KR101445229B1 - Checking device of servo driver - Google Patents

Abstract

The present invention relates to a servo driver inspecting apparatus, and more particularly to a servo driver inspecting apparatus which includes a power on / off unit for providing a power on signal or a power off signal, a power supply unit for supplying power or stopping power supply according to a power on signal or a power off signal, An output adjusting unit for adjusting the output voltage and the output frequency to provide a pulse command for controlling the position of the servomotor and controlling the cruise speed of the servomotor; And when the forward rotation command signal is provided, provides the forward rotation control signal, outputs the reverse rotation control signal when the reverse rotation command signal is provided, and transmits the reverse rotation control signal or the reverse rotation control signal from the servo driver A microprocessor unit for controlling whether a normal operation or a failure is indicated according to a response signal; An output connector section for outputting a forward rotation control signal or a reverse rotation control signal provided from the microprocessor section to the servo driver and transmitting a response signal transmitted from the servo driver to the microprocessor section; Or an LCD display unit for indicating whether or not a malfunction has occurred.

Description

{CHECKING DEVICE OF SERVO DRIVER}

The present invention relates to a servo driver inspection apparatus, and more particularly, to a servo driver inspection apparatus which, after connecting to a servo driver for controlling a servo motor, outputs a forward rotation control signal or a reverse rotation control signal to check whether the operation of the servo driver is normally performed, The present invention relates to a servo driver inspection apparatus capable of easily checking whether a servo driver of various electronic apparatuses is malfunctioning with a simple configuration.

As it is well known, a mechanical part for obtaining a driving force in combination with a mechanism has been used for many hydraulic or pneumatic devices in the past. However, a faster response and precise control have been required, and a driving method using a servo motor has been developed. Control technology, development of magnetic materials, etc. have been developed.

This servo motor technology improves various problems caused by the brush, which is the biggest problem of the DC motor, from the DC motor, and it is developed as a brushless DC motor, ie, AC servomotor, The development of a high-performance AC servo motor.

On the other hand, the control of the servomotor is commanded by the host controller, and follows the exact position and speed with excellent dynamic characteristics and keeps it in agreement with the command value. The main control object of the servo motor is the position control and speed control. Receives a command from the host controller, performs a predetermined process on the command, and transmits the command to the sub-controller. The controller controls the power converter to control the motor to ultimately control power input to the servo motor.

In the servo motor control, it can be divided into two types of control, namely, an open-loop control system and a close-loop control system. Among the two control systems, Since the control configuration is simple and easy to apply, the open-loop control system is much more applied.

For example, a system that drives a conveyor using a single-phase induction motor, a system that drives only a signal or a power source without precise control such as driving a solenoid, and the like.

On the other hand, there are many cases where open circuit control technology and closed circuit control technology are used in combination. For example, when speed control is performed without using a sensor by using an inverter in an induction motor for controlling the speed of a conveyor, In the case of controlling the current to control the applied electric power, in general, the closed circuit control can be used, and in the case of controlling the conveyor full speed, since the person usually senses and maintains the conveyor speed by eyes or intuition, Closed-loop control is performed, and as a whole, open-circuit control can be performed with respect to a change in the conveyor load or the like.

In addition, the stepping motor is controlled in accordance with the input of the pulse string on the control structure of the motor. The current control within the current control type stepping motor driver is closed circuit control, and the entire control system configured with the stepping motor The open circuit control can be performed.

If the control structure of the servo motor as described above is briefly examined, a control signal by the control operational amplifier is generated by subtracting the signal value fed back from the detection sensor with respect to the input signal, and the control signal is converted into a power converter and supplied to the servo motor ≪ / RTI >

In this case, the object to be controlled is a speed or position signal output from the servo motor, and an optical encoder, a tachometer, or the like is used as the detector at this time. The difference between the command value and the feedback value, The power can be converted and controlled so as to minimize the error deviation.

The control of the servomotor is controlled by the automatic control technology. The control operation amplifier can be configured to include the automatic control technology in a circuit or as a program.

