JPH11202921A - Motor controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor controller which enables a user to optionally and efficiently vary operation parameters of a motor according to a desired motor system to be structured and has the superior maintainability and cost performance. SOLUTION: This controller is a motor controller which controls at least one motor 25A or 25B. The controller is provided with an amplifier connection part which can connect the outputs of amplifiers 141 to 145 for supplying an electric power signal for driving the motor to the motor to the input signal system of the motor. The amplifier connection part has such a structure that the amplifiers can be freely attached and detached and the output of at least one mounted amplifier is connected to the input signal system of the motor while made to correspond to the motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor control device used in a robot system or the like, and more particularly to a so-called parallel redundant amplifier drive type motor control device capable of controlling one motor by a plurality of amplifiers. It is.

[0002]

2. Description of the Related Art FIG. 22 shows a schematic functional block diagram of a motor drive system in a conventional robot controller as such a motor controller.

In FIG. 22, an instruction storage unit 2 stores an instruction code in a program format describing an operation to be performed by the robot, and the stored contents are read out by an instruction interpretation unit 1. The instruction interpreting unit 1 sequentially interprets (decodes) the instruction codes sequentially read from the instruction storage unit 2. The command interpreter 1 generates a command signal corresponding to the decoding result and supplies the command signal to the amplifier controller 6.

The amplifier control section 6 outputs amplifier drive signals corresponding to the command signals to the amplifiers 141, 142 and 143.
To supply. The amplifiers 141 to 143 are connected to the amplifier control unit 6.
Motors 251, 25 according to the drive signal from
2 and 253. Motor 2
51 to 253 rotate according to the supplied power signals, and operate the robot.

According to such a robot controller, a vertical articulated robot as shown in FIG. 23 can be controlled. FIG. 23 shows a robot that operates with a five-axis motor. However, such a configuration is achieved by applying the configuration of one amplifier and one motor shown in FIG. 22 in association with each of the five-axis motors. The driving of the robot is realized. In this case, in the configuration of the robot control device shown in FIG.
The amplifiers 141 to 143 each having a capacity suitable for each capacity (rated output or maximum output) are used in correspondence with the motors.

For example, when operating a five-axis robot, the one-axis motor is 120 W, the two-axis motor is 160 W,
Assuming that the shaft motor has a rated output of 120 W, the 4-axis motor has a rated output of 80 W, and the 5-axis motor has a rated output of 40 W, the amplifiers for driving these motors are also rated at 120 W and 160 W, respectively.
It was necessary to prepare a total of five amplifiers of W, 120 W, 80 W, and 40 W, and four types.

FIG. 24 shows the basic configuration of a "parallel redundant synchronous operation type inverter device" disclosed in Japanese Patent Application Laid-Open No. 60-102878.

In FIG. 24, an amplifier control section 6 supplies an amplifier drive signal to amplifiers 141 to 143. The amplifiers 141 to 143 amplify the supplied drive signal and supply the amplified output signal to one motor 25 via the current detectors 241 to 243 and the switches 391 to 393, respectively. The current detectors 241 to 243 detect output currents of the respective amplifiers and supply detection signals to the amplifier controller 6.

The amplifier controller 6 issues a command signal to the switch controller 38 based on the detection signal. The switch control unit 38 controls the switches 391 to 393 in response to a command signal from the amplifier control unit 6. Switch 39
1 to 393 transmit the power signals from the amplifiers 141 to 143 to the motor 2 according to the control signal from the switch control unit 38.
5 or shut off.

Next, the operation of this device will be described. In this parallel redundant synchronous operation type inverter device, 3
The amplifiers 141 to 143 are connected in parallel, and each of these amplifiers is a synchronous parallel operation in which an amplifier drive signal from one amplifier control unit 6 is amplified, and one amplifier 25 is driven by a plurality of amplifiers. Like that. This device also includes an amplifier control unit 6 that controls the current detectors 241-2.
43 is monitored sequentially, and if an excessive current flows in any one of the amplifiers 141 to 143 operating in parallel, the switch control unit 38 switches the switches 391 to 391.
It operates so as to shut off all 393.

[0011] As another reference technology related to the present invention, there is an "inverter device" disclosed in JP-A-6-217553.

FIG. 25 shows a conventional robot control device shown in FIG. 22 in which an amplifier using a parallel redundant synchronous operation type inverter device shown in FIG. 3 shows a configuration of a robot control device in which the configurations are combined.

In FIG. 25, an instruction storage unit 2, an instruction interpreting unit 1, and an amplifier control unit 6 have functions equivalent to those shown in FIG.

A feature of this configuration is that the configuration of the amplifier shown in FIG. 24 is employed for each of motors having different ratings. That is, for example, as a system for driving a motor 25A rated at 120 W, three parallel-connected amplifiers 141 to 143 and current detectors 241 to 24 of these outputs are used.
3 and subsequent switches 391 to 393 and a switch control unit 38A. For example, as a system for driving a motor 25B rated at 80 W, two parallel-connected amplifiers 1
44 and 145, current detectors 244 and 245 of these outputs, subsequent switches 394 and 395, and a switch controller 38B. Current detector 2
The detection signals from 41 to 243 and the detection signals from the current detectors 244 and 245 are supplied to the amplifier control unit 6, and the amplifier control unit 6 sends command signals to the switch control units 38A and 38B based on the detection signals. Emit.

Next, the operation of this device will be described. In the device shown in FIG. 25, the motor capacity is 120 W
And 80 W, but the capacities of the amplifiers 141 to 145 are unified to 40 W. By operating these in parallel for each motor drive system, the motors 25 A and 2 W
5B is being driven. Further, the amplifier control unit 6 sequentially monitors the current detectors 241 to 245, and when an excessive current flows in any one of the amplifiers 141 to 145 operating in parallel, the driving corresponding to the amplifier is performed. Switch control unit 38A or 38B of the system
93 or switches 394 and 395 are all turned off.

The robot control device according to the prior art shown in FIG. 22 has a problem that it is necessary to prepare an amplifier whose capacity (rated output or maximum output) needs to be changed by each motor. As a measure to solve this problem, a robot control device shown in FIG. 25 is realized by combining the conventional robot control device shown in FIG. 22 with the parallel redundant synchronous operation type inverter device shown in FIG. Can be considered.

[0017]

In the conventional robot control device shown in FIG. 22, the capacity (rated output or maximum output) of the motor for each axis attached to the robot body.
If they are not standardized, it is necessary to design and manufacture different types of amplifiers for operating the same for each capacity of the motor.

Further, when an amplifier is manufactured for each capacity, a so-called lot in manufacturing and distribution is not increased, and it is difficult to reduce the cost.

Further, in order to cope with a case where a trouble occurs at a customer who wants to construct a robot system, it is common to have a stock of amplifiers for replacement at a service center or the like. Since the amplifiers need to be handled by capacity, the types of the stock amplifiers cannot be unified, which is disadvantageous in reducing the management cost.

Further, the fact that the amplifiers are handled according to their capacities has an aspect that it is often inconvenient to carry many amplifiers to the robot system during actual maintenance.

And, to handle many types of amplifiers,
For those who maintain the robot, troubles such as mistaking the amplifier are likely to occur,
The need for re-maintenance occurs each time.

Further, the robot control device needs to be designed for general use in terms of cost reduction and the like, but is required for a robot system by some users having an axis which requires a considerably high operation speed capability. Is designed to be applicable, but in this case, for other users, since the operation speed of the motor in the robot control device can only be reduced by changing the operation parameter for the motor, there are many cases. For such a user, there is a situation in which useless costs must be spent on the robot controller.

Further, for example, when the amplifiers applied to the robot controller shown in FIG. 25 are unified with amplifiers having a sufficiently large capacity, the type of amplifier becomes one and all motors can be operated. Although it is possible, in this case, there is a disadvantage that the price of the entire robot system further increases because the cost is increased by using the most expensive amplifier.

Further, the robot controller shown in FIG. 25 is constructed by combining the conventional robot controller shown in FIG. 22 and the parallel redundant synchronous operation type inverter shown in FIG. 24, and an amplifier having the same capacity is used. Although it is possible to operate motors of different capacities, in the robot controller shown in FIG. 25, not only the amplifier connection method and means for increasing / decreasing the number of amplifiers, but also appropriate operating parameters for each motor are set. Since the method and means of changing are not shown to the user at all, if the user does not fully understand the details of setting updating such as parameter change from the wiring method in the robot controller, the performance of the robot controller will be changed. Cannot be performed accurately.

In addition, in the same robot controller, since the capacity of the amplifier is determined for each motor, only one type of main body corresponding to the controller can be operated.

The present invention has been made in view of the above-mentioned problems, and allows a user to arbitrarily and efficiently change motor operating parameters in accordance with a motor system desired to be constructed, and has a high maintainability. An object of the present invention is to obtain a motor control device that is excellent in cost performance.

[0027]

In order to achieve the above object, a motor control device according to the present invention is a motor control device for controlling at least one motor, wherein a power signal for driving the motor is supplied to the motor control device. An amplifier connection for connecting an output of the amplifier for supplying to the input signal system of the motor, the amplifier connection having a structure in which the amplifier is detachable, and at least one mounted The output of the amplifier is connected to the input signal system of the motor in association with the motor. According to this, the operation parameters of the motor are changed according to the number of amplifiers connected to the amplifier connection section where the amplifier is detachable and associated with the motor.

According to another aspect of the present invention, there is provided a motor control device for detecting a connection state between an output of the amplifier and an input signal system of the motor, and changing an operation parameter of the motor according to a detection output of the detection device. And control means for causing the control unit to perform the control. According to this, the operation parameters of the motor are changed according to the connection state between the detected output of the amplifier and the input signal system of the motor, and desired motor drive control suitable for the motor is performed.

A motor control device according to the next invention is a motor control device for controlling at least one motor, comprising a plurality of amplifiers for supplying a power signal for driving the motor to the motor, and an output of the amplifier. And switching means for switching the connection relationship between the motor and the input signal system of the motor, and setting means for setting the connection relationship by the switching means. According to this, the setting means sets the amplifier corresponding to the motor and the number thereof, and determines the connection relationship between the motor and the amplifier.

[0030] The motor control device according to the next invention is characterized in that the motor control device further comprises control means for setting the operation parameters of the motor in accordance with the settings made by the setting means. According to this, the operation parameters of the motor are changed according to the set connection state between the output of the amplifier and the input signal system of the motor, and desired motor drive control suitable for the motor is performed.

