JPH05304794A - Motor control device - Google Patents

Abstract

PURPOSE:To prevent parameters which are adjusted and set from being changed by mistake and to improve safety by setting a password when setting protection to the parameters and then constituting so that the protection cannot be canceled without using the password. CONSTITUTION:In an operation mode of a parameter setting part 3, a variety of parameters including set-up parameters and user parameters are set collectively. Then, in an operation mode of a protection setting part 7, parameter change protection can be set by inputting a password from a password setting part 5. Furthermore, when the input password agrees with the password which is stored by the protection setting part 7 in the operation mode of a protection cancellation part 9, the protection is canceled and the parameters can be changed, thus enabling only a specific person to change the parameters which are protected by a password.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device for controlling the operation of a motor, and more particularly to a motor control device for controlling the operation of a motor according to parameters appropriately set according to usage conditions. ..

[0002]

2. Description of the Related Art A motor control device for controlling the operation of a multi-phase synchronous AC motor and other various servo motors controls the operation of the motor in accordance with set parameters. When using this motor control device, It is necessary for the user to set and adjust various parameters for motor control according to usage conditions.

As various parameters for motor control set by the motor controller, selection of control command type such as pulse train command and analog speed command, selection of giving pulse train at the time of use in pulse train command type,
For example, a terminal for inputting a pulse train is changed depending on the rotation direction, a terminal for inputting a pulse train and a terminal for giving a direction are used, selection such as using a pulse having a 90 ° phase difference such as an encoder signal, and use in an analog speed command type When selecting the direction of rotation with a positive voltage, selecting whether to use the internal set speed, gain of the control loop, internal speed set value, speed command (analog voltage) conversion coefficient, position command (pulse train) There are conversion factors, load size (inertia ratio), acceleration / deceleration time, etc.

For the above-mentioned parameters, if a parameter value is selected depending on how to give a command from a higher order, such as a control command type, a parameter that is hardly changed thereafter and a motor system such as a control loop gain are used. There is a parameter that needs to be adjusted and set while being operated after being incorporated into the device. Generally, the former is called a setup parameter and the latter is called a user parameter.

Conventionally known general motor control devices are provided with a run mode, a setup mode for setting a setup parameter, a user parameter setting mode for setting a user parameter, and a protection for prohibiting a change of the user parameter. It has a protection setting release mode to set and release, and is automatically set to the run mode when the power is turned on.In the run mode, the motor operation is controlled according to the set parameters, and the motor rotation speed and droop pulse are also set. Numerical data indicating the motor operating state, such as number and output torque, is displayed on a display such as a 7-segment LED.

The transition to the setup mode is performed by a double key operation such as simultaneously pressing a reset button and an increment key provided in the motor control device for safety. In the setup mode, for example, a 7-segment LED is used. The setup parameter item number in decimal number flashes in the upper 2 digits of the display consisting of
The digit shows the current set value of the setup parameter.

In this setup mode, the setup parameter item number displayed on the display unit and the current set value of the setup parameter are sequentially changed to the one having the item number higher by one each time the increment key is pressed. However, the one with the highest setup parameter item number is cycled to the one with the lowest setup parameter item number, and each time the decrement key is pressed, it changes in order to the one with the lower item number, Next to the lowest setup parameter item number, go to the highest setup parameter item number, and press the enter key with the setup parameter item number to be set by the increment key or decrement key selected and displayed. Set up It waits for input parameter data, setting up parameters, changes are made. By pressing the mode key after setting or changing the setup parameters, the motor control device is returned to the run mode.

When the mode key 4 is pressed in the run mode, the motor control device is set to the user parameter setting mode. In the user parameter setting mode, the setting and change of the user parameter are the setting and change of the setup parameters described above. Can be done as well.

As described above, the transition to the setup mode requires a double key operation such as pressing the reset button and the increment key at the same time. Since this operation is not performed intentionally, it is foolproof in changing the setup parameters. The protection will inevitably be set.

