WO2019216171A1

WO2019216171A1 - Drive equipment, and drive system

Info

Publication number: WO2019216171A1
Application number: PCT/JP2019/016957
Authority: WO
Inventors: 史岳三枝; 裕介今田
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2018-05-07
Filing date: 2019-04-22
Publication date: 2019-11-14
Also published as: JPWO2019216171A1; CN112088485A

Abstract

The problem of the present disclosure is to not have to execute the process for calculating magnetic pole information when a driver is replaced. This drive equipment (1) comprises a functional part, and a storage device (14). The functional part includes at least one of a synchronous motor (11) controlled by current supplied from a driver (2), and a position detector (12) that detects position information of a magnetic pole in the synchronous motor (11). The storage device (14) is provided in the functional part, and stores magnetic pole information representing the correspondence relation between the phase information and the position information of the abovementioned current.

Description

Driving device and driving system

The present disclosure relates generally to a drive device and a drive system, and more particularly to a drive device and a drive system for driving a synchronous motor.

Patent Document 1 discloses a magnetic pole detection method for a synchronous motor. A synchronous motor drive device using this magnetic pole detection method includes a storage device that stores the relationship between the current phase and the absolute position of the magnetic pole of the synchronous motor. In this magnetic pole detection method, the relationship between the current phase obtained by the magnetic pole position estimation and the absolute position of the synchronous motor is stored in a storage device, and from the above relationship that was stored from the next power-on, The current phase at the absolute position of the motor is derived by calculation.

The magnetic pole detection method described in Patent Document 1 has a problem in that when the driving device (driver) is replaced, the magnetic pole position estimation process (the process of calculating magnetic pole information) must be executed again.

JP 2007-116759 A

This disclosure is intended to provide a drive device and a drive system that do not need to execute processing for calculating magnetic pole information when a driver is replaced.

The drive device according to an aspect of the present disclosure includes a functional unit and a storage device. The functional unit includes at least one of a synchronous motor controlled by a current supplied from a driver and a position detector that detects position information of magnetic poles in the synchronous motor. The storage device is provided in the functional unit, and stores magnetic pole information indicating a correspondence relationship between the phase information of the current and the position information.

A driving system according to an aspect of the present disclosure includes the above-described driving device and the driver. The driver controls the synchronous motor using the magnetic pole information.

FIG. 1 is a block diagram illustrating an outline of a drive device and a drive system according to the first embodiment. FIG. 2 is a flowchart showing the operation of the above drive system. FIG. 3 is a block diagram illustrating an outline of the drive device and the drive system according to the second embodiment. FIG. 4 is a flowchart showing the operation of the above drive system. FIG. 5 is a flowchart illustrating the operation of the drive system according to the third embodiment. FIG. 6 is a block diagram illustrating an outline of a drive device and a drive system according to a modification. FIG. 7 is a flowchart showing the operation of the above drive system.

(Embodiment 1)
(1.1) Configuration Hereinafter, the configuration of the drive device 1 and the drive system 100 according to the first embodiment will be described with reference to FIG. The drive system 100 according to the present embodiment includes a drive device 10 and a driver 2. The drive device 10 is a servo motor, and includes a synchronous motor 11, a position detector 12, a control unit 13, and a storage device 14. The driver 2 is a servo driver, and includes a processing unit 21 and a current control unit 22. Further, the drive device 10 and the driver 2 can communicate bidirectionally by, for example, serial communication. In FIG. 1, an arrow between the driving device 10 and the driver 2 indicates transmission / reception of data or a signal, not a physical signal line.

Here, the driving device 1 includes a functional unit and a storage device 14. The functional unit includes at least one of a synchronous motor 11 controlled by a current supplied from the driver 2 and a position detector 12 that detects position information of magnetic poles in the synchronous motor 11. The storage device 14 is provided in the functional unit and stores magnetic pole information. The “magnetic pole information” referred to in the present disclosure is information indicating the correspondence relationship between the phase information of the current supplied from the driver 2 to the synchronous motor 11 and the magnetic pole position information in the synchronous motor 11. In the present embodiment, the functional unit is a driving device 10 including a synchronous motor 11 and a position detector 12. That is, in the present embodiment, the driving device 1 is the driving device 10 including the storage device 14.

The synchronous motor 11 is controlled by supplying a three-phase current (U-phase, V-phase, and W-phase) from the current controller 22 to the three-phase winding of the stator (stator). In the present embodiment, the synchronous motor 11 is a linear synchronous motor. The linear synchronous motor is used, for example, when moving the head of a (surface) mounting machine for mounting electronic components on a printed circuit board or the like.

The position detector 12 is a resolver or a rotary encoder, for example, and is attached to the synchronous motor 11. In this embodiment, the position detector 12 is an absolute rotary encoder, and detects the position of the mover of the synchronous motor 11 as position information. The position information detected by the position detector 12 is transmitted to the processing unit 21 of the driver 2.

The control unit 13 includes, for example, a computer (including a microcomputer) having a processor and a memory. That is, the control unit 13 is realized by a computer system having a processor and a memory. The computer system functions as the control unit 13 by the processor executing an appropriate program. The program may be recorded in advance in a memory, or may be provided by being recorded through a telecommunication line such as the Internet or a non-transitory recording medium such as a memory card.

The control unit 13 has a function of storing the position information detected by the position detector 12 in the storage device 14. Further, the control unit 13 has a function of transmitting the position information read from the storage device 14 to the processing unit 21. The control unit 13 has a function of storing the received magnetic pole information in the storage device 14 when receiving magnetic pole information (described later) obtained by the first process (described later) in the processing unit 21 from the driver 2. .

The storage device 14 is, for example, a rewritable nonvolatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a volatile memory such as a RAM (Random Access Memory). The storage device 14 may be realized by a combination of a nonvolatile memory and a volatile memory. In the present embodiment, the storage device 14 is a nonvolatile memory. The storage device 14 stores magnetic pole information obtained by a first process (described later) in the processing unit 21. The “magnetic pole information” referred to in the present disclosure is information indicating the correspondence relationship between the phase information of the current supplied from the driver 2 to the synchronous motor 11 and the magnetic pole position information in the synchronous motor 11. In the present embodiment, phase information based on the position where the absolute position of the mover of the synchronous motor 11 is zero is stored in the storage device 14 as the magnetic pole information. The storage device 14 stores an initial value as magnetic pole information when the drive device 10 is manufactured. The initial value is, for example, a bit string consisting only of “0”. The magnetic pole information stored in the storage device 14 is updated every time the first process is executed.

The processing unit 21 includes, for example, a computer (including a microcomputer) having a processor and a memory. That is, the processing unit 21 is realized by a computer system having a processor and a memory. Then, the computer system functions as the processing unit 21 by the processor executing an appropriate program. The program may be recorded in advance in a memory, or may be provided by being recorded through a telecommunication line such as the Internet or a non-transitory recording medium such as a memory card.

