WO2022190547A1 - Dispositif de traitement et procédé d'amélioration de la fonction de sécurité d'un système d'asservissement - Google Patents

Dispositif de traitement et procédé d'amélioration de la fonction de sécurité d'un système d'asservissement Download PDF

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Publication number
WO2022190547A1
WO2022190547A1 PCT/JP2021/047129 JP2021047129W WO2022190547A1 WO 2022190547 A1 WO2022190547 A1 WO 2022190547A1 JP 2021047129 W JP2021047129 W JP 2021047129W WO 2022190547 A1 WO2022190547 A1 WO 2022190547A1
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Prior art keywords
servo
servo system
safety
servo driver
motor
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PCT/JP2021/047129
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English (en)
Japanese (ja)
Inventor
雅一 松上
隆一 神保
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オムロン株式会社
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Publication of WO2022190547A1 publication Critical patent/WO2022190547A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load

Definitions

  • the present invention relates to a method for improving the safety function of processing equipment and servo systems.
  • a servo system consists of a servo motor that drives various mechanical devices, an encoder attached to the servo motor, a servo driver that controls the operation of the servo motor, and a position command or the like that is output to the servo driver.
  • the servo driver controls the drive current to the servo motor so that the position (angle) information from the encoder matches the position command information given from the host controller.
  • the servo system is also being required to comply with the appropriate safety standards.
  • Patent Literature 1 discloses a technique for achieving safety without replacing the entire existing servo system with a system having a safety function.
  • the output of the encoder is branched and given to the safety control device.
  • the safety control device monitors whether there is an abnormality in the servomotor based on the output of the branched encoder, and if there is an abnormality, the safety control device is provided in the drive power supply line between the servo driver and the servomotor. A command is issued to the opening/closing means to cut off the supply of drive power.
  • JP 2010-152595 A Japanese Patent Publication No. 2002/097543
  • the safety of the system can be ensured to some extent without replacing the entire existing servo system with a system having a safety function.
  • a servo driver configured to realize the safety function is replaced with an existing servo motor having an encoder corresponding to the servo driver having the safety function. It has to be replaced, which can be expensive.
  • the present invention has been made in view of such problems, and provides a technique that makes it possible to add a safety function to the servo system as a whole while making use of the basic configuration of an existing servo system. With the goal.
  • a processing device is a servo system that includes a servo driver configured to drive and control a motor in accordance with a command from a host device and to cut off the drive current, and the motor.
  • a processing device configured to be additionally incorporated together with a safety encoder having a plurality of detection units for detecting displacement of a driven object to be driven, the processing device being communicatively connected to the safety encoder, from which the plurality of a receiving unit for receiving a detection signal from a detecting unit; determining an abnormality of the motor based on the detection signal received by the receiving unit; an output unit for outputting an emergency stop command for interrupting the supply of drive current; and, when incorporated in the servo system, the receiving unit for determining whether or not the detection signal from the safety encoder can be received, and a processing unit that specifies the servo driver to which the emergency stop command is output by the output unit.
  • the processing device of the present application is a device that is additionally incorporated with a safety encoder into an existing servo system that includes a servo driver and a motor.
  • a safety encoder In existing servo systems, neither the servo driver nor the encoder mounted on the motor have a safety function.
  • the safety encoder is configured to have a plurality of detection units, and by incorporating the safety encoder into the servo system, the displacement of the driven object driven by the motor can be detected by the plurality of detection units. become. Therefore, the processing device and safety encoder of the present application add a safety function to the servo system while maintaining the configuration of the servo driver and motor that are not compatible with the safety function.
  • the processing device has a receiver that receives the detection signal from the safety encoder and an output that outputs an emergency stop command to the servo driver. Therefore, when the processing device is additionally incorporated into the servo system, the processing device receives the detection signal of the safety encoder by the receiving unit, and through the abnormality determination processing using the detection signal, the motor and the driven object are driven and controlled. monitor for any abnormalities. Then, when some abnormality is found, the output unit outputs an emergency stop command to the servo driver, thereby quickly stopping the driving of the motor, thereby ensuring safety.
  • the processing unit determines whether or not the detection signal from the safety encoder can be received and outputs an emergency stop command. Processing related to specifying the servo driver, which is the first step, is performed. Through the processing of the processing unit, a safety encoder that is additionally incorporated in the servo system and a servo driver that supplies a drive current to be interrupted by the safety function can be associated.