[0031] The motor control device according to the next invention is characterized in that it has means for informing the operating parameters. According to this, the operation parameters of the motor are notified, and the setting operation of the user is supported.

[0032] The motor control device according to the next invention further comprises inspection means for inspecting the actual connection relation between the output of the amplifier and the input signal system of the motor after the connection relation is switched by the switching means by the setting means. It is characterized by: According to this, the drive of the motor is appropriately controlled based on the actual connection relationship between the motor and the amplifier.

[0033] The motor control apparatus according to the next invention is characterized in that the motor control device further includes an evaluation means for evaluating the setting contents by the setting means based on the inspection result by the inspection means. According to this, it is determined whether or not the set contents are actually inappropriate, and appropriate motor drive control is performed based on the actual connection relationship between the motor and the amplifier.

A motor control device according to the next invention is a motor control device for controlling at least one motor, comprising a plurality of amplifiers for supplying a power signal for driving the motor to the motor, and an output of the amplifier. And a manual switch for switching a connection relationship between the motor and an input signal system of the motor. According to this,
The amplifier and the number thereof corresponding to the motor are set by the manual switch, and the connection relationship between the motor and the amplifier is determined.

According to another aspect of the present invention, there is provided a motor control device for detecting a connection state between an output of the amplifier and an input signal system of the motor, and changing an operation parameter of the motor according to a detection output of the detection device. And control means for causing the control unit to perform the control. According to this, the operation parameters of the motor are changed according to the connection state between the manually set output of the amplifier and the input signal system of the motor, and desired motor drive control suitable for the motor is performed.

The motor control device according to the next invention is characterized in that the motor control device further comprises an inspection means for inspecting an actual connection relation between the output of the amplifier and an input signal system of the motor after the connection relation is switched by the manual switch. I have.
According to this, the drive of the motor is appropriately controlled based on the actual connection relationship between the motor and the amplifier.

The motor control device according to the present invention is characterized in that the motor control device further comprises evaluation means for evaluating the setting contents of the manual switch based on the inspection result by the inspection means. According to this, it is determined whether or not the manually set content is actually inappropriate, and appropriate motor drive control is performed based on the actual connection between the motor and the amplifier.

[0038]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a motor control device according to the present invention will be described in detail with reference to the drawings.

Embodiment 1 FIG. 1 shows functional blocks of a motor control device applied to a robot control device according to a first embodiment of the present invention, and FIG. 2 shows a more detailed hardware configuration of such a device.

In FIG. 1, an instruction storage unit 2 stores each instruction code as a program describing an operation to be performed by the robot system. The instruction interpreting unit 1 sequentially reads out instruction codes stored in the instruction storage unit 2, sequentially interprets (decodes) them, and generates a command signal according to the result of the decoding. This command signal is supplied to amplifier drive signal generators 9A and 9B. The amplifier drive signal generators 9A and 9B are provided corresponding to motors 25A and 25B corresponding to, for example, two axes to be driven.

The amplifier drive signal generator 9A includes a motor 25
For example, three parallel-connected amplifiers 1 for supplying drive power to A
Input signals 41 to 143, that is, amplifier drive signals are generated. The amplifier drive signal generation unit 9B generates input signals of, for example, two parallel connected amplifiers 144 and 145 for supplying drive power to the motor 25B, that is, an amplifier drive signal. The outputs of the amplifiers 141 to 143 are connected in common, and the combined output of the power by these amplifiers is supplied to the motor 25A as a power signal. The amplifiers 144 and 14
5 are also connected in common, and the combined output of the power by these amplifiers is also supplied to the motor 25B as a power signal.

The parameter storage unit 4 stores parameters such as a position gain and a speed gain necessary for controlling the operation mode of the robot. Parameters necessary for the operation of the robot stored in the parameter storage unit 4 are as follows:
They are read out as appropriate, changed by the parameter setting unit 3, and set in the amplifier drive signal generation units 9A and 9B.

From the motor drive amplifiers 141 to 145,
Amplifier connection determination signals 81 to 85 carrying information for indicating to which motor (motor 25A or motor 25B in this example) the amplifier is connected are derived.
These amplifier connection determination signals are supplied to the amplifier attachment detection unit 7, and the amplifier attachment detection unit 7 has a function of taking in information indicated by the amplifier connection determination signals 81 to 85. The amplifier attachment detection unit 7 sends the acquired amplifier connection information to the parameter setting unit 3 and the amplifier drive signal generation units 9A and 9B to perform a parameter change process described later.

The functional blocks shown in FIG. 1 can be specifically configured by the hardware shown in FIG.

In FIG. 2, reference numeral 50 denotes a CPU of the robot control device, which has functions of the command interpreting section 1, the parameter setting section 3, and other functions. A program for operating the CPU 50 is stored in the ROM 51,
M52 is used when the CPU 50 executes the processing of the program. The ROM 51 corresponds to the instruction storage unit 2, and the RAM 52 corresponds to the parameter storage unit 4.

A command signal for motor control output from the CPU 50 is supplied to PWM (pulse width modulation) generators 53A and 53B. The PWM generators 53A and 53B are connected to the amplifier drive signal generator 9A.
And 9B, which drive the corresponding amplifier
An M pulse train signal is generated. Such a pulse train signal is
It has a pulse width corresponding to the input signal of the generator.

FIG. 3 shows a detailed configuration of the amplifier mounting detector 7 in FIG. In FIG. 3, an amplifier attachment detection unit 7 includes a buffer IC for outputting bit data, that is, a binary signal that can take logical values 0 and 1.
32, a 5V power supply 33 which is a power supply for a logic circuit,
The buffer IC 32 includes a 5V power supply 33 and a pull-up resistor 34 connected between the input signal lines for individually setting each input signal line to a high (H) level (logical value 1) as an initial value. Is done.

The input signal lines of the buffer IC 32 are also connected to the terminals of a connector 35, respectively, and the connector 35 is connected to a connector 14T serving as a terminal for the amplifiers 141 to 145. As shown in FIG. 4, the robot control device is formed with a slot capable of individually storing a plurality of amplifiers. As an amplifier connection portion, for example, a connector 35 is provided in an amplifier holding portion of the slot, and a slot is provided. By inserting the amplifier into the connector, the connector 14T of the amplifier and the control unit, that is, the connector 35 on the amplifier mounting detection unit 7 side, can be freely attached and detached, so that the electrical connection between the two terminals is possible.

The connector 14T is connected to 0V (ground) 3 corresponding to the reference potential of the 5V power supply 33 in the amplifier.
6 are connected to terminals. Therefore, when the amplifier is installed in the slot of the robot controller, the signal of the reference potential is guided to the input signal line of the buffer IC 32 via the corresponding terminal provided on the connector 35. That is, the connector 35 serves as a connection state monitoring pin for monitoring whether or not the amplifier is connected at the connector terminal.

The buffer IC 32 has a control terminal G for relaying between its input and output, that is, for performing gate control on the output of the input signal. This terminal detects the connection between the connector 14T and the connector 35 of the amplifier. At the time of connection, an amplifier mounted state read signal 37 for opening the gate of the buffer IC 32 is supplied. The amplifier mounting state read signal 37 is issued from the parameter setting unit 3 that performs the setting process based on the signal, that is, the CPU 50.

Each input signal of the buffer IC 32 is
These correspond to the amplifier connection determination signals 81 to 85 derived from each amplifier in FIG.

Next, the operation of the robot control device configured as described above will be described with reference to the flowcharts of FIGS.

In FIG. 5, in step S 101, information indicating the state of amplifier installation performed by the user is read from the amplifier installation detector 7 by the parameter setting unit 3. More specifically, when the user arbitrarily attaches or detaches an amplifier to or from a slot (amplifier mounting means, ie, an amplifier connection portion) provided in the robot controller, as described above, the mounting state of the amplifier and the slot is determined. Accordingly, the amplifier connection determination signals 81 to 85 indicating bit data of 1 or 0 appear on the connection state monitoring pin of the connector 35.

The amplifier connection determination signals 81 to 85 are
The CPU 50 reads the above-described amplifier mounting state read signal 3
7 is set to the low level, the amplifier mounting detection unit 7
Of the buffer IC 32. Then, the CPU 50 as the parameter setting unit 50
, That is, the data indicated by the amplifier connection determination signals 81 to 85, it is possible to determine how many amplifiers are connected to each slot and to which slot the amplifier is connected.

The parameter setting section 3 stores the data contents of the amplifier connection determination signals 81 to 85 in the RAM 52 as the parameter storage section 4 so as to cope with subsequent processing. Thereby, the parameter setting unit 3 can know the current connection relation of the amplifiers as needed, and can change the operation parameters of the motor drive system in step S103 described later.

The correspondence between the motor and the slot is determined in advance. For example, in a robot control device that operates a 5-axis robot, a single-axis motor corresponds to slots 1 to 3, a 2-axis motor corresponds to slots 4 to 6, and a 3-axis motor corresponds to a slot. The parameter setting unit 3, that is, the CPU 50 recognizes information on the relationship that 7 to 9 correspond, the slots 10 and 11 correspond to the 4-axis motor, and the slots 12 and 13 correspond to the 5-axis motor. It is being done.

The manner of determining the connection state or connection relationship between the amplifier and the slot will be described in detail. The amplifier mounting detection section 7 shown in FIG. 3 outputs a buffer output corresponding to the amplifier mounting state as shown in Table 1 below. It is designed by bit correspondence.

[0058]

[Table 1]

According to this, for example, the input terminals IN0 to IN2 of the buffer IC 32 as shown in FIG.
Correspond to bits 0 to 2 on the output side, respectively.
When the input terminals IN1 and IN2 are connected to the amplifier, the state monitoring pins of the corresponding connector 35 are electrically connected to the corresponding state pins of the corresponding connector 14T on the amplifier side. Here, the status pin on the amplifier side is 0V
Is connected to the ground 36, a level 0V, that is, a signal of logical value 0 is input to the buffer input terminals IN1 and IN2.

On the other hand, if an amplifier is not connected to the buffer input terminal IN0, the level of the supplied signal becomes the logical value 1 because there is a pull-up resistor 34 corresponding to the input terminal.

Since the buffer IC 32 operates to output the input signal level as it is, the bits 0 to 2 on the output side output logical values of 1, 0 and 0, respectively, in order. Although FIG. 3 shows an amplifier connection portion having three amplifier connection terminals, an amplifier connection portion having more amplifier connection terminals is also configured with the same bit association.

