WO2017130268A1 - Appareil de commande - Google Patents

Appareil de commande Download PDF

Info

Publication number
WO2017130268A1
WO2017130268A1 PCT/JP2016/051973 JP2016051973W WO2017130268A1 WO 2017130268 A1 WO2017130268 A1 WO 2017130268A1 JP 2016051973 W JP2016051973 W JP 2016051973W WO 2017130268 A1 WO2017130268 A1 WO 2017130268A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
electric motor
relay circuit
unit
circuit unit
Prior art date
Application number
PCT/JP2016/051973
Other languages
English (en)
Japanese (ja)
Inventor
章公子 濱田
憲平 吉田
和秋 安藤
治之 長谷川
正興 岩瀬
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2016/051973 priority Critical patent/WO2017130268A1/fr
Priority to JP2016547117A priority patent/JP6143964B1/ja
Priority to TW105117820A priority patent/TWI608321B/zh
Publication of WO2017130268A1 publication Critical patent/WO2017130268A1/fr

Links

Images

Classifications

    • 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
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive
    • 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

Definitions

  • the present invention relates to a control device.
  • a conventional control device includes a control unit and a sensor. In the conventional control device, it is necessary to provide a wiring for transmitting a signal detected by the sensor between the control unit and the sensor.
  • the distance between the device in which the control unit is installed and the device in which the motor and the sensor are installed tends to be long. Accordingly, the above-described wiring becomes longer as the distance between the devices becomes longer, and the cost of providing the wiring increases. That is, the cost for manufacturing the above-mentioned device and changing the specification increases.
  • Patent Document 1 discloses an electric cylinder which is an example of a conventional control device.
  • the electric cylinder of Patent Document 1 includes a motor, a cylinder connected to the output shaft side of the motor, a rod provided in the cylinder, and a screw mechanism that converts the rotation operation of the motor into a linear operation of the rod.
  • Patent Document 1 includes a control panel having a control terminal block and a power supply terminal block, and a motor terminal box having a relay terminal block and a motor terminal block.
  • the control panel corresponds to the control unit described above.
  • the relay terminal block is connected to multiple limit switch contacts.
  • the limit switch corresponds to the sensor described above.
  • a motor and an electromagnetic brake are connected to the motor terminal block.
  • a plurality of signal lines are provided between the control panel and the relay terminal block, and a plurality of power lines are provided between the control panel and the motor terminal block.
  • the number of signal lines connected to the relay terminal block is set to be smaller than the number of contacts of the plurality of limit switches.
  • Patent Document 1 assumes only the use of a specific sensor. Therefore, when providing a new sensor after installing a specific sensor, the existing wiring between the sensor and the control unit cannot be used, and a new wiring must be provided between the newly provided sensor and the control unit. There is a problem that the cost associated with the wiring increases.
  • the present invention has been made in view of the above, and an object thereof is to obtain a control device capable of suppressing an increase in cost associated with wiring.
  • the control device of the present invention is a control device including a control unit that controls equipment including an electric motor, and is connected to a sensor for controlling the operation of the electric motor.
  • a relay circuit unit configured to relay at least a signal transmitted between the control unit and the motor, and a wiring provided only for the number necessary to control the motor between the control unit and the relay circuit unit.
  • the control unit discriminates a detection signal output from the sensor and a signal transmitted from the electric motor to control a device including the electric motor, and the electric motor is transmitted from the control unit via the wiring and the relay circuit unit It is controlled by an electric motor control signal.
  • the control device according to the present invention has an effect of suppressing an increase in cost associated with wiring.
  • FIG. 1 The figure which shows typically the manufacturing system using the control apparatus which concerns on Embodiment 1.
  • FIG. 2 The figure which shows the structural example of the control apparatus which concerns on Embodiment 1.
  • FIG. 2 The figure which shows typically the manufacturing system using the control apparatus which concerns on Embodiment 2.
  • FIG. The figure which shows the structural example of the control apparatus which concerns on Embodiment 2.
  • FIG. The figure which shows the structural example of the control apparatus which concerns on Embodiment 3.
  • FIG. 7 The figure which shows the structural example of the control apparatus which concerns on Embodiment 7.
  • FIG. 8 The figure which shows the structural example of the control apparatus which concerns on Embodiment 8.
  • FIG. 9 The figure which shows the structural example of the control apparatus which concerns on Embodiment 9.
  • Configuration diagram of an electric motor used in the control device according to the tenth embodiment Configuration diagram of electric motor used in control device according to embodiment 11.
  • FIG. 1 is a diagram schematically showing a manufacturing system using the control device according to the first embodiment.
  • FIG. 2 is a diagram illustrating a configuration example of the control device according to the first embodiment.
  • FIG. 2 shows a part of the signal wiring constituting the control device 101 according to the first embodiment, but omits the power wiring.
  • the manufacturing system 100 includes a manufacturing apparatus 1 that manufactures a product that is a workpiece, a relay circuit unit 14, and a control panel 2 that controls the manufacturing apparatus 1.
  • 1 includes a controller 9, a driver 10, a relay circuit unit 14, a distance sensor 4a, and a temperature sensor 4b.
  • the manufacturing apparatus 1 includes an electric motor 3 that processes a workpiece, and a distance sensor 4a and a temperature sensor 4b that are sensors for controlling the operation of the electric motor 3.
  • An example of the electric motor 3 is a servo motor.
  • the manufacturing apparatus 1 is supplied with electric power necessary for driving the processing apparatus 8 that is driven by the electric motor 3 to process the workpiece 7, the belt conveyor 6 that conveys the workpiece 7, the distance sensor 4a, and the temperature sensor 4b.
  • a rechargeable battery 15 to be supplied is provided.
  • FIG. 1 two workpieces 7 are conveyed to the belt conveyor 6, and one of the two workpieces 7 is processed by the processing device 8.
  • the distance sensor 4a is used to determine the timing for driving the machining apparatus 8 with the electric motor 3.
  • the distance sensor 4a detects that the workpiece 7 has been conveyed near the processing device 8 by the belt conveyor 6, and outputs the detected information as a detection signal.
  • the temperature sensor 4b is used for observing whether the ambient temperature of the workpiece 7 is within a range where manufacturing accuracy can be maintained.
  • the temperature sensor 4b detects the ambient temperature of the manufacturing apparatus 1 and outputs the detected information as a detection signal.
  • the control panel 2 includes a controller 9 that controls the electric motor 3 and a driver 10 that supplies electric power necessary for driving the electric motor 3.
  • the controller 9 and the driver 10 constitute a control unit 30 that controls equipment including the electric motor 3.
  • the control unit 30 discriminates a detection signal output from at least one of the distance sensor 4 a and the temperature sensor 4 b and a feedback signal that is a signal transmitted from the electric motor 3, and controls devices including the electric motor 3.
