JPH08256500A - Multiple-spindle motor controller - Google Patents

Abstract

PURPOSE: To provide a multi-spindle motor controller which can reduce the number of connectors, simplify its wiring and improve the reliability of control operation in a multispindle motor controller most suitable to facilitate device assembly and wiring work when driving a plurality of servo motors. CONSTITUTION: Functional factor unit groups 2-10 are disposed and fixed on a printed circuit board 1, and electric wiring is connected between a unit connector and a substrate connector. Because the required circuit wiring is made beforehand on the printed circuit board 1, the wire layout is simplified, connectors are grouped to reduce the number of connectors, and connection between respective functional factor units is possible through the connectors. As a result, wires can be grouped, and the number of wires can be reduced. It is also possible to prevent wiring errors and disturbance noise into the wires, improving the reliability of control operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-axis motor control device for driving and controlling a plurality of servo motors.

[0002]

2. Description of the Related Art In numerical control devices and positioning devices for controlling industrial robots, machine tools or automation devices,
An AC servomotor is used to position each rotary shaft. The servo motor is controlled by a motor control device incorporating a servo control system.

FIG. 14 shows an external configuration of a multi-axis motor control device for driving and controlling a plurality of servo motors in the prior art. This multi-axis motor control device is configured to drive and control six servomotors, and dedicated control units U1 to U6 are provided for each servomotor. The control units U1 to U6 are collectively arranged in a row together with a host control unit Uh for transmitting a control command from the external controller 202. Each of the control units U1 to U6 and the upper control unit Uh is individually housed in a casing, and a large number of connectors for performing necessary electrical wiring are provided on the front side of each.

These connectors are roughly classified into those for power wiring, those for signal lines, and those for driving motors. One control unit,
For example, U6 includes a serial communication connector 204, a control signal connector 205, an encoder connector 206,
Motor power line connector 207 and power supply connector 2
11 is provided. Therefore, it is necessary to individually perform power wiring from the power source 200 to the power source connector 211 of each control unit U1 to U6, and to wire to each motor power line connector 207 of each servo motor M1 to M6. In addition, it is necessary to wire the encoder connectors 206 similarly for the encoders E1 to E6. In addition, each of the controls U1 to U from the upper control unit Uh
Each control signal connector 2 for transmitting control signal to 6
Crossover wiring is required for 05. Other than this, as a general rule, individual wiring is performed for each control unit U1 to U6.

FIG. 15 shows a configuration example of one control unit. FIG. 15 illustrates the control unit U1. In FIG. 15, the rotational position target value Pref of the servomotor M1 is input via the control signal connector 205 and input to the position control unit 260. Position controller 260
Compares the detected position value converted from the encoder signal e1 fed back from the encoder E1 with the rotational position target value Pref, and sends the difference value to the speed control unit 261 as the speed command s. The speed control unit 261 compares the speed detection value converted from the encoder signal e1 with the speed command s, and sends the difference value to the current control unit 262 as the current command i. The current control unit 262 determines the three-phase voltage based on the magnetic pole position signal of the servomotor M1 obtained from the encoder signal e1, the current command i, and the current detection value Idet fed back from the current detector 258 and the A / D converter 253. The command v is generated and output to the PWM signal generator 263. PW
The M signal generation unit 263 determines the PW based on the 3-phase voltage command v.
An M signal is generated and sent to the inverter 252 via the dead time generator 251. The inverter 252 generates a motor drive voltage according to the input PWM signal and drives the servomotor M1.

The current detector 258 is the inverter 25.
A feedback loop for monitoring and feedback controlling the drive current of 2 is formed, and its output signal is A
A / D conversion is performed by the / D converter 253. As a known technique of this type of servo control system, Japanese Patent Laid-Open No. 4-90 is known.
No. 11 publication is cited.

[0007]

As described above, in the conventional multi-axis motor control device for driving and controlling a plurality of servo motors, a large number of connectors and a large number of wiring cables are required, resulting in a large number of parts. Therefore, there has been a problem that the cost of parts is increased, and further the assembly work cost is increased due to the complexity of wiring. In addition, the complexity of wiring easily induces erroneous wiring, which leads to a reduction in work efficiency.

When any one of the control units U1 to U6 fails, the cable connectors 205, 206, 207, 2 provided in the respective control units.
After removing 11 and replacing the failure control unit, the cable connectors 205, 206, 207, and 211 had to be re-wired, and the work was very complicated.

An object of the present invention is to reduce the number of connectors used in a multi-axis motor control device for driving and controlling a plurality of servo motors, simplify the wiring, and wire when a control unit for controlling the driving of the motor fails. An object of the present invention is to provide a multi-axis motor control device that can improve work efficiency and further improve the reliability of control operation.

[0010]

In order to solve the above-mentioned problems, the invention according to claim 1 is a main circuit power supply means for once converting AC power supplied from a power supply into DC power, and the converted main circuit power supply means. Multi-axis including a motor drive unit that converts DC power into AC power again and individually supplies the converted AC power to each of a plurality of servomotors, and a control unit that controls the operation of the motor drive unit A motor control device, wherein the main circuit power supply means, the motor drive means, and the control means are divided for each means, and each of the divided means is housed in a separate casing and unitized, In each of the above units, a functional element unit in which a unit side connector for electrical wiring connection is arranged, and in the unit side connector in which necessary circuit wiring is wired in advance. And a circuit board to which a board-side connector for electrical wiring connection is attached, and when each functional element unit is arranged and fixed to the circuit board, a unit-side connector and a board-side connector are provided. Are engaged and connected, and the respective means are electrically wired via the circuit board.

According to a second aspect of the present invention, in the multi-axis motor control device according to the first aspect, the inverter unit in which the motor drive means is housed is an alternating current supplied to each of the plurality of servomotors. A plurality of current detectors for detecting a current value of electric power and an A / D converter for converting an output signal of the current detector means into a digital signal are provided, and the A / D converter is a plurality of the plurality of current detectors. Multi-channel input for selectively A / D converting the output signal from the current detection means
It is composed of a serial output type A / D converter.

According to a third aspect of the present invention, in the multi-axis motor control device according to the first aspect, the circuit board is provided with a power source connector to which AC power supplied from the power source is connected. From the connector for electric power, the AC power is supplied through the circuit wiring provided on the circuit board to the main circuit power supply unit that houses the main circuit power supply unit that serves as a high voltage power supply and the small signal power supply unit that serves as a low voltage power supply. To be configured.

