JP6786405B2 - Motor control system, component mounting machine, motor control method - Google Patents

Description

The present invention relates to a technique for controlling a plurality of types of motors such as a servo motor or a stepping motor.

Patent Document 1 shows a configuration in which serial communication is performed by a communication path in which a command output from the control unit returns to the control unit via a servo driver and a stepping driver in order (FIG. 1). In such a configuration, the servo driver and the stepping driver can control the servo motor and the stepping motor, respectively, based on the command received by the serial communication.

Japanese Unexamined Patent Publication No. 2001-168597

By the way, the form of the command to be input differs between the stepping driver and the servo driver. That is, the stepping driver can control the stepping motor based on the profile information that defines the operation profile indicating the operation of the motor for a predetermined period once. On the other hand, the servo driver controls the servo motor based on the sequential operation information that sequentially indicates the operation of the motor every unit time shorter than the predetermined period.

Therefore, it is necessary to send a command to the servo driver at a high communication speed, whereas it is not always necessary to send a command to the stepping driver at a high communication speed like the servo driver. However, in the configuration in which commands are transmitted to the servo driver and the stepping driver by serial communication via one communication path, the communication is executed at the uniform communication speed required by the servo driver, which is unnecessary for the stepping driver. The command was sometimes sent at a high communication speed.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of executing communication at a communication speed according to a type of driver.

The motor control system according to the present invention includes profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile at unit times shorter than a predetermined period. It includes a control device that generates commands, a first driver that controls the first motor, and a second driver that controls the second motor. The first driver receives commands from the control device at the first communication speed. The second driver uses the unit, the control unit that controls the first motor based on the sequential operation information included in the command for the first motor received by the receiving unit, and the profile information included in the command for the second motor received by the receiving unit. It has a transmission unit that transmits at a second communication speed lower than the first communication speed, and the second driver controls the second motor based on the profile information received from the transmission unit of the first driver.

The component mounting machine according to the present invention supplies a board transport unit and a component that executes a carry-in operation of carrying a board into a predetermined position to support the board in a predetermined position and a carry-out operation of carrying out the board from a predetermined position. A mounting head that executes a mounting operation for transferring the components supplied by the component supply section to a component supply section and a board supported at a predetermined position by the board transport section, a first motor that drives the mounting head, and a board. It is equipped with a second motor that drives the transport unit and the above-mentioned motor control system. The motor control system controls the first motor to cause the mounting head to execute the mounting operation, and also controls the second motor. Have the board carrier execute the loading and unloading operations.

The motor control method according to the present invention includes profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile at unit times shorter than a predetermined period. The process of generating a command, the process of the first driver receiving the command at the first communication speed, the process of the first driver controlling the first motor based on the sequential operation information included in the command for the first motor, and the first. A process in which the first driver transmits the profile information included in the command for the two motors to the second driver at a second communication speed lower than the first communication speed, and a process in which the second driver controls the second motor based on the profile information. And.

In the present invention (motor control system, component mounting machine, motor control method) configured in this way, a first driver for controlling the first motor and a second driver for controlling the second motor are provided. Then, the first driver receives the command including the profile information and the sequential operation information at the first communication speed. When the first driver receives a command for the first motor, it controls the first motor based on the sequential operation information included in the command, and when it receives a command for the second motor, the first driver receives the profile information included in the command. 2 Sends to the driver at a second communication speed lower than the first communication speed. Then, the second driver controls the second motor based on the received profile information. In this way, while communication is executed at the first communication speed for the first driver that controls the first motor based on the sequential operation information, the second driver that controls the second motor based on the profile information. Communication is executed at a second communication speed lower than the first communication speed. In this way, it is possible to execute communication at a communication speed according to the type of driver.

Further, the first driver further has a conversion unit that converts the defined mode of the operation profile of the profile information for the second driver, and the transmission unit transmits the profile information converted by the conversion unit to the second driver. In addition, a motor control system may be configured. Such a configuration is suitable because the profile information of the specified mode corresponding to the second driver can be transmitted from the first driver to the second driver.

