TW201800886A - Servo control diagnosis system - Google Patents

Abstract

A servo control diagnosis system (10) of this invention including: an integrator (102) for integrating rotational speed of a servo motor (2) for driving a machine portion (3) and outputting it as a motor portion position data; a first diagnosis unit (204) for comparing variation amount of the value of a machine portion position data which is a position data of the machine portion (3), from the timing when a trigger occurred, with a predetermined position data threshold value (207); and a second diagnosis unit (205) for comparing variation amount of the value of a motor portion position data from the timing when the trigger occurred, with the position data threshold value (207).

Description

Servo control diagnostic system

The present invention relates to a servo control diagnostic system for performing abnormality detection of a servo control system, which is used for control of a machine tool, a robot, or a transport system.

The servo control system has a position control unit that generates a speed command from a position command value output from a controller and a position feedback value from a mechanical end, and a speed command value and speed from the position control unit. The feedback value is a speed control unit that generates drive power of a servo motor.

In a full-closed loop full-closed servo system, the motor end is used to detect the rotational speed, rotation angle or magnetic pole position of the servo motor connected to the servo motor. The feedback signal of the detector and the feedback signal from the mechanical end detector that detects the linear movement position of the table driven by the servo motor.

In the above-described fully closed servo control system, there is a case where the user approaches the servo control system to perform work during maintenance. In this case, it is necessary to diagnose whether the position of the mechanical end or the rotational speed of the servo motor is The target value determined in advance to ensure the safety of the user is maintained. In the above-described diagnosis in which the detection position or the speed is not maintained at the abnormal value of the target value, in order to provide the redundancy of the detection, a method of using two diagnostic detectors has been conventionally used. That is, the abnormality of the position or speed is detected by sequentially comparing the two pieces of data obtained from the two diagnostic detectors or comparing them with the set values. In Patent Document 1, an abnormality detection is performed by comparing an encoder or a linear scale speed or position of a motor shaft.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2006-26656

However, in the conventional anomaly detection technique with redundancy described above, in order to obtain two pieces of data, it is necessary to newly add a diagnostic detector to the outside of the servo amplifier or to set a detector that can acquire two pieces of data. Or, the branching part of the feedback signal from the detector is set outside the servo amplifier. That is, it is necessary to perform the setting of the new detector, the change of the detector or the wiring, so that there is a problem from the viewpoint of cost or ease. Further, in Patent Document 1, there is a problem in that it is necessary to provide a new calculation unit for comparison and determination in the NC device belonging to the controller.

The present invention has been made in view of the above circumstances, and its object is to obtain a change that does not require an NC device or a detector. A servo control diagnostic system that improves diagnostic accuracy.

In order to solve the above problems and achieve the object, the present invention includes an integrator that integrates a rotational speed of a servo motor that drives a mechanical end and outputs the data as a motor end position data, and a first diagnostic unit that will be triggered from a trigger. The amount of change in the value of the mechanical end position data of the position data belonging to the mechanical end at the time point is compared with the predetermined position data threshold value. Further, the second diagnostic unit compares the amount of change in the value of the motor end position data from the time point at which the trigger occurs to the position data threshold.

The servo control diagnostic system of the present invention can achieve the effect of improving the diagnostic accuracy without changing the NC device or the detector.

1‧‧‧ controller

2‧‧‧Servo motor

3‧‧‧ pedestal

4‧‧‧Motor end detector

5‧‧‧Mechanical end detector

10, 20, 25‧‧‧Servo Control Diagnostic System

12‧‧‧First servo motor

13‧‧‧First pedestal

14‧‧‧First motor end detector

22‧‧‧Second servo motor

23‧‧‧Second pedestal

24‧‧‧Second motor end detector

100, 300, 350‧‧‧ Servo Control Department

101‧‧‧Location Control Department

102‧‧‧Speed Control Department

103, 104, 303, 304‧‧‧ Data Conversion Department

105, 305‧‧‧Transportation Department

200, 400, 450‧‧‧ diagnostic devices

201, 401‧‧‧ Receiving Department

202, 203, 402, 403‧‧‧ Data Reduction Department

204, 404‧‧‧ First Diagnostics Department

205, 405‧‧‧Second Diagnostics Department

206‧‧‧Information differential threshold

207, 407‧‧‧Location data threshold

310‧‧‧First integrator

311‧‧‧First Position Control Department

312‧‧‧First Speed Control Department

320‧‧‧Second integrator

321‧‧‧Second Position Control Department

322‧‧‧Second Speed Control Department

406‧‧‧Position differential threshold

408‧‧‧Speed differential threshold

409‧‧‧Speed data threshold

Fig. 1 is a block diagram showing the configuration of a servo control diagnosis system according to a first embodiment of the present invention.

