JPH08306433A - Connector device - Google Patents

Abstract

PURPOSE: To simplify wiring, prevent erroneous wiring or the like, increase efficiency in wiring work at unit trouble time, also improve reliability of device operation, and further prevent erroneous connection of mutual connectors. CONSTITUTION: A connector device is provided with a unit group in which divided respective elements are housed in individual casings, and are unitized, and electric wiring connecting unit side connectors 30a to 33a are arranged by at least one or more pieces in respective ones with respective units 2 to 5 and a circuit board 1 on which necessary circuit wiring is beforehand laid and electric wiring connecting base board side connectors 30 to 33 to be connected to the electric wiring connecting unit side connectors 30a to 33a are respectively installed. At least one or more unit side connectors with respective units 2 to 5 and the base board side connectors to be connected to these, are arranged in respectively different positions with respective units 2 to 5 from a reference position 43 in common with the respective units 2 to 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a connector device,
In particular, the present invention relates to a connector device that prevents misconnection between connectors.

[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. 18 shows an external configuration of a conventional multi-axis motor control device. This multi-axis motor control device is configured to drive and control six servo motors, and dedicated control units U1 to U6 are provided for each servo motor (for each axis).
Is provided. The control units U1 to U6 are arranged in a row in parallel with the upper control unit Uh for transmitting a control command from the external controller 202 to the control units U1 to U6. Each of the control units U1 to U6 and the host control unit Uh is individually housed in a casing, and a large number of connectors are provided on the front side for performing necessary electrical wiring.

These connectors are roughly classified into those for power wiring, those for signal lines, and those for driving motors. The control unit U6 for each axis includes, for example, a serial communication connector 20
4, a control signal connector 205, an encoder connector 206, a motor power line connector 207, and a power supply connector 211 are provided. Therefore, the power source 20
0 to power supply connector 21 of each control unit U1 to U6
Power wiring is done individually for each servo motor M
It is necessary to wire 1 to M6 to each motor power line connector 207, and similarly to each encoder E1 to E6 to each encoder connector 206. In addition, crossover wiring is required for each control signal connector 205 in order to transmit a control signal from the upper control unit Uh to each control U1 to U6. Other than this, in principle, each control unit U1 to U6
Individual wiring is done in units.

FIG. 19 shows a configuration example of a control unit for each axis in a conventional multi-axis motor control device. FIG.
At, 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. The position control unit 260 compares the position detection value converted from the encoder signal e1 fed back from the encoder E1 with the rotational position target value Pref, and uses the difference value as the speed command s to control the speed control unit 261.
Send to 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 controller 262 uses the servo motor M1 magnetic pole position signal obtained from the encoder signal e1, the current command i, and the A / D converter 25.
8. The three-phase voltage command v is generated based on the current detection value Idet fed back from the current detector 258, and the PW
It is output to the M signal generator 263. PWM signal generator 26
3 generates a PWM signal based on the three-phase voltage command v,
Inverter 252 via dead time generator 251
Send to The inverter 252 generates a drive voltage according to the input PWM signal and drives the servomotor M1. The current detector 258 forms a feedback loop for monitoring the drive current of the inverter 252 and performing feedback control, and its output signal is the A / D converter 25.
A / D conversion is performed at 3. A publicly known technique of this type of servo control system is disclosed in JP-A-4-9011.

[0006]

As described above, in the conventional multi-axis motor control device, since a large number of wiring cables are required and the number of parts is increased, the cost of parts is increased and the wiring complexity is increased. Therefore, there was a problem that the assembly work cost also increased. In addition, the complexity of wiring easily induces erroneous wiring, which leads to a reduction in work efficiency.

If any of the control units U1 to U6 fails, the cable connectors 205, 20
After removing 6, 207, 211 and replacing the failure control unit, cable connectors 205, 206, 207, 2
I had to re-wire 11.

The object of the present invention is to reduce the cost of the device, simplify the wiring, improve the efficiency of the wiring work in case of a unit failure, and further improve the reliability of the operation of the device, and further, the incorrect connection between the connectors. It is to provide a connector device that can prevent the above.

