WO2019155700A1 - サーボシステム、センサハブ及び産業用装置の診断方法 - Google Patents

サーボシステム、センサハブ及び産業用装置の診断方法 Download PDF

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Publication number
WO2019155700A1
WO2019155700A1 PCT/JP2018/041008 JP2018041008W WO2019155700A1 WO 2019155700 A1 WO2019155700 A1 WO 2019155700A1 JP 2018041008 W JP2018041008 W JP 2018041008W WO 2019155700 A1 WO2019155700 A1 WO 2019155700A1
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WO
WIPO (PCT)
Prior art keywords
sensor
signal
encoder
sensor hub
hub
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PCT/JP2018/041008
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English (en)
French (fr)
Japanese (ja)
Inventor
孝志 甲斐
裕幸 関口
英俊 池田
優一 木津
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to KR1020207022175A priority Critical patent/KR102463968B1/ko
Priority to CN201880088207.5A priority patent/CN111684711B/zh
Priority to JP2019528616A priority patent/JP6657486B2/ja
Priority to TW108104458A priority patent/TWI702483B/zh
Publication of WO2019155700A1 publication Critical patent/WO2019155700A1/ja

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
    • H02K11/21—Devices for sensing speed or position, or actuated thereby
    • 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
    • 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

Definitions

  • the present invention relates to a servo system, a sensor hub, and an industrial device diagnosis method, and more particularly, to a servo system including a sensor utilized for control and maintenance of an industrial device.
  • a servo system that controls the driving of industrial equipment.
  • a servo system includes a motor, a servo amplifier that drives the motor, and a controller that transmits a drive command to the servo amplifier.
  • an encoder for detecting rotation information such as an angle and an angular velocity is attached near the rotation axis of the motor.
  • the servo amplifier controls the motor based on the drive command transmitted from the controller and the rotation information of the motor transmitted from the encoder.
  • the servo system uses a sensor that detects the state of the motor or its surroundings.
  • the sensor for example, it can be used for non-stationary control of a motor drive sequence, improvement of control accuracy of a motor driven body, change of a motor control mode, and the like.
  • a sensor As described above, in order to use the detection signal of the sensor for drive control and maintenance, it is necessary to transmit the signal to a servo amplifier, a controller, or a control device higher than the controller.
  • the motor is often installed at a position away from the servo amplifier and the controller.
  • the signal line for transmitting the detection signal of the sensor provided in the motor or its periphery to the servo amplifier and the controller becomes long, so that the wiring work becomes complicated and the transmission characteristic of the detection signal is deteriorated. There is a risk.
  • Patent Document 1 includes an encoder that detects the operation of the motor and generates a feedback signal indicating the detected operation, and the encoder detects from the sensor that detects the state of the driven body of the motor.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide a servo system capable of dealing with a wide variety of sensors having different specifications. Moreover, it aims at providing the sensor hub which can connect a sensor. Moreover, it aims at providing the diagnostic method of the industrial apparatus using a sensor hub.
  • the servo system includes a motor, an encoder that detects rotation of the motor, a first connection portion that is detachably connected to the encoder, and a second connection portion that is connected to a sensor that detects a state different from the rotation. And a sensor hub having a third connection portion to which a communication cable for transmitting an encoder signal output from the encoder via the first connection portion and a sensor signal output from the sensor via the second connection portion is connected, and communication And a servo amplifier that drives and controls the motor based on an encoder signal transmitted via a cable, a sensor signal, and a drive command transmitted from the controller.
  • the sensor hub includes a first connection portion that is detachably connected to an encoder that detects rotation of the motor, a second connection portion to which a sensor that detects a state different from rotation is connected, and a first connection portion
  • a third connection portion to which a communication cable for transmitting at least one of an encoder signal output from the encoder via the encoder and a sensor signal output from the sensor via the second connection portion to a servo amplifier that drives and controls the motor is connected With.
  • an encoder that detects rotation of a motor and a servo amplifier that supplies current to the motor are detachably connected via a communication cable including a connector that can be connected to the encoder.
  • the servo amplifier is a method for diagnosing an industrial device including a servo system that performs drive control by adjusting a current supplied to a motor based on a detection signal of an encoder transmitted via a communication cable.
  • a sensor hub having first to third connecting portions is connected between the encoder, an encoder is connected to the first connecting portion, a sensor for detecting a state different from the rotation of the motor is connected to the second connecting portion, and a third
  • the step of connecting by connecting the connector of the communication cable to the connection part, and the detection signal of the encoder is encoded via the sensor hub and the communication cable. From the sensor to the servo amplifier, transmitting the sensor detection signal from the sensor to the servo amplifier via the sensor hub and the communication cable, and diagnosing the industrial device based on the encoder detection signal and the sensor detection signal And a step of performing.
  • the sensor hub is connected to the encoder, the sensor, and the servo amplifier, and the sensor hub is detachably connected to the encoder.
  • the signal output from the encoder and the sensor can be transmitted to the servo amplifier by being detachably connected to the encoder corresponding to the specification of the sensor.
  • the industrial apparatus diagnosis method of the present invention it is possible to easily add or replace the sensor to the servo system by adding or replacing the sensor hub to the servo system.
  • FIG. 1 is a schematic configuration diagram of a servo system according to a first embodiment of the present invention. It is a schematic block diagram of the sensor hub which concerns on Embodiment 1 of this invention. It is a schematic block diagram of the sensor hub which concerns on Embodiment 1 of this invention. It is a schematic diagram which shows an example of a structure of the data frame produced
  • a servo system according to an embodiment of the present invention will be described with reference to the drawings.
  • a servo system having a single-axis rotary servo motor will be described as an example.
  • FIG. 1 is a schematic configuration diagram of a servo system according to Embodiment 1 of the present invention.
  • the servo system 100 includes a motor 10, a controller 11 that generates a drive command for the motor 10, a servo amplifier 12 that controls the drive of the motor 10, an encoder 13 that detects the rotation of the motor 10, A sensor 14 that detects other states that are not detected by the encoder 13, and a sensor hub 15 that receives the encoder signal S 13 output from the encoder 13 and the sensor signal S 14 output from the sensor 14 and transmits them to the servo amplifier 12.
