WO2012164740A1 - 多軸モータ駆動システム及び多軸モータ駆動装置 - Google Patents
多軸モータ駆動システム及び多軸モータ駆動装置 Download PDFInfo
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- WO2012164740A1 WO2012164740A1 PCT/JP2011/062791 JP2011062791W WO2012164740A1 WO 2012164740 A1 WO2012164740 A1 WO 2012164740A1 JP 2011062791 W JP2011062791 W JP 2011062791W WO 2012164740 A1 WO2012164740 A1 WO 2012164740A1
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- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/32—Automatic controllers electric with inputs from more than one sensing element; with outputs to more than one correcting element
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/18—Controlling the angular speed together with angular position or phase
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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
Definitions
- Embodiments disclosed herein relate to a multi-axis motor drive system for driving a plurality of encoder-equipped motors and a multi-axis motor drive device provided therein.
- Patent Document 1 describes a full closed loop position control servo driver capable of detecting a signal of a load side position detector and performing full closed loop control.
- This fully closed loop position control servo driver includes a servomotor having at least a rotary encoder, a position control driver for controlling the servomotor, a controller and a linear scale, and position detection signals from the linear scale and speed detection from the rotary encoder A signal is fed back to the position control driver to perform positioning control, and after the positioning is completed, the position control driver outputs a positioning completion signal to the controller.
- the present invention has been made in view of such problems, and an object of the present invention is to provide a multi-axis motor drive system and a multi-axis motor drive device capable of facilitating setup. is there.
- a plurality of motors provided with at least a first detector for detecting a position, a host control device for outputting a motor control command, and the motor control command And a multi-axis motor drive device for driving the plurality of motors, and at least one second detector for detecting a position on the load side of the motor, wherein the multi-axis motor drive device controls the motor Based on a first drive shaft performing semi-closed control based on a command and a first detection position by the first detector, and based on the motor control command and the first detection position and a second detection position by the second detector A second drive shaft performing full-closed control is determined based on the amount of change in the first detection position or the second detection position when the motor in the second drive shaft is driven.
- Multi-axis motor driving system having a control unit is applied.
- setup can be facilitated.
- FIG. 18 is a system configuration diagram conceptually showing a configuration of a multi-axis motor drive system in a modification in which the multi-axis motor drive system has a gantry axis. It is a flowchart showing the control content which an integrated control part performs at the time of setup in the modification which a multi-axis motor drive system has a gantry axis.
- the multi-axis motor drive system 1 of this embodiment includes a plurality of (seven in this example, but only three are shown, and the rest is not shown) rotary motor 100 and motor control.
- the host controller 200 outputs a command
- the multi-axis motor drive device 300 drives each motor 100 based on a motor control command of the host controller 200.
- Each motor 100 detects the brake 101 and the speed (angular velocity) or position (angle) of the rotating shaft, and outputs the detection signal as a feedback pulse to the multi-axis motor drive device 300 (first detector And. Note that the motor may not have the brake 101.
- the detection position by the encoder 102 corresponds to an example of the first detection position described in the claims.
- the multi-axis motor drive device 300 supports the power supply unit 301 to which alternating current power is input, the general control unit 302 that controls communication control with the host control device 200 and the entire multi-axis motor drive device 300, and each motor 100 And a plurality of (in this example, eight) drive units 303 that drive the motor 100 by supplying electric power to the motor 100, and axis control units 304 that control the plurality of drive units 303.
- the overall control unit 302 corresponds to an example of a control unit described in the claims.
- first to eighth driving units 303 are appropriately referred to as first to eighth driving units 303, and motors corresponding to the first to eighth driving units 303 are referred to as first to eighth motors 100.
- first to eighth motors 100 motors corresponding to the first to eighth driving units 303 are referred to as first to eighth motors 100.
- seven first to eighth motors 100 are provided corresponding to the seven driving units 303 other than the third driving unit 303.
- the fourth to seventh motors 100 are not shown in FIG.
- the multi-axis motor drive system 1 further includes a linear scale 400 (second detector) that detects the position on the load side of the motor 100.
- a linear scale 400 (second detector) that detects the position on the load side of the motor 100.