Fig. 2 is a block diagram showing the configuration of a servo control diagnosis system according to a second embodiment of the present invention.

Fig. 3 is a block diagram showing the configuration of a servo control diagnosis system according to a third embodiment of the present invention.

Hereinafter, the servo control diagnosis system according to the embodiment of the present invention will be described in detail based on the drawings. Furthermore, the invention is not limited by the embodiments. set.

Embodiment 1.

Fig. 1 is a block diagram showing the configuration of a servo control diagnostic system 10 according to the first embodiment of the present invention. The servo control diagnosis system 10 includes a servo control unit 100 belonging to a servo amplifier and a diagnosis device 200 provided in the servo control unit 100. The servo control unit 100 controls the servo motor 2. The servo motor 2 drives the pedestal 3 belonging to the mechanical end through a transmission mechanism. The diagnostic device 200 transmits a reception signal to the servo control unit 100 by serial communication.

A motor end detector 4 that detects the rotational speed of the servo motor 2 is attached to the servo motor 2. The motor end detector 4 outputs the rotational speed of the servo motor 2 to the servo control unit 100 as a speed feedback value.

A mechanical end detector 5 that detects the linear movement position of the pedestal 3 is mounted on the pedestal 3. The linear movement position of the pedestal 3 refers to the position at which the pedestal 3 moves linearly. The mechanical end detector 5 detects the position data of the mechanical end and outputs it as a mechanical end position data. Specifically, the linear movement position of the pedestal 3 belonging to the mechanical end position data is output to the servo control unit 100 as a position feedback value.

The servo control system including the servo control unit 100, the servo motor 2, and the pedestal 3 in Fig. 1 also uses a fully closed servo control system from the position feedback value of the mechanical end detector 5.

The servo control unit 100 includes a position control unit 101 that generates a speed command based on a position command value output from the controller 1 such as an NC device and a position feedback value from the mechanical end detector 5; The control unit 102 generates drive power of the servo motor 2 based on the speed command value from the position control unit 101 and the speed feedback value from the motor end detector 4.

Further, the servo control unit 100 further includes a data conversion unit 103 that converts the mechanical end position data output from the position control unit 101 into communication data, and the data conversion unit 104 outputs the motor end output from the speed control unit 102. The location data is converted into communication data; and the transmission unit 105 transmits the communication data output from the data conversion units 103 and 104 to the diagnostic device 200.

Further, the position control unit 101 outputs the position feedback value from the mechanical end detector 5 to the material conversion unit 103 as the mechanical end position data. The speed control unit 102 also has a function of an integrator, and integrates the rotational speed of the servo motor 2 belonging to the speed feedback value, and outputs it as the motor end position data to the data conversion unit 104.

The data conversion unit 103 converts the error detection symbol such as CRC (Cyclic Redundancy Check) 32 and the data number of the order in which the data is displayed, from the mechanical end position data input from the position control unit 101. The communication data for reliability is improved and output to the transmission unit 105. The data conversion unit 104 converts the error detection symbol and the data number such as the CRC 32 from the motor end position data input from the speed control unit 102, and converts it into communication material with improved reliability, and outputs it to the transmission unit 105.

The transmission unit 105 outputs the communication data input from the data conversion units 103 and 104 to the diagnostic device 200 by serial communication. specific The transmission unit 105 sequentially transmits the communication data converted from the mechanical end position data input from the data conversion unit 103 and the motor end position input from the data conversion unit 104 by serial communication. The communication data obtained by converting the data.

The diagnostic device 200 includes a receiving unit 201 that is connected to the transmitting unit 105 of the servo control unit 100 and receives communication data from the transmitting unit 105. The data restoring unit 202 restores the mechanical end position data, and the data restoring unit 203 The motor end position data is restored; the first diagnosis unit 204 performs abnormality detection based on the restored mechanical end position data; and the second diagnosis unit 205 performs abnormality detection based on the restored motor end position data. The receiving unit 201 and the transmitting unit 105 can be connected by wire or by wireless communication.

An example of the diagnostic device 200 is a hardware dedicated to the servo control unit 100. Further, the diagnostic device 200 may be a dedicated hardware incorporated in the inside of the servo control unit 100. When the receiving unit 201 and the transmitting unit 105 are connected by wireless communication, the diagnostic device 200 may be installed away from the servo control unit 100. The dedicated hardware processing circuit is equivalent to a single circuit, a composite circuit, a programmed processor, a parallel program processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field Programmable). Gate Array, field programmable gate array), or a combination of these. The functions of each of the receiving unit 201, the data restoration unit 202, the data restoration unit 203, the first diagnosis unit 204, and the second diagnosis unit 205 can be realized by a processing circuit, or the functions of the respective units can be integrated and implemented by the processing circuit. .