Here, for example, when operating a 5-axis robot, the capacity (rated or maximum power consumption) of each motor of the robot body is 120 W for a single-axis motor, 160 W for a 2-axis motor, and 120 W for a 3-axis motor. If the 4-axis motor is 80W and the 5-axis motor is 40W, the capacity (rated output or maximum output) of the unified amplifier to be used is 40
In the case of W, the maximum number of mounted amplifiers, which is the sum of the numbers according to the capacity of each motor, is thirteen.

However, according to this device, the user can arbitrarily and easily mount and remove the amplifier. That is, if the actually required capacity can be small compared to the operation speed required for the robot, the user can use, for example, two one-axis motor drive amplifiers for eight.
0W, 120W with three 3-axis motor drive amplifiers, 120W with 3 3-axis motor drive amplifiers, 80W with 2 4-axis motor drive amplifiers, 40 with 1 5-axis motor drive amplifier
Therefore, the number of amplifiers to be used can be reduced to 11 by attaching and detaching amplifiers to the robot controller appropriately for each motor by a simple judgment of the user so that the number is suitable for the motor. Can be reduced to
This makes it possible to reduce the number of useless amplifiers.

Referring back to FIG. 4, in step S102,
A process of transmitting the connection relationship between the amplifier and the slot obtained in step S101 to the amplifier drive signal generation units 9A and 9B is performed. This is achieved by the CPU 50 serving as the parameter setting unit 3 reading out the information stored in step S101 from the RAM 52 serving as the parameter storage unit 4 and sending it to the PWM generators 53A and 53B serving as the amplifier drive signal generation units 9A and 9B. . Thereby, the amplifier drive signal generators 9A and 9B
Performs an amplification operation adapted to the information of the connection relationship by the amplifier 14.
1 to 145 can be performed.

In step S103, step S101
The following parameter change processing is performed based on the connection relationship between the amplifier and the slot obtained by the above.

Now, unlike the state shown in FIG. 1, it is assumed that the amplifier drive signal generator 9A has detected that only two amplifiers are connected to the motor 25A.

Here, the motor 25A has three amplifiers 1
It is assumed that the maximum capacity of the motor can be output for the first time by connecting 41 to 143. However, in FIG. 1, if, for example, only the amplifiers 141 and 142 are connected, the amplifiers 141 and 142 are overloaded, and the motor 2
It will not be possible to draw the maximum capacity of 5A.

Therefore, the parameter setting section 3 changes the operation parameters for the drive system of the motor 25A. FIG. 6 shows the procedure of such a parameter change process. This parameter changing process can be represented by a subroutine-type flowchart.

In FIG. 6, in step S201, the information on the connection relationship between the amplifier and the slot written in the parameter storage unit 4 in step S101 is read into the parameter setting unit 3.

Next, in step S202, the following Table 2
Is started.

[0071]

[Table 2]

More specifically, in the data stored in the parameter storage unit 4, SP (speed parameter) x
Represents the speed at which the robot operates, and is an operation parameter that can be controlled by the amplifier drive signal generators 9A and 9B. In this case, a desired value can be set by the user.

The acceleration time ta means the acceleration time from when the motor starts moving from a stopped state until it reaches the maximum speed according to the command. The maximum speed Vp corresponds to the maximum value of the speed that the motor can output.

The position gain Kp is a feedback gain which is a coefficient for multiplying a difference between a position command (command value) and a position feedback value (a value of a position actually obtained with respect to the command value). The speed gain Ks is a feedback gain which is a coefficient for multiplying a difference between a speed command (command value) and a speed feedback value (a value of a speed actually obtained with respect to the command value). This Kp and K
Both s have an upper limit based on the phase delay characteristics of the amplifier and the mechanical characteristics of the robot without causing oscillation or the like and compensating for the linearity of the amplifier. Such upper limits are treated as Kpl and Ksl, respectively.

Further, mj represents the maximum number of amplifiers that can be connected to the j-axis motor, and more amplifiers than this number cannot be connected to the j-axis motor. nj represents the number of amplifiers actually connected to the j-axis motor. FIG. 7 is a block diagram of a transfer function of the motor drive system drawn together with the parameters such as Kp and Ks described above.

As the first parameter change, in step S203, since the number of the amplifiers connected to the motor j is nj, the parameter setting unit 3 multiplies the upper limit value x of the speed parameter SP by nj / mj to obtain x. ’. Thereby, even if the user sets SP (speed parameter) to the maximum value x which is the initial setting value,
The value of the internal parameter does not exceed x. This is because mj ≧ nj is always satisfied.

In step S204, the changed speed gain Ks' is calculated, and the calculation result is evaluated. All gain values are software parameters,
Indicates the value to instruct the amplifier.

Here, it is assumed that an appropriate speed gain is Ks when mj amplifiers are connected to the j-axis motor. Now, if the number of amplifiers connected to the j-axis motor is reduced from mj to nj, and if the same signal as before the reduction in the number of amplifiers is supplied to the amplifier, the current flowing through the motor becomes nj / mj. Therefore, in order to obtain the same control characteristics as before the reduction in the number of amplifiers, it is necessary to change the following parameters.

First, the equation (1) shows the open-loop characteristic (command value) of the control type shown in FIG.
The formula that supports the formula is shown below.

I = 3B · Ks · Vp (1)

I = 3B · Vs (2)

Vs = Ks · Vp (3)

In the above equation, i is an operation command value for the motor M, Vs is a speed command value for the amplifier, Vp is a position command value for the amplifier, and B is a current command value. In addition, the operation command value i is
It is found that the speed command value Vs is multiplied by the amplifier current command value B, and the speed command value Vs is obtained by multiplying the position command value Vp by the speed gain Ks.

On the other hand, the following equation (4) is represented by the total gain Gs1 in the open-loop characteristic of the control type shown in FIG.

I = Gs1 · Vp (4)

This represents the expression of the operation command value i with respect to the position command value Vp.

In FIG. 7, for example, when the number of amplifiers connected to the motor is reduced from three to two, the equation (1) becomes:
It is revised as in the following equation (5).

I ′ = 2B · Ks · Vp = Gs2 · Vp (5)

Here, it can be seen that 2B · Ksf is set to Gs2, but the total gain Gs1 is reduced to Gs2 due to the reduction in the number of amplifiers, and the normal motor can be operated with the original open loop characteristics. become unable. Also, as the number of amplifiers is reduced, the maximum current that can be passed to the motor is also reduced, but the open loop characteristics are changed accordingly, and other performance is not reduced at the command value level. There is a need.

Therefore, it is necessary to obtain the same open loop characteristic as before the number of amplifiers is reduced by adjusting the total gain. The equivalent control characteristic described here means a characteristic in which a state where the value of i is not changed is maintained. As described above, when the number of amplifiers is reduced from mj to nj, the value of i ′ becomes as in equation (5). Here, in order to obtain i ′ = i in order to obtain an equivalent open loop characteristic, the total gain Gs2 is multiplied by mj / nj,
In the specific example of the above, it is sufficient to increase the value by 3/2.

Since the position command value Vp cannot be changed by increasing or decreasing the number of amplifiers, the value of the speed gain Ks may be changed to multiply Gs2 by 3/2. Assuming that Ks after the change is Ks ', Ks' = (mj / nj)
Ks, Ks ′ = (3/2) Ks in the specific example of FIG.
Becomes

Here, since mj ≧ nj, mj / n
j is 1 or more, and Ks' is a value not less than Ks. However, the speed gain Ks has an upper limit defined by the target to be moved by the motor, for example, the inertia ratio of the arm and the maximum output of the motor in the case of a robot. The setting needs to be different.

If the speed gain Ks' does not exceed the upper limit Ksl, the flow shifts to step S205. On the other hand, if Ks ′ exceeds the upper limit value Ksl, step S20
Move to 7.

From step S203, the operation of the motor is reduced due to the decrease in the number of connected amplifiers. The reason for reducing the number of amplifiers is that only the number required for the operation required by the user is required. Since the connection is performed, there is no problem with the system. Also, the gain is changed to maintain the control performance. In step S205, the maximum speed Vp is calculated. Since the number of connected amplifiers is nj, the maximum speed of the j-axis motor is multiplied by nj / mj to obtain a changed Vp '.

In step S206, the acceleration time ta is calculated. By setting the maximum speed Vp 'to be the original nj / mj times, a system that does not affect the acceleration time is realized, so that the acceleration time ta' is the same as the initial value ta. After step S206, the present subroutine ends, and step S1 of the flowchart shown in FIG.
Shift to 04.

In step S207, the calculated Ks'
Is the upper limit K of the speed gain set in consideration of the load and the like.
If it exceeds sl, it is determined whether or not the performance of the position control can be maintained. More specifically, step S207
, The position gain Kp ′ is calculated. If Ks' is a value to be originally taken, Kp does not need to be changed. However, according to the determination in step S204, the value becomes the upper limit K
Since it exceeds sl, the upper limit value Ksl is set for Ks'.

Next, as can be seen from the above equation (1) and the following equation (6), the open loop characteristic in the position control is Kp × K multiplied by the position gain Kp and the speed gain Ks.
It is determined by the value of s.

Vp = Kp · X (6)

Therefore, in order to keep the open loop characteristics of the position the same before and after the change, the position control characteristic value Kp ′ ×
Ks ′ must be equal to the characteristic value Kp × Ks of the position control before the change. Therefore, Kp ′ × K
sl = (mj / nj) × Ks satisfying the relationship of Ks × Kp
p ′ is the position gain after the change.

At this time, similarly to the speed gain Ks, the object to be moved by the motor is the position gain Kp.
For example, in the case of a robot, since there is an upper limit value Kpl defined by the inertia ratio of the arm and the maximum output of the motor, the control performance changes depending on whether the value exceeds or does not exceed the value. It is necessary to warn that the performance described in the specifications, specifications, etc., will not be achieved.

In step S207, the position gain K
If p ′ does not exceed the upper limit Kpl, the process proceeds to step S205 described above. In step S207,
If the position gain Kp 'has exceeded the upper limit Kpl, the process proceeds to step S208.

In step S208, the maximum speed Vp 'is calculated. The maximum speed of the j-axis motor is obtained by multiplying Vp by nj / mj to obtain Vp 'since the number of connected amplifiers 14 is nj. In step S209, the maximum speed Vp 'is obtained by multiplying the original value by nj / mj, and a system that does not affect the acceleration time is realized. Therefore, the acceleration time ta' is the same as the initial value ta. Is done.