  • the sensor 14 detects the motor 10 or the state around the motor 10.
  • the motor 10 and the servo amplifier 12 are connected to each other via a power line cable C3 in order to supply current to the armature of the motor 10.
  • the servo amplifier 12 adjusts the current to be supplied based on the drive command from the controller 11 and the encoder signal S13 and sensor signal S14 transmitted from the sensor hub 15, and controls the drive of the motor 10.
  • FIG. 2 is a schematic configuration diagram of the sensor hub according to the first embodiment of the present invention.
  • the sensor hub 15 includes a first connection portion 15 a (hereinafter referred to as an encoder connection portion) to which the encoder 13 is connected and a second sensor cable C ⁇ b> 4 having one end connected to the sensor 14. It has a connection portion 15b (hereinafter referred to as a sensor connection portion) and a third connection portion 15c (hereinafter referred to as an amplifier connection portion) to which a communication cable C2 having one end connected to the servo amplifier 12 is connected.
  • a connection portion 15 a hereinafter referred to as an encoder connection portion
  • a second sensor cable C ⁇ b> 4 having one end connected to the sensor 14.
  • It has a connection portion 15b (hereinafter referred to as a sensor connection portion) and a third connection portion 15c (hereinafter referred to as an amplifier connection portion) to which a communication cable C2 having one end connected to the servo amplifier 12 is connected.
  • the encoder connection portion 15a of the sensor hub 15 is a connector having a plurality of connection pins for connecting the encoder 13, for example.
  • the encoder 13 includes, for example, a connector 13a in which terminal holes corresponding to connection pins of the encoder connection portion 15a of the sensor hub 15 are formed.
  • the sensor hub 15 and the encoder 13 are detachably connected by fitting the connection pin of the encoder connection portion 15a of the sensor hub 15 into the terminal hole of the connector 13a of the encoder 13.
  • the encoder connection portion 15a of the sensor hub 15 may be a wiring board on which a conductive portion is printed, and may be connected by being fitted to the connector 13a of the encoder 13.
  • the encoder connecting portion 15a of the sensor hub 15 and the connector 13a of the encoder 13 can be connected to each other via a cable.
  • the sensor connection portion 15b of the sensor hub 15 is a connector having a plurality of connection pins for connecting, for example, three sensor cables C4.
  • the shape of the sensor connection portion 15b and the number of connection pins are formed so as to correspond to the specifications of the connectors C4a, C4b, and C4c of the sensor cable C4.
  • the number of sensors 14 and sensor cables C4 can be changed as appropriate.
  • the connectors C4a, C4b and C4c of the sensor cable C4 can be integrated.
  • the amplifier connection portion 15c of the sensor hub 15 is a connector having a terminal hole into which a connection pin included in the connector C2a of the communication cable C2 is fitted, for example.
  • the shape of the encoder connection portion 15a, the sensor connection portion 15b, and the amplifier connection portion 15c included in the sensor hub 15, the number of connection pins, and the number of terminal holes are not limited to the configuration shown in FIG. It can be changed appropriately according to the application.
  • the encoder connection portion 15a, the sensor connection portion 15b, and the amplifier connection portion 15c can be configured such that the connection pin is a terminal hole and the terminal hole is a connection pin according to the corresponding connector.
  • the sensor hub 15 receives the encoder signal S13 output from the encoder 13 via the encoder connection 15a and the sensor signal S14 output from the sensor 14 via the sensor connection 15b, and is connected to the amplifier connection 15c. To the servo amplifier 12 via the communication cable C2.
  • the sensor hub 15 determines the connection status of the sensor 14 connected to the sensor connection unit 15b by the sensor determination unit 153 in response to a command from the servo amplifier 12, and transmits the determination result to the servo amplifier 12.
  • the connection status of the sensor 14 is, for example, the number of sensors 14 connected to the sensor connection unit 15b, the type of the sensor 14, the number of sensor signals S14, and the like.
  • the connection status of the sensor 14 is determined by, for example, counting the number of sensor signals S14 detected in a predetermined period based on a change in the voltage value of the sensor signal S14.
  • the servo amplifier 12 receives the determination result and sets the communication specification between the sensor hub 15 and the servo amplifier 12 by the communication specification setting unit 122.
  • the signal processing unit 152 converts the encoder signal S13 and the sensor signal S14 into a serial signal according to the set communication specification.
  • the sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 with the communication specification set by the communication specification setting unit 122 via the communication cable C2 connected to the amplifier connection unit 15c.
  • the servo system 100 includes the encoder connection portion 15a that is detachably connected to the encoder 13, the sensor connection portion 15b that is connected to the sensor 14 via the sensor cable C4, and the servo.
  • a sensor hub 15 having an amplifier connection portion 15c connected to the amplifier 12 via a communication cable C2, the sensor hub 15 receives the encoder signal S13 and the sensor signal S14 via the encoder connection portion 15a and the sensor connection portion 15b, The data is transmitted to the servo amplifier 12 via the amplifier connection unit 15c and the communication cable C2.
  • the sensor hub 15 can be appropriately selected according to the specifications of the sensor 14 to be connected, and the selected sensor hub 15 can be attached to the encoder 13. As a result, even when a sensor 14 having a different specification is newly attached, it is not necessary to replace the encoder 13, so that it is possible to immediately cope with a wide variety of sensors 14.
  • the servo system 100 connects the encoder 13 provided in the motor 10 and the sensor cable C4 connected to the sensor 14 provided in the motor 10 or its periphery to the sensor hub 15.
  • the complexity of the wiring work of the sensor cable C4 is improved and the sensor 14 detects the sensor cable C4 compared to the case where the sensor cable C4 is connected to the controller 11 or the servo amplifier 12 installed at a position away from the motor 10. It is possible to improve the transmission characteristics of the sensor signal S14.
  • the servo system 100 determines the connection status of the sensor 14 in which the sensor hub 15 is connected to the sensor connector 15b, and the servo amplifier 12 sets the communication specifications between the servo amplifier 12 and the sensor hub 15 based on the determination result. To do. With this configuration, the servo system 100 can immediately read the sensor signal S14 by the servo amplifier 12 when replacing the sensor hub 15 or adding or changing the sensor 14 to the sensor hub 15.
