九、發明說明： 【發明所屬之技術領域】 本發明係錢於-種控制馬達之方法及 有關於-種控_服馬縣置及其方法。，且特別係 【先前技術】 由於自動化技術是加速產業升級及 技術之一。特別是，自動化產 =財力之關鍵性 受到重視，並中又以恭減芬甘、士、“疋位與控制系統逐新 件。視/、中又以,動機及其相關控制零件為最關鍵性的零 電動機即工業界俗稱之馬達，其 (feedback)之健馬達（serv〇 m〇 ’工 用。傳統㈣舳馬狀枝轉料_ 業2 進行控制，如圖i所示。雷腦知以電腦（PC) 12(-#λ ά 用的匯流排/通訊介面 ^ ^ RS232)mm^ 14(xmm^m 通訊，以控制錬馬達20。換言之，電 ^ = 2控針14断讀奴〇標妙輯 ^電知10即時通訊並監控舰馬達1G之運動。進 二’由電腦10輸人參數並下達命令給軸控 由 控制卡14下達命令給舰驅編8，㈣‘服= 2正控键J服馬達20為舰驅動n ls，然驅 制卡14,因此編僅 l〇CProgranma5Ie L〇glc ontroller; PLC)控制。可程式化邏輯控制器1〇必須經由專 射14舆舰轉㈣進行通 藉由透過轴控:二換邏4控制器_ fb ’亚與飼服驅動器18進行通訊。在如圖i所示之歹 =可程式化邏輯控彻1Q亦以通訊介面 & =各 可程式化邏輯控制㈣係：= 下μ進订各種參數及目標位 於下齡令給__ 18,再柯^ 利用輸入/輸出控制功能，以咖服馬達2G 心1〇 ，外’電腦/可程式化邏輯控制器^ 〇係可一對 的方式，供控制單個咬多個 一子夕 飼服馬達20可達操控之目的，達20。雖然以電腦10控制 達20，需經過軸控制卡14及伺miG下^令至飼服馬 之困擾。以可^化飼服馬達20則必然有時間延遲 乂了矛壬式化邏輯控制器1〇控制徊賜民、垂Qn ty 用之軸控制卡14控制飼服驅動 二二專 :r方式相對受限於其輪，二== 【發明内容】 本發明主要目的在於提供 法，呈右亩μs 裡役μ柯服馬達裝置及其方 本發明主要目的在於提供 法，具有節省成本之優點。種控^^服馬魏置及其方 本發明另一目的在於接供 ^供1轉式健，储制各種伺 服馬達之裝置及其方法。 本發明係—種控购服馬達 處理單元及複數個通訊介面。 人機"面、中央 數。中央處理單元且有模4 ^ ;1糸供輸入至少一參 令央處理單元更包対收參數並操作產生命令。 個通訊介面分別連接人機;::二：馬達。複數 在較佳實施财，中央處理單元係m焉達。 合成計賴。贿騎更—置或可整 虛理罝分恭“人 馬達驅動器，供接收從中央 甘毛出之〒々。模組較佳為程式/軟體，係針對草個/ 介面與;:處理:：通二介=!—通訊介面係分職接人機 與飼服馬達。 mi面則分別連接中央處理單元 驟.一種控制飼服馬達之方法，其包含以下步 ^ 接收參數並操作產生―命令；及發送命 々，並根據命令控制至少一伺服馬達。 在較佳實施例中，輸入參數係藉由人機介面之輸入/輸出 功能輸入，並儲存於記憶體中。在其它較佳實施射，參數之 輸入亦可’口用别次§己憶之參數，即可控制舰馬達。當輸入各 項參數並經由中央處理單元之_產生命令後，即可進行啟 動、位置定位、延遲或狀態監控伺服馬達等動作。 【實施方式】 本發明係-種提供輸入於可程式化邏輯控制器之模組程 式’供直接與伺服馬達驅動器通訊之控制伺服馬達裝置及其方IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for controlling a motor and a method for controlling a motor and a method thereof. And special system [Prior Art] Because automation technology is one of the accelerated industrial upgrades and technologies. In particular, the key to the automation of production = financial resources is valued, and in the middle of the reduction of Fengan, Shi, "the position and control system new parts. View /, in the middle, motivation and related control parts as the most critical The zero-motor is the motor commonly known in the industry, and it is controlled by the serv〇m〇' utility. The traditional (four) hummer-like material _ industry 2 is controlled, as shown in Figure i. Use computer (PC) 12 (-#λ ά bus/communication interface ^ ^ RS232)mm^ 14 (xmm^m communication to control 錬 motor 20. In other words, electric ^ 2 control pin 14 interrupt slave Mark the wonderful series ^ electric know 10 instant messaging and monitor the movement of the ship motor 1G. Enter the second 'by the computer 10 input parameters and issue commands to the axis control by the control card 14 to issue commands to the ship drive 8, (four) 'service = 2 positive Control button J service motor 20 for ship drive n ls, then drive card 14, so only l〇CProgranma5Ie L〇glc ontroller; PLC) control. Programmable logic controller 1〇 must be transferred by special 14 ship (4) Through the through-axis control: two change logic 4 controller _ fb 'Asia and feed drive 18 to communicate. As shown in Figure i 可 = can The control logic control 1Q is also controlled by the communication interface & = each programmable logic (4): = The next μ is ordered by various parameters and the target is located in the next age order to __ 18, and then the input/output control function is used. The coffee machine 2G heart 1〇, the external 'computer / programmable logic controller ^ 〇 can be a pair of ways to control a single bite of a single child feeding machine motor 20 for control purposes, up to 20. Although the computer 10 controls up to 20, it needs to go through the axis control card 14 and wait for the miG to make it to the feeding horse. In order to control the feeding motor 20, there must be a time delay to smash the spear-type logic controller 1 〇Control 徊 民 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , The main purpose of the present invention is to provide a method with cost-saving advantages. The seed control ^^ service Ma Wei set and its side is another purpose of the invention. , a device for storing various servo motors and a method thereof. The invention is a control suit The processing unit and a plurality of communication interfaces. Man-machine " face, central number. The central processing unit has a modulo 4 ^; 1 糸 for inputting at least one of the command processing units to further collect parameters and operate to generate commands. The interface is connected to the man-machine;:: 2: motor. The plural is better in the implementation of the fund, the central processing unit is m焉da. Synthetic count. Bribe ride more - set or can be arbitrarily divided into "people motor drive, for Received from the central Ganmao. The module is preferably a program/software, which is for the grass/interface; and: Handling::Tong Erjie =!—The communication interface is divided into the man-machine and the feeding motor. The mi faces are respectively connected to the central processing unit. A method of controlling the feeding motor includes the following steps: receiving parameters and operating to generate a "command"; and transmitting a command, and controlling at least one servo motor according to the command. In the preferred embodiment, the input parameters are input via the input/output function of the human interface and stored in the memory. In other preferred implementations, the input of the parameters can also be used to control the ship motor. When each parameter is input and a command is generated via the central processing unit, the start, position, delay, or status monitoring servo motor can be performed. [Embodiment] The present invention provides a control servo motor device for directly communicating with a servo motor driver, and a module program for inputting to a programmable logic controller.
法。在較佳實施例中，伺服馬達係包含直流伺服馬達(DCServo Motor)(又稱無刷馬達）。然而在其它不同的實施例令，亦可包 含交流伺服馬達（AC Servo Motor)、交流感應馬達（AClaw. In a preferred embodiment, the servo motor comprises a DC servo motor (also known as a brushless motor). However, in other different embodiments, an AC servo motor (AC Servo Motor) or an AC induction motor (AC) may be included.
