JPH09179606A - Servo controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller capable of simplifying device constitution and improving operability while maintaining or furthermore improving the generality of a control method, a control condition, an application condition, and so on. SOLUTION: The servo controller 10 is constituted of a basic function part 100 and an external I/F part 200. The basic function part 100 to be a constitution part for functions basically necessary for controlling an actuator has a main control part 110, a motor driving part 120, a display operation part 130, and a power supply part 140 and fixedly packaged on the controller 10. The external I/F part 200 is a constitution part for selective functions corresponding to control formats such as a control method, a control condition and an application format required for a user and a practical I/O interface part for signals to/from the basic function part 100. The I/O part 200 selects a necessary substrate from plural substrates corresponding to previously prepared control formats.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a general-purpose servo control device which can be applied to a servo mechanism such as a motor and can control the controlled object in various control modes.

[0002]

2. Description of the Related Art In a general-purpose servo control device applied to a servo mechanism such as a motor, usually, one device is configured to control various physical quantities as control quantities. For example, speed control, current control, position control, speed / current / position control, or any other control method can be performed according to the user's selection. Further, the servo control device can be operated in any form. For example, when it is used as a stand-alone control device, when it is connected to a higher-order control device for operation, or when it is controlled in cooperation with another control device, it can be adapted to various operating methods. .

Therefore, in such a servo control device, a control circuit necessary for each control method, an interface circuit with another device, and the like are made common in one device while common parts are made common. Prepared in parallel. Further, in such a device that attaches importance to versatility, it is possible to avoid control conditions such as control parameters in each control method being limited by the device, and to perform control under any condition according to the user's request. In addition, the user can set as much as possible. Further, the external interface with other control devices or higher-level computer devices is also considered to be adaptable to various interfaces so that data and parameters can be transmitted in any form.

The structure of such a servo device is 1
It is common to have a structure in which all the circuits that realize the various functions described above are housed in one housing. However, as described above, since such a servo device includes circuits that realize various functions, the device scale often becomes large. Therefore, there is a configuration in which a part of the circuit such as the external interface unit is housed in a separate housing.

[0005]

However, in such a servo control device, due to its versatility to cope with various control methods, various control conditions, various interfaces, etc. Alternatively, various problems have arisen in operation.

First, in such a control device, since various circuits are provided in parallel so as to be compatible with various control methods, there is a problem that the device configuration becomes complicated and large-scale. The user performs control by selecting a desired control method, a desired control condition, and a desired operation mode by a desired interface from among the various functions described above, and once selected, Circuits for other control methods are not used and become redundant circuits. Therefore, the circuit that operates substantially for control is small compared to the overall scale of the device, and if conditions are set and operation is started, it becomes a device with a large device configuration and poor efficiency. It becomes.

In such a general-purpose servo control device, as described above, all the functions are accommodated in one casing, or partial circuits such as an external interface are accommodated in another casing. There is a form in which the case is connected by a cable. However, in any of the forms, the problem that the device configuration as described above is complicated and large-scale is the same, and problems such as the device size increase, installation area increase, cost increase, and maintenance complexity arise. ing.

Further, as one of the factors that make such a device structure complicated and large-scaled, there is a problem that an appropriate power supply circuit cannot be realized. The power supply circuit has a larger configuration than other circuits such as a control circuit, and it is difficult to provide versatility such as handling a plurality of voltages. Therefore, in order to deal with both of the commonly used AC100V or AC200V voltage, it is necessary to provide two types of power supply circuits or two types of main control circuits adapted to the two types of voltages. In any case, the device configuration will be significantly increased. Therefore, there are many devices that support only one of the voltages used,
In such a device, the versatility is naturally impaired.