  • the controller 11 generates a drive command such as the position and speed pattern of the motor 10 and transmits it to the servo amplifier 12.
  • the controller 11 is a control device including a PLC (Programmable Logic Controller), a motor driving CPU (Central Processing Unit), a DSP (Digital Signal Processor), a pulse generator, and the like.
  • the controller 11 and the servo amplifier 12 are connected via a network cable C1.
  • a network cable C1 a general-purpose communication cable such as a twisted pair Ethernet (registered trademark) cable or an optical fiber cable can be used.
  • the servo amplifier 12 sets a communication specification setting for setting a communication specification between the servo amplifier 12 and the sensor hub 15 according to the connection state of the sensor 14 determined by the sensor hub 15 and the transmission / reception unit 121 that transmits and receives signals to and from the sensor hub 15.
  • Unit 122 and a parallel conversion unit 123 that converts the serial signal transmitted from the sensor hub 15 into a parallel signal.
  • the transmission / reception unit 121, the communication specification setting unit 122, and the parallel conversion unit 123 of the servo amplifier 12 are, for example, an industrial microcomputer (CPU), an ASIC (application specific integrated circuit), an FPGA (field-programmable gate array), a CPLD (Programmable Programmable Programmable). It is realized by an electronic circuit including an LSI (Large-Scale Integration) such as (Device).
  • data communication among the transmission / reception unit 121, the communication specification setting unit 122, and the parallel conversion unit 123 is performed by bus communication via a buffer or a memory (not shown) included in the servo amplifier 12. Either one or both of the communication specification setting unit 122 and the parallel conversion unit 123 may be incorporated in a device outside the servo amplifier 12.
  • the servo amplifier 12 and the sensor hub 15 are connected to each other via a communication cable C2 capable of bidirectional signal transmission / reception.
  • the communication cable C2 has a connector C2a that is connected to the amplifier connection portion 15c of the sensor hub 15.
  • a connector C2a that is connected to the amplifier connection portion 15c of the sensor hub 15.
  • at least one digital signal signal line, an analog signal signal line, and the power supply voltage from the servo amplifier 12 to the sensor hub 15 This is a cable including a power supply line for supplying power.
  • the signal line and the power line may be connected by separate cables.
  • Serial communication is applied to communication between the servo amplifier 12 and the sensor hub 15. By applying serial communication, the number of signal lines of the communication cable C2 can be reduced.
  • the communication method may be a half-duplex communication method or a full-duplex communication method, and a communication select line for causing the sensor hub 15 to recognize the communication method may be included in the communication cable C2. Further, in order to transmit a signal such as a temperature sensor or an acceleration sensor (not shown) built in the encoder 13, a communication line for transmitting from the motor 10 to the controller 11 may be included in the communication cable C2.
  • the encoder 13 detects the rotation of the motor 10 and transmits an encoder signal S13 indicating the detected rotation of the motor 10 to the sensor hub 15.
  • the encoder 13 includes a transmission / reception unit 131 for transmitting the encoder signal S13 to the sensor hub 15.
  • the transmission / reception unit 131 includes a connector 13a for connection to the encoder connection unit 15a of the sensor hub 15.
  • the rotation of the motor 10 detected by the encoder 13 is, for example, the angle of the rotation axis, the angular velocity, and the angular acceleration.
  • the encoder 13 is attached and provided near the rotating shaft of the motor 10, for example.
  • the detection method of the encoder 13 is an absolute method, an incremental method, or the like.
  • the encoder 13 may include a detector such as a temperature sensor in order to output an alarm at the time of detection of the state of the detection circuit of the encoder 13 or a signal.
  • the encoder 13 may include, for example, an acceleration sensor in order to detect wear and deterioration of a bearing mechanism provided in the motor 10 and a driving reaction force when the motor rotates.
  • the detection result detection results of a temperature sensor, an acceleration sensor, etc. provided in the encoder 13
  • Sent is sent to the sensor hub 15 together with the rotation information of the motor 10. Sent.
  • the encoder signal S13 is an electric signal transmitted from the transmitter / receiver 131 of the encoder 13 to the sensor hub 15. For example, the rotation information of the motor 10 detected by the encoder 13, the encoder 13 detected by a temperature sensor provided in the detection circuit of the encoder 13, and the like. Internal information, and alarm information of the encoder 13.
  • the sensor 14 detects the state of the detection target different from the rotation of the motor 10 that is the detection target of the encoder 13, and transmits a sensor signal S14 indicating the detected state to the sensor hub 15.
  • the sensor 14 detects, for example, the temperature, vibration, sound, or the like around the motor 10 or the motor 10 as a detection target state different from the rotation of the motor 10.
  • the periphery of the motor 10 is, for example, a driven body of the motor 10, a gantry for fixing the motor 10, and a target on which the driven body acts.
  • the target on which the driven body acts is, for example, a part gripped by a robot driven by the motor 10, a workpiece processed by a processing machine driven by the motor 10, or the like.
  • the sensor 14 is, for example, an acceleration sensor or a camera.
  • a position sensor, speed sensor, pressure sensor, microphone, gyro sensor, flow sensor, temperature sensor, illuminance sensor, magnetic sensor, infrared sensor, or the like may be used.
  • the sensor 14 is installed on at least one of the motor 10, the encoder 13, the driven body of the motor 10, the gantry that fixes the motor 10, or the target on which the driven body acts. Moreover, you may install around these using a jig
  • Sensor signal S14 is an electrical signal that sensor 14 transmits to sensor hub 15 via sensor cable C4.
  • the sensor signal S14 transmitted and received between the sensor 14 and the sensor hub 15 may be compressed or modulated.
  • the sensor signal S14 transmitted / received between the sensor 14 and the sensor hub 15 is a signal including, for example, an analog signal or a digital signal transmitted by a single-end method or a differential method, and a ground signal indicating a signal reference. .
  • the sensor 14 and the sensor hub 15 are connected to each other via a sensor cable C4.
  • the sensor cable C4 is at least one communication cable that transmits the sensor signal S14 output from the sensor 14 to the sensor hub 15.
  • the sensor hub 15 and the sensor 14 may be connected by parallel communication or serial communication. By applying serial communication, the number of signal lines can be reduced.
