WO2018179418A1 - モータ制御装置、モータ制御方法及びモータ制御システム - Google Patents
モータ制御装置、モータ制御方法及びモータ制御システム Download PDFInfo
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- WO2018179418A1 WO2018179418A1 PCT/JP2017/013818 JP2017013818W WO2018179418A1 WO 2018179418 A1 WO2018179418 A1 WO 2018179418A1 JP 2017013818 W JP2017013818 W JP 2017013818W WO 2018179418 A1 WO2018179418 A1 WO 2018179418A1
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- motor
- motor control
- control device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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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
- H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
-
- 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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24015—Monitoring
-
- 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
- G05B2219/33—Director till display
- G05B2219/33123—Identify kind of transducer, encoder used
-
- 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
- G05B2219/33—Director till display
- G05B2219/33226—Daisy chain
-
- 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
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40237—Bus for communication with sensors
Definitions
- the present disclosure relates to a motor control device, a motor control method, and a motor control system.
- Patent Document 1 a plurality of sensors are connected to an interface unit through separate communication paths, and detection signals from each sensor are transmitted via a network connecting a host controller and a motor control device. A system is described that is transmitted to the motor controller.
- Patent Document 2 describes a system for connecting peripheral devices for setting and monitoring parameters of a motor control device via a communication unit in the motor control device.
- JP-A-8-241111 Japanese Patent Laid-Open No. 10-105206
- the present disclosure has been made in view of the above-described problems, and an object thereof is to provide a motor control device, a motor control method, and a motor control system that can reduce physical or processing costs. .
- a first feature of the present disclosure is a motor control device configured to control a motor, which is connected in series under the motor control device and is driven by position information of the motor or the motor.
- the identification information of a plurality of position detectors configured to detect the position information of the mechanical device configured as described above is automatically acquired, and the identification information and the motor are associated with each other in a nonvolatile memory.
- the gist is that it is configured to memorize.
- a second feature of the present disclosure is a motor control device configured to control a motor, and automatically identifies identification information of a position detector and a sensor connected in series under the motor control device.
- the identification information and the motor are associated with each other and stored in a non-volatile memory, and the position detector is configured to be driven by the motor position information or the motor.
- the apparatus is configured to detect position information of a mechanical device, and the sensor is configured to detect information related to at least one of the mechanical device configured to be driven by the motor and the motor. It is a summary.
- a third feature of the present disclosure is a motor control method for controlling a motor, wherein the motor control device is connected in series under the motor control device and is driven by the position information of the motor or the motor.
- a step of automatically acquiring identification information of a plurality of position detectors configured to detect position information of a mechanical device configured in the step, and the motor control device acquiring the identification information and the motor And a step of storing them in a nonvolatile memory in association with each other.
- a fourth feature of the present disclosure is a motor control method for controlling a motor, wherein the motor control device is connected in series under the motor control device and is driven by the position information of the motor or the motor.
- Identification information of a position detector configured to detect position information of the mechanical device configured in the above, and at least one of the mechanical device and the motor connected in series under the motor control device
- a step of automatically obtaining identification information of a sensor configured to detect information related to the motor, and the motor control device stores the obtained identification information and the motor in association with each other in a nonvolatile memory. And a step of performing.
- a fifth feature of the present disclosure is a motor control system, which is a motor control device including a motor control unit configured to control a motor, and a mechanical device configured to be driven by the motor. And a plurality of position detectors connected in series under the motor control device and configured to detect position information of the motor or position information of the mechanical device, and the motor.
- the gist of the present invention is that the control device is configured to automatically acquire identification information of the plurality of position detectors and associate the identification information with the motor control unit and store them in a nonvolatile memory.
- a sixth feature of the present disclosure is a motor control system, a motor control device including a motor control unit configured to control a motor, and a mechanical device configured to be driven by the motor.
- a position detector configured to detect position information of the motor or position information of the mechanical device, and information related to at least one of the mechanical device and the motor.
- the motor control device automatically acquires the identification information of the position detector and the identification information of the sensor connected in series under the motor control device, and the identification information
- the gist of the invention is that the motor control unit is associated with and stored in a nonvolatile memory.
- FIG. 1 is a diagram for explaining an example of a hardware configuration of a motor control system according to an embodiment.
