is closest to the converter unit 1 and to which the servo amplifier 2a is connected. Further, the other board-side fitting connection portions 42 are assigned axis numbers #2 to #4 from the side closer to the converter unit 1.

Further, the control unit 23 of the servo amplifier 2 is configured to perform control for reading the axis number when the amplifier-side fitting connection unit 29 and the board-side fitting connection unit 42 are fitted together. For example, when the amplifier-side fitting connection part 29 of the servo amplifier 2a and the board-side fitting connection part 42a are fitted, the control part 23 of the servo amplifier 2a acquires the axis number #1 (read. hand)
Is configured to provide control.

Further, in the first embodiment, as shown in FIGS. 2 and 3, the board-side fitting connection portion 42 of the base board portion 4 is configured such that the servo amplifier 2 can be attached and detached. That is, the baseboard unit 4 is configured such that the servo amplifier 2 can be removed from the state where the servo amplifier 2 is housed in the baseboard housing 41, and when the servo amplifier 2 is removed, the board side fitting connection is made. The fitting connection between the portion 42 and the amplifier side fitting connection portion 29 is configured to be released. That is, as shown in FIG. 3, the servo amplifier 2 can be removed by removing the fastening member 41a from the baseboard portion 4.

(Structure of control unit of servo amplifier)
The control unit 23 of the servo amplifier 2 is configured to perform control to acquire motor type information (for example, motor ID (Identification) information) from the encoder 5. The storage unit 24 stores a table in which the motor ID information, the rated torque value of the servo motor 3, the maximum motor current value (rated motor current value), and the rated motor speed value are associated with each other. ing.

Then, the control unit 23 acquires the rated torque value, the maximum motor current value, and the rated motor speed value of the connected servo motor 3 based on the acquired motor type information and the table of the storage unit 24. Is configured to.

Then, the control unit 23 is configured to perform control for calculating (obtaining) the demand output value Pd of the servo amplifier 2 of itself. Specifically, the control unit 23 divides the current detection value Id acquired from the current detection unit 27 by the acquired maximum motor current value Im to obtain a rating of the servo amplifier 2 stored in advance in the storage unit 24. The output value Pr is multiplied to calculate the demand output value Pd. That is, the control unit 23 is configured to calculate the demand output value Pd based on the following equation (1). The demand output value Pd is an example of “servo amplifier output information” in the claims.
Pd=Pr×Id/Im (1)

Here, in the first embodiment, the control unit 23 of the servo amplifiers 2a to 2d of the servo amplifiers 2a to 2d, based on the connection information (axis number) that is information related to the connection between the servo amplifier 2 of its own and the converter unit 1. It is configured to perform control for determining whether the master amplifier is an amplifier that calculates the total output value of the output values or a slave amplifier that is different from the master amplifier. The master amplifier is an example of the "first amplifier" in the claims. The slave amplifier is an example of the "second amplifier" in the claims. Further, in the present specification, the “master amplifier” is not limited to an amplifier configured to perform all the commands for controlling the “slave amplifier”, but at least one control (calculation of the total output value) is performed by the “slave slave”. It is described as a broad concept that means an amplifier that replaces "amplifier".

Specifically, in the first embodiment, when the control unit 23 acquires the axis number #1, it determines that the servo amplifier 2 of its own is the master amplifier, and the axis numbers other than the axis number #1. When #2 to #4 are acquired, the servo amplifier 2 of its own is configured to perform control to determine that it is a slave amplifier. In the example of FIG. 1, since the servo amplifier 2a has the axis number #1, the control unit 23 of the servo amplifier 2a determines that it is the master amplifier. Further, since the servo amplifiers 2b to 2d have the axis numbers #2 to #4, the control unit 23 of the servo amplifiers 2b to 2d determines that they are slave amplifiers.

Then, in the first embodiment, the control unit 23 is a slave amplifier other than the master amplifier (servo amplifier 2a) among the servo amplifiers 2a to 2d when it determines that its own servo amplifier 2a is the master amplifier. The demand output value Pd is acquired from the other servo amplifiers 2b to 2d via the communication unit 25, and control is performed to calculate the total output value based on the acquired demand output value Pd.