Thereafter, in step S210, step S210
At 204, the speed gain Ks' exceeds the upper limit value Ksl,
In step S207, the position gain Kp 'is
pl, Kp '· Ks' = (mj
/ Nj) Notify by display that the control performance required to be KsKp is not maintained.

In this case, the control performance is lower than when mj amplifiers are connected to the j-axis motor. Since the position gain Kp is not maintained and the speed gain Ks is not maintained, the trajectory accuracy is affected. Therefore, in the present system, a message to that effect is displayed on a setting device (not shown) (to be described later) to urge the user to pay attention.

After step S210, this subroutine ends, and the routine goes to step S104 shown in FIG.

In step S104, step S2
The parameter setting unit 3 sets parameters changed in settings from 02 to 210 by the amplifier drive signal generation units 9A and 9B.
Tell Thereby, the amplifier drive signal generator 9
Knows which motor is connected to which amplifier and how many, and the appropriate speed gain and position gain are set, so that the command from the command interpreter 1 It is possible to perform the drive control of the corresponding motor properly by fully utilizing the capability of the amplifier.

In step S105, the command interpreter 1 issues a command to the amplifier drive signal generator 9 to rotate the motor 25. Thus, the execution of the user program is started under the proper motor drive control state as described above.

Since the robot controller according to the first embodiment is configured as described above, the operation parameters of the motor can be arbitrarily and efficiently changed according to the robot system desired by the user.

[0109] Even with the same robot control device, robots of different scales can be operated simply by appropriately attaching and detaching an amplifier, and amplifiers having the same capacity, ie, rated or maximum output, can be unified. Therefore,
A robot control device that can improve the maintainability and reduce the cost for inventory management is realized.

Further, the connection relation between the amplifier and the motor is detected at the same time as the amplifier is inserted and mounted in the slot by the amplifier mounting detector 7, and the control parameters for the motor are adjusted according to the detected information. Therefore, complicated setting work is not required for the user.

In addition, since the number of amplifiers can be set according to the system required by the user, the robot controller can be changed from small robots to medium-sized robots and, consequently, large robots simply by increasing or decreasing the number of amplifiers while keeping the same robot controller. Can be controlled in the same manner.

Embodiment 2 FIG. 8 is a functional block diagram of the robot control device according to the second embodiment of the present invention.
FIG. 9 is a detailed hardware block diagram. FIG. 10 is a functional block diagram of a setting device in the robot control device of FIG.

The setting device 16 shown in FIG. 8 comprises a display section 40 and a key switch section 41 as shown in FIG. This is an external device having a user interface function of giving a command such as a connection command to the user and sending a message from the display unit 40 to the user.

The communication section 17 performs communication between the robot control device and the setting device 16, that is, transmission and reception of signals. The setting storage unit 18 stores command contents from the setting device 16, data and parameters related to the operation of the robot that are handled as initial values by the robot control device, and also stores the changed data and parameters. The contents stored in the setting storage unit 18 are read by the connection relation control unit 5.

The instruction storage unit 2 stores each instruction code in a program format describing the operation of the robot. The contents stored in the instruction storage unit 2 are sequentially read by the instruction interpretation unit 1, and the instruction interpretation unit 1 sequentially interprets (decodes) the read instruction codes in the program format. The command interpreter 1
A command signal corresponding to the decoding result is generated and supplied to the amplifier control units 6A and 6B and the current command generation unit 20.
Current command generation unit 20 generates a current command to amplifier control units 6A and 6B based on a command from command interpretation unit 1.

The driving source for operating this robot is, for example, a motor 25 individually corresponding to one axis and two axes.
A and 25B are provided. The motor drive system can be formed corresponding to each of these motors 25A and 25B.

One drive system is supplied with a command signal from the command interpreting section 1 and generates an amplifier drive signal corresponding to the command signal. The amplifier control section 6A amplifies the amplifier drive signal to drive the motor 25A. Any of amplifiers 141 to 144 that can generate a power signal for driving, and a switching unit that can relay each output of these amplifiers 141 to 144 to one or the other output side set as an input. 31 and a current detector 24A for detecting a current value actually flowing into the motor on a signal line for passing a power signal from the switching unit 31 to the motor 25A.

The other drive system is supplied with a command signal from the command interpreting section 1 and generates an amplifier drive signal corresponding to the command signal. The amplifier control section 6B amplifies the amplifier drive signal and drives the motor 25B. 141 to 144 capable of generating a power signal for driving
A switching unit 31 capable of relaying each output of the amplifiers 141 to 144 to one or the other output side set as an input, and a switching unit 31
And a current detector 24B for detecting a current value actually flowing into the motor on a signal line for passing the power signal from the motor 25B to the motor 25B.

The connection relation control unit 5 has a function of transmitting the connection relation between the amplifiers 141 to 144 and the motors 25A and 25B to the amplifier control units 6A and 6B. In such a function, the amplifier connection determination signal 8, which is information for indicating to which motor each of the amplifiers 141 to 144 is connected, is used.

The connection relation control unit 5 drives the relay block 30 to control the connection relation between each amplifier and the motor. The relay block 30 is controlled by the motors 25A and 2
It operates so that the switching unit 31 changes the output destination for 5B.

FIG. 9 shows a specific example of a hardware configuration according to the functional blocks shown in FIG. FIG.
, Reference numeral 50 denotes a CP of the robot controller.
U is responsible for the connection relation control unit 5, the command interpretation unit 1, the current command generation unit 20, and other functions. This CPU 50
Are interconnected via a bus to a ROM 51 for storing programs for executing various processes, and a RAM 52 as a so-called working memory used for executing the processes. The ROM 51 stores the R
The AM 52 corresponds to the setting storage unit 18.

The CPU 50 has a communication unit 17 as S
An IO (serial input / output interface) 54 is connected to the robot controller and the external setting device 16.
It is possible to transmit and receive data signals to and from the device.

The amplifier control units 6A and 6B receive a command from the CPU 50, and generate a drive pulse train signal for the amplifiers 141 to 144 in accordance with the command.
M generators 53A and 53B are applied.

The output signals of PWM generators 53A and 53B are supplied to analog switch 57, respectively. The analog switch 57 can switch the output destination of a plurality of, here, two analog signal inputs. That is, 1 of the analog switch 57
Is relayed to either the amplifiers 141 and 142 or the amplifiers 143 and 144.

The relay block 30 and the switching section 31
Here, four relay devices 56 provided corresponding to the respective amplifiers are provided. The signal switching section of each relay device 56 is connected to each of the amplifiers 141 to 144 so as to individually lead the output signal of each amplifier to the motor 25A or 25B.

More specifically, the input / output terminal of the switching unit of the corresponding one relay device 56 is used so that the output signal of one amplifier is selectively relayed to one of the motors 25A and 25B. Each of the relay devices 56
(Parallel input / output interface) C via PIO
It receives a command signal from the PU 50 and performs an input / output switching operation according to the command signal.

The detection outputs of the current detectors 24A and 24B are supplied to an analog switch 59, respectively. The analog switch 59 selectively outputs the two detection outputs to C
It is controlled so as to be supplied to the PU 50. Here, means for matching the signal form between the analog switch 59 and the CPU 50 is not shown.

Hereinafter, the operation of the robot control apparatus according to the second embodiment will be described with reference to the flowchart of FIG.

Referring to FIG. 11, in step S301,
The user who knows the amplifiers required for the robot system and the number thereof performs an input operation on the setting device 16 such as, for example, applying the amplifiers 141 to 144 to the motors 25A and 25B.

The setting device 16 is connected to the display unit 40 as described above.
And a key switch unit 41 (see FIG. 10), and transmits connection-related setting information via the communication unit 17. Therefore, the user determines which motor to connect each of the amplifiers 141 to 144 with the key switch unit 41 and inputs the information while watching the display unit 40 of the setting device 16. Then, the setting contents are stored in the RAM 52 as the setting storage unit 18 via the communication unit 17.

At step S302, the connection relation control unit 5
The CPU 50 reads the contents set in step S301 from the RAM 52 as the setting storage unit 18, and determines the connection relationship between the amplifiers 141 to 144 and the motors 25A and 25B based on the data table shown in Table 3 below. . Then, by this determination, the relay block 30, that is, each relay device 56 is operated. However, Table 3 shows a data table in which the maximum number of robot axes is six.

[0132]

[Table 3]

In step S304, the parameters necessary for the robot operation are changed and the robot is operated in the same manner as in steps S201 to S210 in the flowchart shown in FIG. 6 described in the first embodiment. The number of connected amplifiers in the control device is stored in the RAM 52 as the setting storage unit 18.

Here, the basic gist of the subsequent processing will be described. After the pre-processing of steps S306 and S307, the processing of step S308 and subsequent steps causes the processing of step S301 to proceed.
Check the connection relationship between the amplifiers 141 to 144 set by software and the motors 25A and 25B.

The purpose of this check is, for example,
This robot is used to check whether the set value of the user exceeds the upper limit value of the amplifiers that can be connected to 5A and 25B, and also when the connection relation control unit 5 has an abnormality for some reason. This is to prevent the control device from causing any trouble. This check is performed by actually operating the hardware of the robot controller.

Note that a test operation for confirming a connection relationship can be performed by a user's instruction operation of the setting device 16.

In step S306, the current command generation unit 2
The CPU 50 as 0 supplies only one current to each of the amplifiers 141 to 144 at the same time in a very short time such that the robot body does not operate and a very small current, for example, a current of 1 μA over a time of 1 ms. To generate a command signal. Such a command signal is prepared for each amplifier.

In general, the motor current in a general-purpose robot system is on the order of mA, and the robot body does not normally operate with a current on the order of μA. Also,
When measuring the motor current, an A / D converter is used (not shown in FIG. 12), but the analog / digital conversion time (sampling cycle) of the A / D converter is used.
It is necessary to supply a current for a time sufficiently longer than several μs, which is the usual value of

However, when such a test current for checking is sequentially supplied to all the amplifiers, when the number of connectable amplifiers is large, it takes a long time until the check of all the amplifiers is completed. There is a practical problem. On the other hand, it is considered that the number of connectable amplifiers is less than 100 in such a robot system.

