TWI702483B - Servo system, sensor hub and diagnostic method for industrial device - Google Patents

Abstract

An object of the present invention is to provide a servo system capable of corresponding to a wide variety of sensors with different specifications.

Provided is a servo system has sensor hub. The sensor hub is connected to an encoder that detects the rotation of a motor, a sensor that detects a state different from the rotation, and the servo amplifier that drives and controls the motor respectively. The sensor hub is detachably connected to the encoder. The sensor hub processes an encoder signal output from the encoder and a sensor signal output from the sensor and transmits the processed signal to the servo amplifier.

Description

Servo system, sensor hub and diagnostic method for industrial devices

The present invention relates to a diagnosis method for a servo system, a sensor hub, and an industrial device, and more specifically, it relates to a servo system with a sensor used for the control and maintenance of industrial devices.

In the field of Factory Automation (FA), various sensors are used to detect the operation status of industrial equipment and the state of its surrounding environment, etc., and control the equipment to use the detected signals. High-level communication system requirements. As an example, there is a servo system that performs drive control of industrial equipment. Generally speaking, a servo system has: a motor, a servo amplifier that drives the motor, and a controller that sends drive commands to the servo amplifier. In order to control the rotation of the motor, an encoder that detects rotation information such as angle and angular velocity is installed near the rotating shaft of the motor. The servo amplifier controls the motor based on the drive command sent from the controller and the rotation information of the motor sent from the encoder.

In addition, the servo system uses sensors that detect the state of the motor or its surroundings. The use of sensors can be applied to, for example, abnormal control of the driving sequence of the motor, improvement of the control accuracy of the driven body of the motor, and change of the control mode of the motor. In addition, borrow Sensors are used to detect abnormal noises, vibrations, etc. in the motor or its surroundings, which can be used in the maintenance of industrial equipment. As mentioned above, the detection signal of the sensor must be sent to the servo amplifier or controller, or the control equipment higher than the controller, to be used for drive control and maintenance. On the other hand, in a servo system used in an industrial device, the motor is often installed far away from the servo amplifier and the controller. At this time, since the signal line for transmitting the detection signal of the sensor provided in the motor or its periphery to the servo amplifier and the controller becomes long, wiring work becomes complicated and the transmission characteristics of the detection signal may deteriorate.

In response to the above-mentioned problems, the following Patent Document 1 is an encoder that detects the movement of the motor and generates a feedback signal indicating the detected movement. The encoder receives the driven body from the detection motor via the sensor connection line. The detection signal of the sensor in the state, and the feedback signal and the detection signal are output to the control machine, thereby shortening the length of the sensor connection line and improving the complexity of wiring work.

(Prior technical literature) (Patent Document)

Patent Document 1: Japanese Patent Application Publication No. 2015-95221

However, to connect the sensor cable to the encoder and output the detection signal detected by the sensor and the feedback signal detected by the encoder to the control equipment, it is necessary to set the encoder and the sensor in advance. The input part corresponds to the specifications of the encoder, so whenever a sensor that does not correspond to the input part specifications of the encoder is used, the entire encoder must be replaced.

The present invention was developed to solve the above-mentioned problems, and aims to provide a servo system that can correspond to various sensors of different specifications. In addition, it aims to provide a sensor hub that can connect to the sensor. In addition, the purpose is to provide a diagnostic method for industrial devices using sensor hubs.

The servo system of the present invention includes: a motor; an encoder, which detects the rotation of the motor; a sensor hub, which has a first connection part, a second connection part, and a third connection part, and the first connection part is detachable The second connection part is connected to the sensor that detects a state different from the rotation, and the third connection part is connected to the encoder signal output from the encoder through the first connection part and the second connection part. The connection part is connected to the communication connection line through which the sensor signal output from the sensor is transmitted; and the servo amplifier is based on the encoder signal, the sensor signal sent through the communication connection line, and the drive command sent from the controller , Drive and control the motor.

The sensor hub of the present invention is provided with: a first connection part that is detachably connected to an encoder that detects the rotation of the motor; a second connection part that is connected to a sensor that detects a state different from the rotation ; And the third connection part, which transmits at least one of the encoder signal output from the encoder through the first connection part and the sensor signal output from the sensor through the second connection part to the pair The communication cable connection of the servo amplifier where the motor is driven and controlled.

In the diagnostic method of the industrial device of the present invention, the industrial device includes a servo system. In the servo system, an encoder that detects the rotation of the motor and a servo amplifier that supplies current to the motor is connected to the encoder via a The communication connection line of the connector is connected in a removable manner. The servo amplifier adjusts the current supplied to the motor based on the detection signal of the encoder sent via the communication connection line for drive control. Diagnosis of the aforementioned industrial devices The method includes the following steps: connect the sensor hub with the first connection part to the third connection part by connecting the encoder to the first connection part; connect the sensor that detects the state different from the rotation of the motor To the second connection part; and connect the connector of the communication connection line to the third connection part, and connect to the step between the communication connection line and the encoder; through the sensor hub and the communication connection line, the encoder detection The step of sending the signal from the encoder to the servo amplifier; the step of sending the detection signal of the sensor from the sensor to the servo amplifier through the sensor hub and the communication connection line; and the step of sending the detection signal of the encoder and the sensor according to the encoder The detection signal, the steps for diagnosing industrial devices.

The servo system according to the present invention is configured to include sensor hubs respectively connected to the encoder, the sensor, and the servo amplifier, and the sensor hub is detachably connected to the encoder, thereby being able to correspond to the connection The specification of the sensor is suitable for selecting the sensor hub, and it can correspond to a variety of sensors. In addition, the sensor hub according to the present invention is detachably connected to the encoder corresponding to the specifications of the sensor, whereby the signal output from the encoder and the sensor can be sent to the servo amplifier. In addition, according to the diagnostic method of the industrial device of the present invention, a sensor hub is added or replaced for the servo system, whereby the sensor can be easily added or replaced for the servo system.

10‧‧‧Motor

11‧‧‧Controller

12‧‧‧Servo amplifier

13‧‧‧Encoder

13a, C2a, C4a to C4c‧‧‧Connector

14, 14b‧‧‧Sensor

15‧‧‧Sensor Hub

15a‧‧‧Encoder connector (1st connector)

15b‧‧‧Sensor connection part (2nd connection part)

15c‧‧‧Amplifier connection part (3rd connection part)

100‧‧‧Servo system

101‧‧‧Upper processor

121, 131, 151‧‧‧ Signal Transceiver

122‧‧‧Communication Specification Setting Section

123‧‧‧Parallel Conversion

152‧‧‧Signal Processing Department

152a‧‧‧AD conversion section

152b‧‧‧serial conversion part

152c‧‧‧serial interface

153‧‧‧Sensor Discrimination Unit

C0, C1‧‧‧Network cable

C2‧‧‧Communication cable

C3‧‧‧Power cable

C4‧‧‧Sensor cable

S01‧‧‧1st communication request signal

S02‧‧‧The second communication request signal

S03‧‧‧Distinguish request signal

S04‧‧‧Composite request signal

S13‧‧‧Encoder signal

S14‧‧‧Sensor signal

S15‧‧‧Sensor composite signal

S16‧‧‧Sensor discrimination signal

S17‧‧‧Composite signal

S141a to S141c‧‧‧Acceleration sensor signal (sensor signal)

S142‧‧‧Pressure sensor signal (sensor signal)

S143‧‧‧Microphone signal (sensor signal)

S200‧‧‧Data

ST101 to ST107, ST201 to ST207, ST301 to ST307‧‧‧Steps

Figure 1 is a schematic configuration diagram of a servo system according to Embodiment 1 of the present invention.