In the present embodiment, the processing unit 21 is configured to execute the first process and the second process. The first process is a process for calculating magnetic pole information. Here, if the correspondence relationship between the phase information and the position information of the phase current of any one of the U phase, the V phase, and the W phase (for example, U phase) is obtained, the remaining two (for example, V It is possible to obtain the correspondence relationship for the phase and the W phase. Therefore, in the present embodiment, as magnetic pole information, a correspondence relationship between phase information and position information of any one phase current of the U phase, V phase, and W phase is obtained. Specifically, in the first process, the processing unit 21 supplies current to the synchronous motor 11 for any one of the U phase, the V phase, and the W phase, and changes the phase of the supplied current. . Then, the processing unit 21 determines the phase of the current at which the generated electromagnetic force is zero regardless of the magnitude of the supplied current based on the polarity of the acceleration of the synchronous motor 11. Then, the processing unit 21 uses the obtained current phase and the temporary position information detected by the position detector 12 to maximize the generated current, that is, the generated torque. Find the phase of the current. By these calculations, the processing unit 21 obtains the above correspondence.

In addition, in the first process, the processing unit 21 performs the following first step, second step, third step, and fourth step, thereby generating an electromagnetic force that is generated regardless of the magnitude of the supplied current. The phase of the current that becomes zero may be obtained. In the first step, the processing unit 21 supplies current to a phase obtained by dividing the electrical angle half cycle by N with reference to the provisional magnetic pole position, and the moving direction of the synchronous motor 11 at that time (“+ (forward rotation)”, "0 (stop)", "-(reverse rotation)"). In the second step, the processing unit 21 supplies a current to a phase obtained by dividing the electric angle region where the sign of the moving direction of the synchronous motor 11 is inverted into two, and determines the moving direction of the synchronous motor 11 at that time. In the third step, the processing unit 21 supplies a current to a phase obtained by dividing the electric angle region where the moving direction of the synchronous motor 11 changes from “+” to “0” and “0” to “−”. Then, the moving direction of the synchronous motor 11 at that time is determined. In the fourth step, the processing unit 21 sets an intermediate point of the electric angle region where the moving direction of the synchronous motor 11 is “0” to a current at which the generated electromagnetic force becomes zero regardless of the magnitude of the supplied current. Determine as phase.

The second process is a process for obtaining the phase information from the position information detected by the position detector 12 by referring to the magnetic pole information obtained in the first process or the magnetic pole information read from the storage device 14. is there. The second process is a process executed when starting the synchronous motor 11.

The processing unit 21 generates a phase command based on the position information detected by the position detector 12 and the phase information obtained in the second process, and gives the generated phase command to the current control unit 22. Further, the processing unit 21 generates a torque command corresponding to a target value of torque instructed from an external controller, for example, and gives the generated torque command to the current control unit 22.

When receiving the torque command and the phase command from the processing unit 21, the current control unit 22 determines the phase and amplitude corresponding to the torque command and the phase command for each of the U phase, the V phase, and the W phase. Then, the current control unit 22 supplies a current corresponding to the determined phase and amplitude to the synchronous motor 11 for each of the U phase, the V phase, and the W phase. Thus, the processing unit 21 of the driver 2 controls the synchronous motor 11 using the magnetic pole information.

(1.2) Operation Hereinafter, the operation of the drive system 100 of the present embodiment will be described with reference to FIG. First, the drive device 10 and the driver 2 are powered on (S10). Then, the processing unit 21 of the driver 2 acquires magnetic pole information read from the storage device 14 of the driving device 10 through communication with the driving device 10 (S11). Next, the processing unit 21 of the driver 2 determines whether or not the magnetic pole information acquired from the storage device 14 is an initial value (S12).

If the magnetic pole information is the initial value (S12: No), the processing unit 21 of the driver 2 obtains the magnetic pole information by executing the first process (S13). Then, the processing unit 21 of the driver 2 updates the magnetic pole information by storing the obtained magnetic pole information in the memory (S14). Further, the processing unit 21 of the driver 2 transmits the obtained magnetic pole information to the driving device 10 through communication with the driving device 10. When receiving the magnetic pole information, the control unit 13 of the driving device 10 stores the received magnetic pole information in the storage device 14, thereby updating the magnetic pole information (S15). Thereafter, the processing unit 21 of the driver 2 obtains phase information by executing the second process using the position information detected by the position detector 12 (S17). At this time, the processing unit 21 of the driver 2 may use either the magnetic pole information stored in the memory or the magnetic pole information stored in the storage device 14.

On the other hand, if the magnetic pole information is not the initial value (S12: Yes), the processing unit 21 of the driver 2 updates the magnetic pole information by storing the magnetic pole information acquired from the storage device 14 in the memory (S16). Then, the second process is executed (S17). At this time, the processing unit 21 of the driver 2 uses the magnetic pole information stored in the storage device 14. That is, if the magnetic pole information read from the storage device 14 is an initial value, the processing unit 21 of the driver 2 executes the second process after updating the magnetic pole information by the first process. On the other hand, if the magnetic pole information read from the storage device 14 is not the initial value, the processing unit 21 of the driver 2 executes the second process without executing the first process.

(1.3) Operation Example Hereinafter, a first operation example to a third operation example of the drive system 100 of the present embodiment will be described. In each operation example described below, the second process is omitted. The same applies to Embodiments 2 and 3 described later.

In each of the following operation examples, it is assumed that the driving device 10 and the driver 2 are both in an initial state, that is, have not been used since the time of manufacture. Further, in each of the following operation examples, it is assumed that the drivers 2 before replacement are all the same, and the drive devices 10 before replacement are also the same. Further, in each of the following operation examples, it is assumed that the new driver 2 is the same and the used driver 2 is the same. Similarly, in each of the following operation examples, it is assumed that the new drive device 10 is the same and the used drive device 10 is the same. Further, in each of the following operation examples, in the used drive device 10, the first process is already executed in another drive system before replacement, and the magnetic pole information is stored in the storage device 14 in advance. Assume. The above assumption is the same in the second and third embodiments described later.

In the table shown below, “A0” represents the initial value of the magnetic pole information. In the table shown below, “initial state” of “step” represents a state before the driver 2 and the driving device 10 are used for the first time. In the table shown below, the “storage device” of “driver” represents a memory (in this case, a volatile memory) in which magnetic pole information is stored in the memory of the processing unit 21 of the driver 2. “Storage device” of “device” represents the storage device 14. The above notation is the same in the second and third embodiments described later, except for “storage device” of “driver”.

(1.3.1) First Operation Example The first operation example is an operation of the drive system 100 when the driver 2 is replaced while the drive system 100 is in use. In this operation example, the driver 2 to be replaced may be either a new product or a used product.

As shown in Table 1, first, the drive device 10 and the driver 2 are powered on (S110). Then, since the magnetic pole information acquired from the drive device 10 is an initial value, the processing unit 21 of the driver 2 executes the first process. Thereby, the first magnetic pole information is obtained as the magnetic pole information, and the first magnetic pole information is stored in the memory of the driver 2. Further, the processing unit 21 of the driver 2 supplies the first magnetic pole information to the storage device 14 of the driving device 10, whereby the magnetic pole information of the driving device 10 is updated with the first magnetic pole information. That is, both the magnetic pole information of the driver 2 and the magnetic pole information of the driving device 10 are the first magnetic pole information. In Table 1, “A1” represents the first magnetic pole information. The same applies to the tables that appear below.

