WO2006126429A1 - Servo amplifier, and its overload protecting method - Google Patents

Servo amplifier, and its overload protecting method Download PDF

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Publication number
WO2006126429A1
WO2006126429A1 PCT/JP2006/309790 JP2006309790W WO2006126429A1 WO 2006126429 A1 WO2006126429 A1 WO 2006126429A1 JP 2006309790 W JP2006309790 W JP 2006309790W WO 2006126429 A1 WO2006126429 A1 WO 2006126429A1
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WIPO (PCT)
Prior art keywords
overload
unit
calculation unit
ratio
servo motor
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PCT/JP2006/309790
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French (fr)
Japanese (ja)
Inventor
Akira Sasaki
Original Assignee
Kabushiki Kaisha Yaskawa Denki
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Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Publication of WO2006126429A1 publication Critical patent/WO2006126429A1/en

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Classifications

    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03F—AMPLIFIERS
    • H03F1/00—Details of amplifiers with only discharge tubes, only semiconductor devices or only unspecified devices as amplifying elements
    • H03F1/52—Circuit arrangements for protecting such amplifiers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions

Definitions

  • the present invention relates to an overload protection method such as an inverter or a servo amplifier.
  • 1 is a high-order command section
  • 2 is a servo amplifier
  • 3 is a servo motor.
  • the servo amplifier 2 includes an overload protection unit 21, a control unit 22, and an acceleration adjustment unit 24.
  • the overload protection unit 21 further includes a parameter storage unit 211, a load measurement unit 215, and a load comparison unit 216.
  • the meter storage unit 211 stores the overload threshold parameter
  • the load measurement unit 215 measures the load of the servo motor 3.
  • the load comparison unit 216 is a part that compares the load measured by the load measurement unit 215 with the overload threshold parameter.
  • the threshold parameter of the overload alarm level L1 and the threshold parameter of the control level L2 lower than this are set in the parameter storage means 211, and the load when the servo motor 3 is driven is set.
  • the servo warning is notified to the upper command unit 1, and the acceleration of the servo motor 3 is reduced by the difference between the load and the threshold parameter.
  • the servo alarm is notified to the upper command unit 1 and the servo motor 3 is stopped.
  • Patent Document 2 JP 2002-323915 A (Page 3-4, Fig. 1)
  • Patent Document 3 Japanese Patent Laid-Open No. 10-15629 (Page 3-4, Fig. 2)
  • the present invention has been made in view of such a problem, and provides a servo amplifier capable of monitoring an overload level with respect to an overload alarm threshold and preventing an abnormal stop of the system due to an overload alarm. With the goal.
  • the present invention is configured as follows.
  • the invention according to claim 1 is a servo comprising: a control unit that controls a power semiconductor element and drives a servo motor; and an overload protection unit that includes a parameter storage unit that stores a threshold parameter relating to a load applied to the servo motor.
  • the amplifier is provided with a current command unit that gives a current command to the servo motor at a subsequent stage of the control unit, and the overload protection unit calculates and accumulates an overload of the servo motor.
  • An overload comparison calculation unit that compares the threshold parameter and the result calculated by the cumulative overload calculation unit, and calculates an overload ratio from the threshold parameter and the result calculated by the cumulative overload calculation unit.
  • An overload ratio calculation unit is provided.
  • the invention according to claim 2 includes a control unit that controls the power semiconductor element and drives the servo motor, and an overload protection unit that includes a parameter storage unit that stores a threshold parameter related to a load applied to the servo motor.
  • an overload protection method for a servo amplifier provided with a current command unit force provided at a subsequent stage of the control unit, a current command is given to the servo motor.
  • the overload of the servo motor is cumulatively calculated by the cumulative overload calculation unit provided in the overload protection unit, and the threshold parameter and the result calculated by the cumulative overload calculation unit are provided in the subsequent stage.
  • the comparison operation unit compares the threshold parameters and the resultant force calculated by the cumulative overload calculation unit.
  • the overload ratio calculation unit provided at the subsequent stage calculates the overload ratio.
  • the overload comparison calculation unit compares all the overload threshold parameters set for each servo motor.
  • the invention according to claim 4 displays the result because the overload ratio calculation has the highest ratio among all ratio results compared by the overload comparison calculation unit.
  • the invention according to claim 5 displays the attribute so that the overload threshold parameter compared with all the ratio results of the overload ratio calculation compared by the overload comparison calculation unit is divided. Is.
  • overload levels can be monitored for all overload threshold parameters of servo motors and servo amplifiers, and when overload occurs in a short time such as instantaneous overload. This also prevents the system from being stopped due to an overload alarm.
  • the overload ratio is the highest among the overload levels for all overload threshold parameters, the result can be monitored, and the time can be monitored for a short time such as instantaneous overload. Even in the event of overload, it is possible to prevent the system from being stopped due to an overload alarm.
  • FIG. 1 is a block diagram of a servo amplifier showing a first embodiment of the present invention.
  • FIG. 2 is a graph showing the overload detection time with respect to the current command value in the second embodiment of the present invention.