- one linear scale 400 for detecting the position of a load machine (for example, a stage moved by a ball screw) of the eighth motor 100 is provided.
- the linear scale 400 outputs a position detection signal to the multi-axis motor drive device 300 as a feedback signal (for example, a pulse signal, an analog signal, etc.).
- the detection position by the linear scale 400 corresponds to an example of the second detection position described in the claims.
- the multi-axis motor drive device 300 has a relay unit 310 that relays the detection position by the encoder 102 and the linear scale 400 to the general control unit 302.
- the relay portion 310 is configured of a substrate, a module or the like, and is integrally provided in the multi-axis motor drive device 300.
- the relay unit 310 may be configured separately from the multi-axis motor drive device 300.
- the relay unit 310 includes a plurality of (eight in this example) connectors 311 to which the wiring from the encoder 102 and the wiring from the linear scale 400 are connected, and correspond to the first to eighth driving units 303, respectively. doing.
- the connectors 311 corresponding to the first to eighth driving units 303 will be referred to as first to eighth connectors 311, respectively.
- the wiring from the encoder 102 and the wiring from the linear scale 400 may be directly connected to the general control unit 302 without the relay unit 310.
- the wires from the encoders 102 of the first and second motors 100 are connected to the first and second connectors 311, respectively, and the wires from the encoders 102 of the fourth to eighth motors 100 are each fourth To the eighth connector 311.
- the wiring from the linear scale 400 is connected to the third connector 311 corresponding to the third drive unit 303 in which the corresponding motor 100 is not provided.
- relay unit 310 it is possible to arbitrarily set the connection connector position of the wiring from linear scale 400.
- the wiring from the linear scale 400 is connected to the third connector 311 in the example shown in FIG. 1, when the connector position is changed to, for example, the seventh connector 311, seven drives other than the seventh driving unit 303
- the seven first to eighth motors 100 (excluding the seventh motor 100) are connected to the section 303, and the wiring from the encoder 102 of these motors 100 is connected to the first to eighth connectors 311 (seventh connector 311).
- the detection signal of each encoder 102 and the detection signal of the linear scale 400 are input to the general control unit 302 via the relay unit 310.
- the overall control unit 302 performs full-closed control using position feedback from the linear scale 400 for the eighth motor 100 that detects the position on the load side with the linear scale 400 based on the detection signal from the relay unit 310.
- semi-closed control using position feedback from the encoder 102 is performed.
- the eighth motor 100 including the brake 101 and the encoder 102
- the drive shaft of a load machine driven using the eighth motor 100, and the linear scale 400 are the second drive shaft according to the claims.
- the drive shaft of the load machine driven using the motor 100 other than the eighth motor 100 and the motor 100 corresponds to an example of the first drive shaft.
- An engineering tool 500 is connected to the multi-axis motor drive device 300.
- the engineering tool 500 is configured of, for example, a portable handy controller or the like, and a worker can input various commands, data, and the like.
- the general control unit 302 starts the flow shown in FIG. 2 when, for example, the multi-axis motor drive device 300 is powered on.
- motor wiring for each motor 100 (wiring between each drive unit 303 and each motor 100), wiring for the brake 101, and wiring for the encoder 102 (wiring between the encoder 102 and the relay unit 310)
- the wiring of the linear scale 400 (the wiring between the linear scale 400 and the relay unit 310) is assumed to be correctly made by the operator.
- the engineering tool 500 is connected to the multi-axis motor drive device 300 in advance, and the power is assumed to be turned on.
- step S20 in accordance with the selection signal from engineering tool 500, general control unit 302 selects motor 100 in the full-closed control target from among the plurality of motors 100 connected to multi-axis motor drive device 300. .
- the motor performing the fully closed control is the eighth motor 100.
- the selection signal is manually input by the operator via the engineering tool 500.
- the rotation direction of the selected motor 100 may be set together with the motor control command (for example, the position command direction) of the host control device 200 as necessary.