On the other hand, the protection setting for changing the user parameter is performed in the protection setting release mode. The transition to the protection setting release mode is performed by double key operation such as pressing the reset button and decrement key at the same time. In this protection setting release mode, select the user parameter item number to be protected by the increment key or decrement key. When the enter key is pressed in the displayed state, protection is set for changing the user parameter, and the clear key is pressed in the state in which the user parameter item number for which protection is to be released is selected and displayed by the increment key or decrement key. When pressed, the protection is canceled with respect to the change of the user parameter.

[0011]

In the conventional motor control device as described above, the mode for setting the setup parameter and the mode for setting the user parameter are different, and the transition operation to the setup mode is safe. Due to the complexity of requiring double-key operation, setup parameters are often rarely seen once set. For this reason, there is a problem in that it is difficult to find a setting mistake in the setup parameter. In particular, if the setup parameter is set correctly once, and the setup parameter is changed to an inappropriate value without knowing after the operation confirmation, there is a problem that it is difficult to discover it early.

[0012] Further, the user parameter is set to protect with respect to the change, but the setting of the protect,
Anyone can only release the key sequence, so there is a problem with the certainty of protection. For example, if some user parameters have already been protected, another user parameter can be used. There is a possibility that a problem may occur in which the protection of the user parameter that has already been protected is mistakenly canceled due to an operation mistake when attempting to set the protection.

The present invention has been made by paying attention to the above-mentioned problems in the conventional motor control device, and the setup parameter and the user parameter can be set in a single mode, and the protection is set. It is an object of the present invention to provide an improved motor control device in which protection for parameter change is strengthened so that only a specific person can change the parameter, and the display confirmation of each parameter can be easily performed.

[0014]

According to the present invention, the above object is to provide various parameter data for motor control in a motor control device for controlling the operation of a motor according to set parameters. A parameter setting section for inputting and setting parameters, and a protect setting section for entering a password and storing the password to set protection for prohibiting parameter changes by the parameter setting section;
By inputting a password, it is determined whether or not the input password and the password stored in the protect setting unit match, and if they match, the protect canceling unit cancels the protection of the parameter by the protect setting unit. And a motor controller characterized by having:

Further, in the motor control device according to the present invention, the protect setting section inputs an individual password for each parameter data for motor control or each group of a plurality of parameters and stores the password. , The protection is individually set for each parameter to be protected or each group thereof, and the protection canceling unit inputs a password and the input password matches the password stored in the protection setting unit. It may be configured to determine whether or not it is present, and if the values match, the protection of the corresponding parameter or the group thereof is released.

[0016]

According to the above configuration, various parameters including the setup parameter and the user parameter are collectively set in the operation mode of the parameter setting unit,
In the operation mode of the protect setting section, the password is set to protect the parameter change,
If the input password matches the password stored in the protect setting unit in the operation mode of the protect canceling unit, the protect is canceled and the parameter can be changed.

[0017]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 shows an embodiment of a motor control device according to the present invention. The motor control device receives various parameter data for motor control from the parameter data input unit 1
A parameter setting unit 3 for inputting parameters to set parameters, and a password setting unit 7 for inputting a password and storing the password, and setting a protect for prohibiting parameter changes by the parameter setting unit 3
Then, the password is input from the password input unit 5, and it is determined whether or not the input password and the password stored in the protect setting unit 7 match. If they match, the parameter set by the protect setting unit 7 is determined. Of the protection, a motor control signal output unit 11 for outputting a motor control signal for controlling the operation of the motor according to the parameters set by the parameter setting unit 3, and data indicating the operating state of the motor. It includes an operating state data input unit 13 for inputting the operating conditions and a display 15 for displaying operating state data, parameter set values, and the like.

FIG. 2 shows a display / operation (input) section of the motor control device. This display / operation unit includes the above-mentioned display 15 composed of a 6-digit 7-segment LED,
It has a power source display LED 17, a reset button 19, and a keyboard unit 21, and the keyboard unit 21 includes a mode key Km, a clear key Kc, an enter key Ke, the above-mentioned parameter data input unit 1 and password input unit 5. It includes an increment key Ki and a decrement key Kd.

The motor control device is designed so that the operation mode is switched between the run mode, the parameter setting mode, the protect setting mode, and the protect release mode, and the run mode is set when the power is turned on. Is becoming

In the run mode, the operation state data input section 13
Is a steady mode in which the motor operating state such as the motor rotation speed, the number of accumulated pulses, the output torque, etc. is displayed on the display 15 based on the data indicating the operating state of the motor input.