According to a fourth aspect of the present invention, in the multi-axis motor control device according to the third aspect, the DC power from the main circuit power supply unit is supplied to the motor driving means via the circuit wiring provided on the circuit board. While being supplied to the stored inverter unit, the power from the small signal power supply unit
It is configured to be supplied to the inverter unit via the circuit wiring provided on the circuit board.

According to a fifth aspect of the present invention, in the multi-axis motor control device according to the fourth aspect, an external control signal input from the outside is input to the control means for controlling the operation of the motor drive means. An upper control unit and a lower control unit that receives an external control signal from the upper control unit and controls a plurality of inverter units are provided, and the power supply from the small signal power supply unit is a circuit wiring provided on a circuit board. Power is supplied to the upper control unit and the lower control unit via the.

According to a sixth aspect of the present invention, in the multi-axis motor control device according to the fifth aspect, the plurality of inverter units are respectively connected to two servo motors and are connected to the plurality of inverter units. Each of the servo motors is provided with an encoder for rotation detection, and an encoder signal from each encoder is connected to an encoder connector provided in the lower control unit.

According to a seventh aspect of the present invention, main circuit power supply means for once converting AC power supplied from a power source into DC power, and the converted DC power is converted into AC power again.
A large number of motor drive means corresponding to the number of the servo motors for individually supplying the converted AC power to each of the plurality of servo motors, and a control means for controlling the operation of the plurality of motor drive means are included. A shaft motor control device, comprising a main circuit power supply unit including the main circuit power supply means,
An inverter unit for driving a motor, which is housed in the same casing in units of two or more servomotors of a plurality of servomotors, including the motor drive means;
A functional element unit, which is divided into control units that collectively control the motor driving means, is housed in individual casings, and each has a unit-side connector for electrical wiring connection, and the units are connected to each other. And a circuit board to which a circuit board side connector for electrical wiring connection which is mutually engageable with the unit side connector is attached, is provided on the circuit board. When the functional element units are arranged and fixed, the unit-side connector and the board-side connector are engaged and connected, and the functional element units are electrically wired to each other by circuit wiring pre-wired on the circuit board. A motor control device is configured.

According to an eighth aspect of the invention, in the multi-axis motor control device according to the seventh aspect, the functional element unit is
An additional capacitor unit connectable to the output stage of the main circuit power supply means, a small signal power supply unit for supplying a small signal power supply to the control unit and the inverter unit, and an upper control unit for transmitting a control command signal from the outside to the control unit. And at least one unit as an additional unit, the circuit board is provided with necessary circuit wiring corresponding to the additional unit, and can be mutually engaged with a unit-side connector provided in each unit. A board-side connector for electrical wiring connection is attached.

According to a ninth aspect of the present invention, in the multi-axis motor control device according to the seventh aspect, the functional element unit is
An additional capacitor unit connectable to the output stage of the main circuit power supply means, a small signal power supply unit for supplying a small signal power supply to the control unit and the inverter unit, and an upper control unit for transmitting a control command signal from the outside to the control unit. And a circuit board on which necessary circuit wiring corresponding to each unit is wired, and which can be mutually engaged with a unit side connector provided on each unit. It is configured with a connector attached.

According to a tenth aspect of the present invention, in the multi-axis motor control device according to the eighth or ninth aspect, the functional element unit includes a main circuit power source unit, an additional capacitor unit and a small signal power source unit in a large power system group. In addition, the plurality of motor drive units, the control unit, and the upper control unit are configured as a small signal system group and are arranged and fixed separately on the circuit board.

According to an eleventh aspect of the present invention, in the multi-axis motor control device according to the seventh aspect, the heating element or the cooling fin attached to each unit is provided on the opposite side of the unit side connector for electric wiring connection. It is composed.

According to the first aspect of the invention, the circuit board is preliminarily provided with necessary circuit wiring. Therefore, when each functional element unit is arranged and fixed on the circuit board, the unit side connector and the board side are provided. Electrical wiring is performed between the functional element units by engaging with the connector. As a result, the number of connectors is reduced because the connectors are organized, and
Since each functional element unit can be connected via the connector, the wiring can be organized, the number of wiring can be reduced, the wiring can be simplified, miswiring can be prevented, and disturbance noise can be prevented from entering the wiring. Therefore, the reliability of the control operation can be improved.

According to the second aspect of the present invention, since a plurality of current detection value signals are selectively A / D converted, the number of signal lines is reduced, the connector is downsized, and the inverter unit itself is downsized. Can be realized.

According to the invention of claim 3, a power source,
Even between the main circuit power supply unit and the small signal power supply unit, the number of connectors can be reduced, the number of wires can be reduced, the wiring can be arranged and simplified, and miswiring can be prevented.
Since the disturbance noise can be prevented from entering the wiring, the reliability of the control operation can be improved.

According to the invention described in claim 4, between the main circuit power supply unit and the small signal power supply unit and the inverter unit, it is possible to reduce the number of connectors, the number of wirings, and simplification of wiring. Further, it is possible to prevent erroneous wiring and the like, and prevent disturbance noise from entering the wiring, so that the reliability of the control operation can be improved.

According to the invention described in claim 5, the number of connectors is reduced and the number of wires is also provided between the small signal power supply unit and the upper control unit and the lower control unit for controlling the motor driving means of the inverter unit. Reduction of
Wiring can be arranged and simplified, and erroneous wiring can be prevented and disturbance noise can be prevented from entering the wiring, so that the reliability of control operation can be improved.

According to the sixth aspect of the invention, since one inverter unit includes two inverters, the circuit configuration can be simplified and the cost can be reduced, and the encoder connector can be used as the circuit board. Since it is provided on the lower control unit side instead of the lower side, the number of wires of the connector connecting the lower control unit and the circuit board is reduced, the wiring is simplified, miswiring is prevented, and disturbance noise enters the wiring. Since it can be prevented, the reliability of the control operation can be improved.

According to the seventh aspect of the invention, the divided functional element units are arranged and fixed on the circuit board, and the unit side connector and the board side connector are engaged with each other for electrical wiring. Since each functional element unit is provided with a connector and necessary circuit wiring is pre-wired on the circuit board, unnecessary wiring can be simplified. As a result, the connectors are organized, the number of connectors is reduced, and since the connectors can be connected to each other, the wiring is organized, the number of wirings can be reduced, and the wiring can be simplified. And the disturbance noise can be prevented from entering the wiring, so that the reliability of the control operation can be improved.

