M314973 八、新型說明： 【新型所屬之技術領域】 本案與線性馬達有關，更詳而言之，是將模組化的控繼以及線 性馬達整合於一線性馬達平台之方案。 【先前技術】 典型的線性馬達平台100，如第一圖，主要包括底座2、定子3、 、滑塊4、滑軌5、動子6、動子座7、位置回饋系統8。 ❿—典型的伺服控制系統200，如第二圖，包括馬達20，-附屬於該 馬達20的編碼器22。-飼服控制器25與-放大器27獨立於馬達2〇及編 碼器22之外，並藉由複數的傳輸線與馬達2〇和編碼器22連接。該伺服 控制器25備有電源以及接地線，並以有線的方式連接於一台電腦主機 300。该放大斋27備有電源以及接地線。該伺服控制器25及放大器27 彼此之間以輸線套件35予以連接，以便執行指令訊號之傳輸、止停訊 “號之傳輸、錯誤訊號傳輸。編碼器22與伺服控制器25以複數的傳輸線 鲁37連接，該等傳輸線37包括了電源線、接地線以及複數的訊號傳輸線。 該馬達20以及放大器27之間以複數的傳輸線39連接，該等傳輸線39包 括了將霍爾感應器組於馬達20中的電源線、接地線、以及訊號傳輸線。 運動指令（command)由電腦主機300發出，進入上述的伺服控制器 25與馬達20的編碼器22的迴授訊號作比較來獲得一誤差命令，透過控 制法則調整上述放大器27的輸出電流，控制上述的馬達20及上述的平 台100完成所命令的位置、速度。 第二圖所表示的各模組皆為獨立的元件，彼此通訊靠外部接線完 5 M314973 f ’夕卜部接、_佈概胃接的機會提 二線路過長造缝财擾·會增加，這些問職會降低祕的可 ^。而除了這些問題以外’線材成本、人工銲線成本以及維修服務 成本都因接線的複雜性而提昇。 *圖表不線f生傳動平台1〇〇、上述的伺服控制系統細、電 腦主機_之間接線的典型型態。由此更能具體的瞭解外部接線的佈局 及連接是非常複雜的。 【新型内容】 本案之主要目的係在提供-種整合型線性馬達，其係將線性馬達 與伺服控制系合於-侧_，並設置於線性傳動平台，所有的 控制訊號、資料傳輸均透過内部電氣接點完成，而不以外部電路線做 溝通’據以達成降低配線、銲線、維修成本，節省空間，有效降低雜 訊干擾而使鎌系統軸作的可能，提料統的可靠度。 一種整合型線性馬達，包含： -線性傳動平台，霍爾感應H、編碼器、以及線性馬達整合於該 線性傳動平台； -控制器，微處理器、放大器、電源供應器整合於該控制器内； 該控制器耦合在上述的線性傳動平台。 【實施方式】 如第四圖，表示本案整合型線性馬達的系統配置樣態。霍爾感應 器46、編碼器48、以及線性馬達45整合於一線性傳動平台辦。微處 6 M314973 理器50、放大器58、電源供應器55以及比例積分微分型可程式迴路補M314973 VIII. New Description: [New Technology Field] This case is related to linear motors. More specifically, it is a solution for integrating modular control and linear motors into a linear motor platform. [Prior Art] A typical linear motor platform 100, as in the first figure, mainly includes a base 2, a stator 3, a slider 4, a slide rail 5, a mover 6, a mover base 7, and a position feedback system 8. ❿ - A typical servo control system 200, as in the second diagram, includes a motor 20, an encoder 22 attached to the motor 20. The feeding device controller 25 and the amplifier 27 are independent of the motor 2 and the encoder 22, and are connected to the motor 2A and the encoder 22 by a plurality of transmission lines. The servo controller 25 is provided with a power source and a grounding wire, and is connected to a computer host 300 in a wired manner. The amplifier 27 is provided with a power supply and a grounding wire. The servo controller 25 and the amplifier 27 are connected to each other by a power line kit 35 for performing transmission of the command signal, transmission of the stop signal, transmission of the error signal, and transmission of the encoder 22 and the servo controller 25 by a plurality of transmission lines. Lu 37 is connected, and the transmission line 37 includes a power line, a ground line, and a plurality of signal transmission lines. The motor 20 and the amplifier 27 are connected by a plurality of transmission lines 39, and the transmission lines 39 include a Hall sensor grouped on the motor. The power line, the ground line, and the signal transmission line of 20. The motion command is sent by the host computer 300, and enters the servo controller 25 to compare with the feedback signal of the encoder 22 of the motor 20 to obtain an error command. The output current of the amplifier 27 is adjusted by the control law, and the motor 20 and the platform 100 are controlled to complete the commanded position and speed. The modules shown in the second figure are independent components, and the communication is externally connected. 