Further, in such a general-purpose servo control device, as described above, it is possible to perform control as flexible as possible while avoiding that control conditions are fixed by the device. In other words, this means
When the user applies the control device to a specific servo mechanism, it is necessary to finely set the control conditions and control parameters. Furthermore, there are cases where parameters unrelated to the desired control method selected by the user can be set, and in this case, the user needs to set which parameter. It was necessary to make settings while making detailed checks. Thus, these operations are complicated and deteriorate the operability. Furthermore, in order to make this setting properly, it is necessary to understand and set all parameters before setting and checking, and it must be done by a specific user who is knowledgeable about the configuration and control of the control device. It was

Therefore, an object of the present invention is to provide a control method,
An object of the present invention is to provide a control device having a simplified device configuration and improved operability while maintaining or further improving versatility with respect to control conditions, operating conditions, and the like.

[0011]

In order to solve the above-mentioned problems, the servo control device is clearly divided into a constituent part of a basic function and a constituent part of a function to be selected by a user, and A desired servo control device can be configured by arbitrarily combining. Also, the parameter setting method, the board mounting method, the processing for the input power supply, etc. can be appropriately handled in accordance with the combination / selection of the functions described above.

Therefore, the servo control device of the present invention is
Connects the main control means that performs processing such as the determination of the manipulated variable, the drive means that actually drives the actuator, the display operation means that displays and inputs the parameters and control status, the power supply means, and other functional modules. And a selection function module in which the control function and the external interface required according to the control mode are modularized for each control mode, and the basic function module is in a housing. The selection function module, which is fixedly accommodated and is required for the required control mode, is connected to the basic function module through the interface means, and is accommodated in the housing together with the basic function module. The control form includes all conditions such as control method and usage method.

Specifically, the selection function module is
Current control module for current control of electric motor, speed control module for speed control of electric motor, position control module for position control of electric motor, current / speed / position control module integrating them, parallel transfer of signals with host device Parallel input control module for performing, serial input control module for transferring signals with other devices by serial transfer, link type serial input control module capable of serial linking with other devices, optical communication with other devices Optical communication module, LCD message module for displaying display of parameters and control status,
It is an optional module in the speech synthesis module that can output the controlled voice.

Further, preferably, the basic function module and the selection function module are provided with a notch so that a space for accommodating another substrate is formed at a position penetrating the substrate in the front-back direction. And a substrate which is vertically installed on the substrate through the cutout portion, each of which is different from each other, and the substrates are vertically connected to each other in the housing. It is implemented. Specifically, for example, the board forming the selection function module is provided with a cutout portion that penetrates the board in the front-back direction to form a space for accommodating another board, and At least part of the fixedly provided basic function module, such as the connector part, passes through the cutout, and the selected function module is mounted so as to vertically intersect the basic function module. It is housed in the body. In addition, for example, a notch is formed in a substrate that constitutes the basic function module and is fixedly provided in the housing so as to form a space that penetrates the substrate in the front-back direction and accommodates another substrate, The board forming the functional module passes through the cutout portion, is vertically installed with respect to the board forming the basic function module, and is housed in the housing. As a result, a plurality of substrates are substantially mounted in a state where they cross each other, the mounting density of the substrates is increased, and the volume of the device is reduced.

More preferably, the display operation means selectively displays only parameters required for the control form and the selected function module based on the requested control form and the selected selection function module. Make it configurable. Specifically, in the storage means provided in the basic function module, a control mode and a selection function module that require reference of the parameter for each parameter are stored in advance, and the display operation means is configured to store the stored contents. , It is possible to selectively display and set only the parameters required for the requested control mode and the selected selected function module.

Further, preferably, the power supply means has a circuit configuration that can be performed by switching between full-wave rectification and voltage doubler rectification by using common components as much as possible. This allows, for example, both AC100V and AC200V to be accommodated without introducing a large scale of the device.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a servo control device of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing the configuration of the servo control device 10 of the present embodiment. The servo control device 10 includes a basic function unit 100.
And a selection function unit 200. The basic function unit 100 is
This is a part that basically constitutes a function required to control an actuator such as a motor, and includes a main control unit 110, a motor drive unit 120, a display operation unit 130, and a power supply unit 14.
0, and is fixedly mounted on the servo controller 10.
The selection function unit 200 is a unit that constitutes a function that is selectively required according to a control method such as a control method, a control condition, and an operation mode requested by the user, and is usually the basic function unit 100.
It is an external interface unit for inputting / outputting a signal to / from. (Hereinafter, the selection function unit 200 will be referred to as the external I / F unit 20.
Sometimes it is 0. ) And the selection function unit 200
Is configured by selecting a required substrate from the substrates prepared in advance for each function required for the required form and mounting it in the housing.