Next, the drive device 10 and the driver 2 are turned off, and the driver 2 is replaced (S111). Since the memory of the driver 2 is a volatile memory, the stored contents are reset every time the power is turned on. Therefore, the magnetic pole information of the driver 2 is an initial value. On the other hand, since the storage device 14 of the driving device 10 is a non-volatile memory, the stored content is retained even when the power is turned off. Therefore, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information.

Next, the drive device 10 and the driver 2 are turned on again (S112). Here, since the magnetic pole information acquired from the drive device 10 is not the initial value, the first process is not necessary. Then, the processing unit 21 of the driver 2 provides the magnetic pole information acquired from the driving device 10 to the memory of the driver 2, whereby the magnetic pole information of the driver 2 is updated with the first magnetic pole information.

Next, the drive device 10 and the driver 2 are turned off again (S113). In this case, the magnetic pole information of the driver 2 becomes the initial value by resetting the storage contents of the memory of the driver 2 as in S111. On the other hand, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information.

Thereafter, the drive device 10 and the driver 2 are turned on again (S114). In this case, similarly to S112, the magnetic pole information acquired from the driving device 10 is provided to the memory of the driver 2, whereby the magnetic pole information of the driver 2 is updated with the first magnetic pole information.

As described above, in the first operation example, after the processing unit 21 of the driver 2 executes the first process once, the power is turned off and turned on again without replacement, and the driver 2 is replaced. In any case where the power is turned on, the first process is unnecessary.

(1.3.2) Second Operation Example The second operation example is an operation of the drive system 100 when the drive device 10 is replaced with a new one while the drive system 100 is in use.

As shown in Table 2, first, the drive device 10 and the driver 2 are powered on (S120). Then, similarly to S110, both the magnetic pole information of the driver 2 and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2 are turned off, and the drive device 10 is replaced with a new one (S121). Since the memory of the driver 2 is a volatile memory, the stored contents are reset every time the power is turned on. Therefore, the magnetic pole information of the driver 2 is an initial value. Moreover, since the new drive device 10 that has been replaced has never been used since the manufacture, it is in an initial state. Therefore, the magnetic pole information of the driving device 10 is an initial value.

Next, the drive device 10 and the driver 2 are turned on again (S122). Here, since the magnetic pole information acquired from the drive device 10 is an initial value, the processing unit 21 of the driver 2 executes the first process. Here, since the drive device 10 has been replaced with a new one, magnetic pole information (second magnetic pole information) corresponding to the magnetic pole position of the drive device 10 after replacement is obtained by the first processing, and the second magnetic pole information is the driver 2 Stored in the memory. Further, when the processing unit 21 of the driver 2 supplies the second magnetic pole information to the storage device 14 of the driving device 10, the magnetic pole information of the driving device 10 is updated with the second magnetic pole information. That is, both the magnetic pole information of the driver 2 and the magnetic pole information of the driving device 10 are the second magnetic pole information. In Table 2, “A2” represents the second magnetic pole information. The same applies to the tables that appear below.

Next, the drive device 10 and the driver 2 are turned off again (S123). In this case, the magnetic pole information of the driver 2 becomes the initial value by resetting the storage contents of the memory of the driver 2 as in S113. On the other hand, the magnetic pole information of the driving device 10 is maintained as the second magnetic pole information.

Thereafter, the drive device 10 and the driver 2 are turned on again (S124). In this case, similarly to S <b> 114, the magnetic pole information acquired from the driving device 10 is provided to the memory of the driver 2, whereby the magnetic pole information of the driver 2 is updated with the second magnetic pole information.

As described above, in the second operation example, after the processing unit 21 of the driver 2 executes the first process once, when the power is turned off and turned on again without replacement, the first process is unnecessary. is there.

(1.3.3) Third Operation Example The third operation example is an operation of the drive system 100 when the drive device 10 is replaced with a used product while the drive system 100 is in use.

As shown in Table 3, first, the drive device 10 and the driver 2 are powered on (S130). Then, similarly to S110, both the magnetic pole information of the driver 2 and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2 are turned off, and the drive device 10 is replaced with a used product (S131). Since the memory of the driver 2 is a volatile memory, the stored contents are reset every time the power is turned on. Therefore, the magnetic pole information of the driver 2 is an initial value. In addition, the replaced used drive device 10 is not in the initial state but is already in use in another drive system. On the other hand, since the storage device 14 of the drive device 10 is a nonvolatile memory, it stores magnetic pole information of the used drive device 10 before replacement. Therefore, the magnetic pole information of the driving device 10 becomes third magnetic pole information which is magnetic pole information of the used driving device 10 before replacement. In Table 3, “A3” represents the third magnetic pole information. The same applies to the tables that appear below.

Next, the drive device 10 and the driver 2 are turned on again (S132). Here, since the magnetic pole information acquired from the driving device 10 is the third magnetic pole information and not the initial value, the first process is not necessary. Therefore, when the processing unit 21 of the driver 2 supplies the third magnetic pole information to the memory of the driver 2, the magnetic pole information of the driver 2 is updated with the third magnetic pole information.

Next, the drive device 10 and the driver 2 are turned off again (S133). In this case, the magnetic pole information of the driver 2 becomes the initial value by resetting the storage contents of the memory of the driver 2 as in S113. On the other hand, the magnetic pole information of the driving device 10 is maintained as the third magnetic pole information.

Thereafter, the drive device 10 and the driver 2 are turned on again (S134). In this case, similarly to S114, the magnetic pole information acquired from the driving device 10 is provided to the memory of the driver 2, so that the magnetic pole information of the driver 2 is updated with the third magnetic pole information.

As described above, in the third operation example, after the processing unit 21 of the driver 2 executes the first process once, when the power is turned off and turned on again without replacement, the driving device 10 is used. In any case where the power is turned on after replacement, the first process is unnecessary.

Hereinafter, advantages of the drive device 1 and the drive system 100 of the present embodiment will be described with comparison with the drive system of the comparative example. The drive system of the comparative example is different from the drive device 1 and the drive system 100 of the present embodiment in that the drive device does not include a storage device, that is, the drive device does not include a storage device. In the drive system of the comparative example, the magnetic pole information obtained by the first process is only stored in the driver memory. For this reason, in the drive system of the comparative example, when the driver is replaced, the magnetic pole information is lost, so the driver needs to execute the first process again.