5 M314973 f 'Eve Buddhism, _ 概 概 胃 胃 胃 提 提 提 提 提 提 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路 线路In addition to these problems, 'wire cost, artificial wire cost and maintenance service cost are all increased due to the complexity of the wiring. * Chart not line f drive platform 1 上述, the above servo control system fine, computer host The typical type of wiring between _. It is therefore more complicated to understand the layout and connection of the external wiring. [New content] The main purpose of this case is to provide an integrated linear motor, which is a linear motor. Combined with the servo control system on the - side _, and set on the linear drive platform, all control signals and data transmission are completed through internal electrical contacts, instead of communicating with external circuit lines, according to the reduction of wiring, wire bonding, Maintenance cost, space saving, effectively reduce noise interference and make the system shaft work possible, and improve the reliability of the system. An integrated linear motor, including: - linear drive platform, Hall induction H, encoder, and linear a motor is integrated in the linear drive platform; - a controller, a microprocessor, an amplifier, and a power supply are integrated in the controller; the controller is coupled In the above-described linear transmission platform. [Embodiment] As shown in the fourth figure, the system configuration of the integrated linear motor of the present invention is shown. The Hall sensor 46, the encoder 48, and the linear motor 45 are integrated in a linear transmission platform. Micro 6 M314973 processor 50, amplifier 58, power supply 55 and proportional integral differential programmable circuit
償濾波器（proportional integral derivative filter，簡稱pID filter)53整合於-控·_’該控彻49透過機構設計麵合在上述 的線性傳動平台4G。直流電⑽經由電源輸人單元⑼而提供至該控制 器49，其他諸如RS-232或其他已規格化的信號線路經由通訊蜂 予該控制器49。 ~ 上述電源輸入單元60連接於該控制器49中的放大器58及電源供應 φ 器 55。 忒電源供應為55儲存電源並且提供可供使用的直流電予該控制器 49的其他需電元件。信雜由通鱗62輸人至該微處·5()，以便使 該線性馬達45被啟動。線性馬赖的位置經由該㈣錢||46及編碼 器48量測，並且將位置信號傳送予該微處理器5〇。 ' 經過上述的整合配置，該控制器49以模組化的型態與線性傳動平 -台40結合，該控制器49之控制訊號、資料傳輸均透過硬體電氣接點完 _成，而不以複雜的外部電路線做溝通。 如第五圖，圖中表示線性傳動平台4〇與上述模組化控制器49耦合 設置的具體實施樣態。 表τ、上所陳’本案模組化控制器使伺服系統的外接電路線、電纜線 完全被内部電路及電氣接點所取代，達成降低配線、鲜線、維修成本 之目的。而系統元件數量以及配線事務亦因本案模組化控制器以及與 線性馬達及傳動平台之整合而大幅減少，整體體積變小，可降低雜訊 干擾的可能。另外，控制器、線性馬達及傳動平台之一體化設計，可 M314973 節省機具空間，增益調整、馬達定位及控制精密性及可靠度提昇。 雖然本案是以一個最佳實施例做說明，但精於此技藝者能在不脫 離本案精神與鱗下做各種不_式驗變。以上所舉實施例僅用以 說明本案而已，_嫌制本案之額。舉凡不違本案精神所從 種種修改或變化，俱屬本案申請專利範圍。 、 【圖式簡單說明】 _第-II為-種習知線性馬達平台的分解圖。 第-圖為-種習知線性馬達及其控制器的系統配置圖。 第二圖為習知線性馬達、平台及控的配置實例圖。 第四圖為本案模組化控制器的系統配置圖。 第五圖為本案組組化控制器與習知線性馬達平台整合之實施例圖。 【主要元件符號說明】 _ 100-線性馬達平台 2- 底座 3- 定子 4- 滑塊 5- 滑執 6- 動子 7- 動子座 8- 位置回饋系統 M314973 200-伺服控制系統 20-馬達 22-編碼器 25-伺服控制器 27-放大器 300-電腦主機 35-輸線套件 φ 37-傳輸線 39- 傳輸線 40- 線性傳動平台 45- 線性馬達 46- 霍爾感應器 ，48-編瑪器 -49-控制器 _ 50-微處理器 53-濾波器 5 5-電源供應器 58-放大器 60-電源輸入單元 62-通訊埠A proportional integral derivative filter (pID filter) 53 is integrated in the control unit. The control unit is designed to fit the linear transmission platform 4G described above. The direct current (10) is supplied to the controller 49 via a power input unit (9), and other signal lines such as