Further, the transmission unit may configure the motor control system so that the profile information converted by the conversion unit is transmitted to the second driver by serial communication. As a result, an inexpensive second driver of the serial communication method can be used, so that the cost can be suppressed.

Further, the control device may configure the motor control system so as to calculate the profile information and then sequentially calculate the operation information based on the profile information. In such a configuration, the profile information generated in the process of calculating the sequential operation information can be effectively used when the second driver controls the second motor.

As described above, according to the present invention, it is possible to execute communication at a communication speed according to the type of driver.

It is a block diagram which shows an example of the motor control system which concerns on this invention. It is a flowchart which shows an example of the operation of a system controller. It is a figure which shows an example of the operation profile of a motor schematically. It is a figure which shows an example of the profile information which defines the operation profile of FIG. It is a figure which shows an example of the command output by a system controller schematically. It is a flowchart which shows an example of the operation of an AC servo driver. It is a flowchart which shows an example of the operation executed by the command conversion of the flowchart of FIG. It is a flowchart which shows an example of the operation of a stepping driver. It is a figure which shows typically an example of the communication operation between a system controller and a stepping driver. It is a figure which shows typically the modification of the communication operation between a system controller and a stepping driver. It is a partial plan view which shows an example of the component mounting machine which concerns on this invention typically. It is a figure which shows the electrical structure which the component mounting machine of FIG. 11 has.

FIG. 1 is a block diagram showing an example of a motor control system according to the present invention. The motor control system 1 includes a system controller 2, two AC servo drivers 3A and 3B, and two stepping drivers 4A and 4B. The system controller 2 and the AC servo drivers 3A and 3B are connected to each other by a high-speed communication path Nh composed of an industrial high-speed fieldbus such as EtherCAT (registered trademark), and the system controller 2 goes to the high-speed communication path Nh. By outputting the command, the command is transmitted to the AC servo drivers 3A and 3B in order. The AC servo driver 3A controls two AC servo motors Ma based on the command received directly from the system controller 2, and the AC servo driver 3B 2 based on the command received from the system controller 2 via the AC servo driver 3A. Controls the AC servo motor Ma of the stand.

The stepping driver 4A is connected to the AC servo driver 3A by, for example, RS-422 compliant low-speed communication path Nl having a band lower than the high-speed communication path Nh. Specifically, for example, the communication speed on the high-speed communication path Nh is about 100 Mbps (bits / second), while the communication speed on the low-speed communication path Nl is 500 kbps to 1 Mbps. The stepping driver 4A controls two stepping motors Ms based on a command received from the system controller 2 via the AC servo driver 3A. The stepping driver 4B is connected to the AC servo driver 3B by the low-speed communication path Nl. The stepping driver 4B controls two stepping motors Ms based on a command received from the system controller 2 via the AC servo driver 3B.

FIG. 2 is a flowchart showing an example of the operation of the system controller. Subsequently, the configuration and operation of the system controller 2 will be described with reference to FIGS. 1 and 2. The system controller 2 includes a motion controller 21 and a fieldbus controller 22 that controls communication via the high-speed communication path Nh. Then, in step S101 of FIG. 2, the motion controller 21 generates profile information (FIG. 4) that defines an operation profile (FIG. 3) indicating the operation of the motor during the operation period.

FIG. 3 is a diagram schematically showing an example of an operation profile of a motor, and FIG. 4 is a diagram showing an example of profile information defining the operation profile of FIG. As shown in FIG. 3, the operation profile Pm shows the acceleration / deceleration pattern of the motor over the operation period Tm from the start to the stop of the motor. According to this operation profile Pm, the rotation speed V of the motor rises from zero to the maximum speed Vx during the acceleration time Ta, and the rotation speed V of the motor becomes constant at the maximum speed Vx during the constant speed Tb and decelerates. During the time Tc, the rotation speed V of the motor drops from the maximum speed Vx to zero.