According to the invention described in claim 8, claim 7
Among the functional element units mounted in the multi-axis motor control device described in (1), an additional capacitor unit, a small signal power supply unit and a host control unit are used as additional units. The number of wirings can be reduced, the number of wirings can be reduced, wirings can be rearranged and simplified, erroneous wirings can be prevented, and disturbance noises can be prevented from entering the wirings, so that the reliability of control operation can be improved.

According to the invention described in claim 9, claim 7
The specific contents of each functional element unit mounted on the multi-axis motor control device described in (3) are disclosed, and an additional capacitor unit connectable to the output stage of the main circuit power supply means, a small signal power supply unit, and an upper control unit Also, the number of connectors can be reduced, the number of wires can be reduced, and the wiring can be simplified and simplified. Furthermore, miswiring and the like can be prevented and disturbance noise can be prevented from entering the wiring, so that the reliability of the control operation is improved. be able to.

According to a tenth aspect of the present invention, in the multi-axis motor control device according to the eighth or ninth aspect, the functional element unit group is divided into a large power system group and a small signal system group to form a circuit. It is arranged and fixed on the substrate. As a result, in addition to the effects of the multi-axis motor control device according to claim 8 or 9, the intrusion of noise from the functional element units belonging to the high power system group into the functional element units belonging to the small signal system group is prevented. Therefore, the reliability of the operation of the device can be further improved.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION Next, preferred embodiments of the present invention will be described with reference to the drawings. (I) Assembly Structure of Multi-Axis Motor Control Device FIG. 1 shows an example of a basic assembly structure of the multi-axis motor control device according to the present invention. In FIG. 1, a backplane 1 made of a circuit board made of glass epoxy resin or the like is provided in the vertical direction, and on the front surface side of the backplane 1, each functional element constituting an independent means is unitized. The respective means 2 to 10 are separated into two rows in the upper and lower rows and fixedly arranged.

That is, in the upper row, from the main circuit power supply unit 2, which is the main circuit power supply means for once converting the AC power supplied from the power supply into the DC power, the additional capacitor units 3 and 4, and the small signal power supply unit 5. In the lower row, the DC power converted by the main circuit power supply means is converted into AC power again, and a plurality of the converted AC powers, for example, two units (two axes) are arranged. The two-axis inverter units 6, 7, 8 as motor driving means for supplying to each of the servo motors, the lower control unit 9 and the upper control unit 10 as control means are arranged. Of these, additional capacitor units 3, 4
At least one unit of the small signal power supply unit 5 and the upper control unit 10 is further provided as an additional unit.

A printed wiring circuit is formed on the back surface side of the backplane 1, and a circuit pattern necessary for controlling the multi-axis motor of the present invention is formed on the printed wiring circuit. The plane 1 also serves as a circuit board for fixing the respective units 2 to 10 unitized for each of the above-mentioned functional elements and performing necessary circuit connections between the respective units 2 to 10.

A power supply connector 12 is provided on the surface of the backplane 1 adjacent to the functional element units 2 to 10.
Is provided, and a power supply cable from the commercial power supply 11 is connected to the power supply connector 12. On the surface of the backplane 1 below the lower functional element units 6 to 10, the motor power line connector 13,
14 and 15 are provided. These motor power line connectors 13, 14 and 15 have servo motors M1 ...
Motor wires 16 to 21 are connected to M6. An encoder connector 23 and a serial communication connector 24 are provided on the lower surface of the lower control unit 9. One end of encoder signal lines 22 for six units is connected to the encoder connector 23, and an external setting device 26 such as a personal computer or a control parameter setting unit is connected to the communication line 25 to the serial communication connector 24.
Connected via By providing the encoder connector 23 and the serial communication connector 24 not on the backplane 1 but on the lower surface side of the lower control unit 9, the wiring of the connection connectors 37 and 41 between the lower control unit 9 and the backplane 1 will be described later. The reduction of numbers is promoted.

Similarly, a serial communication connector 27 is provided on the lower surface of the host control unit 10, and an external setting device 29 such as a personal computer or a teaching pendant is connected to the communication line 28 on the serial communication connector 27.
Connected via

FIG. 2 shows a detailed example of the assembly structure of each of the functional element units. As shown in FIG. 2, on the front surface side of the backplane 1, a space corresponding to the depth dimension of each of the functional element units 2 to 5 in the upper row is provided, and each of them corresponds to the vertical dimension of each of the functional element units 2 to 5. Two pairs of upper support frames 43 and 44 are arranged at intervals. Similarly, two pairs of lower sides of the lower row are arranged at intervals corresponding to the depth dimensions of the respective functional element units 6 to 10 and at intervals corresponding to the vertical dimensions of the respective functional element units 6 to 10. Support frames 45 and 46 are arranged. Between the upper support frames 43 and 44, the main circuit power supply unit 2, the additional capacitor units 3 and 4, and the small signal power supply unit 5 are detachably attached in consideration of maintenance, and between the lower support frames 45 and 46. A two-axis inverter unit 6, 7, 8, a lower control unit 9 and a higher control unit 10 are detachably attached to the.

A regenerative resistor 47 is provided on the front side of the main circuit power supply unit 2. The regenerative resistor 47 is for consuming and absorbing regenerative electric power generated in the servo motor when a deceleration command is issued to the servo motor. The regenerative resistor 47 is arranged on the surface side of the main circuit power supply unit 2 opposite to the backplane 1 (front side in the unit insertion / attachment direction) because the regenerative resistor 47 is a heat source during operation, and the internal circuit caused by the heat is generated. This is to eliminate the thermal influence on the.

The biaxial inverter units 6, 7, 8
Cooling fins 48, 49, 50 are provided on the front side of the unit 6 so as to project to the outside of the casings of the units 6, 7, 8. The cooling fins 48, 49, 50 are the inverters 52, 56 in the biaxial inverter units 6, 7, 8.
It radiates heat generated from power devices such as power transistors used in (described later). Each cooling fin 4
The extending direction of the protruding strips (blades) of 8, 49, 50 is preferably the vertical direction from the viewpoint of heat dissipation efficiency.

The cooling fins 48 to 50 are provided in each unit 6 to.
Since it is provided outside the casing of No. 8,
Since heat does not stay inside the casing, thermal effects on the internal circuit can be suppressed, and factors that destabilize circuit operation such as temperature drift can be eliminated.As a result, the reliability of control operation can be improved. Can contribute.