The receiving unit 201 receives the communication data input from the transmission unit 105 of the servo control unit 100, and outputs the communication data to the data restoration unit 202 and the data restoration unit 203. Since the communication data from the transmission unit 105 is transmitted by serial communication as described above, the reception unit 201 can grasp the transmission unit 105 by a method such as setting in advance or notification from the transmission unit 105. The order in which data is transmitted, that is, the order in which the data is received. Thereby, the receiving unit 201 can output the communication data obtained by converting the mechanical end position data to the data restoration unit 202, and output the communication data obtained by converting the motor end position data to the data restoration unit 203.

The data restoration unit 202 receives the communication data converted from the mechanical end position data from the receiving unit 201, restores it to the mechanical end position data, and outputs the restored mechanical end position data to the first diagnosis unit 204.

The data restoration unit 203 receives the communication data converted from the motor end position data from the receiving unit 201 and restores it to the motor end position data, and outputs the restored motor end position data to the second diagnosis unit 205.

The diagnostic device 200 according to the first embodiment can detect when an external trigger occurs, and the diagnosis by the diagnostic device 200 is a time point from when an external trigger occurs, that is, a time point when the external trigger is detected from the diagnostic device 200. Start. In the external trigger that is triggered, various actions performed by the user are included. Specifically, in order to secure the servo motor 2 and the pedestal 3 for the purpose of securing the safety of the user during the maintenance work, the user presses a switch (not shown) provided in the diagnostic device 200 ( Start the diagnosis at the time of the switch). In addition, the user constantly presses two presses on the sides of the press machine during the operation. A button is used, and when the user does not press the button, the diagnosis is started in order to ensure the safety of the user so that the unnecessary action is not performed. In addition, the diagnosis can be started at a time when the light curtain is interrupted by the user. As described above, the diagnosis by the diagnostic device 200 does not need to depend on the command from the controller 1, but starts from the point in time when the external trigger of the above-mentioned action of the user is detected, and therefore, the time at which the diagnosis starts It will become the point in time when the above actions of the user occur. Further, the diagnosis operation of the servo control unit 100 may be performed in parallel with the operation performed by the normal control for the command from the controller 1.

At the time when the diagnosis is started, the first diagnosis unit 204 records the value of the restored mechanical end position data input from the data restoration unit 202. Further, by comparing the value of the reduced mechanical end position data after the start of the diagnosis with the value of the reduced mechanical end position data at the start of the diagnosis, the amount of change from the time point of the diagnosis start is obtained. The amount of change is compared with the position data threshold 207 in a uniform unit to determine whether the amount of change is within the position data threshold 207. When the amount of change is not within the position data threshold 207, it is diagnosed that some abnormality has occurred in the operation of the pedestal 3. Here, the unified unit refers to a value obtained by converting one of the numerical values into a linear movement position of the pedestal 3 or a rotation angle of the servo motor 2, which is expressed in any unit of the physical quantity, and the units of the numerical values are the same. Therefore, the position data threshold 207 may be given in any unit. Here, the position data threshold 207 is a value that is previously designated by the user as a parameter before the start of the diagnosis. Furthermore, the above determination may also It is carried out by setting the value of the reduced mechanical end position data in the time point at which the diagnosis is started to zero (zero), and determining whether the value of the restored mechanical end position data after the start of the diagnosis is at the position data threshold. The value is less than 207.

Further, after the diagnosis is started, the first diagnosis unit 204 determines that the value of the mechanical end position data to be restored and the value of the restored motor end position data input from the second diagnosis unit 205 are unified into the data differential threshold. Whether the difference obtained by the unit of value 206 is within the predetermined data difference threshold 206. Here, the data difference threshold 206 is a value specified by the user as a parameter before the start of the diagnosis. The value of the mechanical end position data and the value of the motor end position data, if the unit is unified into either the linear movement position of the pedestal 3 or the rotation angle of the servo motor 2, should be the same value in the normal operation. Therefore, when the difference obtained by unitizing the two units is not within the data difference threshold 206, it is considered that an abnormality occurs in the servo control system such as a defect in the mechanical connection between the servo motor 2 and the pedestal 3.