Reaction Motor) ’ 變頻馬達(FrequenCy Conversion Motor)、 直々il馬達(DC Motor)、步進馬達(stepping Motor)、磁阻馬達 (ReluctanceMotor)或其它馬達等。此外，本發明係以可程式 化邏輯控制器（PLC)輸入自行開發編寫的程式語言控制伺服馬 達，且不限定操控任何機器設備之運作。換言之，本發明係可 針對各種裝設有伺服馬達之不同領域之機器設備進行操控。以 下即以圖式進一步說明本發明之實施方式及其步驟。 圖2a所示為本㈣控制飼服馬達裝置之方塊示意圖。本 ί施例中之控制祠服馬達裝置，包含人機介面100、中央處理 早兀及複數個通訊介面2〇〇、3〇〇。人機介面⑽係 翻服馬狀麵、品 換=攄：之資料。在人機介面⑽中，此參數將轉 貝她例中，人機介面⑽触健可程式化 = σΓ〇«1β L〇glc Controller； PLC) 〇 制器可接崎人化邏輯控 蝴作產生命令。在此所言之模组自接收參數 程式/軟體，係針對特 4自仃編譯撰寫之 爾式之各種不同的飼服馬達所撰 寫而成。簡言之，模,组即係依各肩 軟體。模組係藉由參數的處理=:=】寫 伺服馬達驅動器之各位址，再 十上之之參數填入 ，控. 更包含發送命令，用以控制至少—伺服2處理早凡no 訊介佳係包含第-通 接人機介面100與中央處理單元11〇 ; 係分別連 別，中央處理單元m與伺服馬達5心此 =面㈣較佳為微2。第二通訊介面_較翻；為娜， 、乏地2支測試物應财較早的通賴定，目前廣 under te二免備’並經常使用於待測裝置泌心 中，第=1 °然而在其它不同的實施例 IEEE1394 獅絲二通齡面_亦可包含USB、 人们LI f 同的通訊介面。此外，做馬達_更包 ^:服=驅動器_，做馬達控制器4G_上係真正控 I。5二' 5GG之70件’並供接收從中央處理單元no之命 、隶她内存於中央處理單a 11(3之模組較佳係與飼服馬 态4〇〇通訊，以進行操控伺服馬達5〇〇。 〜中央處理單70 110較佳係與人機介面⑽分敎置，並以 弟一通，介面2GG連接。然而在如圖2b所示之實施例中，中 7011(3亦可與人機介面1GG並置或可整合成一台電腦 貝知例中’更包含設置至少一記憶體120，供儲存上 1325031 述之參數’且设置於人機介面l〇Q中。在此所言之記憶體12〇， 車乂佳係為隨機存取記憶體(Random Access Memory; RAM)。然 而在如圖2b所示之實施例中，人機介面iqq亦可設置於人機 介面100之外’亦即設置於電腦150内。 此外在如圖2a及圖2b所示之實施例中，模組較佳係可 對夕的方式與多個祠服馬達500進行通訊。換言之，當輸入 各項參數並經由巾央處理單元之獅執行後，即可斩系統之 啟動、位置定位、延遲或狀態監控伺服馬達等動作。此外，每Reaction Motor) 'FrequenCy Conversion Motor, DC Motor, stepping Motor, Reluctance Motor or other motors. In addition, the present invention controls the servo motor by a programmable logic controller (PLC) input programming language written by itself, and does not limit the operation of any machine equipment. In other words, the present invention can be manipulated for various machine tools in different fields in which a servo motor is mounted. The embodiments of the present invention and the steps thereof are further illustrated by the following drawings. Figure 2a shows a block diagram of the (4) control feeding motor device. The control device motor device in the embodiment includes a human-machine interface 100, a central processing early, and a plurality of communication interfaces 2, 3, and 3. The man-machine interface (10) is the information for turning the horse's face and replacing = 摅:. In the human-machine interface (10), this parameter will be transferred to her example, the human-machine interface (10) can be programmed to be programmed = σΓ〇«1β L〇glc Controller; PLC) The controller can be connected to the Sakisaki logic control command. The module self-receiving parameter program/software described here is written for the various feeding motor of the special type. In short, the molds and groups are based on the shoulders. The module is processed by the parameter =:=] to write the address of the servo motor driver, and then fill in the parameters of the ten, control. Also contains the send command to control at least - servo 2 processing early no message The system includes a first-connected human interface 100 and a central processing unit 11; respectively, and the central processing unit m and the servo motor 5 have a surface (four) of preferably 2. The second communication interface _ is relatively versatile; for Na, boring 2 test objects should be earlier than the premise, the current under te two free 'and often used in the heart of the device to be tested, the first = 1 ° In other different embodiments, the