  • FIG. 3 is a block diagram showing a conventional servo amplifier.
  • FIG. 1 is a block diagram of a servo amplifier showing a first embodiment of the present invention.
  • the overload protection unit 21 includes a parameter storage unit 211, a cumulative overload calculation unit 212. , An overload comparison calculation unit 213 and an overload ratio calculation unit 214.
  • the other symbols are the same as in the prior art, so explanations are omitted.
  • the control unit 22 and the current command unit 23 perform numerical control of the servo amplifier 2, and process the command received from the upper command unit 1 to control the servo motor 3 connected as the control target. Become.
  • the part where the present invention is different from Patent Document 1 is a part provided with an overload ratio calculation unit.
  • the overload protection unit 21 of the servo amplifier 2 uses the current command value to calculate the overload, the cumulative overload calculation unit 212, and the threshold parameter related to the overload of the servo motor 3 and servo amplifier 2.
  • the parameter storage unit 211 and the cumulative overload calculation unit 212 for storing the result and the threshold value parameter stored in the parameter storage unit 211 and compared to the overload comparison calculation unit 213 for outputting an overload alarm
  • An overload ratio calculation unit 214 is provided that calculates a use ratio between the result calculated by the overload calculation unit 212 and the threshold parameter stored in the parameter storage unit 211.
  • the parameter storage unit 211 of this embodiment stores the overload threshold values of the servo motor 3 and the servo amplifier 2 as parameters.
  • the cumulative overload calculation unit 212 reads the command current value from the current command unit 23 and performs a cumulative overload calculation to time-integrate the difference from the overload base current.
  • the overload comparison calculation unit 213 performs the overload calculation. Compare the threshold parameter and the accumulated overload calculation value, and if the accumulated overload calculation value is larger than the overload threshold parameter, the overload alarm signal is transmitted to the host command unit 1 and the servo amplifier 2 is stopped. It has become.
  • the cumulative overload calculation value calculated by the cumulative overload calculation unit 212 and the parameter storage unit 211 are stored, and the ratio calculation is performed using the overload threshold parameter. In the ratio calculation, the accumulated overload calculation value is divided by the overload threshold parameter, and is transmitted to the upper command unit 1 as the overload ratio.
  • the overload comparison calculation unit 213 compares the overload threshold parameter with the cumulative overload calculation value, and if the cumulative overload calculation value is greater than the overload threshold parameter, In addition to transmitting the overload alarm signal to the upper command section 1, the servo amplifier 2 is stopped. In parallel with this, the ratio between the overload threshold parameter and the cumulative overload calculation value is calculated and transmitted to the host command unit 1 as the overload ratio.
  • the overload ratio in the state before the calculated value exceeds the overload threshold parameter and the overload alarm state occurs can be known, and the margin until the overload alarm is reached. For example, the command speed can be increased / decreased and adjusted from the upper command section 1 according to the value of the overload ratio. Can be prevented.
  • FIG. 2 is a graph showing overload detection of the servo amplifier 2 according to the second embodiment of the present invention.
  • the overload detection curve 4 of the servo amplifier 2 and the overload detection curve 5 of the servo motor indicate that the overload threshold parameter stored in the parameter storage unit 211 described in the first embodiment is the current command value and the overload threshold parameter. This is expressed as an overload curve indicated by the load detection time.
  • the method for calculating the overload ratio is the same as that in the first embodiment, and is therefore omitted.
  • the overload operation time of servo amplifier 2 overload detection curve 4 and servo motor overload detection curve 5 is reversed before and after the current command value Ic.
  • the overload ratio is calculated for each overload alarm level of the servo motor 3 and the servo amplifier 2, and the calculated value and the attribute with the larger ratio are displayed to the upper command section 1. It is supposed to show. For this reason, even if the overload detection curves of servo motor 3 and servo amplifier 2 change before and after the current command value, it is possible to know the overload ratio with a small margin for the alarm level. Also, you can tell from the attribute display whether the servo motor 3 or servo amplifier 2 has less margin. For example, if the servo motor 3 can know information such as the temperature of the servo amplifier 2, a command that takes temperature characteristics into account can be sent.
  • overload ratio can be controlled to keep below a certain value, and the system can be prevented from being stopped due to an overload alarm. Even if there are two or more overload detection curves for servo amplifier 2 and servomotor 3, overload ratio calculation can be performed for all of them.
  • the overload ratio can be monitored by the host command section, if the overload ratio pattern during normal operation is stored, it can be applied as an abnormality monitoring means for the overload ratio pattern variation force system.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

An overload state of an acting system can be monitored to keep a constant overload state and to prevent an abnormal stop of the system due to an overload alarm. A servo-amplifier (2) comprises a control unit (22) for controlling a power semiconductor element to drive a servomotor (3), and an overload protection unit (21) including a parameter storage unit (211) for storing a threshold parameter on a load to be applied to the servomotor (3). A current command unit (23) for feeding a current command to the servomotor is disposed at the back stage of the control unit (22). The overload protection unit (21) includes an accumulation overload calculation unit (212) for calculating and accumulating the overload of the servomotor (3), an overload comparison calculation unit (213) for comparing the threshold parameter and the result calculated by the accumulation overload operation unit, and an overload ratio calculation unit (214) for calculating an overload ratio from the threshold parameter and the result calculated by the accumulation overload operation unit.

