WO2017159472A1 - 複数軸モータ制御システム - Google Patents
複数軸モータ制御システム Download PDFInfo
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- WO2017159472A1 WO2017159472A1 PCT/JP2017/009125 JP2017009125W WO2017159472A1 WO 2017159472 A1 WO2017159472 A1 WO 2017159472A1 JP 2017009125 W JP2017009125 W JP 2017009125W WO 2017159472 A1 WO2017159472 A1 WO 2017159472A1
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- Prior art keywords
- motor control
- motor
- axis
- communication
- stop
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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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/12—Monitoring commutation; Providing indication of commutation failure
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
-
- 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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
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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
-
- 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
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/24—Arrangements for stopping
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42284—Stop and brake motor
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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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
- H02P3/12—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by short-circuit or resistive braking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/4026—Bus for use in automation systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/54—Store-and-forward switching systems
- H04L12/56—Packet switching systems
- H04L12/5601—Transfer mode dependent, e.g. ATM
- H04L2012/5603—Access techniques
- H04L2012/5609—Topology
- H04L2012/5612—Ring
Definitions
- the present invention relates to a motor control system that controls a multi-axis multi-axis machine.
- Patent Document 1 a technique for emergency stopping of a motor for safety or the like has been proposed (see, for example, Patent Document 1).
- an emergency stop is performed as follows. That is, in this conventional system, the controller controls the multi-axis motor control device via the communication line. If an abnormality occurs in any of the axes, the motor control device of the abnormality occurrence axis initializes the motor position deviation information, and the abnormality occurrence information and the motor drive position information are displayed on the normal axis where no abnormality has occurred. Notify At the same time, the normal axis motor control device controls the normal axis to follow the abnormal axis based on the notified abnormality occurrence information and motor drive position information.
- this conventional system employs a technique of performing an emergency stop in synchronization with a plurality of axes by controlling in this way.
- the multi-axis motor control system of the present invention is a multi-axis motor control system that controls a multi-axis motor by a multi-axis machine having a plurality of axes.
- the multi-axis motor control system includes a plurality of motor control devices and a controller.
- the controller is connected to a plurality of motor control devices via a network and transmits a command signal for controlling the plurality of motor control devices.
- Each of the plurality of motor control devices includes a communication control unit, a rotation control unit, and a drive unit, and drives each of the multi-axis motors.
- the communication control unit receives the command signal, transmits the received command signal, and determines whether the command signal has been normally received.
- the rotation control unit generates a torque command for operating the motor.
- the drive unit generates a drive voltage for energizing the motor based on the torque command.
- at least one motor control device when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device outputs a torque command serving as a braking torque to It is the structure which stops.
- FIG. 1 is a block diagram showing a ring type network configuration which is an example of a basic configuration of a multi-axis motor control system.
- FIG. 2 is a block diagram showing a line-type network configuration which is another example of the basic configuration of the multi-axis motor control system.
- FIG. 3 is a block diagram illustrating another example of a line-type network configuration of a multi-axis motor control system.
- FIG. 4 is a block diagram showing a configuration of a ring-type multi-axis motor control system according to Embodiment 1 of the present invention.
- FIG. 5 is a block diagram illustrating a detailed configuration example of the motor control device according to the first embodiment of the present invention.
- FIG. 1 is a block diagram showing a ring type network configuration which is an example of a basic configuration of a multi-axis motor control system.
- FIG. 2 is a block diagram showing a line-type network configuration which is another example of the basic configuration of the multi-axis motor control system.
- FIG. 6A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the ring-type multi-axis motor control system according to Embodiment 1 of the present invention.
- FIG. 6B is a diagram illustrating an operation example of each unit when communication between the first-axis motor control device and the second-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 6C is a diagram illustrating an operation example of each unit when communication between the second-axis motor control device and the controller is interrupted in the multi-axis motor control system.
- FIG. 7 is a block diagram showing the configuration of the line-type multi-axis motor control system according to Embodiment 1 of the present invention.
- FIG. 8 is a block diagram showing a ring network configuration of a three-axis multi-axis motor control system according to Embodiment 2 of the present invention.
- FIG. 9A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the multi-axis motor control system according to Embodiment 2 of the present invention.
- FIG. 9B is a diagram illustrating an operation example of each unit when communication between the first-axis motor control device and the second-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 9C is a diagram illustrating an operation example of each unit when communication between the second-axis motor control device and the third-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 9A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the multi-axis motor control system according to Embodiment 2 of the present invention.
- FIG. 9D is a diagram illustrating an operation example of each unit when communication between the third-axis motor control device and the controller is interrupted in the multi-axis motor control system.
- FIG. 10 is a block diagram showing a ring network configuration of a two-axis multi-axis motor control system of ring connection according to Embodiment 3 of the present invention.
- FIG. 11 is a block diagram illustrating a detailed configuration example of the motor control device according to the third embodiment of the present invention.
- FIG. 12A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the multi-axis motor control system according to Embodiment 3 of the present invention.
- FIG. 10 is a block diagram showing a ring network configuration of a two-axis multi-axis motor control system of ring connection according to Embodiment 3 of the present invention.
- FIG. 11 is a block diagram illustrating a detailed configuration example of the motor control device according to the third embodiment of the present invention
- FIG. 12B is a diagram illustrating an operation example of each unit when communication between the first-axis motor control device and the second-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 13 is a block diagram showing a ring network configuration of a three-axis multi-axis motor control system according to Embodiment 4 of the present invention.
- FIG. 14A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the multi-axis motor control system according to Embodiment 4 of the present invention.
- FIG. 14B is a diagram illustrating an operation example of each unit when communication between the first-axis motor control device and the second-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 14A is a diagram illustrating an operation example of each unit when communication between the controller and the first-axis motor control device is interrupted in the multi-axis motor control system according to Embodiment 4 of the present invention.
- FIG. 14C is a diagram illustrating an operation example of each unit when communication between the second-axis motor control device and the third-axis motor control device is interrupted in the multi-axis motor control system.
- FIG. 15 is a block diagram showing a ring network configuration of a two-axis multi-axis motor control system according to Embodiment 5 of the present invention.
- FIG. 1 is a block diagram showing the configuration of a ring network as an example of the basic configuration of a multi-axis motor control system.
- FIG. 2 is a block diagram showing the configuration of a line network as another example of the basic configuration of the multi-axis motor control system.
- FIG. 3 is a diagram showing another basic configuration example of the multi-axis motor control system of the line type network.
- a plurality of motor control devices 20 that drive and control the motor are arranged, and the controller 10 controls each of the motor control devices 20.
- the controller 10 and the motor control device 20 are communicatively connected via a communication line 11 so that data can be transmitted and received.
- FIG. 2, and FIG. 3 show system configuration examples including two motor control devices 20 of the first axis and the second axis corresponding to the respective axes of the multi-axis mechanism.
- the multi-axis motor control system in the following embodiments has a configuration described later based on the basic configuration of FIGS. 1, 2, and 3, so that at least one motor control device 20 outputs a braking torque in the event of an abnormality. Stop the motor emergency. And in each embodiment, this implement
- the conventional emergency stop method described above requires a dedicated notification means for notifying the normal axis of the position information of the axis where the abnormality has occurred.
- a dedicated notification means for notifying the normal axis of the position information of the axis where the abnormality has occurred.
- At least one motor control device 20 is configured to output braking torque to stop the motor, thereby suppressing stress on the load and realizing motor stopping at a short braking distance. is doing.
- FIG. 4 is a block diagram showing a configuration of ring-type multi-axis motor control system 100 according to Embodiment 1 of the present invention.
- the multi-axis motor control system 100 configures a two-axis motor control system in which a controller 10 and two motor control devices 20 are connected in a ring shape by a communication line 11.
- the multi-axis motor control system 100 is connected in a one-way ring network topology with a one-to-one connection.
- the controller 10 sends a command signal such as a position command or a speed command to the motor control device 20 for the first axis and the second axis at each command update cycle that is a reference cycle for transmitting the command signal.
- Each motor control device 20 controls the operation of the motor 30 based on the received command signal.
- the motor control device 20 is appropriately specified, the first axis is classified as the motor control device 201 and the second axis is classified as the motor control device 202. To do.
- the control target mechanism 35 that is a control target of the motor 30 has two axes mechanically coupled by the coupling unit 351, and the X1 axis is controlled by the motor 30 of the first axis.
- An example of a multi-axis machine which is a multi-axis mechanism having a gantry structure in which the X2 axis is controlled by a second axis motor 30 is shown.
- the motors 30 of the X1 axis and the X2 axis are usually controlled by the synchronized processing of both axes based on the same command.
- the position of the load 36 in the X direction is controlled by such a multi-axis mechanism so that the X1 axis and the X2 axis move at the same speed in the same position in the X direction.
- the controller 10 controls the communication by the transmission unit 12 that transmits data such as a command signal, the reception unit 13 that receives data, and the communication by the transmission unit 12 and the reception unit 13. And a communication control unit 14 for exchanging business data.