- the general control unit 302 releases the brakes 101 of each motor 100, and then energizes the motor 100 selected in the above step S20 via the axis control unit 304 and the drive unit 303 to perform servo-on. It will be in the state. Further, based on the detection signal from the relay unit 310 at this time, the detection positions of all the encoders 102 connected to the connector 311 of the relay unit 310 and the detection position of the linear scale 400 are predetermined storage units as initial positions ( Store in memory etc.) In the example shown in FIG. 1, since the motor performing the fully closed control is the eighth motor 100, the general control unit 302 energizes the eighth motor 100 to bring it into a servo-on state.
- the servo-on state indicates the positioning control state where the drive amount is zero, that is, the motor 100 selected in step S20 is locked at the position at the start of energization.
- the general control unit 302 outputs a position command of a predetermined drive amount to each axis control unit 304, and the motor 100 selected in step S20 through the drive unit 303 is set to a predetermined amount (for example, 1). / 4 rotation to 1 rotation) drive.
- the general control unit 302 sets parameters for full closed control.
- the overall control unit 302 is a relay unit in which the detection position has changed by a predetermined amount based on a detection signal from the relay unit 310 when the motor 100 in the full-closed control target is driven by a predetermined amount in step S40.
- the position of the connector 310 is identified, and the connector 311 is determined to be a connector to which the wiring from the linear scale 400 is connected. That is, in the example shown in FIG. 1, the third connector 311 is determined to be a connector to which the wiring from the linear scale 400 is connected.
- the general control unit 302 detects the position detected by the linear scale 400 when the motor 100 in the fully closed loop control target is driven by a predetermined amount in step S40 and the corresponding encoder 102 (eighth in the example shown in FIG. Based on the position detected by the encoder 102) of the motor 100, the correspondence between the rotational direction of the motor 100 (eighth motor 100 in the example shown in FIG. 1) and the moving direction of the load machine is set.
- the general control unit 302 sets the movement amount LSP by the linear scale 400 and the movement amount EP by the encoder 102 when the motor 100 in the full-closed control target is driven by a predetermined amount in step S40 and the initial position stored in step S30.
- the number of pulses LSPo of the linear scale 400 per unit drive amount (for example, one rotation) of the motor 100 is calculated using the movement amount LSP and the movement amount EP. Is set based on the following equation (1).
- LSPo EPo ⁇ (LSP / EP) (Equation 1)
- EPo Number of encoder pulses per motor unit drive amount (pulse / unit drive amount)
- LSP Linear scale movement amount (pulse)
- EP Encoder travel (pulse)
- the EPo is stored in advance in a predetermined storage unit (such as a memory) or manually input via the engineering tool 500.
- the general control unit 302 adds 1 to the variable i.
- the general control unit 302 executes a procedure shown in the flowchart to drive a drive shaft (first drive shaft) using the motor 100 performing semi-closed control and a drive shaft using a motor 100 performing full-closed control (second Discrimination with the drive shaft).
- “determination of the first drive shaft and the second drive shaft” refers to the output of each axis of the multi-axis motor drive device 300 (the output of each drive unit 303) and the connection to each motor 100, and each axis motor 100 And determining the consistency between the encoder output of the relay unit 310 and the connection to each connector 311 of the relay unit 310.
- the general control unit 302 first selects the motor 100 in the full-closed control target in response to the selection signal from the engineering tool 500 (step S20), and performs connection to the motor 100 performing the full-closed control The connection of the output to the relay unit connector 311 is recognized. Thereafter, the motor 100 is driven by a predetermined amount (step S40), and it is determined to which connector 311 of the relay unit 310 the position detection signal of the linear scale 400 for detecting the load side position of the motor 100 is input. (Step S50). At this time, the relay unit that monitors the change amount of the position detection signal (first detection position or second detection position) input to the relay unit connector 311 and obtains the change amount according to the predetermined amount driving of the motor 100.
- the position detection signal input to the connector 311 is set as the position detection signal (second detection position) of the linear scale 400, and the connector 311 to which the wiring from the linear scale 400 is connected is specified (step S50). Also, if there are a plurality of motors 100 that perform full-closed control, the above is repeated, and the other connector 311 to which the wiring from the other linear scale 400 is connected is specified. Thereby, the general control unit 302 completes the determination of the drive shaft (second drive shaft) using the motor 100 that performs full-closed control. Further, the general control unit 302 determines a drive shaft (first drive shaft) using the motor 100 performing semi-closed control, except for the drive shaft (second drive shaft) using the motor 100 performing full-closed control.