  • the safety function of the processing unit associates the safety encoder and the servo driver, and the system as a whole has a safety function. is given. Therefore, the cost required for improving the safety function of the servo system can be suppressed, and since the existing configuration is maintained, the know-how embodied therein can be inherited.
  • the host device and the servo driver may be connected by a field bus, in which case the processing device may be connected to the servo system as a new node in the field bus. may be incorporated into It should be noted that a plurality of servo drivers may be connected to the fieldbus to drive respective motors. In this case, when the processing device is incorporated into the servo system, the processing unit identifies the servo driver to which the emergency stop command is output from among the plurality of servo drivers.
  • the host device and the servo driver may be connected by a field bus, and the processing device is another node in the field bus, and a predetermined It is incorporated in the servo system by being directly communicatively connected to a safety control device that outputs another emergency stop command for interrupting the supply of drive current to the motor to the servo driver by abnormality determination processing.
  • the servo driver which is the output destination of another emergency stop command output by the safety control device already incorporated in the servo system, is specified by the processing unit as the output destination of the emergency stop command.
  • the processing device includes a trigger signal for controlling the output of the emergency stop command by the output unit via a first path electrically connected to the processing device inside the safety control device.
  • Either means for receiving the trigger signal or means for directly receiving the trigger signal from the outside of the processing device without going through the first path may be selectable.
  • the trigger signal is a signal that controls the execution of the safety function by the processing device, that is, the output of an emergency stop command based on the monitoring result.
  • the output unit includes means for transmitting the emergency stop command to the servo driver via the field bus, and means for transmitting the emergency stop command to the servo driver via the field bus, and connecting the processing apparatus and the servo driver without the field bus.
  • Any means for transmitting the emergency stop command to the servo driver via a directly connected communication cable may be selectable.
  • wiring work can be omitted, reducing the user's wiring load. takes longer.
  • the time to reach the servo driver can be shortened, but the user must perform wiring work. Therefore, by adopting a configuration in which the transmission means for the emergency stop command can be selected as described above, it is possible to configure a servo system that satisfies the user's request.
  • the host device and the servo driver may be connected by a field bus. may be incorporated into the servo system by being communicatively connected directly to the
  • the servo driver connected for direct communication is specified by the processing unit as the output destination of the emergency stop command.
  • the output unit includes means for transmitting the emergency stop command to the servo driver via an internal communication path electrically connected to the processing device inside the servo driver; and the servo driver via a communication cable that directly connects the emergency stop command to the servo driver.
  • the host device and the servo driver are connected by a field bus, and furthermore, the field bus provides an error to the servo driver by a predetermined abnormality determination process.
  • a safety control device may be connected that outputs another emergency stop command for interrupting the supply of drive current to the motor.
  • the processing device includes means for receiving a trigger signal for controlling the output of the emergency stop command from the output unit from the safety control device via the fieldbus, and Any one of means for directly receiving the trigger signal from the outside may be selectable.
  • the present invention can also be understood from the aspect of a method for improving the safety function of a servo system including a servo driver that drives and controls a motor according to a command from a host device and the motor.
  • the method includes a first step of incorporating a safety encoder having a plurality of detection units for detecting displacement of a driven object driven by the motor into the servo system; a receiving unit for receiving detection signals from the plurality of detecting units; determining abnormality of the motor based on the detection signals received by the receiving unit; an output unit for outputting an emergency stop command for interrupting the supply of drive current to the motor; a third step of determining whether or not the detection signal from the safety encoder can be received, and specifying the servo driver to which the emergency stop command is output by the output unit.
  • the existing configuration of the servo system i.e., the configuration of the motor and servo driver that does not support the safety function
  • the safety encoder and servo driver incorporated in the system are changed via the processing device. associated and can provide safety features to the system as a whole.
  • the host device and the servo driver are connected by a fieldbus, in which case, in the second step, the processing device connects to the servo system as a new node on the fieldbus. may be incorporated.
  • the host device and the servo driver are connected by a fieldbus, and in that case, in the second step, the processing device is another node in the fieldbus and , the servo system is directly communicatively connected to a safety control device that outputs another emergency stop command for cutting off the drive current supply to the motor to the servo driver by a predetermined abnormality determination process.