On the other hand, the profile information Ip generated by the motion controller 21 in step S101 has an acceleration time, a constant speed time, a deceleration time, an acceleration distance, a constant speed distance, a deceleration distance, a maximum speed, and a target, as shown in FIG. The operation profile Pm is defined by parameters such as position. In FIG. 4, the amount of information (bytes) representing each parameter and the unit of each parameter are shown together. Explaining the unit, [ms] indicates the number of milliseconds, [pls] indicates the number of pulses, and [rpm] indicates the number of revolutions per minute.

The contents of the acceleration time, constant speed time, deceleration time and maximum speed in FIG. 4 are as shown in FIG. 3, respectively. On the other hand, the acceleration distance, the constant speed distance, and the deceleration distance are the number of times that the pulse (control pulse) for controlling the motor is output during the acceleration time Ta, the constant speed time Tb, and the deceleration time Tc, respectively. The target position is the number of times the control pulse is output during the operation period Tm. This control pulse is, for example, a pulse output from the encoder of the AC servomotor Ma when the AC servomotor Ma is the control target, and a pulse given to the stepping motor Ms when the stepping motor Ms is the control target. Although the number of pulses indicates the distance, the distance corresponding to one pulse differs depending on the motor. In order to correspond to this, the system controller 2 stores, for example, the number of pulses (distance) corresponding to 1 mm for each motor.

In step S102, the motion controller 21 calculates the sequential operation information It based on the profile information Ip. This sequential operation information It sequentially indicates the operation of the motor indicated by the operation profile Pm, in other words, the command position to the motor every minute time t. Here, the minute time t is a unit for dividing the operation period Tm into a large number as shown in FIG. 3, and is, for example, 1 [ms] or less. In this way, when the command C (FIG. 5) composed of the profile information Ip and the sequential operation information It is generated, the fieldbus controller 22 sends the command C to the high-speed communication path Nh at the first communication speed (high communication speed). Transmit (step S103). Here, the communication speed can be obtained as a bit rate indicating the number of bits that can be transmitted in a unit time.

FIG. 5 is a diagram schematically showing an example of a command output by the system controller. As shown in FIG. 5, following the transmission of the profile information Ip, the sequential operation information It is transmitted. At this time, the sequential operation information It included in the command C indicates the operation of the motor every minute time t. Therefore, the sequential operation information It (which is a packet included in the command C) must be transmitted earlier than the timing when the servo controller 321 actually transmits to the drive circuit 33, and the sequential operation information It is from the minute time t. Must be transmitted from the fieldbus controller 22 to the high-speed communication path Nh in a short communication cycle.

When the system controller 2 generates and transmits a command C for the motor, the system controller 2 ends the flowchart of FIG. The system controller 2 can generate a command C for each motor while designating four AC servomotors Ma and four stepping motors Ms. Each command C generated in this way is sequentially transmitted from the system controller 2 to the high-speed communication path Nh.

FIG. 6 is a flowchart showing an example of the operation of the AC servo driver. Subsequently, the configurations and operations of the AC servo drivers 3A and 3B will be described with reference to FIGS. 1 and 6. Since the configurations and operations of the AC servo drivers 3A and 3B are common, the AC servo driver 3A will be described here as a representative. As shown in FIG. 1, the AC servo driver 3A includes a fieldbus controller 31, a CPU (Central Processing Unit) 32, a drive circuit 33, and a serial communication unit 34.

The fieldbus controller 31 controls communication via the high-speed communication path Nh. The fieldbus controller 31 has two axis data Das corresponding to two AC servomotors Ma controlled by the AC servo driver 3A and two stepping motors Ms controlled by the stepping driver 4A. It has an area for receiving the axis data Ds. Then, in step S201 of FIG. 2, the fieldbus controller 31 receives the command C from the fieldbus controller 22 of the system controller 2 via the high-speed communication path Nh at the first communication speed. Further, the fieldbus controller 31 determines whether the motor designated by the command C is the AC servomotor Ma or the stepping motor Ms.