  • Communication between the sensor 14 and the sensor hub 15 is, for example, RS (TIA / EIA) 232/422/485, USB (Universal Serial Bus), I2C (Inter Integrated Circuit), SPI (Serial Peripheral Interface, I2C). It is possible to adopt serial communication standards such as IC Sound), 1-Wire, Ethernet (registered trademark) / IP, and 10BaseT.
  • the serial communication transmission method may be synchronous or asynchronous.
  • the sensor cable C4 may include not only a signal line for transmitting the sensor signal S14 output from the sensor 14 to the sensor hub 15, but also a power supply line for supplying power from the sensor hub 15 to the sensor 14.
  • the sensor cable C4 may be bundled and covered with vinyl or a shielded line, and a part or the whole may be unified as a composite communication cable.
  • TMDS Transitional Differential Signaling
  • HDMI High-Definition Multimedia Interface
  • the sensor hub 15 When using the sensor 14 capable of transmitting the sensor signal S14 wirelessly, the sensor hub 15 is provided with a wireless base station such as WSN (Wireless Sensor Networks) to receive the sensor signal S14, and via the communication cable C2. May be transmitted to the transmission / reception unit 121 of the servo amplifier 12.
  • WSN Wireless Sensor Networks
  • FIG. 3 is a schematic configuration diagram showing the sensor hub according to the first embodiment of the present invention.
  • the sensor hub 15 includes a transmission / reception unit 151 that transmits / receives signals to / from the encoder 13, the sensor 14, and the servo amplifier 12, a signal processing unit 152 that processes a signal to be transmitted / received, and a sensor determination unit 153 that determines the connection status of the sensor 14. Prepare.
  • the signal processing unit 152 includes an AD conversion unit 152a that converts an analog signal into a digital signal, and a serial conversion unit 152b that converts a parallel signal into a serial signal.
  • the serial conversion unit 152b converts the sensor signal S14 to a serial signal based on the configuration of the serial communication data frame set by the communication specification setting unit 122 of the servo amplifier 12.
  • the sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 through two different systems of serial communication, for example.
  • the serial conversion unit 152b may combine the encoder signal S13 and the sensor signal S14 into one serial signal and transmit the composite signal to the servo amplifier 12 by one system serial communication. Further, when a plurality of sensors 14 are connected, the serial conversion unit 152b may combine a plurality of sensor signals S14 into one serial signal and transmit it to the servo amplifier 12 by one system serial communication. By using one system of serial communication, the number of signal lines between the servo amplifier 12 and the sensor hub 15 can be reduced.
  • the serial conversion unit 152b may thin out the sensor signal S14 and convert it into a signal having a period different from the sampling period of the sensor signal S14, or may delete redundant data in order to reduce the data capacity.
  • alarm information such as a communication alarm signal and a power alarm signal generated when the sensor hub 15 detects a communication error or a power error may be superimposed on the serial signal, or the ambient temperature or operating time of the sensor hub 15 may be diagnosed. Information may be superimposed on the serial signal.
  • the sensor determination unit 153 determines the number of sensors 14, the type of sensor 14, the number of sensor signals S 14, and the like as the connection status of the sensor 14 based on the voltage value of the sensor signal S 14, and determines the determination result as a sensor hub. It outputs to 15 transmission / reception parts 151.
  • the signal processing unit 152 of the sensor hub 15 is realized by an electronic circuit including an LSI such as an analog circuit, a packaged IC (Integrated Circuit), an industrial microcomputer (CPU), an ASIC, an FPGA, and a CPLD.
  • the signal processing unit 152 may include filter processing means and buffer processing means (not shown) in order to remove noise and improve communication accuracy. Further, the signal processing unit 152 may include a multiplexer and a switching IC when there are many types and numbers of analog-type sensor signals S14 for AD conversion.
  • 4 (a) and 4 (b) are diagrams illustrating an example of a configuration of a serial communication data frame generated by the serial conversion unit of the sensor hub according to the first embodiment of the present invention.
  • 4A and 4B are data frames of the encoder signal S13 and the sensor signal S14, respectively. As shown in FIGS. 4A and 4B, the encoder signal S13 and the sensor signal S14 are transmitted by, for example, two different systems of serial communication.
  • a serial communication data frame is composed of, for example, a header, a data field, and a footer.
  • the header is an area for transmitting alarm information related to the operation state of the encoder 13 or the sensor 14 and communication specifications such as a bit rate.
  • the footer is an area for transmitting an error detection code, and based on this, the servo amplifier 12 detects errors such as transmission line noise accompanying data transfer. As the error detection method, parity, checksum, cyclic redundancy check, etc. can be applied.
  • the data field is an area where the framed encoder signal S13 or sensor signal S14 is transmitted, and the signal includes a start bit, a data bit, a parity bit, a stop bit, and the like.
  • the data field includes three acceleration sensor signals S141a in the X-axis, Y-axis, and Z-axis directions output from the acceleration sensor. S141b and S141c are combined with a pressure sensor signal S142 output from the pressure sensor.
  • FIG. 5 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention.
  • the sensor signal S14 from the sensor 14 is output to the sensor hub 15 in an analog format.
  • the servo amplifier 12 transmits a determination request signal S03 requesting the determination of the sensor 14 to the sensor hub 15 (ST101).
  • the sensor hub 15 receives the sensor signal S14 from the sensor 14 (ST102).
  • the sensor hub 15 converts the received analog sensor signal S14 into a digital signal by the AD converter 152a for a predetermined period (ST103).
  • the AD conversion period is set to the shortest update period of serial communication that can be performed by the servo amplifier 12 or the sensor hub 15, for example.
  • the sensor hub 15 converts the sensor signal S14 into a serial signal by the serial converter 152b (ST104).
  • the sensor determination unit 153 determines the number of sensor signals S14 based on the change in the voltage value of the sensor signal S14 (ST105). For example, when the voltage of the sensor signal S14 is larger or smaller than a threshold value during a certain period, it is determined that the sensor signal S14 has been received, and the number of sensor signals S14 is determined.
  • the sensor hub 15 transmits the number of sensor signals S14 determined by the sensor determination unit 153 to the servo amplifier 12 as a sensor determination signal S16 (ST106).