More specifically, in the first embodiment, the control unit 23 of the servo amplifier 2 receives the other servos determined to be the master amplifier via the communication unit 25 when the own servo amplifier 2 is the slave amplifier. The amplifier 2 is configured to perform control to transmit the demand output value Pd of the servo amplifier 2 of itself. That is, in the case of the example of FIG. 1, in the multi-axis drive device 100, the respective demand output values Pd are transmitted from the servo amplifiers 2b to 2d, and the servo amplifier 2a receives the demand via the communication lead wire 45 of the baseboard unit 4. It is arranged to receive the output value Pd.

Then, the control unit 23 of the servo amplifier 2a determined to be the master amplifier (hereinafter, "control unit 23 of master amplifier") has its own demand output value Pd (demand output value Pd1) and the other servo amplifiers 2b to 2d. The demand output value Pd (demand output values Pd2 to Pd4) and the total output value ΣPd are controlled. That is, the control unit 23 is configured to calculate the total output value ΣPd using the following equation (2).
ΣPd=Pd1+Pd2+Pd3+Pd4 (2)

Moreover, the converter rated output information is stored in the storage unit 24. The converter rated output information includes converter rated output value Pt as a predetermined threshold output value. If the servo amplifier 2 is configured as a general-purpose product, the storage unit 24 stores in the storage unit 24 based on the identification information of the converter unit 1 (for example, based on an input operation or the like on the operation unit 26 by the user). A table in which the type (model) of converter unit 1 and the converter rated output value Pt corresponding to the type are associated is stored. The converter rated output value Pt is an example of the "predetermined threshold output value" in the claims.

Then, the control unit 23 of the master amplifier is configured to perform control for comparing the total output value ΣPd with the converter rated output value Pt. In the first embodiment, the control unit 23 of the master amplifier controls the notification unit 28 to issue a warning when the total output value ΣPd exceeds the converter rated output value Pt, and controls the servo amplifiers 2 among the plurality of servo amplifiers 2. Of at least one (for example, all the servo amplifiers 2a to 2d) are controlled to be stopped.

For example, the notification unit 28 is configured as a display unit as shown in FIG. 3, and is configured to display a warning indicating that the total output value ΣPd exceeds the converter rated output value Pt on the display unit. There is. In addition, the control unit 23 performs control to stop the supply of the AC control power from the servo amplifiers 2a to 2d to the servo motors 3a to 3d.

(Servo amplifier control processing)
Next, a control process of the multi-axis drive device 100 (servo amplifier 2) according to the first embodiment will be described with reference to FIG. The operation of the multi-axis drive device 100 (servo amplifier 2) is executed by the control processing of the control unit 23.

As shown in FIG. 4, in step S1, it is determined whether or not the axis number is fixed. That is, it is determined whether or not the axis number from the board-side connecting/fitting section 42 has been acquired. If the axis number is not confirmed, the process proceeds to step S2, and if the axis number is confirmed, the process proceeds to step S3.

In step S2, the axis number is acquired from the board-side connection fitting section 42. Then, it progresses to step S3.

In step S3, it is determined whether the motor type information is acquired. That is, it is determined whether or not the motor type information from the encoder 5 has been acquired. When the motor type information is not acquired, the process proceeds to step S4, and when the motor type information is acquired, the process proceeds to step S5.

In step S4, motor type information is acquired from the encoder 5. Then, it progresses to step S5.

In step S5, the current detection value Id detected by the current detection unit 27 is acquired. Then, it progresses to step S6.

In step S6, the demand output value Pd of the servo amplifier 2 of its own is calculated. That is, the current detection value Id acquired in step S5 is divided by the maximum motor current value Im included in the motor type information acquired in step S4, and the rated output of the servo amplifier 2 stored in the storage unit 24 in advance. The value Pr is multiplied to calculate the demand output value Pd (see the above equation (1)). Then, it progresses to step S7.

In step S7, it is determined whether the axis number is #1. That is, when the axis number is #1, it is determined that the own servo amplifier 2 is the master amplifier, and the process proceeds to step S8. If the axis number is other than #1, it is determined that the own servo amplifier 2 is a slave amplifier, and the process proceeds to step S12. In the present specification, “determining that the axis number is #1” is described as an example of “determining that the servo amplifier 2 of itself is the master amplifier”. Further, "determining that the axis number is an axis number other than #1" is described as an example of "determining that the servo amplifier 2 of itself is a slave amplifier".