Description

サーボアンプおよびその過負荷保護方法  Servo amplifier and overload protection method thereof
技術分野  Technical field
[0001] 本発明は、インバータゃサーボアンプなどの過負荷保護方法に関するものである。  The present invention relates to an overload protection method such as an inverter or a servo amplifier.
背景技術  Background art
[0002] 従来のサーボアンプなどの過負荷保護方式として、過負荷アラームレベル L1より低 V、制御レベル L2を設定し、監視トルク値が制御レベル L2に達した場合にサーボコン トローラへの送り速度指令値を低下させる方式が提案されている（たとえば、特許文 献 1参照)。これにより、切削中のチップ磨耗によって軸負荷が重くなつた場合に、直 ちにシステムを異常停止させることがない。また、負荷トルクと閾値パラメータとを比較 し、これを超えると指令速度を制御して調整するものがある（例えば、特許文献 2参照 )。さらに、過負荷の直前状態を過負荷カウンタにより検知しサーボワーニングと共に 異常指令処理するものもある (例えば、特許文献 2参照)。  [0002] As a conventional overload protection method for servo amplifiers, etc., set V lower than overload alarm level L1 and control level L2, and when the monitored torque value reaches control level L2, feed speed command to the servo controller A method of decreasing the value has been proposed (for example, see Patent Document 1). This prevents the system from being abnormally stopped immediately when the shaft load becomes heavy due to chip wear during cutting. In addition, there is one that compares the load torque with a threshold parameter and controls and adjusts the command speed when the load torque is exceeded (see, for example, Patent Document 2). In addition, there is an apparatus that detects a state immediately before an overload by an overload counter and performs an abnormality command process together with a servo warning (see, for example, Patent Document 2).
これら従来の過負荷保護方式を図 3のブロック図に示す。  These conventional overload protection methods are shown in the block diagram of FIG.
図において、 1は上位指令部、 2はサーボアンプ、 3はサーボモータである。サーボ アンプ 2は、過負荷保護部 21、制御部 22および加速度調整部 24からなり、過負荷 保護部 21は、さらにパラメータ記憶部 211、負荷測定部 215、負荷比較部 216から なる。ノ メータ記憶部 211は、過負荷閾値パラメータを記憶しておく部分であり、負 荷測定部 215は、サーボモータ 3の負荷を測定する。負荷比較部 216は、負荷測定 部 215により測定した負荷と過負荷閾値パラメータとを比較する部分である。  In the figure, 1 is a high-order command section, 2 is a servo amplifier, and 3 is a servo motor. The servo amplifier 2 includes an overload protection unit 21, a control unit 22, and an acceleration adjustment unit 24. The overload protection unit 21 further includes a parameter storage unit 211, a load measurement unit 215, and a load comparison unit 216. The meter storage unit 211 stores the overload threshold parameter, and the load measurement unit 215 measures the load of the servo motor 3. The load comparison unit 216 is a part that compares the load measured by the load measurement unit 215 with the overload threshold parameter.
このような従来の過負荷保護方式は、パラメータ記憶手段 211に過負荷アラームレ ベル L1の閾値パラメータとこれより低い制御レベル L2の閾値パラメータを設定してお り、サーボモータ 3を駆動した時の負荷が制御レベル L2の閾値パラメータに達すると サーボワーニングを上位指令部 1に知らせるとともに、サーボモータ 3の加速度を負 荷と閾値パラメータとの差分だけ減少させるようになつている。また、負荷が過負荷ァ ラームレベル L1の閾値パラメータに達するとサーボアラームを上位指令部 1に知らせ るとともに、サーボモータ 3を停止するようになって 、る。 特許文献 1：特開平 6 - 226587号公報 (第 2— 3頁、図 1) In such a conventional overload protection method, the threshold parameter of the overload alarm level L1 and the threshold parameter of the control level L2 lower than this are set in the parameter storage means 211, and the load when the servo motor 3 is driven is set. When reaches the threshold parameter of control level L2, the servo warning is notified to the upper command unit 1, and the acceleration of the servo motor 3 is reduced by the difference between the load and the threshold parameter. When the load reaches the threshold parameter of the overload alarm level L1, the servo alarm is notified to the upper command unit 1 and the servo motor 3 is stopped. Patent Document 1: Japanese Patent Laid-Open No. 6-226587 (Page 2-3, Fig. 1)
特許文献 2 :特開 2002— 323915号公報 (第 3— 4頁、図 1)  Patent Document 2: JP 2002-323915 A (Page 3-4, Fig. 1)
特許文献 3 :特開平 10— 15629号公報 (第 3— 4頁、図 2)  Patent Document 3: Japanese Patent Laid-Open No. 10-15629 (Page 3-4, Fig. 2)
発明の開示  Disclosure of the invention
発明が解決しょうとする課題  Problems to be solved by the invention
[0003] ところが、従来の過負荷保護方式では、過負荷アラームより低い第二の閾値を設け て異常処理を実施するため、閾値前後の状態を知ることができないために瞬時過負 荷のような短時間で過負荷に至る場合には第二の閾値を超えてしまう可能性があり システムを安全に停止させることは難しい。また、閾値前後の状態を知ることができな V、ために過負荷レベルがアラームに対してどの程度余裕があるのかわ力もな ヽと 、う 問題があった。 [0003] However, in the conventional overload protection method, a second threshold value lower than that of the overload alarm is set to perform anomaly processing, and the state before and after the threshold value cannot be known. If overload is reached in a short time, the second threshold may be exceeded, making it difficult to stop the system safely. In addition, because V cannot know the state before and after the threshold value, there is a problem that the overload level is not good enough for the alarm.
