JPH11136986A - Driving method for motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor driver comprising a plurality of motors with sensor, and one or a plurality of motor controllers, smaller in number, than the motors. SOLUTION: A host controller 30 selects any one of motors 1, 2 and after the power line of a motor, selected by closing a switch 11 or 12, is connected with the signal line from a sensor, a motor controller 31 drives a selected motor. According to the arrangement, a mechanical facility employing a plurality of motors with sensor can be reduced in cost while saving the space.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for driving a plurality of electric motors with sensors used in, for example, various industrial machinery.

[0002]

2. Description of the Related Art Conventionally, in a plurality of motors equipped with sensors used for machinery and the like, a power line for supplying drive power to one of the plurality of motors and a rotation speed of the motor are detected. And a signal line from the sensor is connected to one motor control device, and the motor control device drives the motor via the power line based on information from the signal line. That is, a plurality of sets of the motor with sensor and the motor control device are provided in one-to-one correspondence.

[0003]

However, depending on the mechanical equipment using a plurality of motors with sensors as a drive source, for example, the process is performed in a forward direction, and each time only the motor in this process rotates, Alternatively, among a plurality (m) of motors, there are many operation examples in which a plurality (n) of motors less than m are rotating in connection with this process. Providing the sensor-equipped motor and the motor control device in a one-to-one number as described above has the disadvantage that the mechanical equipment becomes expensive and the occupied area increases.

[0004] It is an object of the present invention to provide a method for driving an electric motor that solves the above problems.

[0005]

According to a first aspect of the present invention, one of a plurality of motors with sensors is selected, and a power line of the selected motor and a signal line from the sensor are selected. After being connected to one motor control device by closing the selection switch, the motor control device drives the selected motor.

According to a second aspect of the present invention, a signal line from each sensor of a plurality of motors with sensors is connected to one motor control device in advance, and any one of the plurality of motors is used. After a platform is selected and the power line of the selected motor is connected to the motor control device by closing a selection switch, the motor control device drives the selected motor.

A third invention comprises a plurality (m) of motors with sensors and a plurality (n) of motor control devices less than m, wherein n of the m motors are used. A power line of each of the selected n motors and a signal line from the sensor are connected to a corresponding one of the n motor controllers by closing a selection switch. After that, the motor control device drives the selected motor.

A fourth invention further comprises a plurality (m) of motors with sensors and a plurality (n) of motor control devices less than m, and a signal line from a sensor of each of the m motors. Are connected in advance to the corresponding motor controllers of the n motor controllers, and any n of the m motors are selected, and the selected n motors are selected. After each power line is connected to a corresponding one of the n motor controllers by closing the selection switch, the motor controller drives the selected motor.

According to the present invention, one motor control device or a plurality of motor control devices less in number than the motors are provided for a plurality of motors with sensors, and the motor control device is selected. The electric motor is driven. According to the second and fourth aspects of the present invention, since the signal lines from the sensors of the plurality of motors with sensors are connected in advance to the corresponding motor control devices, the signal lines from the unselected motor sensors are not selected. Information from the signal line can also be constantly monitored and stored.

[0010]

FIG. 1 is a block diagram showing a first embodiment of a method for driving an electric motor according to the present invention.
Reference numeral 2 denotes an electric motor, 1a and 2a denote sensors connected to the drive shafts of the electric motors 1 and 2, 11 and 12 denote selection switches, 30 denotes a higher-level controller, and 31 denotes a motor control device.

Generally, when the motors 1 and 2 are DC servomotors or IM type AC servomotors, the sensors 1
When the motors 1 and 2a are SM type AC servomotors, an incremental encoder and a magnetic pole position detector are integrated into the sensors 1a and 2a. Or an absolute encoder.

When the electric motors 1 and 2 are DC servo motors, the electric motor control device 31 controls the electric motor 1 based on a main circuit such as a chopper by a semiconductor switch, a command from the host controller 30 and signals from the sensors 1a and 2a. , 2 and a control circuit for controlling the rotation speed of the motors 1 and 2 via the main circuit.
Further, when the electric motors 1 and 2 are AC servomotors,
The motor control device 31 includes an inverter using a semiconductor switch, a command from the host controller 30 and sensors 1a and 2a.
and a control circuit for controlling the rotational speeds of the electric motors 1 and 2 and the movement positions of the electric motors 1 and 2 via the inverter based on the signal from the inverter a.