In step S8, the demand output values Pd (Pd2 to Pd4) are acquired from the servo amplifiers 2 of the other slave amplifiers. Then, it progresses to step S9.

In step S9, the total output value ΣPd is calculated. Then, it progresses to step S10.

In step S10, it is determined whether the total output value ΣPd exceeds the converter rated output value Pt. When the total output value ΣPd exceeds the converter rated output value Pt, the process proceeds to step S11, and when the total output value ΣPd does not exceed the converter rated output value Pt, the process returns to step S5.

In step S11, the notification unit 28 displays a warning indicating that the total output value ΣPd exceeds the converter rated output value Pt. Further, the supply of AC control power from the servo amplifiers 2a to 2d to the servo motors 3a to 3d is stopped. Then, the control process by the multi-axis drive device 100 (servo amplifier 2) is completed.

When the axis number is other than #1 in step S7, in step S12, another servo amplifier whose axis number is determined to be #1 is transmitted from its own servo amplifier 2 through the communication lead wire 45 of the baseboard unit 4. 2, the demand output value Pd is transmitted. Then, it progresses to step S13.

In step S13, it is determined whether or not the transmission of the demand output value Pd is completed. If the transmission of the demand output value Pd is completed, the process returns to step S5, and if the transmission of the demand output value Pd is not completed, the process returns to step S12.

That is, the servo amplifier 2 whose axis number is determined to be #1 repeats steps S5 to S10 until the total output value ΣPd exceeds the converter rated output value Pt, and determines that the axis number is other than #1. In the amplifier 2, steps S5 to S7 and steps S12 and S13 are repeated.

[Effects of First Embodiment]
In the first embodiment, the following effects can be obtained.

In the first embodiment, as described above, the control unit 23 of the servo amplifier 2 acquires the demand output value Pd from another servo amplifier 2 via the communication unit 25, and based on the acquired demand output value Pd. Then, the control is performed to calculate the total output value ΣPd of the demand output values Pd of the servo amplifier 2. As a result, the total output value ΣPd of the output values of the servo amplifier 2 can be calculated without providing the control unit in the converter unit 1, so that the converter unit 1 can be prevented from increasing in size. Further, since the conventional servo amplifier is provided with a control unit in advance for controlling the drive of the servo motor 3, by configuring the control unit of the servo amplifier provided in advance as described above, The total output value ΣPd of the plurality of servo amplifiers 2 can be calculated while suppressing an increase in size of the servo amplifier 2. As a result, it is possible to calculate the total output value ΣPd of the plurality of servo amplifiers 2 while suppressing the multi-axis drive device 100 from increasing in size.

In addition, in the first embodiment, as described above, whether the control unit 23 is the master amplifier based on the connection information (axis number) that is the information regarding the connection between the servo amplifier 2 of its own and the converter unit 1 ( The control is performed to determine whether the axis number is #1) or the slave amplifier (the axis number is other than #1). This makes it easier to connect the servo amplifiers to each other based on the connection position of the servo amplifiers, as compared with the case where the user individually sets the master amplifiers or the slave amplifiers for the plurality of servo amplifiers 2. Can be set as either a master amplifier or a slave amplifier.

Further, in the first embodiment, as described above, the baseboard unit 4 is assigned the identification information (axis numbers #1 to #4) as the connection information, and the plurality of servo amplifiers 2 are connected to each other. The base side fitting connection portion 42 of is provided. Then, the control unit 23 acquires the axis number, determines that the own servo amplifier 2 is the master amplifier when the acquired axis number is #1, and the acquired axis number is other than #1. In some cases, the servo amplifier 2 of its own is configured to perform control to determine that it is a slave amplifier. With this, only by connecting the servo amplifier 2 to the base side fitting connection portion 42, the plurality of servo amplifiers 2 can be automatically set to either the master amplifier or the slave amplifier according to the axis number. You can

Further, in the first embodiment, as described above, the base-side fitting connection portion 42 is configured such that the servo amplifier 2 (amplifier-side fitting connection portion 29) is detachable, and the DC power from the converter portion 1 is set. Is supplied to the plurality of servo amplifiers 2 connected to the base side fitting connection portion 42. As a result, the servo amplifier 2 can be replaced with the base board unit 4 as needed. For example, even if some of the servo amplifiers 2 out of the plurality of servo amplifiers 2 fail, only some of the failed servo amplifiers 2 can be replaced.