  • the processing device may be incorporated into Thirdly, in the servo system, the host device and the servo driver are connected by a field bus, and in the second step, the processing device can directly communicate with the servo driver without going through the field bus. It may be incorporated into the servo system by being connected. Note that the incorporation of the processing device into the servo system may be realized by a method other than the above.
  • FIG. 1 is a first diagram showing a schematic configuration of a servo system after incorporating a processing device of the present invention
  • FIG. 3 is a diagram conceptualizing the functions of the servo system shown in FIG. 2
  • Fig. 4 is a flow chart showing a method flow for incorporating the processing device of the present invention into a servo system
  • FIG. 2 is a second diagram showing the schematic configuration of the servo system after the processing device of the present invention is incorporated
  • FIG. 6 is a diagram imaging the functions of the servo system shown in FIG. 5 ;
  • FIG. 1 is a first diagram showing a schematic configuration of a servo system after incorporating a processing device of the present invention
  • FIG. 3 is a diagram conceptualizing the functions of the servo system shown in FIG. 2
  • Fig. 4 is a flow chart showing a method flow for incorporating the processing device of the present invention into a servo system
  • FIG. 2 is a second diagram showing the schematic configuration of the servo system
  • FIG. 3 is a third diagram showing a schematic configuration of the servo system after incorporating the processing device of the present invention
  • 8 is an image of the functions of the servo system shown in FIG. 7
  • FIG. 4 is a fourth diagram showing a schematic configuration of the servo system after incorporating the processing device of the present invention
  • FIG. 5 is a fifth diagram showing the schematic configuration of the servo system after the processing device of the present invention is incorporated;
  • FIG. 1 is a schematic configuration diagram of a servo system before a processing device 50 disclosed in the present application is incorporated
  • FIG. 2 is a schematic configuration diagram of a servo system 100 after the processing device 50 is incorporated
  • the servo system before incorporation includes a network (field bus) 1 , a motor 2 , a servo driver 4 , a PLC (Programmable Logic Controller) 5 and a safety controller 6
  • the motor 2 has a motor body 21 and an encoder 22 .
  • the motor main body 21 receives drive current from the servo driver 4 and drives and rotates the output shaft.
  • the encoder 22 is configured to detect the displacement of its output shaft, but is not configured as a safety encoder having a safety function (the configuration of the safety encoder will be described later).
  • the output shaft of the motor 2 is connected to a ball screw 15, and when the ball screw 15 is driven, the table 16 attached thereon is displaced.
  • the motor 2 may be incorporated in the device, for example, as an arm of an industrial robot or an actuator of a transport device.
  • motor 2 is an AC motor.
  • the encoder 22 then generates a feedback signal indicating the detected operation of the motor 2 (displacement of the output shaft of the motor body 21 ) and transmits the feedback signal to the servo driver 4 .
  • the feedback signal includes, for example, position information about the rotational position (angle) of the rotating shaft of the motor 2, information about the rotating speed of the rotating shaft, and the like.
  • a general incremental encoder or absolute encoder can be applied to the encoder 22 .
  • the servo driver 4 receives an operation command signal regarding the operation (motion) of the motor 2 from the PLC 5 via the network 1 and also receives a feedback signal output from the encoder 22 .
  • the servo driver 4 performs servo control for driving the motor 2 based on the operation command signal from the PLC 5 and the feedback signal from the encoder 22 and supplies drive current to the motor 2 .
  • AC power sent from the AC power supply 11 to the servo driver 4 is used as the supplied current.
  • the servo driver 4 is of the type that receives three-phase alternating current, but it may be of the type that receives single-phase alternating current.
  • the servo driver 4 is connected to the safety controller 6 via the network 1.
  • the servo driver 4 returns to the safety controller 6 information necessary for monitoring the occurrence of an abnormality regarding the motor 2 and the servo driver 4 based on the monitor command signal received from the safety controller 6 .
  • the safety controller 6 determines that the motor 2 or the servo driver 4 is abnormal, it issues an emergency stop command to the servo driver 4 to reduce the drive current to the motor 2. The supply is cut off and the motor 2 is stopped.
  • a system can be roughly divided into an input configuration, an arithmetic configuration, and an output configuration.
  • An input configuration is, for example, a subsystem relating to the inputs to servo driver 4 , whose safety function is generally heavily dependent on the safety function of encoder 22 .