In this embodiment, the configuration and operation of the servo control device 10 will be described by exemplifying the case where the servo control device 10 is applied to control of the motor 400. At that time, the rotation state of the motor 400 is detected by the resolver 410 and input to the servo control device 10. A more detailed structure of the servo controller 10 is shown in FIGS. 2 and 3. 2 is a block diagram of a case where a current / speed / position control module 210, which will be described later, is provided as the external I / F unit 200.

First, the basic function unit 1 of the servo controller 10
The configuration and operation of each unit of 00 will be described. The main controller 110 controls the entire servo controller 10. FIG.
As shown in, the main control unit 110 is composed of a CPU 111, a gate array 112, an E ² PROM 113, and various analog processing units. The gate array performs generation and processing of digital signals, and the CPU performs signal processing / control. It is carried out. For example, as shown in FIG. 2, the state of the motor 400 detected by the resolver 410 is input to the gate array 112, and mainly digital processing is performed. Further, the output current detected by the Hall element 122 of the motor drive unit 120 is
Signals are input to the CPU 111 and processed by the gate array 112, and signal processing is performed to determine the control amount. The determined control amount is the IPM of the motor drive unit 120.
It is output to 121. In addition, the E ² PROM 113 has a CPU
It stores internal parameters used internally and adjustment values for control.

The motor drive unit 120 is connected to the main control unit 110 via the common interface 4 (CO4), and actually drives the motor based on the control signal from the main control unit 110. Servo control device 1 of the present embodiment
At 0, the motor drive unit 120 includes a switching unit 121 (IPM) and a Hall element 122 that detects an output current as shown in FIG.
(Pulse Width Modulation) method controls motor operation.

The display operation unit 130 is means for setting / checking control parameters and checking the control state so that the user can perform control in a desired form. (In the following description of the display operation unit 130, control parameters set by the user and state variables to be confirmed are collectively referred to as parameters.)

Since the control device having high versatility can be controlled by various methods, the number of parameters set and confirmed by the user is very large. Therefore, in the display operation unit 130 of the present embodiment, only the parameters effective in the control mode set by the user are set and
For confirmation, display on the display to enable setting. Therefore, parameter numbers are assigned to all control parameters and state variables used in the servo control device 10. Whether each parameter is an effective parameter or an invalid parameter depending on the configuration of the installed selection function unit 200, the control method, the system configuration with another device, the operation mode, the display mode, and the like. But EEPR
It is stored in the OM. Then, the display operation unit 130 allows the user to display and set parameters while referring to the contents of the EEPROM.

The specific operation of the display / operation unit 130 will be described with reference to the flowchart of FIG. First,
When the parameter setting / confirmation process is started in the display operation unit 130 (step S0), the initial value of the parameter number Pn of the operation target and the parameter changing direction d is set (step S1). In the present embodiment, in the initial value setting, the parameter 1 is first set as the operation target, and the parameter number Pn is incremented by 1 when changing the operation target parameter.

Next, the data of the parameter Pn to be operated is read from the EEPROM (step S3), and in the current control mode, the parameter Pn is read.
Is a valid parameter (step S
4). If the current control mode is invalid, that is, if the parameter is meaningless, the parameter number P
A variable d indicating the number changing direction is added to n, that is, the parameter number is incremented by 1 here (step S
2) Then, the processes of step S3 and step S4 are performed again. When it is determined in step S4 that the parameter Pn is valid in the current control mode, the parameter number Pn and the content of the parameter are displayed (step S5), and the operation by the user is waited (step S6).

When the user's operation is to change the contents of the parameter Pn, the setting change process is performed (step S8), and the process returns to step S5 to display the changed contents again.