Further, in the first embodiment, as described above, when the servo amplifier 2 of its own is a slave amplifier, the control section 23 is switched to another servo amplifier 2 determined to be the master amplifier via the communication section 25. It is configured to perform control for transmitting the demand output value Pd of its own servo amplifier 2. As a result, the demand output value Pd is transmitted from the servo amplifier 2 determined to be the slave amplifier to the servo amplifier 2 determined to be the master amplifier, so that the servo amplifier 2 determined to be the master amplifier can easily be changed to another servo amplifier. The demand output value Pd of 2 can be acquired.

Further, in the first embodiment, as described above, the control unit 23 is notified when the servo amplifier 2 of its own is the master amplifier and the total output value ΣPd exceeds the converter rated output value Pt. A warning display is notified from the unit 28, and control is performed to stop the operation of the plurality of servo amplifiers 2a to 2d. As a result, even if the total output value ΣPd of the plurality of servo amplifiers 2 becomes large, it is possible to prevent the converter unit 1 from being damaged due to warning notification and power limitation.

[Second Embodiment]
Next, a configuration of the multi-axis drive device 200 according to the second embodiment will be described with reference to FIG. The control unit 223 of the servo amplifier 202 of the multi-axis drive device 200 of the second embodiment performs control to acquire the number n of the servo motors 3 in use, and based on the number n of the servo motors 3 in use, It is configured to perform control to set the output limit value Pv for each of the plurality of servo amplifiers 202. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

(Structure of the multi-axis drive device according to the second embodiment)
As shown in FIG. 1, the multi-axis drive device 200 according to the second embodiment includes a servo amplifier 202 (servo amplifiers 202a to 202d). Then, the control unit 223 of the servo amplifier 202 acquires the motor information from the plurality of encoders 5a to 5d when the own servo amplifier is the master amplifier (when the axis number is #1), and the acquired motor is acquired. Based on the information, control is performed to obtain the number n of the servo motors 3 being used, and one of the plurality of servo amplifiers 202 is provided based on the number n (hereinafter, number n) of the servo motors 3 being used. The output limit value Pv is set.

Specifically, the control unit 223 of each of the servo amplifiers 202a to 202d is configured to acquire motor information from the encoders 5a to 5d. The motor information includes, for example, drive information (position information) of the servo motor 3, and the drive information is information for determining whether the servo motor 3 is in use. Then, the control unit 223 of the master amplifier servo amplifier 202 is configured to perform control for acquiring motor information from the slave amplifier servo amplifier 202.

The control unit 223 of the master amplifier is configured to acquire the number n of the servo motors 3 in use, based on the motor information acquired from another servo amplifier 202. Then, the control unit 223 of the master amplifier is configured to perform control for setting the output limit value Pv for each of the plurality of servo amplifiers 202 based on the number n.

For example, even when the multi-axis drive device 200 is provided with servo amplifiers 202a to 202d for four axes, if the number of servo motors 3 in use is two, the control unit 223 of the master amplifier acquires n as 2. To do. Then, the control unit 223 of the master amplifier is configured to set the output limit value Pv per one of the plurality of servo amplifiers 202 to the output limit value Pv2 larger than the output limit value Pv4 when the number n is 4. Has been done. At this time, the control unit 223 of the master amplifier may be configured to set the output value Pc of the servo amplifier 202 connected to the servo motor 3 not in use to zero.

That is, the control unit 223 of the master amplifier is configured to set a larger output limit value Pv as the number n is smaller, and set a smaller output limit value Pv as the number n is larger.

The control unit 223 of the master amplifier compares the output limit value Pv with the demand output values Pd1 to Pd4, and if the demand output value Pd exceeds the output limit value Pv, stops the operation of the exceeded servo amplifier 202. Alternatively, the control is performed to stop the operation of the plurality of servo amplifiers 202a to 202d. The flowchart shown in FIG. 5 shows an example in which the operation of the plurality of servo amplifiers 202a to 202d is stopped.

Even in the multi-axis drive device 200 according to the second embodiment, the control unit 223 of the master amplifier calculates the total output value ΣPd and determines whether the total output value ΣPd exceeds the converter rated output value Pt. Is configured.