In this way, the biaxial inverter unit 6,
The cooling fins 48, 49, 50 of 7, 8 and the main circuit power supply unit 2, the regenerative resistor 47 are in the unit insertion direction front side,
That is, the reason why it can be arranged on the side opposite to the board-side connector for electrical wiring connection is that the front side cable is abolished and printed wiring is carried out on the back side backplane 1.

FIG. 3 shows how the connectors are attached to the backplane. As shown in FIG. 3, backplane 1
The front surface side of the unit corresponds to the mounting position of each unit 2 to 10 and can be engaged with a unit side connector (not shown) provided on the back side of each unit 2 to 10, for example, in a male-female relationship. Board-side connectors 30 to 42 are provided.

When arranging and fixing the units 2 to 10 to the backplane 1, the units 2 to 10 are inserted from the front side toward the backplane 1, and the upper support frames 43 and 44, the lower support frame 45, The unit-side connector and the board-side connectors 30 to 42 are engaged and connected by being screwed to 46. Since the printed wiring layer is formed in advance on the backplane 1, the units 2 to 10 are circuit-connected via the printed wiring provided on the backplane 1, and the circuit of the multi-axis motor control device according to the present invention is connected. It is formed.

(II) Circuit Configuration and Connection Relationship of Each Functional Element Unit FIG. 4 shows a circuit configuration and connection relationship of each functional element unit. Note that the arrangement of the functional element units 2 to 10 shown in FIG. 4 on the backplane 1 does not correspond to FIG. 1, but shows an electrical connection relationship.

As shown in FIG. 4, each functional element unit 2
10 to 10 are electrically connected via the board-side connectors 30 to 42. The connection wiring is formed by a printed wiring layer printed in advance on the back plane 1.

Next, details of each functional element unit will be described.
This multi-axis motor control device is roughly divided into a large power system circuit and a small signal system circuit. First, focusing on the circuit of the large power system, the three-phase AC power (for example, AC200V) supplied from the commercial power supply 11 is supplied to the power supply connector 1
It is input to the main circuit power supply unit 2 via 2.

The main circuit power supply unit 2 includes a converter 2A for converting three-phase AC power into DC power and a capacitor C for smoothing the ripple component of the rectified output. The converter 2A is composed of, for example, a three-phase bridge rectifier circuit including a diode, a regenerative resistor for consuming regenerated power, and an on / off circuit (not shown) of the regenerative resistor. The obtained DC flow power (for example, DC 280V) is supplied as a high voltage power source through the additional capacitor units 3 and 4 and the inverter high current connectors 38, 39 and 40.
It is supplied to the shaft inverter units 6, 7, and 8, respectively.

The additional capacitor units 3 and 4 quickly respond to the capacity shortage of the smoothing capacitor when the capacity of the smoothing capacitor is insufficient due to the specification change of the driving capacity required for the multi-axis motor control device of the present invention. It was made possible.

The DC power supplied to the biaxial inverter units 6, 7 and 8 is supplied to the inverters 52 and 56 provided in each unit and used as the drive power for the servomotors M1 to M6. The configurations of the inverters 52 and 56 will be described later.

The small-signal power supply unit 5 constitutes a low-voltage power supply, and includes a base drive circuit of the power transistors forming the inverters 52 and 56, and a 5V power supply for a small-signal system unit described later. Is configured using a constant voltage power supply such as a switching regulator.

Next, the external setter 29, which is a small signal circuit,
The external control signal from (see FIG. 1) is input to the host control unit 10 via the serial communication connector 27. The upper control unit 10 is for transmitting the input external control signal to the lower control unit 9, and is a control unit belonging to the upper control unit of the lower control unit 9.

(III) Lower control unit (6-axis control unit) The lower control unit 9 generally receives external control signals from the upper control unit 10 and inputs from the communication line 28 (see FIG. 1) via the serial communication connector 24. Control signal setting signals, encoder signals e1 to e6 from encoders E1 to E6 fed back via the encoder connector 23, PWM signals a1 to a6, current serial signals b1 to b6, and other internal correction signals, and the like. Based on a control program stored in the built-in EEPROM 107, comprehensive feedback control of the two-axis inverter units 6, 7, 8 is performed, that is, servo control. Therefore, all the servomotors M1 to M6 are centrally controlled by the lower control unit 9.

FIG. 5 shows a detailed configuration example including the functional blocks of the lower control unit 9. The lower control unit 9
Although each of the servomotors M1 to M6 is composed of six control loops, one motor (first axis) will be described below to simplify the description.

One control loop has a position control section 60, a speed control section 61, a current control section 62, and a PWM signal generation section 63, and the SP (serial / parallel) conversion section 64 is shared by the two control loops. . Axis position target value Pref, speed target value Sref, current target value Ire
f is a control upper I / F connector 41, a position control unit 60, a speed control unit 61,
It is input to each of the current control units 62.

On the other hand, the encoder signals e1 to e6 are also input to the position control unit 60, the speed control unit 61, and the current control unit 62 via the encoder connector 23. Also,
The current detection value Idet is input to the current control unit 62 via the SP conversion unit 64.

The position control unit 60 controls the position target value Pref.
And the position detection value Pdet converted from the encoder signal e1
Are compared, and the difference value is output as s and sent to the speed control unit 61. The speed control unit 61 generates the current command i based on the difference value obtained by comparing the speed command s and the speed detection value Sdet converted from the encoder signal e1 and the speed target value Sref, and the current control unit 62 Send to. Current control unit 6
2 is a current amplitude command value obtained by adding the current target value Iref and the current command i to a two-phase current command value according to the motor magnetic pole position obtained from the encoder signal e1, and the current detection value Idet and the correction unit Gain correction data c from 71
A three-phase voltage command v is generated based on g and the offset correction data co, and is sent to the PWM signal generator 63. The PWM signal generator 63 generates a PWM (pulse width modulation) signal a1 based on the input v and supplies it to the biaxial inverter unit 6 through the control inverter I / F connector 37. The correction unit 71 is a detection error correction unit of the current detector 54, which will be described later, and based on the parallel data obtained by converting the microcomputer serial signals c1 to c3 from the micro computer 57 by 67, 68 and 69, the gain correction data cg and the offset. The correction data co is generated.