If the user's operation is to change the parameter to be operated, and if the user's operation is to increase the parameter number (step S1)
0), 1 is set to the variable d indicating the changing direction of the parameter number (step S11), and when the user's operation is to decrease the parameter number (step S10), the parameter number is changed. Variable d indicating the direction
Is set to -1 (step S12). Then, returning to step S2, the variable d indicating the changing direction is added to the parameter number Pn, so that the parameter number P
n is incremented or decremented by 1. Thereafter, similarly to the above, the processing from step S3 onward is repeated to sequentially set and confirm the parameters.

Then, the user's input is parameter setting /
If the operation indicates the end of the confirmation process (step S
9), this process ends (step S13).

The power supply unit 140 rectifies the input power source to obtain a main circuit power source (DC280V), and the main circuit power source operates the operation power source (± 5V) and the main control unit 110.
24 V power supply for sequence input / output, and switching power supply (15 V) for the motor drive unit 120 are generated and supplied. The power input to the power supply unit 140 is AC100V or AC that is normally used.
It is 200V. In the power supply unit 140, whichever of these two input voltages is input, it is necessary to rectify it and obtain a main circuit power supply of DC280V. Therefore, the rectifier circuit provided in the power supply unit 140 is shown in FIG.

In the rectifier circuit shown in FIG. 5, the terminal AB
An input voltage of AC200V or AC100V is applied between them, the switch SW is switched according to the input voltage, and a voltage of DC280V is output from between the terminals CD.
The operation of this rectifier circuit will be described. First, when the input voltage is AC200V, the terminal a is connected to the terminal b so that the diodes D7 to D10 form a bridge. As a result, the input voltage is full-wave rectified by this bridge and output from the terminal CD. The input voltage is AC
When the voltage is 100 V, the terminal a is connected to the terminal c to perform double voltage rectification. That is, by alternately charging the capacitors C1 and C2 for each half wave through the diodes D1 and D2, a voltage twice the peak value of the input voltage can be obtained between the output terminals CD. The capacitors C1 and C
The resistors R1 and R2 provided in parallel with 2 are resistors for voltage division, and the resistor R3 inserted in series to the input terminal A is a resistor for preventing inrush.

Next, the selection function unit 2 of the servo control device 10
00 will be described. As described above, the selection function unit 200 uses, as a module different from the basic function unit 100, a function that is selectively required among the functions of the servo control device 10 according to the control mode requested by the user. It is a configured module. Therefore, basically, one module is prepared for each control mode that can be performed by the servo control device 10. Then, the user selects an arbitrary module and mounts it on the servo control device 10, whereby the servo control device 10 can perform desired control.
Further, the difference between the control modes is, specifically, the basic function unit 1
The main function of the selection function unit (external I / F unit) 200 is to affect the difference between the signals input to and output from the 00, and to make this interface adaptable to the required control mode.

The external I / F section 200 will be described more specifically with reference to FIG. In the servo control device 10 of the present embodiment, the main common interface for the main control unit 110 includes analog input, pulse input,
There are pulse output, data bus, serial interface, etc. The external I / F unit 200 converts these I / Fs into
Each is converted into a signal corresponding to a predetermined control mode. In the present embodiment, as the external I / F unit 200, the current / speed / position control module 210, the parallel input position control module 220, the link-type serial input position control module 230 shown in FIG. A communication module, an LCD message module, a voice synthesis module, etc. are prepared.

In the current / speed / position control module 210, analog 2 channels, pulse input, pulse output, external indicator output (pulse output and indicator output are switched and used), sequence input 8 to the host command device.
Input / output of 8 points and sequence output is possible. Electric current
The speed / position control module 210 outputs the analog input as it is to the main control unit, and the pulse input is received by the photocoupler, converted into a pulse train, and output to the main control unit. The pulse output and the display output output data as differential outputs to the outside. The sequence input receives an external input signal by a photocoupler, converts it into a 5V signal, latches it by a bus buffer, and outputs it to a data bus. For sequence output, the signal obtained from the data bus is output by the latch driver at 5V,
Converted to an external signal level by a photo coupler.