At the time when the diagnosis is started, the second diagnosis unit 205 records the value of the restored motor end position data input from the data restoration unit 203. Further, by comparing the value of the restored motor end position data after the start of the diagnosis with the value of the restored motor end position data at the start of the diagnosis, the amount of change from the time point of the diagnosis start is obtained. The amount of change is compared with the position data threshold 207 in a uniform unit to determine whether the amount of change is within the position data threshold 207. When the amount of change is not within the position data threshold 207, it is diagnosed that some abnormality has occurred in the operation of the servo motor 2. Furthermore, the above determination can also be made in the following manner: The value of the restored motor end position data in the initial time point is set to zero, and it is determined whether or not the value of the restored motor end position data after the start of the diagnosis is within the position data threshold 207.

Further, after the diagnosis is started, the second diagnosis unit 205 determines that the value of the reduced motor end position data and the value of the restored mechanical end position data input from the first diagnosis unit 204 are unified into the data differential threshold. Whether the difference obtained by the unit of value 206 is within the data differential threshold 206. When the difference obtained by unitizing the two units is not within the data difference threshold 206, it is considered that an abnormality occurs in the servo control system such as a defect in the mechanical connection between the servo motor 2 and the pedestal 3. As a result, since the determination of the value using the same difference is performed in both the first diagnosis unit 204 and the second diagnosis unit 205, a double check can be performed. Furthermore, it is also possible to perform the above determination in either of the first diagnosis unit 204 or the second diagnosis unit 205.

Further, in the first embodiment, the detection target of the mechanical end detector 5 is the linear movement position of the pedestal 3, but the detection target is not limited thereto. As long as it is an object for detecting the mechanical position, it may be a rotating position, a moving position, or any other detection target.

Further, the position data threshold 207 may be a value obtained by the servo control unit 100 estimating the allowable fluctuation amount of the position of the servo motor 2 based on the operation mode of the servo motor 2. Further, the position data threshold 207 may be a value obtained by the servo control unit 100 estimating the allowable fluctuation amount of the linear movement position of the pedestal 3 based on the operation mode of the pedestal 3. Here, the action mode of the pedestal 3 exhibits a delay relative to the action of the controlled pedestal 3. Late mode.

According to the servo control diagnosis system 10 of the first embodiment, the mechanical end position data obtained from the position control unit 101 that generates the speed command based on the position feedback value and the speed control unit 102 that controls the servo motor 2 based on the speed feedback value are used. The obtained motor end position data is used for the safety assurance diagnosis of the user for servo control. Thereby, it is not necessary to provide a diagnostic detector outside the servo amplifier, and it is not necessary to use a detector that can acquire two pieces of data.

Further, the diagnostic device 200 is connected to the servo control unit 100, and directly acquires the position data for detecting the abnormality from the servo control unit 100, and compares it with the position data threshold 207, thereby diagnosing that the mechanical end position cannot be maintained and An abnormality in the position of the motor end occurs. Therefore, it is not necessary to set the branching portion of the feedback signal from the detector outside the servo control unit 100.

In other words, when the diagnostic device 200 for abnormality detection is newly provided, the mechanical end position data and the motor end used by the servo control unit 100 for control in the normal operation of the servo motor 2 are used. Location data. Therefore, since it is not necessary to change the installation of the new detector, the NC device, the detector, or the wiring, the abnormality diagnosis can be performed with a simple configuration in which the diagnostic device 200 is directly connected to the servo control unit 100.

Embodiment 2.

Figure 2 is a diagram showing a servo control diagnosis system according to Embodiment 2 of the present invention. A block diagram of the composition of 20. The servo control diagnosis system 20 includes a servo control unit 300 belonging to a servo amplifier and a diagnostic device 400 provided in the servo control unit 300. The servo control unit 300 controls the first servo motor 12 and the second servo motor 22. The first servo motor 12 drives the first pedestal 13 belonging to the first mechanical end through the transmission mechanism. The second servo motor 22 drives the second pedestal 23 belonging to the second mechanical end through another transmission mechanism. The first pedestal 13 and the second pedestal 23 are mechanically linked (i.e., axis synchronized) to perform the same operation. Specific examples of the first pedestal 13 and the second pedestal 23 are left and right pedestals for transport. The diagnostic device 400 transmits and receives signals to and from the servo control unit 300 by serial communication.

A first motor end detector 14 that detects the rotational speed of the first servo motor 12 is mounted on the first servo motor 12. The first motor end detector 14 outputs the rotational speed of the first servo motor 12 to the servo control unit 300 as a speed feedback value.

A second motor end detector 24 that detects the rotational speed of the second servo motor 22 is mounted on the second servo motor 22. The second motor end detector 24 outputs the rotational speed of the second servo motor 22 to the servo control unit 300 as a speed feedback value.