When the motor to which the command C is specified is the AC servo motor Ma (in the case of "servo" in step S202), the servo controller 321 built in the CPU 32 is AC based on the sequential operation information It included in the command C. Feedback control is executed for the servomotor Ma (step S203). That is, the servo controller 321 outputs a control signal corresponding to the deviation between the command value indicated by the sequential operation information It and the output value of the encoder of the AC servo motor Ma to the drive circuit 33 every minute time t. Then, the drive circuit 33 outputs a drive signal corresponding to the control signal to the AC servomotor Ma to drive the AC servomotor Ma. As a result, the operation of the AC servomotor Ma follows the command value indicated by the sequential operation information It every minute time t, and the AC servomotor Ma executes the operation indicated by the operation profile Pm.

Incidentally, the reason why the servo controller 321 controls the AC servomotor Ma based on the sequential operation information It is that the control of the servo controller 321 is feedback control. That is, if a large command value is given to the system that performs feedback control, a large deviation may occur and the response may become oscillating. Therefore, the servo controller 321 executes feedback control based on the sequential operation information It for the purpose of stabilizing the response by setting the minute change in the minute time t as the command value.

On the other hand, when the motor designated by the command C is the stepping motor Ms (in the case of "stepping" in step S202), the command conversion unit 322 constructed in the CPU 32 executes the command conversion (step S204). This command conversion converts the defined mode of the operation profile Pm by the profile information Ip transmitted from the system controller 2 into the defined mode according to the stepping driver 4A. That is, the profile information Ip transmitted from the system controller 2 defines the operation profile Pm by each parameter shown in FIG. On the other hand, in the stepping driver 4A, the operation profile Pm is defined by using parameters different from these. Therefore, in step S204, the command conversion shown in FIG. 7 is executed.

FIG. 7 is a flowchart showing an example of the operation executed by the command conversion of the flowchart of FIG. In step S301, the maximum speed [pps] is calculated by changing the unit of the maximum speed from [rpm] to [pps]. Here, [pps] is the number of pulses per second. In step S302, the acceleration [pps / s] is calculated by dividing the maximum speed by the acceleration time. In step S303, the deceleration [pps / s] is calculated by dividing the maximum speed by the deceleration time. In step S304, the target position [pls] is diverted as it is. The execution order of steps S301 to S304 is not limited to this. Alternatively, steps S301 to S304 may be performed in parallel. In this way, by executing steps S301 to S304, the operation profile Pm is defined by parameters such as maximum velocity [pps], acceleration [pps / s], deceleration [pps / s], and target position [pls]. , The defined mode of the profile information Ip is converted, and the process returns to the flowchart of FIG.

In step S205, the serial communication unit 34 serially transmits the profile information Ip converted by the command conversion unit 322 to the low-speed communication path Nl at the second communication speed (low communication speed). Here, the second communication speed is a communication speed lower than the first communication speed. By the way, the sequential operation information It included in the command C with the stepping motor Ms as the designated destination is discarded without being transmitted from the serial communication unit 34 to the stepping driver 4A.

FIG. 8 is a flowchart showing an example of the operation of the stepping driver. Subsequently, the configuration and operation of the stepping drivers 4A and 4b will be described with reference to FIGS. 1 and 8. Since the configurations and operations of the stepping drivers 4A and 4B are common, the stepping driver 4A will be described here as a representative.

In step S401, the stepping driver 4A serially receives the profile information Ip from the serial communication unit 34 of the AC servo driver 3A at the second communication speed via the low-speed communication path Nl. Then, in step S402, the stepping driver 4A executes open loop control for the stepping motor Ms based on the received profile information Ip. That is, the stepping driver 4A generates a pulse according to the profile information Ip and outputs the pulse to the stepping motor Ms. As a result, the stepping motor Ms executes the operation indicated by the operation profile Pm.