  • the driver 10 and the power source 5 are connected by a power wiring 12b.
  • the power output from the power supply 5 is supplied to the driver 10 through the power wiring 12b.
  • the controller 9 and the power source 5 are connected by a power wiring 12f.
  • the power output from the power supply 5 is supplied to the controller 9 via the power wiring 12f.
  • the controller 9 and the driver 10 are connected by a signal wiring 13b.
  • the controller 9 generates a power supply command and a motor control signal.
  • the power supply command is transmitted to the driver 10 through the signal wiring 13b.
  • the driver 10 operates according to the power supply command, and outputs power necessary for driving the motor 3.
  • the relay circuit unit 14 is configured to be able to connect at least a distance sensor 4a and a temperature sensor 4b which are sensors for controlling the operation of the electric motor 3.
  • the relay circuit unit 14 receives a detection signal output from at least one of the distance sensor 4 a and the temperature sensor 4 b and relays it to the control unit 30. That is, the relay circuit unit 14 relays at least a signal transmitted between the control unit 30 and the electric motor 3.
  • the relay circuit unit 14 receives the motor control signal transmitted from the control unit 30 and relays it to the motor 3.
  • the electric motor 3 is controlled by an electric motor control signal transmitted from the control unit 30 via the signal wiring 13 a and the relay circuit unit 14.
  • the relay circuit unit 14 and the distance sensor 4a are connected by a signal wiring 13c.
  • the detection signal output from the distance sensor 4a is transmitted to the relay circuit unit 14 via the signal wiring 13c.
  • the relay circuit unit 14 and the temperature sensor 4b are connected by a signal wiring 13d.
  • the detection signal output from the temperature sensor 4b is transmitted to the relay circuit unit 14 via the signal wiring 13d.
  • the rechargeable battery 15 and the distance sensor 4a are connected by a power wiring 12c.
  • the power output from the rechargeable battery 15 is supplied to the distance sensor 4a through the power wiring 12c.
  • the rechargeable battery 15 and the temperature sensor 4b are connected by a power wiring 12d.
  • the power output from the rechargeable battery 15 is supplied to the temperature sensor 4b through the power wiring 12d.
  • the relay circuit unit 14 and the motor 3 are connected by a power wiring 12g and a signal wiring 13g.
  • the relay circuit unit 14 and the driver 10 are connected by a power wiring 12a and a signal wiring 13a. At least one of the power wiring 12 a and the signal wiring 13 a is a wiring provided between the control unit 30 and the relay circuit unit 14 as many as necessary to control the motor 3.
  • the motor control signal generated by the controller 9 is transmitted to the relay circuit unit 14 via the signal wiring 13a.
  • the motor control signal transmitted to the relay circuit unit 14 is transmitted to the motor 3 via the signal wiring 13g.
  • the relay circuit unit 14 has an input unit 33 for inputting detection signals output from the distance sensor 4a and the temperature sensor 4b to the relay circuit unit 14. Further, the relay circuit unit 14 includes a processing unit 32 that processes a signal transmitted among the control unit 30, the input unit 33, and the electric motor 3. The relay circuit unit 14 includes a communication unit 31 that is an interface for connecting the signal wiring 13 a to the relay circuit unit 14.
  • the processing unit 32 transmits the detection signal input to the input unit 33 to the control unit 30 using a free time other than the time area required for the motor 3 to control. For example, in order to control the motor 3 while maintaining a certain accuracy, it is necessary to give the motor 3 a plurality of digital signals transmitted at regular intervals.
  • the idle time corresponds to the time between digital signals transmitted at regular intervals.
  • processing unit 32 transmits the electric motor control signal transmitted from the control unit 30 to the electric motor 3 via the signal wiring 13g.
  • the detection signal detected by the distance sensor 4a is transmitted via the relay circuit unit 14 and the signal wiring 13a. It is transmitted to the control unit 30.
  • the controller 9 that has received the detection signal generates an electric motor control signal and a power supply command based on the detection signal.
  • the driver 10 generates motor drive power according to a power supply command, and the motor drive power is supplied to the motor 3 via the power line 12a, the relay circuit unit 14, and the power line 12g.
  • the electric motor control signal generated by the controller 9 is supplied to the electric motor 3 through the signal wiring 13a, the relay circuit unit 14, and the signal wiring 13g.
  • the timing for moving the processing device 8 is determined by the electric motor driving power and the electric motor control signal, and the workpiece 7 is processed by the processing device 8.
  • the feedback signal output from the electric motor 3 is input to the processing unit 32 of the relay circuit unit 14.
  • the feedback signal is transmitted to the control unit 30 via the communication unit 31 and the signal wiring 13a.
  • the signal wiring used for controlling the electric motor 3 is shared for transmission of the detection signal.
  • the number of signal lines 13a and the number of signal lines 13g are the same.
  • the processing unit 32 of the relay circuit unit 14 performs signal processing so that the electric motor 3 can transmit a detection signal in a free time other than the time region required for control.
  • the controller 9 determines whether the received signal is only a signal output from the electric motor 3 or includes signals output from the electric motor 3, the distance sensor 4a, and the temperature sensor 4b. 4a and the temperature sensor 4b are processed so as to be controlled.
  • a signal wiring for connecting the new sensor to the relay circuit unit 14 may be added.
  • a sensor can be added without providing new wiring between the control panel 2 and the manufacturing apparatus 1.
  • the control device 101 can shorten the signal wires 13c and 13d connected to the distance sensor 4a and the temperature sensor 4b.
  • a manufacturing system 100 that requires the control panel 2 and the manufacturing apparatus 1 to be installed separately is larger than the case where the control panel 2 and the manufacturing apparatus 1 are provided integrally. Therefore, the distance between the manufacturing apparatus 1 and the control panel 2 of the manufacturing system 100 is longer than when the control panel 2 and the manufacturing apparatus 1 are provided integrally.
  • the sensor 4 needs to be provided in a place where the state of the motor 3 can be monitored.
  • the distance sensor 4a is used to determine the timing for driving the processing device 8 with the electric motor 3, and therefore it is necessary to detect that the workpiece 7 has been conveyed near the processing device 8 by the belt conveyor 6. . Therefore, there is a high possibility that the distance sensor 4 a is installed near the electric motor 3.
  • the belt conveyor 6 for transporting the workpiece 7 having an outer diameter of 10 cm is the manufacturing apparatus 1 having a width of 20 cm.
  • a distance of 50 cm is required between the electric motor 3 and the distance sensor 4a
  • a distance of 20 cm is required between the distance sensor 4a and the rechargeable battery 15
  • 3 m is required between the electric motor 3 and the driver 10.
  • the sum of the wiring length of the signal wirings 13c, 13d, and 13g and the wiring length of the signal wiring 13a is 9 m in the manufacturing system using the conventional control device.
  • the total is 4 m.
  • the wiring may be half or less than the conventional one.
  • the signal wirings 13c and 13d are shorter than conventional ones, electromagnetic noise caused by the detection signal transmitted to the signal wirings 13c and 13d is reduced.