On the other hand, in the drive device 1 and the drive system 100 of the present embodiment, the drive device 1 includes the storage device 14. In the present embodiment, the magnetic pole information obtained by the first process is stored not only in the memory of the driver 2 but also in the storage device 14 of the driving device 1. Therefore, in the present embodiment, when the driver 2 is replaced, the magnetic pole information stored in the memory of the driver 2 is lost, but the magnetic pole information stored in the storage device 14 of the driving device 1 is lost. Absent. Therefore, in the present embodiment, when the driver 2 is replaced, the magnetic pole information stored in the storage device 14 may be used, and the first process is unnecessary. In other words, this embodiment has an advantage that when the driver 2 is replaced, it is not necessary to execute the process of calculating the magnetic pole information (first process). For this reason, in this embodiment, when the driver 2 is replaced and the power is turned on, the time required for restart can be shortened compared to the case where the process of calculating the magnetic pole information is executed. There is.

(Embodiment 2)
(2.1) Configuration Hereinafter, the configuration of the drive device 1 and the drive system 100 according to the second embodiment will be described with reference to FIG. The present embodiment is different from the first embodiment in that a driver 2A including a storage device (nonvolatile memory) is used instead of the driver 2. That is, the driver 2A includes a storage unit that stores magnetic pole information. Hereinafter, the storage device 14 included in the drive device 10 is referred to as a “first storage device 141”, and the storage device included in the driver 2A is referred to as a “second storage device 142”.

In the present embodiment, the processing unit 21 of the driver 2A stores the magnetic pole information obtained by the first process or the magnetic pole information acquired from the driving device 10 in the second storage device 142. In the present embodiment, the processing unit 21 of the driver 2A uses the position information detected by the position detector 12 and the magnetic pole information stored in the first storage device 141 or the second storage device 142. The second process is executed.

(2.2) Operation Hereinafter, the operation of the drive system 100 of the present embodiment will be described with reference to FIG. First, the drive device 10 and the driver 2A are powered on (S20). Then, the processing unit 21 of the driver 2A acquires magnetic pole information from the storage devices (here, the first storage device 141 and the second storage device 142) of the driver 2A and the driving device 1 (S21). Next, the processing unit 21 of the driver 2A determines whether or not the magnetic pole information of the storage device of the driver 2A and the driving device 1 matches (S22).

When the magnetic pole information of the storage device of the driver 2A and the driving device 1 does not match (S22: No), the processing unit 21 of the driver 2A determines whether the magnetic pole information read from the first storage device 141 is an initial value. Is determined (S23). If the magnetic pole information is the initial value (S23: Yes), the processing unit 21 of the driver 2A obtains the magnetic pole information by executing the first process (S24). Then, the processing unit 21 of the driver 2A updates the magnetic pole information by storing the obtained magnetic pole information in the storage devices of the driver 2A and the driving device 1 (S25). Thereafter, the processing unit 21 of the driver 2A obtains phase information by executing the second process using the position information detected by the position detector 12 (S26). If the magnetic pole information is not the initial value (S23: No), the processing unit 21 of the driver 2A stores the magnetic pole information read from the first storage device 141 in the second storage device 142 without executing the first process. By giving, the magnetic pole information of the second storage device 142 is updated (S27). Thereafter, the processing unit 21 of the driver 2A executes the second process (S26).

On the other hand, when the magnetic pole information of the storage device of the driver 2A and the drive device 1 match (S22: Yes), the processing unit 21 of the driver 2A determines whether the magnetic pole information read from the first storage device 141 is the initial value. It is determined whether or not (S28). If the magnetic pole information is not the initial value (S28: Yes), the processing unit 21 of the driver 2A executes the second process (S26). If the magnetic pole information is the initial value (S28: No), the processing unit 21 of the driver 2A executes the first process to obtain the magnetic pole information (S24), and obtains the obtained magnetic pole information from the driver 2A and the driving device 1. The magnetic pole information is updated by being stored in each storage device (S25). Thereafter, the processing unit 21 of the driver 2A executes the second process (S26).

(2.3) Operation Example Hereinafter, a first operation example to a fourth operation example of the drive system 100 of the present embodiment will be described. In the table shown below, “storage device” of “driver” represents the second storage device 142 of driver 2A, and “storage device” of “drive device” is the drive device 10 (drive device 1). The first storage device 141 is shown. The above notation is the same in Embodiment 3 described later.

(2.3.1) First Operation Example The first operation example is an operation of the drive system 100 when the driver 2A is replaced with a new one while the drive system 100 is in use.

As shown in Table 4, first, the drive device 10 and the driver 2A are powered on (S210). Then, the magnetic pole information of the driver 2A matches the magnetic pole information of the driving device 10, but since the magnetic pole information of the driving device 10 is the initial value, the processing unit 21 of the driver 2A executes the first process. . Thereby, the first magnetic pole information is obtained as the magnetic pole information, and the first magnetic pole information is stored in the second storage device 142 of the driver 2A. Further, the processing unit 21 of the driver 2A provides the first magnetic pole information to the first storage device 141 of the driving device 10, whereby the magnetic pole information of the driving device 10 is updated with the first magnetic pole information. That is, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off, and the driver 2A is replaced with a new one (S211). The replaced second storage device 142 of the new driver 2A is in an initial state. Therefore, the magnetic pole information of the driver 2A is an initial value. On the other hand, since the first storage device 141 of the driving device 10 is a nonvolatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned on again (S212). Here, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 do not coincide with each other, but the magnetic pole information of the driving device 10 is not an initial value, so the first process is not necessary. Therefore, the magnetic pole information of the driver 2A is updated with the first magnetic pole information when the magnetic pole information of the driving device 10 is given to the second storage device 142 of the driver 2A. Thereby, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off again (S213). In this case, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information. Further, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information as in S211.

Thereafter, the drive device 10 and the driver 2A are turned on again (S214). Here, since the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 coincide with each other and these magnetic pole information is not an initial value, the first process is not necessary. Therefore, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are maintained as the first magnetic pole information.

As described above, in the first operation example, after the processing unit 21 of the driver 2A executes the first process once, when the power is turned off and turned on again without replacement, the driver 2A is replaced with a new one. In any case where the power is turned on, the first process is unnecessary.

(2.3.2) Second Operation Example The second operation example is an operation of the drive system 100 when the driver 2A is replaced with a used product while the drive system 100 is being used.

As shown in Table 5, first, the drive device 10 and the driver 2A are powered on (S220). Then, similarly to S210, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off, and the driver 2A is replaced with a used product (S221). The replaced second storage device 142 of the used driver 2A is not in the initial state but is already in use in another drive system. Therefore, the magnetic pole information of the driver 2A becomes the fourth magnetic pole information which is the magnetic pole information of the used driver 2A before replacement. In Table 5, “A4” represents the fourth magnetic pole information. The same applies to the tables that appear below. On the other hand, since the first storage device 141 of the driving device 10 is a nonvolatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned on again (S222). Here, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 do not coincide with each other, but the magnetic pole information of the driving device 10 is not an initial value, so the first process is not necessary. Therefore, the magnetic pole information of the driver 2A is updated with the first magnetic pole information when the magnetic pole information of the driving device 10 is given to the second storage device 142 of the driver 2A. Thereby, both the magnetic pole information of the driving device 10 and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off again (S223). In this case, as in S213, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are maintained as the first magnetic pole information.