- FIG. 2 is a diagram for explaining an example of the overall schematic configuration of the motor control system according to the embodiment.
- Drawing 3 is a figure for explaining an example of a functional block of each motor control part of a motor control device which constitutes a motor control system concerning one embodiment.
- FIG. 4 is a diagram for explaining an example of each mapping table managed by the encoder / sensor communication transmission / reception management unit of each motor control device constituting the motor control system according to the embodiment.
- FIG. 5 is a diagram for explaining the operation of the motor control device constituting the motor control system according to the embodiment.
- FIG. 6 is a diagram for explaining the operation of the motor control device constituting the motor control system according to the embodiment.
- the sensing of the operation status in the motor control system has become increasingly important in recent years.
- the physical cost such as the number of wires, the communication amount or Processing costs such as processing load increase.
- these costs tend to increase.
- a motor control system 1 is configured to control a plurality of motors # 1 to # 3. As illustrated in FIG. 1 and FIG. 1 to # 3, a mechanical device (not shown), encoders # 1 to # 3 for detecting position information of motors # 1 to # 3, and encoders # 4 to # 5 for detecting position information of the mechanical device And sensors # 6 to # 8.
- a case where one motor control device 2 that drives the three axes of the motors # 1 to # 3 is provided will be described as an example.
- the present disclosure is provided with a plurality of motor control devices.
- the present invention can also be applied to a case, a motor control device that drives one shaft, and the like.
- the motor control device 2 is configured to control the motors # 1 to # 3.
- the motor control device 2 is a device including a computer that controls an amplifier that outputs current, voltage, and the like to the motors # 1 to # 3. That is, the motors # 1 to # 3 are configured to rotate in accordance with the voltage or current applied from the motor control device 20.
- the motor control device 2 that controls the servo motor is called a servo controller or a servo amplifier.
- the motor control device 2 may be any device configured to control the motor 10, and may be, for example, an inverter.
- the motor control device 2 includes inverter (INV) circuits # 1 to # 3 including an amplifier unit, and motor control units # 1 to # 3 that control the motors # 1 to # 3, respectively.
- IOV inverter
- # 3 encoder / sensor communication transmission / reception management unit 10, nonvolatile memory 11, and physical interfaces (IF) # 1 to # 3.
- the amplifier unit supplies current / voltage to the motors # 1 to # 3 by switching (PWM control) of the inverter (INV) circuits # 1 to # 3 based on torque commands from the motor control units # 1 to # 3.
- a power converter configured to be supplied.
- each of the motor control units # 1 to # 3 includes a motor control calculation unit 101, an encoder logical axis interface 102, an external encoder logical axis interface 103, a sensor logical axis interface 104, It has.
- the motor control calculation unit 101 is configured to receive a command (position command or the like) from the host device and perform a calculation for controlling the position, speed, torque, or the like of the motors # 1 to # 3.
- the encoder logical axis interface 102 is managed by the encoder / sensor communication transmission / reception management unit 10, and based on the mapping table stored in the nonvolatile memory 11, the motor corresponding to the motor control unit # 1 to # 3 to which the encoder logical axis interface 102 belongs.
- the constants # 1 to # 3 and the identification information (encoder ID information) of the encoders # 1 to # 3 corresponding to the motors # 1 to # 3 are read out.
- the encoder logical axis interface 102 is managed by the encoder / sensor communication transmission / reception management unit 10 and corresponds to the motor control units # 1 to # 3 to which the encoder logical axis interface 102 belongs based on the mapping table stored in the nonvolatile memory 11.
- the position information of the motors # 1 to # 3 is acquired from the encoders # 1 to # 3 corresponding to the motors # 1 to # 3.
- the encoder logical axis interface 102 of the motor control unit # 1 receives the motor constant and position information of the motor # 1 and the encoder ID information of the encoder # 1 from the encoder / sensor communication transmission / reception management unit 10. Is configured to get.
- the encoder logical axis interface 102 of the motor control unit # 2 is configured to acquire the motor constant and position information of the motor # 2 and the encoder ID information of the encoder # 2 from the encoder / sensor communication transmission / reception management unit 10. Yes.