  • This control sensor is a precision product provided to control the electric motor 3 with high accuracy.
  • the noise resistance is improved by shortening the signal wirings 13c and 13d as compared with the conventional one.
  • the relay circuit unit 14 and the driver 10 are separated from each other, such a countermeasure is unnecessary, and the cost associated with the countermeasure can be suppressed.
  • the driver 10 is provided in the control panel 2 of Embodiment 1, the structure of the control panel 2 is not limited to this. Depending on the type of the electric motor 3, the driver 10 is not necessary. In this case, signals output from the electric motor 3, the distance sensor 4 a, and the temperature sensor 4 b are input to the controller 9, and the electric motor 3 is driven by the controller 9.
  • the relay circuit unit 14 includes the input unit 33.
  • the relay circuit unit 14 may include an output unit having a signal output function.
  • a sensor having a monitoring function such as a display is connected to the output unit, and the sensor operates by receiving a signal from the output unit.
  • the distance sensor 4a and the temperature sensor 4b of the first embodiment may output detection signals as digital signals or analog signals.
  • the relay circuit unit 14 receives the analog signals, and the processing unit 32 of the relay circuit unit 14 converts the analog signals into digital signals for control. Transmitted to the unit 30. According to this configuration, even a sensor that outputs an analog signal such as a torque sensor can be connected to the manufacturing apparatus 1 and the controllability of the electric motor 3 is improved.
  • the function of the controller 9 of the first embodiment may be realized by hardware arranged in the control panel 2, or a server connected to the network executes a program for realizing the function of the controller 9. May be realized.
  • the network may be, for example, an intranet, the Internet, or a cloud network.
  • the relay circuit unit 14 of the first embodiment may be installed inside the electric motor 3.
  • the function of the relay circuit unit 14 is realized by a circuit on the circuit board of the electric motor 3, noise resistance is reduced. Therefore, when the relay circuit unit 14 is provided inside the electric motor 3, it is desirable that the relay circuit unit 14 be realized by components arranged on a portion other than the circuit board of the electric motor 3.
  • the sensor connected to the relay circuit unit 14 of the first embodiment is not limited to the distance sensor 4a and the temperature sensor 4b, and may be a monitoring device such as a display device or an actuator.
  • the wiring for transmitting the detection signal can be shortened, noise resistance is improved. Further, when a servo motor is used as the electric motor 3, the angle sensor can be easily replaced and repaired by connecting an angle sensor for detecting the rotation angle of the servo motor to the relay circuit unit 14.
  • the motor 3 and the driver 10 are integrally configured, and the driver 10 has a function of inputting a signal of an external sensor.
  • both the motor and the driver generate heat and generate electromagnetic waves, if they are placed close to each other, they are affected by each other's heat and electromagnetic waves, and measures to mitigate such effects are necessary.
  • the electric motor 3 since the electric motor 3 is connected to the driver 10 via the relay circuit unit 14, the distance between the electric motor 3 and the driver 10 is relatively increased. Therefore, the motor 3 can be accurately controlled without taking measures to mitigate the influence of the heat and electromagnetic waves of the motor 3 and the driver 10.
  • the controller 9 may have a function of the driver 10, for example, a power amplification function.
  • the driver 10 may have the function of the controller 9.
  • the control unit 30 may be configured as an amplifier having both functions of the controller 9 and the driver 10.
  • the electric motor 3 of the first embodiment is not limited to the servo motor, and may be any motor other than the servo motor.
  • the signal wiring 13a between the motor 3 and the relay circuit unit 14 may be a signal wiring that is conventionally used for controlling the motor.
  • the signal wiring 13a can be shared as a signal transmission wiring for the sensor. This makes it possible to configure the apparatus with the minimum number.
  • the signal line of the motor 3, the signal line of a sensor (not shown) other than the sensor 4, and the signal line of the actuator described above are connected in parallel to the relay circuit unit 14. .
  • the wiring between the electric motor 3 and the relay circuit unit 14 is larger than the minimum number necessary for the electric motor 3 to be controlled.
  • FIG. FIG. 3 is a diagram schematically showing a manufacturing system using the control device according to the second embodiment.
  • FIG. 4 is a diagram illustrating a configuration example of a control device according to the second embodiment. In FIG. 4, a part of the power wiring configuring the control device 101-2 according to the second embodiment is shown, but the signal wiring is omitted.
  • the manufacturing system 100-2 is used instead of the manufacturing system 100, and the control device 101-2 is used instead of the control device 101.
  • the manufacturing apparatus 1-2 is used instead of the manufacturing apparatus 1.
  • the rechargeable battery 15 is omitted in the manufacturing apparatus 1-2.
  • the relay circuit unit 14-2 is used instead of the relay circuit unit 14.
  • the relay circuit unit 14-2 includes a processing unit 37, a power conversion unit 38, and a constant voltage output unit 39.
  • the distance sensor 4a is connected to the constant voltage output unit 39 via the power wiring 12c.
  • the temperature sensor 4b is connected to the constant voltage output unit 39 via the power wiring 12d.
  • 3 includes a controller 9, a driver 10, a relay circuit unit 14-2, a distance sensor 4a, and a temperature sensor 4b.
  • the power of the power source 5 is supplied to the driver 10 and the controller 9 through the power wiring 12b and the power wiring 12f.
  • the power supplied to the driver 10 is supplied to the processing unit 37 via the power wiring 12a.
  • the processing unit 37 distributes the power supplied from the driver 10 to the electric motor 3 and the power conversion unit 38.
  • the power distributed to the power conversion unit 38 is converted into power for driving the distance sensor 4 a and the temperature sensor 4 b by the power conversion unit 38 and supplied to the constant voltage output unit 39.
  • the electric power supplied to the constant voltage output unit 39 is converted into electric power that can drive the distance sensor 4a and the temperature sensor 4b by the constant voltage output unit 39, and is supplied to the distance sensor 4a and the temperature sensor 4b.
  • the distance sensor 4a and the temperature sensor 4b output detection signals wirelessly, and the detection signals are received by the controller 9.
  • the power wiring used for driving the electric motor 3 is shared for supplying power to the sensor.
  • the number of power wirings 12a and the number of power wirings 12g are the same.
  • the processing unit 37 of the relay circuit unit 14-2 is configured to supply power suitable for the electric motor 3, the distance sensor 4a, and the temperature sensor 4b.
  • the relay circuit unit 14-2 When the relay circuit unit 14-2 sends the power supplied from the control unit 30 to the electric motor 3, the relay circuit unit 14-2 distributes a part of the power supplied from the control unit 30 to the distance sensor 4a and the temperature sensor 4b.
  • a sensor other than the distance sensor 4 a and the temperature sensor 4 b can be added to the constant voltage output unit 39 as long as it is within the specifications of the power conversion unit 38 and the constant voltage output unit 39.