This current / speed / position control module 21
By providing 0, current control, speed control, pulse train position control, current / speed / position switching control, direct feed, and draw control are possible. 7 to 10 show specific examples of use of the servo control device 10 when performing the current control, speed control, position control, and current / speed / position switching control. By connecting to a power source, a host device, a motor 400, a resolver 410, etc. as shown in the figure, various forms of control can be performed in this case even when the current / speed / position control module 210 is mounted.

The parallel input position control module has 10
In addition to the sequence input of 6 points, the sequence output of 6 points, 1
It is a module that can directly input a position command by a sequence signal of 6 points. Each sequence signal inputs / outputs data from / to a data bus by a photo coupler and a buffer. By equipping this parallel input position control module, it is possible to perform position control of numerical commands and point commands by parallel input.

The link type serial input position control module has four sequence inputs and two sequence outputs, as well as position command, sequence input / output, and serial command through serial communication.
It is a module that can input and output data such as current value output. A line driver / receiver is provided so that a plurality of servo control devices can be serially connected. By equipping this link type serial input position control module, a plurality of servo control devices 10 _-1 , 10 _-2 , 10 _-3 , ... Are serially connected in sequence as shown in FIG. Between and multi-positioner 5
Link type serial communication can be performed between host control devices such as 00, and multi-axis position control based on numerical commands and point commands, for example, becomes possible. The multi-positioner 500 is a multi-axis control device, for example, x, y,
It is a main controller for controlling each axis such as z, u, v, and w. Further, in this multi-axis control link type control system, data such as axis data and movement amount is transmitted and received between each servo control device 10 and the multi-positioner 500.

The optical communication module (not shown) includes an electronic circuit for transmitting and receiving data, a communication LSI, etc., a photodiode, a laser diode, and a photodiode for optical communication.
The I / F module includes an optical communication device such as an optical transistor and the like, and performs optical communication with other control devices and host computer devices. Also LC
D message module is LCD, LCD driver,
A module for connecting a display for displaying control parameters and control states of the servo control device 10 so as to be easier to see than the display operation unit 130 and to directly grasp the contents, which are configured by their peripheral circuits and the like. Is. The voice synthesis module is also a module for transmitting a control parameter and control state of the servo control device 10, and further an abnormal state of the servo control device 10 to the user by voice, such as a voice synthesis device and a voice range amplifier. , A speaker, and their peripheral circuits. When the host computer device has a voice synthesizing function, the voice synthesizing module may include a circuit for synthesizing an interface signal required for driving the same, or may be the interface circuit itself.

Next, the mounting state of the servo control device 10 will be described. FIG. 12 is a perspective view showing the appearance of the servo control device 10. As shown in FIG. 12, the servo control device 10 is housed in a rectangular parallelepiped housing 300. Case 3
One of the surfaces forming 00 is the operation panel surface 310. On the operation panel surface 310, the operation display panel 3
20, connection terminals 330, and first to fifth connector openings 341 to 345 are formed. Operation display panel 32
Reference numeral 0 corresponds to a part of the display operation unit 130 described above, and includes a button unit operated by the user and a display LED unit. The user performs the above-described parameter setting and confirmation operations through the operation display panel 320.

The connection terminal 330 is connected to the servo control device 10 with power input R, S, ground E, motor output A, B, C.
Are terminals. First to fifth connector openings 34
1 to 345 are external I mounted on the servo control device 10.
It is an opening of the / F portion 200 for letting out the connector. The external I / F unit 200 includes an operation panel surface 310 of the housing 300.
Is installed in the housing 300 in the depth direction. And
The connector provided at the end of the external I / F unit 200 is just the first to fifth connector openings 341 to 345.
From either of them to the outside.

A method of mounting the external I / F section 200 on the servo control device 10 will be described with reference to FIG. 13A and 13B are views for explaining a method of mounting the board of the servo control device 10. FIG. 13A is a perspective view showing a mounted state of the board, and FIG. 13B is FIG. 12 and FIG.
It is the side view seen from the A direction. Note that FIG.
The direction A of FIG. 12 and the direction A of FIG. 12 are the same direction. In the housing 300, the basic function unit 10 of the servo control device 10 is provided.
A substrate forming 0 is fixedly provided. In the present embodiment, one of the substrates 350 in FIG.
As shown in (A), it is fixed parallel to the operation panel surface 310.