[0009]

In order to solve the above-mentioned problems, according to the invention as set forth in claim 1, each of the divided elements is housed in a separate casing to be unitized, and the electric wiring is connected. A unit group in which at least one unit-side connector for each unit is arranged, and necessary circuit wiring are wired in advance, and
A circuit board to which a board-side connector for electric wiring connection, which is connected to the unit-side connector for electric wiring connection, is attached, and at least one or more unit-side connectors for each unit; The board-side connector is arranged at a different position for each unit from a reference position common to each unit.

According to a second aspect of the present invention, in addition to the first aspect, each unit is divided for each functional element, and at least main circuit power supply means for once converting AC power supplied from a power supply into DC power. And a motor drive unit that converts the converted DC power into AC control power again and individually supplies the converted AC control power to each of a plurality of servomotors, and controls the operation of the motor drive unit. It is characterized by being divided into control means.

[0011]

According to the first aspect of the invention, the unit group is arranged and fixed on the circuit board, and electrical wiring is performed between the unit side connector and the board side connector. At this time, since at least one or more unit-side connector for each unit and the board-side connector connected thereto are arranged at different positions for each unit from the reference position common to each unit, When the unit-side connector and the board-side connector are aligned with each other with reference to the reference position, the connectors other than the pair are not connected to each other, and the incorrect connection of the connectors is prevented. In addition, since necessary circuit wiring is preliminarily laid on the circuit board, wiring can be simplified.
In addition, since each unit can be connected via the connector, the wiring can be organized, the number of wirings can be reduced, the wiring can be simplified, erroneous wiring can be prevented, and disturbance noise can be prevented from entering the wiring. Therefore, the reliability of the device operation can be improved.

According to the second aspect of the present invention, since each unit is divided for each functional element, the number of connectors can be reduced.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, preferred embodiments of the present invention will be described with reference to the drawings. (I) Assembly Structure of Each Functional Element Unit of Multi-Axis Motor Control Device FIG. 1 shows an example of an assembly structure of each functional element unit of the multi-axis motor control device according to the present invention. As shown in FIG. 1, a backplane 1 made of glass epoxy resin or the like is provided in the vertical direction, and a plurality of functional element units are separated and arranged in two rows on the front side of the backplane 1 and fixed in an array. The upper row is arranged in a state where the main circuit power supply unit 2, the additional capacitor units 3 and 4, and the small signal power supply unit 5 are assembled, and the lower row is the biaxial inverter units 6, 7, and 8 and the lower control unit 9. , And the upper control unit 10 are arranged in an aggregated state.

A printed wiring layer is formed in advance on the back surface side (back surface side if necessary) of the backplane 1, and this printed wiring circuit has a circuit pattern necessary for constructing the multi-axis motor control device. Is formed by.

A power supply connector 12 is provided on the surface of the backplane 1 adjacent to the functional unit groups 6 to 10. A power supply cable from a commercial power supply 11 is connected to the power supply connector 12. To be done. Power line connectors 13, 14, and 15 are provided below the lower functional element unit groups 6 to 10 on one surface. These power line connectors 13, 14, 15 are
Motor wiring 16 to each servo motor M1 to M6
21 is connected. An encoder connector 23 and a serial communication connector 24 are provided on the lower surface of the lower control unit 9.
Is provided. One end of the encoder signal line 22 for six axes 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 serial communication connector 24 via a communication line 25. . 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, reduction of the number of wires of the lower control unit 9 and the connecting connectors 37, 41 of the backplane 1 is promoted. To be done.

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 units 2 to 5 in the upper row is provided, and they correspond to each other to the vertical dimension of each of the functional units 2 to 5. A pair of upper support frames 43, 44 for setting the reference position with a gap.
Is arranged. Similarly, each functional unit 6 in the lower row
Two pairs of lower support frames 45, 46 are arranged at intervals corresponding to the depth dimension of 10 to 10 and at intervals corresponding to the vertical dimension of each of the functional units 6 to 10. 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. Main circuit power supply unit 2 with regenerative resistor 47 opposite to backplane 1
The regenerative resistor 47 is disposed on the front surface side (in front of the unit insertion mounting direction) in order to eliminate the thermal influence on the internal circuit due to its heat generation during operation.

On the front side of the biaxial control units 6, 7, and 8 (front side in the unit insertion mounting direction), each unit 6,
The cooling fins 4 project outside the casings 7 and 8
8, 49, 50 are provided. This cooling fin 4
The reference numerals 8, 49, 50 radiate heat generated from power devices such as power transistors used in inverters 52, 56 (described later) in the biaxial control units 6, 7, 8. The extending direction of the convex strips (blades) of each cooling fin 48, 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.