  • control device 101-2 of the second embodiment even when a new sensor is added, power wiring for connecting the new sensor may be added to the relay circuit unit 14-2.
  • a sensor can be added without providing new wiring between the control panel 2 and the manufacturing apparatus 1-2. Therefore, a new sensor can be added while reducing the trouble of providing wiring, and the controllability of the control device 101-2 and the electric motor 3 can be improved.
  • the control device 101-2 connects the power wirings 12c and 12d connected to the distance sensor 4a and the temperature sensor 4b to the conventional control device 101-2. It can be made shorter than the control device.
  • the existing power wiring 12a used for driving the electric motor 3 can be used. Therefore, in the control device 101-2, when the distance sensor 4 a and the temperature sensor 4 b are unnecessary, the motor 3 can be driven by omitting the relay circuit unit 14-2 and connecting the power wiring 12 a to the motor 3.
  • control device 101-2 of the second embodiment it is possible to supply power to the distance sensor 4a and the temperature sensor 4b by adding the relay circuit unit 14-2. Therefore, it is not necessary to wire new wirings for the distance sensor 4a and the temperature sensor 4b between each sensor and the control panel 2. Therefore, the cost associated with wiring can be suppressed.
  • the relay circuit unit 14-2 of the second embodiment may be installed inside the electric motor 3.
  • the function of the relay circuit unit 14-2 is realized by a circuit on the circuit board of the electric motor 3, noise resistance decreases. Therefore, when the relay circuit unit 14-2 is provided inside the electric motor 3, it is desirable that the relay circuit unit 14-2 be realized by parts arranged on a portion other than the circuit board of the electric motor 3.
  • the sensor connected to the relay circuit unit 14-2 of the second embodiment is not limited to the distance sensor 4a and the temperature sensor 4b, and may be a monitoring device such as a display device or an actuator.
  • the actuator in this case is a device that drives energy such as vibration or heat generated by a machine as a power source.
  • the actuator can be driven simply by giving a drive signal without adding a storage battery.
  • the relay circuit unit 14-2 of the second embodiment has only a power relay function, but may be configured to have a signal relay function in addition to the power relay function.
  • FIG. 5 is a diagram illustrating a configuration example of a control device according to the third embodiment.
  • a part of the signal wiring configuring the control device 101-3 according to the third embodiment is shown, but the power wiring is omitted.
  • the control device 101-3 is used instead of the control device 101.
  • the relay circuit unit 14 is connected to a torque sensor 4c that detects torque generated by either the electric motor 3 or the processing device 8 instead of the distance sensor 4a and the temperature sensor 4b.
  • the torque sensor 4c is connected to the input unit 33 via the signal wiring 13e.
  • the control device 101-3 shown in FIG. 5 includes a controller 9, a driver 10, a relay circuit unit 14, and a torque sensor 4c.
  • the signal transmitted from the electric motor 3 and the detection signal of the torque sensor 4c are arranged in time series in the processing unit 32 and transmitted through the signal wiring 13g.
  • the signal transmitted to the signal wiring 13g is received by the controller 9, and the controller 9 generates an electric motor control signal for controlling the electric motor 3.
  • the controllability of the control device 101-3 and the electric motor 3 can be improved by using the detection signal of the torque sensor 4c.
  • the third embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-3 and the electric motor 3 while suppressing the labor of wiring.
  • the signal wiring 13e is shortened, electromagnetic noise due to the detection signal transmitted to the signal wiring 13e is reduced. Therefore, even when the motor 3 includes a control sensor (not shown), the influence of electromagnetic noise on the control sensor is reduced.
  • the accuracy of the synchronization timing is improved as compared with the conventional configuration.
  • the motor and the torque sensor are synchronized in the controller.
  • the relay circuit unit 14 since the relay circuit unit 14 is disposed near the torque sensor 4c, the signal wiring 13e is shortened, and the motor 3 and the torque sensor 4c can be easily synchronized in the relay circuit unit 14. Thus, controllability can be improved.
  • the vibration of the electric motor 3 when the vibration of the electric motor 3 is detected by the vibration sensor and the torque ripple is controlled, the detection signal of the vibration sensor and the electric motor 3 By synchronizing with the signal, the accuracy of control is improved and vibration can be suppressed quickly.
  • FIG. 6 is a diagram illustrating a configuration example of a control device according to the fourth embodiment.
  • FIG. 6 shows a part of the signal wiring and the power wiring that constitute the control device 101-4 according to the fourth embodiment.
  • the control device 101-4 is used instead of the control device 101.
  • the relay circuit unit 14-4 is used instead of the relay circuit unit 14.
  • a position sensor 4d is connected to the relay circuit unit 14-4 instead of the distance sensor 4a and the temperature sensor 4b.
  • the position sensor 4d is connected to the relay circuit unit 14-4 via the signal wiring 13h.
  • the power wiring 12h is connected to the position sensor 4d, and the power output from the rechargeable battery 15 is supplied to the position sensor 4d via the power wiring 12h.
  • the wiring between the relay circuit unit 14-4 and the control unit 30 is only the power wiring 12a.
  • the relay circuit unit 14-4 includes the output unit 40.
  • the driver 10 superimposes the reset signal generated by the controller 9 on the electric motor driving power and transmits it by the power wiring 12a.
  • the processing unit 37 of the relay circuit unit 14-4 performs a process of distributing the motor driving power and the reset signal transmitted via the power wiring 12a.
  • the control device 101-4 shown in FIG. 6 includes a controller 9, a driver 10, a relay circuit unit 14-4, and a position sensor 4d.
  • the position sensor 4d has a function of detecting the position of the machine end in the control device 101-4 including the electric motor 3 and displaying the position on a display unit (not shown) of the position sensor 4d.
  • the relay circuit unit 14-4 includes a processing unit 37 and an output unit 40.
  • the power supplied to the driver 10 is supplied to the processing unit 37 via the power wiring 12a.
  • the processing unit 37 supplies the electric power supplied from the driver 10 to the electric motor 3.
  • the output unit 40 is connected to the position sensor 4d through the signal wiring 13h.
  • a reset signal for resetting the detection position is generated.
  • the generated reset signal is received by the relay circuit unit 14-4 and transmitted to the position sensor 4d via the output unit 40. Thereby, the detection position in the position sensor 4d is reset and the origin position is changed.
  • the motor drive power supplied from the driver 10 is supplied to the motor 3 via the relay circuit unit 14-4 and the power wiring 12g.
  • the motor control signal transmitted from the controller 9 is received by the motor 3 through the relay circuit unit 14-4 and the signal wiring 13g.
  • the reset signal transmitted from the controller 9 is received by the position sensor 4d via the relay circuit unit 14-4 and the signal wiring 13h.
  • the power necessary for the position sensor 4d to function is supplied from the rechargeable battery 15 via the power wiring 12h.
  • the driver 10 when the driver 10 transmits electric motor driving power, the driver 10 uses a frequency band different from the frequency for controlling the electric motor 3 so as to transmit a reset signal to the position sensor 4d.
  • the fourth embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-4 and the electric motor 3 while suppressing the labor of wiring.