IEEE 1394 lion wire can also include the same communication interface of USB and people. In addition, do the motor _ more package ^: service = drive _, do the motor controller 4G_ on the real control I. 5 2 '5GG's 70 pieces' and for receiving the life from the central processing unit no, she is in the central processing unit a 11 (3 module is better with the feeding horse state 4 〇〇 communication to control the servo The motor is 5 〇〇. The central processing unit 70 110 is preferably connected to the human machine interface (10), and is connected by the user interface, and the interface 2GG is connected. However, in the embodiment shown in FIG. 2b, the medium 7011 (3 may also be It is juxtaposed with the human-machine interface 1GG or can be integrated into a computer. In the example, it further includes at least one memory 120 for storing the parameters described in 1325031 and is set in the human-machine interface l〇Q. The memory is 12 〇, and the 乂 佳 is a random access memory (RAM). However, in the embodiment shown in FIG. 2b, the human interface iqq can also be disposed outside the human interface 100. That is, it is disposed in the computer 150. In addition, in the embodiment shown in Figures 2a and 2b, the module preferably communicates with the plurality of servo motors 500 in an evening manner. In other words, when inputting various parameters After being executed by the lion of the towel processing unit, the system can be started, positioned, and delayed. Or status monitoring servo motor and other actions. In addition, each
伺服馬達500必須搭配每一伺服馬達驅動器，方可操控 所連接之伺服馬達5〇〇。 一 一 17進步介紹本發明之控制伺服馬達方法。如圖3所 不,，本發明之控制伺服馬達方法包含以下步驟：步驟510輸入 、二a ’數步驟520接收參數並操作產生命令。步驟530發 运巾々。根據命令控制至少一飼服馬達（即步驟54〇)。 輸入至少一參數較佳係由人機介面設定祠服馬達參數，即The servo motor 500 must be used with each servo motor driver to operate the connected servo motor 5〇〇. The one-to-seventh advancement describes the method of controlling the servo motor of the present invention. As shown in Fig. 3, the method of controlling a servo motor of the present invention comprises the steps of: step 510 inputting, two a' number of steps 520 receiving parameters and operating to generate a command. At step 530, the towel is shipped. At least one feeding motor is controlled according to the command (ie, step 54). It is better to input at least one parameter to set the motor parameter by the human machine interface, that is,
1機=之^施例中之步驟7G◦。此外，輸入之參數較佳係從 機，丨面之輸入/輸出介面功能輸入。在此 =-指飼服馬達之_參數，且人齡面^^係記 贼树，在人機介面上 k些參數便會記憶儲存於人機介面之記 健存沿用前次編體中所 不改變任何參數之設會 =，，進而操控各鑛馬;== —·ρ 7 ’純係指夢數舆内建於人機介面之模組結合，並 10 發送此結合後之命令（即步則30)給词服馬達驅動器 + 驟540控制伺服馬達。 y 然而在圖4所示之實施例中，更包含由通訊介面與飼服馬 肖言之’ #_GG之人齡面設定飼服 馬達參數後’透過步驟710之第一通訊介面與步驟72〇中 ^早凡之模組運作，供與步驟之舰馬達驅動器通訊。其 步驟720之巾央處理單元之模組運作與細之飼服馬 驅動器通訊間較佳更包含步驟73〇之第二通訊介面連接。在如 圖4所示之實施例中，步驟71〇之第一通訊介面及步驟伽之 弟二通訊介面較佳係分別以RS232及R_ M流排進行通訊。 然而在其它不同的實施例中，亦可以等通用介面匯流排進 仃通訊。最後，經由步驟·之飼服馬達驅動器通訊之訊號， 供控制步驟750之伺服馬達之各項運作。 在此的t寺別5兒明者是，本實施例中之步驟中央處理 元之模組運作較佳係可一對多的方式控制多個飼服馬達。換古 之’在模組之程式撰寫上首先定義各個舰馬達，再以變數二 撰寫方式界定各烟服馬達，即可達職㈣侧服馬達之目 =然而在其它不同的實施例中，亦可一對一的方式操作伺服 馬達。 …本發明已由上述相關實施例加以描述，然而上述實施例僅 為實施本發明之範例。必需指出的是，已揭露之實施例並未限 制本發明之棚。相反地’包含对請糊顧之精神及範圍 之修改及均等設置均包含於本發明之範圍内。 