- the motor control device 20 includes a transmission unit 12 that transmits data, a reception unit 13 that receives data, and a communication control unit 14 that controls the transmission unit 12 and the reception unit 13.
- the controller 10 and each motor control device 20 are connected in a ring shape by the communication line 11 so that data is transmitted from the transmission unit 12 to the reception unit 13. In the configuration of FIG.
- the communication control unit 14 of the controller 10 and the communication control unit 14 of the motor control device 201 are network-connected so that data transmission is possible via the communication line 11 as the communication line A. Further, the communication control unit 14 of the motor control device 201 and the communication control unit 14 of the motor control device 202 are network-connected so that data can be transmitted via the communication line 11 as the communication line B. Further, the communication control unit 14 of the motor control device 202 and the communication control unit 14 of the controller 10 are connected to a network so that data can be transmitted via the communication line 11 as the communication line C. With such a connection, communication in a ring-type connection in one direction is performed in the order of the controller 10, the motor control device 201, the motor control device 202, and the controller 10.
- the communication control unit 14 has a function of detecting an abnormality in communication (transmission or reception) in addition to normal transmission / reception of a command signal or a response signal indicating data reception. is doing.
- a communication abnormality that can occur in such a multi-axis motor control system 100, for example, a disconnection occurs in any one of the communication lines 11, or any one of the communication control units 14 performs error correction of the communication data.
- data restoration cannot be performed.
- the motor control device 20 cannot receive a command signal from the controller 10, and normal motor operation cannot be continued.
- errors to be corrected include a parity error, a checksum error, or a CRC error.
- each of the motor control devices 20 includes a rotation control unit 24 and a drive unit 25 in order to drive and control the motor 30.
- the rotation control unit 24 and the drive unit 25 also have a function for causing the motor 30 to stop in an emergency.
- the motor control device 20 further forms a closed circuit via a resistor to apply a brake to the motor 30 (hereinafter, appropriately abbreviated as DB).
- a circuit 26 is also provided.
- the emergency stop function and the DB circuit 26 in the rotation control unit 24 and the drive unit 25 can be selectively used by a stop command Em from the communication control unit 14.
- the multi-axis motor control system 100 according to the present embodiment is configured such that each of the motors 30 can be driven and stopped independently by the motor control device 20.
- FIG. 5 is a block diagram showing a detailed configuration example of such a motor control device 20 according to the first embodiment of the present invention. Next, a detailed configuration of the motor control device 20 will be described with reference to FIG.
- FIG. 5 shows an example in which the motor 30 is a UVW phase three-phase drive brushless motor. That is, the motor 30 is configured to include a stator having windings 31 corresponding to each phase and a rotor holding a permanent magnet. The winding 31 is energized by applying a driving voltage Vd whose phase is shifted by 120 degrees to each winding 31 of the stator, and a current flows through the winding 31 to rotate the rotor. Then, the position of the corresponding shaft connected to the rotor is controlled according to the rotation of the rotor.
- Vd driving voltage
- the motor control device 20 is configured to energize and drive the rotation control unit 24 for controlling the position, speed, and torque of the motor 30 and the winding 31 of the motor 30. And a drive unit 25.
- the rotation control unit 24 includes a position control unit 41 that controls the position, a speed control unit 43 that controls the speed, a torque processing unit 46 that performs processing related to torque, and the like.
- a drive output generation unit 51 that generates a drive voltage corresponding to the notified torque amount is provided.
- the motor control device 20 includes the DB circuit 26 and the rotation control unit 24 includes the torque amount storage unit 44 in order to adaptively operate the emergency stop according to the communication abnormality.
- the drive unit 25 is provided with a drive voltage switch 53.
- the command information by the command signal is notified from the controller 10 to such a motor control device 20.
- the main command information included in this command signal includes a position command Prc to the position control unit 41, a speed command Src to the speed control unit 43, a torque command to the torque processing unit 46, and the DB circuit 26 to be invalidated.
- Stop command Em related to an emergency stop such as In FIG. 5, the communication control unit 14 outputs a position command Prc to the position control unit 41 and a speed command Src to the speed control unit 43 based on the received command signal.
- a configuration in which a stop command Em is output to each of the unit 25 and the DB circuit 26 is shown as a representative.
- the position control unit 41 is notified of detected position information Pd indicating the position of the rotor of the motor 30 from the position detector 32 arranged in the motor 30.
- the rotation control unit 24 when executing a normal operation in which no communication abnormality occurs, the rotation control unit 24 performs, for example, feedback from the controller 10 by feedback control using the detected position information Pd from the position detector 32. The rotational operation is controlled so that the rotational position of the rotor of the motor 30 follows the position command Prc.
- the position control unit 41 calculates a position deviation which is a difference between the position command Prc and the detected position information Pd from the position detector 32. Further, the position control unit 41 calculates a speed command Sr by performing a calculation such as multiplying the position deviation by a position gain, and notifies the speed control unit 43 of the speed command Sr.
- the speed control unit 43 calculates the rotational speed of the motor 30 by performing, for example, a differentiation operation on the notified detected position information Pd. Further, the speed control unit 43 calculates a speed deviation which is a difference between the calculated rotation speed and the speed command Sr. Furthermore, the speed control unit 43 calculates a torque command Tr corresponding to the amount of drive torque for operating the motor 30 by performing a proportional calculation or an integral calculation on the speed deviation. The speed control unit 43 notifies the torque processing unit 46 of the torque command Tr calculated in this way.
- the torque processing unit 46 outputs a torque command Tr corresponding to the drive torque amount to the drive unit 25 as a voltage command signal Dr.
- the drive unit 25 generates a drive voltage Vd based on the voltage command signal Dr supplied from the rotation control unit 24.
- the drive output generation unit 51 has an inverter composed of a pulse width modulation (PWM) circuit and a switch element.
- PWM pulse width modulation
- the drive output generation unit 51 generates a pulse voltage that is pulse-width modulated according to the voltage command signal Dr by a PWM circuit, and generates a drive voltage Vd by performing on / off control of the switch element of the inverter using the pulse signal. ing.
- the drive unit 25 applies the drive voltage Vd generated as described above to the windings 31 for each phase via the drive voltage switch 53 in the on state. Is driving.
- the DB circuit 26 has a DB switch 61 and a DB resistor 63.
- the DB circuit 26 can switch between connection and disconnection of the DB resistor 63 with respect to the output of the drive voltage Vd of the drive unit 25 by the DB switch 61.
- the motor control device 20 selectively uses the function for emergency stop in the rotation control unit 24 and the drive unit 25 and the DB circuit 26. The motor drive is stopped.
- the speed control unit 43 is configured to operate with a zero speed command in which the speed command is zero.
- a torque amount storage unit 44 for storing a predetermined braking torque amount and the like is provided.
- the motor control device 20 is configured such that a stop command Em ⁇ b> 1 is notified from the communication control unit 14 to the speed control unit 43 and the torque processing unit 46. The stop function is switched between valid and invalid by this stop command Em1.
- the stop command Em1 indicates that immediate stop is invalid, and the speed control unit 43 follows the speed command Sr from the position control unit 41 and the speed command Src from the communication control unit 14. Is calculated and output. Further, in this case, since the immediate stop is invalid, the torque processing unit 46 selects the torque command Tr from the speed control unit 43, and outputs a voltage command signal Dr corresponding to the torque command Tr to the drive unit 25. Normal operation continues.
- the speed control unit 43 switches from the operation based on the speed command Sr or the speed command Src to the operation based on the zero speed command. As a result, while the motor 30 is operating at a certain speed, the control is changed so that the speed becomes 0 (zero). In the speed control unit 43, the torque command Tr corresponding to the braking torque for stopping the rotation of the motor 30 is obtained. Generated. Furthermore, since the immediate stop is effective, the torque processing unit 46 reads the braking torque command Tb indicating a predetermined braking torque amount from the torque amount storage unit 44, and outputs a voltage command signal Dr corresponding to the braking torque command Tb. Output to the drive unit 25. As a result, a driving voltage Vd that brakes the rotation of the motor 30 is applied to each winding 31 from the driving unit 25, and the rotation of the motor 30 is stopped.
- the other is a second function that causes the drive unit 25 to cut off the supply of the drive voltage Vd to the motor 30 and to stop the motor 30 naturally.
- a no-drive stop function the drive unit 25 is provided with a drive voltage switch 53 that switches connection / disconnection between the drive voltage output from the drive output generation unit 51 and the winding 31 of the motor 30.
- the drive voltage switch 53 is switched on and off by a second stop command Em2 from the communication control unit 14 shown in FIG.
- the stop command Em2 indicates that the no-drive stop is invalid, the drive voltage switch 53 is on, and the output of the drive output generator 51 is connected to the winding 31.