In this way, the stepping drivers 4A and 4B communicate with the system controller 2 via the AC servo drivers 3A and 3B. FIG. 9 is a diagram schematically showing an example of communication operation between the system controller and the stepping driver. In the example of FIG. 9, the system controller 2 transmits the command value (profile information Ip) to the AC servo drivers 3A and 3B, and the AC servo drivers 3A and 3B transmit the converted command value to the stepping drivers 4A and 4B. Then, when the stepping drivers 4A and 4B receive the command value, they transmit a response to the effect that they have been received to the AC servo drivers 3A and 3B, and the AC servo drivers 3A and 3B transmit the received response to the system controller 2.

Further, as shown in FIG. 10, the status can be acquired during the period when the command value of FIG. 9 is not transmitted. FIG. 10 is a diagram schematically showing a modified example of the communication operation between the system controller and the stepping driver. In the example of FIG. 10, the AC servo drivers 3A and 3B transmit signals for confirming the status to the stepping drivers 4A and 4B. Then, when the stepping drivers 4A and 4B receive this signal, they respond to the AC servo drivers 3A and 3B with the status of the stepping motors Ms (whether there is an error, reach the target position, etc.), and the AC servo drivers 3A and 3B The system controller 2 is requested to update the status according to the received response content.

As described above, in the present embodiment, the AC servo drivers 3A and 3B for controlling the AC servo motor Ma and the stepping drivers 4A and 4B for controlling the stepping motor Ms are provided. Then, the AC servo drivers 3A and 3B receive the command C including the profile information Ip and the sequential operation information It at the first communication speed. When the AC servo drivers 3A and 3B receive the command C for the AC servo motor Ma, they feedback-control the AC servo motor Ma based on the sequential operation information It included in the command C, and receive the command C for the stepping motor Ms. , The profile information Ip included in the command C is transmitted to the stepping drivers 4A and 4B at a second communication speed lower than the first communication speed. Then, the stepping drivers 4A and 4B open-loop control the stepping motor Ms based on the received profile information Ip. In this way, the AC servo drivers 3A and 3B that feedback-control the AC servo motor Ma based on the sequential operation information It are communicated at the first communication speed, whereas the stepping motor is based on the profile information Ip. Communication is executed at a second communication speed lower than the first communication speed for the stepping drivers 4A and 4B that control the Ms in an open loop. In this way, it is possible to execute communication at a communication speed according to the type of driver.

Further, since the communication to the stepping drivers 4A and 4B can be executed at a relatively low communication speed, it is not necessary to prepare expensive stepping drivers 4A and 4B capable of supporting the communication at a high communication speed. As a result, it is possible to reduce the cost.

Further, the system controller 2 uniformly generates a command C composed of profile information Ip and sequential operation information It regardless of whether the designation destination of the command C is the AC servo motor Ma or the stepping motor Ms. Then, it may be transmitted to the high-speed communication path Nh. Therefore, it is possible to simplify the design or configuration of the system controller 2.

Further, the AC servo drivers 3A and 3B have a command conversion unit 322 that converts a defined mode of the operation profile Pm of the profile information Ip for the stepping drivers 4A and 4B. Then, the serial communication unit 34 transmits the profile information Ip converted by the command conversion unit 322 to the stepping drivers 4A and 4B. Such a configuration is suitable because the profile information Ip of the specified mode corresponding to the stepping drivers 4A and 4B can be transmitted from the AC servo drivers 3A and 3B to the stepping drivers 4A and 4B.

Further, the serial communication unit 34 transmits the profile information Ip converted by the command conversion unit 322 to the stepping drivers 4A and 4B by serial communication. As a result, the inexpensive stepping drivers 4A and 4B of the serial communication method can be used, so that the cost can be suppressed.

Further, the system controller 2 calculates the profile information Ip and then sequentially calculates the operation information It based on the profile information Ip. Such a configuration is suitable because the profile information Ip generated in the process of calculating the sequential operation information It is effectively used when the stepping drivers 4A and 4B control the stepping motors Ms.

By the way, the motor control system 1 as described above can be applied to various devices in which the AC servo motor Ma and the stepping motor Ms are used in combination. Therefore, as described in the following example, the motor control system 1 may be applied to a component mounting machine that mounts components on a board.