Therefore, taking into consideration that the time for flowing the current to all the amplifiers is sufficiently longer than the sampling period and is set to 0.1 second or less, which has no practical problem, the time for flowing the current to one amplifier is taken into consideration. Is set to 1 ms. By setting such a time, for example, if the total number of amplifiers is 100 or less, it is estimated that confirmation and inspection of all amplifiers can be performed in a sufficiently short time of 0.1 second or less.

CPU 50 as current command generator 20
Is 1 μm over the 1 ms period set in this way.
The PWM generators 53A and 53B as the amplifier control units 6A and 6B are controlled so that the check current of A flows sequentially for each amplifier. This control is performed by PWM
The generation of a pulse train signal based on the above-described program-type instruction code, which is the original function of the generators 53A and 53B, is invalidated, and the generation is switched to the generation of a pulse train signal based on a command signal to flow a check current.

In step S307, the motor axis number is set to k and the amplifier number is set to p, and stored in the setting storage unit 18. Specifically, a storage area for storing the values of K and p in the RAM 52 is determined. Step S3
At 08, the axis number k and the amplifier number p are each set to the initial value 1.

In step S309, the current command generation unit 2
The command signal prepared in advance as described above is supplied to the amplifier control unit, that is, the PWM so that the CPU 50 as 0 supplies the above-mentioned check current to the amplifier corresponding to the value of p.
Generated in generators 53A and 53B. At this time, a command signal indicating 0A is controlled so that no current flows to the amplifiers other than the amplifier to which the check current flows.

In step S310, the current detector 24A or 2A connected to the motor corresponding to the k axis
The value of the current flowing through the amplifier, detected by 4B, is read by the CPU 50.

In step S311, step S310
The output value of the current detector 24 read in is evaluated. If it can be determined that the output value corresponds to about 1 μA, it is determined that the connection of the amplifier to the motor has been confirmed, and the process shifts to step S316. Conversely, if it is not determined that the output value corresponds to about 1 μA, step S31
Move to 2.

In step S312, the current detector 24 on the current k-axis does not detect the current of 1 μA.
The value of k is increased by one, and preparation for checking the current detector 24 of the next axis is started.

In step S313, it is confirmed whether the value of k does not exceed the maximum number of axes kmax in the robot system. If it exceeds the value of the maximum number of axes, the process proceeds to step S315. If the value of k does not exceed the value of the maximum number of axes, the process returns to step S310 and the above-described processing is performed again.

When the process proceeds from step S313 to step S315, it means that the amplifiers are not connected to all the motors having the maximum number of axes kmax. Signal a connection error. This error indicates that the user needs to reconfigure or check.

If the flow proceeds to step S316, it is confirmed in step S311 that the current is flowing 1 μA to the motor by the current k-axis current detector 24. (In this example, any one of the motors 25A and 25B). Therefore, in step S316, p
Is increased by one, and preparation for checking the connection relation of the amplifier corresponding to the new value of p after the increase is started.

In step S317, the value of p is set to the maximum number pmax of amplifiers that can be connected in this robot system.
Make sure that you have not exceeded. If the maximum number is exceeded, the process proceeds to step S320, and if not, the process proceeds to step S318.

In step S318, the value of the axis k is returned to the initial value 1 in order to start checking the connection relationship from the motor of the first axis to the new amplifier 14 to be checked.
It returns to step S309. In step S320, it indicates that the connection relation check has been completed for all the amplifiers.

In step S321, in step S301
It is checked whether or not the connection relationship (set connection relationship) between the amplifiers 141 to 144 and the motors 25A and 25B confirmed in the processes from to 320 is a predetermined allowable relationship. More specifically, step S304
Check for each axis whether the number of connected amplifiers stored in Step 4 does not exceed the upper limit of the mountable amplifier.

At the time of such confirmation, the robot controller stores the motors 25 of each axis in the setting storage section 18 in advance.
This is performed by preparing a data table indicating how many amplifiers can be connected to A and 25B at the maximum and referring to the table. For example, when this robot controller is applied to a 5-axis robot system, the maximum output of each of the adopted amplifiers is 40 W, and the maximum output of the motor is 120 W from 1 to 5 axes, respectively.
Assuming 60 W, 120 W, 40 W, and 40 W, the data table is as shown in Table 4.

[0154]

[Table 4]

As a result of such confirmation, when it is determined that there is a motor connected to the number of amplifiers exceeding the upper limit of the mountable amplifier, the flow shifts to step S324. If not, the process moves to step S322.

In step S322, since all the settings in the robot controller have been completed, the display unit 40 of the setting device 16 confirms whether or not these settings are sufficient for the user to make a final confirmation. Display a message that describes what you want to do. This is the CP responsible for the connection relation control unit 5.
U50 issues a command to setting device 16 to display such a message.

If the user confirms this message and does not perform an input operation to overturn it, step S3
At 23, the command interpreter 1 issues a rotation control command for the motors 25A and 25B to the amplifier controller 6, and the execution of the user program is started.

In step S324, step S321
As a result, it has been confirmed that one motor is connected to a number of amplifiers exceeding the connection allowable number of the amplifiers.
50 sends to the setting device 16 and causes the setting device 16 to generate an alarm.

In step S325, following the alarm generation in step S324 in the setting device 16, in order to make the user understand the details of the alarm, the display unit 40 indicates that the number of amplifiers mounted exceeds the upper limit. Display a message. By this message, the user is forced to perform an input operation to return to step S301 again, and to again set the connection relationship between the amplifier and the motor.

The robot control device according to the second embodiment of the present invention described above has the following functions and effects because it is configured as described above.

That is, according to this device, the connection relationship between the amplifier and the motor can be arbitrarily and easily set by the user, so that the capacity actually required is reduced by the operation speed required for the robot. When the size can be reduced, the number of unnecessary amplifiers can be reduced by appropriately setting the number of amplifiers in the robot controller to a small number suitable for the motors based on simple judgment of the user.

In addition, since the user determines the connection relationship between the amplifier and the motor by operating the setting device 16 and automatically sets the configuration and the operation mode according to the contents, the robot control device performs the setting. Since there is no need to perform rewiring in the device or change various parameters, the usability is greatly improved.

Further, since the robot controller checks the connection relationship between the amplifier and the motor set by the user in hardware, the malfunction of the robot or the entire system due to an erroneous setting can be avoided in advance.

In addition, the number of amplifiers can be set for each axis according to the system required by the user, and the connection between the amplifier and the motor can be automatically detected and the control parameters can be adjusted. By increasing or decreasing the number of amplifiers while keeping the same robot controller, it is possible to control all robots from small robots to medium-sized robots and eventually large robots in the same manner.

Embodiment 3 FIG. 12 is a functional block diagram of a robot control device according to Embodiment 3 of the present invention, and FIG. 13 is a detailed hardware block diagram thereof. FIG. 14 shows a specific configuration of the amplifier attachment detection unit in FIG.

In FIG. 12, the command storage unit 2 stores each command code in a program format describing the operation of the robot. The contents stored in the instruction storage unit 2 are sequentially read by the instruction interpretation unit 1, and the instruction interpretation unit 1 sequentially interprets (decodes) the read instruction codes in the program format.
The command interpreter 1 generates a command signal according to the result of the decoding and supplies the command signal to the amplifier controllers 6A to 6C and the current command generator 20. The current command generation unit 20 includes the command interpretation unit 1
, A current command for the amplifier control units 6A to 6C is generated.

As a driving source for operating this robot, for example, motors 25A to 25C respectively corresponding to the first to third axes are provided. The motor drive system can be formed corresponding to each of these motors 25A to 25C.

The amplifier control units 6A to 6C are supplied with a command signal from the command interpretation unit 1 and generate amplifier drive signals corresponding to the command signal. Each amplifier drive signal is supplied to the output signal switching unit 19, where the output destination of the input amplifier drive signal is sorted. The amplifier drive signal from the output signal switching unit 19 is supplied to the amplifiers 141 to 146. Amplifiers 141 to 146
Generates an electric power signal for driving the motors 25A to 25C by amplifying the supplied amplifier driving signals.

The power signals are output to the output switching unit 2 respectively.
31 to 236. The output switching units 231 to 236 each have three output terminals here, and perform a switching operation so as to output an input signal to any one of the three output terminals. This switching operation is controlled by the connection relation control unit 5.

In output switching sections 231 to 236, respective corresponding output terminals are connected. As a result, the input power signals are combined to derive three combined power signals, and these combined power signals are sent to one of the motors 25A to 25C via one of the corresponding current detectors 24A to 24C. Will be supplied.

The current detectors 24A to 24C output the combined power signals from the switching units 231 to 236 to the motor 25A.
The current value actually flowing into the motor is detected in each of the signal lines passing through 25C.

The connection relationship control unit 5 operates in cooperation with the information storage unit 5m serving as an amplifier attachment detection unit, and determines the connection relationship between the amplifiers 141 to 146 and the motors 25A to 25C detected by the amplifier attachment detection unit. It has a function of transmitting information to the control units 6A to 6C. In such a function, an amplifier status signal 2 which is information for indicating to which motor each of the amplifiers 141 to 146 is connected.
2 is used.

The connection relation control section 5 also has output switching sections 231 through 2 to control the connection relation between each amplifier and the motor.
36 is driven. The output switching units 231 to 236 also have a monitor output terminal, and the amplifier status signal 22 indicating the respective switching operation states (ie, to which motor each amplifier is connected) from the output terminal. Occurs. The amplifier status signal 22 is supplied to the information storage unit 5m, where the data is stored. The storage contents of the information storage unit 5m are read out by the connection relation control unit 5 as needed, and are used for connection relation control processing described later.

FIG. 13 shows a specific hardware configuration example according to the functional blocks shown in FIG.
It is. Although FIG. 12 shows a configuration in which three motors are used, FIG. 13 shows a configuration in which two motors are used for simplification of description.

In FIG. 13, reference numeral 50 denotes a CPU of the robot control device, which has functions of the connection relation control unit 5, the command interpretation unit 1, the current command generation unit 20, and other functions. The CPU 50 includes a ROM 51 for storing programs for executing various processes, and a RAM 5 as a so-called working memory used for executing the processes.
2 are interconnected via a bus. The ROM 51 corresponds to the command storage unit 2, and the RAM 52 corresponds to the information storage unit 5m.

As the amplifier control units 6A and 6B, PWM generators 53A and 53B that receive a command from the CPU 50 and generate a drive pulse train for the amplifiers 141 to 144 in accordance with the command are applied.