On the other hand, in the servo motor control technology, the factors to be obtained by controlling are torque control for controlling the servo motor to have a constant rotational force and repulsive force, speed control for keeping the servo motor at a constant rotational speed, And a position control for precise stopping and control of the motor. Each control basically has a closed-loop control structure and controls power (that is, voltage and current) input to the motor to control the motor to have a desired characteristic can do.

Servo drive that controls the servomotor may include a power converter that supplies power to the servomotor, a current controller, and a speed controller. Through these configurations, it is possible to protect the driver and the motor in various environments such as temperature and noise The power converter can be prevented from being overloaded, the overheat can be prevented by using a cooling fan, the alarm can be outputted when the fuse of the servo driver is broken, and the power converter An alarm can be output when a ground fault occurs and the drive can be stopped only by forward or reverse rotation of the motor.

The inspection of the servo driver and the servo motor as described above is mainly performed by using a waveform measurement using an oscilloscope based on a check point of a main control PCB. In the case of the servo driver, there are many measurement points, so it takes a lot of time and skill to find the fault by directly measuring the waveform on the PCB.

Open Patent Publication No. 10-2003-0087810 (November 15, 2003): Servo motor drive module for robot and control method

The present invention can improve portability by connecting to a servo driver for controlling a servo motor and then outputting a forward rotation control signal or a reverse rotation control signal to check whether the operation of the servo motor is normally performed, A servo driver inspection apparatus capable of easily checking whether a servo driver of an electronic apparatus is malfunctioning is provided.

Further, according to the present invention, when the operation of the servo motor is not normally performed, the fault state is displayed. In response to this, a warning sound such as buzzer is outputted and a warning lamp such as a lamp is emitted. And to provide a servodrive inspection apparatus which can easily recognize whether or not the servo driver is a servo driver.

The objects of the embodiments of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description .

According to an embodiment of the present invention, there is provided a power supply apparatus including a power on / off unit for providing a power on signal or a power off signal, a power supply unit for supplying power or stopping power supply according to the power on signal or a power off signal, An output adjusting unit for adjusting the output voltage and the output frequency to provide a pulse command for controlling the position of the servomotor and controlling the constant speed of the vehicle by adjusting the output voltage and the output frequency; And provides a forward rotation control signal when the forward rotation command signal is provided and outputs a reverse rotation control signal when the reverse rotation command signal is provided and transmits the reverse rotation control signal from the servo driver in response to the forward rotation control signal or the reverse rotation control signal, A microprocessor unit for controlling whether a normal operation or a failure occurs according to a response signal An output connector unit for outputting the forward rotation control signal or the reverse rotation control signal provided from the microprocessor unit to the servo driver and transmitting the response signal transmitted from the servo driver to the microprocessor unit; Outputting a forward rotation control signal or a reverse rotation control signal in the form of a voltage and a pulse to the servo driver when the position of the servomotor is controlled; And an analog output unit for transmitting the other output to the servo driver when another output is provided from the microprocessor unit through the output adjusting unit during speed control of the servo motor.

According to the present invention, it is possible to improve the portability by connecting the servomotor to the servo driver controlling the servo motor and then outputting the forward rotation control signal or the reverse rotation control signal to check whether the operation of the servo motor is normally performed. It is possible to easily check whether the servo driver of various electronic devices is malfunctioning.

Further, according to the present invention, when the operation of the servo motor is not normally performed, the fault state is displayed. In response to this, a warning sound such as buzzer is outputted and a warning lamp such as a lamp is emitted. It can be easily recognized whether or not.

Since the servo driver inspecting apparatus does not use an external power source, it is possible to prevent the servo driver from malfunctioning due to leakage, noise, etc., and it is easy to carry and move, Because of this, it is possible to perform a quick check.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a connection diagram of a servo driver inspection apparatus, a servo driver, and a servo motor according to an embodiment of the present invention;
FIG. 2 is a block diagram of a servo driver testing apparatus according to an embodiment of the present invention;
FIGS. 3A and 3B are diagrams for explaining a digital input / output relationship between a servo driver testing apparatus and a servo driver according to an embodiment of the present invention; FIG.