- the drive shaft using the eighth motor 100 and the eighth connector 311 and the third connector 311 of the relay unit 310 is the drive shaft that performs full closed control, and the first to seventh motors It is determined that the drive shaft 100 (excluding the third motor 100) and the first to seventh connectors 311 (excluding the third connector 311) of the relay unit 310 are drive shafts performing the semi-closed control.
- the general control unit 302 of the multi-axis motor drive device 300 performs the drive shaft using the motor 100 performing the semi-closed control and the motor 100 performing the fully closed control. Is automatically determined based on the amount of change in the detection position by the encoder 102 or the detection position by the linear scale 400 when the motor 100 performing full-closed control is driven. As a result, it is not necessary to set information such as which motor 100 is used for full closed control and which motor 100 is used for semi closed control at the time of setup. It can be easy.
- the multi-axis motor drive device 300 having the relay portion 310 achieves the following effects. That is, at the time of setup of the multi-axis motor drive system 1, motor wiring for each motor 100 (wiring between each driving unit 303 and each motor 100), wiring of the brake 101 and encoder 102 (brake 101 and encoder 102, Wiring between the relay portions 310) and wiring of the linear scale 400 (wiring between the linear scale 400 and the relay portions 310) are performed. At this time, if it is assumed that the wiring of the linear scale 400 can be connected only to the specific connector 311 in the relay unit 310, it is necessary to check which connector the specific connector 311 is.
- the connecting connector position of the wiring from the linear scale 400 can be arbitrarily set in the relay unit 310.
- the confirmation work of the specific connector 311 as described above becomes unnecessary, and since the connection connector position can be flexibly changed according to the device arrangement and the like, the operation of changing the device arrangement and the like is also unnecessary. Thus, setup can be facilitated.
- the motor 100 is not connected to the drive unit 303 corresponding to the connector 311 to which the wiring of the linear scale 400 is connected, and each motor 100 and the encoder 102 correspond to each other. It is necessary to check whether each connector 311 is connected.
- the wire from the linear scale 400 is connected to an arbitrary connector 311 of the relay unit 310, it is necessary to specify the position of the connection connector.
- the general control unit 302 of the multi-axis motor drive device 300 drives the motor 100 in the full-closed control target by a predetermined amount, and identifies the connector position where the detection position has changed by a predetermined amount. It can be automatically determined to which connector 311 of the part 310 the wiring from the linear scale 400 is connected (that is, which axis is the fully closed control axis). As a result, the correspondence between the semi-closed control axis and the fully-closed control axis can be easily checked, so that the working efficiency can be improved and the setup can be facilitated.
- the rotational direction of the motor 100 is set during setup. It is necessary to set the parameters in association with the moving direction of the load machine. This is because, in the case of full-closed control, the target to be position controlled by the host controller 200 is a load machine, but the advancing direction of the linear scale 400 attached to the load machine depends on how the linear scale 400 is attached to the load machine Since this is different, by setting this parameter, the rotational direction of the motor 100 can be associated with the moving direction of the load machine (the advancing direction of the linear scale 400), and position control of the load machine from the host controller 200 can be performed.
- the rotational direction and the load of the motor 100 are detected based on the detection position by the linear scale 400 when the motor 100 in the fully closed control target is driven by a predetermined amount and the detection position by the encoder 102 corresponding thereto. Since the correspondence with the moving direction of the machine can be set automatically, the parameter setting operation at the time of setup becomes easy, and the setup can be made easy.
- a linear drive per unit drive amount (for example, one rotation) of the motor 100 is set as a parameter dedicated to full closed control at setup. It is necessary to set the number of pulses of the scale 400 separately.
- This parameter is used as an internal conversion constant in each axis control unit 304 required when converting the drive amount (rotation amount) of the encoder 102 from the movement amount of the linear scale 400. For example, it is used when converting the velocity calculated from the movement amount of the linear scale 400 into the angular velocity of the motor 100 or the like.