  • the computing configuration is a subsystem related to computing for calculating an output from an input within the servo driver 4, and relies on the safety function of a computing circuit using a microprocessor (MPU), for example.
  • MPU microprocessor
  • the output configuration is a subsystem related to the output from the servo driver 4, and depends on the safety function of the cutoff section 43 that cuts off transmission of drive signals from the motor control section 42 to the drive section 44, as will be described later.
  • the safety function of the entire servo system is determined based on the safety functions of the input configuration, calculation configuration, and output configuration. If the safety function is lowered, the safety function of the entire system will be affected by it.
  • a servo system may be constructed using an encoder that is not a safety encoder, such as the encoder 22 in FIG. In such a case, the safety function of the entire servo system is inevitably lowered due to the influence of the safety function of the input configuration.
  • the encoder 22 of the motor 2 and the servo driver 4 are not replaced but maintained as they are, and the safety encoder 70 and the processing device 50 are incorporated into the servo system to create a new servo system 100.
  • the safety encoder 70 is an encoder that can detect the displacement (rotational angle) of the ball screw 15 driven by the motor 2, and has two detection units for detecting displacement inside. It has a duplicated circuit so that the two detectors can simultaneously scan and output independent detection signals.
  • a linear encoder capable of detecting displacement of the table 16 driven by the motor 2 and displaced may be formed as the safety encoder 70 .
  • a detection signal from the safety encoder 70 is input to the processing device 50 .
  • the processing device 50 is additionally connected to the network 1 to which the servo driver 4, the PLC 5, and the safety controller 6 are connected, and is configured to be able to communicate with other devices on the network 1.
  • FIG. Here, based on the functional blocks shown in FIG. 3, the schematic configuration of the servo system 100 incorporating the processing device 50 will be described below.
  • the servo driver 4 has a motor control section 42, a blocking section 43, and a driving section 44. Note that the illustration of the network 1 is omitted in FIG.
  • the motor control unit 42 receives an operation command signal from the PLC 5 and a feedback signal from the encoder 22 .
  • the motor control unit 42 generates command values for executing position feedback control and speed feedback control based on the operation command signal and the feedback signal. For example, the motor control unit 42 generates a position command value and a speed command value through feedback control based on the motion command signal and the feedback value.
  • the feedback method adopted in the feedback control is a method in which a servo loop suitable for a predetermined purpose (for example, transportation of goods) of a mechanical device (such as a transportation device) in which the motor 2 is incorporated is formed. can be designed. These command values generated by the motor control unit 42 are sent to the cutoff unit 43 as drive signals.
  • the cutoff unit 43 electrically prevents the driving signal from the motor control unit 42 from passing through the driving unit 44 described later.
  • the drive unit 44 is stopped.
  • the cutoff portion 43 passes the drive signal accompanied by the command value output from the motor control portion 42 to the drive portion 44 as it is.
  • the drive section 44 receives a drive signal from the motor control section 42 via the cutoff section 43 .
  • the drive unit 44 has a circuit composed of a semiconductor switching element such as an IGBT (Insulated Gate Bipolar Transistor), for example, and based on the drive signal from the motor control unit 42, the switching element is turned on and off according to the PWM method. It is an inverter device that generates a signal for switching on and off a switching element according to the signal. As a result, an AC drive current is supplied to the motor 2, and the motor 2 is driven.
  • the cutoff portion 43 operates to cut off the transmission of the drive signal to the drive portion 44, the output from the drive portion 44 is fixed to be off.
  • the motor control unit 42, the cutoff unit 43, and the driving unit 44 are functional units directly related to the drive control of the motor 2, and the servo driver 4 does not have a functional unit directly corresponding to the safety encoder 70. I understand that there is not.
  • the processing device 50 has a receiving section 51 , an output section 52 and a processing section 53 .
  • the receiving unit 51 is a functional unit that is communicably connected to the safety encoder 70 and receives a detection signal from the safety encoder 70 .
  • the safety encoder 70 has a duplicated circuit capable of outputting independent detection signals by performing scanning simultaneously therein, and outputs duplicated detection signals. Therefore, the receiving section 51 receives the duplicated feedback signal from the encoder 22 and sends the received duplicated detection signal to the output section 52 .
  • the receiving unit 51 also receives a trigger signal for controlling the output of an emergency stop command by the output unit 52, which will be described later, from the safety controller 6 or other external device. Details of the processing of the trigger signal will be described later.