The parameter setting mode is an operation mode of the parameter setting unit 3 and is a mode for setting various parameters including setup parameters and user parameters.

The protect setting mode is an operation mode of the protect setting section 7, and is a mode in which a protect is set for changing parameters by inputting a password.

The protect canceling mode is an operation mode of the protect canceling unit 9, and is a mode for canceling the protect according to the collation of the password stored in the protect setting unit 7.

In the present embodiment, the mode switching as described above is performed by operating the reset button 19, the mode key Km, the increment key Ki and the decrement key Kd. FIG. 3 shows an example of the mode switching key operation. Shows.

The parameter setting mode is set by pressing the mode key Km in the run mode. In the parameter setting mode, the parameter item number is displayed blinking on the upper 2 digits of the display 15 and the lower 4 digits. Displays the current setting for that parameter. Also, with the protection already set, a dot lights up at the lower right of the data regarding the display of the parameter, and the setting value change is not accepted for this protection setting parameter.

In the parameter setting mode, the display 1
Each time the increment key Km is operated, the setup parameter item number and the current set value of the setup parameter item displayed in No. 5 are sequentially changed to those of the item number of one higher order, and those of the highest parameter item number. Next, go to the lowest parameter item number,
On the other hand, each time the decrement key Kd is operated, the item number is changed to the one having the item number lower by one, and the item having the lowest parameter item number is cycled to the item having the highest parameter item number.

As described above, when the enter key Ke is pressed while the parameter item number for which the parameter is to be set by the increment key Ki or the decrement key Kd is displayed on the display unit 15, the display of the parameter item number does not blink. Instead, the current set value of the parameter will be displayed in a blinking state, and the input of the parameter data (parameter set value) will be waited for. When the increment key Ki or the decrement key Kd is operated in this state, the parameter display value changes, and when the Enter key Ke is pressed, the parameter display value (parameter setting value) display does not blink.
The set value of the parameter is updated and set to the displayed value.

In this parameter setting mode, all parameters such as setup parameters and user parameters are set under the cyclic display of all parameter item numbers as described above.

When the mode key Km is pressed in the parameter setting mode as described above, the mode returns to the run mode.

At the time of setting the protect related to the parameter change, the current mode is switched to the protect setting mode by operating the reset button 19 and the increment key Ki at the same time in the run mode, the parameter setting mode or the protect release mode. In this parameter protection, the total of the parameter item numbers to be protected is specified in decimal by associating the parameter item numbers with binary bits. Hereinafter, this total value will be referred to as the parameter designation number.

Since the parameter item number corresponds to the number of bits from the lower order when expressed in a binary number, as one specific example, the parameters of the parameter item numbers 2, 5, and 8 are set as a group and protection is set to this. If
The number of specified parameters is 146 by 2 1 +2 4 +2 7
Becomes

In the protect setting mode, the upper 3 digits of the display 15 are used to set the parameter designation number as described above with the increment key Ki and the decrement key Kd, and then the enter key Ke is pressed to change the parameter designation number. After the setting is completed, an arbitrary password is set by using the lower 3 digits of the display 15 with the increment key Ki and the decrement key Kd. When the enter key Ke is pressed, the protection for changing the parameter of the parameter item number corresponding to the designated number of parameters is completed.

The procedure of the protect setting in the protect setting mode will be described with reference to the operation flow shown in FIG.

First, the input parameter designation number is read (step 10), and the read parameter designation number is decomposed into parameter item numbers (step 20). For example, if the number of specified parameters is 146, the parameter item numbers to be protected are 2, 5, and 8.

Next, it is checked whether or not protection has already been set for the parameter of the parameter item number of the protection target designated by the number of designated parameters (step 30). If any exist, it returns an error. On the other hand, if there is no parameter that is already protected, the input password is read (step 40) and a flag is set to prohibit changing the parameter of the designated parameter item number (step 5).
0). As a result, protection is set. Then, the designated number of parameters and the password are stored (registered) in the memory (step 60).