Thereafter, the drive device 10 and the driver 2A are turned on again (S224). In this case, as in S214, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are maintained as the first magnetic pole information.

As described above, in the second operation example, after the processing unit 21 of the driver 2A executes the first process once, when the power is turned off and turned on again without replacement, and the driver 2A is used. In any case where the power is turned on after replacement, the first process is unnecessary.

(2.3.3) Third Operation Example The third operation example is an operation of the drive system 100 when the drive device 10 is replaced with a new one while the drive system 100 is in use.

As shown in Table 6, first, the drive device 10 and the driver 2A are powered on (S230). Then, similarly to S210, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off and the drive device 10 is replaced with a new one (S231). The replaced first storage device 141 of the new drive device 10 is in an initial state. Therefore, the magnetic pole information of the driving device 10 is an initial value. On the other hand, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned on again (S232). Here, since the magnetic pole information of the driver 2A and the magnetic pole information of the drive device 10 do not match and the magnetic pole information of the drive device 10 is the initial value, the first process is executed. Here, since the drive device 10 has been replaced with a new one, magnetic pole information (second magnetic pole information) corresponding to the magnetic pole position of the drive device 10 after replacement is obtained by the first processing, and the second magnetic pole information is the driver 2A. Is stored in the second storage device 142. Further, the processing unit 21 of the driver 2A provides the second magnetic pole information to the first storage device 141 of the driving device 10, whereby the magnetic pole information of the driving device 10 is updated with the second magnetic pole information. That is, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the second magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off again (S233). In this case, similarly to S213, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both maintained as the second magnetic pole information.

Thereafter, the drive device 10 and the driver 2A are turned on again (S234). In this case, as in S214, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving apparatus 10 are maintained as the second magnetic pole information.

As described above, in the third operation example, after the processing unit 21 of the driver 2A executes the first process once, if the power is turned off and turned on again without replacement, the first process is unnecessary. is there.

(2.3.4) Fourth Operation Example The fourth operation example is an operation of the drive system 100 when the drive device 10 is replaced with a used product while the drive system 100 is in use.

As shown in Table 7, first, the drive device 10 and the driver 2A are powered on (S240). Then, similarly to S210, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 become the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off, and the drive device 10 is replaced with a used product (S241). The first storage device 141 of the used drive device 10 that has been replaced is not in the initial state but is already in use in another drive system. Therefore, the magnetic pole information of the driving device 10 becomes third magnetic pole information which is magnetic pole information of the used driving device 10 before replacement. On the other hand, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information.

Next, the drive device 10 and the driver 2A are turned on again (S242). Here, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 do not coincide with each other, but the magnetic pole information of the driving device 10 is not an initial value, so the first process is not necessary. For this reason, the magnetic pole information of the driver 2A is updated with the third magnetic pole information by supplying the magnetic pole information of the driving device 10 to the second storage device 142 of the driver 2A. Thereby, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 become the third magnetic pole information.

Next, the drive device 10 and the driver 2A are turned off again (S243). In this case, similarly to S213, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both maintained as the third magnetic pole information.

Thereafter, the drive device 10 and the driver 2A are turned on again (S244). In this case, as in S214, both the magnetic pole information of the driver 2A and the magnetic pole information of the drive device 10 are maintained as the third magnetic pole information.

As described above, in the fourth operation example, after the processing unit 21 of the driver 2A executes the first process once, when the power is turned off and turned on again without replacement, the drive device 10 is used. In any case where the power is turned on after replacement, the first process is unnecessary.

As described above, in the driving device 1 and the driving system 100 according to the present embodiment, as in the first embodiment, when the driver 2A is replaced, the processing for calculating the magnetic pole information (first processing) is not performed. There is an advantage that it can be done. In the present embodiment, the magnetic pole information is stored in both the first storage device 141 of the drive device 10 and the second storage device 142 of the driver 2A, and the driver 2A compares the magnetic pole information. Execute the process. For this reason, in this embodiment, there exists an advantage that it can detect that either the drive device 10 or the driver 2A was replaced | exchanged.

(Embodiment 3)
(3.1) Configuration Hereinafter, the configuration of the drive device 1 and the drive system 100 according to the third embodiment will be described. The present embodiment is different from the second embodiment in that each of the first storage device 141 and the second storage device 142 stores motor information in addition to the magnetic pole information. The “motor information” in the present disclosure is information unique to the synchronous motor 11. The motor information may include information such as the motor part number, the motor manufacturing date, and motor rating information (rated current, rated torque, upper limit speed), for example. The motor information is written in the first storage device 141 in the manufacturing process of the synchronous motor 11, for example.

(3.2) Operation Hereinafter, the operation of the drive system 100 of the present embodiment will be described with reference to FIG. First, the drive device 10 and the driver 2A are powered on (S30). Then, the processing unit 21 of the driver 2A acquires motor information from the storage devices (here, the first storage device 141 and the second storage device 142) of the driver 2A and the driving device 1 (S31). Further, the processing unit 21 of the driver 2A acquires magnetic pole information from the first storage device 141 (S32). Next, the processing unit 21 of the driver 2A determines whether or not the motor information of the storage device of the driver 2A and the driving device 1 matches (S33).

When the motor information of the storage device of the driver 2A and the drive device 1 does not match (S33: No), the processing unit 21 of the driver 2A determines whether the magnetic pole information read from the first storage device 141 is an initial value. Is determined (S34). If the magnetic pole information is the initial value (S34: Yes), the processing unit 21 of the driver 2A obtains the magnetic pole information by executing the first process (S35). Then, the processing unit 21 of the driver 2A stores the obtained magnetic pole information in the storage device of the driver 2A and the driving device 1, and the motor information read from the first storage device 141 in the second storage device 142. As a result, the magnetic pole information and the motor information are updated (S36). Thereafter, the processing unit 21 of the driver 2A obtains phase information by executing the second process using the position information detected by the position detector 12 (S37). If the magnetic pole information is not the initial value (S34: No), the processing unit 21 of the driver 2A stores the motor information and the magnetic pole information read from the first storage device 141 in the second storage without executing the first process. To device 142. Thereby, the motor information and magnetic pole information of the second storage device 142 are updated (S38). Thereafter, the processing unit 21 of the driver 2A executes the second process (S37).

On the other hand, when the motor information of the storage device of the driver 2A and the drive device 1 matches (S33: Yes), the processing unit 21 of the driver 2A determines that the magnetic pole information read from the first storage device 141 is not the initial value. It is determined whether or not (S39). If the magnetic pole information is not the initial value (S39: Yes), the processing unit 21 of the driver 2A executes the second process (S37). If the magnetic pole information is the initial value (S39: No), the processing unit 21 of the driver 2A executes the first process to obtain the magnetic pole information (S35), and updates the motor information and the magnetic pole information (S36). Thereafter, the processing unit 21 of the driver 2A executes the second process (S37).