  • the wiring between the relay circuit unit 14-4 and the control unit 30 is the power wiring 12a, the number of wirings between the relay circuit unit 14-4 and the control unit 30 is reduced, and the costs associated with the wiring are reduced. It can be further suppressed.
  • the wiring of the sensor can be reduced, so that the wiring arrangement is facilitated.
  • the signal wiring 13g is shortened, electromagnetic noise caused by the detection signal transmitted to the signal wiring 13g is reduced. Therefore, even when the motor 3 includes a control sensor (not shown), the influence of electromagnetic noise on the control sensor is reduced.
  • the fourth embodiment distributes the motor driving power in the relay circuit unit 14-4, thereby It may be configured to supply power necessary for 4d.
  • the configuration example in which the relay circuit unit 14-4 includes the output unit 40 has been described.
  • the input unit 33 illustrated in FIG. 2 may be used instead of the output unit 40 of the relay circuit unit 14-4.
  • the relay circuit unit 14-4 superimposes the detection signal detected by the position sensor 4d on the motor driving power and transmits the superimposed signal to the control unit 30.
  • the control part 30 performs the process which isolate
  • the power supply wiring used by the conventional motor for driving since the power supply wiring used by the conventional motor for driving is used, when the sensor 4 is not necessary, the power wiring 12a is connected to the motor 3 to connect the relay circuit section. It is also possible to control the electric motor 3 without using 14-4. In other words, in the fourth embodiment, when the sensor 4 is added to the control device 101-4 to improve the function, it is only necessary to add the relay circuit unit 14. Therefore, the introduction cost when adding the function can be minimized.
  • FIG. 7 is a diagram illustrating a configuration example of a control device according to the fifth embodiment.
  • the power wiring constituting the control apparatus 101-5 according to the fifth embodiment is omitted, and a part of the signal wiring is shown.
  • the control device 101-5 is used instead of the control device 101.
  • One or more sensors 4 are connected to the relay circuit unit 14, the sensor 4 outputs a detection signal wirelessly, and the detection signal is received by the input unit 33.
  • the 7 includes a controller 9, a driver 10, a relay circuit unit 14, and a sensor 4.
  • the sensor 4 is any one of the distance sensor 4a, the temperature sensor 4b, the torque sensor 4c, and the position sensor 4d shown in the first to fourth embodiments.
  • the feedback signal output from the electric motor 3 is input to the processing unit 32 of the relay circuit unit 14.
  • the feedback signal is transmitted to the control unit 30 via the communication unit 31 and the signal wiring 13a.
  • the detection signal received by the input unit 33 is input to the processing unit 32 of the relay circuit unit 14.
  • the detection signal is transmitted to the control unit 30 via the communication unit 31 and the signal wiring 13a.
  • the signal wiring used for controlling the electric motor 3 is shared for power supply of the sensor.
  • the relay circuit unit 14 receives the detection signal of the sensor 4 by wireless communication, and determines which of the plurality of signals included in the wireless communication is the detection signal of the sensor 4 necessary for controlling the electric motor 3. .
  • the relay circuit unit 14, the control unit 30, and the distance sensor 4a are associated with each other during the startup of the control device 101-5, and only the signal of the associated distance sensor 4a is provided during the operation of the control device 101-5. Receive.
  • the fifth embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-5 and the electric motor 3 while suppressing the labor of wiring.
  • the motor 3 includes a control sensor (not shown), the influence of electromagnetic noise on the control sensor is reduced.
  • the signal propagation distance by wireless communication between the sensor 4 and the input unit 33 can be shortened.
  • Wireless communication is less resistant to noise than wired communication, and is more susceptible to noise as the propagation distance increases.
  • noise resistance is improved because the signal propagation distance is short.
  • the power for wireless communication increases.
  • the signal propagation distance is short, an increase in the power for wireless communication can be suppressed. it can.
  • FIG. 8 is a diagram schematically showing a transport system using the control device according to the sixth embodiment.
  • the transfer system 100-6 is used instead of the manufacturing system 100.
  • the control device 101-6 is used instead of the control device 101.
  • the transfer device 1-6 is used instead of the manufacturing device 1.
  • the transported product 1-6 is transported to the transport device 1-6, and the transported product 7-6 is provided with an RFIC (Radio-Frequency Integrated Circuits) tag 17 in which product information is recorded. thing.
  • the relay circuit unit 14-6 is used instead of the relay circuit unit 14.
  • the relay circuit unit 14-6 is a product of the RFIC tag 17 that is a passive sensor that requires power supply instead of the function of receiving the detection signals output from the distance sensor 4a and the temperature sensor 4b shown in FIG. Have a function to read information.
  • the control device 101-6 illustrated in FIG. 1 includes a controller 9, a driver 10, a relay circuit unit 14-6, and an RFIC tag 17.
  • the relay circuit unit 14-6 operates at the timing when the electric motor 3 operates, the product information of the transported product 7-6 is read, and the product information of the transported product 7-6 is transmitted to the controller 9.
  • the relay circuit unit 14-6 transmits the feedback signal of the electric motor 3 and the product information of the conveyed product 7-6 to the controller 9 via the signal wiring 13a.
  • the product information of the conveyed product 7-6 is input as a digital signal to the processing unit 32 via the input unit 33 of the relay circuit unit 14-6.
  • the feedback signal of the electric motor 3 and the product information of the conveyed product 7-6 are input to the processing unit 32 of the relay circuit unit 14-6.
  • the signal wiring used for controlling the electric motor 3 is also used for transmission of product information of the RFIC tag 17.
  • the number of signal lines 13g and the number of signal lines 13a are the same.
  • the processing unit 32 of the relay circuit unit 14-6 of the sixth embodiment can transmit product information using a free time other than the time area required for the motor 3 to be controlled. Signal processing is performed.
  • the signal transmitted from the processing unit 32 of the relay circuit unit 14-6 is transmitted to the control unit 30 via the communication unit 31.
  • the controller 9 determines whether the received signal is only the signal output from the electric motor 3 or includes the signal output from each of the electric motor 3 and the RFIC tag 17 so that the electric motor 3 and the RFIC tag 17 can be controlled. Process.
  • the sixth embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-6 and the electric motor 3 while suppressing the labor of wiring.
  • the influence of electromagnetic noise on the control sensor is reduced.
  • the relay circuit unit 14-6 has a function of reading product information of the RFIC tag 17.
  • a function of reading the product information of the RFIC tag 17 may be provided separately from the relay circuit unit 14-6. Good.
  • the configuration example using the RFIC tag 17 has been described.
  • the product information storage unit including a sensor and a receiver that do not require power supply may be used instead of the RFIC tag 17. An effect is obtained.
  • the rechargeable battery 15 for supplying power to the RFIC tag 17 is unnecessary, and the cost associated with maintenance of the rechargeable battery 15 can be reduced.