Output signals of PWM generators 53A and 53B are supplied to analog switches 57, respectively. The analog switch 57 can switch the output destination of a plurality of, here, two analog signal inputs in accordance with a control signal from the CPU 50. That is, the input signal of one of the analog switches 57 is relay-controlled to one or more of the amplifiers 141 to 144.

The output switching units 231 to 236 include:
In this case, four sets of two-point switches 581 to 584 are provided corresponding to the respective amplifiers. Output signals corresponding to the amplifiers 141 to 144 are supplied to signal input terminals provided in the switches 581 to 584, respectively. Switches 581 to 5
84 are connected to each other and guided to the motor 25A, and the other is connected to each other and connected to the motor 25B.
It is led to.

Each of the two-point switches 581 to 584 has a monitor terminal (indicated by a black circle in FIG. 13) that opens and closes in response to a signal switching operation. The other two monitor signal output terminals are used as terminals for setting the level of the monitor output.

When the connection between one and the other first monitor terminals is closed, a high-level signal set to the other first monitor terminal, for example, is output as the amplifier status signal 22 via the one monitor terminal, When the connection between one and the other second monitor terminals is closed, for example, a low-level signal set in the other second monitor terminal is issued as the amplifier status signal 22 via the one monitor terminal.

The amplifier status signals thus generated for each of the two-point switches are output from the buffer IC 3
2 to the CPU 50.

The detection outputs of the current detectors 24A and 24B are supplied to the CPU 50. Here, means for matching the signal form between the current detectors 24A and 24B and the CPU 50 is not shown.

FIG. 14 shows details of the amplifier mounting detector in FIG. In FIG. 12, an amplifier attachment detection unit includes a buffer IC 32 for outputting bit data, that is, a binary signal that can take logical values 0 and 1,
Between the 5V power supply 33 which is a power supply for the logic circuit and the 5V power supply 33 and the input signal line for individually setting the input signal lines of the buffer IC 32 to a high (H) level (logical value 1) as an initial value. A pull-up resistor 34 connected to
One end is connected to the input signal line of the buffer IC 32 and 0 V (ground) 3 corresponding to the reference potential of the 5 V power supply 33 is connected to the other end.
6 is connected to a manual switch group 39 connected thereto.

Each switch of the switch group 39 corresponds to a portion where the amplifier and the motor are connected, that is, a switch portion formed between the monitor terminals of the two-point switches 581 to 584 in FIG.

Therefore, when the user connects the amplifiers 141 to 144 to the robot controller, the switch group 39 is operated in accordance with the connection state to open or close the switches, whereby the buffer IC 32 A high-level or low-level signal corresponding to the connection state is input. The buffer IC 32 has a control terminal G for performing gate control of an input signal. The terminal IC has an amplifier mounting state read signal 37 for opening the gate of the buffer IC 32 when detecting the connection state. And the input signal is relayed to the output in response to the signal 37 becoming significant.

Each input signal of the buffer IC 32 is
This corresponds to the amplifier status signal 22 derived from the output switching units 231 to 236 in FIG.

Next, the operation of the robot control device according to the third embodiment will be described with reference to the flowchart in FIG. First, in step S401, for safety reasons, in the robot controller before power-on, the user who knows the amplifiers required for the robot system and the number of amplifiers is operated by the output switching unit 2 mounted on the amplifiers 141 to 146.
Switches 581 to 58 corresponding to 31 to 236
By setting the number 6, the motor to which each amplifier is connected is set. This is performed for all the amplifiers to be connected by the user. When the setting of the amplifier and the motor is completed, in step S402, the power of the robot control device is turned on.

Next, in step S403, the connection relation control unit 5 starts initialization. Here, this initial setting mode will be described in detail with reference to the flowchart shown in FIG.

Referring to FIG. 16, in step S501,
The connection relation control unit 5 reads the connection relation between the amplifier and the motor, which is written in the information storage unit 5m cooperating with the amplifier attachment detection unit. Note that the determination of the connection relationship in the amplifier attachment detection unit is performed in the same manner as in step S101 shown in FIG.

At step S502, the connection relation control unit 5
Determines how many amplifiers are connected to each motor and which amplifier is connected to which motor. In the determination method, the state of each output bit data is read by a circuit as shown in FIG. 14 and decoded based on Table 1 above.

In step S503, step S502
In, the connection relation is checked for each axis. If the operation is completed, the process proceeds to step S504. If not, check for unconfirmed axes.

In steps S504 to S506, a test command is given to a plurality of amplifiers at the same time to detect a plurality of amplifier-motor connection relationships. The purpose is, for example, to check whether the set value does not exceed the upper limit value of the amplifier that can be connected to one motor, and even if an error occurs in the connection relation control unit 5 for some reason, This is to prevent the robot controller from causing any trouble.

Specifically, in step S504, an amplifier number s is assigned to all of the amplifiers 141 to 144, and the amplifier s is on the order of μA and 2 (s).
-1) Control so that a current of a power value flows. this is,
This is achieved by the current command generation unit 20 controlling the amplifier control unit 6A and the output signal switching unit 19 so that the current flows through the amplifiers 141 to 144.

However, in order to prevent the robot from substantially operating, it is preferable to limit the current command generator 20. As the limitation, for example, the maximum value of s is set to 6. When the value of s exceeds 6, for the amplifiers with the excess numbers, control is performed so that the above-mentioned current flows again after the current has been passed through the six amplifiers.

In step S 505, the current value detected by the current detector 24 A or 24 B is evaluated for each axis, and the connection connection unit 5 recognizes which amplifier is connected to each motor and how many. The criteria for recognition here are shown in Table 5 below. "Connection amplifier" in Table 5 represents the amplifier number s.

[0196]

[Table 5]

Referring to Table 5, if the detected value of the current detector 24A or 24B is 23 μA, for example, the connection relation control unit 5 reads the 23rd line of the current value in Table 5. Then, it is understood that the data associated with the “connection amplifier” indicates 1, 2, 3, and 5, and accordingly, the connection relation control unit 5
The amplifier connected to A or 25B is the first, second,
It is determined that it is the third and fifth.

For example, when the total number of amplifiers is 10, the same determination as above is used for the first six amplifiers.
The remaining four are determined as follows.

In the same manner as above, amplifier numbers 1 to 4 are associated with the remaining four amplifiers, and a current of μA order and a power of 2 (s−1) is supplied to each of them to reduce the current value. measure. As a result of the measurement, if the current value is 4 μA, the data in the fourth row of Table 5 is read,
It can be seen that the number of the connected amplifier is 3. Therefore, the connection amplifier can be determined to be the ninth amplifier, which is the result of adding 6 to this 3.

When the number of amplifiers is more than 6,
It is not necessary to limit the number of amplifiers through which current flows at the same time to 6. In this case, since all the amplifiers can be viewed at once, the connection relationship can be determined in a shorter time than the method of the flowchart shown in FIG.

At step S506, step S505 is executed.
The detection of the current value by the current detector 24A or 24B for each axis and the determination by the connection connection section 5 of the connection between the amplifier and the motor are completed. If it has already been completed, step S5
07, and if it is not completed, it is completed until step S5
A flow for continuing the processing of step 05 is formed.

In step S507, for each axis, the maximum value mj of amplifiers connectable to one motor and the number nj of connections actually recognized and determined are compared. If the value of mj is greater than or equal to the value of nj, the initialization process ends, and step S shown in FIG.
Return to 404. On the other hand, if the value of mj is smaller than the value of nj, the process moves to step S508.

In step S508, since the number of amplifiers exceeding the maximum number of amplifiers that can be connected to one motor is connected, the connection relation control unit 5 generates an alarm to notify the user of this.

Following the occurrence of the alarm, step S
In step 509, since it has already been found in steps S507 and S508 that the number of connected motor amplifiers has exceeded the allowable value, the user must again set the connection relationship between the amplifier and the motor. The process proceeds to step S401 in FIG. Thus, the initialization subroutine by the connection relation control unit 5 is completed.

Referring back to FIG. 15, in step S404, based on the information on the connection relationship between the amplifiers and the motors obtained in step S403, the connection relationship between the motors in FIG. This means that the control unit 5 has detected it.

Originally, one motor can output the maximum capacity it can have for the first time by connecting mj amplifiers. On the other hand, FIG.
In some cases, nj amplifiers different from the number indicated by mj may be connected. Therefore, the motors 25A and 25A
The operation parameter for B is changed. Such a parameter change is performed in the same manner as the processing of steps S201 to S210 in the flowchart of FIG. 6 described in the first embodiment.

In step S405, command interpreting section 1 issues a command to amplifier control sections 6A and 6B to rotate each motor, and the execution of the user program is started.

The robot control device according to the third embodiment is configured as described above, and has the following operational effects.

That is, according to this device, the user can operate the manual switch group 39 (or 581 to 584) to arbitrarily and easily set the connection state between the amplifier and the motor. In other words, if the actually required amplifier capacity can be smaller than the operation speed required for the robot, the amplifier can be appropriately changed for each motor to the robot controller by a simple judgment of the user. By setting such that, the number of useless amplifiers can be reduced.

Further, since the connection relationship between the amplifier and the motor can be determined by hardware using a switch, it is convenient for the user. Further, as described above, the robot controller automatically checks the connection. For the user, complicated work is omitted, and further, there is no adverse effect on the entire robot system due to a setting error.

Further, in the processing according to the second embodiment corresponding to FIG. 11, it is necessary for the user to set the connection relation by software and to teach the relation to the robot control device. In mode 3, since the control device searches the connection relationship by itself, the user does not need to teach the robot control device, and there is also an aspect that the usability is improved in this respect as well.

[0212] Further, since the number of amplifiers can be set according to the system required by the user, the number of amplifiers can be increased or decreased while the robot controller remains the same. Not only can it be controlled in the same way, but also the connection relationship between the amplifier and the motor can be detected in a short time.

Embodiment 4 FIG. 17 is a functional block diagram of a robot control device according to a fourth embodiment of the present invention. FIG. 18 shows a detailed hardware configuration thereof. FIG. 19 shows output signal switching applied to the robot control device. 3 shows a detailed configuration of the unit 19.

In FIG. 17, the setting device 16 has a display section 40 and a key switch section 41 as shown in FIG.
The external device has a user interface function that allows the user to give a command to the robot control device via the communication unit 17 and obtain a message from the display unit 40. The communication unit 17 performs communication between the robot control device and the setting device 16, that is, transmission and reception of signals.