Regarding the input of the designated number of parameters, the motor control device can be provided with a calculation function. An example of the parameter protect setting procedure in this case is shown in FIG. FIG. 5 assumes that the parameter of parameter item number 4 has already been protected, and the parameters of parameter item numbers 2, 5, and 8 are newly protected. Incidentally, in FIG. 5, the four-point display drawn below the displayed numerical value indicates that the numerical display is blinking.

When the protect setting mode is set, as an initial display, as shown in FIG. 5A, the parameter item number (the initial value is 1 in the lower 2 digits of the upper 3 digits of the display 15). ) Blinks and the designated number of parameters (initial value is 0) is displayed in the last three digits.

When the increment key Ki is pressed once, the blinking display of the parameter item number is changed from "1" to "2".
(Fig. 5 (b)).

Next, when the enter key Ke is pressed, the blinking of the parameter item number currently displayed stops, and the last three digits of the display 15 correspond to the parameter item number 2 of 10.
The decimal number "2" is displayed as the parameter specification number (Fig. 5
(C)). By operating this enter key Ke, the parameter of the parameter item number 2 is protected.

Next, when the increment key Ki is pressed twice, the display of the parameter item number changes from "2" to "4" (FIG. 5 (d)). Since the parameter of parameter item number 4 has already been protected, a dot is displayed at the lower right of the parameter item number display to indicate this. Since the parameter of the parameter item number 4 has already been protected, the setting of a new protect target by the enter key Ke is not accepted.

Next, when the increment key Ki is pressed once, the display of the parameter item number changes from "4" to "5" (FIG. 5 (e)).

Next, when the enter key Ke is pressed to protect the parameter of the parameter item number 5, the blinking of the parameter item number currently displayed stops, and the parameter item number in the lower 3 digits of the display 15 is stopped. Decimal number "16" corresponding to 5 is the current parameter specification number "
The parameter designation number "18" added to 2 "is displayed (FIG. 5 (f)).

Next, when the increment key Ki is pressed three times, the display of the parameter item number changes from "5" to "8" (FIG. 5 (g)).

Next, when the enter key Ke is pressed to protect the parameter of the parameter item number 8 from blinking, the blinking of the parameter item number currently displayed stops and the lower three digits of the display unit 15 are displayed. Decimal number “128” corresponding to 8 is the current parameter specification number ”
The parameter designation number "146" added to 18 "is displayed (FIG. 5 (h)).

Next, when the clear key Kc is pressed, the selection and setting of the parameter to be protected is completed, and the parameters of the parameter item numbers 2, 5 and 8 are set as one group and the protect is set. The parameter designation number "146" is displayed in the upper three digits of the display 15 and is registered (FIG. 5 (i)). At this time, "0" is displayed blinking on the least significant digit of the display 15 and 3
Wait for the digit password input.

The input of the password is the increment key K
This is performed step by step with i and the decrement key Kd, and FIG. 5 (j) shows that the password of "234" has been input.

After entering this password, enter key K
By pressing e, the password is set and registered,
This completes the protect setting and returns to the initial display state in the protect setting mode.

When the protection of the parameter is released, the current mode is switched to the protection release mode by operating the reset button 19 and the decrement key Kd simultaneously in the run mode, the parameter setting mode or the protection setting mode. To release the protection in this protection release mode, it is necessary to enter the number of parameter specifications that specify the parameters to be released from protection and the correct password corresponding to that. If this does not match the already registered password, the protection release will occur. Is not performed, and the state in which the change of the parameter setting value is prohibited is maintained.

In the protect release mode, the upper 3 digits of the display 15 are used to enter the parameter designation number with the increment key Ki and the decrement key Kd, and the lower 3 digits of the display 15 are used to input the increment key. Ki
And the decrement key Kd to input the password.

The procedure of releasing the protection in the protection release mode will be described with reference to the operation flow shown in FIG.

First, the input designated number of parameters is read (step 100), and it is judged whether or not this matches any one of the designated number of parameters already registered (step 110). If they do not match, an error occurs. To return.

If the specified number of parameters input matches any one of the registered number of parameters registered, the next input password is read (step 120),
It is determined whether or not this input password matches any one of the already registered passwords (step 1
30) If this does not match, an error is returned. If this matches, the read parameter specification number is decomposed into parameter item numbers (step 140), and the protection of the parameter corresponding to this parameter specification number is released (step). 150). Then, the designated number of parameters and the password corresponding to the parameter for which the protection is released are erased from the memory (step 160).