Figure 2 is a schematic configuration diagram of the sensor hub according to the first embodiment of the present invention.

Figure 3 is a schematic configuration diagram of the sensor hub according to the first embodiment of the present invention.

4(a) and (b) are schematic diagrams showing an example of the structure of a data frame generated by the sensor hub of Embodiment 1 of the present invention.

Fig. 5 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention.

Fig. 6 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention.

Figure 7 is a schematic configuration diagram of a servo system according to Embodiment 2 of the present invention.

Fig. 8 is a schematic configuration diagram of a sensor hub according to Embodiment 3 of the present invention.

FIG. 9 is a schematic diagram showing an example of the structure of a data frame generated by the sensor hub of Embodiment 3 of the present invention.

Figure 10 is a schematic configuration diagram of a servo system according to Embodiment 4 of the present invention.

Figure 11 is a flowchart showing the steps of introducing a sensor hub into a servo system according to the fifth embodiment of the present invention.

The servo system according to the embodiment of the present invention will be explained based on the drawings. In the following, a servo system with a single-axis rotary servo motor is taken as an example for description.

Implementation mode 1.

Figure 1 is a schematic configuration diagram of a servo system according to Embodiment 1 of the present invention. As shown in Figure 1, the servo system 100 is equipped with: a motor 10; a controller 11 that generates drive commands for the motor 10; a servo amplifier 12 that drives and controls the motor 10; and an encoder 13 that detects the rotation of the motor 10 The sensor 14, which detects other states not detected by the encoder 13; and the sensor hub 15, which receives the encoder signal S13 output from the encoder 13 and the sensor output from the sensor 14 Detector signal S14, and sent to the servo amplifier 12. Here, the sensor 14 detects the state of the motor 10 or the periphery of the motor 10.

The motor 10 and the servo amplifier 12 are connected to each other via a power connection line C3 in order to supply current to the armature of the motor 10. The servo amplifier 12 adjusts the supplied current to control the drive of the motor 10 in accordance with the drive command from the controller 11 and the encoder signal S13 and the sensor signal S14 sent from the sensor hub 15.

Figure 2 is a schematic configuration diagram of the sensor hub according to the first embodiment of the present invention. As shown in Figure 2, the sensor hub 15 has: a first connection portion 15a (hereinafter referred to as the encoder connection portion) connected to the encoder 13; a second connection portion 15b (hereinafter referred to as the sensor connection Part), which is connected to the sensor connection line C4 with one end connected to the sensor 14; and the third connection part 15c (hereinafter referred to as the amplifier connection part), which is connected to the communication connection line C2 with one end connected to the servo amplifier 12 .

The encoder connecting portion 15a of the sensor hub 15 is, for example, a connector having a plurality of connecting pins for connecting the encoder 13. The encoder 13 has, for example, a connector 13 a formed with a terminal hole corresponding to the connection pin of the encoder connection portion 15 a of the sensor hub 15. The sensor hub 15 and the encoder 13 are detachably connected by fitting the connection pin of the encoder connector 15a of the sensor hub 15 to the terminal hole of the connector 13a of the encoder 13. Here, the encoder connection part 15a of the sensor hub 15 can also be a wiring board printed with a conductive part, and it can be connected by fitting it to the connector 13a of the encoder 13. In addition, the encoder connection portion 15a of the sensor hub 15 and the connector 13a of the encoder 13 can also be connected to each other via a connecting wire.

The sensor connecting portion 15b of the sensor hub 15 is for example provided with A connector for connecting multiple connecting pins of the three sensor connecting wires C4. The shape of the sensor connection portion 15b and the number of connection pins are formed to correspond to the specifications of the connectors C4a, C4b, and C4c of the sensor connection line C4. Here, the number of sensors 14 and sensor connection lines C4 can be appropriately changed. In addition, the connectors C4a, C4b, and C4c of the sensor connection line C4 can also be integrated.

The amplifier connection portion 15c of the sensor hub 15 is, for example, a connector having a terminal hole, and the terminal hole is a connection pin provided in the connector C2a of the communication connection line C2.

Here, the shape, the number of connection pins, and the number of terminal holes of the encoder connector 15a, sensor connector 15b, and amplifier connector 15c included in the sensor hub 15 are not limited to the configuration shown in Figure 2 It can be appropriately changed according to the purpose of the servo system 100. In addition, the encoder connection portion 15a, the sensor connection portion 15b, and the amplifier connection portion 15c can also correspond to the corresponding connectors by changing the connecting pins to terminal holes and the terminal holes to connecting pins.

The sensor hub 15 receives the encoder signal S13 output from the encoder 13 via the encoder connection portion 15a, and receives the sensor signal S14 output from the sensor 14 via the sensor connection portion 15b, and connects The communication connection line C2 to the amplifier connection part 15c is sent to the servo amplifier 12.

The sensor hub 15 responds to commands from the servo amplifier 12, and the sensor discriminating part 153 discriminates the connection status of the sensor 14 connected to the sensor connecting part 15b, and sends the discriminating result to the servo amplifier 12. The connection status of the sensors 14 is, for example, the number of sensors 14 connected to the sensor connection portion 15b, the type of the sensors 14, the number of sensor signals S14, and so on. The connection status of the sensor 14 is, for example, based on the change in the voltage value of the sensor signal S14, and the number of sensor signals S14 detected in a predetermined period is determined by counting.

The servo amplifier 12 receives the determination result, and uses the communication standard setting unit 122 to set the communication standard between the sensor hub 15 and the servo amplifier 12. The sensor hub 15 corresponds to the set communication specification, and the signal processing unit 152 converts the encoder signal S13 and the sensor signal S14 into serial signals. The sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 via the communication connection line C2 connected to the amplifier connection part 15c in accordance with the communication standard set by the communication standard setting part 122.

As described above, the servo system 100 according to the first embodiment of the present invention includes a sensor hub 15 having an encoder connector 15a that is detachably connected to the encoder 13 and is connected via the sensor The line C4 is connected to the sensor connection portion 15b of the sensor 14 and the amplifier connection portion 15c that is connected to the servo amplifier 12 via the communication connection line C2, and the sensor hub 15 is connected via the encoder connection portion 15a, The sensor connection part 15b receives the encoder signal S13 and the sensor signal S14, respectively, and sends them to the servo amplifier 12 via the amplifier connection part 15c and the communication connection line C2.

With the above-mentioned configuration, the sensor hub 15 can be appropriately selected according to the specifications of the connected sensor 14 and the selected sensor hub 15 can be installed on the encoder 13. In this way, even when the sensor 14 with a different specification is reinstalled, the encoder 13 does not need to be replaced, so that it can be used with various sensors 14 instantly.

In addition, the servo system 100 connects the encoder 13 provided on the motor 10 and the sensor connection line C4 connected to the sensor 14 provided on the motor 10 or its periphery to the sensor hub 15. With this configuration, compared to connecting the sensor connection line C4 to the controller 11 or the servo amplifier 12 that is located away from the motor 10, the wiring of the sensor connection line C4 can be more complicated and can be Transmission of sensor signal S14 detected by sensor 14 Feature improvement.