Thus, the two-axis control units 6, 7, 8 are
The cooling fins 48, 49, 50, the main circuit power supply unit 2, and the regenerative resistor 47 can be arranged on the front side in the unit insertion direction, that is, on the side opposite to the board side connector for electric wiring connection, as in the present invention. This is because the cable of No. 1 was abolished and the backplane 1 on the back side was printed.

FIG. 3 shows how the connectors are attached to the backplane. As shown in FIG. 3, backplane 1
The front side of the unit 2-10 corresponds to the mounting position of each unit 2 to 10 and engages with the unit side connectors 30a to 33a (see FIG. 14) provided on the back side of each unit 2 to 10 in a male-female relationship, for example. Possible connectors 30-42 are provided. The unit side connectors corresponding to the backplane side connectors 34 to 42 are omitted for convenience of the drawing.

Here, in the unit side connector and the backplane side connector on the upper side of the drawing, as shown in FIG. 14, one unit side connector and one backplane side connector are adopted per unit, The objects to be connected, that is, the pairs are located at the same distance from the upper support frame 43 serving as the reference position (of course, the same distance from the upper support frame 44), and with respect to the other pairs of connectors. They are arranged at different positions. For example, taking the connectors 30 and 30a as an example, the connectors 30 and 30a are located at the same distance from the upper support frame 43, and the other connectors are located at different positions from the upper support frame 43. is there. Further, for example, when the connectors 31, 31a are described as an example, the connectors 31, 31a are located at the same distance from the upper support frame 43, and other connectors are different from the upper support frame 43 by different distances. In position. Here, the difference between the distance from the connectors 31 and 31a to the upper supporting frame 43 and the distance from the connectors 30 and 30a to the upper supporting frame 43 is a length that is a natural multiple of the interval (pitch) of the lead pins of each connector. is there. That is, each connector 30 to 3 on the backplane side
3 are arranged at different positions in the longitudinal direction (pin arrangement direction) with a dimensional difference that is a natural multiple of the lead pin pitch. Of course, each connector 30a to 33 on the unit side
The same applies to a.

In the lower unit side connector and the back plane side connector in the figure, two unit side connectors and two back plane side connectors are employed per unit, respectively, as shown in FIG. The units connected to each unit, that is, the pair of units are at the same distance from the lower support frame 45 serving as the reference position (of course, the same distance from the lower support frame 46). Further, one of the upper and lower sides of the other pair of connectors is located at a different distance from the lower support frame 45. In addition, in FIG. 15, one backplane 1 is cut at several positions and arranged side by side in the left-right direction in the drawing. However, actually, the backplanes 1 arranged side by side are perpendicular to the plane of the drawing. It is connected and is one piece.

Therefore, when the unit side connector and the board side connector are aligned with each other with reference to the reference position, the connectors other than the pair are not connected to each other, and it is possible to prevent the connectors from being erroneously connected. In the lower unit-side connector and the backplane-side connector, both upper and lower connectors in the figure may be arranged at different positions from the support frame with respect to other paired connectors.

Incidentally, the conduction state of the above-mentioned constituent units is judged by the check unit 300 shown in FIG. That is, the wiring board 3 of the check unit 300
In 04, a large number of through-holes 301 that match the pitch of the lead pins are formed in the vertical direction on the left and right in the figure, and a pattern wiring 302 that connects these left and right through-holes 301 is provided, and in the middle of this pattern wiring 302. A check pin 303 is projected. In addition, the amount by which the connector is vertically moved between the above units depends on the through hole 3
It is a natural number times the vertical pitch of 01 in the figure.

Therefore, for example, if the lead pin on the plug side of the connector is inserted into the through hole on the left side of the drawing and the lead pin on the socket side of the connector is inserted into the through hole on the right side of the drawing, the check pin 303 can be used to confirm the conduction state. Has become. Further, since the shift amount is set to the natural multiple of the pitch as described above, one wiring board 3 can be formed by adjusting the position of the connector to each unit.
You can check all units at 04.

When arranging and fixing the units 2 to 10 to the back plane 1, the units 2 to 10 are inserted from the entire surface side toward 1 and the upper support frame 4 is inserted.
3, 44 and the lower support frames 45, 46 are screwed to the unit side connector and the board side connector 30.
To 42, and a printed wiring layer is formed in advance on the backplane 1, so most of the circuit of the multi-axis motor control device is wired.