(3.3) Operation Example Hereinafter, a first operation example to a fourth operation example of the drive system 100 of the present embodiment will be described. In the table shown below, “B0” represents the initial value of the motor information. Moreover, in the table | surface shown below, "B1" represents 1st motor information.

(3.3.1) First Operation Example The first operation example is an operation of the drive system 100 when the driver 2A is replaced with a new one while the drive system 100 is in use.

As shown in Table 8, first, the drive device 10 and the driver 2A are powered on (S310). Then, since the motor information of the driver 2A and the motor information of the drive device 10 do not match and the magnetic pole information of the drive device 10 is the initial value, the first process is executed. Thereby, the first magnetic pole information is obtained as the magnetic pole information, and the first magnetic pole information is stored in the second storage device 142. Further, the processing unit 21 of the driver 2A provides the first magnetic pole information to the first storage device 141 of the driving device 10, whereby the magnetic pole information of the driving device 10 is updated with the first magnetic pole information. The processing unit 21 of the driver 2A provides the first motor information to the second storage device 142, so that the motor information of the driver 2A is updated with the first motor information. That is, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the first motor information.

Next, the drive device 10 and the driver 2A are turned off, and the driver 2A is replaced with a new one (S311). The replaced second storage device 142 of the new driver 2A is in an initial state. Therefore, both the magnetic pole information and the motor information of the driver 2A are the initial values. On the other hand, since the first storage device 141 of the driving device 10 is a nonvolatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information, and the motor information of the driving device 10 is maintained as the first motor information.

Next, the drive device 10 and the driver 2A are turned on again (S312). Here, the motor information of the driver 2A and the motor information of the drive device 10 do not match, but the magnetic pole information of the drive device 10 is not an initial value, so the first process is unnecessary. For this reason, the magnetic pole information and motor information of the driving device 10 are provided to the second storage device 142 of the driver 2A, so that the magnetic pole information and motor information of the driver 2A are updated with the first magnetic pole information and the first motor information, respectively. The Thus, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the first motor information.

Next, the drive device 10 and the driver 2A are turned off again (S313). In this case, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information, and the motor information of the driver 2A is maintained as the first motor information. Further, the magnetic pole information and the motor information of the driving device 10 are maintained as the first magnetic pole information and the first motor information, respectively, similarly to S311.

Thereafter, the drive device 10 and the driver 2A are turned on again (S314). Here, since the motor information of the driver 2A matches the motor information of the driving device 10, and the magnetic pole information of the driving device 10 is not an initial value, the first process is unnecessary. Therefore, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are maintained as the first magnetic pole information. The motor information of the driver 2A and the motor information of the driving device 10 are both maintained as the first motor information.

(3.3.2) Second Operation Example The second operation example is an operation of the drive system 100 when the driver 2A is replaced with a used product while the drive system 100 is in use.

As shown in Table 9, first, the drive device 10 and the driver 2A are powered on (S320). Then, similarly to S310, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and both the motor information of the driver 2A and the motor information of the driving device 10 are the first motor information. Become.

Next, the drive device 10 and the driver 2A are turned off, and the driver 2A is replaced with a used product (S321). The replaced second storage device 142 of the used driver 2A is not in the initial state but is already in use in another drive system. Therefore, the magnetic pole information of the driver 2A becomes the fourth magnetic pole information which is the magnetic pole information of the used driver 2A before replacement. The motor information of the driver 2A is second motor information that is motor information of the used driver 2A before replacement. In Table 9, “B2” represents the second motor information. On the other hand, since the first storage device 141 of the driving device 10 is a nonvolatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driving device 10 is maintained as the first magnetic pole information, and the motor information of the driving device 10 is maintained as the first motor information.

Next, the drive device 10 and the driver 2A are turned on again (S322). Here, the motor information of the driver 2A and the motor information of the drive device 10 do not match, but the magnetic pole information of the drive device 10 is not an initial value, so the first process is unnecessary. For this reason, the magnetic pole information and motor information of the driving device 10 are provided to the second storage device 142 of the driver 2A, so that the magnetic pole information and motor information of the driver 2A are updated with the first magnetic pole information and the first motor information, respectively. The Thus, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the first motor information.

Next, the drive device 10 and the driver 2A are turned off again (S323). In this case, similarly to S313, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the first magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the first motor. Information is maintained.

Thereafter, the drive device 10 and the driver 2A are turned on again (S324). In this case, similarly to S314, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the first magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the first motor. Information is maintained.

(3.3.3) Third Operation Example The third operation example is an operation of the drive system 100 when the drive device 10 is replaced with a new one while the drive system 100 is in use.

As shown in Table 10, first, the drive device 10 and the driver 2A are powered on (S330). Then, similarly to S310, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and both the motor information of the driver 2A and the motor information of the driving device 10 are the first motor information. Become.

Next, the drive device 10 and the driver 2A are turned off, and the drive device 10 is replaced with a new one (S331). The replaced first storage device 141 of the new drive device 10 is in an initial state. Therefore, the magnetic pole information of the driving device 10 is the initial value, and the motor information of the driving device 10 is the third motor information different from the first motor information. In Table 10, “B3” represents the third motor information. On the other hand, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information, and the motor information of the driver 2A is maintained as the first motor information.

Next, the drive device 10 and the driver 2A are turned on again (S332). Here, since the motor information of the driver 2A and the motor information of the drive device 10 do not match and the magnetic pole information of the drive device 10 is an initial value, the first process is executed. Here, since the drive device 10 has been replaced, magnetic pole information (second magnetic pole information) corresponding to the magnetic pole position of the replaced drive device 10 is obtained by the first process, and the second magnetic pole information is stored in the first storage device. 141. Further, the magnetic pole information and motor information of the driving device 10 are given to the second storage device 142 of the driver 2A, so that the magnetic pole information and motor information of the driver 2A are updated with the second magnetic pole information and the third motor information, respectively. . That is, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the second magnetic pole information, and both the motor information of the driver 2A and the motor information of the driving device 10 are the third motor information.

Next, the drive device 10 and the driver 2A are turned off again (S333). In this case, similarly to S313, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the second magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the third motor. Information is maintained.

Thereafter, the drive device 10 and the driver 2A are turned on again (S334). In this case, similarly to S314, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the second magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the third motor. Information is maintained.

(3.3.4) Fourth Operation Example The fourth operation example is an operation of the drive system 100 when the drive device 10 is replaced with a used product while the drive system 100 is in use.

As shown in Table 11, first, the drive device 10 and the driver 2A are powered on (S340). Then, similarly to S310, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the first magnetic pole information, and both the motor information of the driver 2A and the motor information of the driving device 10 are the first motor information. Become.

Next, the drive device 10 and the driver 2A are turned off, and the drive device 10 is replaced with a used product (S341). The first storage device 141 of the used drive device 10 that has been replaced is not in the initial state but is already in use in another drive system. Therefore, the magnetic pole information of the driving device 10 becomes third magnetic pole information which is magnetic pole information of the used driving device 10 before replacement. The motor information of the driving device 10 is fourth motor information that is motor information of the used driving device 10 before replacement. In Table 11, “B4” represents the fourth motor information. On the other hand, since the second storage device 142 of the driver 2A is a non-volatile memory, the stored content is maintained even when the power is turned off. Therefore, the magnetic pole information of the driver 2A is maintained as the first magnetic pole information, and the motor information of the driver 2A is maintained as the first motor information.