FIG. 11 is a partial plan view schematically showing an example of the component mounting machine according to the present invention. FIG. 12 is a diagram showing an electrical configuration included in the component mounting machine of FIG. FIG. 11 shows Cartesian coordinates consisting of the horizontal directions X and Y and the vertical direction Z. The component mounting machine 6 mounts components on the board B carried in at the mounting work position Bo (position of the board B in FIG. 11), and carries out the board B on which the components are mounted from the mounting work position Bo.

As shown in FIG. 12, the component mounting machine 6 includes a control unit 600. The control unit 600 includes a calculation unit 610, a storage unit 620, and a drive control unit 630. The calculation unit 610 executes arithmetic processing necessary for component mounting, and the storage unit 620 is a program required for arithmetic operations in the arithmetic unit 610. And data are stored, and the drive control unit 630 controls the drive system of the component mounting machine 6 based on the calculation result of the calculation unit 610. In this way, the component mounting on the component mounting machine 6 is controlled by the control unit 600.

As shown in FIG. 11, the component mounting machine 6 includes a pair of conveyors 62 and 62 provided on the base 61 and a backup unit 63. The conveyors 62 and 62 are provided in the horizontal direction X, and one conveyor 62 is movable in the horizontal direction Y with respect to the other conveyor 62. Therefore, by driving one of the conveyors 62 in the horizontal direction Y by the width adjusting motor Mw, the intervals between the conveyors 62 and 62 can be adjusted according to the width of the substrate B. Further, the conveyors 62 and 62 that have received the substrate B can convey the substrate B in the horizontal direction X (the substrate transfer direction) by the driving force from the transfer motor Mc.

That is, the substrate B is carried into the mounting work position Bo from the upstream side in the horizontal direction X (board transport direction) by the conveyors 62 and 62, and is supported by the backup unit 63 at the mounting work position Bo (carrying operation). The backup unit 63 has a push-up pin arranged below the mounting work position Bo, and brings the board B into contact with the board B of the mounting work position Bo by bringing the push-up pin raised by the push-up motor Mp into contact with the board B. Support from below. Then, the board B on which the components are mounted at the mounting work position Bo is carried out by the conveyors 62 and 62 to the downstream side in the horizontal direction X (carrying operation).

The component mounting machine 1 is provided with a pair of Y-axis rails 641 and 641 extending in the horizontal direction Y, a Y-axis ball screw 642 extending in the horizontal direction Y, and a Y-axis motor My for rotating and driving the Y-axis ball screw 642. The support member 643 is fixed to the nut of the Y-axis ball screw 642 in a state where the support member 643 is movably supported by the pair of Y-axis rails 641 and 641 in the horizontal direction Y. An X-axis ball screw 644 extending in the horizontal direction X and an X-axis motor Mx for rotationally driving the X-axis ball screw 644 are attached to the head support member 643, and the head unit 65 is mounted on the head support member 643 in the horizontal direction X. It is fixed to the nut of the X-axis ball screw 644 in a state of being movably supported. Therefore, the Y-axis motor My rotates the Y-axis ball screw 642 to move the head unit 65 in the horizontal direction Y, or the X-axis motor Mx rotates the X-axis ball screw 644 to move the head unit 65 in the horizontal direction X. be able to.

On both sides of the pair of conveyors 62 and 62 in the horizontal direction Y, two component supply units 66 are arranged in the horizontal direction X. A plurality of tape feeders 661 are detachably attached to each component supply unit 66 side by side in the horizontal direction X, and each tape feeder 661 has small pieces such as integrated circuits, transistors, and capacitors. Is loaded with carrier tape that stores the paper at regular intervals. Then, the tape feeder 661 supplies the components in the carrier tape by intermittently feeding the carrier tape to the head unit 65 side.