The method of driving the electric motors 1 and 2 in FIG.
First, for example, the motor 1 is selected from the host controller 30, and the selection switch 11 is closed, and the power line of the motor 1 and the signal line from the sensor 1 a are connected to the motor control device 31. Upper controller 3
The motor 1 is driven based on a command from 0 and a signal from the sensor 1a, and the rotation speed of the motor 1 and the moving position of the motor 1 are controlled.

When the motor 1 completes the operation instructed by the upper controller 30 and stops, the completion is transmitted from the motor controller 31 to the upper controller 30. As the next operation, the upper controller 30 opens the selection switch 11 and then selects the motor 2, and the selection switch 12 is closed to connect the power line of the motor 2 and the signal line from the sensor 2 a to the motor control device 31. When connected, the motor control device 31 drives the motor 2 based on a command from the host controller 30 and a signal from the sensor 2a,
The rotation speed of the electric motor 2 and the movement position of the electric motor 2 are controlled.

When the motor 2 completes the operation instructed by the upper controller 30 and stops, the completion is transmitted from the motor controller 31 to the upper controller 30. FIG. 2 is a block diagram showing a second embodiment of the driving method of the electric motor according to the present invention, in which components having the same functions as those of the embodiment shown in FIG.

That is, in FIG. 2, 1 and 2 are electric motors,
1a and 2a are sensors, 13 and 14 are selection switches, 30
Denotes a host controller, and 32 denotes a motor control device having the same function as the motor control device 31 shown in FIG. FIG.
In the method of driving the electric motors 1 and 2, the motor controller 1 is first selected from the host controller 30, and when the selection switch 13 is closed and the power line of the electric motor 1 is connected to the electric motor controller 32, the electric motor controller 32 drives the electric motor 1 based on a command from the host controller 30 and a signal from the sensor 1a, and controls the rotation speed of the electric motor 1 and the electric motor 1
To control the moving position.

When the motor 1 completes the operation instructed by the upper controller 30 and stops, the completion is transmitted from the motor controller 32 to the upper controller 30. As the next operation, the host controller 30 opens the selection switch 13, then selects the motor 2, closes the selection switch 14 and connects the power line of the motor 2 to the motor control device 32. Numeral 32 drives the electric motor 2 based on a command from the host controller 30 and a signal from the sensor 2a, and controls the rotation speed of the electric motor 2 and the moving position of the electric motor 2.

When the motor 2 completes the operation instructed by the upper controller 30 and stops, the completion is transmitted from the motor controller 32 to the upper controller 20. During the above-described operation, the motor control device 32 also has an unselected motor 1 or motor 2 because the signal lines of the sensors 1a and 2a are always connected to the motor control device 32. And sensor 2
By providing the information processing function a, even when the electric motor 1 or the electric motor 2 not selected for some reason is slightly rotated, the motor control device 32 can monitor this rotation, and if necessary, this rotation can be monitored. The amount of rotation can be stored.

FIG. 3 is a block diagram showing a third embodiment of the motor driving method according to the present invention, wherein reference numerals 1 to 4 denote electric motors, and reference numerals 1a to 4a denote sensors connected to drive shafts of the electric motors 1 to 4. Reference numerals 15 to 19 denote selection switches, 40 denotes a host controller, and 41 and 42 denote motor control devices. FIG.
, The motors 3 and 4 have the same functions as the motors 1 and 2, and the sensors 3a and 4a also have the same functions as the sensors 1a and 2a. Further, the motor control devices 41 and 42 have the same function as the motor control device 31.

The driving method of the motors 1 to 4 in FIG.
First, for example, the electric motor 1 and the electric motor 2 are selected from the host controller 40, the selection switch 15 is closed, and the power line of the electric motor 1 and the signal line from the sensor 1a are connected to the electric motor control device 41. When the circuit 17 is closed and the power line of the electric motor 2 and the signal line from the sensor 2a are connected to the electric motor control device 42, the electric motor control device 41 outputs the electric motor based on the command from the host controller 40 and the signal from the sensor 1a. 1 to control the rotation speed of the electric motor 1 and the movement position of the electric motor 1. Similarly, the electric motor control device 42 drives the electric motor 2 based on a command from the host controller 40 and a signal from the sensor 2a, and controls the rotation speed of the electric motor 2 and the moving position of the electric motor 2.