- the drive unit 25 supplies the output voltage of the drive output generation unit 51 to the winding 31 as the drive voltage Vd.
- the stop command Em2 indicates that the non-drive stop is valid, the drive voltage switch 53 is turned off, and the connection between the output of the drive unit 25 and the winding 31 is disconnected. Therefore, in this non-connected state, the drive voltage 25 is not applied to the winding 31 from the drive unit 25 and the winding 31 is not energized, so that the motor 30 naturally stops in a non-driven state.
- a switch element of an inverter included in the drive output generation unit 51 may be used to switch connection / disconnection of the drive voltage Vd.
- the other is a third function (hereinafter referred to as DB stop) that enables the dynamic brake of the DB circuit 26 to stop the motor 30. Called function).
- DB stop a third function that enables the dynamic brake of the DB circuit 26 to stop the motor 30. Called function.
- the DB circuit 26 as described above is provided.
- the above-mentioned non-drive stop function is also enabled.
- the DB circuit 26 has a DB switch 61 and a DB resistor 63 corresponding to each phase, as shown in FIG.
- One of the DB switches 61 is connected to the input terminal of the drive voltage Vd of the winding 31, the other of the DB switches 61 is connected to one of the DB resistors 63, and the other of the DB resistors 63 is connected to each other.
- the DB switch 61 is switched on and off by the third stop command Em3 from the communication control unit 14.
- the stop command Em3 indicates that the DB stop is invalid, the DB switch 61 is off, and the DB resistor 63 is not connected to the winding 31.
- the stop command Em3 indicates that the DB stop is valid, the DB switch 61 is turned on, and the DB resistor 63 is connected to the winding 31.
- the plurality of output terminals of the motor control device 20 for the motor 30, that is, the drive voltage supply terminals of the windings 31 are short-circuited via the DB resistor 63.
- the counter electromotive force generated from the winding 31 when the motor 30 rotates is applied to the DB resistor 63, and the energy of the counter electromotive force is converted into heat energy by the DB resistor 63 and consumed.
- the DB stop function by operating in this way, torque that acts to brake the rotation of the motor 30 is generated, and the motor 30 can be stopped.
- the rotation control unit 24 generates the torque command Tr based on the command signal, and the drive unit 25 drives the motor 30 by outputting the drive voltage Vd corresponding to the torque command Tr. Further, the rotation control unit 24 outputs a braking torque command Tb having a magnitude set in advance in the motor control device 20 to execute an immediate stop of the motor 30 or to the motor 30 as described above. To turn off the power and execute a no-drive stop. Moreover, in the case of this non-drive stop, the DB circuit 26 can be switched between valid and invalid, and braking by dynamic brake (DB stop) can also be executed.
- DB stop dynamic brake
- the motor 30 may be immediately stopped as one operation in the normal operation.
- a speed command is sent from the controller 10 to the speed control unit 43 of each motor control device 20 so that the speed of the motor 30 becomes 0 (zero). Send out as Src.
- the speed control part 43 the braking torque output command which shows the amount of braking torque required for an immediate stop is produced
- the zero speed command for immediate stop and the braking torque output command are closely related to each other. That is, the torque processing unit 46 is connected to the speed control unit 43, and comprehensively controls the magnitude of the braking torque output in consideration of speed control information.
- the motor control device 20 that detects the occurrence of the communication abnormality is controlled by the communication control unit 14 in place of the command from the controller 10. That is, when a communication abnormality occurs, the communication control unit 14 outputs a stop command Em corresponding to the abnormality state.
- the rotation control unit 24 performs the same process as when the zero speed command arrives normally from the controller 10. That is, as described above, the rotation control unit 24 reads the braking torque command Tb corresponding to the braking torque amount having a preset size necessary for executing the immediate stop function from the torque amount storage unit 44, The voltage command signal Dr is output to the drive unit 25.
- the drive unit 25 outputs a drive voltage Vd corresponding to the voltage command signal Dr to the winding 31. Note that when the motor control device 20 executes the immediate stop function, if the DB circuit 26 is disabled, the braking torque for braking the motor 30 is naturally the braking torque output by the torque processing unit 46. The torque is output according to the command Tb.
- FIGS. 6A to 6C show a controller when the above-described communication abnormality occurs in the two-axis multi-axis motor control system 100 shown in FIG. 10 shows the operation of each motor control device 20 with time.
- FIG. 6A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 201 is interrupted.
- FIG. 6B illustrates an operation example of each unit when communication between the first-axis motor control device 201 and the second-axis motor control device 202 is interrupted.
- FIG. 6C illustrates an operation example of each unit when communication between the motor control device 202 of the second axis and the controller 10 is interrupted.
- 6A to 6C mainly illustrate the operation of the controller 10 and each motor control device 20 related to the emergency stop of the motor 30 when a communication abnormality is detected in order to easily explain the operation in the present embodiment. It shows.
- the command update cycle TC is the cycle TC
- the motor control / communication cycle TN is the cycle TN.
- the description will be omitted as appropriate.
- the cycle TC is a reference cycle for transmitting the command signal as described above.
- at least one cycle TN exists within one cycle of the cycle TC as a cycle TN serving as a reference for executing motor control and communication in each motor control device 20.
- FIGS. 6A to 6C it is assumed that a plurality of periods TN exist in one period TC.
- the cycle TC and the cycle TN are set in advance before the multi-axis motor control system 100 is operated.
- the timing of occurrence of communication abnormality and the timing of abnormality detection in the controller 10 and each motor control device 20 may be the same period TC.
- the period TC may be.
- the operation from when the controller 10 issues a command signal at a certain timing until each motor control device 20 of multiple axes drives and stops the motor 30 has the same cycle between the motor control devices 20. Done.
- the communication control unit 14 in each motor control device 20 detects the communication abnormality in the same cycle between the motor control devices 20.
- the same cycle among the motor control devices 20 is preferably the same motor control / communication cycle TN in the present embodiment.
- the command update cycle TC T1
- FIGS. 6A to 6C indicate the flow of operations (processes) between the controller 10 and each motor control device 20.
- Solid arrows indicate the flow of processing directly related to the emergency stop operation of the motor 30.
- a broken arrow indicates a process flow not directly related to the emergency stop operation of the motor 30.
- one or two processes are executed for each cycle TC.
- the non-drive stop it is further possible to output a stop command Em3 indicating that the DB stop is valid from the communication control unit 14, enable the DB circuit 26, and use the DB stop by the dynamic brake. More preferred.
- the magnitude of the braking torque value A in the immediate stop of the operation example 1A the magnitude of the maximum torque that can be permitted by the multi-axis motor control system 100 is preferable. That is, by setting such a maximum torque value, the stop distances of the plurality of drive shafts can be minimized. In addition, although the stopping distance becomes longer when the torque is less than that, the torque is determined so that it becomes necessary and sufficient in consideration of errors in the stopping position of multiple axes and heat generation in the DB circuit. May be.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30.
- the command signal does not reach the apparatus 201 and the apparatus 202 from the controller 10, and is ignored.
- the apparatus 201 and the apparatus 202 have already been stopped, and thus the immediate stop command is ignored in the operation of the operation example 1A.
- each of the device 201 and the device 202 detects an abnormality.
- the device 202 that has detected an abnormality releases the power supply to the motor 30 and the device 201 that does not release the power supply.
- the drive voltage Vd based on the braking torque command Tb set in advance by the rotation control unit 24 is output, and the motor 30 is stopped in each case.
- the present multi-axis motor control system 100 includes such a configuration, a combination of the immediate stop function and the non-drive stop function is executed in the event of an abnormality.
- the shaft that has immediately stopped stops rapidly, while the shaft that has stopped without driving stops spontaneously. Therefore, in particular, when the gantry structure such as the control target mechanism 35 in FIG. 4 is set as the control target, for example, the X1 axis stops immediately and the X2 axis stops while moving slowly. Since the control target as a whole stops with such a movement, the stress applied to the load 36 can be suppressed lower than the operation in which both the X1 axis and the X2 axis stop immediately. Further, since one of the axes is stopped immediately, the stop distance and the stop time can be shortened as compared with an operation in which all the axes are naturally stopped.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device that has detected the abnormality releases the power supply to the motor. Further, at least one motor control device that does not release the power supply to the motor outputs a torque command that is a braking torque set in advance by the rotation control unit to stop the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 201 normally receives the command from the controller 10, and the device 201 performs normal operation.
- the communication control unit 14 of the device 202 detects a communication abnormality in response to “abnormality occurrence”.
- the device 202 changes from an operation based on a command received from the controller 10 to an operation based on the control of the device alone. Switch to stop driving. That is, in the device 202, the communication control unit 14 outputs a stop command Em2 indicating that the non-drive stop is valid, and the drive unit 25 executes the non-drive stop function.
- the communication control unit 14 outputs a stop command Em2 indicating that the non-drive stop is valid, and the drive unit 25 executes the non-drive stop function.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30. At this time, the device 201 continues normal operation, and the device 202 continues the non-drive stop state.