  • the output unit 52 performs abnormality determination of the motor 2 based on the detection signal from the duplexed safety encoder 70 received by the receiving unit 51, and when it is determined that the motor 2 is abnormal, It is a functional unit that outputs an emergency stop command to cut off the drive current supply to the motor 2 to the cutoff unit 43 of the servo driver 4 to stop the operation of the motor 2 and ensure the safety of the operation.
  • the abnormality determination by the output unit 52 is a process performed independently of the safety controller 6, and, for example, abnormality determination regarding the position and speed of the motor 2 is performed. Therefore, in the servo system 100 in which the processing device 50 is incorporated, the abnormality determination by the safety controller 6 and the abnormality determination by the output unit 52 of the processing device 50 are performed in parallel. A detection signal of a safety encoder 70 incorporated in the servo system 100 together with 50 is used. Therefore, the safety function of the servo system 100 can be improved by the combination of the safety encoder 70 and the processing device 50.
  • the processing unit 53 performs a process of associating the safety encoder 70 and the servo driver 4. Specifically, when the safety encoder 70 and the processing device 50 are incorporated in the servo system 100 , the processing unit 53 determines whether the receiving unit 51 can receive the duplicated detection signal from the safety encoder 70 . Further, the processing unit 53 identifies the servo driver 4, which is the output destination of the emergency stop command to be output according to the result of the abnormality determination based on the detection signal. This allows the processor 50 to function to ensure the safety of the servo system 100 based on the detection result of the safety encoder 70 .
  • a safety encoder 70 and a processing device 50 are additionally incorporated into the servo system shown in FIG. 1 to construct the servo system 100 shown in FIG. I will explain how.
  • the safety encoder 70 is incorporated into the servo system.
  • the safety encoder 70 is not an encoder attached to replace the encoder 22 attached to the motor 2, but an encoder additionally attached to the servo system. Therefore, the safety encoder 70 is attached so that the displacement of the driven object (the ball screw 15, the table 16, etc. in this embodiment) displaced by the output shaft of the motor 2 can be detected.
  • the processing device 50 is incorporated into the servo system.
  • the processing device 50 is connected to the network 1 in the configuration shown in FIG. 2, the configuration of incorporating the processing device 50 is not limited to this. Alternative forms of incorporation are described below.
  • the safety encoder 70 is directly wired to the processing device 50 connected to the network 1 via a communication cable.
  • the processing unit 53 confirms the connection with the safety encoder 70 (processing of S103) and identifies the servo driver 4 to which the emergency stop command is to be output (processing of S104).
  • the motor that drives the drive target whose displacement is detected by the safety encoder 70 is selected from among the plurality of servo drivers. as the output destination of the emergency stop command.
  • L1 and L2 are indicated by dashed lines as paths through which the emergency stop command is sent.
  • a path L1 is a path for transmitting an emergency stop command to the servo driver 4 via the network (fieldbus) 1
  • a path L2 is a path for transmitting an emergency stop command to the servo driver 4 via the network (fieldbus). This path is for transmitting an emergency stop command to the servo driver 4 via a communication cable that directly connects the .
  • the output unit 52 is configured so that the user can select either the route L1 or the route L2 (the dashed line in FIG. 3 means that the user can select). Thereby, it becomes possible to construct the servo system 100 according to the user's request.
  • the trigger signal is a signal that controls the output of the emergency stop command by the output unit 52, as described above.
  • the output unit 52 is configured to output an emergency stop command by the output unit 52 when the trigger signal is input, and stop the function of the output unit 52 when the trigger signal is not input.
  • L11 and L12 are indicated by dashed lines as paths through which the trigger signal is sent.
  • a path L11 is a path for transmitting a trigger signal from the safety controller 6 to the processing device 50 via the network (fieldbus) 1
  • a path 21 is a path from the outside of the processing device 50 instead of the network (fieldbus).
  • the processing device 50 is formed so that the user can select either the route L11 or the route L12. This makes it possible to construct the servo system 100 appropriately according to the user's request.
  • FIG. 5 shows a schematic configuration of the servo system 100 of the second embodiment
  • FIG. 6 is a functional block diagram of the servo system 100.
  • the encoder 22 of the motor 2 and the servo driver 4 are not replaced but maintained as they are, and the safety encoder 70 and the processing device 50 are incorporated into the servo system in order to improve the safety function of the entire system.