- the encoder logical axis interface 102 of the motor control unit # 3 is configured to acquire the motor constant and position information of the motor # 3 and the encoder ID information of the encoder # 3 from the encoder / sensor communication transmission / reception management unit 10. Yes.
- the external encoder logical axis interface 103 corresponds to the motor control units # 1 to # 3 to which the external encoder logical axis interface 103 belongs based on a mapping table managed by the encoder / sensor communication transmission / reception management unit 10 and stored in the nonvolatile memory 11.
- the identification information (external encoder ID information) of the external encoder # 4 / # 5 corresponding to the motor # 2 / # 3 is read.
- the external encoder logical axis interface 103 is managed by the encoder / sensor communication transmission / reception management unit 10, and is connected to the motor control unit # 2 / # 3 to which the external encoder logical axis interface 103 belongs based on the mapping table stored in the nonvolatile memory 11.
- the position information of the mechanical device driven by the corresponding motor # 2 / # 3 is acquired from the external encoder # 4 / # 5 corresponding to the mechanical device driven by the motor # 2 / # 3.
- the external encoder logical axis interface 103 of the motor control unit # 2 is the position information of the mechanical device driven by the motor # 2 from the encoder / sensor communication transmission / reception management unit 10 or the encoder of the encoder # 4. It is comprised so that ID information may be acquired.
- the external encoder logical axis interface 103 of the motor control unit # 3 acquires position information of the mechanical device driven by the motor # 3 and encoder ID information of the encoder # 5 from the encoder / sensor communication transmission / reception management unit 10. It is configured.
- the sensor logical axis interface 104 based on the mapping table managed by the encoder / sensor communication transmission / reception management unit 10, identifies the identification information (# 6 to # 8) of the sensors # 6 to # 8 corresponding to the motor control units # 1 to # 3 to which the sensor logical axis interface 104 belongs. Sensor ID information) is read out.
- the sensor logical axis interface 104 is based on the mapping table managed by the encoder / sensor communication transmission / reception management unit 10 and the sensors of the sensors # 6 to # 8 corresponding to the motor control units # 1 to # 3 to which the sensor logical axis interface 104 belongs. It is configured to read data.
- the sensor data includes, for example, ON / OFF information of the sensor itself.
- Encoder / sensor communication transmission / reception management unit 10 is configured to manage communication with encoders # 1 to # 5 and sensors # 6 to # 8.
- the encoder / sensor communication transmission / reception management unit 10 is configured to manage the mapping table shown in FIG.
- the mapping table is configured to be stored in a nonvolatile memory such as an EEPROM (Electrically Erasable Programmable Read Only Memory).
- EEPROM Electrically Erasable Programmable Read Only Memory
- the identification information of the encoder # 1 is associated with the motor control unit # 1 (motor # 1). Specifically, the encoder logical axis interface 102, the physical interface # 3 (ch3), the communication address Addr.3, and the identification information of the encoder # 1 of the motor control unit # 1 are associated with each other.
- the identification information of the sensor # 6 is associated with the motor control unit # 1 (motor # 1). Specifically, the sensor logical axis interface 104, the physical interface # 1 (ch1), the communication address Addr.3, and the identification information of the sensor # 6 of the motor control unit # 1 are associated with each other.
- the identification information of the encoder # 2 and the motor control unit # 2 are associated with each other.
- the encoder logical axis interface 102, the physical interface # 3 (ch3), the communication address Addr.2, and the identification information of the encoder # 2 of the motor control unit # 2 are associated with each other.
- the identification information of the encoder # 4 (external encoder) and the motor control unit # 2 (motor # 2) are associated with each other.
- the external encoder logical axis interface 103, the physical interface # 2 (ch2), the communication address Addr.2, and the identification information of the encoder # 4 of the motor control unit # 2 are associated with each other.
- the identification information of the sensor # 7 and the motor control unit # 2 are associated with each other.
- the sensor logical axis interface 104, the physical interface # 1 (ch1), the communication address Addr.2, and the identification information of the sensor # 7 of the motor control unit # 2 are associated with each other.
- the identification information of the encoder # 3 and the motor control unit # 3 are associated with each other.