Next, the drive device 10 and the driver 2A are turned on again (S342). Here, the motor information of the driver 2A and the motor information of the drive device 10 do not match, but the magnetic pole information of the drive device 10 is not an initial value, so the first process is unnecessary. For this reason, the magnetic pole information and motor information of the driving device 10 are provided to the second storage device 142 of the driver 2A, so that the magnetic pole information and motor information of the driver 2A are updated with the third magnetic pole information and the fourth motor information, respectively. The Thus, both the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are the third magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the fourth motor information.

Next, the drive device 10 and the driver 2A are turned off again (S343). In this case, similarly to S313, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the third magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the fourth motor. Information is maintained.

Thereafter, the drive device 10 and the driver 2A are turned on again (S344). In this case, similarly to S314, the magnetic pole information of the driver 2A and the magnetic pole information of the driving device 10 are both the third magnetic pole information, and the motor information of the driver 2A and the motor information of the driving device 10 are both the fourth motor. Information is maintained.

As described above, in the driving device 1 and the driving system 100 according to the present embodiment, as in the first embodiment, when the driver 2A is replaced, the processing for calculating the magnetic pole information (first processing) is not performed. There is an advantage that it can be done. In the present embodiment, motor information is stored in both the first storage device 141 of the driving device 10 and the second storage device 142 of the driver 2A, and the driver 2A compares the motor information. Execute the process. For this reason, in this embodiment, there exists an advantage that it can detect that either the drive device 10 or the driver 2A was replaced | exchanged, without using magnetic pole information.

(Modification)
The above-described first to third embodiments are only one of various embodiments of the present disclosure. The above-described first to third embodiments can be variously modified according to the design or the like as long as the object of the present disclosure can be achieved. Hereinafter, modifications of the first to third embodiments will be listed. The following various modifications can be applied in appropriate combination.

In the above-described first to third embodiments, the storage device 14 (first storage device 141) is a nonvolatile memory, but may be a volatile memory. In this case, if the power supply for the storage device 14 and the power supply for the drive device 10 and the driver 2 (2A) are different from each other, even if the power supply for the drive device 10 and the driver 2 (2A) is turned off, the storage device The 14 magnetic pole information is held without being reset.

In the above-described first to third embodiments, the synchronous motor 11 is used when moving the head of a semiconductor manufacturing apparatus for mounting electronic components. However, the present invention is not limited to this application, and may be used for other applications. Good. In the first to third embodiments, the synchronous motor 11 is a linear synchronous motor. However, the present invention is not limited to this. For example, the synchronous motor 11 may be a rotary synchronous motor.

In the above-described first to third embodiments, the position detector 12 may be integrated with the synchronous motor 11 or may be detachable from the synchronous motor 11.

In the first to third embodiments described above, the driving device 1 is the driving device 10, but the present invention is not limited to this. For example, the driving device 1 may be the synchronous motor 11 including the storage device 14. In other words, the functional unit may be the synchronous motor 11. Further, for example, the driving device 1 may be the position detector 12 including the storage device 14. In other words, the functional unit may be the position detector 12.

In the first to third embodiments described above, the processing unit 21 of the driver 2 (2A), when the power of the driving device 10 and the driver 2 (2A) is turned on, performs the first process (magnetic pole information of the storage device 14). The second process is executed without executing the first process if is not the initial value, but the present invention is not limited to this. For example, the processing unit 21 of the driver 2 (2A) starts the second process when a predetermined operation input is performed by the user after the drive device 10 and the driver 2 (2A) are powered on. It may be configured.

In the second and third embodiments described above, the processing unit 21 of the driver 2A executes a comparison process that compares the magnetic pole information (motor information) of the driver 2A with the magnetic pole information (motor information) of the driving device 10. It is not intended to limit this. For example, the processing unit 21 of the driver 2A may determine whether or not the magnetic pole information of the driving device 10 is an initial value without executing the comparison process. Even in this case, if the magnetic pole information of the driving device 10 is the initial value, the processing unit 21 of the driver 2A executes the first process to obtain the magnetic pole information, and the obtained magnetic pole information is stored in the first storage device 141 and the second storage device. It can be stored in the device 142. In addition, if the magnetic pole information of the driving device 10 is not the initial value, the processing unit 21 of the driver 2A can update the magnetic pole information of the driver 2A by giving the magnetic pole information of the driving device 10 to the second storage device 142. Is possible.

In the above-described second embodiment, the second storage device 142 is provided in the driver 2A. However, the second storage device 142 may be provided outside the driver 2A and connected to the processing unit 21. In this aspect, the driver 2 of the first embodiment may be provided with an input / output port through which data can be input / output to / from the processing unit 21. Then, the input / output port and the second storage device 142 may be connected by, for example, a cable. Furthermore, what is necessary is just to change the program of the process part 21 of the driver 2 of Embodiment 1 into the program for performing the process (refer FIG. 4) of Embodiment 2. FIG. With this configuration, the driver 2 of the first embodiment can be used to perform the same operation as the driver 2A of the second embodiment.

In the above-described first to third embodiments, the driver 2 (2A) controls one drive device 10, but the present invention is not limited to this. For example, the driver 2 (2A) may be configured to control a plurality of driving devices 10.

Incidentally, the magnetic pole information is not limited to the storage device 14 of the driving device 1 but may be stored in an external database. As an example, the external database includes a database provided by cloud computing.

Hereinafter, the driving device 1 and the driving system 100 according to the modification will be described with reference to FIG. In the drive system 100 of the modified example, the driver 2B including the communication unit 23 is used instead of the driver 2, and the storage device 14 stores the motor information and does not store the magnetic pole information. This is different from the drive system 100 of the first embodiment.

The communication unit 23 is a communication interface for performing communication with the external system 3, and includes a wireless communication module. The communication unit 23 communicates with the external system 3 through a network N1 such as the Internet by optical wireless communication using light such as infrared rays or visible light as a medium or wireless communication using radio waves as a medium by a wireless communication module. To do. The communication unit 23 may be connected to the network N1 via a communication device such as a router. Note that the communication unit 23 may perform wired communication with the external system 3 using a wired communication module.

The external system 3 is a database provided by cloud computing and has a storage device 31. The storage device 31 stores the motor information of the driving device 1 and the magnetic pole information associated with the motor information of the driving device 1. Here, there are a case where only one drive system 100 may exist and a case where a plurality of drive systems 100 may exist. In the latter case, the plurality of drive systems 100 can be scattered in various places. For this reason, the storage device 31 stores a combination of motor information and magnetic pole information for each identifier of the driver 2B (that is, for each drive system 100).