In addition, in the servo system 100, the sensor hub 15 determines the connection status of the sensor 14 connected to the sensor connector 15b, and the servo amplifier 12 sets the servo amplifier 12 and the sensor hub 15 based on the determination result. Communication specifications between. With this configuration, the servo system 100 can instantly read the sensor signal S14 with the servo amplifier 12 when the sensor hub 15 is replaced or when the sensor hub 15 is added or changed.

The controller 11 generates drive commands such as the position and speed pattern of the motor 10 and sends them to the servo amplifier 12. The controller 11 is equipped with a programmable logic controller (Programmable Logic Controller; PLC), a central processing unit (CPU) for driving a motor, a digital signal processor (DSP), a pulse generator, etc. Control the machine.

The controller 11 and the servo amplifier 12 are connected via a network connection line C1. The network connection line C1 is, for example, a general-purpose communication connection line such as a twisted pair Ethernet (registered trademark) connection line and an optical fiber connection line.

The servo amplifier 12 is equipped with: a signal transceiving unit 121 for transmitting and receiving signals with the sensor hub 15; a communication specification setting unit 122 for setting the servo according to the connection status of the sensor 14 determined by the sensor hub 15 The communication specifications between the amplifier 12 and the sensor hub 15; and the parallel conversion unit 123, which converts the serial signal sent from the sensor hub 15 into a parallel signal.

The signal transceiving unit 121, the communication standard setting unit 122, and the parallel conversion unit 123 of the servo amplifier 12 are implemented by, for example, an industrial microcomputer (CPU), an application specific integrated circuit (ASIC), and a programmable logic gate array. (field- Programmable gate array; FPGA), complex programmable logic device (Complex Programmable Logic Device; CPLD) and other large-scale integrated circuits (Large-Scale Integration; LSI) electronic circuits. In addition, the data communication between the signal transmitting and receiving unit 121, the communication standard setting unit 122, and the parallel conversion unit 123 is performed by bus communication, which is through a buffer, not shown, provided in the servo amplifier 12, Memory, etc. to communicate. Either or both of the communication standard setting unit 122 and the parallel conversion unit 123 may also be incorporated in equipment other than the servo amplifier 12.

The servo amplifier 12 and the sensor hub 15 are connected to each other via a communication connection line C2 capable of bidirectional signal transmission and reception. The communication connection line C2 has a connector C2a connected to the amplifier connection portion 15c of the sensor hub 15, and is, for example, a signal line that contains at least one system of digital signals, a signal line for analog signals, and is supplied from the servo amplifier 12. The connection line of the power supply voltage to the power supply line of the sensor hub 15. The signal line and the power line can also be connected by separate cables.

The communication between the servo amplifier 12 and the sensor hub 15 uses serial communication. By using serial communication, the number of signal lines of the communication connection line C2 can be reduced. The communication method may be a half-duplex communication method or a full-duplex communication method, and the communication connection line C2 may include a communication selection line for enabling the sensor hub 15 to recognize the communication method. In addition, in order to transmit signals such as a temperature sensor and an acceleration sensor that are not shown in the encoder 13, a communication line for transmitting signals from the motor 10 to the controller 11 may be included in the communication connection line C2.

The encoder 13 detects the rotation of the motor 10 and sends the detected encoder signal S13 representing the rotation of the motor 10 to the sensor hub 15. The encoder 13 has a signal transceiving unit 131 for sending the encoder signal S13 to the sensor hub 15. The signal transceiving The part 131 is provided with a connector 13 a for connection with the encoder connection part 15 a of the sensor hub 15. The rotation system of the motor 10 detected by the encoder 13 is, for example, the angle, angular velocity, and angular acceleration of the rotating shaft. The encoder 13 is installed in the vicinity of the rotation shaft of the motor 10, for example.

The detection method of the encoder 13 is an absolute type, an incremental type, and the like. The encoder 13 is for outputting the state of the detection circuit of the encoder 13, an alarm when a signal is detected, etc., and may include a detector such as a temperature sensor inside. In addition, the encoder 13 may include, for example, an acceleration sensor internally in order to detect wear and deterioration of the bearing mechanism included in the motor 10, driving reaction force when the motor rotates, and the like. When the encoder 13 also detects other states different from the rotation of the motor 10, its detection results (detection results of the temperature sensor, acceleration sensor, etc. provided in the encoder 13) are sent together with the rotation information of the motor 10 To the sensor hub 15.

The encoder signal S13 is an electrical signal sent by the signal transceiver 131 of the encoder 13 to the sensor hub 15, such as the rotation information of the motor 10 detected by the encoder 13, and the temperature sensing provided by the detection circuit of the encoder 13 The internal information of the encoder 13 and the alarm information of the encoder 13 detected by the encoder.

The sensor 14 detects the state of the detection object different from the rotation of the motor 10 which is the detection object of the encoder 13, and sends a sensor signal S14 indicating the detected state to the sensor hub 15. Regarding the state of the detection target different from the rotation of the motor 10, the sensor 14 detects the temperature, vibration, sound, etc. of the motor 10 or the periphery of the motor 10, for example. The periphery of the motor 10 is, for example, a driven body of the motor 10, a gantry on which the motor 10 is fixed, and objects to be acted upon by the driven body. The object to be acted upon by the driven body is, for example, a part held by a robot arm driven by the motor 10, a workpiece processed by a processing machine driven by the motor 10, and the like. The sensor 14 is, for example, an acceleration sensor, a camera, or the like. In addition to the above, you can also use Use position sensors, speed sensors, pressure sensors, microphones, gyroscope sensors, flow sensors, temperature sensors, illuminance sensors, magnetic sensors, infrared sensors, etc.

The sensor 14 is provided in at least one of the motor 10, the encoder 13, the driven body of the motor 10, the frame where the motor 10 is fixed, and the object to which the driven body acts. In addition, it is also possible to use a jig, a base, etc., to be installed around each of the above. In addition, the sensor 14 can detect the absolute state of the measurement object, and can also detect the relative state.

The sensor signal S14 is an electrical signal sent by the sensor 14 to the sensor hub 15 via the sensor connection line C4. Here, the sensor signal S14 sent and received between the sensor 14 and the sensor hub 15 can be compressed or modulated. The sensor signal S14 sent and received between the sensor 14 and the sensor hub 15 is, for example, a signal including an analog signal or a digital signal transmitted in a single-ended or differential manner, and a ground signal representing a reference of the signal.

The sensor 14 and the sensor hub 15 are connected to each other via a sensor connection line C4. The sensor connection line C4 is at least one communication connection line that transmits the sensor signal S14 output by the sensor 14 to the sensor hub 15. When the sensor 14 outputs a digital signal, the sensor hub 15 and the sensor 14 can be connected in parallel or serially. The number of signal lines can be reduced by using serial communication.

The communication system between the sensor 14 and the sensor hub 15 can be, for example, RS232/422/485 (TIA (Telecommunications Industry Association)/EIA (Electronic Industries Alliance)), Universal Serial Bus (Universal Serial Bus; USB), integrated circuit bus (Inter Integrated Circuit; I2C), serial peripheral interface (Serial Peripheral Interface; SPI), inter-chip audio (Inter IC Sound; I2S), 1-Wire, Ethernet (registered trademark)/IP , 10Base T and other serial communication specifications. The transmission method of serial communication can be synchronous or asynchronous.