[0215] The setting storage unit 18 stores command contents from the setting device 16, data and parameters relating to the operation of the robot that are handled as initial values by the robot control device, and the changed data and parameters. The contents stored in the setting storage unit 18 are read by the connection relation control unit 5.

The instruction storage unit 2 stores each instruction code in a program format describing the operation of the robot. The contents stored in the instruction storage unit 2 are sequentially read by the instruction interpretation unit 1, and the instruction interpretation unit 1 sequentially interprets (decodes) the read instruction codes in the program format. The command interpreter 1
A command signal corresponding to the decoding result is generated and supplied to the amplifier drive signal generation unit 9. As a drive source for operating this robot, for example, motors 25A and 25B respectively corresponding to the first axis and the second axis are provided.

The connection relation control unit 5 includes the amplifier mounting detection unit 7 described above, and the amplifiers 141 to 144 detected by the amplifier mounting detection unit and the motors 25A and 25A.
It has a function of transmitting information on the connection relationship with B to the amplifier drive signal generator 9. In such a function, each amplifier 14
An amplifier connection determination signal 8 (corresponding to the amplifier connection determination signals 81 to 85 described above), which is information for indicating to which motor 1 to 144 is connected, is used.

Output signal switching section 19 is connected relation control section 5
The output destination of the drive signal from the amplifier drive signal generator 9 is switched according to the information on the connection relationship between the amplifiers 141 to 144 and the motors 25A and 25B. The drive signal whose output destination is determined by the output signal switching unit 19 is supplied to the amplifiers 141 to 144.

The amplifiers 141 to 144 amplify the supplied drive signals and respectively drive the motors 25A and 25B.
To generate a power signal for driving. One amplifier 1
The output terminals of 41 and 142 are connected to each other, and the resulting combined power signal drives the motor 25A. The output terminals of the other amplifiers 143 and 144 are also connected to each other.
5B is driven.

FIG. 18 shows a specific hardware configuration example according to the functional blocks shown in FIG. FIG.
, Reference numeral 50 denotes a CP of the robot controller.
U is responsible for the connection relation control unit 5, the command interpretation unit 1, and other functions. The CPU 50 is interconnected via a bus to a ROM 51 for storing programs for executing various processes, and a RAM 52 as a so-called working memory used for executing the processes. ROM
Reference numeral 51 denotes the instruction storage unit 2, and RAM 52 denotes the setting storage unit 1.
Equivalent to 8.

An SIO (serial input / output interface) 54 is also connected to the CPU 50 so that data signals can be transmitted and received between the robot controller and the external setting device 16.

The amplifier drive signal generator 9 includes C
The amplifier 1 receives a command from the PU 50 and responds to the command.
A PWM generator 53 that generates a drive pulse train of 41 to 144 is applied.

An output signal of the PWM generator 53 is supplied to an analog switch 57 as the output signal switching section 19. The analog switch 57 can switch the output destination of one analog signal input. That is, the input PWM signal of the analog switch 57 is relayed to one of the amplifiers 141 to 144.

In FIG. 19, output signal switching section 19 shown in FIG.
And a detailed configuration example of the peripheral blocks thereof.

Output signal switching section 19 in this configuration example
Is a decode IC for decoding a signal switching address for setting an output signal to the motor 25 of each axis.
44, an AND gate group 45 for correctly outputting a PWM pulse train signal from the PWM generator 53 to the amplifiers 141 to 144, and an AND gate for holding a data signal corresponding to the setting content stored in the setting storage unit 18 And a latch IC 43 for outputting to each input terminal of the group 45.

The input data line of the latch IC 43 and the input address line of the decode IC 44 are supplied with a signal from the connection control unit 5 in FIG.

The Data line indicates a value corresponding to the amplifier mounting bit stored in the setting storage unit 18, and the address line indicates an address previously allocated to the output signal switching unit 19. Further, a signal PWM1 which is one input of the AND gate group 45 is supplied from the amplifier drive signal generation unit 9 in FIG. 17 (the PWM generator 53 in FIG. 18). This signal PWM1 is a pulse width modulation signal for driving the amplifiers 141 to 144 in accordance with the output command signal of the command interpretation unit 1.

Next, the operation of the robot controller according to the fourth embodiment will be described with reference to the flowchart in FIG.

In step S601, the user mounts as many amplifiers as necessary for the robot system in the amplifier mounting slots (see FIG. 4) for each motor provided in the robot controller, and sets the motor. From the device 16, for example, the amplifiers 141 to 144 and the motors 25A and 2
The connection relationship with 5B is given to the robot controller by the input operation of the key switch unit 41, thereby determining to which of the motors 25A and 25B each of the amplifiers 141 to 144 is connected. Here, as in the first embodiment, the connection relationship between the mounting slot and the motor is determined in advance.

Here, for example, it is assumed that all twelve amplifiers are mounted in all slots. At this time, the user sets the setting storage unit 18 from the setting device 16 to indicate that the twelve amplifiers are connected to the respective motors.
By setting the connection relationship establishment bit in the above, information on the connection relationship between the amplifier and the motor is stored in the setting storage unit 18.

In step S602, step S601
Is stored in the setting storage unit 18 by the connection relation control unit 5. In step S603,
The connection relation control unit 5 controls the output signal switching unit 19 according to the contents stored in the setting storage unit 18. This control is performed by a subroutine shown in FIG.

In FIG. 21, first, in step S 701, it is confirmed that the connection relationship between the motor and the amplifier determined by the mounting of the amplifier in step S 601 is, for example, as shown in Table 6 below.

[0233]

[Table 6]

Actually, the bit corresponding to the amplifier 1 (the amplifier corresponding to the amplifier number 1; hereinafter the same) is set to the LSB, the bit corresponding to the amplifier 12 is set to the MSB, and the circle mark in Table 6 indicates that the bit is up. It is determined that there is. If this is expressed in hexadecimal after being expressed in binary, it can be written as shown in Table 7. The data of Table 7 is stored in the setting storage unit 18. Here, Table 6 visually represents the connection relationship between the motor and the amplifier, and Table 7 can be rephrased as reading the contents of Table 6 as bit data.

[0235]

[Table 7]

Note that Tables 6 and 7 show examples in which the number of motors is six and the total number of amplifiers is twelve.

In step S702, step S701
The bit data read by the latch I shown in FIG.
Write to C43. Thereby, the output destination of the control signal (amplifier drive signal) for controlling the motor of each axis is set to AN.
The D gate group 45 can open and shut off each amplifier. Therefore, the connection relationship between the amplifier and the motor set in step S601 is electrically formed.

As a specific operation, for example, if the data indicating the connection relationship between the first axis amplifier and the motor is 0007H shown in Table 7 described above, the decoding IC 4
The address inputs A, B, and C of No. 4 are all set to 0, and after specifying the latch IC 43 corresponding to the first axis, the data signal of 0007H is written to the latch IC 43. The designation of the latch IC 43 and the data writing operation are performed by the CPU 50 as shown in FIG. 18, so that the destination of the control signal (amplifier drive signal) can be opened and shut off by the AND gate group 45. Becomes

Table 8 shows a truth table regarding the opening and closing of the AND gate for the first axis motor. In addition,
The same applies to the second and subsequent axes.

[0240]

[Table 8]

According to Table 8, unless the bit is set as H, the control signal of each axis is not output to the amplifier.

At step S703, step S701
Regarding the setting of the connection relationship between the amplifier and the motor in 702 and 702, it is confirmed whether or not the setting is completed for all the motors. Here, if completed, the process proceeds to step S604 in the flowchart of FIG. 20, and if not completed, the process returns to step S702 again to perform processing for the next axis. Thus, the control of the output signal switching unit 19 according to the contents stored in the setting storage unit 18 by the connection relation control unit 5 has been performed by the subroutine of FIG.

Returning to FIG. 20, in step S604, the amplifier 1 set in steps S601 to 603 is set.
Since it is known how many amplifiers are connected to one motor by the connection relationship between 41 to 144 and the motors 25A and 25B, it is necessary to set appropriate parameters for the robot operation based on the determined contents. change. The change of the parameter here is also performed in the same manner as the processing of steps S201 to S210 in the flowchart of FIG. 6 according to the first embodiment.

In the step S605, the step S601
Since the setting of the robot control device itself is completed from to 604, it is confirmed whether the setting is correct for the user. That is, the setting device 16 displays the current connection relationship between the motor and the amplifier and the changed values of the parameters appropriate for the operation of each motor, and prompts the user to confirm the setting contents. If there is no problem in the confirmation, the process proceeds to step S606, and if the user is not satisfied with the setting, the process returns to step S601 again, and the user resets the setting.

In step S606, the instruction interpreting section 1 sends the motor driving signals
A command is issued to rotate 5B as a robot operation, and the user program starts executing.

The robot control device according to the fourth embodiment is configured as described above, and has the following effects.

That is, according to this device, the connection relationship between the amplifier and the motor can be arbitrarily and easily set by the user, so that the capacity actually required is determined by the operation speed required for the robot. When the size can be reduced, the number of unnecessary amplifiers can be reduced by appropriately setting the number of amplifiers in the robot controller to a small number suitable for the motors based on simple judgment of the user.

Further, since the connection relationship between the amplifier and the motor can be determined in terms of hardware simply by mounting it in the amplifier mounting slot, it is convenient for the user. Since the connection state is displayed on the setting device, the user can easily confirm his / her own setting, and it is not necessary to change wiring and set parameters.

[0249] Furthermore, since the number of amplifiers can be set according to the system required by the user, the number of amplifiers can be increased or decreased while the robot controller remains the same. All can be controlled similarly.

In the above-described embodiments, the description has been made assuming that the capacities (rated output or maximum current) of the amplifier are unified. The effect of is demonstrated.

In addition, various means have been described in a limited manner in each of the above embodiments, but can be appropriately modified within a range that can be designed by those skilled in the art.

[0252]

As described in detail above, according to the motor control device of the present invention, the motor is controlled by the number of amplifiers connected to the amplifier connection section where the amplifier can be freely attached and detached in hardware. The operation parameters are changed, so that the amplifier can be appropriately attached to and detached from the motor control device for each motor by a simple judgment of the user so that the number of motors becomes a number suitable for the motor (for example, a number satisfying the motor speed desired by the user). As a result, the number of amplifiers to be used can be minimized, the number of amplifiers to be purchased can be reduced and the price of the system can be reduced, and at the same time, a system desired by the user can be constructed. Also,
The types of amplifier stock managed by the manufacturer of the motor control device can be unified, and the management cost is reduced because the stock of the amplifier is not unnecessarily large, and the maintainability is improved.