The substrate 350 has a shape as shown in FIG. The board 350 includes first to fifth connector openings 341 to 345 on the operation panel surface 310.
To the positions corresponding to the first to fifth openings 351 to 355.
Is provided. In this substrate 350, the circuit of the basic function unit 100 has the first to fifth openings 351 to 35.
It is mounted on a surface other than 5. In the case 300 in which the substrate 350 having such a shape is installed as described above, the external I
When the board 360 that constitutes the / F unit 200 is mounted, the board 360 is mounted on the operation panel surface 31 as shown in the drawing.
The board 350 is inserted into the housing 300 from the plane 0.
Through the first opening 351 of the first opening 35
It is fixed at the position where it passed 1.

As described above, in the servo control device 10 according to the present embodiment, the substrate 3 that constitutes the basic function section 100
A substrate 360 is fixed in the housing 300 in a direction parallel to the operation panel surface 310 and constitutes the external I / F unit 200.
Is accommodated in the housing 300 in a state of crossing the substrate 350 using the opening of the substrate 350. As a result, the mounting density of the substrate can be substantially improved, and the volume of the housing 300 can be reduced.

As described above, in the servo control device of the present embodiment, various functions are modularized to separate the basic function unit and the external I / F unit, and the external I / F unit is separated. Has installed the minimum number of circuits required for the control mode required by the user in response to the request. Therefore, it is possible to provide an efficient servo control device with no waste in terms of device configuration. Further, in the control mode thus selected, or in the set control mode, it is possible to display or change only the necessary control parameters and control state variables.
Operations such as setting control conditions have been simplified. Further, by using a substrate having an opening that allows another substrate to pass through in the front-back direction, the plurality of substrates can be accommodated in the housing in a state where the plurality of substrates substantially cross each other. Therefore,
The board mounting density can be increased, and as a result, the volume and size of the servo control device can be reduced. Further, since the rectifying circuit as described above is used to realize two rectifying methods by using common components as much as possible, it is possible to use two power sources of AC100V and AC200V without increasing the scale of the device. I was able to do it.

The present invention is not limited to this embodiment, and various modifications can be made.

For example, the board mounting method in the servo control device 10 may be a method other than the method shown in FIG. An example of such another mounting method will be described with reference to FIGS. 15 and 16. 15A and 15B are views for explaining the mounting method of the board, where FIG. 15A is a perspective view showing the mounted state of the board, and FIG. 15B is from the direction A of FIGS. 12 and 15A. FIG. Note that the direction A in FIG. 15A and the direction A in FIG. 12 are the same direction. 16 is a diagram showing the shapes of the substrate 370 and the substrate 380 shown in FIG. 15, (A) showing the shape of the substrate on which the selection function unit 200 is mounted, and (B) showing the basic function. Part 1
It is a figure which shows the shape of the board in which 00 is mounted.

In the mounting method shown in FIG. 15, a housing 30 is used.
Within 0, a substrate 370 that constitutes the basic function unit 100 of the servo control device 10 is fixedly provided in a direction perpendicular to the operation panel surface 310. This substrate 370 is shown in FIG.
As shown in (B), the connector 37 for connecting to the substrate 380
The shape where 2 is provided is protruding. In addition, the substrate 380 that constitutes the external I / F unit 200
16A, as shown in FIG.
An opening 381 is provided at a position corresponding to 71,
A connector 382 for connecting to the connector 372 of the substrate 370 is provided in the vicinity thereof. When the board 380 forming the external I / F unit 200 is mounted in the housing 300 in which the board 370 having such a shape is installed as described above, the board 380 is parallel to the surface of the operation panel surface 310. The protrusion 37 of the substrate 370, which is inserted into the housing 300.
1 is fixed at a position where the substrate 1 passes through the opening 381 of the substrate 380.