Since the servo control system of the second embodiment drives a two-axis servo motor with a single servo amplifier, the servo control diagnostic system 20 of the second embodiment uses a detector connected to each servo motor. That is, the servo control diagnostic system 10 of the first embodiment uses the detected values of the motor end detector 4 and the mechanical end detector 5, and the servo control diagnostic system 20 of the second embodiment uses the first motor end detector 14 and the first Two motor ends The detected value of the detector 24.

The servo control unit 300 includes a first integrator 310 that integrates a speed feedback value from the first motor end detector 14 and outputs it as a position feedback value. The first position control unit 311 is based on an NC device or the like. The first position command value outputted by the controller 1 and the position feedback value from the first integrator 310 generate a first speed command; the second speed control unit 312 is based on the first position from the first position control unit 311. The speed command value and the speed feedback value from the first motor end detector 14 generate drive power of the first servo motor 12.

Further, the servo control unit 300 further includes a second integrator 320 that integrates the speed feedback value from the second motor end detector 24 as a position feedback value, and a second position control unit 321 that is based on the controller. a second position command value outputted by the first position command value and a second speed command from the second integrator 320; the second speed control unit 322 is based on the second speed command from the second position control unit 321. The value and the speed feedback value from the second motor end detector 24 generate drive power of the second servo motor 22.

Further, the servo control unit 300 further includes a data conversion unit 303 that converts the first motor end position data output from the first position control unit 311 into communication data, and the data conversion unit 304 that is to be used from the second position control unit. The second motor end position data outputted by 321 is converted into communication data, and the transmission unit 305 transmits the communication data outputted by the data conversion units 303 and 304 to the diagnostic device 400.

Furthermore, the first position control unit 311 will be from the first The position feedback value of the integrator 310 is output to the data conversion unit 303 as the first motor end position data. The second position control unit 321 outputs the position feedback value from the second integrator 320 to the data conversion unit 304 as the second motor end position data.

The data conversion unit 303 adds an error detection symbol such as a CRC 32 and a data number to the first motor end position data input from the first position control unit 311, and converts it into communication material with improved reliability, and outputs it to the transmission unit 305. The data conversion unit 304 converts the error detection symbol and the data number such as the CRC 32 from the second motor end position data input from the second position control unit 321 to the communication data with improved reliability, and outputs the communication data to the transmission unit 305.

The transmission unit 305 outputs the communication data input from the data conversion units 303 and 304 to the diagnostic device 400 by serial communication. Specifically, the transmission unit 305 sequentially transmits the communication data converted from the first motor end position data input from the data conversion unit 303 and the data input from the data conversion unit 304 by serial communication. Communication data converted from two motor end position data.

The diagnostic device 400 includes a receiving unit 401 that is connected to the transmitting unit 305 of the servo control unit 300 and receives communication data from the transmitting unit 305. The data restoring unit 402 restores the first motor end position data; 403, the second motor end position data is restored; the first diagnosis part 404 is based on the restored first motor end position data for abnormality detection; and the second diagnosis part 405 is based on the restored second motor end position data. Perform anomaly detection. The receiving unit 401 and the transmitting unit 305 can borrow Connected by wire or by wireless communication.

An example of the diagnostic device 400 is a dedicated hardware attached to the servo control unit 300. Further, the diagnostic device 400 may be a dedicated hardware incorporated in the interior of the servo control unit 300. When the receiving unit 401 and the transmitting unit 305 are communicably connected by wireless communication, the diagnostic device 400 may be installed away from the servo control unit 300. A dedicated hardware processing circuit is equivalent to a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. The functions of each of the receiving unit 401, the data restoration unit 402, the data restoration unit 403, the first diagnosis unit 404, and the second diagnosis unit 405 can be realized by a processing circuit, or can be integrated with each function and implemented by a processing circuit. .

The receiving unit 401 receives the communication data input from the transmission unit 305 of the servo control unit 300, and outputs the communication data to the data restoration unit 402 and the data restoration unit 403. Since the communication data from the transmission unit 305 is transmitted by serial communication as described above, the reception unit 401 can grasp the transmission unit 305 by a method such as setting in advance or notification from the transmission unit 305. The order in which the data is transmitted, that is, the order in which the materials are received. Thereby, the receiving unit 401 can output the communication data converted from the first motor end position data to the data restoration unit 402, and output the communication data obtained by converting the second motor end position data to the data restoration unit 403.

The data restoration unit 402 receives the communication data converted from the first motor end position data from the receiving unit 401, restores the data to the first motor end position data, and outputs the restored first motor end position data to The first diagnosis unit 404.

The data restoration unit 403 receives the communication data converted from the second motor end position data from the receiving unit 401 and restores it to the second motor end position data, and outputs the restored second motor end position data to the second diagnosis unit. 405.