According to the motor control device of the next invention, the operating parameters of the motor are changed according to the connection state between the detected output of the amplifier and the input signal system of the motor.
Desired motor drive control suitable for the motor is performed. As a result, by changing the number of amplifiers, the robot controller automatically updates the operation parameters, so that even if the entire system is changed, no complicated work is required, and the startup time is reduced. Will be greatly improved.

According to the motor control device of the next invention, the amplifier and the number thereof corresponding to the motor are set by the setting means having the user operation unit by software, and the connection relation between the motor and the amplifier is determined. The number of amplifiers to be used can be reduced by appropriately setting the number of amplifiers to the motor control device so that the number of amplifiers is suitable for the motors (for example, a number that satisfies the motor speed desired by the user). It is possible to minimize the number of amplifiers to be purchased and to reduce the price of the system, and at the same time to set the system as desired by the user. In addition, similarly to the effect of the above invention, the reduction of the management cost and the improvement of the maintainability are also effective. In addition, since the connection of the amplifier according to the setting content by the setting means is automatically made in the motor control device, the work for the user is greatly reduced without having to remove and mount the amplifier itself.

According to the motor control device of the next invention, the operating parameters of the motor are changed according to the connection state between the set output of the amplifier and the input signal system of the motor.
Since the desired motor drive control suitable for the motor is performed,
It is preferable that the user does not need to take the trouble of optimizing the motor control device for such a connection state.

According to the motor control device of the next invention, the operation parameters of the motor are notified and the setting operation of the user is supported, so that the operability of the user is further improved.

According to the motor control device of the next invention, the drive of the motor is appropriately controlled based on the actual connection relationship between the inspected motor and the amplifier, so that a safer motor system can be constructed.

According to the motor control device of the next invention, it is determined whether or not the set contents are actually inappropriate, and the proper motor drive control based on the actual connection between the motor and the amplifier is performed. Is performed, a setting error is automatically confirmed for the setting content by the setting unit, so that a system error or a setting operation delay due to a user setting error can be avoided. It is possible to greatly reduce the time required for such operations as compared with the conventional one.

According to the motor control device of the next invention, the amplifier and the number thereof corresponding to the motor are set by the manual switch, and the connection relationship between the motor and the amplifier is determined. The number of amplifiers to be used is minimized by setting a manual switch to the motor control device so that the number of amplifiers to be used is set to a number suitable for the motor for each motor (for example, a number satisfying a motor speed desired by the user). The number of amplifiers to be purchased can be reduced, and the price of the system can be reduced. At the same time, the system can be set as desired by the user. In addition, similarly to the effect of the above invention, the reduction of the management cost and the improvement of the maintainability are also effective. In addition, since the connection of the amplifier is made in the motor control device only by the setting by the manual switch, the work for the user is greatly reduced without having to remove and mount the amplifier itself.

According to the motor control device of the next invention, the operation parameters of the motor are changed according to the connection state between the output of the amplifier and the input signal system of the motor which are manually set, and the desired motor suitable for the motor is changed. Since the drive control is performed, it is preferable that the user does not need to take the trouble of optimizing the motor control device for the connection state.

According to the motor control device of the next invention, after the connection relation is switched by the manual switch, the actual connection relation between the output of the amplifier and the input signal system of the motor is inspected. The drive of the motor is appropriately controlled based on the actual connection relationship of the motor, so that a safer motor system can be set.

According to the motor control device of the next invention, it is determined whether or not the manually set contents are actually inappropriate, and an appropriate motor drive based on the actual connection relationship between the motor and the amplifier is determined. Since the control is performed, a setting error by a manual switch is automatically checked for a setting error, thereby making it possible to avoid a malfunction of the system or a delay in setting operation due to a setting error of a user. The time required for raising and the like can be significantly reduced as compared with the conventional one.

Thus, according to the present invention, there is provided a motor control device which allows the user to arbitrarily and efficiently change the operation parameters of the motor in accordance with the motor system to be constructed, and which is excellent in maintainability and cost performance. be able to.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a basic configuration of a robot control device to which a motor control device according to an embodiment of the present invention is applied.

FIG. 2 is a specific hardware configuration diagram of the robot control device of FIG. 1;

FIG. 3 is a detailed view showing a configuration of a part of an amplifier attachment detection unit 7 in the robot control device of FIG.

FIG. 4 is an external view of the robot control device of FIG. 1;

5 is a flowchart showing an operation of detecting an amplifier-motor connection relationship and setting operation parameters for a motor in the robot controller of FIG. 1;

6 is a flowchart showing a procedure of a process of changing and setting an operation parameter for a motor of the robot control device of FIG. 1;

FIG. 7 is a block diagram formed based on a transfer function relating to a motor drive system in the robot control device of FIG. 1;

FIG. 8 is a functional block diagram showing a basic configuration of a robot control device to which the motor control device according to one embodiment of the present invention is applied.

FIG. 9 is a specific hardware configuration diagram of the robot control device of FIG. 8;

FIG. 10 is a functional block diagram illustrating a detailed configuration of a setting device applied to the robot control device of FIG. 8;

11 is a flowchart showing a process of detecting an amplifier-motor connection relationship, setting operation parameters for a motor, and checking the detected connection relationship in the robot controller of FIG. 8;

FIG. 12 is a functional block diagram showing a basic configuration of a robot control device to which the motor control device according to one embodiment of the present invention is applied.

13 is a specific hardware configuration diagram of the robot control device in FIG.

14 is a detailed diagram illustrating a configuration of an amplifier attachment detection unit in the robot control device of FIG.

15 is a flowchart showing an operation of setting an amplifier-motor connection relationship and an operation parameter setting operation for a motor in the robot control device of FIG. 12;

16 is a flowchart showing details of an initial setting process by a connection relation control unit in FIG. 15;

FIG. 17 is a functional block diagram showing a basic configuration of a robot control device to which a motor control device according to another embodiment of the present invention is applied.

18 is a specific hardware configuration diagram of the robot control device in FIG.

19 is a block diagram illustrating a detailed configuration of an output signal switching unit of the robot control device in FIG.

20 is a flowchart showing an operation of setting an amplifier-motor connection relationship and setting operation parameters for a motor in the robot controller of FIG. 17;

21 is a flowchart illustrating a control mode of an output signal switching unit by a connection relation control unit in FIG. 20;

FIG. 22 is a functional block diagram showing a basic configuration of a conventional robot control device.

FIG. 23 is an external view of an example of a vertical articulated robot.

FIG. 24 is a block diagram showing a basic configuration of a “parallel redundant synchronous operation type inverter device” disclosed in Japanese Patent Application Laid-Open No. 60-102878.

25 is a functional block diagram showing a configuration of a robot control device obtained when the conventional robot control device shown in FIG. 22 and the parallel redundant synchronous operation type inverter device shown in FIG. 24 are combined.

[Explanation of Signs] 1 instruction interpretation unit, 2 instruction storage unit, 3 parameter setting unit, 4 parameter storage unit, 5 connection relation control unit, 6
A, 6B Amplifier control section, 7 Amplifier mounting detection section, 81
-85 Amplifier connection determination signal, 9A, 9B amplifier drive signal generator, 141-146 amplifier, 16 setting device, 17 communication unit, 18 setting storage unit, 19 output signal switching unit, 20 current command generator, 22 amplifier status Signal, 23 output switching unit, 24A, 24B, 24C
Current detector, 25A, 25B, 25C motor, 57,
59 analog switch, 30 relay, 31 switching unit, 32 buffer IC, 335 V power supply, 34 pull-up resistor, 35 connector status pin, 36
0V (ground), 37 amplifier read state read signal, 38 switch control unit, 39 switch, 40 display unit, 41 key switch unit, 42 connection confirmation switch, 43 latch IC, 44 decode IC, 45AN
D gate, 50 CPU, 51 ROM, 52 RA
M, 53A, 53B PWM generator, 54 SI
O, 55 PIO, 56 relay, 58 2-point switch.

Claims (11)

[Claims] 1. A motor control device for controlling at least one motor, comprising: an amplifier connection capable of connecting an output of an amplifier for supplying a power signal for driving the motor to the motor to an input signal system of the motor. The amplifier connection section has a structure in which the amplifier is detachable, and connects an output of at least one of the mounted amplifiers to an input signal system of the motor in association with the motor. A motor control device characterized by the above-mentioned. 2. A control device for detecting a connection state between an output of the amplifier and an input signal system of the motor, and a control device for changing an operation parameter of the motor in accordance with a detection output of the detection device. The motor control device according to claim 1, wherein: 3. A motor control device for controlling at least one motor, comprising: a plurality of amplifiers for supplying a power signal for driving the motor to the motor; and an output of the amplifier and an input signal system of the motor. A motor control device, comprising: switching means for switching the connection relationship between the control device and the control device; and setting means for setting the connection relationship by using the switching device. 4. The motor control device according to claim 3, further comprising control means for setting an operation parameter of the motor according to a setting content of the setting means. 5. The motor control device according to claim 4, further comprising means for notifying the operation parameter. 6. The apparatus according to claim 1, further comprising an inspection unit for inspecting an actual connection relationship between an output of said amplifier and an input signal system of said motor after said connection relationship of said switching unit is switched by said setting unit. The motor control device according to any one of 3 to 5. 7. The motor control device according to claim 6, further comprising evaluation means for evaluating the setting contents by said setting means based on the inspection result by said inspection means. 8. A motor control device for controlling at least one motor, comprising: a plurality of amplifiers for supplying a power signal for driving the motor to the motor; an output of the amplifier and an input signal system of the motor. And a manual switch for switching a connection relationship with the motor control device. 9. A motor further comprising: detecting means for detecting a connection state between an output of the amplifier and an input signal system of the motor; and control means for changing an operation parameter of the motor in accordance with a detection output of the detecting means. The motor control device according to claim 8, wherein: 10. The apparatus according to claim 8, further comprising an inspection means for inspecting an actual connection relation between the output of the amplifier and an input signal system of the motor after the connection relation is switched by the manual switch. The motor control device according to any one of the preceding claims. 11. The motor control device according to claim 10, further comprising evaluation means for evaluating setting contents of the manual switch based on a result of the inspection by the inspection means.