(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. The functional element units 2 to 10 shown in FIG.
The arrangement 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 includes, 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 direct-current power (for example, DC280V) is supplied to the biaxial inverter units 6, 7, and 8 via the additional capacitor units 3 and 4 and the inverter large-current connectors 38, 39, and 40, respectively.

The additional capacitor units 3 and 4 are capable of promptly supplementing the capacity when the capacity of the smoothing capacitor becomes insufficient due to the specification change of the driving capacity required for the multi-axis motor control device. It is the one.

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

The small signal power supply unit 5 includes the inverters 5
2 includes a base drive circuit of a power transistor constituting 2 and a 5V power source for a small signal system unit described later, and is specifically configured by using a constant voltage power source such as a switching regulator.

Next, paying attention to the small signal circuit, the external control signal from the external setter 29 (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 includes an external control signal from the upper control unit 10, a control parameter setting signal input from the communication line 28 (see FIG. 1) through the serial communication connector 24, and an encoder connector 23. Encoders E1 to E6 that are fed back via
Encoder signals e1 to e6 and PWM signals a1 to a
6, the biaxial inverter unit 6 based on the current serial signals b1 to b6 or other internal correction signals and the control program stored in the built-in microcomputer 57,
The integrated feedback control of 7, 8 or the servo control is performed. 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
The servo motors M1 to M6 are composed of six control loops corresponding to the six axes. In order to simplify the description, one axis will be described below.

One control loop has a position control unit 60, a speed control unit 61, a current control unit 62, and a PWM signal generation unit 63, and the SP (serial / parallel) conversion unit 64 is shared by the two control loops. . Upper control unit 10 to 6
1-axis position target value Pref for 1-axis, 1-axis speed target value Sref,
The 1-axis current target value Iref is the control upper I / F connector 41,
Position control unit 6 via upper board interface 73
0, speed controller 61, and current controller 62, respectively.

On the other hand, the encoder signals e1 to e6 are also input to the position control section 60, the speed control section 61, and the current control section 62 via the encoder connector 23. Also,
Idet is input to the current controller 62 via the SP converter 64.

The position control unit 60 uses the 1-axis position target value Pref
And the 1-axis position detection value P converted from the encoder signal e1
It compares with det, outputs the difference value as s, and sends it to the speed control unit 61. The speed control unit 61 generates a current command i based on the difference value obtained by comparing the speed command s and the one-axis speed detection value Sdet converted from the encoder signal e1 and the speed target value Sref, and the current control i Send to section 62. The current control unit 62 uses the uniaxial current target value Iref and the speed target value S
The current amplitude command value obtained by adding ref to is converted into a two-phase current command value by the motor magnetic pole position obtained from the encoder signal e1, and the uniaxial current detection value Idet and the correction unit 71 are converted.
Gain correction data cg from, offset correction data c
A three-phase voltage command v is generated based on o and sent to the PWM signal generator 63. The PWM signal generator 63 receives the input v
Generates a PWM (pulse width modulation) signal a1 based on
It is supplied to the servomotor M1 through the control inverter I / F connector 37. The abnormality processing unit 70 and the correction unit 71 are detection error correction means of the current detector 54, which will be described later, and the microcomputer serial signals c1 to c3 from the microcomputer 57 are 67,
Gain correction data cg and offset correction data co are generated based on the parallel data converted by 68 and 69.

FIG. 6 shows a hardware configuration example of the lower control unit 9. As shown in FIG. 6, the lower-level control unit 9 controls C which controls the lower-level control unit 9 as a whole.
PU77 has RAM76, EEPROM (or flash memory) 107, DP-RAM (dual port R)
AM) 79, serial communication interface 72, PWM
A signal generator 63, SP converters 64-66, a magnetic pole position data converter 74, and a position detection counter 75 are connected via a bus 78.

The DP-RAM 79 is the upper control unit 10
It functions as a data buffer for sending and receiving data to and from. The reason why the dual port is adopted is that the high speed of data communication is emphasized.