- the movement amount by the linear scale 400 is a position feedback signal to the position control loop in each axis control unit 304
- the drive amount (rotation amount) by the encoder 102 is a speed feedback signal to the speed control loop in each axis control unit 304.
- the internal conversion constant is used when calculating the speed command output from the position control loop in each axis control unit 304 and input to the speed control loop.
- the linear scale per unit driving amount of the motor 100 is calculated using the moving amount by the linear scale 400 and the moving amount by the encoder 102 when the motor 100 in the fully closed control target is driven by a predetermined amount. Since the number of pulses of 400 can be set automatically, the parameter setting operation at the time of setup becomes easy, and the setup can be made easy.
- the multi-axis motor drive system 1A of the present modification seven first to eighth motors 100 (sixth motors 100 corresponding to seven drive units 303 other than the sixth drive unit 303). ) are provided.
- the third, fifth and seventh motors 100 are not shown.
- a load machine in which the eighth motor 100 is set as a master shaft and the fourth motor 100 is set as a slave shaft and is driven by the synchronous operation of the eighth and fourth motors 100 (for example, a stage moved by a ball screw)
- One linear scale 400 is provided to detect the position of the
- the wires from the encoders 102 of the first to fifth motors 100 are respectively connected to the first to fifth connectors 311, and the wires from the encoders 102 of the seventh and eighth motors 100 are respectively seventh and fifth Eight connectors 311 are connected.
- the wiring from the linear scale 400 is connected to the sixth connector 311 corresponding to the sixth driving unit 303 in which the corresponding motor 100 is not provided.
- control contents executed by the general control unit 302 at the time of setup of the multi-axis motor drive system 1A will be described with reference to FIG.
- parts different from FIG. 2 described above will be mainly described, and description of the same parts will be omitted.
- Step S10 is the same as that of FIG.
- general control unit 302 selects motor 100 in the fully closed control target from among the plurality of motors 100 connected to multi-axis motor drive device 300. .
- there are two motors which perform full-closed control an eighth motor 100 as a master shaft and a fourth motor 100 as a slave shaft.
- These selection signals are manually input by the operator via the engineering tool 500.
- the rotation direction of the selected motor 100 may be set together as necessary.
- the general control unit 302 releases the brakes 101 of the motors 100, and then energizes the two motors 100 selected in the step S20A through the axis control units 304 and the drive unit 303.
- the servo is turned on.
- the detection positions of all the encoders 102 connected to the connector 311 of the relay unit 310 and the detection position of the linear scale 400 are predetermined storage units as initial positions ( Store in memory etc.)
- the general control unit 302 since there are two motors performing the fully closed control, the eighth motor 100 and the fourth motor 100, the general control unit 302 energizes these motors 100 to bring them into a servo-on state.
- the general control unit 302 outputs a position command of a predetermined drive amount to each axis control unit 304, and the two motors 100 selected in step S20A through the drive unit 303 are set to a predetermined amount ( For example, it is driven (about 1/4 rotation to 1 rotation).
- the general control unit 302 sets a parameter for full-crossed control to the eighth motor 100 which is a master axis.
- the eighth and fourth motors 100 are synchronized by setting the position detected by the encoder 102 of the eighth motor 100 that is a master axis as a position command. It can be driven.
- the remaining steps S60 and S70 are the same as in FIG.
- the general control unit 302 performs the procedure shown in the above-described flowchart to drive shaft (first drive shaft) using the motor 100 that performs semi-closed control and the motor 100 that performs full-closed control.
- drive shaft second drive shaft
- the drive shaft using two of the fourth and eighth motors 100 is the drive shaft performing the full closed control, and the first to third, fifth and seventh motors 100 are used. It is determined that the drive shaft is a drive shaft that performs semi-closed control.