- the command signal of the immediate stop command for all the motors 30 issued from the controller 10 is received by the device 201, and the device 201 immediately stops at the braking torque value A.
- the communication control unit 14 of the apparatus 201 outputs a stop command Em1 to the rotation control unit 24, for example, based on the immediate stop command from the controller 10.
- the torque processing unit 46 of the device 201 reads the braking torque command Tb of the braking torque value A from the torque amount storage unit 44. In this way, the immediate stop function in the apparatus 201 is executed.
- the command signal from the controller 10 is naturally not received by the device 202 and ignored, and the device 202 continues the non-drive stop state.
- the magnitude of the braking torque value A in the immediate stop of the operation example 1B the magnitude of the maximum torque that can be permitted by the multi-axis motor control system 100 is preferable. That is, by setting such a maximum torque, the stop distances of the plurality of drive shafts can be shortened the shortest. In addition, although the stopping distance becomes longer when the torque is less than that, the torque is determined so that it becomes necessary and sufficient in consideration of errors in the stopping position of multiple axes and heat generation in the DB circuit. May be.
- the multi-axis motor 30 can be quickly and safely stopped.
- the device 202 that has detected an abnormality releases the energization of the motor 30 and does not release the energization.
- the apparatus 201 is configured to output the drive voltage Vd corresponding to the braking torque command Tb based on the command signal normally received from the controller 10 and stop the motor 30 in each case.
- the multi-axis motor control system 100 includes such a configuration, as in the case of the operation example 1A, a combination of the immediate stop function and the non-drive stop function is executed in the event of an abnormality. For this reason, compared with the operation in which both the X1 axis and the X2 axis in FIG. Further, since one of the axes is stopped immediately, the stop distance and the stop time can be shortened as compared with an operation in which all the axes are naturally stopped.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device that has detected the abnormality releases the power supply to the motor. Further, at least one motor control device that does not release the energization of the motor outputs a torque command that becomes a braking torque based on the command signal normally received from the controller, and stops the motor. Even in such a configuration, the same effect can be obtained.
- operation example 1C Next, as operation example 1C, the operation of each unit when communication between the apparatus 202 and the controller 10 is interrupted will be described. Further, this operation example 1C is an operation example related only to the ring-type multi-axis motor control system 100.
- the controller 10 detects a communication abnormality and issues an immediate stop command for all the motors 30. In addition, the device 201 and the device 202 continue normal operation.
- the device 201 and the device 202 immediately stop at the braking torque value B according to the command received from the controller 10.
- the magnitude of the braking torque value B in the immediate stop of the operation example 1C is a magnitude that is distributed by the number of axes that immediately stops the maximum torque allowable in the multi-axis motor control system 100.
- the braking torque value B is preferably a value obtained by distributing the maximum torque with two axes. In other words, the braking torque value B is half of the braking torque value A described above.
- the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- the controller 10 when the controller 10 detects an abnormality in receiving a response signal from the device 202 with respect to the command signal. All the devices 201 and 202 are configured to output a braking torque based on a command signal from the controller 10 to stop the motor 30.
- FIG. 7 is a block diagram showing a configuration of a line-type multi-axis motor control system 110 as another configuration example of the multi-axis motor control system according to Embodiment 1 of the present invention.
- 4 is different from the motor control system of FIG. 4 in that there is no communication line C connecting the controller 10 and the motor control device 202 of the second axis, and the transceiver 17 is connected between the controller 10 and the motor control device 20. It is a point which communicates by bidirectional
- the plurality of drive shafts may be controlled by the same controller 10. . That is, a configuration in which a plurality of drive shafts are mechanically coupled as represented by a gantry structure may be employed, and a plurality of drive shafts are not mechanically coupled but controlled by the same controller 10. Such a configuration may be adopted.
- the case where a plurality of mechanically coupled drive shafts are controlled synchronously has been taken as an example, but the same control is performed even when a plurality of drive shafts are not mechanically coupled. Is possible.
- the controller 10 may be configured to manage any one of a plurality of motor control devices controlled in synchronization as a master axis and the other axes as slave axes.
- a storage device a volatile or non-volatile memory, a register, or the like
- each motor control device 20 is preliminarily set as a parameter whether each motor control device 20 is a master axis or a slave axis. Set it.
- FIG. 8 is a block diagram showing a ring network configuration of a three-axis multi-axis motor control system 200 according to Embodiment 2 of the present invention.
- the multi-axis motor control system 200 configures a three-axis motor control system in which a controller 10 and three motor control devices 20 are connected in a ring shape. That is, this embodiment has a configuration in which another motor control device 20 is connected in series between the two motor control devices 20 in FIG. Further, each of the controller 10 and the motor control device 20 has the same configuration as the internal configuration shown in FIGS. 4 and 5.
- the same reference numerals are given to the same or corresponding parts as those in the first embodiment, and a part of the description will be omitted.
- the second-axis motor control device 202 and the third-axis motor control device 203 are connected via the communication line 11 as the communication line D.
- the third axis motor control device 203 and the controller 10 are network-connected via a communication line 11 as a communication line C.
- FIG. 9A, FIG. 9B, FIG. 9C and FIG. 9D are communications as described in the first embodiment in the three-axis multi-axis motor control system 200 shown in FIG.
- produces is shown.
- FIG. 9A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 201 is interrupted.
- FIG. 9B illustrates an operation example of each unit when communication between the first-axis motor control device 201 and the second-axis motor control device 202 is interrupted.
- FIG. 9A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 201 is interrupted.
- FIG. 9B illustrates an operation example of each unit when communication between the first-axis motor control device 201 and the second-axis motor control device 202 is interrupted.
- FIG. 9A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 201 is
- FIG. 9C illustrates an operation example of each unit when communication between the second-axis motor control device 202 and the third-axis motor control device 203 is interrupted. Further, FIG. 9D shows an operation example of each unit when communication between the third-axis motor control device 203 and the controller 10 is interrupted.
- 9A to 9D mainly illustrate the operations of the controller 10 and each motor control device 20 related to the emergency stop of the motor 30 when a communication abnormality is detected, in order to easily explain the operation in the present embodiment. It shows.
- the motor control device is specified as appropriate, the motor control device is classified as the device 201, the device 202, and the device 203, and the motor control device 20 is described when referring to them collectively.
- the non-drive stop it is further possible to output a stop command Em3 indicating that the DB stop is valid from the communication control unit 14, enable the DB circuit 26, and use the DB stop by the dynamic brake. More preferred.
- the magnitude of the braking torque value A ′ in the immediate stop of the operation example 2A is preferable. That is, by setting such a maximum torque value, the stop distances of the plurality of drive shafts can be minimized. If the torque is smaller than that, the stopping distance will be longer, but the torque should be set so that it becomes necessary and sufficient in consideration of errors in the stopping position of multiple axes and heat generation in the DB circuit. You may decide.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30.
- the command signal does not reach the apparatuses 201, 202, and 203 from the controller 10 and is ignored.
- the devices 201, 202, and 203 have already been stopped, and thus the immediate stop command is ignored in the operation of the operation example 2A.
- the device 202 and the device 203 that have detected an abnormality release the energization of the motor 30 and the energization.
- Is configured to output a drive voltage Vd based on a braking torque command Tb set in advance by the rotation control unit 24 and stop the motor 30 respectively.
- this multi-axis motor control system 200 includes such a configuration, as in the operation example 1A, compared to the operation in which both the X1 axis and the X2 axis in FIG.
- the stress given to 36 can be kept low.
- the stop distance and stop time can be shortened as compared with an operation in which all the axes are naturally stopped.
- the example in which the number of motor control devices is three has been described.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device that has detected the abnormality releases the power supply to the motor. Further, at least one motor control device that does not release the power supply to the motor outputs a torque command that is a braking torque set in advance by the rotation control unit to stop the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 201 normally receives the command from the controller 10, and the device 201 performs normal operation.
- the communication control unit 14 of the device 202 and the device 203 detects a communication abnormality in response to “abnormality occurrence”.
- the non-drive stop it is more preferable to use the DB stop by the dynamic brake by enabling the DB circuit 26 as described above.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30.
- the apparatus 201 continues normal operation, and the apparatus 202 and the apparatus 203 continue to be in a no-drive stop state.
- the command signal for the immediate stop command of all the motors 30 issued from the controller 10 is received by the device 201, and the device 201 immediately stops at the braking torque value A ′.
- the communication control unit 14 of the apparatus 201 outputs a stop command Em1 to the rotation control unit 24, for example, based on the immediate stop command from the controller 10.
- the torque processing unit 46 of the device 201 reads the braking torque command Tb of the braking torque value A ′ from the torque amount storage unit 44. In this way, the immediate stop function in the apparatus 201 is executed.
- the command signal from the controller 10 is naturally not received by the device 202 and the device 203 and ignored, and the device 202 and the device 203 continue the non-drive stop state.