The head unit 65 has a plurality (4) mounting heads 651 that are linearly arranged in the horizontal direction X. Each mounting head 651 can move up and down in the vertical direction Z by receiving a driving force from the Z-axis motor Mz. Then, each mounting head 651 uses a nozzle attached to the lower end to transfer the components supplied by the component supply unit 66 to the substrate B supported by the mounting work position Bo (mounting operation). Specifically, the mounting head 651 moves directly above the component sent by the tape feeder 661. Then, the mounting head 651 descends until the lower end of the nozzle comes into contact with the upper end surface of the component, and then generates a negative pressure in the nozzle to attract the component to the nozzle. Subsequently, the mounting head 651 transfers the attracted component to the substrate B at the mounting work position Bo.

Further, a scan camera 67 that can move in the horizontal direction X is attached to the head unit 65. The scan camera 67 moves in the horizontal direction X by the driving force from the scan motor Mn, and images the suction state of the component by the mounting head 651.

Then, in order to control each of the above-mentioned motors Mx, My, Mz, Mn, Mw, Mc, and Mp, the motor control system 1 shown in FIG. 1 is mounted on the control unit 600 of the component mounting machine 6. Specifically, the system controller 2 is constructed in the calculation unit 610, and the AC servo driver 3A and the stepping driver 4A are mounted in the drive control unit 630. On the other hand, the motors Mx, My, Mz, and Mn are AC servomotors Ma, and the motors Mw, Mc, and Mp are stepping motors Ms. Therefore, the AC servo driver 3A controls the motors Mx, My, Mz, and Mn based on the command C from the system controller 2, and the stepping driver 4A controls the motors Mw, Mc, and Mp based on the command C from the system controller 2. .. The number of axes of each of the AC servo driver 3A and the stepping driver 4A is expanded according to the number of motors.

As described above, in the present embodiment, the motor control system 1 corresponds to an example of the "motor control system" of the present invention, the system controller 2 corresponds to an example of the "control device" of the present invention, and the AC servo drivers 3A and 3B. Each of the above corresponds to an example of the "first driver" of the present invention, each of the stepping drivers 4A and 4B corresponds to an example of the "second driver" of the present invention, and the AC servomotor Ma corresponds to the "first" of the present invention. The stepping motor Ms corresponds to an example of the "second motor" of the present invention, the field bus controller 31 corresponds to an example of the "receiver" of the present invention, and the field bus controller 31 corresponds to a high speed. The first communication speed (high communication speed) for communicating via the communication path Nh corresponds to an example of the "first communication speed" of the present invention, the CPU 32 corresponds to an example of the "control unit" of the present invention, and serial. The communication unit 34 corresponds to an example of the "transmission unit" of the present invention, and the second communication speed (low communication speed) at which the serial communication unit 34 communicates via the low-speed communication path Nl is the "second communication speed" of the present invention. The command conversion unit 322 corresponds to an example of the "conversion unit" of the present invention, the command C corresponds to an example of the "command" of the present invention, and the profile information Ip corresponds to the "profile information" of the present invention. The sequential operation information It corresponds to an example of the "sequential operation information" of the present invention, the operation period Tm corresponds to an example of the "predetermined period" of the present invention, and the operation profile Pm corresponds to the present invention. The minute time t corresponds to an example of the "unit time" of the present invention, the component mounting machine 6 corresponds to an example of the "component mounting machine" of the present invention, and the conveyors 62 and 62 correspond to an example of the "operation profile". And the backup unit 63 cooperate to function as an example of the "board transfer unit" of the present invention, the mounting head 651 corresponds to an example of the "mounting head" of the present invention, and the component supply unit 66 corresponds to the "mounting head" of the present invention. The substrate B corresponds to an example of the "board" of the present invention, and the mounting work position Bo corresponds to an example of the "predetermined position" of the present invention.

The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the spirit of the present invention. For example, in the example of FIG. 1, the motor control system 1 is provided with two AC servo drivers 3A and 3B. However, the number of AC servo drivers in the motor control system 1 is not limited to two, and may be one or three or more.

Further, in the example of FIG. 1, the motor control system 1 is provided with two stepping drivers 4A and 4B. However, the number of stepping drivers in the motor control system 1 is not limited to two, and may be one or three or more.