FIG. 7 shows an example of processing contents of the CPU 77 of the microcomputer 57 in the lower control unit 9. 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 software processing of the high-speed 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 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 generator 51. The dead time creation unit 51 is
The turn-on timing of the pair of power transistors is shifted in order to prevent the generation of a through current due to the simultaneous turning on of the pair of power transistors connected in series to the phase arm. 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 three-phase AC power of PWM wave, and is generally constituted by connecting a power transistor to a bridge. The three-phase AC power output from the inverter 52 is supplied to the servomotor M1 via the power line connector 13 and the motor wiring 16 (FIG. 1) 38. Similarly, the PWM signal a2 from the lower control unit 9 is input to 55. 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 is shared by the inverters 52 and 56, and the current detection gain is switched by the switching signal from the microcomputer 57. The current detection value of the current detector 54 is converted into a digital signal by the A / D converter 53, and the SP converter 6 of the lower control unit 9 is converted.
Sent to 4. This current detector 54 and A / D converter 53
Loop constitutes 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.
A current detection resistor RA1 is connected to the output wiring of the inverter 52,
RB1 is inserted, the voltage across the current detecting resistor RA1 is equivalent to the drive current detection signal for two phases of the inverter 52, and the voltage across the current detecting resistor RB1 is equivalent to the drive current detection signal for the two phases of the inverter 52. 8 as drive current detection signal
Input to 3 respectively. Similarly, current detection resistors RA2 and RB2 are inserted in the output wiring of the inverter 56,
The voltage across the current detection resistor RA2 is 84 as a drive current detection signal for one phase of the inverter 56, and the voltage across the current detection resistor RB2 is 85 as a drive current detection signal for two phases of the inverter 56. Is entered.

The isolation amplifiers 82 to 85 are amplifiers for electrically insulating the output wirings of the inverters 52, 56 of the high power system and the small signal system of the feedback loop, and are used for 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 those having different ratings for the servomotors M1 to M6 to be controlled by the multi-axis motor control device (for example,
5A motor, 10A motor, etc.)
This is to allow the same multi-axis motor control device to cope with a change in specifications. That is, in the conventional case (FIG. 4), the target servomotor M1
When ~ M6 is replaced with one of different rating, the driving motor control units U1 to U6 also have new servomotor M1.
Replace with cables 201, 20 according to the rating of ~ M6
Rewiring of 9,210 was required. However, as in this embodiment, the additional capacitor units 3 and 4 (see FIGS.
(Refer to FIG. 8) is removable and variable gain amplifiers 86 to 89 are used, so that there is no need to newly design and manufacture the multi-axis motor control device.

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 ON when the gain changeover signal f is logic "0".

(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 unit 90 and an A / D conversion unit 91. Input switching unit 90
Is a selector for selectively transmitting the four-channel current detection value signals from the variable gain amplifiers 86 to 89 to the A / D conversion unit 91, and the DI output from the A / D conversion control unit 94 outputs SCLK to SCLK. In synchronization, one of the four channel current detection value signals is passed through the A / D converter 91. A /
The D conversion unit 91 converts the current detection value signal into a digital signal in synchronization with the clock signal SCLK by the straw unit signal -CONV from the A / D conversion control unit 94, and converts the converted serial current detection value signal DO12 into 9 signals. SP conversion unit 64
Send to. The serial current detection value signal DO12 is
The current detection values of the 1st and 2nd axes are sent out in a time division manner, and the current detection values of the 2nd axis are not included 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. 13 shows an old and new control example of the number of signal pins due to the difference in the configuration of the A / D converter. In this regard,
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. Total of at least 19 = 12 (A / D converter output) + 1 (channel switching signal line) +
Six (selection signal lines of six A / D converters) are required, and therefore the number of signal pins of the connector corresponding to the number of signal lines is also required to be nineteen.

(VII) Offset correction and gain correction in the current detector By the way, when the gain switching of the variable gain amplifiers 86 to 89 is performed in this way, the gain calibration is performed according to the rated current of the specified motor. It is important to do so in order to maintain 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 two-axis 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, the offset correction and the gain correction are performed by converting the serial data of DO12, DO34, and DO56 for six axes sent from the two-axis inverter units 6, 7, and 8 into parallel data (for 12 channels). ), And the offset correction data co generated by the correction unit 71 from the DO12, DO34, and DO56 is subtracted from the subtracter 9
The offset component is removed by subtraction in 2, and the correct value from which the offset component is removed is multiplied by the gain correction data cg corresponding to the gain required for the multi-axis motor control device in the multiplier 93. In addition, the current detection value data that has been subjected to the offset correction and the gain correction for 12 channels thus obtained is fed back 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, offset adjustment is performed. For that purpose, it is necessary to know how much the total offset amount of the isolation amplifiers 82 to 85, the variable gain amplifiers 86 to 89, the input switching unit 90, and the A / D conversion unit 91 is. As an example, the isolation amplifier 82, the variable gain amplifier 86, the input switching unit 90, the A /
A method of adjusting the offset and the total gain of the D converter 91 will be described. The same applies to the other three channels.