As described above, in the board mounting method as shown in FIG. 15, the board 370 forming the basic function section 100 is fixed in the housing 300 in a direction perpendicular to the operation panel surface 310, and the external I Substrate 38 that constitutes the / F unit 200
0 is accommodated in the housing 300 in a state of crossing the substrate 370 by utilizing the protruding portion of the substrate 370. Also in this mounting method, the mounting density of the substrates is substantially improved and the volume of the housing 300 is reduced, as in the above-described present embodiment.

Besides, the distribution of functions between the basic function section and the selection function section, the configuration of the module, etc. are not limited to the above-mentioned form, and any configuration may be adopted. Further, the servo control device of the present invention can be applied not only to the control of the motor but also to a control device of an arbitrary servo mechanism.

Further, the shape of the substrate shown in FIGS. 14 and 16 is not limited to the rectangular substrate having an opening portion as in the present embodiment, and another substrate passes through. For example, the end portion of the substrate may be shaped like a concave notch. Further, instead of the rectangular shape, an L-shaped substrate as shown by a broken line in FIG. 14 may be used.

As the module used as the selection function unit, any module other than the modules exemplified in this embodiment may be used. Also, these external I
Only one / F module may be mounted, or a plurality of / F modules may be used at the same time.

[0050]

In the servo control device of the present invention, by modularizing various functions, it is possible to easily configure the minimum required circuit for the control mode required by the user, and the device configuration is wasteful. I made it disappear. And at that time, since it is possible to display and change only the parameters required for the selected control mode,
The operation was easy. Further, since the plurality of substrates can be accommodated in the housing in a state where they are substantially crossed, the mounting density of the substrates can be increased and the servo control device can be downsized. Furthermore, because a rectifier circuit that can handle two power sources without increasing the scale of the circuit is used,
The versatility was improved. As described above, according to the present invention, while simplifying the device configuration while further improving the versatility of the control method, the control condition, the operation condition, and the like,
It was possible to provide a servo control device with improved operability.

[Brief description of the drawings]

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

FIG. 2 is a detailed block diagram showing a specific configuration of a main control unit, a display operation unit, and an external I / F unit of the servo control device shown in FIG.

FIG. 3 is a motor drive unit of the servo control device shown in FIG.
It is a detailed block diagram which shows the specific structure of a power supply part.

FIG. 4 is a flowchart showing an operation of a display operation unit of the servo control device shown in FIG.

5 is a circuit diagram of a rectifier circuit applied to a power supply unit of the servo control device shown in FIG.

6 is a diagram showing a state in which various external I / F modules are connected as a selection function unit of the servo control device shown in FIG.

FIG. 7 is a diagram showing a specific application example in the case of mounting the current / speed / position control module shown in FIG. 6 on the servo control device shown in FIG. 1 to perform speed control.

8 is a diagram showing a specific application example in which the current control is performed by mounting the current / speed / position control module shown in FIG. 6 on the servo control device shown in FIG.

9 is a diagram showing a specific application example in the case of mounting the current / speed / position control module shown in FIG. 6 on the servo control device shown in FIG. 1 to perform position control.

10 is a diagram showing a specific application example in the case where the current / speed / position control module shown in FIG. 6 is mounted on the servo control device shown in FIG. 1 to perform speed / current / position switching control. .

FIG. 11 is a diagram showing a state in which serial linking is performed by a servo control device equipped with the link type serial input position control module shown in FIG.

12 is an external perspective view of the servo control device shown in FIG.

13A and 13B are diagrams illustrating a method of mounting the board of the servo control device shown in FIG. 1, FIG. 13A is a perspective view showing a mounted state of the board, and FIG.
It is the side view seen from the A direction of (A).

14 is a plan view of a substrate having an opening for inserting the substrate, which is used when mounting the substrate by the method shown in FIG.

15 is a schematic diagram of the servo control device shown in FIG.
6A and 6B are diagrams illustrating a mounting method of a board different from the mounting method shown in FIG. 3, FIG. 7A is a perspective view showing a mounted state of the board, and FIG. It is the side view seen from the direction of A.