- the magnitude of the braking torque value A ′ in the immediate stop of the operation example 2B is preferable. That is, by setting such a maximum torque, the stop distances of the plurality of drive shafts can be shortened the shortest. In addition, although the stopping distance becomes longer when the torque is less than that, the torque is determined so that it becomes necessary and sufficient in consideration of errors in the stopping position of multiple axes and heat generation in the DB circuit. May be.
- the device 202 and the device 203 that have detected an abnormality release the energization of the motor 30 and energize it.
- the multi-axis motor control system 200 includes such a configuration, as in the case of the operation example 1B, a combination of the immediate stop function and the non-drive stop function is executed in the event of an abnormality. For this reason, compared with the operation in which both the X1 axis and the X2 axis in FIG. Further, since one of the axes is stopped immediately, the stop distance and the stop time can be shortened as compared with an operation in which all the axes are naturally stopped.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device that has detected the abnormality releases the power supply to the motor. Further, at least one motor control device that does not release the energization of the motor outputs a torque command that becomes a braking torque based on the command signal normally received from the controller, and stops the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 201 and the device 202 normally receives the command of the controller 10, and the device 201 and the device 202 perform normal operation.
- the communication control unit 14 of the device 203 detects a communication abnormality in response to “abnormality occurrence”.
- the device 203 changes from an operation based on a command received from the controller 10 to an operation based on the control of the device alone. Switch to stop driving. That is, in the device 203, the communication control unit 14 outputs a stop command Em2 indicating that the non-drive stop is valid, and the drive unit 25 executes the non-drive stop function.
- the non-drive stop it is more preferable to use the DB stop by the dynamic brake as described above.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30. At this time, the apparatus 201 and the apparatus 202 continue normal operation, and the apparatus 203 continues the non-drive stop state.
- the command signal of the immediate stop command of all the motors 30 issued from the controller 10 is received by the devices 201 and 202, and the devices 201 and 202 receive the braking torque value C.
- the communication control unit 14 between the device 201 and the device 202 outputs a stop command Em1 to the rotation control unit 24, for example, based on the immediate stop command from the controller 10.
- the torque processing unit 46 of the device 201 and the device 202 reads the braking torque command Tb of the braking torque value C from the torque amount storage unit 44. In this way, the immediate stop function in the device 201 and the device 202 is executed.
- the command signal from the controller 10 is naturally not received by the device 203 and ignored, and the device 203 continues the non-drive stop state.
- the magnitude of the braking torque value C in the immediate stop of the operation example 2C is the number of axes that immediately stops the maximum torque that can be allowed by the multi-axis motor control system 200 (two axes in this embodiment).
- the allocated size is preferred. That is, since the number of axes to be stopped immediately in this operation example is two, the braking torque value C is preferably a magnitude obtained by distributing the maximum torque with two axes. In other words, the braking torque value C is half of the braking torque value A ′ described above. Furthermore, it is more preferable to match each of the two torques so that the magnitudes of the two torques coincide with each other, whereby the stop distances of the plurality of drive shafts can be minimized.
- the torque is smaller than that, the stopping distance will be longer, but the torque should be set so that it becomes necessary and sufficient in consideration of errors in the stopping position of multiple axes and heat generation in the DB circuit. You may decide. That is, even if each braking torque is set so that the sum of the magnitudes of the braking torques output by all the motor control devices is less than or equal to the maximum braking torque allowable in the multi-axis motor control system. Good.
- the device 203 that has detected the abnormality releases the energization to the motor 30 and does not release the energization.
- the apparatus 201 and the apparatus 202 are configured to output the drive voltage Vd corresponding to the braking torque command Tb based on the command signal normally received from the controller 10 and stop the motor 30 respectively.
- the multi-axis motor control system 200 includes such a configuration, as in the case of the operation example 1B and the operation example 2B, in the event of an abnormality, a combination of the immediate stop function and the non-drive stop function is executed. . For this reason, compared with the operation in which both the X1 axis and the X2 axis in FIG. Furthermore, since at least one of the axes stops immediately, the stop distance and stop time can be shortened as compared with an operation in which all the axes are naturally stopped.
- the example in which the number of motor control devices is three has been described.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving the command signal, at least one motor control device that has detected the abnormality releases the power supply to the motor. Further, at least one motor control device that does not release the energization of the motor outputs a torque command that becomes a braking torque based on the command signal normally received from the controller, and stops the motor. Even in such a configuration, the same effect can be obtained.
- the controller 10 detects a communication abnormality and issues an immediate stop command for all the motors 30.
- Each motor control device 20 continues normal operation.
- each motor control device 20 immediately stops at the braking torque value B ′ according to the command received from the controller 10.
- the magnitude of the braking torque value B ′ in the immediate stop of the present operation example 2D is a magnitude that is distributed by the number of axes that immediately stops the maximum torque that can be allowed by the multi-axis motor control system 200.
- the braking torque value B ′ is preferably a magnitude obtained by distributing the maximum torque with three axes.
- the braking torque value B ′ is one third of the braking torque value A described above.
- each of the three torques it is more preferable to match each of the three torques so that the magnitudes of the three torques coincide with each other, so that the stop distances of the plurality of drive shafts can be minimized.
- the sum of the magnitudes of the braking torques output by all the motor control devices 20 is less than the maximum braking torque allowable in the multi-axis motor control system 200.
- the braking torque may be set for each.
- the controller 10 when the controller 10 detects an abnormality in receiving a response signal from the device 203 with respect to the command signal. All of the devices 201, 202 and 203 are configured to output a braking torque based on a command signal from the controller 10 to stop the motor 30.
- the configuration of the three-axis motor control system (not shown) in the line type connection is the two-axis ring in FIG. 1 and the three-axis ring in FIG.
- the difference in the mold-connected motor control system can be configured to be equivalent to the configuration applied in FIG. Even in such a line-type configuration, the configuration described in the operation example 2A to the operation example 2D can be applied.
- the same motor 30 as the above-described 2-axis and 3-axis multi-axis motor control systems 100 and 200 is used.
- An emergency stop method can be applied.
- FIG. 10 is a block diagram showing a ring network configuration of a two-axis multi-axis motor control system 300 with a ring connection according to Embodiment 3 of the present invention.
- FIG. 11 is a block diagram showing a detailed configuration example of the motor control device 50 according to the third embodiment of the present invention.
- the multi-axis motor control system 300 constitutes a three-axis motor control system in which a controller 10 and two motor control devices 50 are connected in a ring shape.
- the multi-axis motor control system 300 in the present embodiment includes a motor control device 50 instead of the motor control device 20 in the first embodiment.
- the motor control device 20 is configured to selectively use the three functions for stopping the motor drive as described above when the occurrence of a communication abnormality is detected.
- the motor control device 50 in the present embodiment is configured to stop the motor drive only by the immediate stop function. For this reason, only the stop command Em1 is notified from the communication control unit 14 to the rotation control unit 24.
- the motor control device 50 does not include a DB circuit, and the drive unit 55 includes only the drive output generation unit 51.
- the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- FIGS. 12A and 12B show a case where a communication abnormality as described in the first embodiment occurs in the two-axis multi-axis motor control system 300 shown in FIG.
- movement with time progress of the controller 10 and each motor control apparatus 50 is shown.
- FIG. 12A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 501 is interrupted.
- FIG. 12B illustrates an operation example of each unit when communication between the first-axis motor control device 501 and the second-axis motor control device 502 is interrupted.
- the case where the communication between the motor control device 502 of the second axis and the controller 10 is interrupted is the same as in the case of the operation example 1C described with reference to FIG. 6C in the first embodiment.
- the operations of the controller 10 and each motor control device 50 related to the emergency stop of the motor 30 when a communication abnormality is detected are mainly described. It shows.
- the motor control device 50 is classified as the device 501 and the device 502, and the motor control device 50 is described when referring to them collectively.
- the communication control unit 14 of the device 501 and the device 502 each detects a communication abnormality.
- the device 501 and the device 502 are based on the latest command from the controller 10 that can be received last in a normal communication state. Then, an operation (hereinafter referred to as continuous operation) is performed by switching to the control of the device alone. The time for which the continuous operation is executed will be described later.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30.
- the command signal does not reach the device 501 and the device 502 from the controller 10 as a matter of course.
- each of the device 501 and the device 502 performs a continuous operation under the control of the device alone.
- the duration of this continuous operation is the time set in advance by the device 501 and the device 502.
- the duration of this continuous operation is set in consideration of the necessary cycle TC and cycle TN based on the communication speed between the controller 10, the apparatus 501, and the apparatus 502, the processing speed of the controller 10, and the like.
- the time until the motor 30 is stopped after the braking torque set by the rotation control unit 24 is output after the start of the continuous operation is a predetermined time that is the continuous operation time.
- the time is set in advance.
- the predetermined time is set as K times (K is a natural number) a command update cycle TC as a reference cycle for the controller 10 to transmit a command signal.