The other configurations of the multi-axis drive device 200 according to the second embodiment are similar to those of the multi-axis drive device 100 according to the first embodiment.

(Control processing of the multi-axis drive device according to the second embodiment)
Next, the control processing of the multi-axis drive device 200 (servo amplifier 202) according to the second embodiment will be described with reference to FIG. The operation of the multi-axis drive device 200 (servo amplifier 202) is executed by the control processing of the control unit 223. Note that, in FIG. 5, the same processes as those of the multi-axis drive device 100 according to the first embodiment are denoted by the same step numbers and description thereof is omitted.

After steps S1 to S6 are executed, if it is determined in step S7 that the axis number is #1 (when it is determined that the servo amplifier 2 of its own is the master amplifier), the process proceeds to step S201.

In step S201, the number n of the servo motors 3 in use is acquired based on the motor information from the encoders 5a to 5d. Then, it progresses to step S202.

In step S202, the output limit value Pv for each of the plurality of servo amplifiers 202 is set based on the number n. Then, it progresses to step S8, and after execution of step S8, it progresses to step S203.

In step S203, it is determined whether the demand output value Pd (demand output values Pd1 to Pd4) exceeds the output limit value Pv. When the demand output value Pd exceeds the output limit value Pv, the process proceeds to step S11, and the warning display and the operation of the servo amplifier 202 are stopped. When the demand output value Pd does not exceed the output limit value Pv, the process proceeds to step S9 and the processes of step S9 and step S10 are performed. The other control processing of the multi-axis drive apparatus 200 according to the second embodiment is the same as the control processing (see FIG. 4) of the multi-axis drive apparatus 100 according to the first embodiment.

(Effects of Second Embodiment)
In the second embodiment, the following effects can be obtained.

In the second embodiment, as described above, the multi-axis drive device 200 is provided with the plurality of encoders 5 having the motor information of the servo motors 3. Then, when the servo amplifier 202 of its own is the master amplifier, the control unit 223 acquires motor information from the plurality of encoders 5 and determines the number n of the servo motors 3 in use based on the acquired motor information. In addition to performing the acquisition control, the control is performed to set the output limit values Pv of the plurality of servo amplifiers 202 based on the number n of the servo motors 3 being used. Here, when setting the output limit value Pv of the servo amplifier 202, if the output limit value Pv is evenly distributed by the number including the servo motors 3 that are not in use, the output limit value Pv is also set in the servo amplifier 202 that does not use power. Will be distributed. In consideration of this point, in the second embodiment, the control unit 223 is configured to perform control for setting the output limit value Pv of the plurality of servo amplifiers 202 based on the number n of servo motors in use. Thus, the output limit value Pv of the servo amplifier 202 that drives the servo motor 3 in use can be appropriately set. For example, the output limit value Pv of the servo amplifier 203 connected to the servo motor 3 not in use is reduced (for example, to zero), and the output limit value of the servo amplifier 203 connected to the servo motor 3 in use is reduced accordingly. The value Pv can be set large.

The other effects of the multi-axis drive device 200 according to the second embodiment are similar to those of the multi-axis drive device 100 according to the first embodiment.

[Third Embodiment]
Next, the configuration of the multi-axis drive device 300 according to the third embodiment will be described with reference to FIG. In the servo amplifier 302 according to the third embodiment, the control unit 323 of the master amplifier is configured to set the output value Pc (output limit value) of the servo amplifier 302. The same components as those in the first and second embodiments are designated by the same reference numerals and the description thereof will be omitted.

(Structure of the multi-axis drive device according to the third embodiment)
As shown in FIG. 1, the multi-axis drive device 300 according to the third embodiment includes a plurality of servo amplifiers 302 (302a to 302d). Then, when the servo amplifier 302 of its own is the master amplifier (when the axis number is #1), the control unit 323 of the servo amplifier 302 has at least one of its own servo amplifier 302 or another servo amplifier 302. It is configured to perform control for setting the output value Pc (output limit value) of the servo amplifier 2.

For example, when the servo amplifier 302b of the servo amplifiers 302a to 302d has the highest priority and it is necessary to secure a predetermined output value Pp, the control unit 323 of the servo amplifier 302a determined to be the master amplifier is The output value Pc of 302b is controlled to be the output value Pp. The control unit 323 is configured to set (change) the priority setting and the predetermined output value Pp according to the input operation of the operation unit 26 by the user.