本発明はこのような問題を鑑みてなされたものであり、過負荷アラーム閾値に対して 過負荷レベルをモニターすることができ、過負荷アラームによるシステムの異常停止 を防止できるサーボアンプを提供することを目的とする。  The present invention has been made in view of such a problem, and provides a servo amplifier capable of monitoring an overload level with respect to an overload alarm threshold and preventing an abnormal stop of the system due to an overload alarm. With the goal.
課題を解決するための手段  Means for solving the problem
[0004] 上記問題を解決するため、本発明は次のように構成したものである。 In order to solve the above problem, the present invention is configured as follows.
請求項 1記載の発明は、電力用半導体素子を制御しサーボモータを駆動する制御 部と、前記サーボモータに与える負荷に関する閾値パラメータを記憶するパラメータ 記憶部を含む過負荷保護部とを備えたサーボアンプにぉ 、て、前記制御部の後段 に、前記サーボモータに電流指令を与える電流指令部を設け、前記過負荷保護部 は、前記サーボモータの過負荷を演算し累積する累積過負荷演算部と、前記閾値パ ラメータと前記累積過負荷演算部で算出した結果とを比較する過負荷比較演算部と 、前記閾値パラメータと前記累積過負荷演算部で演算した結果から過負荷比率を計 算する過負荷比率計算部とを設けたものである。  The invention according to claim 1 is a servo comprising: a control unit that controls a power semiconductor element and drives a servo motor; and an overload protection unit that includes a parameter storage unit that stores a threshold parameter relating to a load applied to the servo motor. The amplifier is provided with a current command unit that gives a current command to the servo motor at a subsequent stage of the control unit, and the overload protection unit calculates and accumulates an overload of the servo motor. An overload comparison calculation unit that compares the threshold parameter and the result calculated by the cumulative overload calculation unit, and calculates an overload ratio from the threshold parameter and the result calculated by the cumulative overload calculation unit. An overload ratio calculation unit is provided.
請求項 2に記載の発明は、電力用半導体素子を制御しサーボモータを駆動する制 御部と、前記サーボモータに与える負荷に関する閾値パラメータを記憶するパラメ一 タ記憶部を含む過負荷保護部とを備えたサーボアンプの過負荷保護方法において 、前記制御部の後段に設けた電流指令部力 前記サーボモータに電流指令を与え 、前記過負荷保護部に設けた累積過負荷演算部により前記サーボモータの過負荷 を累積演算し、前記閾値パラメータと前記累積過負荷演算部で算出した結果とをそ の後段に設けた過負荷比較演算部により比較し、前記閾値パラメータと前記累積過 負荷演算部で演算した結果力 その後段に設けた過負荷比率計算部により過負荷 比率を計算するものである。 The invention according to claim 2 includes a control unit that controls the power semiconductor element and drives the servo motor, and an overload protection unit that includes a parameter storage unit that stores a threshold parameter related to a load applied to the servo motor. In the overload protection method for a servo amplifier provided with a current command unit force provided at a subsequent stage of the control unit, a current command is given to the servo motor. The overload of the servo motor is cumulatively calculated by the cumulative overload calculation unit provided in the overload protection unit, and the threshold parameter and the result calculated by the cumulative overload calculation unit are provided in the subsequent stage. The comparison operation unit compares the threshold parameters and the resultant force calculated by the cumulative overload calculation unit. The overload ratio calculation unit provided at the subsequent stage calculates the overload ratio.
請求項 3に記載の発明は、前記過負荷比較演算部がサーボモータ毎に設定されて いる前記過負荷閾値パラメータ全てに対して比較するものである。  According to a third aspect of the present invention, the overload comparison calculation unit compares all the overload threshold parameters set for each servo motor.
請求項 4に記載の発明は、前記過負荷比率演算が前記過負荷比較演算部にて比 較した全ての比率結果の中で比率が最も高!、結果を表示するものである。  The invention according to claim 4 displays the result because the overload ratio calculation has the highest ratio among all ratio results compared by the overload comparison calculation unit.
請求項 5に記載の発明は、前記過負荷比率演算が前記過負荷比較演算部にて比 較した全ての比率結果に対して、比較した過負荷閾値パラメータが分力るように属性 を表示するものである。  The invention according to claim 5 displays the attribute so that the overload threshold parameter compared with all the ratio results of the overload ratio calculation compared by the overload comparison calculation unit is divided. Is.