The sensor connection line C4 not only has a signal line for transmitting the sensor signal S14 output by the sensor 14 to the sensor hub 15, but also a power line for supplying power from the sensor hub 15 to the sensor 14 . When the sensor connection line C4 has multiple signal lines and power lines, it can also be bundled and covered by polyvinyl chloride (PVC) lines, shielded lines, etc., and part or all of it can be integrated into a composite communication connection line . When using a microphone and a camera as the sensor 14, the audio signal of the microphone and the video signal of the camera can also be connected via a High-Definition Multimedia Interface (HDMI) (registered trademark) cable to minimize the transmission difference Transition Minimized Differential Signaling (TMDS) and other transmission methods are sent simultaneously.

In addition, when the sensor 14 capable of wirelessly transmitting the sensor signal S14 is used, a wireless base station such as a wireless sensor network (Wireless Sensor Networks; WSN) can also be set on the sensor hub 15 to receive the sensor. The signal S14 is then sent to the signal transceiver 121 of the servo amplifier 12 via the communication connection line C2. As a result, compared to installing a base station in the controller 11 or the servo amplifier 12, the transmission distance of radio waves can be shortened, and the communication delay, reliability, etc. can be improved.

Figure 3 is a diagram showing the schematic configuration of the sensor hub according to the first embodiment of the present invention. The sensor hub 15 is equipped with: a signal transceiving unit 151 which transmits and receives signals to the encoder 13, the sensor 14 and the servo amplifier 12; a signal processing unit 152 which processes the transmitted and received signals; and a sensor discrimination unit 153 , Is to determine the connection status of the sensor 14.

The signal processing unit 152 includes an AD conversion unit 152a, which converts an analog signal into a digital signal, and a serial conversion unit 152b, which converts a parallel signal into a serial signal. The serial conversion unit 152b is based on the serial communication set by the communication specification setting unit 122 of the servo amplifier 12 The structure of the signal data frame converts the sensor signal S14 into a serial signal. The sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 in serial communication of two different systems, for example.

Here, the serial conversion unit 152b can also combine the encoder signal S13 and the sensor signal S14 into a serial signal, which is transmitted to the servo amplifier 12 in a system of serial communication. In addition, when a plurality of sensors 14 are connected, the serial conversion unit 152b can also combine the plurality of sensor signals S14 into a serial signal, which is transmitted to the servo amplifier 12 through serial communication of a system. By adopting a system of serial communication, the number of signal lines between the servo amplifier 12 and the sensor hub 15 can be reduced.

In addition, the serial conversion unit 152b may also subsample the sensor signal S14 and convert it into a signal with a different period from the sampling period of the sensor signal S14, and may also remove redundant data in order to suppress the amount of data. In addition, the sensor hub 15 can also add alarm information such as a communication alarm signal and a power alarm signal generated when a communication error or power error is detected to the serial signal, and the surrounding temperature of the sensor hub 15 Diagnostic information such as operating time is added to the serial signal.

The sensor discrimination unit 153 discriminates the connection status of the sensors 14, such as the number of sensors 14, the types of sensors 14, and the number of sensor signals S14, based on the voltage value of the sensor signal S14, and The determination result is output to the signal transceiving unit 151 of the sensor hub 15.

The signal processing unit 152 of the sensor hub 15 is realized by an electronic circuit including an LSI such as an analog circuit, a packaged integrated circuit, an industrial microcomputer (CPU), ASIC, FPGA, and CPLD. The signal processing unit 152 may also include filter processing means and buffer processing means (not shown) in order to remove noise and improve communication accuracy. Wait. In addition, when there are many types and numbers of sensor signals S14 in the analog format for AD conversion, the signal processing unit 152 may include a multiplexer and a switch IC.

4(a) and (b) are diagrams showing an example of the structure of a serial communication data frame generated by the serial conversion unit of the sensor hub according to Embodiment 1 of the present invention. Figure 4 (a) and (b) are the data frames of the encoder signal S13 and the sensor signal S14, respectively. As shown in Figs. 4(a) and (b), the encoder signal S13 and the sensor signal S14 are transmitted in serial communication of two different systems, for example.

The data frame of serial communication is composed of, for example, a header, a data field, and a footer. The header is an area that transmits alarm information related to the operating state of the encoder 13 or the sensor 14 and communication specifications such as bit rate. The header is the area where the error detection code is sent, and the servo amplifier 12 detects errors such as transmission path noise accompanying data transmission based on this. In terms of error detection methods, parity, check sum, cyclic redundancy check, etc. can be used.

The data field is the area where the framed encoder signal S13 or sensor signal S14 is sent. The signal consists of start bit, data bit, and parity bit , Stop bit (stop bit) and so on. As shown in Figure 4(b), when the sensor 14 is, for example, an acceleration sensor and a pressure sensor, the data fields are three of the X-axis, Y-axis, and Z-axis directions output by the acceleration sensor. The acceleration sensor signals S141a to S141c and the pressure sensor signal S142 output by the pressure sensor are combined to form a composite structure.

Next, the operation of the servo system 100 when setting the communication specifications between the servo amplifier 12 and the sensor hub 15 will be described. Fig. 5 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention. Below, the sensor signal S14 from the sensor 14 The case of outputting to the sensor hub 15 in an analog form will be described.

The servo amplifier 12 sends a discrimination request signal S03 requesting discrimination by the sensor 14 to the sensor hub 15 (ST101). The sensor hub 15 receives the sensor signal S14 from the sensor 14 (ST102). The sensor hub 15 uses the AD converter 152a to convert the received sensor signal S14 in analog form into a digital signal in a predetermined period (ST103). The period during which AD conversion is performed is set to, for example, the shortest update period of serial communication that can be performed by the servo amplifier 12 or the sensor hub 15.

The sensor hub 15 uses the serial conversion unit 152b to convert the sensor signal S14 into a serial signal (ST104). The sensor hub 15 uses the sensor discriminating unit 153 to discriminate the number of sensor signals S14 based on the change in the voltage value of the sensor signal S14 (ST105). For example, when the voltage of the sensor signal S14 is greater or smaller than the threshold value for a certain period of time, it is deemed that the sensor signal S14 is received and the number of the sensor signal S14 is determined.

The sensor hub 15 transmits the number of sensor signals S14 discriminated by the sensor discriminating unit 153 as the sensor discriminating signal S16 to the servo amplifier 12 (ST106).

The communication standard setting unit 122 of the servo amplifier 12 sets the communication standard between the servo amplifier 12 and the sensor hub 15 based on the sensor discrimination signal S16 (ST107). The communication specification setting unit 122 sets a data frame of serial communication between the servo amplifier 12 and the sensor hub 15. The data frame set by the communication specification setting unit 122 corresponds to the number of sensor signals S14, the type of sensor signal S14, the data size of the sensor signal S14, the sending order of the sensor signal S14, and the sensor The communication method between 14 and the sensor hub 15 is determined.

The servo system 100 is capable of responding to ST101 to ST107 The sensor 14 connected to the sensor hub 15 sets the communication specifications between the sensor hub 15 and the servo amplifier 12. Thereby, it is possible to optimize the update cycle, communication speed, and communication data volume of serial communication corresponding to the sensor 14 connected to the sensor connector 15b of the sensor hub 15.

The ST101 to ST107 series can also be implemented by omitting a part or replacing a part of the order. For example, the sensor signal S14 in the parallel form converted into a digital signal by the AD conversion unit 152a may be sent to the sensor discrimination unit 153 without passing through the serial conversion unit 152b. In addition, the number of sensor signals S14 discriminated by the sensor discriminating unit 153 and the communication specifications between the servo amplifier 12 and the sensor hub 15 can also be stored in the sensor hub 15 which is not shown. The recording circuit. The stored content is called during the operation of the servo system 100, and the operations of steps ST101 to ST107 can be omitted.