Then, in the third embodiment, the control unit 323 of the master amplifier controls the total output value of the output values Pc of the servo amplifiers 302a, 302c, and 302d other than the output value Pp of the servo amplifier 302b in which the output value Pc is set as the output value Pp. It is configured to perform control for calculating ΣPda. In this case, the control unit 323 calculates the total output value ΣPda using the following formula (3).
ΣPda=Pd1+Pd3+Pd4 (3)

Then, the control unit 323 of the master amplifier is configured to compare a value (Pt-Pp) obtained by subtracting the set output value Pp from the converter rated output value Pt with the total output value ΣPda. In other words, control unit 323 is configured to compare the total value of total output value ΣPda and output value Pp with converter rated output value Pt. Then, when the total output value ΣPda exceeds the difference value (Pt−Pp), the control unit 323 of the master amplifier performs control for issuing a warning from the notification unit 28 and also among the servo amplifiers 302a to 302d. The servo amplifiers 302a, 302c, and 302d, which are the servo amplifiers 302 excluding the servo amplifier 302b for which the output value Pp is set, are configured to be controlled to stop the operation (or limit the power).

As a result, in the multi-axis drive device 300, the output values of the servo amplifiers 302b, 302c, and 302d having a relatively low priority are adjusted while the output value Pp from the servo amplifier 302b having a high priority is secured. Then, the total output value ΣPd including the output value Pp is configured not to be maintained in a state of exceeding the converter rated output value Pt.

The other configurations of the multi-axis drive device 300 according to the third embodiment are similar to those of the multi-axis drive device 100 according to the first embodiment.

(Control processing of the multi-axis drive device according to the third embodiment)
Next, the control processing of the multi-axis drive device 300 (servo amplifier 302) according to the third embodiment will be described with reference to FIG. The operation of the servo amplifier 302 is executed by the control processing of the control unit 323. In FIG. 4, the same steps as those of the multi-axis drive device 100 according to the first embodiment are designated by the same step numbers, and the description thereof will be omitted.

As shown in FIG. 4, after the processes of steps S1 to S8 are executed, the process proceeds to step S309. Then, in step S309, the total output value ΣPda (see the above formula (3)) of the output values Pc of the servo amplifiers 302a, 302c and 302d other than the output value Pp of the servo amplifier 2b is calculated. Then, it progresses to step S310.

In step S310, it is calculated whether the total value of the total output value ΣPda and the output value Pp exceeds the converter rated output value Pt (whether the total output value ΣPda exceeds the value Pt−Pp). When the total value of the total output value ΣPda and the output value Pp exceeds the converter rated output value Pt, the process proceeds to step S11, and the total value of the total output value ΣPda and the output value Pp does not exceed the converter rated output value Pt. In that case, the process returns to step S5. The other control processing is the same as that of the multi-axis drive device 100 according to the first embodiment.

(Effect of the third embodiment)
In the third embodiment, the following effects can be obtained.

In the third embodiment, as described above, when the servo amplifier 302 of its own is the master amplifier, at least one servo amplifier 302 of the servo amplifier 302 of its own or another servo amplifier 302 ( For example, the control is performed so that the output value Pc of the servo amplifier 302b) becomes the output value Pp. As a result, the output value Pc can be set according to the servo amplifier 302. Therefore, for example, the output value Pp is made larger than the output value Pc, and the output value Pc of the servo amplifier having a higher priority is set as the output value Pp. Since the output value Pc can be increased or the output value Pp can be made smaller than the output value Pc to limit the output value Pc of the servo amplifier 302, the convenience when the user uses the multi-axis drive device 300 is improved. be able to.

Further, in the third embodiment, as described above, the control unit 323 controls the servo that sets the output value Pc of the output values Pc of the plurality of servo amplifiers 302 when the own servo amplifier 302 is the master amplifier. The control is performed to calculate the total output value ΣPda of the demand output values Pd of the plurality of servo amplifiers 302 other than the output value Pp of the amplifier 302b. As a result, the total output value ΣPda of the demand output values Pd of the servo amplifiers 302 which are not set among the plurality of servo amplifiers 302 can be acquired in a state where the set output value Pp of the servo amplifier 302b is secured. As a result, it is possible to perform control so that the combined value of the set output value Pp of the servo amplifier 302b and the total output value ΣPda does not exceed the converter rated output value Pt.