発明の効果 The invention's effect
請求項 1、 2に記載の発明によると、過負荷閾値パラメータに対しての過負荷レベル をモニターすることができ、過負荷レベルに対して過負荷に至るまでのマージンを知 ることができるため、サーボアラームによるシステムの停止を防止することができる。 請求項 3に記載の発明によると、サーボモータおよびサーボアンプの過負荷閾値パ ラメータの全てに過負荷レベルをモニターすることができ、瞬時過負荷のように短時 間で過負荷に至る場合にも過負荷アラームによるシステムの停止を防止することがで きる。  According to the first and second aspects of the invention, it is possible to monitor the overload level with respect to the overload threshold parameter, and to know the margin for overload with respect to the overload level. System stop due to servo alarm can be prevented. According to the invention described in claim 3, overload levels can be monitored for all overload threshold parameters of servo motors and servo amplifiers, and when overload occurs in a short time such as instantaneous overload. This also prevents the system from being stopped due to an overload alarm.
請求項 4に記載の発明によると、過負荷閾値パラメータ全てに対しての過負荷レべ ルのなかで最も過負荷比率が高 、結果をモニターすることができ、瞬時過負荷のよう に短時間で過負荷に至る場合にも過負荷アラームによるシステムの停止を防止する ことができる。  According to the invention described in claim 4, the overload ratio is the highest among the overload levels for all overload threshold parameters, the result can be monitored, and the time can be monitored for a short time such as instantaneous overload. Even in the event of overload, it is possible to prevent the system from being stopped due to an overload alarm.
請求項 5に記載の発明によると、サーボモータおよびサーボアンプの過負荷閾値パ ラメータの全ての比較結果に対して、どのパラメータと比較したかが判る属性をモニタ 一することができ、例えばサーボアンプやサーボモータの温度情報を知ることができ れば温度特性を考慮した指令を送ることもできるために、過負荷比率を特定の値以 下に維持するようにコントロールができ、過負荷アラームによるシステムの停止を防止 することができる。 According to the invention described in claim 5, it is possible to monitor the attribute that indicates which parameter is compared with all the comparison results of the overload threshold parameter of the servo motor and the servo amplifier. If the temperature information of the servo motor and servo motor can be known, it is possible to send a command that takes temperature characteristics into account. The system can be controlled to maintain below, and the system can be prevented from being stopped by an overload alarm.
図面の簡単な説明  Brief Description of Drawings
[0006] [図 1]本発明の第 1実施例を示すサーボアンプのブロック図  FIG. 1 is a block diagram of a servo amplifier showing a first embodiment of the present invention.
[図 2]本発明の第 2実施例の電流指令値に対する過負荷検出時間を示すグラフ [図 3]従来のサーボアンプを示すブロック図  FIG. 2 is a graph showing the overload detection time with respect to the current command value in the second embodiment of the present invention. FIG. 3 is a block diagram showing a conventional servo amplifier.
符号の説明  Explanation of symbols
[0007] 1 上位指令部 [0007] 1 High-order command section
2 サーボアンプ  2 Servo amplifier
21 過負荷保護部  21 Overload protection section
211 パラメータ記憶部  211 Parameter storage
212 累積過負荷演算部  212 Cumulative overload calculator
213 過負荷比較演算部  213 Overload comparison calculator
214 過負荷比率計算部  214 Overload ratio calculator
215 負荷測定部  215 Load measurement section
216 負荷比較部  216 Load comparator
22 制御部  22 Control unit
23 電流指令部  23 Current command section
24 加速度調整部  24 Acceleration adjuster
3 サーボモータ  3 Servo motor
4 サーボアンプの過負荷検出曲線  4 Servo amplifier overload detection curve
5 サーボモータの過負荷検出曲線  5 Servo motor overload detection curve
発明を実施するための最良の形態  BEST MODE FOR CARRYING OUT THE INVENTION
[0008] 以下、本発明の実施の形態について図面を用いて説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
実施例 1  Example 1
[0009] 図 1は本発明の第 1実施例を示すサーボアンプのブロック図である。  FIG. 1 is a block diagram of a servo amplifier showing a first embodiment of the present invention.
図において、過負荷保護部 21は、パラメータ記憶部 211、累積過負荷演算部 212 、過負荷比較演算部 213、過負荷比率計算部 214からなる。他の符号は従来と同じ であるため説明を省略する。 In the figure, the overload protection unit 21 includes a parameter storage unit 211, a cumulative overload calculation unit 212. , An overload comparison calculation unit 213 and an overload ratio calculation unit 214. The other symbols are the same as in the prior art, so explanations are omitted.
制御部 22と電流指令部 23はサーボアンプ 2の数値制御を実施する部分であり、上 位指令部 1から受けた指令を処理して制御対象として接続されているサーボモータ 3 を制御するようになって 、る。  The control unit 22 and the current command unit 23 perform numerical control of the servo amplifier 2, and process the command received from the upper command unit 1 to control the servo motor 3 connected as the control target. Become.