  • a system 100 is formed.
  • the difference from the first embodiment is that the processing device 50 is not connected to the network 1 but directly connected to the servo driver 4 so as to be able to communicate therewith.
  • the arrangement of the safety encoder 70 is the same as in the first embodiment, but the duplicated detection signal is input to the receiving section 51 of the processing device 50 connected to the servo driver 4 .
  • the method of incorporating the safety encoder 70 and the processing device 50 into the servo system basically the method shown in FIG. 4 can be applied.
  • the servo driver 4 to which the processing device 50 is directly connected is specified as the output destination.
  • the servo system 100 includes a plurality of servo drivers, the servo driver corresponding to the motor driving the driven object whose displacement is detected by the safety encoder 70 is selected from among the plurality of servo drivers.
  • the processor 50 is communicatively connected to the servo driver, and then the servo driver is specified as the output destination of the emergency stop command.
  • a path L31 and L32 are indicated by dashed lines as routes through which the emergency stop command is sent.
  • a path L31 is an internal communication path through which the processing device 50 and the servo driver 4 are electrically connected inside the servo driver 4, and an emergency stop command is sent from the processing device 50 to the servo driver 4 via the internal communication path. sent.
  • the internal communication path is formed independently of the communication environment of the network 1 .
  • a route L ⁇ b>32 is a route for transmitting an emergency stop command to the servo driver 4 via a communication cable that directly connects the processing device 50 and the servo driver 4 .
  • the output unit 52 is configured so that the user can select either the route L31 or the route L32 (the dashed line in FIG. 6 means that the user can select). Thereby, it becomes possible to construct the servo system 100 according to the user's request.
  • the processing device 50 is formed so that the user can select either path L11 or path L12. This makes it possible to construct the servo system 100 appropriately according to the user's request.
  • the encoder 22 of the motor 2 and the servo driver 4 are maintained as they are without being replaced, and the safety encoder 70 and the processing device 50 are incorporated into the servo system to form the servo system 100, thereby ensuring the safety of the entire system. Functionality can be improved.
  • FIG. 7 shows a schematic configuration of the servo system 100 of the third embodiment
  • FIG. 8 is a functional block diagram of the servo system 100.
  • the encoder 22 and the servo driver 4 of the motor 2 are not replaced but maintained as they are, and in order to improve the safety function of the entire system, a safety encoder 70 and a processing device 50 are incorporated into the servo system, so that the servo A system 100 is formed.
  • the processing device 50 is not connected to the network 1 but directly connected to the safety controller 6 so as to be able to communicate therewith.
  • the arrangement of the safety encoder 70 is the same as in the first embodiment, but the duplicated detection signal is input to the receiving section 51 of the processing device 50 connected to the safety controller 6 .
  • the method of incorporating the safety encoder 70 and the processing device 50 into the servo system basically the method shown in FIG. 4 can be applied.
  • the servo driver which is the output destination of the emergency stop command
  • the processing unit 53 the servo driver 4, which is the output destination of the emergency stop command by the safety controller 6 to which the processing device 50 is directly connected, is selected as the output destination.
  • the servo driver corresponding to the motor driving the driven object whose displacement is detected by the safety encoder 70 is selected from among the plurality of servo drivers.
  • the servo driver is specified as the output destination of the emergency stop command.
  • a path L41 is an internal communication path that electrically connects the processing device 50 and the safety controller 6 inside the safety controller 6.
  • An emergency stop command is sent from the processing device 50 to the safety controller 6 via the internal communication path. Then, it is sent from the safety controller 6 to the servo driver 4 via the network 1 .
  • a path L42 is a path for transmitting an emergency stop command to the servo driver 4 via a communication cable that directly connects the processing device 50 and the servo driver 4 .
  • the output unit 52 is configured so that the user can select either the route L41 or the route L42 (the dashed line in FIG. 8 means that the user can select). Thereby, it becomes possible to construct the servo system 100 according to the user's request.
  • the trigger signal is received from the safety controller 6 via the path L12 for receiving the trigger signal from the outside and the internal communication path formed inside the safety controller 6.
  • a processing device 50 is formed so that any of the paths 13 can be selected. This makes it possible to construct the servo system 100 appropriately according to the user's request.