- step S20 shown in FIG. 2 the general control unit 302 releases the brake 101 of each motor 100, and then outputs a position command of a predetermined drive amount to each axis control unit 304, and the driving unit 303
- the plurality of motors 100 are sequentially and individually driven by a predetermined amount. Then, based on the detection signal from the relay unit 310 at this time, the motor 100 in which the detection position by the linear scale 400 has changed by a predetermined amount may be specified, and the drive shaft using the motor 100 may be selected as a full closed control target.
- the multi-axis motor drive system includes the rotary motor 100
- the motor does not have to be the rotary type, and for example, a linear motor may be used.
- the control contents shown in FIG. 2 and the like are executed by the general control unit 302, they may be executed by each axis control unit 304.
- the eight-axis drive multi-axis motor drive system has been described above as an example, the number of axes is not limited to this and may be changed as appropriate. Furthermore, although the case where only one linear scale 400 is provided has been described as an example, two or more may be provided.
- multi-axis motor drive system 1A multi-axis motor drive system 100 motor 102 encoder (first detector) 200 host control device 300 multi-axis motor drive device 302 general control unit (control unit) 310 relay unit 311 connector 400 linear scale (second detector)
Abstract
Description
EPo:モータ単位駆動量あたりのエンコーダパルス数(パルス/単位駆動量)
LSP:リニアスケール移動量(パルス)
EP:エンコーダ移動量(パルス)
なお、上記EPoは予め所定の記憶部(メモリ等)に格納されているか、又はエンジニアリングツール500を介して手動入力される。
本変形例は、多軸モータ駆動システムが、同期運転されるマスタ軸とスレーブ軸からなるガントリ軸を有する場合の一例である。
前述の実施形態では、作業者がエンジニアリングツール500を用いて手動選択することにより、その選択信号に応じて、統括制御部302がフルクローズド制御対象におけるモータ100を選択するようにしたが、これに限らず、統括制御部302がフルクローズド制御対象におけるモータ100を検出し、自動的に選択を行うようにしてもよい。
以上では、多軸モータ駆動システムが回転型のモータ100を有する場合を一例として説明したが、モータは回転型である必要はなく、例えばリニアモータを用いてもよい。また、図2等に示す制御内容を統括制御部302で実行するようにしたが、各軸制御部304で実行してもよい。
1A 多軸モータ駆動システム
100 モータ
102 エンコーダ(第1検出器)
200 上位制御装置
300 多軸モータ駆動装置
302 統括制御部(制御部)
310 中継部
311 コネクタ
400 リニアスケール(第2検出器)
Claims (8)
- 少なくとも位置を検出する第1検出器を備えた複数のモータと、
モータ制御指令を出力する上位制御装置と、
前記モータ制御指令に基づき、前記複数のモータを駆動する多軸モータ駆動装置と、
前記モータの負荷側の位置を検出する少なくとも1つの第2検出器と、を有し、
前記多軸モータ駆動装置は、
前記モータ制御指令及び前記第1検出器による第1検出位置に基づいてセミクローズド制御を行なう第1駆動軸と、前記モータ制御指令及び前記第1検出位置並びに前記第2検出器による第2検出位置に基づいてフルクローズド制御を行なう第2駆動軸とを、前記第2駆動軸における前記モータを駆動させた際の前記第1検出位置または前記第2検出位置の変化量に基づいて判別する制御部を有する
ことを特徴とする多軸モータ駆動システム。 - 前記多軸モータ駆動装置は、
前記第1検出器からの配線及び前記第2検出器からの配線を接続する複数のコネクタを備え、前記第2検出器からの配線の接続コネクタ位置を任意に設定可能であり、前記第1検出位置及び前記第2検出位置を前記制御部に対して中継する中継部を有することを特徴とする請求項1に記載の多軸モータ駆動システム。 - 前記制御部は、