本発明が特許文献 1と異なる部分は、過負荷比率計算部を備えた部分である。 図 1に示すように、サーボアンプ 2の過負荷保護部 21は電流指令値を用いて過負 荷計算を行う累積過負荷演算部 212とサーボモータ 3とサーボアンプ 2の過負荷に 関する閾値パラメータを記憶するパラメータ記憶部 211と累積過負荷演算部 212で 計算した結果とパラメータ記憶部 211で記憶して 、る閾値パラメータとを比較し過負 荷アラームを出力する過負荷比較演算部 213と累積過負荷演算部 212で計算した 結果とパラメータ記憶部 211で記憶している閾値パラメータとの用い比率計算を行う 過負荷比率計算部 214を備えている。  The part where the present invention is different from Patent Document 1 is a part provided with an overload ratio calculation unit. As shown in Fig. 1, the overload protection unit 21 of the servo amplifier 2 uses the current command value to calculate the overload, the cumulative overload calculation unit 212, and the threshold parameter related to the overload of the servo motor 3 and servo amplifier 2. The parameter storage unit 211 and the cumulative overload calculation unit 212 for storing the result and the threshold value parameter stored in the parameter storage unit 211 and compared to the overload comparison calculation unit 213 for outputting an overload alarm An overload ratio calculation unit 214 is provided that calculates a use ratio between the result calculated by the overload calculation unit 212 and the threshold parameter stored in the parameter storage unit 211.
本実施のパラメータ記憶部 211はサーボモータ 3およびサーボアンプ 2の過負荷の 閾値がパラメータとして記憶されている。累積過負荷演算部 212では電流指令部 23 から指令電流値を読み込み過負荷ベース電流との差を時間積算処理する累積過負 荷演算を行っており、過負荷比較演算部 213にて前記過負荷閾値パラメータと累積 過負荷演算値を比較し、累積過負荷演算値が過負荷閾値パラメータより大であれば 、過負荷アラーム信号を上位指令部 1へ伝えるとともに、サーボアンプ 2が停止処理 を行うようになっている。前記停止処理と並行に累積過負荷演算部 212で計算した 累積過負荷演算値とパラメータ記憶部 211に記憶して 、る過負荷閾値パラメータを 用いて比率計算を行う。比率計算は累積過負荷演算値を過負荷閾値パラメータで除 算し、上位指令部 1へ過負荷比率として伝えるようになつている。  The parameter storage unit 211 of this embodiment stores the overload threshold values of the servo motor 3 and the servo amplifier 2 as parameters. The cumulative overload calculation unit 212 reads the command current value from the current command unit 23 and performs a cumulative overload calculation to time-integrate the difference from the overload base current. The overload comparison calculation unit 213 performs the overload calculation. Compare the threshold parameter and the accumulated overload calculation value, and if the accumulated overload calculation value is larger than the overload threshold parameter, the overload alarm signal is transmitted to the host command unit 1 and the servo amplifier 2 is stopped. It has become. In parallel with the stop processing, the cumulative overload calculation value calculated by the cumulative overload calculation unit 212 and the parameter storage unit 211 are stored, and the ratio calculation is performed using the overload threshold parameter. In the ratio calculation, the accumulated overload calculation value is divided by the overload threshold parameter, and is transmitted to the upper command unit 1 as the overload ratio.
この第一実施形態によれば、過負荷比較演算部 213にて前記過負荷閾値パラメ一 タと累積過負荷演算値を比較し、累積過負荷演算値が過負荷閾値パラメータより大 であれば、過負荷アラーム信号を上位指令部 1へ伝えるとともに、サーボアンプ 2を 停止処理する。これと平行に過負荷閾値パラメータと累積過負荷演算値の比率計算 を行い、上位指令部 1へ過負荷比率として伝えるようになっていため、累積過負荷演 算値が過負荷閾値パラメータを超え過負荷アラーム状態となる前の状態における過 負荷比率を知ることができ、過負荷アラームに到達するまでのマージンを知ることが できる。例えば過負荷比率の値により上位指令部 1から指令速度を増減させ調整す ることができるために、過負荷比率を特定の値以下に維持するようにコントロールが でき、過負荷アラームによるシステムの停止を防止することができる。 According to this first embodiment, the overload comparison calculation unit 213 compares the overload threshold parameter with the cumulative overload calculation value, and if the cumulative overload calculation value is greater than the overload threshold parameter, In addition to transmitting the overload alarm signal to the upper command section 1, the servo amplifier 2 is stopped. In parallel with this, the ratio between the overload threshold parameter and the cumulative overload calculation value is calculated and transmitted to the host command unit 1 as the overload ratio. The overload ratio in the state before the calculated value exceeds the overload threshold parameter and the overload alarm state occurs can be known, and the margin until the overload alarm is reached. For example, the command speed can be increased / decreased and adjusted from the upper command section 1 according to the value of the overload ratio. Can be prevented.