16 is a diagram showing the shape of the substrate shown in FIG.
FIG. 6A is a diagram showing a shape of a board on which a selection function unit is mounted, and FIG. 6B is a diagram showing a shape of a board on which a basic function unit is mounted.

[Explanation of symbols]

 10 ... Servo control device 100 ... Basic function part 110 ... Main control part 120 ... Motor drive part 130 ... Display operation part 140 ... Power supply part 200 ... Selection function part (external I / F part) 210 ... Current / speed / position control Module 220 ... Parallel input position control module 230 ... Link type serial input position control module 300 ... Housing 310 ... Operation panel surface 320 ... Operation display panel 330 ... Connection terminals 341-345 ... First to fifth connector openings 350 , 360, 370, 380 ... Substrate 351 to 355 ... First to fifth openings 371 ... Protrusions 381 ... Openings 372, 382 ... Connector 400 ... Motor 410 ... Resolver 500 ... Multi-positioner

Claims (6)

[Claims] 1. A servo control device for controlling an actuator based on a command from a higher-level device, the main control circuit determining an operation amount based on a detected control amount, and the determined operation amount. A drive circuit that drives the actuator to be controlled based on the display operation circuit that displays and inputs the control mode and control parameters;
A basic function module having a power supply circuit for supplying power and an interface circuit for inputting / outputting signals, and a selection function in which an external interface with the host device required according to the control mode is mounted for each control mode A module, the basic function module is fixedly mounted in a housing, the selection function module is selected according to a required control mode, and is connected to the basic function module via the interface unit. And a servo control device which is mounted in the housing. 2. The selection function module is a current control module for current control of an electric motor, a speed control module for speed control of an electric motor, a position control module for position control of an electric motor, and an integrated current / speed / position. Control module, parallel input control module for parallel signal transfer with host device, serial input control module for serial signal transfer with other device, link type serial input control capable of serial link with other device A module, an optical communication module for performing optical communication with another device, an LCD message module for displaying parameters and a control state on a display, and a voice synthesis module capable of outputting a voice for a control state. The servo control device described. 3. The basic function module and the selection function module include a substrate provided with a notch so that a space for accommodating another substrate is formed at a position penetrating the substrate in the front-back direction. A substrate that passes through the cutout portion and is vertically installed on the substrate, and is configured on one of different substrates, and the substrates are vertically connected and mounted in the housing. The servo control device according to claim 1 or 2. 4. The display operation means is capable of selectively displaying and setting only parameters necessary for the control form and the selected function module, based on the requested control form and the selected selection function module. The servo control device according to any one of claims 1 to 3. 5. The basic function module has a storage unit that stores a control mode and a selection function module that require reference of the parameter for each parameter, and the display operation unit is stored in the storage unit. 5. The servo control device according to claim 4, wherein only the necessary parameters can be selectively displayed and set by referring to the contents described above. 6. The power supply means is connected in series, first and second diodes connected to a first terminal of an input terminal at a connection point thereof, and third and fourth diodes connected in series. And a first and a second capacitor connected in series, a first and a second capacitor connected in series, the connection point of which is connected to the connection point of the first capacitor and the second capacitor And the second terminal of the input terminal, the third diode and the fourth terminal
Connecting point of the diode, the first capacitor and the second
And a changeover switch connected to any one of the connection points of the capacitors, the first and second diodes, and the third and fourth
The diode, the first and second capacitors, and the first and second resistors are respectively connected in parallel between output terminals, and when an AC voltage of the first voltage is applied to the input terminal, Connects the changeover switch to a connection point of the first capacitor and the second capacitor, and
Full-wave rectification is performed by using the diode as a bridge circuit, and when the AC voltage of the second voltage that is ½ of the first voltage is applied to the input terminal, the changeover switch is changed to the first voltage. 2. A voltage doubler rectification, in which a direct current voltage is doubled by the first and second capacitors, which is connected to a connection point between the first capacitor and a second capacitor.
The servo control device according to any one of 5 to 5.