To detect the offset amount, the inverter 5
No dummy current is applied to the output lines of 2, 56 (zero A),
The output data (current detection value) of the A / D converter 53 at this time is fetched via 64 and input to the subtractor 97 as SP-OUT. In addition, the target value RE from the memory 95
The data REF0 of F (zero [A]) is set to the target value switching unit 96.
To the subtractor 97 via. At this time, the voltage drop of the current detection resistor RA1 has not occurred, and the detected current value originally output from the A / D converter 53 should be zero [A]. Therefore, it is understood that the difference value calculated by the subtractor 97 at this time corresponds to the total offset component of the isolation amplifier 82, the variable gain amplifier 86, the input switching unit 90, and the A / D conversion unit 91. Therefore, this difference value is held in the correction data memory 99 via the correction operation switching unit 98 as the offset correction data co of the variable gain amplifier 86, and at the same time converted into serial data by 67 and then via the microcomputer 57. And write it to the EEPROM 59.

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 1 is connected to the output line of the inverter 52.
04, the probe switch 105 and the probe 106, a dummy current of 5 [A] is caused to flow, the terminal voltage (that is, the current detection value) of the current detection resistor RA1 at this time is detected, and the data is subtracted. Give to 97. On the other hand, the target value REF5 (5 [A]) is given from the memory 95 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 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 at the same time SP
It is sent to the microcomputer 57 via the conversion unit 67, and EEPRO
Written to M59.

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 10 [A] dummy current is supplied to the output line of the inverter 52 by the constant current source 104, the probe switching unit 105, and the probe 106 to detect the current at this time. 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 REF10 (10 [A]) is given from the memory 95 to the subtractor 97, and further,
The offset correction data co is read from the correction data memory 99 and given to the subtractor 97. The subtractor 97 in this state
By subtracting at, the gain correction data cg in the 10 [A] operation mode that does not include the offset component is obtained. The gain correction data cg is stored in the correction data memory 99, sent to the microcomputer 57 via the SP conversion unit 67, and written in the EEPROM 59.

Similarly, by performing the above-described operation on the other three channels (systems of RB1, RA2, and RB2), offset correction data co and gain correction data cg for each are obtained and automatically written to 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 to the current control unit 62 of the lower control unit 9 via the microcomputer 57 during the control operation of the multi-axis motor control device. .

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

In the above apparatus, as shown in FIG. 17, for example, two backplanes 1 are used in one unit, and at least one board-side connector is provided for each. However, in order to prevent the incorrect connection of the connectors 305 to 310 in such a case, as shown in the figure, from the reference position (for example, the backplane upper end position in the figure, of course, the above-mentioned support frame may be used), If the positions of at least one board-side connector of the unit and the unit-side connector connected to the board-side connector are made different from each other with respect to the paired connectors of the other units, the connector error as described above is caused. Can prevent connection. Note that, in FIG. 17, two backplanes 1 are cut at several positions and arranged side by side in the left-right direction in the drawing, but actually the backplanes 1 arranged side by side are perpendicular to the plane of the drawing. It is connected and there are two. Further, the connection direction of the connectors 305 to 310 in FIG. 17 is a direction perpendicular to the paper surface. Further, in FIGS. 15 and 17, the unit side connector is not shown in order to avoid complication of the drawing.

Incidentally, the structure (connector device) for preventing incorrect connection of the connector of the present invention is not only applied to the above-mentioned multi-axis motor control device, but also applicable to other devices. The point is that each of the divided elements (which may not be separated according to the functional elements) are housed in individual casings to be unitized, and at least one unit side connector for electrical wiring connection is provided for each unit. A circuit in which a unit group arranged in each of the plurality of units and necessary circuit wiring are wired in advance and a board side connector for electric wiring connection which is connected to the unit side connector for electric wiring connection is attached respectively. It is applicable to all devices including a substrate.