  • the communication specification setting unit 122 of the servo amplifier 12 sets the communication specification between the servo amplifier 12 and the sensor hub 15 based on the sensor determination signal S16 (ST107).
  • the communication specification setting unit 122 sets a data frame for serial communication between the servo amplifier 12 and the sensor hub 15.
  • the data frame set by the communication specification setting unit 122 includes the number of sensor signals S14, the type of the sensor signal S14, the data size of the sensor signal S14, the transmission order of the sensor signal S14, and between the sensor 14 and the sensor hub 15. It is determined according to the communication method.
  • the servo system 100 can set the communication specification between the sensor hub 15 and the servo amplifier 12 according to the sensor 14 connected to the sensor hub 15 by executing ST101 to ST107. As a result, the serial communication update cycle, communication speed, and communication data amount can be optimized according to the sensor 14 connected to the sensor connector 15b of the sensor hub 15.
  • ST101 to ST107 may be implemented by omitting a part or changing a part of the order.
  • the parallel sensor signal S14 converted into a digital signal by the AD conversion unit 152a may be transmitted to the sensor determination unit 153 without passing through the serial conversion unit 152b.
  • the number of sensor signals S14 determined by the sensor determination unit 153 and the communication specifications between the servo amplifier 12 and the sensor hub 15 may be stored in a recording circuit (not shown) provided in the sensor hub 15.
  • FIG. 6 is a flowchart showing the operation of the servo system according to the first embodiment of the present invention.
  • the encoder signal S13 detected by the encoder 13 is converted into a serial signal inside the encoder 13, and serial communication is performed between the encoder 13 and the sensor hub 15.
  • the servo amplifier 12 transmits a first communication request signal S01 requesting a response with the communication specifications set in ST101 to ST107 to the sensor hub 15 (ST201).
  • the first communication request signal S01 specifies communication specifications such as a bit rate, a communication band, and an update cycle between the servo amplifier 12 and the sensor hub 15, and requests a response of the encoder signal S13 or the sensor signal S14.
  • the sensor hub 15 generates a second communication request signal S02 that requests a response from the encoder 13 with the set communication specifications based on the first communication request signal S01, and transmits the second communication request signal S02 to the encoder 13 (ST202).
  • the second communication request signal S02 designates communication specifications such as a bit rate, a communication band, and an update cycle between the encoder 13 and the sensor hub 15, and requests the encoder 13 to respond to the encoder signal S13.
  • the encoder 13 transmits the encoder signal S13 to the sensor hub 15 with the communication specification specified by the second communication request signal S02 (ST203).
  • the sensor hub 15 receives the sensor signal S14 from the sensor 14 and converts it into a digital signal by the AD converter 152a (ST204).
  • the serial conversion unit 152b serially converts the sensor signal S14 according to the communication specification specified by the first communication request signal S01. For example, the serial conversion unit 152b receives a plurality of sensor signals S14 in response to a composite request signal S04 that requests a composite of the plurality of sensor signals S14 generated based on the first communication request signal S01 by the transmission / reception unit 151 of the sensor hub 15. Is combined with a serial signal and output as a sensor composite signal S15 (ST205).
  • the sensor hub 15 transmits the encoder signal S13 and the sensor composite signal S15 to the servo amplifier 12 through, for example, two different systems of serial communication (ST206).
  • the servo amplifier 12 separates the sensor composite signal S15 as a parallel signal by the parallel conversion unit 123, and acquires the encoder signal S13 and the sensor signal S14 (ST207). At this time, the sensor composite signal S15 may be separated by the parallel conversion unit 123 of the servo amplifier 12 by including the sensor determination signal S16 in the sensor composite signal S15.
  • the servo system 100 can acquire the encoder signal S13 and the sensor signal S14 based on the communication specifications set by the communication specification setting unit 122 of the servo amplifier 12 by executing ST201 to ST207.
  • the serial signal communication method is not limited to the asynchronous mode.
  • the serial signal communication method may be either a half-duplex method or a full-duplex method.
  • the various request signals may include a clock signal for synchronous communication.
  • the second communication request signal S02 is a signal whose necessity or content changes depending on the motor 10 and the encoder 13. Depending on the types of the motor 10 and the encoder 13, the second communication request signal S02 may not be used.
  • the servo system 100 includes the sensor hub 15 that is detachably connected to the encoder 13, and the encoder signal S13 and the sensor signal S14 are transmitted to the servo amplifier 12 via the sensor hub 15. Is done.
  • the sensor hub 15 can be appropriately selected and connected to the encoder 13 according to the specifications of the sensor 14. As a result, it is possible to control the drive of the motor 10 using information from a wide variety of sensors 14.
  • the servo system 100 determines the connection status of the sensor 14, and the communication specification setting unit 122 of the servo amplifier 12 determines the communication specification between the servo amplifier 12 and the sensor hub 15 based on the determination result. Set.
  • the servo system 100 can immediately read the sensor signal S14 by the servo amplifier 12 when replacing the sensor hub 15 or adding or changing the sensor 14 to the sensor hub 15. Further, the servo system 100 can optimize the update period, communication speed, and communication data amount of serial communication between the sensor hub 15 and the servo amplifier 12.
  • the encoder connection portion 15a of the sensor hub 15 has the same shape and the same pin assignment as the connector C2a included in the communication cable C2. Further, it is preferable that the amplifier connecting portion 15c of the sensor hub 15 has the same shape and the same pin assignment as the connector 13a of the encoder 13.
  • the servo system 100 is preferably configured so that electric power is supplied from the servo amplifier 12 to the sensor hub 15, encoder 13, and sensor 14.
  • the power supplied from the servo amplifier 12 is transmitted to the sensor hub 15 as a power signal via the power line of the communication cable C2, and is supplied to the circuit board (not shown) of the encoder 13 and the sensor 14 via the sensor hub 15.
  • the sensor hub 15 can obtain power from the servo amplifier 12, and the sensor hub 15 can be easily replaced.
  • the power signal includes, for example, a positive or negative electric wire and a ground wire.
  • the power transmitted by the power signal may be a DC signal or an AC signal.
  • the sensor hub 15 may include a step-up or step-down circuit in order to increase the types of power lines supplied to the sensor 14. Thereby, the number of sensors 14 connected to the sensor hub 15 can be increased.