As in the above-mentioned embodiment, if the parameter designation number is a three-digit decimal number, the maximum number of parameters for which protection can be set is nine due to the limitation by the number of digits.

When it is necessary to set protection for 10 or more parameters, the number of digits of the parameter designation number that can be set may be increased.
This can be dealt with by setting the number of parameter designations to 4 digits and the number of password settings to 2 digits or increasing the number of digits on the display 15 while keeping the digits.

It is also possible to place restrictions on the parameter item numbers that can specify protect as a group. In this case, there are parameters that are closely related to each other and parameters that are not related to each other, such as parameters used by the control command type and unnecessary parameters. Therefore, parameters are grouped according to these.
It is also possible to prevent parameters of different groups from being designated as protected targets at once.

As shown in FIGS. 7 and 8, it is also possible to assign a parameter item number to each segment of the 7-segment LED and make the parameter item number corresponding to the lit segment a protection target. Is. The parameter item number can be specified by the 7-segment LED by using an increment key Ki and a decrement key Kd in a binary number manner as shown in FIG.

[0058]

As can be understood from the above description, according to the motor control device of the present invention, a password is set when setting the parameter protection, and the protection cannot be released without knowing the password. , If you tell the password only to the person in charge,
Parameters that have been carefully adjusted and set can be prevented from being accidentally changed, and parameters can be divided into several groups and protection can be set for them, so inform the person in charge of relevant parameters and passwords. If set to, security is improved. For this reason, even if the parameter setting mode is a single parameter setting mode in which the setup parameter setting mode and the user parameter setting mode are integrated, the safety regarding parameter setting does not decrease.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of a motor control device according to the present invention.

FIG. 2 is a front view showing an example of a display / operation unit of the motor control device according to the present invention.

FIG. 3 is an explanatory diagram showing an example of key operation for mode switching of the motor control device according to the present invention.

FIG. 4 is a flowchart showing a procedure of a protect setting in a protect setting mode of the motor control device according to the present invention.

FIG. 5 is an explanatory diagram showing a protect setting procedure when a motor control device according to the present invention is provided with a calculation function for inputting a specified number of parameters.

FIG. 6 is a flowchart showing a procedure for releasing protection in the protection release mode of the motor control device according to the present invention.

FIG. 7 is an explanatory diagram showing an example in which a parameter item number is assigned to each segment of a 7-segment LED in the motor control device according to the present invention.

FIG. 8 is an explanatory diagram showing an example of a relationship between each segment and a parameter item number when a parameter item number is assigned to each segment of a 7-segment LED in the motor control device according to the present invention.

FIG. 9 is an explanatory diagram showing an example of a parameter protect setting procedure when a parameter item number is assigned to each segment of a 7-segment LED in the motor control device according to the present invention.

[Explanation of symbols]

 1 Parameter Data Input Section 3 Parameter Setting Section 5 Password Input Section 7 Protect Setting Section 9 Protect Release Section 11 Motor Control Signal Output Section 13 Operating Status Data Input Section 15 Display 17 Power Indicator LED 19 Reset Button 21 Keyboard Section Km Mode Key Kc Clear key Ke Enter key Ki Increment key Kd Decrement key

Claims (2)

[Claims] 1. In a motor control device for controlling motor operation according to set parameters, a parameter setting section for inputting various parameter data for motor control and setting parameters, and a password are input. Then, the password is stored and the protect setting part that sets the protect to prohibit the parameter change by the parameter setting part and the input password and the password stored in the protect setting part match. A motor control device, comprising: a protection canceling unit that determines whether or not the protection setting unit determines whether or not the parameters are protected by the protection setting unit. 2. The protect setting section inputs an individual password for each parameter data for motor control or each group of a plurality of parameters and stores the password, and for each parameter to be protected or each group thereof. The protect cancel unit is configured to set the protect individually, and inputs the password to determine whether the input password and the password stored in the protect setting unit match. 2. The motor control device according to claim 1, wherein the protection of the corresponding parameter or the group thereof is released if done.