When the motors 1 and 2 complete the operations instructed by the upper controller 40 and stop, respectively, the completion is transmitted from the motor controllers 41 and 42 to the upper controller 40. As the next operation, the upper controller 40 opens the selection switches 15 and 17 and then selects, for example, the electric motors 2 and 3, and closes the selection switch 16 to close the power line of the electric motor 2 and the signal line from the sensor 2a. Is connected to the motor control device 41, and at the same time, the selection switch 18
Is closed, and the power line of the electric motor 3 and the signal line from the sensor 3a are connected to the electric motor control device 42, the electric motor control device 41
The motor 2 is driven based on the signal from the controller 2 and the rotation speed of the motor 2 and the moving position of the motor 2 are controlled. Similarly, the electric motor control device 42 drives the electric motor 3 based on a command from the host controller 40 and a signal from the sensor 3a, and controls the rotation speed of the electric motor 3 and the moving position of the electric motor 3.

When the motors 2 and 3 complete the operation instructed by the upper controller 40 and stop, respectively, the completion is transmitted from the motor controllers 41 and 42 to the upper controller 40. As the next operation, the upper controller 40 opens the selection switches 16 and 18 and then selects, for example, the electric motors 2 and 4, and closes the selection switch 16 to close the power line of the electric motor 2 and the signal line from the sensor 2a. Are connected to the motor control device 41, and at the same time, the selection switch 19 is closed, and the power line of the motor 4 and the signal line from the sensor 4a are connected to the motor control device 42, the motor control device 41 The motor 2 is driven based on the command from the controller 2 and the signal from the sensor 2a, and the rotation speed of the motor 2 and the moving position by the motor 2 are controlled. Similarly, the electric motor control device 42 drives the electric motor 4 based on a command from the host controller 40 and a signal from the sensor 4a, and controls the rotation speed of the electric motor 4 and the moving position of the electric motor 4.

When the motors 2 and 4 complete the operation instructed by the upper controller 40 and stop, respectively, the completion is transmitted from the motor controllers 41 and 42 to the upper controller 40. FIG. 4 is a block diagram showing a fourth embodiment of the motor driving method according to the present invention.
Reference numeral 4 denotes a motor, reference numerals 1a to 4a denote sensors, reference numerals 20 to 24 denote selection switches, reference numeral 40 denotes a host controller, and reference numerals 43 and 44 denote motor control devices having functions equivalent to those of the motor control devices 41 and 42 shown in FIG.

The driving method of the motors 1 to 4 in FIG.
First, for example, the electric motor 1 and the electric motor 2 are selected from the host controller 40, and the selection switch 20 is closed to connect the power line of the electric motor 1 to the electric motor control device 43. At the same time, the selection switch 22 is closed and the electric motor 2 is closed. When the power line is connected to the electric motor control device 44, the electric motor control device 43 drives the electric motor 1 based on a command from the host controller 40 and a signal from the sensor 1a, and the rotational speed of the electric motor 1 and the moving position of the electric motor 1 Control. Similarly, the electric motor control device 44 drives the electric motor 2 based on a command from the host controller 40 and a signal from the sensor 2a, and controls the rotation speed of the electric motor 2 and the moving position of the electric motor 2.

When the motors 1 and 2 complete the operations instructed by the upper controller 40 and stop, respectively, the completion is transmitted from the motor controllers 43 and 44 to the upper controller 40. As the next operation, the upper controller 40 opens the selection switches 20 and 22 and subsequently selects, for example, the electric motors 2 and 3, and closes the selection switch 21 to close the power line of the electric motor 2 and the signal line from the sensor 2a. Is connected to the motor control device 43, and at the same time, the selection switch 23
Is closed, and the power line of the electric motor 3 and the signal line from the sensor 3a are connected to the electric motor control device 44, the electric motor control device 43 receives a command from the host controller 40 and the sensor 2a.
The motor 2 is driven based on the signal from the controller 2 and the rotation speed of the motor 2 and the moving position of the motor 2 are controlled. Similarly, the electric motor control device 44 drives the electric motor 3 based on a command from the host controller 40 and a signal from the sensor 3a, and controls the rotation speed of the electric motor 3 and the moving position of the electric motor 3.