  • FIG. 9 is a diagram illustrating a configuration example of a control device according to the seventh embodiment.
  • FIG. 9 shows a part of the signal wiring and the power wiring constituting the control device 101-7 according to the seventh embodiment.
  • the control device 101-7 is used instead of the control device 101.
  • the relay circuit unit 14-7 is used instead of the relay circuit unit 14.
  • the vibration sensor 4f is connected to the relay circuit unit 14-7 instead of the distance sensor 4a and the temperature sensor 4b.
  • the power wiring 12i is connected to the vibration sensor 4f, and the power output from the generator 42 is supplied to the vibration sensor 4f via the power wiring 12i.
  • the control device 101-7 shown in FIG. 9 includes a controller 9, a driver 10, a relay circuit unit 14-7, and a vibration sensor 4f.
  • the vibration sensor 4f detects the vibration level of the electric motor 3 and the control device 101-7.
  • the power output from the generator 42 mounted on the sensor is supplied to the vibration sensor 4f via the power wiring 12i.
  • the generator 42 generates power by vibration energy, and supplies power to the vibration sensor 4f when something abnormal occurs in the motor 3 and the control device 101-7 and the vibration level becomes larger than a certain threshold value.
  • the control unit 30 supplies power to the electric motor 3 via the relay circuit unit 14-7.
  • the relay circuit unit 14-7 receives the feedback signal of the electric motor 3 and the detection signal of the vibration sensor 4f and transmits it to the control unit 30.
  • the signal wiring used for controlling the electric motor 3 is shared for detection signal transmission.
  • the seventh embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-7 and the electric motor 3 while suppressing the labor of wiring.
  • the influence of electromagnetic noise on the control sensor is reduced.
  • the vibration sensor 4f only needs to function when an abnormal physical phenomenon occurs.
  • the vibration level is often greater than the threshold value. Therefore, according to the seventh embodiment, the abnormality is detected and the control device 101 can be safely detected. -7 can be operated.
  • the rechargeable battery 15 shown in FIG. 1 for supplying power to the vibration sensor 4f is not required, the replacement of the rechargeable battery 15 is not required, and the maintenance cost can be suppressed.
  • the generator 42 that generates power using vibration energy is used.
  • a device that generates power using a physical phenomenon other than vibration may be used.
  • a device that generates power by either heat or magnetism, or a device that generates power by changing a displacement may be used.
  • the seventh embodiment is configured to transmit a detection signal when an abnormality occurs in either the electric motor 3 or the control device 101-7, but the function of the generator 42 is sufficient at the timing of transmitting the detection signal. If so, it may be a normal time when no abnormality occurs.
  • normal operation and abnormal operation may be separated. If the temperature sensor 4b is used instead of the vibration sensor 4f and the detection signal is constantly transmitted, power consumption increases. Therefore, even if the temperature monitoring by the temperature sensor 4b is always performed, the detection signal output from the temperature sensor 4b is transmitted at regular intervals when the control device 101-7 is operating normally. If an abnormality occurs in 101-7, a configuration may be adopted in which an abnormality is notified by transmitting a detection signal immediately.
  • the placement location of the vibration sensor 4f is not mentioned, but it is desirable to place the vibration sensor 4f in a place where the motor 3 and the control device 101-7 are likely to vibrate.
  • the generator 42 that functions by a physical phenomenon usually increases the amount of power generation as the physical phenomenon increases.
  • the shape of a vibration mode that is likely to vibrate is clarified by analysis or experiment, and the vibration sensor 4f is disposed at a place where vibration is caused.
  • the generator 42 that functions due to a physical phenomenon supplies power to the vibration sensor 4f.
  • power supply means other than the generator 42 may be used.
  • An example of the power supply means is a constant voltage output unit 39 shown in FIG.
  • FIG. 10 is a diagram illustrating a configuration example of a control device according to the eighth embodiment.
  • a part of the signal wiring configuring the control device 101-8 according to the eighth embodiment is shown, and the power wiring is omitted.
  • the control device 101-8 is used instead of the control device 101.
  • the distance sensor 4a is connected to the temperature sensor 4b via the signal wiring 13i.
  • the distance sensor 4a and the temperature sensor 4b are daisy chain connected to the input unit 33.
  • a controller 9 includes a controller 9, a driver 10, a relay circuit unit 14, a distance sensor 4a, and a temperature sensor 4b.
  • the relay circuit unit 14 receives a signal transmitted from the electric motor 3 via the signal wiring 13g.
  • the relay circuit unit 14 receives detection signals output from the distance sensor 4a and the temperature sensor 4b.
  • the detection signal is transmitted to the controller 9 via the relay circuit unit 14 and the driver 10. Electric power necessary for the distance sensor 4 a and the temperature sensor 4 b is supplied through the relay circuit unit 14.
  • the eighth embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-8 and the electric motor 3 while suppressing the labor of wiring.
  • the influence of electromagnetic noise on the control sensor is reduced.
  • the wiring of the sensor can be reduced, so that the wiring arrangement is facilitated.
  • the sensor of the eighth embodiment is not limited to the distance sensor 4a and the temperature sensor 4b, and may be a monitoring device such as a display device or an actuator.
  • the number of sensors and motors 3 connected to the relay circuit unit 14 is not limited as long as it is within the specifications of the control unit 30 and the relay circuit unit 14. .
  • FIG. 11 is a diagram illustrating a configuration example of a control device according to the ninth embodiment.
  • a part of the signal wiring configuring the control device 101-9 according to the ninth embodiment is shown, and the power wiring is omitted.
  • the control device 101-9 is used instead of the control device 101.
  • the temperature sensor 4b is connected to the relay unit 41 through the signal wiring 13k, and the torque sensor 4c is connected to the relay unit 41 through the signal wiring 13j.
  • the relay unit 41 is connected to the input unit 33 via the distance sensor 4a and the signal wiring 13c.
  • the distance sensor 4a, the temperature sensor 4b, and the torque sensor 4c are daisy chain connected via the relay unit 41.
  • the 11 includes a controller 9, a driver 10, a relay circuit unit 14, a distance sensor 4a, a temperature sensor 4b, a torque sensor 4c, and a relay unit 41.
  • Detection signals output from the distance sensor 4a, the temperature sensor 4b, and the torque sensor 4c are transmitted to the controller 9 via the relay circuit unit 14, the signal wiring 13a, and the driver 10.
  • the electric power necessary for the distance sensor 4a, the temperature sensor 4b, and the torque sensor 4c is supplied through the relay circuit unit 14.
  • the feedback signal output from the electric motor 3 is input to the processing unit 32 of the relay circuit unit 14.
  • the feedback signal is transmitted to the control unit 30 via the communication unit 31 and the signal wiring 13a.
  • the signal wiring used for controlling the electric motor 3 is shared for transmission of the detection signal.
  • the ninth embodiment as in the first embodiment, it is possible to improve the controllability of the control device 101-9 and the electric motor 3 while suppressing the labor of wiring.