前記第2駆動軸における前記モータを所定量駆動させた際の前記中継部からの前記第2検出位置が所定量変化した前記中継部の接続コネクタ位置を特定し、当該コネクタを前記第2検出器からの配線が接続されたコネクタであると判別する
ことを特徴とする請求項1または2に記載の多軸モータ駆動システム。 - 前記制御部は、
前記第2駆動軸における前記モータを所定量駆動させた際の前記中継部からの前記第2検出位置とこれに対応する前記第1検出位置とに基づき、前記第2駆動軸における前記モータの駆動方向と前記負荷の移動方向との対応付けを設定する
ことを特徴とする請求項1乃至3のいずれか1項に記載の多軸モータ駆動システム。 - 前記制御部は、
前記第2駆動軸における前記モータを所定量駆動させた際の前記中継部からの前記第2検出位置とこれに対応する前記第1検出位置とに基づき、前記モータの単位駆動量あたりの前記第2検出器のパルス数を設定する
ことを特徴とする請求項1乃至4のいずれか1項に記載の多軸モータ駆動システム。 - 前記制御部は、
前記複数のモータを順次個別に所定量駆動させた際の前記中継部からの前記第2検出位置が所定量変化した前記モータを特定し、当該モータを用いる駆動軸を前記第2駆動軸として選択する
ことを特徴とする請求項1乃至5のいずれか1項に記載の多軸モータ駆動システム。 - 上位制御装置から出力されるモータ制御指令に基づき、第1検出器を備えた複数のモータを駆動する多軸モータ駆動装置であって、
前記モータ制御指令及び前記第1検出器による第1検出位置に基づいてセミクローズド制御を行なう第1駆動軸と、前記モータ制御指令及び前記第1検出位置並びに前記モータの負荷側の位置を検出する少なくとも1つの第2検出器による第2検出位置に基づいてフルクローズド制御を行なう第2駆動軸とを、前記第2駆動軸における前記モータを駆動させた際の前記第1検出位置または前記第2検出位置の変化量に基づいて判別する制御部を有する
ことを特徴とする多軸モータ駆動装置。 - 前記多軸モータ駆動装置は、
前記第1検出器からの配線及び前記第2検出器からの配線を接続する複数のコネクタを備え、前記第2検出器からの配線の接続コネクタ位置を任意に設定可能であり、前記第1検出位置及び前記第2検出位置を前記制御部に対して中継する中継部を有することを特徴とする請求項7に記載の多軸モータ駆動装置。
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CN201180071279.7A CN103563238B (zh) | 2011-06-03 | 2011-06-03 | 多轴电动机驱动系统和多轴电动机驱动装置 |
DE112011105306.1T DE112011105306T5 (de) | 2011-06-03 | 2011-06-03 | Mehrachsenmotorantriebssystem und Mehrachsenmotorantriebsvorrichtung |
JP2012554556A JP5622125B2 (ja) | 2011-06-03 | 2011-06-03 | 多軸モータ駆動システム及び多軸モータ駆動装置 |
US14/093,537 US9069346B2 (en) | 2011-06-03 | 2013-12-02 | Multi-axis motor driving system and multi-axis motor driving apparatus |
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DE102014204802A1 (de) * | 2014-03-14 | 2015-09-17 | Siemens Aktiengesellschaft | Konvertersystem und Verfahren zum Konvertieren von Wechselstrom |
JP2016027951A (ja) * | 2014-07-09 | 2016-02-25 | キヤノン株式会社 | ロボット装置の制御方法、およびロボット装置 |
JP5996148B1 (ja) * | 2015-04-23 | 2016-09-21 | 三菱電機株式会社 | 多軸制御システム設定調整支援装置 |
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JP6823910B2 (ja) * | 2015-02-24 | 2021-02-03 | 蛇の目ミシン工業株式会社 | サーボプレス、制御方法およびプログラム |
DE102015117702A1 (de) * | 2015-10-16 | 2017-04-20 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Rotorlageermittlung in einem Mehrfachelektromaschinensystem |
JP6237938B1 (ja) * | 2016-10-18 | 2017-11-29 | 株式会社安川電機 | 多軸モータ制御システム、モータ制御装置、及びモータ制御方法 |
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CN103563238B (zh) | 2016-03-23 |
JP5622125B2 (ja) | 2014-11-12 |
US20140084839A1 (en) | 2014-03-27 |
JPWO2012164740A1 (ja) | 2014-07-31 |
US9069346B2 (en) | 2015-06-30 |
CN103563238A (zh) | 2014-02-05 |
DE112011105306T5 (de) | 2014-03-20 |
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