Similarly to the first embodiment, the diagnosis performed by the diagnostic device 400 according to the second embodiment starts from the time when the diagnostic device 400 detects that an external trigger belonging to various operations performed by the user has occurred. Therefore, the point in time at which the diagnosis starts is the point in time at which the action of the user belonging to the external trigger occurs.

At the time when the diagnosis is started, the first diagnosis unit 404 records the value of the restored first motor end position data input from the data restoration unit 402. Further, by comparing the value of the restored first motor end position data after the start of the diagnosis with the value of the restored first motor end position data at the start of the diagnosis, the time from the start of the diagnosis is obtained. The amount of change is compared with the position data threshold 407 to determine whether the amount of change is within the position data threshold 407. When the amount of change is not within the position data threshold 407, it is diagnosed that some abnormality has occurred in the operation of the first servo motor 12. Here, the position data threshold 407 is a value that is previously designated by the user as a parameter before the start of the diagnosis. Furthermore, the above determination determines that the value of the restored first motor end position data in the time point at which the diagnosis is started is set to zero, and determines whether the value of the restored first motor end position data after the diagnosis is started is in the position data. Within the threshold 407.

Furthermore, at the time when the diagnosis starts, the first diagnosis department 404 records the difference between the value of the restored first motor end position data and the value of the restored second motor end position data input from the second diagnosis unit 405. Further, it is determined whether or not the amount of change in the difference from the start of the diagnosis after the start of the diagnosis is within the position difference threshold 406. Here, the position difference threshold 406 is a value that is previously designated by the user as a parameter before the start of the diagnosis. When the first pedestal 13 and the second pedestal 23 are mechanically linked, the amount of change in the difference should ideally be zero. Therefore, when the amount of change in the difference is not within the position difference threshold 406, the first pedestal 13 may be considered. An abnormality occurs in the servo control system in which the second pedestal 23 is not mechanically linked.

At the time when the diagnosis is started, the second diagnosis unit 405 records the value of the restored second motor end position data input from the data restoration unit 403. Further, the change from the time point of the diagnosis start is obtained by comparing the value of the restored second motor end position data after the start of the diagnosis with the value of the restored second motor end position data at the start of the diagnosis. The amount is compared with the position data threshold 407 to determine whether the amount of change is within the position data threshold 407. When the amount of change is not within the position data threshold 407, it is diagnosed that some abnormality has occurred in the operation of the second servo motor 22. Furthermore, the above determination may be performed by setting the value of the restored second motor end position data in the time point at which the diagnosis is started to zero, and determining the restored second motor end position data after the diagnosis is started. Whether the value is within the location data threshold 407.

Furthermore, at the time of the start of the diagnosis, the second diagnosis unit 405 records the value of the restored second motor end position data and the first diagnosis from the first diagnosis. The difference between the values of the restored first motor end position data input by the broken portion 404. Further, it is determined whether or not the amount of change in the difference from the start of the diagnosis after the start of the diagnosis is within the position difference threshold 406. When the amount of change in the difference is not within the position difference threshold 406, it is conceivable that an abnormality occurs in the servo control system in which the first pedestal 13 and the second pedestal 23 are not mechanically linked. As a result, since the determination of the value using the same difference is performed in both the first diagnosis unit 404 and the second diagnosis unit 405, the double check can be performed. Furthermore, it is also possible to perform the above determination in either of the first diagnosis unit 404 or the second diagnosis unit 405.

Further, the position data threshold 407 may be that the servo control unit 300 estimates the allowable variation of the positions of the first servo motor 12 and the second servo motor 22 based on the operation modes of the first servo motor 12 or the second servo motor 22. The value obtained. Further, the position data threshold 407 may be obtained by the servo control unit 300 estimating the allowable fluctuation amount of the linear movement position of the first pedestal 13 and the second pedestal 23 based on the operation mode of the first pedestal 13 or the second pedestal 23 value.

According to the servo control diagnosis system 20 of the second embodiment, the first motor end position data obtained from the first position control unit 311 and the second motor end position data obtained from the second position control unit 321 are used for servo control. For the diagnosis, the first position control unit 311 generates a first speed command based on the first position command value output by the controller 1 and the position feedback value from the first integrator 310, and the second position control unit 321 is based on The second position command value output by the controller 1 and the position feedback value from the second integrator 320 generate a second speed command. With this, you don’t need to A diagnostic detector is provided externally to the servo amplifier, and it is not necessary to use a detector that can obtain two pieces of data.

Further, since the diagnostic device 400 is connected to the servo control unit 300 and directly acquires the position data for detecting the abnormality from the servo control unit 300, it is not necessary to provide the branching portion of the feedback signal from the detector to the servo control unit 300. The outside.