Advantages and features of embodiments of the present invention and methods of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. To fully disclose the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram illustrating a configuration of a servo driver testing apparatus according to an embodiment of the present invention. FIGS. 3A and 3B are diagrams showing the relationship between the servo driver testing apparatus and the servo driver testing apparatus according to the embodiment of the present invention. 3b are diagrams for explaining the digital input / output relationship between the servo driver testing apparatus and the servo driver according to the embodiment of the present invention.

1 to 3, a servo driver testing apparatus 100 according to an exemplary embodiment of the present invention may be connected to a servo driver 200 for controlling a servo motor 300 through a cable having a connector at an end thereof . Such a cable may use a cable provided at the end of the connector corresponding to the wiring manual of the manufacturer of the servo driver 200. [

The servo driver testing apparatus 100 according to the embodiment of the present invention includes a power on / off unit 111, a power supply unit 112, a key input unit 113, an output adjustment unit 114, a microprocessor unit 115, An output connector portion 116, an LCD display portion 117, a warning sound output portion 118, a warning light emitting portion 119, a line drive input / output portion 120, an LED display portion 121, an analog output portion 122, can do.

The power on / off unit 111 is a button type or a lever type which turns on or off the power of the servo driver testing apparatus 100. The power on / off unit 111 is a method of pressing the button or pushing the lever in the opposite direction So that it is possible to provide a power-on signal or a power-off signal.

The power supply unit 112 supplies power according to the on-off operation of the power on / off unit 111. When the power on signal is transmitted from the power on / off unit 111, Off unit 111. When the power-off signal is transmitted from the power-on / off unit 111, the power supply to each component of the servo driver testing apparatus 100 can be stopped.

The power supply unit 112 may include, for example, a battery having a capacity of 9V or the like, a lithium ion battery, or the like. When the charging system is applied, one of the charging circuits And an output connector unit 116 for converting and supplying ± 5 V to the microprocessor unit 115 and the analog output unit 123 using the DC / DC converter and outputting the forward rotation control signal and the reverse rotation control signal, Can be supplied and converted to + 24V.

The key input unit 113 is provided in the form of a matrix of 4 * 4 or the like, or is provided in a membrane form, and outputs a forward rotation command signal, a reverse rotation command signal, a previous diagnostic limit value, a posterior diagnostic limit value, To the microprocessor unit 115.

The output adjusting unit 114 adjusts the output voltage and the output frequency by adjusting the volume and the SW so that the analog signal is output to the microprocessor unit 115 through the variable A / D (-5V) to (+ 5V) And this analog signal is provided to the servo driver 200. [

The output adjusting unit 114 can input a pulse command for controlling the position of the servo motor 300 and for controlling the constant-speed running. In the case of a variable-frequency command, the output adjusting unit 114 can set the output frequency. For example, when the output frequency is 100 Hz - 1 KHz, when outputting the frequency, it is possible to output a frequency of 100 Hz at level 1 and a frequency of 1 KHz at level 5.

The microprocessor unit 115 outputs a forward rotation control signal through the forward rotation output unit 115b when the forward rotation command signal is provided from the key input unit 113. When the forward rotation control signal is supplied to the analog output unit 122 And may be provided to the line drive input / output unit 120 in the case of position control.

When the reverse rotation command signal is provided from the key input unit 113, the microprocessor unit 115 outputs a reverse rotation control signal through the reverse rotation output unit 115c. In the case of speed control, the microprocessor unit 115 outputs the reverse rotation control signal to the analog output unit 122 And may be provided to the line drive input / output unit 120 in the case of position control.

After the forward rotation control signal or the reverse rotation control signal is transmitted to the servo driver 200, the microprocessor unit 115 displays a normal operation state or a failure state according to a response signal transmitted from the servo driver 200 A forward rotation pulse or a reverse rotation pulse corresponding to the forward rotation control signal or the reverse rotation control signal is received by the servo driver 200 through the line drive input / output unit 120 and provided to the LED display unit 121 , Forward rotation, reverse rotation, speed, and so on.

The microprocessor unit 115 provides an operation control signal for operating the servo driver 200 through the pulse generator 115a and the output driver 115d and when the preliminary diagnosis limit value and the post diagnosis limit value are input It is possible to provide an alarm reset control signal for resetting the servo alarm of the servo driver 200 by providing the previous limit limit input control signal and the later limit limit input control signal.