Next, based on FIG. 6, the operation of transmitting the signals detected by the encoder 13 and the sensor 14 to the servo amplifier 12 via the sensor hub 15 according to the communication specifications set by ST101 to ST107 will be described. Fig. 6 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention. Hereinafter, the case where the encoder signal S13 detected by the encoder 13 is converted into a serial signal inside the encoder 13 and serial communication is performed between the encoder 13 and the sensor hub 15 will be described.

The servo amplifier 12 sends a first communication request signal S01 to the sensor hub 15 (ST201), and the first communication request signal S01 requests a response under the communication standard set in ST101 to ST107. The first communication request signal S01 specifies communication specifications such as the bit rate, communication frequency band, and refresh cycle between the servo amplifier 12 and the sensor hub 15, and requests a response from the encoder signal S13 or the sensor signal S14.

The sensor hub 15 generates a second communication request signal S02 requesting a response from the encoder 13 in accordance with the first communication request signal S01 in accordance with the set communication standard, and sends it to the encoder 13 (ST202). The second communication request signal S02 specifies communication specifications such as the bit rate, communication frequency band, and update cycle between the encoder 13 and the sensor hub 15, and requests the encoder 13 to respond to the encoder signal S13. The encoder 13 transmits the encoder signal S13 to the sensor hub 15 according to the communication standard specified by the second communication request signal S02 (ST203).

The sensor hub 15 receives the sensor signal S14 from the sensor 14, and converts it into a digital signal by the AD conversion unit 152a (ST204). The serial conversion unit 152b performs serial conversion on the sensor signal S14 in accordance with the communication standard specified by the first communication request signal S01. The serial conversion unit 152b corresponds to, for example, a composite request signal S04 that requests a composite of a plurality of sensor signals S14 generated based on the first communication request signal S01 received by the signal transceiver unit 151 of the sensor hub 15, and A plurality of sensor signals S14 are combined into a serial signal and output as a sensor composite signal S15 (ST205).

The sensor hub 15 sends the encoder signal S13 and the sensor composite signal S15, for example, through serial communication of two different systems, to the servo amplifier 12 (ST206).

The servo amplifier 12 uses the parallel conversion unit 123 to separate the sensor composite signal S15 into parallel signals, and obtains the encoder signal S13 and the sensor signal S14 (ST207). At this time, the sensor composite signal S15 may also include the sensor discrimination signal S16, so that the sensor composite signal S15 can be separated by the parallel conversion unit 123 of the servo amplifier 12.

By executing ST201 to ST207, the servo system 100 can obtain an encoder signal according to the communication standard set by the communication standard setting section 122 of the servo amplifier 12 S13 and sensor signal S14.

ST201 to ST207 can also be implemented by omitting a part or changing the order of a part. The communication method of the serial signal is not limited to the synchronous type. The communication mode of the serial signal can be either half-duplex or full-duplex. In addition, various request signals may also contain clock signals for synchronous communication. In addition, the second communication request signal S02 is a signal whose necessity, content, etc. are changed according to the motor 10 and the encoder 13. Depending on the type of the motor 10 and the encoder 13, the second communication request signal S02 may not be used.

As described above, the servo system 100 according to the first embodiment of the present invention includes a sensor hub 15 that is detachably connected to the encoder 13, and the encoder signal S13 and the sensor signal S14 are sent to the encoder via the sensor hub 15 Servo amplifier 12. With this configuration, the sensor hub 15 can be appropriately selected according to the specifications of the sensor 14 and the encoder 13 can be connected. In this way, it is possible to control the driving of the motor 10 using information from various sensors 14.

In addition, in the servo system 100, the sensor discriminating unit 153 of the sensor hub 15 discriminates the connection status of the sensor 14, and the communication specification setting unit 122 of the servo amplifier 12 sets the servo amplifier 12 and the sensor hub based on the discriminating result. 15 communication specifications between. With this configuration, the servo system 100 can instantly read the sensor signal S14 with the servo amplifier 12 when the sensor hub 15 is replaced or when the sensor hub 15 is added or changed. In addition, the servo system 100 can optimize the update cycle, communication speed, and communication data volume of the serial communication between the sensor hub 15 and the servo amplifier 12.

In addition, it is preferable that the encoder connection portion 15a of the sensor hub 15 has the same shape and the same pin arrangement as the connector C2a of the communication connection line C2. In addition, the amplifier connection portion 15c of the sensor hub 15 is preferably connected to the connector 13a of the encoder 13 They are of the same shape and configured with the same pin configuration.

With the configuration as described above, the sensor hub 15 can be used during the establishment and maintenance of the servo system 100, and during operation, the sensor hub 15 used can be removed and the connector C2a of the communication cable C2 can be connected To encoder 13.

In addition, the servo system 100 is preferably configured to supply power from the servo amplifier 12 to the sensor hub 15, the encoder 13 and the sensor 14. The power supplied from the servo amplifier 12 is sent to the sensor hub 15 via the power supply line of the communication connection line C2 in the form of a power signal, and is supplied to the unshown circuit board and the sensor of the encoder 13 via the sensor hub 15器14.

With the above configuration, the sensor hub 15 can obtain power from the servo amplifier 12, and the sensor hub 15 can be easily replaced.

Here, the power signal includes, for example, a positive (+) or negative (-) wire and a ground wire. The electric power signal transmitted by the electric power system can be either a DC signal or an AC signal. In addition, the sensor hub 15 may include a step-up or step-down circuit in order to increase the types of power lines supplied to the sensor 14. Thereby, the number of sensors 14 connected to the sensor hub 15 can be increased. In addition, in order to avoid being affected by voltage fluctuations of the servo amplifier 12, the device power supply, etc., a battery may be mounted on the sensor hub 15. When the supply power of the servo amplifier 12 is insufficient or the supply voltage fluctuates greatly, power may be supplied from outside the sensor hub 15 to any one of the sensor hub 15, the encoder 13 and the sensor 14, or Plural.

In addition, the sensor hub 15 is preferably configured to limit the specifications of the sensor 14 to which one sensor hub 15 can correspond, and the sensor hub 15 is suitable to be replaced corresponding to the specifications of the sensor 14. Therefore, compared to being configured as a sensor hub 15 corresponding to various types In the case of the sensor 14 like this, it is not necessary to make the hardware and software redundant, and it is possible to suppress the board size, setting data, etc. of the sensor hub 15.

In addition, Figure 1 shows an example in which the sensor hub 15 is mounted to the motor 10 from the upper side in the vertical direction. However, if the sensor hub 15 is arranged around the encoder 13 and it is easy to secure a space, electromagnetic compatibility (Electromagnetic Compatibility; EMC) just wait for a good place. In addition, the sensor hub 15 may divide the circuit board, structure, etc. into two or more parts. For example, the encoder connection part 15a and the signal processing part 152 may be connected via a connection line.

Implementation form 2.

Based on Fig. 7, the servo system 100 for implementing the second embodiment of the present invention will be described. Here, the description overlapping with the servo system 100 of the first embodiment is appropriately simplified or omitted. In Figure 7, the same reference numerals as in the first embodiment represent the same or equivalent parts. The servo system 100 of the present embodiment is provided with a sensor hub 15 that can connect to a sensor 14b that outputs a digital signal in a serial format in addition to the sensor 14 that outputs an analog signal.