Further, in the example of FIG. 1, one stepping driver 4A is provided for one AC servo driver 3A. However, the relationship between the number of the corresponding AC servo drivers and the stepping drivers is not limited to one-to-one, and may be, for example, one-to-two or more.

Further, even if the number of AC servomotors Ma controlled by each of the AC servo drivers 3A and 3B (number of axes) and the number of stepping motors Ms controlled by each of the stepping drivers 4A and 4B (number of axes) are appropriately changed. good.

Further, another type of motor may be used instead of the AC servo motor Ma, or another type of motor (for example, a voice coil motor) may be used instead of the stepping motor Ms. At this time, the type of driver may be changed according to the change of the type of motor.

Further, the device to which the motor control system 1 can be applied is not limited to the component mounting machine 6 exemplified above.

1 ... Motor control system, 2 ... System controller (control device), 3A, 3B ... AC servo driver (first driver), 31 ... Field bus controller (receiver), 32 ... CPU (control unit), 321 ... Servo controller , 322 ... Command conversion unit (conversion unit), 34 ... Serial communication unit (transmission unit), 4A, 4B ... Stepping driver (second driver), 6 ... Parts mounting machine, 62 ... Conveyor (board transfer unit), 63 ... Backup unit (board transfer unit), 651 ... mounting head, 66 ... parts supply unit, Ma ... AC servo motor (first motor), Ms ... stepping motor (second motor), C ... command, Ip ... profile information, It ... Sequential operation information, Tm ... Operation period (predetermined period), Pm ... Operation profile, t ... Minute time (unit time), B ... Board, Bo ... Mounting work position (predetermined position)

Claims (6)

A control device that generates a command including profile information that defines an operation profile indicating the operation of the motor in a predetermined period and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile at unit times shorter than the predetermined period. ,
The first driver that controls the first motor and
Equipped with a second driver to control the second motor
The first driver has a receiving unit that receives the command from the control device at the first communication speed, and the first motor based on the sequential operation information included in the command for the first motor received by the receiving unit. A control unit that controls the above, and a transmission unit that transmits the profile information included in the command to the second motor received by the reception unit to the second driver at a second communication speed lower than the first communication speed. Have and
The second driver is a motor control system that controls the second motor based on the profile information received from the transmission unit of the first driver. The first driver further has a conversion unit that converts a defined mode of the operation profile of the profile information for the second driver, and the transmission unit converts the profile information converted by the conversion unit into the first driver. 2 The motor control system according to claim 1, which is transmitted to the driver. The motor control system according to claim 1 or 2, wherein the transmission unit transmits the profile information converted by the conversion unit to the second driver by serial communication. The motor control system according to any one of claims 1 to 3, wherein the control device calculates the profile information and then calculates the sequential operation information based on the profile information. A board transport unit that executes a carry-in operation of carrying the board into a predetermined position to support the board at the predetermined position and a carry-out operation of carrying out the board from the predetermined position.
The parts supply unit that supplies parts and
A mounting head that executes a mounting operation for transferring the components supplied by the component supply unit onto the board supported at the predetermined position by the board transport unit.
The first motor that drives the mounting head and
The second motor that drives the board transfer unit and
The motor control system according to any one of claims 1 to 4 is provided.
By controlling the first motor, the motor control system causes the mounting head to execute the mounting operation, and by controlling the second motor, the board transport unit executes the loading operation and the unloading operation. Parts mounting machine to be made to. A step of generating a command including profile information that defines an operation profile indicating the operation of the motor in a predetermined period and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile at unit times shorter than the predetermined period.
The process in which the first driver receives the command at the first communication speed,
A process in which the first driver controls the first motor based on the sequential operation information included in the command for the first motor.
A step in which the first driver transmits the profile information included in the command to the second motor to the second driver at a second communication speed lower than the first communication speed.
A motor control method including a step in which the second driver controls the second motor based on the profile information.

Images