FIG. 6 shows a hardware configuration example of the lower control unit 9. The lower control unit 9 has a RAM for the CPU 77 that controls the lower control unit 9 in an integrated manner.
76, EEPROM (or flash memory) 10
7, DP-RAM (dual port RAM) 79, serial communication interface 72, PWM signal generator 63,
The SP converters 64 to 66, the magnetic pole position data converter 74, and the position detection counter 75 are connected via a bus 78. The DP-RAM 79 functions as a data buffer for transmitting / receiving data to / from the upper control unit 10,
The reason why the dual port is adopted is that the high speed of data communication is emphasized.

FIG. 7 shows the CP in the lower control unit 9.
An example of the processing contents of U77 is shown. As shown in FIG. 7, the position control unit 60, the speed control unit 61, and the current control unit 62 executed in FIG. 5 are all time-divisionally processed by the high-speed software processing of the CPU 77.

(IV) Biaxial Inverter Unit Referring again to FIG. 4, biaxial inverter units 6, 7,
8 will be described. In order to simplify the description, only the biaxial inverter unit 6 will be described, and a 2-axis inverter unit 6 having the same configuration will be described.
The description of the shaft inverter units 7 and 8 is omitted.

The biaxial inverter unit 6 includes two (biaxial) inverters for the servomotors M1 and M2. The number of axes is not limited to two, and generally n (plural) axes may be used. The reason for including a plurality of inverters in one inverter unit is to simplify the circuit configuration and reduce the cost.

In FIG. 4, the PWM signal a1 from the lower control unit 9 is input to the dead time creating section 51. The dead time creation unit 51 prevents generation of a through current due to simultaneous turn-on of a pair of power transistors connected in series to a one-phase arm in an inverter 52 that converts DC power into three-phase AC power. Shift the turn-on timing of. The output from the dead time generator 51 is input to the inverter 52.

The inverter 52 is an inverse converter for converting DC power into 3-phase AC power, and is generally constructed by connecting power transistors to a 3-phase bridge. Inverter 5
The three-phase AC power output from 2 is supplied to the servomotor M1 through the inverter large-current connector 38, the power line connector 13, and the motor wiring 16 (FIG. 1).
Similarly, the PWM signal a2 from the subordinate control unit 9 is input to the dead time creation unit 55. Similarly to the above, the output from the dead time generator 55 is input to the inverter 56. The three-phase AC power output from the inverter 56 is supplied to the servomotor M2 through the inverter large current connector 38 and the power line connector 13 and the motor wiring 17 (FIG. 1).

Now, the drive current detection feedback loop in the biaxial inverter unit 6 will be described. First, the outline will be described. Two phases of three-phase output of the inverter 52
And the two phases of the three-phase output of the inverter 56 are respectively wired to the current detector 54, and the output drive currents of the inverters 52 and 56 are monitored. The current detector 54 detects the current value of the AC power supplied to each of the two driven servomotors, is shared by the inverters 52 and 56, and outputs a current according to a switching signal from the microcomputer 57. The detection gain is switched. The detected current value of the current detector 54 is converted into a digital signal by the multi-channel input / serial output type A / D converter 53 and sent to the SP conversion unit 64 of the lower control unit 9. The current detector 54, the A / D converter 53, and the SP converter 64 form a feedback loop of the drive current of the inverters 52 and 56.

(V) Current Detector FIG. 8 shows a detailed circuit example of the A / D converter 53 and the current detector 54 in the biaxial inverter unit 6 and the connection relationship with the lower control unit 9. As shown in FIG. 8, current detecting resistors RA1 and RB are connected to the output wiring of the inverter 52.
1 is inserted, the voltage across the current detecting resistor RA1 is applied to the isolation amplifier 82 as a drive current detection signal for the first phase (A phase) of the inverter 52, and the voltage across the current detecting resistor RB1 is applied to the inverter 52. The signals are input to the isolation amplifier 83 as the second-phase (B-phase) drive current detection signals. Similarly, the current detection resistor RA is connected to the output wiring of the inverter 56.
2, RB2 is inserted, and the voltage across the current detection resistor RA2 is applied to the isolation amplifier 84 as a drive current detection signal for the first phase (A phase) of the inverter 56, and the current detection resistor RB2
The voltages at both ends of are input to the isolation amplifier 85 as the second-phase (B-phase) drive current detection signal of the inverter 56.

The isolation amplifiers 82 to 85 are amplifiers for electrically insulating the output wirings of the high-power inverters 52 and 56 from the small signal system of the feedback loop, and perform electrical / optical / electrical conversion or electrical / magnetic conversion. / Configured by electrical conversion. The output signals of the isolation amplifiers 82 to 85 are input to the variable gain amplifiers 86 to 89.

The variable gain amplifiers 86 to 89 are composed of operational amplifiers, and when servomotors M1 to M6 to be controlled are different in rating (for example, 5A (ampere) motor, 10A motor, etc.), It is designed to be able to respond to changes in specifications. That is, in the conventional case (FIG. 14), when the target servomotors M1 to M6 are replaced with those having different ratings, the motor control devices U1 to U6 to be driven are also adjusted according to the ratings of the new servomotors M1 to M6. It was necessary to replace and rewire cables 201, 209, 210. However, as in the present embodiment, the additional capacitor units 3 and 4 (see FIGS. 1 and 4) are made detachable, and the variable gain amplifiers 86 to 89 are used to newly design and manufacture the multi-axis motor control device. There is no need.

FIG. 9 shows a circuit example of the variable gain amplifier 86 (the same applies to 87 to 89). As shown in FIG. 9, the variable gain amplifier 86 switches the feedback resistors (2R, R, R) of the operational amplifier 101 to the changeover switch SW1.
, SW2 to change the gain of the operational amplifier 101, that is, the amplification degree. The changeover switches SW1 and SW2 can be realized by analog switches, and are changed over by a gain changeover signal f from the microcomputer 57. In this circuit, the gain can be switched in two stages, but in general, it can be switched in n (plural) stages, and such diversion belongs to the technical scope of the present invention. The changeover operation is such that the changeover switch SW1 is ON when the gain changeover signal f is logic "1", and the changeover switch SW2 is O when the gain changeover signal f is logic "0".
N.