  • a battery may be mounted on the sensor hub 15 so as not to be affected by voltage fluctuations of the servo amplifier 12 and the equipment power supply. When the supply power of the servo amplifier 12 is insufficient or when the supply voltage fluctuates greatly, power may be supplied from the outside of the sensor hub 15 to any one or more of the sensor hub 15, the encoder 13, and the sensor 14.
  • the sensor hub 15 is configured to limit the specifications of the sensor 14 that can correspond to one sensor hub 15 and to replace the sensor hub 15 appropriately according to the specifications of the sensor 14. As a result, compared to a case where a single sensor hub 15 supports a wide variety of sensors 14, it is not necessary to make hardware and software redundant, and the substrate size and setting data of the sensor hub 15 can be kept small.
  • the sensor hub 15 is attached to the motor 10 from the upper side in the vertical direction.
  • the sensor hub 15 is a place where a space is easily secured around the encoder 13 or a place where EMC (Electromagnetic Compatibility) is good. Should be arranged.
  • the sensor hub 15 may be divided into two or more circuit boards and structures.
  • the encoder connection unit 15a and the signal processing unit 152 may be connected via a cable.
  • FIG. A servo system 100 according to Embodiment 2 for carrying out the present invention will be described with reference to FIG.
  • the description overlapping with the servo system 100 according to the first embodiment is simplified or omitted as appropriate.
  • the same reference numerals as those in the first embodiment denote the same or corresponding parts.
  • the servo system 100 according to the present embodiment includes a sensor hub 15 that can be connected to a sensor 14b that outputs a serial digital signal in addition to the sensor 14 that outputs an analog signal.
  • FIG. 7 is a schematic configuration diagram of a servo system according to the second embodiment of the present invention.
  • the sensor hub 15 includes an encoder connection portion 15a, a sensor connection portion 15b, and an amplifier connection portion 15c.
  • the encoder connection portion 15a is detachably connected to the encoder 13.
  • three sensors 14 output as analog signals and a sensor 14b output as a serial digital signal are connected to the sensor connection portion 15b of the sensor hub 15 via a sensor cable C4.
  • the number of sensors 14, 14b and sensor cable C4 is not limited to this and can be changed as appropriate.
  • the sensor 14b is a microphone, for example, and transmits a monaural acoustic signal to the sensor hub 15 as a sensor signal S14b in a serial format.
  • the sensor 14b communicates with the sensor hub 15, for example, in the I2S format.
  • the sensor cable C4 includes transmission lines for an SCLK (Serial Clock) signal, a WDCLK (Word Clock) signal, and an SD (Serial Data) signal.
  • the signal processing unit 152 of the sensor hub 15 includes a serial interface (serial I / F) 152c that converts an SD signal transmitted from the sensor 14b in the I2S format into a voltage value.
  • the sensor signal S14b converted into a voltage value by the serial interface 152c is output to the sensor determination unit 153, and as the connection status of the sensors 14 and 14b, the number of the sensors 14 and 14b, the type of the sensors 14 and 14b, the sensor signal S14, The number of S14b is determined.
  • the servo amplifier 12 When setting the communication specifications between the sensor 14b and the sensor hub 15, the servo amplifier 12 sequentially transmits the third communication request signal S05 of various serial communication methods supported by the sensor hub 15 to the sensor 14b via the sensor hub 15. .
  • the third communication request signal S05 specifies a communication specification such as a bit rate, a communication band, an update cycle, etc. between the sensor 14b to which the sensor hub 15 corresponds and the sensor hub 15, and requests a response of the sensor signal S14b. For example, if it is confirmed whether or not it is possible to respond to the sensor 14b by the I2S method, the servo amplifier 12 transmits the WDCLK signal and the SCLK signal, and the response defined by the communication specification of the I2S method is acquired at a predetermined timing. Check if you can. Thereby, the communication specification between the sensor hub 15 and the sensor 14b can be set.
  • a communication specification such as a bit rate, a communication band, an update cycle, etc.
  • the communication format between the sensor hub 15 and the sensor 14b is, for example, RS (TIA / EIA) 232/422/485, USB (Universal Serial Bus), I2C (Inter Integrated Circuit), SPI (Serial Peripheral Interface) in addition to I2S. ), 1-Wire, Ethernet / IP (registered trademark), 10BaseT, and the like, and the serial communication transmission method may be synchronous or asynchronous.
  • the serial interface 152c may be realized by a URAT (Universal Asynchronous Receiver / Transmitter) of an industrial microcomputer or a transceiver IC.
  • the communication specification setting unit 122 of the servo amplifier 12 sets the communication specification between the sensor hub 15 and the servo amplifier 12 according to the connection status of the sensors 14 and 14b determined by the sensor determination unit 153 of the sensor hub 15.
  • the sensor hub 15 connects the encoder signal S13 transmitted via the encoder connector 15a and the sensor signals S14 and S14b transmitted via the sensor connector 15b to the amplifier connector 15c according to the set communication specification. Then, the data is transmitted to the servo amplifier 12 via the communication cable C2.
  • the encoder connection portion 15a that is detachably connected to the encoder 13 and the sensor connection portion 15b that can be connected to the sensor 14b that is output in serial form.
  • a sensor hub 15 having an amplifier connection portion 15c to which a communication cable C2 for transmitting the encoder signal S13 and the sensor signals S14 and S14b to the servo amplifier 12 is connected, and the sensor hub 15 is appropriately selected according to the specifications of the sensor 14 By attaching to 13, it is possible to deal with a wide variety of sensors 14.
  • the sensor determination unit 153 determines the connection status of the sensors 14 and 14b, and the servo amplifier 12 and the sensor hub 15 are connected according to the determination result.
  • the serial communication communication specification can be set, and the serial communication update cycle, communication speed, and communication data amount can be optimized.
  • serial communication method between the sensor 14b and the sensor hub 15 may be limited. As a result, the types of serial communication ports provided in the sensor connection portion 15b can be reduced, and the sensor hub 15 can be reduced in size and cost.
  • FIG. A servo system 100 according to Embodiment 3 for carrying out the present invention will be described with reference to FIGS.
  • the description overlapping with the servo system 100 according to the first embodiment is simplified or omitted as appropriate.