The other effects of the multi-axis drive device 300 according to the third embodiment are similar to those of the multi-axis drive device 100 according to the first embodiment.

[Modification]
It should be considered that the embodiments disclosed this time are exemplifications in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of the claims, and further includes meanings equivalent to the scope of the claims and all modifications (modifications) within the scope.

For example, although the number of servo amplifiers (the number of axes) is four in the first to third embodiments, the present invention is not limited to this. That is, the number of servo amplifiers may be plural (two or more) other than four.

Further, in the above-described first to third embodiments, the control unit is configured to perform the control for determining whether it is the master amplifier or the slave amplifier based on the axis number. Although an example is shown, the present invention is not limited to this. For example, each of the plurality of servo amplifiers may be individually set to be a master amplifier or a slave amplifier by an input operation of a user's operation unit.

Further, in the above-described first to third embodiments, the example in which the axis number #1 is assigned to the board side fitting connection portion closest to the converter portion has been shown, but the present invention is not limited to this. That is, the axis number #1 may be assigned to the board-side fitting connection portion other than the board-side fitting connection portion closest to the converter unit.

Further, in the first to third embodiments, the control unit, based on the acquired motor type information and the table of the storage unit, the rated torque value of the connected servo motor, the maximum motor current value, and Although the example in which the rated motor speed value and the rated motor speed value are acquired has been shown, the present invention is not limited to this. That is, the control unit may be configured to directly acquire the maximum motor current value and the like from the encoder without using the table.

Further, in the above-described first to third embodiments, an example is shown in which when the total output value ΣPd exceeds the converter rated output value Pt, a warning display and the operation of all the servo amplifiers are stopped. The present invention is not limited to this. That is, when the total output value ΣPd exceeds the converter rated output value Pt, a warning is issued, the magnitude of the AC control power supplied from a plurality of servo amplifiers to the servo motor is limited, or a plurality of AC control powers are supplied. It is only necessary to be configured to control at least one of stopping operation of at least one of the servo amplifiers.

Further, in the above-described first to third embodiments, as shown in FIG. 1, an example is shown in which the converter unit is provided outside the servo amplifier, but the present invention is not limited to this. For example, a common converter section that is shared with other servo amplifiers may be provided inside one of the plurality of servo amplifiers.

Further, in the above-described first to third embodiments, an example is shown in which the demand output value Pd is transmitted from the servo amplifier determined to be the slave amplifier to the servo amplifier determined to be the master amplifier. Is not limited to this. For example, the current detection value Id may be transmitted from the servo amplifier determined to be the slave amplifier to the servo amplifier determined to be the master amplifier. In this case, for example, the storage unit 24 stores the rated output values Pr1 to Pr4 of itself and the other servo amplifiers 2a to 2d and the maximum motor current values Im1 to Im4 of the other servo amplifiers 2a to 2d in advance. deep. Then, the control unit 23 of the servo amplifier 2a that is determined to be the master amplifier detects its own current detection value Id (current detection value Id1) and the current detection values Pd of the other servo amplifiers 2b to 2d (current detection values Id2 to Id4). ) And the control for calculating the total output value ΣPd. That is, the control unit 23 may be configured to calculate the total output value ΣPd using the following equation (4).
ΣPd=Pr1×Id1/Im1+Pr2×Id2/Im2+Pr3×Id3/Im3+Pr4×Id4/Im4 (4)

Further, although the configurations have been described separately in the first to third embodiments, a servo amplifier and a multi-axis drive device having all the functions of the first to third embodiments may be configured.