Hereinafter, the operation of the drive system 100 of the present modification will be described with reference to FIG. First, the drive device 10 and the driver 2B are powered on (S40). Then, the processing unit 21 of the driver 2B acquires motor information from the storage device 14 of the driving device 1 (S41). Then, the processing unit 21 of the driver 2B transmits the acquired motor information to the external system 3 via the communication unit 23 (S42).

The external system 3 searches for whether or not the motor information acquired from the driver 2B is stored in the storage device 31 (S43). If the motor information acquired from the driver 2B is stored in the storage device 31 (S43: Yes) The external system 3 transmits the magnetic pole information associated with the motor information to the driver 2B. Accordingly, the processing unit 21 of the driver 2B acquires magnetic pole information from the external system 3 via the communication unit 23 (S44). And the process part 21 of the driver 2B calculates | requires phase information by performing a 2nd process using the positional information detected by the position detector 12 (S45).

On the other hand, when the motor information acquired from the driver 2B is not stored in the storage device 31 (S43: No), the external system 3 transmits information to the driver 2B that there is no magnetic pole information associated with the motor information. To do. The processing unit 21 of the driver 2B that has acquired this information obtains magnetic pole information by executing the first process (S46). Then, the processing unit 21 of the driver 2B transmits the obtained magnetic pole information to the external system 3 via the communication unit 23 (S47). The external system 3 stores the magnetic pole information obtained by the driver 2B in association with the motor information acquired from the driver 2B. Thereafter, the processing unit 21 of the driver 2B executes the second process (S45).

As described above, in the driving device 1 and the driving system 100 according to the present modification, as in the first embodiment, when the driver 2B is replaced, the process of calculating the magnetic pole information (first process) is not performed. There is an advantage that it can be done.

(Summary)
As described above, the drive device (1) according to the first aspect includes the functional unit and the storage device (14). The functional unit is at least one of a synchronous motor (11) controlled by a current supplied from the driver (2, 2A) and a position detector (12) that detects position information of magnetic poles in the synchronous motor (11). including. The storage device (14) is provided in the functional unit, and stores magnetic pole information representing a correspondence relationship between the phase information of the current and the position information.

According to this aspect, there is an advantage that when the driver (2, 2A) is replaced, it is not necessary to execute the process of calculating the magnetic pole information (first process).

In the drive device (1) according to the second aspect, in the first aspect, the functional unit is a drive device (10) including a synchronous motor (11) and a position detector (12).

In the driving device (1) according to the third aspect, in the first aspect, the functional unit is a synchronous motor (11).

According to this aspect, there is an advantage that when the driver (2, 2A) or the position detector (12) is replaced, it is not necessary to execute the process (first process) for calculating the magnetic pole information.

In the driving device (1) according to the fourth aspect, in the first aspect, the functional unit is the position detector (12).

According to this aspect, there is an advantage that when the driver (2, 2A) or the synchronous motor (11) is replaced, it is not necessary to execute the process of calculating the magnetic pole information (first process).

In the driving device (1) according to the fifth aspect, in any one of the first to fourth aspects, the storage device (14) is a nonvolatile memory.

According to this aspect, there is an advantage that even when the power supply for the storage device (14) is turned off, the magnetic pole information is held without being reset.

In the driving device (1) according to the sixth aspect, in any of the first to fifth aspects, the storage device (14) further includes information (motor information) unique to the synchronous motor (11). It is remembered.

According to this aspect, when the driver (2, 2A) is replaced, information specific to the synchronous motor (11) stored in the storage device (14) is received by the replaced driver (2, 2A). be able to. As a result, according to this aspect, there is an advantage that an operation for setting information unique to the synchronous motor (11) is not required.

The drive system (100) according to the seventh aspect includes the drive device (1) according to any one of the first to sixth aspects and the driver (2, 2A). The driver (2, 2A) controls the synchronous motor (11) using the magnetic pole information.

In the drive system (100) according to the eighth aspect, in the seventh aspect, the driver (2A) includes a storage unit (second storage device) (142) that stores magnetic pole information.

According to this aspect, there is an advantage that the magnetic pole information stored in the storage device (14) can be backed up by the driver (2A). Therefore, according to this aspect, for example, even when the storage device (14) (first storage device (141)) of the drive device (1) fails, the magnetic pole information stored in the driver (2A) is used instead. There is an advantage that it can be used.

In the drive system (100) according to the ninth aspect, in the eighth aspect, the driver (2A) includes the magnetic pole information stored in the storage unit (142) and the magnetic pole stored in the storage device (14). A comparison process for comparing information is executed.

According to this aspect, there is an advantage that it is possible to detect that either the drive device (10) or the driver (2A) has been replaced.

The configurations according to the second to sixth aspects are not essential to the drive device (1) and can be omitted as appropriate. Further, the configuration according to the eighth or ninth aspect is not an essential configuration for the drive system (100), and can be omitted as appropriate.

Moreover, the drive system (100) according to the tenth aspect includes a drive device (1) and a driver (2B). The drive device (1) includes a functional unit and a storage device (14). The functional unit includes at least one of a synchronous motor (11) controlled by a current supplied from the driver (2B) and a position detector (12) for detecting magnetic pole position information in the synchronous motor (11). . The storage device (14) is provided in the functional unit and stores information (motor information) unique to the synchronous motor (11). The driver (2B) controls the synchronous motor (11) using the magnetic pole information. The driver (2B) includes a communication unit (23) that communicates with the external system (3). The external system (3) includes a storage device (31) that stores, for each driver (2B), a combination of motor information and magnetic pole information associated with the motor information. The driver (2B) acquires magnetic pole information associated with the motor information acquired from the drive device (1) by communicating with the external system (3) via the communication unit (23).

According to this aspect, there is an advantage that when the driver (2B) is replaced, it is not necessary to execute the process of calculating the magnetic pole information (first process).

DESCRIPTION OF SYMBOLS 100 Drive system 1 Drive apparatus 10 Drive apparatus 11 Synchronous motor 12 Position detector 14 Memory | storage device 141 1st memory | storage device (memory | storage device)
142 Second storage device (storage unit)
2,2A driver

Claims

A functional unit including at least one of a synchronous motor controlled by a current supplied from a driver and position information of a magnetic pole in the synchronous motor;
A storage device that is provided in the functional unit and stores magnetic pole information representing a correspondence relationship between the phase information of the current and the position information;
Driving equipment.
The functional unit is a drive device including the synchronous motor and the position detector.
The driving device according to claim 1.
The functional unit is the synchronous motor.
The driving device according to claim 1.
The functional unit is the position detector.
The driving device according to claim 1.
The storage device is a nonvolatile memory.
The driving device according to any one of claims 1 to 4.
The storage device further stores information unique to the synchronous motor.
The driving device according to any one of claims 1 to 5.
A driving device according to any one of claims 1 to 6,
The driver,
The driver controls the synchronous motor using the magnetic pole information.
Driving system.
The driver includes a storage unit that stores the magnetic pole information.
The drive system according to claim 7.
The driver executes a comparison process that compares the magnetic pole information stored in the storage unit with the magnetic pole information stored in the storage device.
The drive system according to claim 8.