Figure 7 is a schematic configuration diagram of a servo system according to Embodiment 2 of the present invention. The sensor hub 15 has an encoder connection portion 15a, a sensor connection portion 15b, and an amplifier connection portion 15c, and the encoder connection portion 15a is connected to the encoder 13 in a detachable manner. In addition, the sensor connection portion 15b of the sensor hub 15 is connected to three sensors 14 outputting analog signals and a sensor outputting digital signals in serial form, for example, via a sensor connection line C4.器14b. The number of sensors 14, 14b and sensor connection lines C4 is not limited to the above but Can be changed appropriately.

The sensor 14b is, for example, a microphone, and sends a monophonic sound signal to the sensor hub 15 as a sensor signal S14b in tandem. The sensor 14b communicates with the sensor hub 15 in the form of I2S, for example. At this time, the sensor connection line C4 is a transmission line containing a serial clock (Serial Clock; SCLK) signal, a word clock (WDCLK) signal, and a serial data (Serial Data; SD) signal.

The signal processing unit 152 of the sensor hub 15 is provided with a serial interface (I/F) 152c that converts the SD signal sent from the sensor 14b in the I2S format into a voltage value. The sensor signal S14b converted into a voltage value by the serial interface 152c is output to the sensor discriminating unit 153, which discriminates the number of sensors 14, 14b, the types of sensors 14, 14b, and the sensor signal S14, The number of S14b and the connection status of the sensors 14, 14b.

When setting the communication specifications between the sensor 14b and the sensor hub 15, the servo amplifier 12 transmits the third communication request signal S05 of various serial communication methods corresponding to the sensor hub 15 via the sensor hub 15. Sequentially sent to the sensor 14b.

The third communication request signal S05 specifies the bit rate, communication frequency band, update cycle and other communication specifications between the sensor 14b corresponding to the sensor hub 15 and the sensor hub 15, and requests a response from the sensor signal S14b . For example, if it is to confirm whether the sensor 14b can respond in the I2S mode, the servo amplifier 12 sends the WDCLK signal and the SCLK signal to confirm whether the response specified in the I2S communication standard can be obtained at a predetermined timing. Thereby, the communication standard between the sensor hub 15 and the sensor 14b can be set.

In addition to I2S, the communication form between the sensor hub 15 and the sensor 14b can adopt RS232/422/485 (TIA/EIA), USB (Universal Serial Bus), Serial communication specifications such as I2C (Inter Integrated Circuit), SPI (Serial Peripheral Interface), 1-Wire, Ethernet/IP (registered trademark), 10Base T, etc. The transmission method of serial communication is either synchronous or asynchronous. The serial interface 152c can also be realized by a Universal Asynchronous Receiver/Transmitter (UART) and a transceiver IC of an industrial microcomputer.

The communication specification setting unit 122 of the servo amplifier 12 sets the connection between the sensor hub 15 and the servo amplifier 12 according to the connection status of the sensors 14, 14b determined by the sensor discriminating unit 153 of the sensor hub 15 Communication specifications between. The sensor hub 15 corresponds to the set communication specifications, and connects the encoder signal S13 sent via the encoder connection part 15a and the sensor signals S14 and S14b sent via the sensor connection part 15b to The communication connection line C2 of the amplifier connection part 15c is sent to the servo amplifier 12.

As described above, the servo system 100 according to the second embodiment of the present invention includes a sensor hub 15 which has an encoder connector 15a that is detachably connected to the encoder 13; The encoder connector 15b is capable of connecting to the sensor 14b that outputs in tandem; and the amplifier connector 15c is connected to the communication cable that transmits the encoder signal S13 and the sensor signals S14, S14b to the servo amplifier 12 C2; According to the specifications of the sensor 14, the sensor hub 15 is appropriately selected to be installed on the encoder 13, and it can correspond to various sensors 14.

In addition, even when the sensor 14b and the sensor hub 15 transmit and receive signals through serial communication, the sensor discriminating unit 153 can still discriminate the connection status of the sensors 14, 14b and set the servo corresponding to the discriminating result. The communication specifications of serial communication between the amplifier 12 and the sensor hub 15 can be used to adjust the serial communication update cycle, communication speed, and communication data. The amount is optimized.

In addition, the specification of the serial communication method between the sensor 14b and the sensor hub 15 may also be limited. Thereby, the types of serial communication ports provided in the sensor connection portion 15b can be reduced, and the sensor hub 15 can be reduced in size and cost.

Implementation mode 3.

Based on Fig. 8 and Fig. 9, the servo system 100 of the third embodiment for implementing the present invention will be described. Here, the description overlapping with the servo system 100 of the first embodiment is appropriately simplified or omitted. In Figs. 8 and 9, the same reference numerals as in the first embodiment represent the same or equivalent parts. In contrast to the servo system 100 of the first embodiment, the encoder signal S13 and the sensor signal S14 are configured to communicate in a serial format of two different systems. The servo system 100 of this embodiment is configured to communicate the encoder signal S13 is compounded with the sensor signal S14 to communicate in a serial form of a system.

Fig. 8 is a schematic configuration diagram of a sensor hub according to Embodiment 3 of the present invention. As shown in Figure 8, the sensor hub 15 has: an encoder connector 15a, which is detachably connected to the encoder 13; a sensor connector 15b, which is connected to one end of the sensor 14 The sensor connection line C4 is connected; and the amplifier connection portion 15c is connected to the communication connection line C2 connected to the servo amplifier 12 at one end.

The signal processing unit 152 of the sensor hub 15 receives the encoder signal S13 in addition to the sensor signal S14. The signal transceiving unit 151 of the sensor hub 15 corresponds to the structure of the data frame of the serial signal specified by the first communication request signal S01, and generates a composite request requesting the combination of the encoder signal S13 and the sensor signal S14 Signal S04. Serial to serial The switching unit 152b combines the encoder signal S13 and the sensor signal S14 into a serial signal corresponding to the composite request signal S04 and outputs it as a composite signal S17. The sensor hub 15 sends the composite signal S17 to the servo amplifier 12 through a system of serial communication.

As an example, a case where the encoder signal S13 of 2 bytes and the sensor signal S14 of 5 bytes are combined and sent from the sensor hub 15 to the servo amplifier 12 will be described. Here, the sensor 14 adopts an acceleration sensor, a pressure sensor and a microphone.

The sensor signal S14 is the acceleration sensor signals S141a to S141c, the pressure sensor signal S142, and the microphone signal S143 in the X-axis, Y-axis, and Z-axis directions of the digital data belonging to a 1-byte group, respectively. Here, the data size of the encoder signal S13 and the sensor signals S141a to S141c, S142, S143, the number of sensors 14, the structure of the data frame of serial communication, etc. can be changed as appropriate.

The communication standard setting unit 122 of the servo amplifier 12 transmits the first communication request signal S01 to the serial line when the number of sensor signals S14 received by the signal processing unit 152 is five based on the sensor discrimination signal S16. Conversion unit 152b. The first communication request signal S01 is related to the structure of a data frame used to simultaneously transmit a 2-byte encoder signal S13 and a 5-byte sensor signal S14 through serial communication of a system. News.

The data amount of serial communication that can be sent with respect to one update is 5 bytes, and the total data amount of the encoder signal S13 and the sensor signals S141a, S141b, S141c, S142, and S143 is 7 bytes.

At this time, the data to be sent is divided, down-sampled, compressed, etc. in each update cycle. For example, the serial conversion unit 152b of the sensor hub 15 performs the encoder signal S13 With either or both of the sensor signals S14, in each update cycle of the serial communication between the servo amplifier 12 and the sensor hub 15, a signal processing of dividing the data is performed.