- the device 501 and the device 502 are not based on the command received from the controller 10, but are set in advance in the torque amount storage unit 44 of the rotation control unit 24.
- an immediate stop is performed as shown in FIG. 12A. That is, in each of the device 501 and the device 502, the communication control unit 14 outputs a stop command Em1 indicating that the immediate stop is valid, and the rotation control unit 24 executes the immediate stop function.
- the magnitude of the braking torque value B in the immediate stop of the operation example 3A is a magnitude that is distributed by the number of axes that immediately stops the maximum torque allowable in the multi-axis motor control system 300. .
- the braking torque value B is preferably a value obtained by distributing the maximum torque with two axes. In other words, the braking torque value B is half of the maximum braking torque value. Furthermore, it is more preferable to match each of the two torques so that the magnitudes of the two torques coincide with each other, whereby the stop distances of the plurality of drive shafts can be minimized. In consideration of safety, etc., the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- each of the device 501 and the device 502 that has detected an abnormality is normally received before the abnormality is detected.
- the drive torque based on the command signal is output to continue the motor operation. Further, after a predetermined time from the start of the continuous operation, all the devices 501 and 502 that control a plurality of axes output braking torque set in advance by the rotation control unit to stop the motor.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving a command signal, the drive torque based on the command signal normally received by at least one motor control device that has detected the abnormality before detecting the abnormality Is output to continue the motor operation. Further, after a predetermined time from the start of the continuous operation, all the motor control devices that control the plurality of axes output the braking torque set in advance by the rotation control unit to stop the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 501 normally receives a command from the controller 10, and the device 501 executes a normal operation.
- the communication control unit 14 of the device 502 detects a communication abnormality in response to the “abnormality occurrence”.
- the device 502 switches to the control of the device alone and executes the continuous operation.
- the time for which the continuous operation is executed will be described later.
- the device 501 continues normal operation, and the device 502 executes continuous operation.
- the duration of this continuous operation is a time set in advance by the apparatus 502.
- the duration of this continuous operation is set in consideration of the necessary cycle TC and cycle TN based on the communication speed between the controller 10, the apparatus 501, and the apparatus 502, the processing speed of the controller 10, and the like.
- the duration of this continuous operation is the time from when the continuous operation is started until each device 501 and device 502 receives the command signal and immediately stops.
- the time until the motor 30 stops after the braking torque set by the rotation control unit 24 is output after the start of the continuous operation is the time of the continuous operation.
- a predetermined time is set in advance. The predetermined time is set as K times (K is a natural number) a command update cycle TC as a reference cycle for the controller 10 to transmit a command signal.
- the device 501 immediately stops at the braking torque value B according to the command received from the controller 10.
- the device 502 does not depend on the command received from the controller 10, but immediately stops at the braking torque value B set in advance by the control of the device alone in the continuous operation.
- the magnitude of the braking torque value B in the immediate stop of the present operation example 3B is preferably a magnitude that is distributed by the number of axes that can be immediately stopped by the maximum torque that can be allowed by the multi-axis motor control system 300. .
- the braking torque value B is preferably a value obtained by distributing the maximum torque with two axes.
- the braking torque value B is half of the maximum braking torque value. Furthermore, it is more preferable to match each of the two torques so that the magnitudes of the two torques coincide with each other, whereby the stop distances of the plurality of drive shafts can be minimized. In consideration of safety, etc., the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- the maximum power is not the conventional method in which the energization of all the motors 30 is immediately opened and the drive is stopped.
- the braking torque is distributed while the energization of all the motors 30 is maintained so that the braking torque is distributed on each axis. For this reason, by executing the operation corresponding to the abnormality based on the operation example 3B, it is possible to stop the multi-axis motor 30 quickly and safely.
- device 502 that has detected an abnormality is based on a command signal that is normally received before the detection of the abnormality.
- the drive torque is output and the motor 30 is continuously operated. Further, after a predetermined time from the start of the continuous operation, the device 502 outputs the braking torque set by the rotation control unit in advance and stops the motor.
- the device 501 that does not perform the continuous operation is configured to output the braking torque based on the command signal normally received from the controller 10 and stop the motor. is doing.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving a command signal, the drive torque based on the command signal normally received by at least one motor control device that has detected the abnormality before detecting the abnormality Is output to continue the motor operation. Then, after a predetermined time from the start of the continuous operation, at least one motor control device that has performed the continuous operation outputs the braking torque set in advance by the torque control unit and stops the motor. Further, at least one motor control device that does not perform the continuous operation outputs a braking torque based on a command signal normally received from the controller to stop the motor. Even in such a configuration, the same effect can be obtained.
- FIG. 13 is a block diagram showing a ring network configuration of a three-axis multi-axis motor control system 400 according to Embodiment 4 of the present invention.
- the multi-axis motor control system 400 constitutes a three-axis motor control system in which a controller 10 and three motor control devices 50 are connected in a ring shape. That is, the present embodiment has a configuration in which another motor control device 50 is connected in series between the two motor control devices 50 in FIG.
- Each motor control device 50 has the same configuration as the internal configuration shown in FIG.
- the same reference numerals are given to the same or corresponding parts as those in the third embodiment, and a part of the description will be omitted.
- the second-axis motor control device 502 and the third-axis motor control device 503 are connected via the communication line 11 as the communication line D.
- the third axis motor control device 503 and the controller 10 are network-connected via a communication line 11 as a communication line C.
- FIGS. 14A to 14C the communication abnormality described in the first embodiment occurs in the three-axis multi-axis motor control system 400 shown in FIG.
- movement with time progress of the controller 10 and each motor control apparatus 50 in the case of having performed is shown.
- FIG. 14A shows an operation example of each part when communication between the controller 10 and the first-axis motor control device 501 is interrupted.
- FIG. 14B illustrates an operation example of each unit when communication between the first-axis motor control device 501 and the second-axis motor control device 502 is interrupted.
- FIG. 14C illustrates an operation example of each unit when communication between the second-axis motor control device 502 and the third-axis motor control device 503 is interrupted.
- the case where the communication between the third-axis motor control device 503 and the controller 10 is interrupted is the same as in the case of the operation example 2D described with reference to FIG. 9D in the second embodiment.
- the operations of the controller 10 and each motor control device 50 related to the emergency stop of the motor 30 when a communication abnormality is detected are mainly described. It shows.
- the motor control device when the motor control device is specified as appropriate, it is classified as the device 501, device 502, and device 503, and will be described as the motor control device 50 when they are collectively referred to.
- the communication control unit 14 of the device 501, the device 502, and the device 503 each detect a communication abnormality.
- the devices 501, 502, and 503 receive the latest from the controller 10 that has been able to receive the last communication in a normal state. Based on the command, an operation (hereinafter referred to as continuous operation) is performed by switching to the control of the device alone.
- the time for which the continuous operation is executed is a time set in advance in the motor control device 50 as in the case of the biaxial operation example 3A, and details thereof are omitted.
- the controller 10 detects a communication error and issues an immediate stop command for all the motors 30.
- the command signal does not reach the devices 501, 502, and 503 from the controller 10 as a matter of course.
- each of the device 501, the device 502, and the device 503 performs a continuous operation under the control of the device alone.
- the devices 501, 502, and 503 are not driven by commands received from the controller 10, but are set in advance in the torque amount storage unit 44 of the rotation control unit 24.
- an immediate stop is performed as shown in FIG. 14A. That is, in each of the device 501, the device 502, and the device 503, the communication control unit 14 outputs a stop command Em1 indicating that the immediate stop is valid, and the rotation control unit 24 executes the immediate stop function.
- the magnitude of the braking torque value B ′ at the time of immediate stop in this operation example 4A is the magnitude that is allocated by the number of axes that immediately stops the maximum torque that can be allowed by the multi-axis motor control system 400.
- the braking torque value B ′ is preferably a magnitude obtained by distributing the maximum torque with three axes.
- the braking torque value B ′ is one third of the maximum braking torque value.
- it is more preferable to match each of the three torques so that the magnitudes of the three torques coincide with each other, so that the stop distances of the plurality of drive shafts can be minimized.
- the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- each of the device 501, the device 502, and the device 503 that has detected an abnormality is detected before the abnormality is detected.
- the drive torque based on the command signal received normally is output and the motor continues to operate. Furthermore, after a predetermined time from the start of the continuous operation, all the devices 501, 502 and 503 that control a plurality of axes output braking torque set in advance by the rotation control unit and stop the motor.
- the example in which the number of motor control devices is three has been described.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving a command signal, the drive torque based on the command signal normally received by at least one motor control device that has detected the abnormality before detecting the abnormality Is output to continue the motor operation. Further, after a predetermined time from the start of the continuous operation, all the motor control devices that control the plurality of axes output the braking torque set in advance by the rotation control unit to stop the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 501 normally receives a command from the controller 10, and the device 501 executes a normal operation.