When the motors 2 and 3 complete the operations instructed by the host controller 40 and stop, respectively, the completion is transmitted from the motor control devices 43 and 44 to the host controller 40. As the next operation, the upper controller 40 opens the selection switches 21 and 23, then selects, for example, the motors 2 and 4, and closes the selection switch 21 to connect the power line of the motor 2 to the motor control device 43. When the selection switch 24 is closed and the power line of the electric motor 4 is connected to the electric motor controller 44, the electric motor controller 43
The motor 2 is driven based on the signal from the
The rotation speed of the motor and the moving position by the electric motor 2 are controlled. Similarly, the electric motor control device 44 drives the electric motor 4 based on a command from the host controller 40 and a signal from the sensor 4a, and controls the rotation speed of the electric motor 4 and the moving position of the electric motor 4.

When the motors 2 and 4 complete the operations instructed by the host controller 40 and stop, respectively, the completion is transmitted from the motor control devices 43 and 44 to the host controller 40. During the above-described operation, the motor control device 43 does not select the motor 1 or the motor 2 because the signal lines of the sensors 1a and 2a are always connected to the motor control device 43. And the information processing function of the sensor 2a, the motor control device 43 can monitor the rotation even if the motor 1 or the motor 2 that is not selected for some reason is slightly rotated, and if necessary, monitor the rotation. , The amount of rotation can be stored. Further, in the above-described operation example, even when the electric motor 2 is being driven by the electric motor control device 44, the electric motor control device 43 can monitor this driving via the sensor 2a and, if necessary, store this driving amount. Can be kept.

Further, during the operation described above, the motor control device 4
Since the signal lines of the sensors 2a to 4a are always connected to the motor control device 44 for the motors 2 to 4 which have not been selected, the motor 4 has an information processing function of the sensors 2a to 4a. When the motors 2 to 4 that have not been turned slightly rotate, the motor control device 44
Can monitor this rotation and, if necessary, store this amount of rotation. In the above operation example,
Even when the motor 2 is driven by the motor control device 43, the motor control device 44 can monitor the drive via the sensor 2a, and can store the drive amount if necessary.

[0029]

According to the present invention, one motor control device or a plurality of motor control devices less in number than the motors is provided for a plurality of motors with sensors, and the motor control devices are selected. By driving the electric motor,
Cost reduction and space saving can be achieved for machinery and equipment using a plurality of motors with sensors.

According to the second and fourth aspects of the present invention, since the signal lines from the sensors of the plurality of motors with sensors are connected in advance to the corresponding motor control devices, the motor lines of the motors not selected are selected. Since the information from the signal line can always be monitored and stored, it is suitable for positioning control by a plurality of motors with sensors.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of a method for driving an electric motor according to the present invention.

FIG. 2 is a block diagram showing a second embodiment of the driving method of the electric motor according to the present invention;

FIG. 3 is a block diagram showing a third embodiment of the driving method of the electric motor according to the present invention;

FIG. 4 is a block diagram showing a fourth embodiment of the method for driving an electric motor according to the present invention;

[Explanation of symbols]

1-4, electric motors, 1a-4a, sensors, 11-24, selection switches, 30, 40, upper controller, 31, 3
2, 41 to 44 ... motor control device.

Claims (4)

[Claims] 1. One of a plurality of sensor-equipped motors
After selecting a platform, the selected power line of the motor and the signal line from the sensor are connected to one motor controller by closing a selection switch, and then the motor controller is A method for driving an electric motor, comprising driving the electric motor. 2. A signal line from each sensor of a plurality of motors with sensors is connected to one motor control device in advance, and any one of the plurality of motors is selected. A method for driving an electric motor, wherein after the selected power line of the electric motor is connected to the electric motor control device by closing a selection switch, the electric motor control device drives the selected electric motor. 3. A motor comprising: a plurality of (m) motors with sensors; and a plurality (n) of motor control devices less than m, wherein n of the m motors are selected, and After the power line of each of the selected n motors and the signal line from the sensor are connected to the corresponding motor controller of the n motor controllers by closing the selection switch, A motor driving method, wherein the motor control device drives the selected motor. 4. A motor comprising: a plurality (m) of motors with sensors; and a plurality (n) of motor control devices less than m, wherein signal lines from respective sensors of the m motors are connected to the n motors. It is connected in advance to a corresponding one of the motor control devices, and any one of the m motors is selected, and the power line of each of the selected n motors is After being connected to a corresponding one of the n motor control devices by closing a selection switch, the motor control device drives the selected motor. Drive method.