(VI) A / D Converter Referring again to FIG. 8, the A / D converter 53 is composed of a 4-channel input / serial output type A / D converter, and is similar to the current detector 54. It is shared by the inverters 52 and 56. As shown in FIG. 8, the A / D converter 53 includes an input switching section 90 and an A / D conversion section 91. The input switching unit 90 is a selector for selectively transmitting the 4-channel current detection value signals from the variable gain amplifiers 86 to 89 to the A / D conversion unit 91, and is output from the A / D conversion control unit 94. In response to the command signal DI, one of the four channel current detection value signals is synchronized with the clock signal SCLK and the A / D converter 91
To pass. The A / D conversion unit 91 is the A / D conversion control unit 9
The current detection value signal is converted into a digital signal in synchronization with the clock signal SCLK by the straw section signal -CONV from 4 and the converted current detection value signal DO12 is SP of 9
It is sent to the conversion unit 64. The serial current detection value signal DO12 sends out the current detection values of the first and second axes in a time division manner, and does not include the current detection values of the two axes at the same timing.

As described above, in the case of A / D converting the detected current values of the two axes, a 4-channel input / serial output type A / D converter is used.
By using the D converter 53 and sharing two axes, the number of signal lines can be reduced to six for six axes, and the number of signal pins can be reduced accordingly. Since the number of signal lines is 6, the number of signal lines can be reduced, the connector can be downsized, and the biaxial inverter unit 6 itself can be downsized.

FIG. 1 shows the difference in the number of signal pins between the prior art and the present invention due to the difference in the configuration of the A / D converter described above.
3 shows. Conventionally, for example, a 2-channel input / 12-bit parallel output type A / D converter is used for each inverter. In this case, the signal lines connected to the lower control unit 9 are for 6 axes. At least 19 in total
Book [12 (A / D converter output) + 1 (channel switching signal line) + 6 (6 A / D converter selection signal lines)]
Is required, and the number of signal pins of the connector corresponding to the number of signal lines is also required to be 19, whereas in the present invention, the configuration can be extremely simplified as shown in FIG. .

(VII) Offset correction and gain correction in the current detector When the gain of the variable gain amplifiers 86 to 89 shown in FIG. 8 is changed, the gain is calibrated according to the rated current of the motor used. Is important for maintaining control accuracy. Further, an error characteristic of a general operational amplifier is an offset, and there are variations among individual operational amplifiers. Incidentally, in the past, offset correction was manually adjusted by a variable resistor attached to the operational amplifier, but the work efficiency was poor.

From the above, the lower control unit 9
Is provided with correction means for automatically and digitally performing gain correction and offset correction accompanying gain switching in the current detectors 54 of the biaxial inverter units 6, 7, 8.

FIG. 10 shows the principle of a correction circuit for offset correction and gain correction of the variable gain amplifiers 86 to 89. As shown in FIG. 10, in this offset correction and gain correction, the serial data of DO12, DO34, and DO56 for six axes sent from the two-axis inverter units 6, 7, and 8 are converted into parallel data by the SP conversion units 64-66. (1
2 channels) and converted to DO12, DO34, DO
Offset correction data c generated by the correction unit 71 from 56
The offset component is removed by subtracting o in the subtractor 92, and the gain correction data cg corresponding to the gain required for the multi-axis motor control device is obtained for the correct value with the offset component removed. Multiplier 9
It is intended to feed back the current detection value data for which the offset correction and the gain correction for 12 channels obtained by the multiplication in 3 are corrected to the current control unit 62.

FIG. 11 shows a detailed example of a correction circuit for automatically performing the offset correction and the gain correction. First,
Adjust the offset. For that purpose, the isolation amplifier 82
To 85, variable gain amplifiers 86 to 89, input switching unit 9
0, it is necessary to know how much the total offset amount of the A / D converter 91 is. As an example, the isolation amplifier 82, the variable gain amplifier 86, the input switching unit 90, the A / D
An offset adjustment and gain adjustment method of the conversion unit 91 will be described. The same applies to the other three channels.

To detect this offset amount, a dummy current is not passed through the output lines of the inverters 52 and 56 (zero [A]), and the output data (current detection value) of the A / D converter 53 at this time is output. Capture via 64, SP-OUT
Is input to the subtractor 97. Further, the data of the target value REF (zero [A]) is sent from the memory 95 to the subtractor 97 via the target value switching unit 96. At this time, no voltage drop has occurred in the current detection resistors RA1 and RA2, and the current detection value originally output from the A / D converter 53 should be zero [A].

Therefore, the difference value calculated by the subtractor 97 at this time is the isolation amplifier 82, the variable gain amplifier 86,
It can be seen that this corresponds to the total offset component of the input switching unit 90 and the A / D conversion unit 91. Therefore, this difference value is used as the offset correction data co of the variable gain amplifier 86.
As the correction data switching unit 98, the correction data memory 9
9 and at the same time, after converting to serial data by the SP conversion section 67, the micro computer 57
Write to EEPROM 59 via.

Then, the gain correction data cg in the 5 [A] operation mode is calculated and written in the EEPROM 59. First, the constant current source 10 is connected to the output line of the inverter 52.
4, by the probe switch 105 and the probe 106,
A dummy current of 5 [A] is passed, the terminal voltage (that is, the current detection value) of the current detection resistor RA1 at this time is detected, and the data is given to the subtractor 97. On the other hand, memory 9
The target value REF5 (5 [A]) is given to the subtractor 97 from 5 and the offset correction data c is given from the correction data memory 99.
o is read and given to the subtractor 97. By performing the subtraction in the subtractor 97 in this state, the gain correction data cg in the 5 [A] operation mode which does not include the offset component is obtained. This gain correction data cg is stored in the correction data memory 99, and the SP conversion unit 67
Sent to the micro computer 57 via the
Written in ROM 59.

Then, the gain correction data cg in the 10 [A] operation mode is calculated and written in the EEPROM 59. As in the case of the 5 [A] operation mode, first, a constant current source 104, a probe switch 105, and a probe 106 are used to pass a dummy current of 10 [A] to the output line of the inverter 52 for current detection. The terminal voltage (that is, the current detection value) of the resistor RA1 is detected, and the data is given to the subtractor 97. On the other hand, the target value RE from the memory 95
F10 (10 [A]) is given to the subtractor 97, and the offset correction data co is read from the correction data memory 99 and given to the subtractor 97. By performing the subtraction in the subtractor 97 in this state, the gain correction data cg in the 10 [A] operation mode in which the offset component is not included
Is required. The gain correction data cg is stored in the correction data memory 99 and is also sent to the microcomputer 57 via the SP converter 67 to be stored in the EEPROM.
Written in 59.

Similarly, by performing the above-described operation on the other three channels (systems of RB1, RA2 and RB2), the offset correction data co and the gain correction data cg of each are obtained and automatically written in the EEPROM 59. Get caught.