- the communication control unit 14 of the device 502 and the device 503 detects a communication abnormality in response to “abnormality occurrence”.
- the device 502 and the device 503 are switched to the control of the device alone and execute the continuous operation.
- the time for which the continuation operation is executed is the same as in the case of the biaxial operation example 3B, and details thereof are omitted.
- the device 501 After the continuous operation time has elapsed, the device 501 immediately stops at the braking torque value B ′ according to the command received from the controller 10. On the other hand, the device 502 and the device 503 do not depend on a command received from the controller 10, but immediately stop at a preset braking torque value B 'by the control of the device alone in the continuous operation.
- the magnitude of the braking torque value B ′ in the immediate stop of the present operation example 4B is a magnitude that is allocated by the number of axes that immediately stops the maximum torque allowable in the multi-axis motor control system 400. preferable.
- the braking torque value B ′ is preferably a magnitude obtained by distributing the maximum torque with three axes.
- the braking torque value B ′ is one third of the maximum braking torque value.
- the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- the maximum power is not the conventional method in which the energization of all the motors 30 is immediately released and the drive is stopped.
- the braking torque is distributed while the energization of all the motors 30 is maintained so that the braking torque is distributed on each axis. For this reason, by executing the operation corresponding to the abnormality based on the operation example 4B, it is possible to stop the multi-axis motor 30 quickly and safely.
- the command that the device 502 and the device 503 that detected the abnormality normally received before the abnormality was detected.
- a driving torque based on the signal is output, and the motor 30 is continuously operated.
- the device 502 and the device 503 output the braking torque set by the rotation control unit in advance and stop the motor.
- the device 501 that does not perform the continuous operation is configured to output the braking torque based on the command signal normally received from the controller 10 and stop the motor. is doing.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving a command signal, the drive torque based on the command signal normally received by at least one motor control device that has detected the abnormality before detecting the abnormality Is output to continue the motor operation. Then, after a predetermined time from the start of the continuous operation, at least one motor control device that has performed the continuous operation outputs the braking torque set in advance by the torque control unit and stops the motor. Further, at least one motor control device that does not perform the continuous operation outputs a braking torque based on a command signal normally received from the controller to stop the motor. Even in such a configuration, the same effect can be obtained.
- the communication control unit 14 of the device 501 and the device 502 normally receives the command of the controller 10, and the device 501 and the device 502 perform normal operation.
- the communication control unit 14 of the device 503 detects a communication abnormality in response to “abnormality occurrence”.
- the device 503 switches to the control of the device alone and executes the continuous operation.
- the time for which the continuation operation is executed is the same as in the case of the biaxial operation example 3B, and details thereof are omitted.
- the device 501 and the device 502 immediately stop at the braking torque value B ′ according to the command received from the controller 10.
- the device 503 does not depend on the command received from the controller 10, but immediately stops at the braking torque value B 'set in advance by the control of the device alone in the continuous operation.
- the magnitude of the braking torque value B ′ at the time of immediate stop in this operation example 4C is the magnitude that is allocated by the number of axes that immediately stops the maximum torque that can be allowed by the multi-axis motor control system 400. preferable.
- the braking torque value B ′ is preferably a magnitude obtained by distributing the maximum torque with three axes.
- the braking torque value B ′ is one third of the maximum braking torque value.
- the braking torque is set so that the total braking torque output by all motor control devices is less than the maximum braking torque allowable in the multi-axis motor control system. May be set for each.
- the apparatus 503 that has detected an abnormality is based on a command signal that is normally received before the detection of the abnormality.
- the drive torque is output and the motor 30 is continuously operated. Further, after a predetermined time from the start of the continuous operation, the device 503 outputs the braking torque set by the rotation control unit in advance and stops the motor.
- the device 501 and the device 502 that do not perform the continuous operation output braking torque based on the command signal normally received from the controller 10 to stop the motor. Configured to do.
- the description has been given by taking an example in which there are two motor control devices.
- the following configuration may be used. That is, when one or more motor control devices detect an abnormality in receiving a command signal, the drive torque based on the command signal normally received by at least one motor control device that has detected the abnormality before detecting the abnormality Is output to continue the motor operation. Then, after a predetermined time from the start of the continuous operation, at least one motor control device that has performed the continuous operation outputs the braking torque set in advance by the torque control unit and stops the motor. Further, at least one motor control device that does not perform the continuous operation outputs a braking torque based on a command signal normally received from the controller to stop the motor. Even in such a configuration, the same effect can be obtained.
- FIG. 15 is a block diagram showing a ring network configuration of a two-axis multi-axis motor control system 500 according to Embodiment 5 of the present invention.
- the configuration of the multi-axis motor control system 500 shown in FIG. 15 includes three asynchronous motor control devices 70 as well as a two-axis motor controlled in synchronization with each other by the motor control device 20 in a ring connection. That is, the controller 10 in FIG. 1, the motor controller 201 for the first axis, and the motor controller 202 for the second axis are not controlled in synchronization with the first axis and the second axis, respectively.
- Asynchronous motor control devices 70 are connected in series one by one.
- the asynchronous motor control device 70 is the same device as the motor control device 20, but is not a device to be controlled synchronously in driving or stopping in the present invention.
- the motor control device 70, the motor control device 201, the motor control device 70, the motor control device 202, the motor control device 70, and the controller 10 there are a communication line E, a communication line F, and a communication line.
- G, communication line H, communication line I, and communication line J, which are communication lines 11, are network-connected.
- a communication abnormality occurs in any of the communication line E, the communication line F, and the motor control device 70 between them.
- the motor control device 201 and the motor control device 202 that are controlled in synchronism with each other are emergency stopped as in the same case as the detection of the communication abnormality occurring on the communication line A in the first embodiment. Perform operation processing.
- a communication abnormality occurs in any of the communication line G, the communication line H, and the motor control device 70 between them.
- the motor control device 201 and the motor control device 202 that control in synchronization are emergency stopped as in the case of the communication abnormality detection that occurred in the communication line B in the first embodiment. Perform operation processing.
- a communication abnormality occurs in any of the communication line I, the communication line J, and the motor control device 70 between them.
- the motor control device 201 and the motor control device 202 that are controlled in synchronization perform an emergency stop operation process in the same manner as the detection of the communication abnormality that occurred in the communication line C in the first embodiment.
- the motor control device 201 and the motor control device 202 that control in synchronization can naturally perform the emergency stop operation process as in the case of the first embodiment if the above description is selected and applied. it can.
- FIG. 2 which is a line-type connected multi-axis motor control system
- an emergency stop operation process can be performed.
- the multi-axis motor control system of the present invention relates to a configuration in which a multi-axis motor control device is connected to a controller for network control.
- a communication error occurs due to a disconnection of a communication line on the network or a device error, and the motor control device cannot receive a command signal from the controller.
- the braking torque can be applied while maintaining the energized state of at least one motor, and the multi-axis motor can be stopped safely and quickly.