実施例 2  Example 2
[0011] 図 2は、本発明の第 2実施例であるサーボアンプ 2の過負荷検出を示すグラフであ る。サーボアンプ 2の過負荷検出曲線 4とサーボモータの過負荷検出曲線 5は、前記 第一の実施例で説明したパラメータ記憶部 211に格納されている過負荷閾値パラメ ータを電流指令値と過負荷検出時間で示される過負荷曲線として表現したものであ る。  FIG. 2 is a graph showing overload detection of the servo amplifier 2 according to the second embodiment of the present invention. The overload detection curve 4 of the servo amplifier 2 and the overload detection curve 5 of the servo motor indicate that the overload threshold parameter stored in the parameter storage unit 211 described in the first embodiment is the current command value and the overload threshold parameter. This is expressed as an overload curve indicated by the load detection time.
ここで、過負荷比率演算の方法については第一の実施例と同じであるため省略す る。図 2において電流指令値 Icの前後でサーボアンプ 2の過負荷検出曲線 4とサーボ モータの過負荷検出曲線 5の過負荷動作時間が逆転するようになって 、る。  Here, the method for calculating the overload ratio is the same as that in the first embodiment, and is therefore omitted. In Fig. 2, the overload operation time of servo amplifier 2 overload detection curve 4 and servo motor overload detection curve 5 is reversed before and after the current command value Ic.
電流指令値 Iより低い電流 I力 ¾秒間続いた場合を説明する。サーボアンプ 2の過 負荷検出曲線 4では過負荷アラームが発生するには 10秒必要となるため、過負荷比 率演算値は 80%となり、サーボモータ 3の過負荷検出曲線 4では過負荷アラームが 発生するには 16秒間必要となるため過負荷比率演算値は 50%となる。この結果、過 負荷比率がより大きなサーボアンプ 2の過負荷比率演算値の 80%とサーボアンプ 2 の過負荷計算属性として 1が上位指令部 1へ表示されるようになっている。  The case where the current I force lower than the current command value I continues for ¾ second will be described. Servo amplifier 2's overload detection curve 4 requires 10 seconds to generate an overload alarm, so the overload ratio calculation value is 80%, and overload detection curve 4 of servo motor 3 has an overload alarm. Since it takes 16 seconds to generate, the overload ratio calculation value is 50%. As a result, 80% of the overload ratio calculation value of servo amplifier 2 with a larger overload ratio and 1 as the overload calculation attribute of servo amplifier 2 are displayed on upper command section 1.
[0012] この第 2実施形態によれば、サーボモータ 3とサーボアンプ 2の過負荷アラームレべ ル毎に過負荷比率を計算し、より大きな比率となる計算値と属性を上位指令部 1へ表 示するようになっている。このため、サーボモータ 3とサーボアンプ 2の過負荷検出曲 線が電流指令値によって前後しても、アラームレベルに対してマージンが少ない過 負荷比率を知ることができる。また、サーボモータ 3かサーボアンプ 2いずれのマージ ンが少ないかも属性表示により知ることができる。例えば、サーボモータ 3ゃサーボア ンプ 2の温度などの情報を知ることができれば、温度特性を考慮した指令を送ることも できる。このため、サーボアンプ 2やサーボモータ 3が温度変化しても過負荷比率を 特定の値以下に維持するようにコントロールができ、過負荷アラームによるシステムの 停止を防止することができる。なおサーボアンプ 2やサーボモータ 3の過負荷検出曲 線はそれぞれ 2つ以上あった場合にも、その全てに対して過負荷比率演算を実施す ることがでさる。 [0012] According to the second embodiment, the overload ratio is calculated for each overload alarm level of the servo motor 3 and the servo amplifier 2, and the calculated value and the attribute with the larger ratio are displayed to the upper command section 1. It is supposed to show. For this reason, even if the overload detection curves of servo motor 3 and servo amplifier 2 change before and after the current command value, it is possible to know the overload ratio with a small margin for the alarm level. Also, you can tell from the attribute display whether the servo motor 3 or servo amplifier 2 has less margin. For example, if the servo motor 3 can know information such as the temperature of the servo amplifier 2, a command that takes temperature characteristics into account can be sent. Therefore, even if the servo amplifier 2 or servo motor 3 changes in temperature, the overload ratio It can be controlled to keep below a certain value, and the system can be prevented from being stopped due to an overload alarm. Even if there are two or more overload detection curves for servo amplifier 2 and servomotor 3, overload ratio calculation can be performed for all of them.
産業上の利用可能性 Industrial applicability
過負荷比率を上位指令部でモニターできるため、正常動作時の過負荷比率パター ンを記憶しておけば、過負荷比率パターンの変化量力 システムの異常監視手段と しても適用できる。  Since the overload ratio can be monitored by the host command section, if the overload ratio pattern during normal operation is stored, it can be applied as an abnormality monitoring means for the overload ratio pattern variation force system.