  • the encoder 22 of the motor 2 and the servo driver 4 are maintained as they are without being replaced, and the safety encoder 70 and the processing device 50 are incorporated into the servo system to form the servo system 100, thereby ensuring the safety of the entire system. Functionality can be improved.
  • FIG. 9 shows a form in which a safety encoder 70 and a processing device 50 are incorporated in a servo system that does not include a safety controller 6.
  • the processing device 50 is connected to the network 1 as in the first embodiment.
  • FIG. 10 shows a form in which a safety encoder 70 and a processing device 50 are incorporated in a servo system that does not include the safety controller 6.
  • the processor 50 is communicatively connected to the servo driver 4, as in the second embodiment. Even in such a form, it is possible to improve the safety function of the entire system.
  • a servo system including a motor (2) and a servo driver (4) configured to drive and control the motor (2) in accordance with a command from a host device (5) and to cut off the drive current of the motor (2) is provided with the motor ( 2) a processing device (50) additionally configured to be incorporated with a safety encoder (70) having a plurality of detectors for detecting displacement of a driven object driven by a receiver (51) communicatively connected to the safety encoder (70) and receiving detection signals from the plurality of detectors from the safety encoder (70); Based on the detection signal received by the receiving section (51), the abnormality of the motor is determined.
  • an output unit (52) that outputs an emergency stop command for cutting off the supply;
  • the receiver (51) determines whether or not the detection signal from the safety encoder (70) can be received, and the output unit (51) outputs the emergency stop command.
  • a processing unit (53) that identifies the servo driver (4); A processing device.
  • a method for improving the safety function of a servo system including a servo driver (4) that drives and controls a motor (2) according to a command from a host device (5) and the motor (2), a first step of incorporating a safety encoder (70) having a plurality of detection units for detecting displacement of a driven object driven by the motor (2) into the servo system; a receiver (51) communicatively connected to the safety encoder (70) and receiving detection signals from the plurality of detectors from the safety encoder (70); and the detection received by the receiver (51).
  • an abnormality determination of the motor (2) is performed, and based on the determination result, an emergency stop command is issued to the servo driver (4) to cut off the supply of the drive current to the motor (2).
  • the receiving section (51) determines whether or not the detection signal from the safety encoder (70) can be received, and the emergency stop command is output by the output section.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control Of Electric Motors In General (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un dispositif de traitement configuré pour pouvoir être intégré par addition dans un système d'asservissement, conjointement avec un codeur de sécurité comportant une pluralité d'unités de détection détectant une variation de position d'un objet à entraîner par un moteur, ledit système d'asservissement comprenant le moteur et un servomoteur qui effectue une commande d'entraînement sur le moteur selon une commande provenant d'un dispositif de niveau supérieur et qui est configuré pour pouvoir bloquer un courant d'attaque vers ledit moteur. Un signal de détection provenant de la pluralité d'unités de détection est reçu du codeur de sécurité. Une détermination d'anomalie de moteur est effectuée d'après ledit signal de détection et d'après le résultat de cette détermination, une commande d'arrêt d'anomalie permettant de bloquer l'alimentation du moteur en courant d'attaque est transmise au servomoteur. De plus, lorsque le dispositif de traitement est intégré dans le système d'asservissement, on détermine si un signal de détection provenant du codeur de sécurité peut être reçu par une unité réceptrice ou non et l'on spécifie un servomoteur auquel doit être transmise la commande d'arrêt d'anomalie provenant d'une unité de sortie.
PCT/JP2021/047129 2021-03-09 2021-12-20 Dispositif de traitement et procédé d'amélioration de la fonction de sécurité d'un système d'asservissement WO2022190547A1 (fr)

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JP2021037248A JP2022137661A (ja) 2021-03-09 2021-03-09 処理装置、及びサーボシステムの安全機能の向上方法
JP2021-037248 2021-03-09

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010152595A (ja) * 2008-12-25 2010-07-08 Omron Corp サーボシステムおよび安全制御機器
JP2018166378A (ja) * 2017-03-28 2018-10-25 住友重機械工業株式会社 モータ駆動システムおよび射出成形機

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010152595A (ja) * 2008-12-25 2010-07-08 Omron Corp サーボシステムおよび安全制御機器
JP2018166378A (ja) * 2017-03-28 2018-10-25 住友重機械工業株式会社 モータ駆動システムおよび射出成形機

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