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Abstract
Description
図4は、本発明の実施の形態1に係るリング型の複数軸モータ制御システム100の構成を示すブロック図である。図4に示すように、複数軸モータ制御システム100は、コントローラ10および2つのモータ制御装置20を通信線11によってリング型に通信接続した2軸のモータ制御システムを構成している。すなわち、複数軸モータ制御システム100は、それぞれが1対1接続の一方向のリング型ネットワークトポロジで接続されている。そして、コントローラ10は、指令信号を送信する基準周期である指令更新周期毎に、第1軸および第2軸のモータ制御装置20に対して、位置指令や速度指令などの指令信号を送出する。また、各モータ制御装置20は、受け取った指令信号に基づき、モータ30の動作を制御する。なお、以下、適宜、モータ制御装置20を特定する場合には、第1軸をモータ制御装置201とし第2軸をモータ制御装置202として区分し、それぞれを総称する場合にモータ制御装置20として説明する。
まず、動作例1Aとして、コントローラ10と第1軸のモータ制御装置201との通信が遮断された場合における各部の動作について説明する。なお、以下、適宜、第1軸のモータ制御装置201を装置201、第2軸のモータ制御装置202を装置202と省略して説明する。
次に、動作例1Bとして、装置201と装置202との間の通信が遮断された場合における各部の動作について説明する。
次に、動作例1Cとして、装置202とコントローラ10との間の通信が遮断された場合における各部の動作について説明する。また、本動作例1Cは、リング型接続の複数軸モータ制御システム100のみに係る動作例である。
図8は、本発明の実施の形態2に係る3軸の複数軸モータ制御システム200のリング型ネットワーク構成を示すブロック図である。図8に示すように、複数軸モータ制御システム200は、リング型にコントローラ10および3つのモータ制御装置20を接続した3軸のモータ制御システムを構成している。すなわち、本実施の形態は、図1での2つのモータ制御装置20の間に、モータ制御装置20をもう1つ直列に接続した構成である。また、コントローラ10およびモータ制御装置20のそれぞれは、図4および図5に示す内部構成と同様の構成を有している。実施の形態1と同じ部分または相当する部分には同じ符号を付し、一部の説明を省略する。
まず、動作例2Aとして、図8で示す構成において、コントローラ10と第1軸のモータ制御装置201との通信が遮断された場合における各部の動作について説明する。
次に、動作例2Bとして、装置201と装置202との間の通信が遮断された場合における各部の動作について説明する。
次に、動作例2Cとして、装置202と装置203との間の通信が遮断された場合における各部の動作について説明する。
次に、動作例2Dとして、装置203とコントローラ10との間の通信が遮断された場合における各部の動作について説明する。また、本動作例2Dは、リング型接続の複数軸モータ制御システム200のみに係る動作例である。
図10は、本発明の実施の形態3に係るリング型接続の2軸の複数軸モータ制御システム300のリング型ネットワーク構成を示すブロック図である。また、図11は、本発明の実施の形態3に係る、モータ制御装置50の詳細な構成例を示すブロック図である。図10に示すように、複数軸モータ制御システム300は、リング型にコントローラ10および2つのモータ制御装置50を接続した3軸のモータ制御システムを構成している。実施の形態1との比較において、本実施の形態での複数軸モータ制御システム300は、実施の形態1でのモータ制御装置20に代えて、モータ制御装置50を備えている。
まず、動作例3Aとして、コントローラ10と第1軸のモータ制御装置501との通信が遮断された場合における各部の動作について説明する。
次に、動作例3Bとして、装置501と装置502との間の通信が遮断された場合における各部の動作について説明する。
図13は、本発明の実施の形態4に係る3軸の複数軸モータ制御システム400のリング型ネットワーク構成を示すブロック図である。図13に示すように、複数軸モータ制御システム400は、リング型にコントローラ10および3つのモータ制御装置50を接続した3軸のモータ制御システムを構成している。すなわち、本実施の形態は、図10での2つのモータ制御装置50の間に、モータ制御装置50をもう1つ直列に接続した構成である。また、モータ制御装置50のそれぞれは、図11に示す内部構成と同様の構成を有している。実施の形態3と同じ部分または相当する部分には同じ符号を付し、一部の説明を省略する。
まず、動作例4Aとして、コントローラ10と第1軸のモータ制御装置501との通信が遮断された場合における各部の動作について説明する。
次に、動作例4Bとして、装置501と装置502との間の通信が遮断された場合における各部の動作について説明する。
次に、動作例4Cとして、装置502と装置503との間の通信が遮断された場合における各部の動作について説明する。
図15は、本発明の実施の形態5に係る2軸の複数軸モータ制御システム500のリング型ネットワーク構成を示すブロック図である。図15に示す複数軸モータ制御システム500の構成では、リング型接続で、モータ制御装置20により互いに同期して制御される2軸のモータとともに、3つの非同期のモータ制御装置70を含んでいる。すなわち、図1のコントローラ10と第1軸のモータ制御装置201と第2軸のモータ制御装置202との間にそれぞれ、第1軸および第2軸とは同期して制御を行わない、3つの非同期のモータ制御装置70が一つずつ直列に接続されている構成である。
11 通信線
12 送信部
13 受信部
14 通信制御部
17 送受信機
20,50,70,201,202,203,501,502,503 モータ制御装置(装置)
24 回転制御部
25,55 駆動部
26 DB回路(ダイナミックブレーキ回路)
30 モータ
31 巻線
32 位置検出器
35 制御対象機構
36 負荷
41 位置制御部
43 速度制御部
44 トルク量記憶部
46 トルク処理部
51 駆動出力生成部
53 駆動電圧スイッチ
61 DBスイッチ
63 DB抵抗
100,110,200,300,400,500 複数軸モータ制御システム
351 結合部
Claims (13)
- 複数軸を有する多軸機械で前記複数軸のモータを制御する複数軸モータ制御システムであって、
前記複数軸の前記モータを各々駆動する複数のモータ制御装置と、
複数の前記モータ制御装置とネットワーク接続され、複数の前記モータ制御装置を制御する指令信号を送信するコントローラとを備え、
前記モータ制御装置は、
前記指令信号を受信し、受信した前記指令信号を送信し、かつ前記指令信号を正常に受信したかを判断する通信制御部と、
前記モータを動作させるためのトルク指令を生成する回転制御部と、
前記トルク指令に基づき、前記モータを通電駆動するための駆動電圧を生成する駆動部とを備えており、
1つ以上の前記モータ制御装置が前記指令信号の受信の異常を検出した場合に、少なくとも1つの前記モータ制御装置は、制動トルクとなる前記トルク指令を出力してモータの停止を行う、複数軸モータ制御システム。 - 1つ以上の前記モータ制御装置が前記指令信号の受信の異常を検出した場合に、
前記異常を検出した少なくとも1つの前記モータ制御装置は、モータへの通電を開放し、
モータへの通電を開放しない少なくとも1つの前記モータ制御装置は、あらかじめ前記回転制御部で設定した前記制動トルクとなる前記トルク指令を出力してモータの停止を行う、請求項1に記載の複数軸モータ制御システム。 - 1つ以上の前記モータ制御装置が前記指令信号の受信の異常を検出した場合に、
前記異常を検出した少なくとも1つの前記モータ制御装置は、モータへの通電を開放し、
モータへの通電を開放しない少なくとも1つの前記モータ制御装置は、前記コントローラから正常に受信した指令信号に基づいた制動トルクを出力してモータの停止を行う、請求項1に記載の複数軸モータ制御システム。 - 複数の前記モータ制御装置と前記コントローラとは、リング型接続でネットワーク接続されており、
前記通信制御部は、さらに前記コントローラへのレスポンス信号を送信する機能を有し、
前記コントローラが前記指令信号に対するレスポンス信号の受信の異常を検出した場合に、前記複数軸を制御するすべての前記モータ制御装置は、前記コントローラからの指令信号に基づいた制動トルクを出力してモータの停止を行う、請求項1に記載の複数軸モータ制御システム。 - 前記モータ制御装置は、さらにダイナミックブレーキ回路を備えており、モータへの通電を開放しモータの停止を行う場合に、前記ダイナミックブレーキ回路を有効にする、請求項1から4のいずれか1項に記載の複数軸モータ制御システム。
- 前記回転制御部で設定する制動トルクの大きさは、モータへの通電を開放しない少なくとも1つの前記モータ制御装置が出力する前記制動トルクの大きさの合計が、前記複数軸モータ制御システムで許容できる最大の制動トルクの大きさ以下である、請求項2または3に記載の複数軸モータ制御システム。
- 1つ以上の前記モータ制御装置が前記指令信号の受信の異常を検出した場合に、
前記異常を検出した少なくとも1つの前記モータ制御装置は、前記異常の検出前に正常に受信した指令信号に基づいた駆動トルクを出力してモータの継続動作を行い、
前記継続動作の開始から所定の時間の後、前記複数軸を制御するすべての前記モータ制御装置は、あらかじめ前記回転制御部で設定した制動トルクを出力してモータの停止を行う、請求項1に記載の複数軸モータ制御システム。 - 1つ以上の前記モータ制御装置が前記指令信号の受信の異常を検出した場合に、
前記異常を検出した少なくとも1つの前記モータ制御装置は、前記異常の検出前に正常に受信した指令信号に基づいた駆動トルクを出力してモータの継続動作を行い、
前記継続動作の開始から所定の時間の後、
前記継続動作を行った少なくとも1つの前記モータ制御装置は、あらかじめ前記回転制御部で設定した制動トルクを出力してモータの停止を行い、
前記継続動作を行わない少なくとも1つの前記モータ制御装置は、前記コントローラから正常に受信した指令信号に基づいた制動トルクを出力してモータの停止を行う、請求項1に記載の複数軸モータ制御システム。 - 前記回転制御部で設定する制動トルクの大きさは、前記複数軸を制御するすべての前記モータ制御装置が出力する前記制動トルクの大きさの合計が、前記複数軸モータ制御システムで許容できる最大の制動トルクの大きさ以下である、請求項7または8に記載の複数軸モータ制御システム。
- 前記所定の時間は、前記継続動作の開始の後に、前記回転制御部で設定した制動トルクを出力してモータを停止するまでの時間を、前記モータ制御装置にあらかじめ設定しておく、請求項7または8に記載の複数軸モータ制御システム。
- 前記所定の時間は、前記コントローラが前記指令信号を送信する基準周期のK倍(Kは自然数)として設定される、請求項10に記載の複数軸モータ制御システム。
- 前記コントローラは、各モータ制御装置でモータ制御や通信を実行する基準となる周期のN倍(Nは自然数)となる周期で、複数の前記モータ制御装置を制御するための指令信号を送信する、請求項1に記載の複数軸モータ制御システム。
- 前記複数軸は、機械的に結合されている、請求項1に記載の複数軸モータ制御システム。
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