Claims

請求の範囲 The scope of the claims
[1] 電力用半導体素子を制御しサーボモータを駆動する制御部と、前記サーボモータ に与える負荷に関する閾値パラメータを記憶するパラメータ記憶部を含む過負荷保 護部とを備えたサーボアンプにぉ 、て、  [1] A servo amplifier including a control unit that controls a power semiconductor element and drives a servo motor, and an overload protection unit that includes a parameter storage unit that stores a threshold parameter related to a load applied to the servo motor. And
前記制御部の後段に、前記サーボモータに電流指令を与える電流指令部を設け、 前記過負荷保護部は、前記サーボモータの過負荷を演算し累積する累積過負荷 演算部と、前記閾値パラメータと前記累積過負荷演算部で算出した結果とを比較す る過負荷比較演算部と、前記閾値パラメータと前記累積過負荷演算部で演算した結 果力 過負荷比率を計算する過負荷比率計算部とを設けたことを特徴とするサーボ アンプ。  A current command unit for giving a current command to the servo motor is provided at a subsequent stage of the control unit, and the overload protection unit calculates and accumulates an overload of the servo motor, and the threshold parameter. An overload comparison calculation unit for comparing the result calculated by the cumulative overload calculation unit; an overload ratio calculation unit for calculating the threshold parameter and the resultant force overload ratio calculated by the cumulative overload calculation unit; Servo amplifier characterized by providing.
[2] 電力用半導体素子を制御しサーボモータを駆動する制御部と、前記サーボモータ に与える負荷に関する閾値パラメータを記憶するパラメータ記憶部を含む過負荷保 護部とを備えたサーボアンプの過負荷保護方法にぉ 、て、  [2] An overload of a servo amplifier including a control unit that controls a power semiconductor element and drives a servo motor, and an overload protection unit that includes a parameter storage unit that stores a threshold parameter related to a load applied to the servo motor. Protecting method
前記制御部の後段に設けた電流指令部力 前記サーボモータに電流指令を与え  Current command force provided at the subsequent stage of the control unit Gives a current command to the servo motor
前記過負荷保護部に設けた累積過負荷演算部により前記サーボモータの過負荷 を累積演算し、前記閾値パラメータと前記累積過負荷演算部で算出した結果とをそ の後段に設けた過負荷比較演算部により比較し、前記閾値パラメータと前記累積過 負荷演算部で演算した結果力 その後段に設けた過負荷比率計算部により過負荷 比率を計算することを特徴とするサーボアンプの過負荷保護方法。 The overload of the servo motor is cumulatively calculated by the cumulative overload calculation unit provided in the overload protection unit, and the threshold parameter and the result calculated by the cumulative overload calculation unit are compared in the overload comparison provided in the subsequent stage. A servo amplifier overload protection method characterized in that an overload ratio is calculated by an overload ratio calculation unit provided in a subsequent stage, and the resultant force calculated by the threshold parameter and the cumulative overload calculation unit .
[3] 前記過負荷比較演算部は、前記サーボモータ毎に設定されている前記過負荷閾 値パラメータ全てに対して比較演算することを特徴とする請求項 2記載のサーボアン プの過負荷保護方法。  3. The overload protection method for a servo amplifier according to claim 2, wherein the overload comparison calculation unit performs a comparison calculation for all the overload threshold value parameters set for each servo motor. .
[4] 前記過負荷比率計算部は、前記過負荷比較演算部にて比較した全ての比率結果 の中で比率が最も高!ヽ結果を表示することを特徴とする請求項 2記載のサーボアン プの過負荷保護方法。  [4] The servo amplifier according to claim 2, wherein the overload ratio calculation unit displays a result having the highest ratio among all the ratio results compared by the overload comparison calculation unit. Overload protection method.
[5] 前記過負荷比率演算は、前記過負荷比較演算部にて比較した全ての比率結果に 対して、比較した過負荷閾値パラメータが分力るように属性を表示することを特徴とす る請求項 2記載のサーボアンプの過負荷保護方法。 [5] The overload ratio calculation is characterized in that an attribute is displayed so that the compared overload threshold parameter is divided for all ratio results compared in the overload comparison calculation unit. The overload protection method for a servo amplifier according to claim 2.
PCT/JP2006/309790 2005-05-23 2006-05-17 Servo amplifier, and its overload protecting method WO2006126429A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04372521A (en) * 1991-06-19 1992-12-25 Yaskawa Electric Corp Method of protecting temperature of servo motor
JPH0819939A (en) * 1994-06-30 1996-01-23 Nakamura Tome Precision Ind Co Ltd Monitor for machining load
JPH11122964A (en) * 1997-10-13 1999-04-30 Toshiba Corp Electric motor drive device for paper machine
JP2004357473A (en) * 2003-05-30 2004-12-16 Calsonic Kansei Corp Motor controller

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04372521A (en) * 1991-06-19 1992-12-25 Yaskawa Electric Corp Method of protecting temperature of servo motor
JPH0819939A (en) * 1994-06-30 1996-01-23 Nakamura Tome Precision Ind Co Ltd Monitor for machining load
JPH11122964A (en) * 1997-10-13 1999-04-30 Toshiba Corp Electric motor drive device for paper machine
JP2004357473A (en) * 2003-05-30 2004-12-16 Calsonic Kansei Corp Motor controller

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