  • 8 and 9 the same reference numerals as those in the first embodiment indicate the same or corresponding parts.
  • the servo system 100 according to the present embodiment is configured to communicate the encoder signal S13 and the sensor signal S14 in two different serial formats in the servo system 100 of the first embodiment, whereas the encoder signal S13 And the sensor signal S14 are combined to communicate with each other in a serial format.
  • FIG. 8 is a schematic configuration diagram of a sensor hub according to Embodiment 3 of the present invention.
  • the sensor hub 15 includes an encoder connection portion 15 a that is detachably connected to the encoder 13, a sensor connection portion 15 b that is connected to a sensor cable C ⁇ b> 4 having one end connected to the sensor 14, and one end that is a servo amplifier 12.
  • the amplifier connection part 15c to which the communication cable C2 connected to is connected.
  • the signal processing unit 152 of the sensor hub 15 receives the encoder signal S13 in addition to the sensor signal S14.
  • the transmission / reception unit 151 of the sensor hub 15 generates a composite request signal S04 that requests the encoder signal S13 and the sensor signal S14 to be combined according to the configuration of the data frame of the serial signal specified by the first communication request signal S01. To do.
  • the serial conversion unit 152b combines the encoder signal S13 and the sensor signal S14 into a serial signal in response to the composite request signal S04, and outputs the composite signal S17.
  • the sensor hub 15 transmits the composite signal S17 to the servo amplifier 12 by one system serial communication.
  • the sensor 14 is an acceleration sensor, a pressure sensor, and a microphone.
  • Sensor signal S14 is acceleration sensor signals S141a, S141b, S141c, pressure sensor signal S142, and microphone signal S143 in the X-axis, Y-axis, and Z-axis directions, each of which is 1-byte digital data.
  • the data size of the encoder signal S13 and the sensor signals S141a, S141b, S141c, S142, and S143, the number of sensors 14, and the configuration of the data frame for serial communication can be changed as appropriate.
  • the communication specification setting unit 122 of the servo amplifier 12 When the communication specification setting unit 122 of the servo amplifier 12 recognizes that the number of sensor signals S14 received by the signal processing unit 152 is five based on the sensor determination signal S16, the communication specification setting unit 122 transmits the first communication request signal S01 to the serial conversion unit 152b. Send to.
  • the first communication request signal S01 includes information on the configuration of a data frame for simultaneously transmitting a 2-byte encoder signal S13 and a total of 5-byte sensor signal S14 through one system of serial communication.
  • the total data capacity of the encoder signal S13 and each of the sensor signals S141a, S141b, S141c, S142, and S143 is 7 bytes, whereas the data capacity of serial communication that can be transmitted in one update is 5 bytes.
  • the data to be transmitted is divided, thinned out, compressed, etc. for each update cycle.
  • the serial conversion unit 152b of the sensor hub 15 divides data for each update period of serial communication between the servo amplifier 12 and the sensor hub 15 with respect to any one or both of the encoder signal S13 and the sensor signal S14. Apply signal processing.
  • FIG. 9 is an example of the configuration of a serial communication data frame generated by the serial conversion unit.
  • the communication specification setting unit 122 of the servo amplifier 12 transmits the encoder signal S13 necessary for the rotation control of the motor 10 every time, and the sensor signals S141a-c, S142, and S143 are transmitted once every two times.
  • An instruction is transmitted to the serial conversion unit 152b of the sensor hub 15 so as to generate a data frame to be transmitted at the update cycle.
  • the serial conversion unit 152b generates the data frame shown in FIG. 9, adds the data frame to the data field of serial communication, and transmits it.
  • the sensor hub 15 showed the example which divides
  • the sensor hub 15 may perform signal processing for compressing data on one or both of the encoder signal S13 and the sensor signal S14.
  • data S200 that is lost when data is thinned out or compressed may be superimposed as additional information.
  • data S200 is added to the communication capacity for one data frame (1 byte) in the even-numbered update cycle.
  • the feature amount of the encoder signal S13 or the sensor signal S14 may be extracted and transmitted to the servo amplifier 12.
  • the sensor hub 15 may perform signal processing for converting any one or both of the encoder signal S13 and the sensor signal S14 from time domain data to frequency domain data.
  • the sensor hub 15 can be attached to and detached from the encoder 13, so that the sensor hub 15 is appropriately selected according to the specifications of the sensor 14 and the encoder 13. It is possible to connect to a variety of sensors 14. Further, in the servo system 100, the sensor hub 15 can generate a composite signal S17 in which the encoder signal S13 and the sensor signal S14 are combined, and can transmit the composite signal S17 to the servo amplifier 12 through one system serial communication. Wiring can be reduced.
  • the data capacity of serial communication that can be transmitted in one update by the sensor hub 15 performing signal processing such as data division, data thinning, and compression on the encoder signal S13 and sensor signal S14 for each update cycle. Even when the data capacity is large, the encoder signal S13 and the sensor signal S14 can be transmitted.
  • FIG. A servo system 100 according to Embodiment 4 for carrying out the present invention will be described with reference to FIG.
  • the description overlapping with the servo system 100 according to the first embodiment is simplified or omitted as appropriate.
  • the same reference numerals as those in Embodiment 1 denote the same or corresponding parts.
  • the servo system 100 according to the present embodiment includes a host processing device 101 that instructs the drive timing of the servo system 100 based on the execution plan of the entire industrial device including the servo system 100.
  • the host processing apparatus 101 is a control apparatus for an industrial apparatus for the purpose of centralized management of the entire system, including, for example, a cloud, an edge computer, an IPC (Industrial Personal Computer), a MES (Manufacturing Automation System), and the like.
  • the host processing apparatus 101 is connected to the controller 11 by a network cable C0 capable of bidirectional signal transmission / reception.
  • the servo system 100 includes a host processing device 101, and the controller 11 commands the drive timing of the motor 10, whereby the rotation of the motor 10 can be controlled based on the execution plan of the entire industrial device.
  • the host processing apparatus 101 analyzes the sensor signal S14 from the sensor 14, thereby diagnosing aging degradation of the industrial apparatus and preventing each device used in the servo system 100, the driven body of the motor 10, and the like. Maintenance and planned maintenance can be implemented.
  • the existing communication cable is used as the communication cable C2 shown in FIG.