- the encoder logical axis interface 102, the physical interface # 3 (ch3), the communication address Addr.1, and the identification information of the encoder # 3 of the motor control unit # 3 are associated with each other.
- the identification information of the encoder # 5 (external encoder) and the motor control unit # 3 (motor # 3) are associated with each other.
- the external encoder logical axis interface 103, the physical interface # 2 (ch2), the communication address Addr.1, and the identification information of the encoder # 5 of the motor control unit # 3 are associated with each other.
- the identification information of the sensor # 8 and the motor control unit # 3 are associated with each other.
- the sensor logical axis interface 104, the physical interface # 1 (ch1), the communication address Addr.1, and the identification information of the sensor # 8 of the motor control unit # 3 are associated with each other.
- mapping table is set in advance by the user, and such setting content may be configured to be stored in the nonvolatile memory 11 of the motor control device 2.
- the encoder / sensor communication transmission / reception management unit 10 assigns unique communication addresses to the encoders # 1 to # 3, the external encoders # 4 / # 5, and the sensors # 6 to # 8 based on the above mapping table. It is configured as follows.
- the encoder / sensor communication transmission / reception management unit 10 determines the constants of the motors # 1 to # 3, the identification information of the encoders # 1 to # 3, the identification information of the external encoder # 4 / # 5,
- the identification information of the sensors # 6 to # 8 is configured to be transferred to the corresponding encoder logical axis interface 102, external encoder logical axis interface 103, and sensor logical axis interface 104.
- the encoder / sensor communication transmission / reception management unit 10 determines the position information of the motors # 1 to # 3, the position information of the mechanical device driven by the motors # 2 / # 3, and the sensors # 6 to # 6 based on the above mapping table.
- the sensor data of # 8 is configured to be transferred to the corresponding encoder logical axis interface 102, external encoder logical axis interface 103, and sensor logical axis interface 104.
- the physical interfaces # 1 to # 3 are configured to perform data transmission / reception processing with devices (motor control device, encoder, external encoder, sensor, etc.) other than the motor control device 2 to which the physical interface belongs.
- the encoders # 1 to # 3 and the external encoder # 4 / # 5 may be, for example, an optical encoder or a magnetic encoder.
- the encoders # 1 to # 3 and the external encoder # 4 / # 5 send the position information of the motors # 1 to # 3 and the position information of the mechanical device driven by the motor # 2 / # 3 to the motor control device 2, respectively. Configured to send.
- encoders # 1 to # 3 and external encoder # 4 / # 5 are used as such position detectors will be described as an example.
- the present disclosure describes motors # 1 to # 3.
- the present invention can also be applied to a case using a sensor (for example, a resolver or the like) that can detect position information and position information of a mechanical device driven by motors # 2 / # 3.
- encoders # 1 to # 3 and external encoder # 4 / # 5 are attached to a linear scale (linear encoder) or a mechanical device used when motors # 1 to # 3 are direct acting motors (linear motors).
- a linear scale (linear encoder) may be used.
- the motors # 1 to # 3 may be rotary motors or direct acting motors (linear motors).
- the above-described position information is a rotation angle
- the motors # 1 to # 3 are direct acting motors (linear motors)
- the position information is a linear movement position.
- the case where the encoders # 1 to # 3 and the external encoder # 4 / # 5 are provided has been described as an example.
- the present disclosure is a case where the number of external encoders is not limited. (For example, 0, 1, 3, or more) is also applicable.
- the above-described mechanical device is configured to be driven by motors # 1 to # 3.
- a robot or the like corresponds to such a mechanical device.
- each of the motors # 1 to # 3 is configured to drive each of the axes 1 to 3 of a three-axis robot as a mechanical device.
- the sensors # 6 to # 8 detect information (sensor data) related to at least one of the mechanical devices configured to be driven by the motors # 1 to # 3 and the motors # 1 to # 3. It is configured. For example, as the plurality of sensors # 6 to # 8, temperature sensors, pressure sensors, torque sensors, vibration sensors, limit switch sensors, touch sensors, I / O devices, and the like are assumed.
- the temperature sensor is a sensor configured to detect the temperature of at least one of the mechanical device and the motors # 1 to # 3 or the vicinity thereof.
- a temperature sensor for example, a resistance temperature sensor may be used, or a thermocouple sensor may be used.