  • the electric motor 3 includes a control sensor (not shown), the influence of electromagnetic noise on the control sensor is reduced.
  • the wiring of the sensor can be reduced, so that the wiring arrangement is facilitated.
  • the degree of freedom of wiring in the control device 101-9 is further improved.
  • the sensor according to the ninth embodiment is not limited to the distance sensor 4a, the temperature sensor 4b, and the torque sensor 4c, and may be a monitoring device such as a display device or an actuator.
  • the number of sensors and motors 3 connected to the relay circuit unit 14 is not limited as long as it is within the specifications of the control unit 30 and the relay circuit unit 14. .
  • the relay unit 41 by providing the relay unit 41, it is possible to deal with a plurality of sensors and to improve the degree of freedom of wiring.
  • the power supplied to the plurality of sensors via the relay circuit unit 14 may be insufficient.
  • a configuration may be adopted in which power supply wiring is added between the relay unit 41 and the control unit 30 to supply power to the sensor connected to the relay unit 41.
  • FIG. FIG. 12 is a configuration diagram of an electric motor used in the control device according to the tenth embodiment.
  • the electric motor drive unit 19 includes a cylindrical stator (not shown) and a rotor (not shown) arranged inside the stator.
  • the rotor is provided with an electric motor shaft 21.
  • the angle detection unit 20 includes an angle sensor 22, a structure unit 23, and a relay circuit unit 14.
  • the angle sensor 22 includes a detected portion 22a disposed on the motor shaft 21, and a detecting portion 22b that detects a rotation angle of the detected portion 22a and outputs a signal indicating the rotation angle as a feedback signal.
  • the structure unit 23 has a structure that supports the detection unit 22b without bringing the detection unit 22b into contact with the detected unit 22a.
  • the relay circuit unit 14 is configured by a substrate processed into a cylindrical shape when viewed from the axial direction of the motor shaft 21. It is desirable that the relay circuit unit 14 is disposed on the outer side in the radial direction of the structure unit 23 and is disposed near the electric motor drive unit 19. The relay circuit unit 14 may be disposed on the radially outer side of the detection unit 22b.
  • the electric motor drive unit 19 is connected to a power wiring 12g.
  • a signal wiring 13 g is connected to the relay circuit unit 14.
  • the feedback signal output from the detection unit 22b is transmitted to the relay circuit unit 14, and the relay circuit unit 14 receives the feedback signal.
  • the relay circuit unit 14 also receives a detection signal output from a sensor (not shown) other than the angle sensor 22 by wire or wirelessly.
  • a processing unit (not shown) provided in the relay circuit unit 14 integrates these detection signals and feedback signals and outputs them to the signal wiring 13g.
  • the size of the electric motor 3-10 varies depending on its output, but the size of the angle sensor 22 does not change even if the output of the electric motor 3-10 changes. Accordingly, there are many empty spaces inside the angle detection unit 20 and outside the detection unit 22b.
  • the part that wants to avoid the influence of electromagnetic noise is the angle detection unit 20.
  • the electric motor has a function of relaying electric power and signals
  • the function of a circuit board (not shown) constituting the angle detection unit 20 is not expanded, but the relay circuit unit 14 is added to the angle detection unit 20 of the electric motor drive unit 19, thereby An electric motor 3-10 having a signal relay function is realized. That is, the relay circuit unit 14 is arranged in the angle detection unit 20 separately from the circuit board constituting the angle detection unit 20.
  • the relay circuit unit 14 may be added only when the effects shown in the first to ninth embodiments are necessary. If the relay circuit unit 14 is added to the structure of the existing angle detection unit 20, a relay function can be provided. Therefore, it is possible to add the relay circuit unit 14 while suppressing an increase in cost.
  • FIG. FIG. 13 is a configuration diagram of an electric motor used in the control device according to the eleventh embodiment.
  • the structure portion 23 a is used instead of the structure portion 23.
  • the relay circuit unit 14 is disposed to face the surface in the axial direction of the detection unit 22b.
  • the relay circuit unit 14 is arranged at a position separated in the axial direction of the detection unit 22b. Therefore, in the eleventh embodiment, compared to the tenth embodiment, the relay circuit unit 14 is less affected by electromagnetic waves generated in the electric motor 3-11, and the sensor in the electric motor 3-11 is less affected by electromagnetic noise. The effect that can be obtained.
  • FIG. FIG. 14 is a diagram illustrating a configuration example of a control device according to the twelfth embodiment.
  • the control device 101-12 is used instead of the control device 101.
  • the electric motor 3-12 is used instead of the electric motor 3.
  • the electric motor 3-12 has a vibration sensor 4f and a heat sensor 4g therein.
  • the vibration sensor 4f is connected to the input unit 33 through the signal wiring 13m, and the heat sensor 4g is connected to the input unit 33 through the signal wiring 13n.
  • the relay circuit unit 14 receives the detection signals output from the vibration sensor 4f and the thermal sensor 4g via the signal wirings 13m and 13n.
  • the detection signal received by the relay circuit unit 14 is transmitted from the relay circuit unit 14 to the controller 9 via the driver 10.
  • the electric power required for the vibration sensor 4f and the heat sensor 4g is supplied via the relay circuit unit 14.
  • the signal wiring used for controlling the electric motor 3-12 is shared for transmission of the detection signal.
  • the relay circuit unit 14 not only processes the detection signal but also monitors whether an abnormality has occurred in the motor 3-12. When vibration or heat exceeds a set abnormal value, the processing unit 32 of the relay circuit unit 14 stops the power supply to the motor 3-12.
  • the same effect as in the first embodiment can be obtained. Further, when any abnormality occurs in the motor 3-12 and the control device 101-12, the relay circuit unit 14 cuts off the power supply to the motor 3-12 instead of the controller 9, thereby quickly stopping the abnormal state. be able to. Therefore, the motor 3-12 and the control device 101-12 can be operated safely by detecting an abnormality.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un appareil de commande 101 configuré de manière à pouvoir se connecter à un capteur de distance 4a et à un capteur de température 4b pour commander le fonctionnement d'un moteur électrique 3, et comprenant : une unité de circuit de relais 14 qui relaie un signal émis au moins entre une unité de commande et le moteur électrique 3 ; et un câblage qui est disposé entre l'unité de commande et l'unité de circuit de relais 14, et qui comprend le nombre minimum de fils requis pour commander le moteur électrique 3. L'unité de commande commande un dispositif contenant le moteur électrique 3 en différenciant, à partir d'un signal émis par le moteur électrique 3, des signaux de détection émis par le capteur de distance 4a et le capteur de température 4b, et le moteur électrique 3 est commandé au moyen d'un signal de commande de moteur électrique émis par l'unité de commande par l'intermédiaire du câblage et de l'unité de circuit de relais 14.
PCT/JP2016/051973 2016-01-25 2016-01-25 Appareil de commande WO2017130268A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2016/051973 WO2017130268A1 (fr) 2016-01-25 2016-01-25 Appareil de commande
JP2016547117A JP6143964B1 (ja) 2016-01-25 2016-01-25 制御装置
TW105117820A TWI608321B (zh) 2016-01-25 2016-06-06 控制裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/051973 WO2017130268A1 (fr) 2016-01-25 2016-01-25 Appareil de commande