In addition, the microprocessor unit 115 provides an emergency stop control signal for emergency stop of the servo driver 200, and when a position control through the output adjusting unit 114 is performed, 115 and drives the servo driver 200 through the line drive input / output unit 120 to provide a position control signal for controlling the position of the servo motor 300.

The microprocessor unit 115 may provide a different output to the analog output unit 122 according to the digital input of the output adjustment unit 114 during speed control. According to the output, the servo motor 300 can be rotated in the forward or reverse direction by the polarity (+, -) of the voltage, and the constant speed running control signal can be provided so that the speed can be controlled by the magnitude of the voltage.

The microprocessor unit 115 provides a display control signal for displaying a screen corresponding to the operation and the status to the LCD display unit 117 in accordance with each of the operations and states as described above, And provides a warning control signal for outputting a warning sound to the warning sound output unit 118 according to a response signal transmitted at the time of a failure or a warning light emitting unit 119 for emitting a warning light.

The output connector unit 116 outputs a forward rotation control signal and a reverse rotation control signal provided from the microprocessor unit 115 and includes not only a forward rotation control signal and a reverse rotation control signal provided from the microprocessor unit 115 The operation control signal, the front limit limit input control signal, the post-diagnosis limit input control signal, the alarm reset control signal, the emergency stop control signal, the position control signal and the constant speed running control signal, And transmits a response signal input through the cable from the servo driver 200 to the microprocessor unit 115. Here, the response signal may include whether the servo driver 200 is operating, whether the servo driver 200 is alarming, whether the servo driver 200 is in an emergency stop state, or the like.

The output connector portion 116 may include an interlock circuit that inhibits operation of the other of the two inputs while the first one of the two inputs is operating. The interlock circuit may be connected to the servo driver 200 Corresponding interlock circuitry may be included.

The LCD display unit 117 displays whether the servo driver 200 is operating normally or not in accordance with the control of the microprocessor unit 115. When the display control signal is supplied from the microprocessor unit 115, An input state of the alarm limit reset, an emergency stop operation state of the servo driver 200, a forward rotation operation state of the servo motor 300, an operation state of the servo driver 200, The reverse rotation operation state, the operation on-off state, etc. of the servo motor 300 can be displayed.

For example, when the servo driver 200 is in operation, the ON state can be represented by SVON, the OFF state by SVON or the like, and the background can be displayed in a shade manner.

The alarm sound output unit 118 may output a warning sound such as a buzzer in response to the normal operation or failure of the servo driver 200 under the control of the microprocessor unit 115. [ In the warning sound output unit 118, a short tone such as a beep or the like may be output during normal operation and a continuous tone such as a beep-beep-beep when the servo driver 200 fails.

The warning light emitting unit 119 can emit a warning light such as a lamp in response to the normal operation or failure of the servo driver 200 under the control of the microprocessor unit 115. [ In the warning light emitting unit 119, blue light or green light is emitted during normal operation of the servo driver 200, and red light is emitted when the servo driver 200 fails.

When the forward drive control signal or the reverse rotation control signal is provided from the microprocessor unit 115 in the case of the position control, the line drive input / output unit 120 outputs the forward rotation control signal or the reverse rotation control signal to the servo driver 200 Voltage and pulse form.

The line drive input / output unit 120 may receive the forward rotation pulse or the reverse rotation pulse corresponding to the forward rotation control signal or the reverse rotation control signal from the servo driver 200 and may transmit the forward rotation pulse or the reverse rotation pulse to the microprocessor unit 115.

The LED display unit 121 can display the forward rotation, the reverse rotation, and the speed of the servo motor 300 using the forward rotation pulse or the reverse rotation pulse provided from the microprocessor unit 115.

The analog output unit 122 may transmit the different output from the microprocessor unit 115 to the servo driver 200 according to the digital input of the output adjustment unit 114 during speed control. Accordingly, the servo motor 300 can rotate in the forward direction or the reverse direction by the polarity (+, -) of the voltage.