【圖式簡單說明】1 machine = step 7G in the example. In addition, the input parameters are preferably input from the input/output interface of the slave. Here =- refers to the _ parameters of the feeding machine motor, and the age of the face ^ ^ is the thief tree, in the human-machine interface, some parameters will be stored in the human-machine interface, remember the survival of the previous editor If you do not change any parameters, you will control each mine; == —·ρ 7 'Pure refers to the combination of the number of dreams built into the human-machine interface, and 10 sends the combined command (ie Step 30) Give the word motor drive + step 540 to control the servo motor. y However, in the embodiment shown in FIG. 4, the first communication interface and the step 72 are performed through the communication interface and the feeding machine Ma Xiaoyan's '#_GG's age-age setting feeding motor parameter'. The module is operated in order to communicate with the ship motor driver of the step. Preferably, the module operation of the towel processing unit of step 720 and the fine feed device communication interface further comprise the second communication interface connection of step 73. In the embodiment shown in FIG. 4, the first communication interface and the step gamma communication interface of step 71 are preferably communicated by RS232 and R_M flow lines, respectively. However, in other different embodiments, the common interface bus can also be queued for communication. Finally, the signal of the motor driver communication via the step is used to control the operation of the servo motor of step 750. In the case of the t temple, it is clear that the module of the central processing unit in the present embodiment preferably operates the plurality of feeding motors in a one-to-many manner. In the case of the programming of the module, the engine of each module is first defined, and then the motor of each of the cigarettes is defined by the method of variable number two, and the purpose of the motor is obtained. (4) In other different embodiments, The servo motor can also be operated in a one-to-one manner. The present invention has been described by the above related embodiments, but the above embodiments are merely examples for implementing the present invention. It must be noted that the disclosed embodiments are not limited to the shed of the present invention. To the contrary, modifications and equivalents are intended to be included within the scope of the invention. [Simple description of the map]
岡』為習知控制伺服馬達之控制方塊圖； 圖2a為本發明控制伺服馬達裝置之方 圖2b為本發明控制伺服馬達装 二一立 ，·及 圖3為本發明控制伺 '^ -方塊不忍圖； 圖4為本發職制飽g 方法之_控扉程示意圖 "馬建方法之較佳流程示意圖。FIG. 2a is a control block diagram of a control servo motor according to the present invention; FIG. 2a is a schematic diagram of a control servo motor device according to the present invention; FIG. 2b is a control servo motor assembly of the present invention, and FIG. 3 is a control servo device of the present invention. Can not bear the picture; Figure 4 is a schematic diagram of the preferred process of the Ma Jian method.
【主要元件符號說明】 100人機介面 u〇中央處理單元 記憶體 150電腦 200第一通訊介面 300第二通訊介面 4〇〇飼服馬達驅動器 500伺服馬達[Main component symbol description] 100 human interface u〇 central processing unit Memory 150 computer 200 first communication interface 300 second communication interface 4〇〇feeding motor driver 500 servo motor