  • a sensor hub 15 can be connected between the encoder 13 and the host processor 101 can diagnose the industrial device based on the sensor signal S14 from the sensor 14 connected to the sensor hub 15.
  • the servo system 100 replaces the existing sensor hub 15 with a new sensor hub 15 that can connect or identify the sensor 14 when the sensor hub 15 is already connected and the existing sensor hub 15 cannot connect or identify the new sensor 14. You may make it do. If the diagnosis is temporary, the sensor hub 15 after replacement may be returned to the original sensor hub 15 after diagnosis, or the sensor hub 15 after replacement may be used for driving control of the motor 10 as it is.
  • the sensor hub 15 used for diagnosis may send the encoder signal S13 from the encoder 13 to the host processor 101 for diagnosis, or may not use the encoder signal S13 for diagnosis.
  • the diagnosis may be performed in a state where the encoder hub 15a is not connected to the sensor hub 15 and the encoder 13 is not connected to the sensor hub 15.
  • the sensor hub 15 has a function of transmitting the encoder signal S 13 from the encoder 13 to the servo amplifier 12.
  • FIG. 11 is a flowchart showing a process of introducing a sensor hub into the servo system according to the fifth embodiment of the present invention.
  • the sensor hub 15 is added to the existing servo system 100 to which the servo amplifier 12 and the encoder 13 are connected will be described.
  • the user of the servo system 100 turns off the power of the servo amplifier 12 to attach the sensor hub 15, and removes the connector C2a of the communication cable C2 from the connector 13a of the encoder 13 (ST301).
  • the user of the servo system 100 connects the sensor hub 15 to the servo amplifier 12, the encoder 13, and the sensor 14 (ST302).
  • the user of the servo system 100 connects the servo amplifier 12 and the sensor hub 15 by connecting the connector C2a of the communication cable C2 to the amplifier connection portion 15c of the sensor hub 15.
  • the user of the servo system 100 attaches the sensor hub 15 to the encoder 13 by connecting the encoder connection portion 15 a to the connector 13 a of the encoder 13.
  • the user of the servo system 100 connects the sensor 14 and the sensor hub 15 by connecting the connector C4a of the sensor cable C4 to the sensor connection portion 15b.
  • the order of the attachment work may be changed.
  • the user of the servo system 100 confirms that there is no wiring mistake among the servo amplifier 12, the encoder 13, the sensor 14, and the sensor hub 15 by visual inspection or a tester (ST303).
  • the user of the servo system 100 turns on the servo amplifier 12 and supplies power from the servo amplifier 12 to the sensor hub 15, encoder 13, and sensor 14 (ST304).
  • the user of the servo system 100 confirms by visual inspection or a tester that the power supply to the sensor hub 15, the encoder 13, and the sensor 14 is normal (ST305).
  • the sensor hub 15 monitors fluctuations in the power supply voltage with an arithmetic circuit such as an industrial microcomputer, and the lamps provided in the sensor hub 15 or the servo amplifier 12 are turned on or blinked. Alternatively, a power alarm may be notified by a beep sound or the like.
  • an external power source may be used for the sensor 14 or the sensor hub 15 added to the servo system 100.
  • the servo amplifier 12 cannot normally supply power to the sensor hub 15 or the sensor 14, it can be replaced with a sensor 14 or sensor hub 15 having different specifications for operating voltage and current capacity so that the power can be supplied. Good.
  • the process returns to (ST302).
  • the sensor determination unit 153 of the sensor hub 15 determines the connection status of the sensor 14 connected to the sensor connection unit 15b, and the servo amplifier 12 is connected between the servo amplifier 12 and the sensor hub 15.
  • the communication specifications are set (ST306).
  • the sensor hub 15 transmits the encoder signal S13 and the sensor signal S14 to the servo amplifier 12 and the host processing device 101 with the set communication specifications (ST307).
  • Detailed operations of (ST306) and (ST307) are the same as (ST101) to (ST107) and (ST201) to (ST207) of the first embodiment, and are therefore omitted.
  • the encoder signal S13 and the sensor signal S14 are transmitted to the servo amplifier 12 and the host processor 101, and diagnosis for drive control and preventive maintenance of the industrial apparatus including the servo system 100 is performed.
  • diagnosis for drive control and preventive maintenance of the industrial apparatus including the servo system 100 is performed.
  • the industrial device diagnosis method using the sensor hub 15 according to the fifth embodiment of the present invention can use the existing motor 10, the communication cable C2, and the encoder 13 by adding or replacing the sensor hub 15.
  • the sensor 14 can be easily added to the servo system 100.
  • (ST301) to (ST307) may be carried out by omitting a part or changing a part of the order. Further, although the method of adding the sensor hub 15 to the existing servo system 100 has been described in this embodiment, the sensor hub 15 may be incorporated into the servo system 100 when the servo system 100 is newly installed.
  • a single-axis rotary motor has been described as an example of the motor 10.
  • the motor 10 is not limited to the rotary motor, and a linear motor that drives the mover in the translation direction with respect to the stator is used. May be.
  • present invention may be appropriately combined with a plurality of disclosed constituent elements in the first to fourth embodiments without departing from the gist of the present invention.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Electric Motors In General (AREA)
  • Testing And Monitoring For Control Systems (AREA)
PCT/JP2018/041008 2018-02-06 2018-11-05 サーボシステム、センサハブ及び産業用装置の診断方法 WO2019155700A1 (ja)

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CN201880088207.5A CN111684711B (zh) 2018-02-06 2018-11-05 伺服系统、传感器集线器及工业用装置的诊断方法
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JP7376425B2 (ja) 2020-05-11 2023-11-08 日立Astemo株式会社 車両制御装置
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CN113867430A (zh) * 2020-06-30 2021-12-31 日本电产三协株式会社 电动机放大器及电动机放大器控制方法
CN113867430B (zh) * 2020-06-30 2024-04-16 日本电产三协株式会社 电动机放大器及电动机放大器控制方法
EP4044560A1 (en) * 2021-02-16 2022-08-17 Hengstler GmbH Sensor hub

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KR102463968B1 (ko) 2022-11-04
KR20200103093A (ko) 2020-09-01
JP2020074680A (ja) 2020-05-14
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