[0068]

As described above, according to the invention of claim 1,
Wiring is simplified, and it is possible to connect between each functional element unit via the connector, so wiring is organized and the number of wiring is reduced, wiring is simplified, and miswiring is prevented. Since the disturbance noise can be prevented from entering the wiring, the reliability of the control operation can be improved. In particular, since at least one or more unit side connector for each unit and the circuit board side connector connected to this are arranged at different positions for each unit from the reference position common to each unit, The connectors other than the pair are not connected to each other, and it is possible to prevent the wrong connection of the connectors.

Further, according to the invention of claim 2, since each unit is divided for each functional element, the number of connectors can be reduced and the effect of claim 1 can be made more effective. Become.

[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 how the connectors are attached to the 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 a perspective view showing an erroneous connection prevention structure for an upper connector according to an embodiment of the present invention.

FIG. 15 is a schematic view showing an erroneous connection prevention structure of the lower connector in the embodiment of the present invention.

FIG. 16 is a perspective view showing a check unit of the connector.

FIG. 17 is a schematic view showing another example of a structure for preventing incorrect connection of a connector.

FIG. 18 is an external perspective view showing a configuration example of a conventional multi-axis motor control device.

FIG. 19 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 25 Communication line 26 External setting device 27 Serial communication connector 28 Communication line 29 External setting device 30 Main circuit power supply connector 31 Connector for Additional Capacitor 32 Connector for Additional Capacitor 33 Connector for Small Signal Power Supply 34 to 36 Inverter Small Signal Connector 37 Control Inverter I / F Connector 38 to 40 Inverter Large Current Connector 41 Control Upper I / F Connector 42 Upper Connector 30a to 33a Unit side connector 43, 44 Support frame 45, 46 Support frame 47 Regenerative resistor 48 to 50 Cooling fin 51 Dead time creation unit 52 Inverter 53 A / D converter 54 Current detector 55 Dead time creation unit 56 Inverter 57 Microcomputer 58 Abnormality detection part 59 EEPROM 60 Position control part 61 Speed control part 62 Current control part 63 PWM signal generation part 64-69 SP conversion part 70 Abnormality processing part 71 Correction part 72 Serial communication interface 73 Upper board interface 74 Magnetic pole position data Conversion unit 75 Position detection counter 76 RAM 77 CPU 78 Bus 79 DP-RAM 82-85 Insulation amplifier 86-89 Variable gain amplifier 90 Input switching unit 91 A / D conversion unit 92 Subtractor 93 Multiplier 94 A / Conversion control unit 95 Memory 96 Target value switching unit 97 Subtractor 98 Correction operation switching unit 99 Correction data memory 100 EEPROM writing control unit 101 Operational amplifier 102 Inverter gate 300 Check unit 301 Through hole 302 Pattern wiring 303 Check pins 304 to 309 connector M1 to M6 Servo motor E1 to E6 Encoder RA1, RA2, RB1, RB2 Current detection resistor a1 to a6 PWM signal b1 to b3 Current serial signal c1 to c3 Microcomputer serial signal c0 Offset correction data cg Gain correction data e1 to e6 Encoder Signal f, f1 f2 Gain switching signal CH-SEL Channel switching signal OG-SEL Correction data switching signal REF Target value REF0 0 ampere target value REF5 5 ampere target value REF10 10 ampere Target value SP-OUT SP converter output signal OFFSET Offset data

Claims (2)

[Claims] 1. A unit in which each of the divided elements is housed in an individual casing to be unitized, and at least one or more unit-side connectors for electrical wiring connection are provided for each unit. A group and a circuit board on which necessary circuit wiring is preliminarily wired and a board-side connector for electrical wiring connection connected to the unit-side connector for electrical wiring connection is attached, respectively. A connector device in which at least one unit-side connector and a board-side connector connected to the unit-side connector are arranged at different positions for each unit from a reference position common to each unit. 2. The connector device according to claim 1, wherein each unit is divided into each functional element, and at least main circuit power supply means for once converting AC power supplied from a power supply into DC power, and the converted unit. Convert DC power to AC control power again,
A connector device characterized by being divided into motor drive means for individually supplying the converted AC control power to each of a plurality of servomotors, and control means for controlling the operation of the motor drive means.