Figure 9 is an example of the structure of a serial communication data frame generated by the serial conversion unit. As shown in Fig. 9, the communication specification setting unit 122 of the servo amplifier 12 sends the following instruction to the serial conversion unit 152b of the sensor hub 15 to generate an encoder signal S13 required for rotation control of the motor 10 It is a data frame that is sent every time and the sensor signals S141a to S141c, S142, and S143 are sent in an update cycle every two times. The serial conversion unit 152b generates the data frame shown in FIG. 9 according to the instruction, adds the data frame to the data column of the serial communication, and sends it.

Here, an example is shown in which the sensor hub 15 divides the data in each update period, but it is also possible to perform down-sampling of data on either or both of the encoder signal S13 and the sensor signal S14 Signal processing. In addition, the sensor hub 15 can also perform signal processing to compress data on either or both of the encoder signal S13 and the sensor signal S14.

In addition, the data S200 that is missing when the data is subsampled, compressed, etc. may be added as additional information. In Figure 9, in an even-numbered update cycle, the data S200 is added to a data frame (1 byte) for the amount of traffic.

In addition, in order to reduce the amount of data sent by the sensor hub 15, the characteristic amount of the encoder signal S13 or the sensor signal S14 may be extracted and sent to the servo amplifier 12. For example, the sensor hub 15 may also perform signal processing of converting data in the time domain to data in the frequency domain on either or both of the encoder signal S13 and the sensor signal S14.

As mentioned above, the servo system 100 according to the third embodiment of the present invention will sense The hub 15 is configured to be attachable to and detachable from the encoder 13, the hub 15 can be appropriately selected according to the specifications of the sensor 14, and the encoder 13 can be connected, so that it can correspond to various sensors 14. In addition, in the servo system 100, the sensor hub 15 generates a composite signal S17 that is a composite of the encoder signal S13 and the sensor signal S14, which can be sent to the servo amplifier 12 through a system of serial communication to achieve Wiring-saving of the signal line of the communication connection line C2.

In addition, the sensor hub 15 performs signal processing such as data segmentation, data downsampling, and compression on the encoder signal S13 and the sensor signal S14 in each update cycle, so that even if the amount of data is more than one time When the amount of serial communication data that can be sent by the update is large, the encoder signal S13 and the sensor signal S14 can still be sent.

Implementation mode 4.

Based on Fig. 10, a servo system 100 for implementing the fourth embodiment of the present invention will be described. Here, the description overlapping with the servo system 100 of the first embodiment is appropriately simplified or omitted. In Fig. 10, the same reference numerals as in the first embodiment represent the same or equivalent parts. The servo system 100 of the present embodiment includes a higher-level processing device 101 that issues a command for the drive sequence of the servo system 100 based on the execution plan of the entire industrial device including the servo system 100.

The upper processing device 101 includes, for example, the cloud, edge computer, industrial computer (Industrial Personal Computer; IPC), manufacturing execution system (Manufacturing Execution System; MES), etc., for the purpose of centralized management of the entire system Control device for industrial equipment.

The upper processing device 101 is connected to the controller 11 by a network connection line C0 capable of bidirectional signal transmission and reception. The servo system 100 is equipped with an upper processing device 101, which controls The device 11 issues instructions for the drive timing of the motor 10, and can control the rotation of the motor 10 in accordance with the execution plan of the entire industrial device.

In addition, the higher-level processing device 101 analyzes the sensor signal S14 from the sensor 14 to diagnose the age-related deterioration of industrial equipment, etc., and can implement various devices used in the servo system 100, the driven body of the motor 10, etc. Preventive maintenance, planned maintenance, etc.

For example, in an existing servo system 100 that operates by directly connecting the encoder 13 and the servo amplifier 12 through a predetermined communication connection line, it can be configured to use its existing communication connection line as the communication shown in Fig. 10 The connection line C2 connects the sensor hub 15 between the existing communication connection line and the encoder 13, and the upper processing device 101 responds to the sensor signal from the sensor 14 connected to the sensor hub 15 S14 is used to diagnose industrial devices.

The servo system 100 can also be configured to replace the existing sensor hub 15 when the sensor hub 15 is already connected and the existing sensor hub 15 cannot connect to or recognize the new sensor 14 A new sensor hub 15 capable of connecting or identifying the sensor 14 is formed. If the diagnosis is temporary, the replaced sensor hub 15 can be replaced with the original sensor hub 15 after the diagnosis, and the drive of the motor 10 can also be maintained using the replaced sensor hub 15 control. The sensor hub 15 used for diagnosis may send the encoder signal S13 from the encoder 13 to the upper processing device 101 for diagnosis, and the encoder signal S13 may not be used for diagnosis.

In addition, the sensor hub 15 may not be provided with the encoder connection portion 15a and the diagnosis may be performed in a state where the sensor hub 15 is not connected to the encoder 13. When the replaced sensor hub 15 is also used for driving control of the motor 10, the sensor hub 15 is provided with the function of sending the encoder signal S13 from the encoder 13 to the servo amplifier 12.

Implementation mode 5.

Hereinafter, an embodiment of a method of connecting the sensor hub 15 to the servo system 100 and diagnosing industrial devices will be described. Figure 11 is a flowchart showing the steps of introducing a sensor hub into a servo system according to the fifth embodiment of the present invention. The following describes a case where a sensor hub 15 is added to an existing servo system 100 to which the servo amplifier 12 and the encoder 13 are connected.

The user of the servo system 100 turns off the power of the servo amplifier 12 to install the sensor hub 15 and removes the connector C2a of the communication cable C2 from the connector 13a of the encoder 13 (ST301).

The user of the servo system 100 connects the sensor hub 15 to the servo amplifier 12, the encoder 13, and the sensor 14 respectively (ST302). The user of the servo system 100 connects the connector C2a of the communication cable C2 to the amplifier connection portion 15c of the sensor hub 15 to thereby connect the servo amplifier 12 and the sensor hub 15. In addition, the user of the servo system 100 connects the encoder connector 15 a to the connector 13 a of the encoder 13, thereby installing the sensor hub 15 to the encoder 13. The user of the servo system 100 connects the connector C4a of the sensor cable C4 to the sensor connector 15b, thereby connecting the sensor 14 and the sensor hub 15. Here, the order of installation work can also be changed.

The user of the servo system 100 confirms that there is no wiring error among the servo amplifier 12, the encoder 13, the sensor 14, and the sensor hub 15 by visual inspection and a tester (ST303).

The user of the servo system 100 turns on the power of the servo amplifier 12, and supplies power from the servo amplifier 12 to the sensor hub 15, the encoder 13, and the sensor 14 (ST304). The user of the servo system 100 confirms to the sensor hub 15, editing by visual inspection, a tester, etc. The power supply of the encoder 13 and the sensor 14 is normal (ST305).

In order to make it easier to confirm that the power is normally supplied, the sensor hub 15 series can also use industrial microcomputers and other computing circuits to monitor changes in the power supply voltage. By turning on or off the indicator light provided by the sensor hub 15 or the servo amplifier 12, Or a buzzer sound, etc. to notify the power alarm. When the sensor hub 15 outputs a power alarm, an external power source may also be used for the sensor 14 or the sensor hub 15 added to the servo system 100.