1 Converter section (common converter section)
2, 2a to 2d, 202, 202a to 202d, 302, 302a to 302d Servo amplifier 3, 3a to 3d Servo motor 4 Base board unit (connecting unit)
5, 5a to 5d Encoder 23, 223, 323 Control unit 25 Communication unit 42 Board side fitting connection unit (connection unit)
100, 200, 300 Multi-axis drive device

Claims (10)

A converter unit for converting AC power into DC power,
A plurality of servo amplifiers for converting the direct-current power into alternating-current control power and supplying the converted alternating-current control power to a servo motor for driving;
The servo amplifier includes a control unit that controls driving of the servo motor, and a communication unit that can communicate with other servo amplifiers.
When the control unit determines that the servo amplifier of the controller is the first amplifier that calculates the total output value of the output values of the plurality of servo amplifiers, the control unit other than the first amplifier of the plurality of servo amplifiers Control for acquiring output information of the servo amplifier from the other servo amplifier which is the second amplifier of the servo amplifier via the communication unit, and calculating the total output value based on the acquired output information of the servo amplifier. It is configured to perform,
The control unit, based on connection information, which is information related to the connection between the servo amplifier and the converter unit, which is acquired based on the connection between the servo amplifier and the converter unit, the control unit. A multi-axis drive device configured to perform control to determine whether it is one amplifier or the second amplifier . The control unit determines whether it is the first amplifier or the second amplifier based on connection information that is information about connection between the servo amplifier of the controller itself and the converter unit. The multi-axis drive device according to claim 1, wherein the multi-axis drive device is configured to perform a determination control. Identification information as the connection information is respectively assigned, further comprising a plurality of connection portions to which the plurality of servo amplifiers are respectively connected,
The control unit acquires the identification information, determines that the own servo amplifier is the first amplifier when the acquired identification information is predetermined identification information, and acquires the identification information. 3. The multi-axis drive device according to claim 2 , wherein the servo amplifier of its own is configured to perform control to determine that the servo amplifier is the second amplifier when is other than the predetermined identification information. Each of the plurality of connecting portions is configured such that the servo amplifier is attachable/detachable, and the DC power from the converter portion is supplied to the plurality of servo amplifiers connected to the plurality of connecting portions. The multi-axis drive device according to claim 3, which is configured. When the servo amplifier of its own is the second amplifier, the control unit outputs the output information of the servo amplifier of its own to the other servo amplifier determined to be the first amplifier via the communication unit. The multi-axis drive device according to claim 1, wherein the multi-axis drive device is configured to perform transmission control. When the servo amplifier of the controller itself is the first amplifier, and when the total output value exceeds a predetermined threshold output value, the control unit issues a warning or outputs a plurality of servos. A control for performing at least one of limiting the magnitude of the AC control power supplied from the amplifier to the servo motor or stopping the operation of at least one of the plurality of servo amplifiers The multi-axis drive device according to claim 1, wherein the multi-axis drive device is configured as described above. When the servo amplifier of itself is the first amplifier, the control unit performs control for setting an output value of at least one of the servo amplifiers of the own servo amplifier and the other servo amplifier. The multi-axis drive device according to claim 1, wherein the multi-axis drive device is configured according to claim 1. When the servo amplifier of the controller itself is the first amplifier, the controller is configured to set the output value of the output values of the plurality of servo amplifiers to a value other than the output value of the servo amplifier. The multi-axis drive device according to claim 7, wherein the multi-axis drive device is configured to perform control to calculate a total output value of the output values. Further comprising a plurality of encoders having motor information of the servo motor,
When the servo amplifier of the controller itself is the first amplifier, the control unit acquires the motor information from the plurality of encoders, and based on the acquired motor information, the number of servo motors in use. 9. The control according to claim 1, wherein the control for acquiring the output values of the plurality of servo amplifiers is performed based on the number of servo motors in use. The multi-axis drive device according to the item. The servo amplifier which converts AC power into DC power, converts the DC power from a common converter unit of a plurality of servo amplifiers into AC control power, and supplies the converted AC control power to a servo motor for driving. And
A control unit for controlling the drive of the servo motor, and a communication unit capable of mutual communication with the other servo amplifier,
When the control unit determines that the servo amplifier of the controller is the first amplifier that calculates the total output value of the output values of the plurality of servo amplifiers, the control unit other than the first amplifier of the plurality of servo amplifiers Control for acquiring output information of the servo amplifier from the other servo amplifier which is the second amplifier of the servo amplifier via the communication unit, and calculating the total output value based on the acquired output information of the servo amplifier. It is configured to perform,
The control unit is based on connection information, which is information related to the connection between the own servo amplifier and the common converter unit, which is acquired based on the connection between the own servo amplifier and the common converter unit, A servo amplifier configured to perform control to determine whether it is the first amplifier or the second amplifier.

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