3A and 3B are diagrams for explaining the digital input / output relationship between the servo driver testing apparatus and the servo driver according to the embodiment of the present invention. The digital input / output between the servo driver testing apparatus 100 and the servo driver 200 The input to the servo driver testing apparatus 100 from the servo driver 200 is performed by shorting the signal line and the COM port, and the input operation is performed by the servo driver 200, Collector, open collector, and relay output.

In addition, the input from the servo driver testing apparatus 100 to the servo driver 200 is performed by shorting the signal line and the COM port, and is connected to the servo driver testing apparatus 100 through the open collector and the relay output method .

Therefore, after connecting to the servo driver for controlling the servo motor, it is possible to improve the portability by outputting the forward rotation control signal or the reverse rotation control signal to check whether the operation of the servo motor is normally performed, It is possible to easily check whether the servo driver of the device is faulty.

Further, according to the present invention, when the operation of the servo motor is not normally performed, the fault state is displayed. In response to this, a warning sound such as buzzer is outputted and a warning lamp such as a lamp is emitted. It can be easily recognized whether or not.

Since the servo driver testing apparatus does not use an external power source, it is possible to prevent the servo driver from malfunctioning due to leakage, noise, and the like, to carry and move easily, and to inspect the servo driver, Because it is not needed, you can perform a quick check.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be readily apparent that such substitutions, modifications, and alterations are possible.

100: Servo driver tester 111: Power on / off unit
112: power supply unit 113: key input unit
114: output adjustment unit 115: microprocessor unit
116: output connector section 117: LCD display section
118: a warning sound output unit 119: a warning light emitting unit
120: Line drive input / output unit 1221: LED display unit
122: Analog output unit 200: Servo driver
300: Servo motor

Claims (4)

A power on / off section for providing a power on signal or a power off signal,
A power supply unit for supplying power or stopping power supply according to the power-on signal or the power-off signal;
A key input unit for providing a forward rotation command signal or a reverse rotation command signal corresponding to an input digital input value;
An output adjusting unit for adjusting the output voltage and the output frequency to provide a pulse command for position control of the servo motor and constant speed running control;
And when the forward rotation command signal is provided, provides a forward rotation control signal, outputs a reverse rotation control signal when the reverse rotation command signal is provided, and outputs a reverse rotation control signal from the servo driver And provides an operation control signal for operating the servo driver through a pulse generator and an output driver, and outputs a diagnosis limit value and a diagnosis limit value as input A microprocessor for providing a preliminary limit input control signal and a postlimit limit input control signal,
And an interlock circuit corresponding to the servo driver, and outputs the forward rotation control signal, the reverse rotation control signal, the front limit limit input control signal or the late limit input control signal provided from the microprocessor unit to the servo driver An output connector unit for transmitting the response signal transmitted from the servo driver to the microprocessor unit,
An LCD display unit for indicating whether the microcomputer is operating normally or failing under the control of the microprocessor unit;
A line drive input / output unit for transmitting the forward rotation control signal or the reverse rotation control signal in the form of voltage and pulse to the servo driver in the case of position control of the servo motor,
When an output from the microprocessor unit is supplied through the output adjusting unit during speed control of the servo motor, the analog output unit transmits the other output to the servo driver
And a servo driver.
The method according to claim 1,
The servo driver testing apparatus includes:
A warning sound output unit for outputting a warning sound corresponding to whether the servo driver is normally operated or failed according to the control of the microprocessor unit;
A warning light emitting unit for emitting a warning light corresponding to whether the servo driver is normally operated or not, under the control of the microprocessor unit;
And a servo driver.
3. The method of claim 2,
The servo driver testing apparatus includes:
An LED display unit for displaying a forward rotation, a reverse rotation, or a speed of the servomotor using a forward rotation pulse or a reverse rotation pulse provided from the microprocessor;
And a servo driver.
4. The method according to any one of claims 1 to 3,
Wherein the microprocessor unit provides an emergency stop control signal for emergency stop of the servo driver and outputs pulses having different frequencies according to a digital input during position control through the output adjustment unit, And provides a position control signal for controlling the position of the servo motor.

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