Publications (1)

Publication Number Publication Date
WO2017130268A1 true WO2017130268A1 (fr) 2017-08-03

Family

ID=59012160

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/051973 WO2017130268A1 (fr) 2016-01-25 2016-01-25 Appareil de commande

Country Status (3)

Country Link
JP (1) JP6143964B1 (fr)
TW (1) TWI608321B (fr)
WO (1) WO2017130268A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021165439A1 (fr) * 2020-02-21 2021-08-26 B&R Industrial Automation GmbH Agencement d'un moteur électrique doté d'un codeur

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002197581A (ja) * 2000-12-25 2002-07-12 Tamagawa Seiki Co Ltd センサ装置及びセンサ信号出力方法並びにモータ装置
JP2005145201A (ja) * 2003-11-13 2005-06-09 Sumitomo Electric Ind Ltd ブレーキ制御装置及びブレーキ装置
JP2012244793A (ja) * 2011-05-20 2012-12-10 Konica Minolta Business Technologies Inc 画像形成装置、画像形成装置の制御方法、および画像形成装置の制御プログラム
JP2013010462A (ja) * 2011-06-30 2013-01-17 Yazaki Corp ワイヤハーネス構造体、及び、電子機器制御システム
JP2013079601A (ja) * 2011-10-04 2013-05-02 Shimadzu Corp 電源一体型真空ポンプ
JP2015089583A (ja) * 2013-11-05 2015-05-11 キヤノン株式会社 ロボット装置
JP5800345B1 (ja) * 2015-02-13 2015-10-28 新川センサテクノロジ株式会社 ワイヤレスセンサ、これを用いた監視システム及び監視方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0746677A (ja) * 1993-07-27 1995-02-14 Toyo Techno Corp:Kk 分散処理統合管理システム
AU2003249029A1 (en) * 2002-07-15 2004-02-02 Aviza Technology, Inc. Control of a gaseous environment in a wafer loading chamber
JP4419671B2 (ja) * 2004-05-11 2010-02-24 トヨタ自動車株式会社 リセット制御回路
JP4531079B2 (ja) * 2007-06-15 2010-08-25 株式会社ツバキエマソン 電動シリンダ
WO2012176821A1 (fr) * 2011-06-21 2012-12-27 パナソニック株式会社 Système de mesure

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002197581A (ja) * 2000-12-25 2002-07-12 Tamagawa Seiki Co Ltd センサ装置及びセンサ信号出力方法並びにモータ装置
JP2005145201A (ja) * 2003-11-13 2005-06-09 Sumitomo Electric Ind Ltd ブレーキ制御装置及びブレーキ装置
JP2012244793A (ja) * 2011-05-20 2012-12-10 Konica Minolta Business Technologies Inc 画像形成装置、画像形成装置の制御方法、および画像形成装置の制御プログラム
JP2013010462A (ja) * 2011-06-30 2013-01-17 Yazaki Corp ワイヤハーネス構造体、及び、電子機器制御システム
JP2013079601A (ja) * 2011-10-04 2013-05-02 Shimadzu Corp 電源一体型真空ポンプ
JP2015089583A (ja) * 2013-11-05 2015-05-11 キヤノン株式会社 ロボット装置
JP5800345B1 (ja) * 2015-02-13 2015-10-28 新川センサテクノロジ株式会社 ワイヤレスセンサ、これを用いた監視システム及び監視方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021165439A1 (fr) * 2020-02-21 2021-08-26 B&R Industrial Automation GmbH Agencement d'un moteur électrique doté d'un codeur

Also Published As

Publication number Publication date
JP6143964B1 (ja) 2017-06-07
TWI608321B (zh) 2017-12-11
JPWO2017130268A1 (ja) 2018-02-01
TW201727411A (zh) 2017-08-01

Similar Documents

Publication Publication Date Title
WO2015072557A1 (fr) Codeur et système d'asservissement
WO2013136627A1 (fr) Système d'entraînement de moteur
JP2008054040A (ja) データ転送方式及びデータ転送装置
US6777901B2 (en) Gear motor with inverter suitable for reducing size and cost
US20220252438A1 (en) System for checking the conditions of use of a cardan shaft for a tool which is connected to a motor and cardan shaft provided with such a system
JP6245132B2 (ja) 接続装置及びフィールド機器制御システム
US20120074788A1 (en) System and method for providing redundant power to a device
JP6143964B1 (ja) 制御装置
US10218533B2 (en) Wireless device and interface module
JP2015206747A (ja) エンコーダ装置、駆動装置、ステージ装置、及びロボット装置
JP2005339358A (ja) 数値制御装置及びサーボモータ制御システム
JP2007181340A (ja) サーボシステムおよびサーボドライブ
KR20160121015A (ko) 생산 공정 관리 시스템
JP2010257194A (ja) Ｐｌｃのリモート制御システムにおけるスレーブモジュールおよびこのスレーブモジュールを用いたリモート制御システム
EP3015933B1 (fr) Système de transport
JP6205206B2 (ja) 多軸制御システム
GB2547176B (en) Control system and method for supply of power to active magnetic bearings in a rotating machine
JP2008046790A (ja) 生産ライン監視システム
JP2008090825A (ja) 位置検出器をマルチドロップ接続した多軸制御システム
JP6211230B2 (ja) 搬送システム
KR20210102971A (ko) 버스 데이터 인코딩을 사용하는 센서를 갖는 컨베이어 장치
JP2019035641A (ja) 位置検出器及び位置検出器を備えた検出システム
JP2019161123A (ja) 搬送装置
WO2018109792A1 (fr) Système de travail de substrat
JP3114660U (ja) ファン故障検知装置

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2016547117

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16887855

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16887855

Country of ref document: EP

Kind code of ref document: A1