In other words, when the diagnostic device 400 for abnormality detection is newly provided, since the diagnostic device 400 can be directly connected to the servo control unit 300, it is not necessary to provide a new detector, an NC device, a detector, or Wiring changes. Furthermore, by using the position data threshold 407, when a two-axis servo motor is driven by a single servo amplifier, the accuracy of diagnosis for the abnormality of the two motor end positions can be improved.

Further, in the above description, the first pedestal 13 and the second pedestal 23 are mechanically linked, but may be mechanically interlocked.

Embodiment 3.

Fig. 3 is a block diagram showing the configuration of a servo control diagnosis system 25 according to the third embodiment of the present invention. The servo control diagnosis system 25 includes a servo control unit 350 belonging to a servo amplifier and a diagnostic device 450 provided in the servo control unit 350. The servo control diagnosis system 25 is a part of the configuration of the servo control diagnosis system 20 of the second embodiment.

Specifically, in the servo control unit 350, the first motor end speed data belonging to the speed feedback value is transmitted from the first speed control unit 312. The data conversion unit 303 inputs the second motor end speed data belonging to the speed feedback value from the second speed control unit 322 to the material conversion unit 304. Furthermore, in the diagnostic device 450, the differential threshold value is replaced by the position difference threshold 406 of the diagnostic device 400 to the speed difference threshold 408, and the data threshold is derived from the position data threshold 407 of the diagnostic device 400. Replace with speed data threshold 409. Hereinafter, differences between the servo control diagnosis system 25 and the servo control diagnosis system 20 will be described.

The data conversion unit 303 adds an error detection symbol such as CRC3 and a data number to the first motor end speed data input from the first speed control unit 312, and converts it into communication material with improved reliability, and outputs it to the transmission unit 305. The data conversion unit 304 converts the error detection symbol and the data number such as the CRC 32 from the second motor end speed data input from the second speed control unit 322, and converts it into communication material with improved reliability, and outputs it to the transmission unit 305.

The transmission unit 305 outputs the communication data input from the data conversion units 303 and 304 to the diagnostic device 450 by serial communication. Specifically, the transmission unit 305 sequentially transmits the communication data converted from the first motor end speed data input from the data conversion unit 303 and the data input from the data conversion unit 304 by serial communication. Communication data converted from two motor speed data.

The diagnostic device 450 includes a receiving unit 401 that is connected to the transmitting unit 305 of the servo control unit 350 and receives communication data from the transmitting unit 305. The data restoring unit 402 restores the first motor end speed data; 403, the second motor end speed data is restored; The first diagnosis unit 404 performs abnormality detection based on the restored first motor end speed data, and the second diagnosis unit 405 performs abnormality detection based on the restored second motor end speed data. The receiving unit 401 and the transmitting unit 305 can be connected by wire or by wireless communication.

The data restoration unit 402 receives the communication data converted from the first motor end speed data from the receiving unit 401 and restores it to the first motor end speed data, and outputs the restored first motor end speed data to the first diagnosis unit. 404.

The data restoration unit 403 receives the communication data converted from the second motor end speed data from the receiving unit 401 and restores it to the second motor end speed data, and outputs the restored second motor end speed data to the second diagnosis unit. 405.

Similarly to the first and second embodiments, the diagnosis performed by the diagnostic device 450 according to the third embodiment starts from the time when the diagnostic device 450 detects that an external trigger belonging to various operations performed by the user has occurred. At the time when the diagnosis is started, the first diagnosis unit 404 records the value of the restored first motor end speed data input from the data restoration unit 402. Further, the change from the time point of the diagnosis start is obtained by comparing the value of the restored first motor end speed data after the start of the diagnosis with the value of the restored first motor end speed data at the start of the diagnosis. The amount is compared with the speed data threshold 409 to determine whether the amount of change is within the speed data threshold 409. When the amount of change is not within the speed data threshold 409, it is diagnosed that some abnormality has occurred in the operation of the first servo motor 12. Here, the speed data threshold 409 is made before the start of the diagnosis. The value specified in advance by the user as a parameter.

Furthermore, at the time when the diagnosis is started, the first diagnosis unit 404 records the value of the restored first motor end speed data and the value of the restored second motor end speed data input from the second diagnosis unit 405. difference. Further, it is determined whether or not the amount of change in the difference from the start of the diagnosis after the start of the diagnosis is within the speed difference threshold 408. Here, the speed difference threshold 408 is a value that is previously designated by the user as a parameter before the start of the diagnosis. When the first pedestal 13 and the second pedestal 23 are mechanically linked, the amount of change in the difference should ideally be zero. Therefore, when the amount of change in the difference is not within the speed difference threshold 408, the first pedestal 13 may be considered. An abnormality occurs in the servo control system in which the second pedestal 23 is not mechanically linked.

