JPH03251377A - Motor controller and industrial robot controller - Google Patents

Abstract

PURPOSE:To surely permit the simultaneoue operation of a number of motors even if a number of motor controllers exist under an industrial robot controller, by transmitting the signal for permitting the operation for revolving a motor shaft by the signal line different from the time information and angle information. CONSTITUTION:A motor controller 2 transmits the information that the motor operation start is enabled, into an industrial robot controller 1 by using a signal line 5 different from the information transmission passage 4 such as angle and time, when the state where the operation start of a motor 3 is enabled is generated. While, if the industrial robot controller 1 receives the signal that the motor operation start is enabled, from all the motor controllers 2, the signal for permitting the operation of the motor 3 is transmitted to each motor controller 2. Accordingly, the generation of the difference of the time of the operation start due to the difference of the time related to the information transmission between the motor controllers 2 is prevented by simultaneously transmitting the signal for permitting the motor operation to each motor controller 2.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a motor control device for controlling a plurality of motors that must operate synchronously, and an industrial robot control device equipped with such a control device. It is related to.

BACKGROUND OF THE INVENTION Conventional motor control devices of this kind have motor drive sections or speed command value output sections for the drive sections -\ for the number of motors that must be operated by a single motor control device. After obtaining the necessary angle and time information from the control device of the industrial robot, the system was configured to convert the information into a speed command and output it to the motor drive unit to start driving the motor.

Furthermore, the motors were synchronized within each motor control device.

Problem to be Solved by the Invention However, when there are a plurality of motor control devices, there is a problem in that the motor operation start time varies due to the time involved in transmitting information to each control device and variations in processing performed by each control device. 1. For this reason, if there are many motor control devices under a higher-level industrial [1 hot control device], there is a problem that synchronized operation between each motor control device is impossible.

The present invention solves these conventional problems, and provides a motor control device that reliably enables synchronous operation of motors even when there are a large number of motor control devices under an industrial robot control device. and to provide industrial robot control devices.

Means for Solving the Problems In order to achieve the above-mentioned object, the present invention provides that a motor control device can receive a signal for permitting motor operation through a signal line that is different from information transmission paths such as angle and time. This is how it was done.

The present invention also provides an industrial robot control device having a function of simultaneously sending a signal for permitting motor operation to a plurality of motor control devices via a signal line that is different from the information transmission path such as angle and time. be.

When the action motor control device is in a state where it is possible to start motor operation, it sends information to the industrial robot control device that it is possible to start motor operation using a signal line that is different from the information transmission path such as angle and time. Send.

On the other hand, when the industrial robot control device receives signals indicating that motor operation can be started from all the motor control devices, it sends a signal to each motor control device to permit motor operation.

In this way, since the signal for permitting motor operation is given to each motor control device at the same time, a time lag in the start of operation due to a difference in information transmission time between each motor control device can be avoided. Therefore, synchronous operation of a plurality of motors by a plurality of motor control devices is reliably possible.

EXAMPLE Hereinafter, an example of the present invention will be described with reference to FIG. In FIG. 1, 1 is an industrial robot control device;
2 is a plurality of motor control devices; 3 is a motor connected to each motor control device 2; 4 is a signal line for giving each motor control device 2 time information for rotating the motor 3 and angle information for rotating the motor shaft within that time; 5;
6 is a signal line for giving a signal to permit the operation of rotating each motor 3, and 6 is a control line for each motor 3.

An industrial robot control device 1 includes a plurality of motor control devices 2
, information on the time at which each motor 3 is rotated and information on the angle at which each motor 3 is rotated is provided through a signal line 4 . This signal line 4 consists of a serial communication line and its control line so that the industrial robot control device 1 and the plurality of motor control devices 2 can be placed at separate locations at relatively low cost.

The signal for permitting the operation of rotating each motor 3 is as follows:
A plurality of signal lines for a plurality of motor control devices 2 have the same signal source so that signals can be applied to a plurality of motor control devices 2 at the same time.

Next, the operation of the above embodiment will be explained with reference to FIG.
To operate the motor controller 2, first, time information and information on the angle at which the motor shaft is rotated are given to each motor control device 2 (step 11).

After that, wait until all motors can operate. (
Step 12).

On the other hand, after obtaining time information and information on the angle at which the motor shaft is rotated (step 13), the motor control device 2
As soon as the motor 3 is ready to be driven, a signal is sent to the industrial robot control device 1 to enable the motor 3 to start operating (step 1).
4). Thereafter, the motor control device 2 waits for a signal to be sent from the industrial robot control device 1 to permit operation of the motor (step 15).

When the industrial robot control device 1 receives a signal indicating that operation can be started from all the motor control devices 2 to be operated (step 16), it simultaneously sends a signal allowing operation of the motor 3 to each motor control device 2 (step 16). 17).

As soon as the motor control device 2 side receives the signal permitting the operation of the motor 3 (step 18), it immediately sends a signal to the motor 3 to start the operation of the motor 3 (step 19).
).

The industrial robot control device 1 sends time information and rotation of the motor shafts to each motor control device 2 until the motors of all axes are stopped for an unspecified period of time, such as at the end of a taught block, - time stop, emergency stop, etc. The motor control device 2 continues to provide information on the angle at which the motor is to be rotated (step 20), and the motor control device 2 continues to receive this information (step 21). During this time, the motor operation permission signal remains in the permission state.

Since the motor control device 2 is provided with time-related information, once the motors 3 start operating at the same time, a large number of motors operate synchronously using a conventional position control method.

Through such operations of the industrial robot control device 1 and the motor control device 2, it becomes possible to synchronize the operations of the plurality of motors 3 driven by the plurality of motor control devices 2.

Effects of the Invention As is clear from the above embodiments, according to the present invention, the signal for permitting the operation of rotating the motor shaft is given by a signal line different from the time information and angle information, so that the industrial robot control device Even if there are a large number of motor control devices under the hood, the synchronous operation of the large number of motors can be ensured.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an external axis control device consisting of an industrial robot control device and a motor control device for synchronously controlling a large number of motors, showing one embodiment of the present invention, and FIG.
An industrial robot control device in the embodiment shown in the figure;
3 is a flowchart showing the operation of the control device. 1... Industrial robot control device, 2... Motor control device, 3... Motor, 4... Signal line that provides time information, angle information, etc., 5... Signal that permits the start of motor operation. 6... Motor control line.

Claims (2)

[Claims] (1) An operation that rotates the motor shaft by having a function that is given time information and information about the angle at which the motor shaft is rotated within that time, and based on that information, rotates the motor by a predetermined angle within a predetermined time. A motor control device characterized in that a signal for permitting the above-mentioned time information and angle information is given by a signal line different from that for the time information and angle information. (2) A function is provided to provide the motor control device with time information and information on the angle at which the motor shaft should be rotated within that time, and a signal different from the time information and angle information that permits the operation of rotating the motor shaft is provided. An industrial robot control device characterized by having a function of simultaneously sending data to multiple motor control devices via a wire.