- the pressure sensor is a sensor configured to detect a pressure in at least one of the mechanical device and the motors # 1 to # 3 or the vicinity thereof.
- the pressure sensor is configured to measure such pressure with a pressure sensitive element via a diaphragm (stainless diaphragm, silicon diaphragm, etc.), convert the pressure into an electric signal, and output the electric signal.
- a diaphragm stainless diaphragm, silicon diaphragm, etc.
- the torque sensor is a sensor configured to detect torque of at least one of the mechanical device and the motors # 1 to # 3.
- the torque sensor may be, for example, a non-contact torque sensor or a contact torque sensor.
- Information (sensor data) relating to at least one of the mechanical device and the motors # 1 to # 3 includes at least motor # 1 out of information relating to the state of any one of the mechanical device and the motors # 1 to # 3. Means information that is not position information of # 3. Information relating to at least one of the mechanical device and the motors # 1 to # 3 may be information that can be detected by the sensors # 6 to # 8, for example.
- information related to at least one of the mechanical device and the motors # 1 to # 3 includes the torque of the motors # 1 to # 3, the temperature of the motors # 1 to # 3, and the movement of the motors # 1 to # 3.
- This is information such as the position of an object such as the arm of the robot to be operated, the pressure on the object, and the states of sensors # 6 to # 8 (for example, temperature and ON / OFF information) for detecting them.
- the related information regarding at least one of the mechanical device and the motors # 1 to # 3 is used for output control and control parameter adjustment for the motors # 1 to # 3, or the motors # 1 to # 3. It is used to determine the presence or absence of an abnormality or to predict the life of motors # 1 to # 3 (during the remaining withstand cycle).
- encoders # 1 to # 3 are connected under the motor control device 2. Has been.
- an encoder # 1 and a sensor # 6 are connected in series under the shaft 1 of the motor control device 2 as shown in FIG.
- an encoder # 2 an external encoder # 4, and a sensor # 7 are connected in series under the shaft 2 of the motor control device 2, as shown in FIG. ing.
- an encoder # 3 an external encoder # 5, and a back # 8 are connected in series under the shaft 3 of the motor control device 2. ing.
- the case where three sensors # 6 to # 8 are provided has been described as an example.
- the present disclosure provides a case where no sensor is provided or two or less sensors.
- the present invention can also be applied to a case where four or more sensors are provided.
- the motor control device 2 automatically acquires the identification information of the encoders # 1 to # 3, the identification information of the external encoder # 4 / # 5, and the identification information of the sensors # 6 to # 8.
- the motor control units # 1 to # 3 are associated with each other and stored in the nonvolatile memory 11.
- the encoder / sensor communication transmission / reception management unit 10 of the motor control device 2 automatically acquires the identification information of the sensors # 6 to # 8 via the physical interface # 1, and the identification information and the motor control are obtained.
- the units # 1 to # 3 are associated with each other and stored in the nonvolatile memory 11.
- the encoder / sensor communication transmission / reception management unit 10 of the motor control device 2 automatically acquires the identification information of the encoder # 4 / # 5 via the physical interface # 2, and the identification information and the motor control unit # 2 / # 3 is associated with each other and stored in the nonvolatile memory 11.
- the encoder / sensor communication transmission / reception management unit 10 of the motor control device 2 automatically acquires the identification information of the encoders # 1 to # 3 via the physical interface # 3, and the identification information and the motor control unit # 1 to # 3 are associated with each other and stored in the nonvolatile memory 11.
- the motor control device 2 includes the identification information of the encoders # 1 to # 3, the identification information of the external encoders # 4 / # 5, the identification information of the sensors # 6 to # 8 stored in the nonvolatile memory 11, and the motor control.
- the identification information of the encoders # 1 to # 3 obtained from the encoders # 1 to # 3, the external encoder # 4 / # 5, and the sensors # 6 to # 8 connected to the apparatus 2 and the external encoder # 4 / # 5 Compare the identification information and the identification information of the sensors # 6 to # 8 to determine whether the operation is as described above, and whether the encoders # 1 to # 3, the external encoder # 4 / # 5, and the sensors # 6 to # 8 It may be configured to check at least one of whether the connection configuration has not been changed.