RS-232 or other normalized signals are fed to the controller 49 via communication. The power supply input unit 60 is connected to the amplifier 58 and the power supply φ 55 in the controller 49. The power supply is 55 storage power and provides available DC power to the other power components of the controller 49. The signal is input from the scale 62 to the minute 5 () so that the linear motor 45 is activated. The position of the linear Malay is measured via the (4) money||46 and the encoder 48, and the position signal is transmitted to the microprocessor 5. After the above integrated configuration, the controller 49 is combined with the linear drive flat-stage 40 in a modular form, and the control signal and data transmission of the controller 49 are completed through the hardware electrical contacts, instead of Communicate with complex external circuit lines. As shown in the fifth figure, the specific embodiment of the linear transmission platform 4〇 coupled with the modular controller 49 is shown. Table τ, 上上陈' The modular controller of this case makes the external circuit line and cable of the servo system completely replaced by internal circuits and electrical contacts, achieving the purpose of reducing wiring, fresh wire and maintenance cost. The number of system components and wiring transactions are also greatly reduced due to the integration of the modular controller and the linear motor and the transmission platform, and the overall volume is reduced, which can reduce the possibility of noise interference. In addition, the integrated design of the controller, linear motor and drive platform can save the machine space, gain adjustment, motor positioning and control precision and reliability. Although this case is illustrated by a preferred embodiment, it is true that those skilled in the art can perform various types of tests without departing from the spirit and scale of the case. The above embodiments are only used to illustrate the case, and the amount of the case is suspected. Any modification or change that does not violate the spirit of the case is the scope of patent application in this case. [Simplified illustration] _第-II is an exploded view of a conventional linear motor platform. The first figure is a system configuration diagram of a conventional linear motor and its controller. The second figure is an example of a conventional linear motor, platform and control configuration. The fourth figure is the system configuration diagram of the modular controller of this case. The fifth figure shows an example of the integration of the grouped controller and the conventional linear motor platform. [Main component symbol description] _ 100-linear motor platform 2 - base 3 - stator 4 - slider 5 - slipper 6 - mover 7 - mover seat 8 - position feedback system M314973 200 - servo control system 20 - motor 22 - Encoder 25 - Servo Controller 27 - Amplifier 300 - Computer Host 35 - Transmission Kit φ 37 - Transmission Line 39 - Transmission Line 40 - Linear Transmission Platform 45 - Linear Motor 46 - Hall Sensor, 48 - Machinist - 49 - Controller_50-Microprocessor 53-Filter 5 5-Power Supply 58-Amplifier 60-Power Input Unit 62-Communication埠