The above series of operations is executed by the timing control of the EEPROM writing control section 100.
The EEPROM writing control unit 100 operates according to a start signal from the outside.

The offset correction data co and the gain correction data cg thus written are supplied from the EEPROM 59 via the microcomputer 57 during the control operation of the multi-axis motor control device to the current control unit 62 of the lower control unit 9. Be used for.

As described above, since the offset correction data co and the gain correction data cg can be automatically generated, the adjustment efficiency can be improved, and the accuracy can be improved because they are digitally performed.

[0082]

As described above, according to the invention as set forth in claim 1, since necessary circuit wiring is preliminarily provided on the circuit board, when each functional element unit is arranged and fixed on the circuit board, Since the unit side connector and the board side connector are engaged with each other to perform electric wiring between the functional element units,
Since the above wiring is simplified and the connectors are arranged, the number of connectors is reduced, and since it is possible to connect between the functional element units via the connectors,
Since the wirings are organized, the number of wirings can be reduced, the wirings can be simplified, erroneous wirings can be prevented, and disturbance noises can be prevented from entering the wirings, so that the reliability of the control operation can be improved.

According to the second aspect of the present invention, since the plurality of current detection value signals are selectively A / D converted, the number of signal lines is reduced, the connector is downsized, and the inverter unit itself is downsized. Therefore, it is possible to further improve the effect described in claim 1.

According to the third aspect of the present invention, it is possible to reduce the number of connectors, the number of wirings, and simplification of wiring between the main circuit power supply unit and the small signal power supply unit and the power supply. And prevent miswiring,
Since the disturbance noise can be prevented from entering the wiring, the reliability of the control operation can be improved, and the effect of claim 1 can be further enhanced.

According to the invention described in claim 4, even between the main circuit power supply unit and the small signal power supply unit and the inverter unit, it is possible to reduce the number of connectors, the number of wirings, and simplification of wiring. It is also possible to prevent erroneous wiring, etc., and prevent disturbance noise from entering the wiring, so that the reliability of control operation can be improved.
The described effect can be further enhanced.

According to the fifth aspect of the invention, the number of connectors is reduced and the number of wirings is reduced between the small signal power supply unit and the upper control unit and the lower control unit for controlling the motor driving means of the inverter unit. Reduction of
Wiring can be arranged and simplified, erroneous wiring and the like can be prevented, and disturbance noise can be prevented from entering the wiring, so that the reliability of the control operation can be improved and the effect of claim 4 can be further enhanced. You can

According to the invention described in claim 6, since one inverter unit includes two inverters, the circuit configuration can be simplified and the cost can be reduced, and the encoder connector can be used as the circuit board. Since it is provided on the lower control unit side instead of the lower side, the number of wires of the connector connecting the lower control unit and the circuit board is reduced, the wiring is simplified, miswiring is prevented, and disturbance noise enters the wiring. Since this can be prevented, the reliability of the control operation can be improved, and the effect of claim 5 can be further enhanced.

According to the invention described in claim 7, the wiring is simplified, the connectors are arranged and the number of connectors is reduced, and since the connectors can be connected to each other, the wiring can be performed. The number of wirings can be reduced, the wirings can be simplified, erroneous wirings can be prevented, and disturbance noises can be prevented from entering the wirings, so that the reliability of the control operation can be improved.

According to the invention described in claim 8, an additional capacitor unit connectable to the output stage of the main circuit power supply means,
At least one unit of a small signal power supply unit that supplies a small signal power supply to the control unit and the inverter unit, and a host control unit that transmits a control command signal from the outside to the control unit is provided as a unit that can be further added, Even between the additional units, the number of connectors can be reduced, the number of wires can be reduced, the wiring can be organized and simplified, and incorrect wiring can be prevented and disturbance noise can be prevented from entering the wiring, so that the control operation is reliable. The property can be improved, and the effect of claim 7 can be further enhanced.

According to the invention described in claim 9, an additional capacitor unit connectable to the output stage of the main circuit power supply means,
Reduction of the number of connectors and wiring between functional element units including a small signal power supply unit that supplies small signal power to the control unit and inverter unit, and a host control unit that transmits a control command signal from the outside to the control unit It is possible to reduce the number of wires and simplify wiring arrangement,
Furthermore, since incorrect wiring can be prevented and disturbance noise can be prevented from entering the wiring, the reliability of the control operation can be improved, and the effect of claim 7 can be further enhanced.

According to the tenth aspect of the invention, in addition to the effect of the multi-axis motor control device of the third aspect, a small signal system group of noise from the functional element units belonging to the large power system group is added. It is possible to prevent intrusion to the functional element unit to which it belongs and further improve the reliability of the device operation.
The effect of claim 8 or 9 can be enhanced.

According to the eleventh aspect of the present invention, the heat generated in each unit can be efficiently dissipated to the outside, and the cause of unstable circuit operation such as temperature drift can be eliminated. The reliability of the control operation can be improved, and the effect of claim 7 can be further enhanced.

[Brief description of drawings]

FIG. 1 is an external perspective view showing an outline of an assembly structure of each unit in an embodiment of the present invention.

FIG. 2 is an external perspective view showing details of the assembly structure of each unit in the embodiment of the present invention.

FIG. 3 is an external perspective view showing a state in which connectors and the like are attached to a backplane according to the embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration and a connection relationship of each unit in the embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration example of a lower control unit.

FIG. 6 is a block diagram showing a hardware configuration example of a lower control unit.

FIG. 7 is a block diagram showing an example of processing contents of a CPU of a lower control unit.

FIG. 8 is a block diagram showing a circuit around a current detector in the biaxial inverter unit.

FIG. 9 is a circuit diagram showing an example of a variable gain amplifier in a biaxial inverter unit.

FIG. 10 is a block diagram showing a principle configuration of a correction circuit for offset correction and gain correction of a current detector.

FIG. 11 is a block diagram showing a detailed example of an automatic correction circuit for offset correction and gain correction of a current detector.

FIG. 12 is a block diagram showing a wiring relationship between a biaxial inverter unit and a lower control unit.

FIG. 13 is an explanatory diagram showing an old and new comparative example of the number of connector signal pins between the two-axis inverter unit and the lower order control unit.

FIG. 14 is an external perspective view showing a configuration example of a conventional multi-axis motor control device.

FIG. 15 is a block diagram showing a configuration example of a control unit per axis in a conventional multi-axis motor control device.