- the motor control device 2 may be configured to instruct setting to the encoders # 1 to # 3, the external encoder # 4 / # 5, and the sensors # 6 to # 8.
- the motor control device 2 is configured to instruct the encoders # 1 to # 3 and the external encoder # 4 / # 5 to perform origin setting, multiturn limit setting, multiturn reset, and the like.
- the origin is the zero point in the coordinate system of the mechanical device driven by the motors # 1 to # 3.
- the origin setting means that the origin is set at an arbitrary position by a predetermined parameter.
- the user of the motor control device 2 can arbitrarily set the predetermined parameter according to the mechanical device to be used.
- the multi-turn limit is used, for example, when the position of a rotating body such as a turntable is controlled using an absolute value encoder as a position detector. Assuming a mechanical device that moves the turntable only in one direction, the turntable rotates only in one direction, which will eventually exceed the upper limit of the number of rotations that can be counted by the absolute encoder.
- the multi-turn limit is a parameter used to prevent the motor rotation speed and the turntable rotation speed from being fractional in relation to an integer ratio.
- the user of the motor control device 2 can arbitrarily set the parameters according to the mechanical device to be used.
- Multi-turn reset means that the absolute encoder to be used is initialized (multi-turn data is initialized).
- the motor control device 2 restarts the motor control device 20, and the encoders # 1 to # 3, the external encoder # 4 / # 5, and the sensors # 6 to # 8 are set. It is configured to check at least one of whether or not the motors # 1 to # 3 controlled by the motor control device 2 can be operated.
- the motor control device 2 is used when the power of the motor control device 2 is turned on again, or when the motor control device 2 changes a parameter that requires recovery from an abnormal state (alarm reset) or power on (that is, When the motor control device 2 is software reset), whether the encoders # 1 to # 3, the external encoders # 4 / # 5 and the sensors # 6 to # 8 are connected as set, and the motor control device 2 It may be configured to check at least one of whether or not the predetermined operations of the motors # 1 to # 8 controlled by the controller are possible.
- step S101 the motor control device 2 performs identification information of encoders # 1 to # 3, identification information of external encoder # 4 / # 5, and sensor via physical interfaces # 1 to # 3. Identification information # 6 to # 8 is automatically acquired and displayed.
- the motor control device 2 sets the association between the identification information and the logical axis interfaces 102 to 104 in step S102, and generates a mapping table (see FIG. 4) and stores it in the nonvolatile memory 11 in step S103.
- step S201 when power is turned on in step S201, the motor control device 2 is connected to the encoders # 1 to # 3 connected to the physical interfaces # 1 to # 3 of the motor control device 2 in step S202.
- # 3 external encoder # 4 / # 5 and sensors # 6 to # 8 are automatically searched.
- the motor control device 2 includes the encoders # 1 to # 3, the external encoders # 4 / # 5, and the sensors # 6 to # 8 connected under the physical interfaces # 1 to # 3 of the motor control device 2. The number is compared with the number managed (number registered in the mapping table).
- step S204 If both match, the operation proceeds to step S204, and if both do not match, the operation proceeds to step S206.
- the motor control device 2 includes the encoders # 1 to # 3, the external encoders # 4 / # 5, and the sensors # 6 to # 8 connected under the physical interfaces # 1 to # 3 of the motor control device 2. Get identification information.
- step S205 the motor control device 2 compares the acquired identification information with the managed identification information (identification information registered in the mapping table).
- step S207 If they match, the operation proceeds to step S207, and if they do not match, the operation proceeds to step S206.
- the motor control device 2 displays and notifies an abnormality in step S206, and performs normal operation in step S207.
- the motor control system 1 even when a plurality of encoders and one or a plurality of sensors are connected in series under the motor control device 2, the motor control system 1 is appropriate.
- the setting procedure of the motor control device 2 can be realized, and as a result, the physical or processing cost can be reduced.