At the time when the diagnosis is started, the second diagnosis unit records the value of the restored second motor end speed data input from the data restoration unit 403. Further, the change from the time point of the diagnosis start is obtained by comparing the value of the restored second motor end speed data after the start of the diagnosis with the value of the restored second motor end speed data at the start of the diagnosis. The amount is compared with the speed data threshold 409 to determine whether the amount of change is within the speed data threshold 409. When the amount of change is not within the speed data threshold 409, it is diagnosed that some abnormality has occurred in the operation of the second servo motor 22.

Furthermore, at the time of the start of the diagnosis, the second diagnosis unit 405 records the value of the restored second motor end speed data and the value of the restored first motor end speed data input from the first diagnosis unit 404. difference Minute. Further, it is determined whether or not the amount of change in the difference from the start of the diagnosis after the start of the diagnosis is within the speed difference threshold 408. When the amount of change in the difference is not within the speed difference threshold 408, it is conceivable that an abnormality occurs in the servo control system in which the first pedestal 13 and the second pedestal 23 are not mechanically linked. As a result, since the determination of the value using the same difference is performed in both the first diagnosis unit 404 and the second diagnosis unit 405, the double check can be performed. Furthermore, it is also possible to perform the above determination in either of the first diagnosis unit 404 or the second diagnosis unit 405.

Further, communication between the servo control unit 100 and the diagnostic device 200 according to the first embodiment, communication between the servo control unit 300 and the diagnostic device 400 of the second embodiment, and between the servo control unit 350 and the diagnostic device 450 of the third embodiment In the communication, communication is performed by converting the communication data including the error detection code such as CRC32 and the data number, but the communication is not limited thereto, and any communication method may be used.

The above-described embodiments of the present invention are shown in the above-described embodiments, and may be combined with other known techniques, and a part of the configuration may be omitted or changed without departing from the spirit of the invention.

1‧‧‧ controller

2‧‧‧Servo motor

3‧‧‧ pedestal

4‧‧‧Motor end detector

5‧‧‧Mechanical end detector

10‧‧‧Servo Control Diagnostic System

100‧‧‧Servo Control Department

101‧‧‧Location Control Department

102‧‧‧Speed Control Department

103, 104‧‧‧ Data Conversion Department

105‧‧‧Transportation Department

200‧‧‧Diagnostic device

201‧‧‧ Receiving Department

202, 203‧‧‧ Data Reduction Department

204‧‧‧First Diagnostics Department

205‧‧‧Second Diagnostics Department

206‧‧‧Information differential threshold

207‧‧‧Location data threshold

Claims (7)

A servo control diagnostic system is provided with an integrator that integrates a rotational speed of a servo motor that drives a mechanical end and outputs it as a motor end position data; the first diagnostic part is from a time point when the trigger occurs. The amount of change in the value of the mechanical end position data of the position data of the mechanical end is compared with a predetermined position data threshold value; and the second diagnosis part is a change of the value of the motor end position data from the aforementioned time point The amount is compared to the aforementioned location data threshold. The servo control diagnostic system according to claim 1, wherein in either or both of the first diagnosis unit and the second diagnosis unit, the value of the mechanical end position data and the motor end position data are The difference in values is compared to a predetermined data differential threshold. A servo control diagnosis system includes: a first diagnosis unit that determines whether a change amount of a value based on a rotational speed of a first servo motor that drives a first mechanical end from a time point when a trigger occurs is predetermined The second diagnostic unit determines whether the amount of change in the value based on the rotational speed of the second servo motor that drives the second mechanical end from the aforementioned time point is within the aforementioned data threshold. A servo control diagnostic system as described in claim 3, wherein One or both of the first diagnosis unit and the second diagnosis unit determine a difference between a value based on a rotational speed of the first servo motor and a value based on a rotational speed of the second servo motor Whether the amount of change from the aforementioned time point is within the predetermined data difference threshold. The servo control diagnostic system according to the third or fourth aspect of the patent application, further comprising: a first integrator that integrates the rotational speed of the first servo motor and outputs the first motor end position data; The second integrator integrates the rotation speed of the second servo motor and outputs it as the second motor end position data; the value based on the rotation speed of the first servo motor is the first motor end position data, The value based on the rotational speed of the second servo motor is the second motor end position data. The servo control diagnostic system of claim 3, wherein the first mechanical end and the second mechanical end are mechanically linked. The servo control diagnostic system according to claim 5, wherein the first mechanical end and the second mechanical end are mechanically linked.