[Explanation of symbols]

 1 Backplane 2 Main circuit power supply unit 3, 4 Additional capacitor unit 5 Small signal power supply unit 6, 7, 8 Inverter unit (2 axes) 9 Lower control unit (6 axes) 10 Upper control unit 11 Commercial power supply 12 Power supply connector 13 -15 Power line connector 16-22 Motor wiring 22 Encoder signal line 23 Encoder connector 24 Serial communication connector 26 External setting device 27 Serial communication connector 29 External setting device 30 Main circuit power supply connector 31 Additional capacitor connector 32 Connector for additional capacitor 33 Connector for small signal power supply 34-36 Inverter small signal connector 37 Control inverter I / F connector 38-40 Inverter large current connector 41 Control upper I / F connector 42 Upper connector 48-50 Cold Fin 52 Inverter 53 A / D converter 54 current detector 56 inverter M1 ～M6 servomotor E1 -e6 encoder

Claims (11)

[Claims] 1. A main circuit power supply means for once converting AC power supplied from a power supply into DC power, and the converted DC power is converted into AC power again, and the converted AC power is converted into a plurality of servomotors. A multi-axis motor control device including a motor drive means individually supplied to each of the motor drive means and a control means for controlling the operation of the motor drive means, wherein the main circuit power supply means, the motor drive means and the control means are each means. Each of the divided means is housed in a separate casing to form a unit, and each of the units is provided with a unit-side connector for electrical wiring connection. A circuit board on which a unit and a board-side connector for electrical wiring connection, in which necessary circuit wiring is pre-wired and engaged and connected to the unit-side connector, are attached. Is provided, and when the functional element units are arranged and fixed to the circuit board, the unit side connector and the board side connector are engaged and connected, and the respective means are electrically wired through the circuit board. A multi-axis motor control device characterized by the above. 2. The multi-axis motor control device according to claim 1, wherein the inverter unit accommodating the motor driving means includes:
A plurality of current detection means for detecting the current value of the AC power supplied to each of the plurality of servomotors, and an A / D for converting the output signal of the current detection means into a digital signal.
A converter is provided, and the A / D converter is a multi-channel input / serial output type A / D converter that selectively A / D-converts output signals from the plurality of current detection means. A multi-axis motor control device characterized by the above. 3. The multi-axis motor control device according to claim 1, wherein the circuit board is provided with a power supply connector to which AC power supplied from a power supply is connected, and from the power supply connector, the circuit board is connected. The alternating current power is supplied to a main circuit power supply unit accommodating a main circuit power supply unit serving as a high voltage power supply and a small signal power supply unit serving as a low voltage power supply through a circuit wiring provided in Axis motor control device. 4. The multi-axis motor control device according to claim 3, wherein the DC power from the main circuit power supply unit is supplied to the inverter unit in which the motor drive means is housed, through the circuit wiring provided on the circuit board. At the same time, the DC power from the small signal power supply unit is supplied to the inverter unit via the circuit wiring provided on the circuit board. 5. The multi-axis motor control device according to claim 1, wherein the control means for controlling the operation of the motor drive means includes a host control unit to which an external control signal input from the outside is input, and a host control unit. A low-level control unit that receives external control signals from the control unit and controls multiple inverter units is installed.DC power from the small-signal power supply unit, which is a low-voltage power supply, can be fed through the circuit wiring provided on the circuit board. A multi-axis motor control device characterized in that power is supplied to an upper control unit and a lower control unit via the control unit. 6. The multi-axis motor control device according to claim 5, wherein each of the plurality of inverter units is connected to each of two servo motors, and each of the servo motors connected to each of the plurality of inverter units is connected to each of the servo motors. Is a rotary detection encoder, and the encoder signal from each encoder is connected to an encoder connector provided in the lower control unit. 7. A main circuit power supply means for once converting AC power supplied from a power source into DC power, and converting the converted DC power into AC power again, and converting the converted AC power into a plurality of servo motors. A multi-axis motor control device including motor driving means of a number corresponding to the number of the servo motors to be individually supplied to each of the motors, and control means for controlling the operation of the plurality of motor driving means, wherein the main circuit A main circuit power supply unit including power supply means, a motor drive inverter unit housed in the same casing in units of two or more servomotors of the plurality of servomotors including the motor drive means, and the motor It is divided into control units that control the drive means in a centralized manner. Each unit is housed in a separate casing, and each unit is for connecting electrical wiring. A functional element unit having a side connector and a board side connector for electrical wiring connection, in which necessary circuit wiring for connecting between the respective units is preliminarily wired, and which is engageable with the unit side connector. And a circuit board provided with the circuit board, and when the functional element units are arranged and fixed to the circuit board, the unit-side connector and the board-side connector are engaged and connected and pre-wired to the circuit board. A multi-axis motor control device, wherein each functional element unit is electrically wired to each other by circuit wiring to form a motor control device. 8. The multi-axis motor control device according to claim 7, wherein the functional element unit includes an additional capacitor unit connectable to the output stage of the main circuit power supply means, and a small signal power supply for the control unit and the inverter unit. At least one unit of a small signal power supply unit to be supplied and a host control unit for transmitting a control command signal from the outside to the control unit is further included as an additional unit, and the circuit board has a necessary circuit corresponding to the additional unit. A multi-axis motor control device in which wiring is wired, and a board-side connector for electrical wiring connection that is mutually engageable with a unit-side connector provided in each unit is attached. 9. The multi-axis motor control device according to claim 7, wherein the functional element unit includes an additional capacitor unit connectable to the output stage of the main circuit power supply means, and a small signal power supply for the control unit and the inverter unit. It includes a small signal power supply unit to be supplied and a host control unit for transmitting a control command signal from the outside to the control unit, the circuit board is wired with necessary circuit wiring corresponding to each unit, and A multi-axis motor control device, wherein a board-side connector for electrical wiring connection, which is engageable with a unit-side connector provided in a unit, is attached. 10. The multi-axis motor control device according to claim 8, wherein the functional element unit includes a main circuit power supply unit, an additional capacitor unit and a small signal power supply unit as a large power system group, and a plurality of motors. The drive unit, the control unit, and the host control unit as a small signal system group,
A multi-axis motor control device, which is arranged and fixed separately from each other on a circuit board. 11. The multi-axis motor control device according to claim 7, wherein the heating element or the cooling fin attached to each unit is
A multi-axis motor control device, characterized in that the multi-axis motor control device is provided on the side opposite to the unit side connector for electrical wiring connection.