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Abstract
Description
2…モータ制御装置
10…エンコーダ・センサ通信送受信管理部
11…不揮発性メモリ
101…モータ制御演算部
102…エンコーダ論理インターフェイス
103…外部エンコーダ論理インターフェイス
104…センサ論理インターフェイス
Claims (8)
- モータを制御するように構成されているモータ制御部を具備するモータ制御装置であって、
前記モータ制御装置配下に直列に接続されており且つ前記モータの位置情報或いは前記モータで駆動するように構成されている機械装置の位置情報を検出するように構成されている複数の位置検出器の識別情報を自動的に取得し、前記識別情報と前記モータ制御部とを対応付けて不揮発性メモリに記憶するように構成されていることを特徴とするモータ制御装置。 - 前記不揮発性メモリに記憶された前記複数の位置検出器の識別情報と、前記モータ制御装置配下に接続されている前記複数の位置検出器から取得した前記複数の位置検出器の識別情報とを比較して、前記対応付け通りに動作するか及び前記複数の位置検出器の接続構成が変更になっていないかの少なくとも一方について確認するように構成されていることを特徴とする請求項1に記載のモータ制御装置。
- モータを制御するように構成されているモータ制御部を具備するモータ制御装置であって、
前記モータ制御装置配下に直列に接続されている位置検出器及びセンサの識別情報を自動的に取得し、前記識別情報と前記モータ制御部とを対応付けて不揮発性メモリに記憶するように構成されており、
前記位置検出器は、前記モータの位置情報或いは前記モータで駆動するように構成されている機械装置の位置情報を検出するように構成されており、
前記センサは、前記モータで駆動するように構成されている機械装置及び前記モータの少なくとも一方に関連する情報を検出するように構成されていることを特徴とするモータ制御装置。 - 前記不揮発性メモリに記憶された前記位置検出器の識別情報及び前記センサの識別情報と、前記モータ制御装置配下に接続されている前記位置検出器及び前記センサから取得した前記位置検出器の識別情報及び前記センサの識別情報とを比較して、前記対応付け通りに動作するか及び前記位置検出器及び前記センサの接続構成が変更になっていないかの少なくとも一方について確認するように構成されていることを特徴とする請求項3に記載のモータ制御装置。
- モータを制御するモータ制御方法であって、
モータ制御装置が、前記モータ制御装置配下に直列に接続されており且つ前記モータの位置情報或いは前記モータで駆動するように構成されている機械装置の位置情報を検出するように構成されている複数の位置検出器の識別情報を自動的に取得する工程と、
前記モータ制御装置が、取得した前記識別情報と前記モータとを対応付けて不揮発性メモリに記憶する工程とを有することを特徴とするモータ制御方法。 - モータを制御するモータ制御方法であって、
モータ制御装置が、前記モータ制御装置配下に直列に接続されており且つ前記モータの位置情報或いは前記モータで駆動するように構成されている機械装置の位置情報を検出するように構成されている位置検出器の識別情報、及び、前記モータ制御装置配下に直列に接続されており且つ前記機械装置及び前記モータの少なくとも一方に関連する情報を検出するように構成されているセンサの識別情報を自動的に取得する工程と、
前記モータ制御装置が、取得した前記識別情報と前記モータとを対応付けて不揮発性メモリに記憶する工程とを有することを特徴とするモータ制御方法。 - モータを制御するように構成されているモータ制御部を具備するモータ制御装置と、
前記モータ制御装置配下に直列に接続されており且つ前記モータの位置情報或いは前記モータで駆動するように構成されている機械装置の位置情報を検出するように構成されている複数の位置検出器とを具備しており、
前記モータ制御装置は、前記複数の位置検出器の識別情報を自動的に取得し、前記識別情報と前記モータ制御部とを対応付けて不揮発性メモリに記憶するように構成されていることを特徴とするモータ制御システム。 - モータを制御するように構成されているモータ制御部を具備するモータ制御装置と、
前記モータで駆動するように構成されている機械装置と、
前記モータの位置情報或いは前記機械装置の位置情報を検出するように構成されている位置検出器と、
前記機械装置及び前記モータの少なくとも一方に関連する情報を検出するように構成されているセンサとを具備しており、
前記モータ制御装置は、前記モータ制御装置配下に直列に接続されている前記位置検出器の識別情報及び前記センサの識別情報を自動的に取得し、前記識別情報と前記モータ制御部とを対応付けて不揮発性メモリに記憶するように構成されていることを特徴とするモータ制御システム。
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