In addition, when the power supply from the servo amplifier 12 to the sensor hub 15 or the sensor 14 cannot be performed normally, it can be replaced with a sensor 14 or a sensor hub 15 with different operating voltage and current specifications. Power supply. When the sensor 14 or the sensor hub 15 is replaced, the system returns (ST302).

When the power supply to the sensor hub 15 is normal, the sensor discriminating part 153 of the sensor hub 15 discriminates the connection status of the sensor 14 connected to the sensor connector 15b, and the servo amplifier 12 is set by the servo amplifier 12 Communication specifications between the sensor hub 15 (ST306). The sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 and the upper processing device 101 in accordance with the set communication standard (ST307). The detailed operations of (ST306) and (ST307) are the same as those of (ST101) to (ST107) and (ST201) to (ST207) in the first embodiment, so they are omitted.

By executing ST301 to ST307, the encoder signal S13 and the sensor signal S14 are sent to the servo amplifier 12 and the upper processing device 101, and the industrial devices including the servo system 100 can be used for drive control, preventive maintenance, etc. diagnosis. The diagnostic method of the industrial device using the sensor hub 15 of the fifth embodiment of the present invention is capable of using the existing motor 10, communication connection line C2, and encoder 13 by adding or replacing the sensor hub 15, so The sensor 14 can be easily added to the servo system 100.

(ST301) to (ST307) can also be implemented by omitting part of them and reversing the order of part of them. In addition, the present embodiment shows a method of adding the sensor hub 15 to the existing servo system 100, but when the servo system 100 is newly installed, the sensor hub 15 may be incorporated into the servo system 100.

In addition, in the first to fifth embodiments, the motor 10 is described with a single-shaft rotary motor as an example, but it is not limited to a rotary motor, and it can also be used to drive the mover in a translational direction relative to the stator Linear motor.

In addition, a plurality of constituent elements disclosed in Embodiment 1 to Embodiment 4 may be appropriately combined without departing from the scope of the present invention.

10‧‧‧Motor

11‧‧‧Controller

12‧‧‧Servo amplifier

13‧‧‧Encoder

13a、C2a‧‧‧Connector

14‧‧‧Sensor

15‧‧‧Sensor Hub

15a‧‧‧Encoder connector (1st connector)

15b‧‧‧Sensor connection part (2nd connection part)

15c‧‧‧Amplifier connection part (3rd connection part)

100‧‧‧Servo system

121, 131, 151‧‧‧ Signal Transceiver

122‧‧‧Communication Specification Setting Section

123‧‧‧Parallel Conversion

152‧‧‧Signal Processing Department

153‧‧‧Sensor Discrimination Unit

C1‧‧‧Network cable

C2‧‧‧Communication cable

C3‧‧‧Power cable

C4‧‧‧Sensor cable

Claims (14)

A servo system is provided with: a motor; an encoder to detect the rotation of the aforementioned motor; a sensor hub with a first connection part, a second connection part, a third connection part and a sensor discrimination part, the first The connecting portion is detachably connected to the encoder, the second connecting portion is connected to a sensor that detects a state different from the aforementioned rotation, and the third connecting portion is connected to the encoder via the first connecting portion. The encoder signal output from the encoder and the sensor signal output from the sensor via the second connection part are connected to a communication connection line, and the sensor discrimination part is based on the sensor signal The voltage value is used to determine the connection status of the sensor connected to the second connection part; and the servo amplifier is based on the encoder signal, the sensor signal and the signal sent from the controller via the communication connection line. The drive command controls the drive of the aforementioned motor. The servo system described in claim 1, wherein the sensor hub transmits the connection status determined by the sensor determination unit to the servo amplifier via the communication connection line. The servo system described in item 1 or item 2 of the scope of patent application, wherein the communication connection line is provided with a connector connected to the third connection portion of the sensor hub, and the encoder is provided to be removable Is connected to the connector of the first connection part of the sensor hub, and the connector of the communication connection line can be connected to the connector of the encoder. Such as the servo system described in item 1 or item 2 of the scope of patent application, where the former The sensor hub includes a signal processing unit that converts at least any one of the encoder signal and the sensor signal into a serial signal. The servo system described in claim 3, wherein the sensor hub is provided with a signal processing unit that converts at least any one of the encoder signal and the sensor signal into a serial signal. The servo system described in item 1 or item 2 of the scope of patent application, wherein the servo amplifier is equipped with the servo amplifier according to the connection status of the sensor connected to the second connection part of the sensor hub. The communication standard setting part of the communication standard between the amplifier and the aforementioned sensor hub. The servo system described in claim 3, wherein the servo amplifier is provided with setting the servo amplifier and the sensor according to the connection status of the sensor connected to the second connection part of the sensor hub The communication standard setting part of the communication standard between the measuring device hub. The servo system described in claim 4, wherein the servo amplifier is provided with setting the servo amplifier and the sensor according to the connection status of the sensor connected to the second connection part of the sensor hub The communication standard setting part of the communication standard between the measuring device hub. A sensor hub is provided with: a first connection part that is detachably connected to an encoder that detects the rotation of the motor; a second connection part that is connected to a sensor that detects a state different from the aforementioned rotation ; And the third connection portion is at least one of the encoder signal output from the encoder via the first connection portion and the sensor signal output from the sensor via the second connection portion Any one is connected to the communication connection line of the servo amplifier that controls the drive of the motor; and the connection status of the sensor connected to the second connection part is determined based on the voltage value of the sensor signal. The sensor hub described in claim 9, wherein the connection status of the sensor is sent to the servo amplifier via the communication connection line. The sensor hub described in item 9 or item 10 of the scope of the patent application is equipped with a signal processing unit that converts the encoder signal and the sensor signal into a serial signal, and is connected to the aforementioned The communication standard set by the connection status of the sensor of the second connection part sends the sensor signal to the servo amplifier. A diagnostic method for an industrial device that includes a servo system. In the servo system, an encoder that detects the rotation of a motor and a servo amplifier that supplies current to the motor is provided with a device that can be connected to the encoder The communication connection line of the connector is connected in a detachable manner. The servo amplifier adjusts the current supplied to the motor based on the detection signal of the encoder sent via the communication connection line for drive control; The diagnostic method of the device includes the following steps: between the communication connection line and the encoder, the encoder is connected to the sensor hub having the first connection part, the second connection part, and the third connection part. The first connection part; the step of connecting a sensor that detects a state different from the rotation of the motor to the second connection part; and connecting the connector of the communication cable to the third connection part; via The aforementioned sensor hub and the aforementioned communication cable connect the aforementioned detection of the aforementioned encoder The step of sending a signal from the encoder to the servo amplifier; according to the voltage value of the detection signal of the sensor, the connection status of the sensor connected to the second connection part is determined, and the determined connection The step of sending the status to the aforementioned servo amplifier; the step of sending the detection signal of the aforementioned sensor from the aforementioned sensor to the aforementioned servo amplifier via the aforementioned sensor hub and the aforementioned communication connection line; and the aforementioned detection according to the aforementioned encoder The signal and the detection signal of the sensor are used to diagnose the steps of the industrial device. The diagnostic method of an industrial device described in claim 12, wherein the determined connection status is sent to the servo amplifier via the communication connection line. The diagnostic method of an industrial device as described in item 12 or item 13 of the scope of patent application includes the aforementioned servo amplifier system for the aforementioned sensor hub, based on the aforementioned connection of the aforementioned sensor connected to the aforementioned second connector Under the circumstances, the procedure for setting the communication specifications between the servo amplifier and the sensor hub.

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