WO2022215210A1 - モータの結線ミス検出装置 - Google Patents
モータの結線ミス検出装置 Download PDFInfo
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- WO2022215210A1 WO2022215210A1 PCT/JP2021/014818 JP2021014818W WO2022215210A1 WO 2022215210 A1 WO2022215210 A1 WO 2022215210A1 JP 2021014818 W JP2021014818 W JP 2021014818W WO 2022215210 A1 WO2022215210 A1 WO 2022215210A1
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- command
- unit
- motor
- selection
- servo
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- 238000001514 detection method Methods 0.000 title claims abstract description 77
- 238000012790 confirmation Methods 0.000 claims abstract description 27
- 230000005856 abnormality Effects 0.000 description 22
- 238000004804 winding Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4062—Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/346—Testing of armature or field windings
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/50—Testing of electric apparatus, lines, cables or components for short-circuits, continuity, leakage current or incorrect line connections
- G01R31/55—Testing for incorrect line connections
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41362—Registration, display of servo error
Definitions
- the present invention relates to a device that detects motor wiring errors.
- CNC Computerized Numerical Control
- a servo amplifier is installed between the CNC device and the servo motor of the machine, and the servo amplifier drives the servo motor after receiving an operation command from the CNC device. , are known to control feedback.
- Japanese Patent Application Laid-Open No. 2002-200000 discloses that in a control system having a plurality of servomotors and a plurality of servoamplifiers, when a wiring mistake occurs between the servomotor and the servoamplifier, the wiring mistake is automatically corrected.
- a misconnection detection device that can effectively detect misconnections. The connection error detection device detects a connection error by comparing the feedback value of the current position of the servomotor and the position command value.
- Servo motors that require large torque include servo motors that have multiple independent windings and are driven and controlled by multiple servo amplifiers connected to each winding. Regarding such a servomotor, there is a problem that the connection error cannot be detected by the technique disclosed in Patent Document 1.
- An object of the present invention is to provide a connection error detection device capable of detecting connection errors in a motor controlled by a plurality of amplifiers.
- a connection error detection device is a connection error detection device for detecting a connection error of a motor controlled by a plurality of amplifiers, the motor being controlled by a part of the plurality of amplifiers.
- a control amplifier selection unit for selecting and combining the amplifiers used for control to determine two or more selection patterns; and for each selection pattern determined by the control amplifier selection unit, causing the motor to perform a predetermined operation.
- connection between the amplifier and the motor in the system includes power lines, feedback cables, amplifier power cables, and the like.
- a connection error detection device is a connection error detection device for detecting a connection error of a motor in a machine control system in which a plurality of motors control the same motion of one controlled object,
- a control amplifier selection unit that selects and combines the amplifiers used for control to determine two or more selection patterns in order to control all or part of the plurality of motors using some of the plurality of amplifiers that drive the plurality of motors.
- a command generation unit for generating a command for causing the controlled object to perform a predetermined operation for each selection pattern determined by the control amplifier selection unit; and the selection pattern and the command from the command generation unit.
- a servo control unit that calculates a torque command value for controlling the motor based on, and between two or more of the selection patterns, the torque command value or the current feedback value of the motor corresponding to each of the selection patterns, a connection check confirmation unit that determines whether or not there is a connection error in the system of the amplifier and the motor by comparing them with each other.
- connection errors in the system of the motor of industrial machines such as machine tools and robots and the amplifiers that control the motors, and to prevent unexpected behavior on the machine side due to connection errors. can be prevented from occurring.
- FIG. 1 is a schematic diagram showing a machine control system for an industrial machine equipped with a connection error detection device according to an embodiment of the present invention
- FIG. 2 is a schematic diagram showing the configuration of a connection error detection device in the machine control system of FIG. 1
- FIG. FIG. 10 is a schematic diagram showing another machine control system including a connection error detection device according to one embodiment of the present invention
- FIG. 1 is a schematic diagram showing a machine control system 100 for an industrial machine equipped with a connection error detection device according to one embodiment of the present invention.
- the industrial machine is described as a machine tool, but the present invention is applicable to any machine having a motor whose drive is automatically controlled by an amplifier, such as an industrial robot.
- a machine control system 100 includes a servomotor 103 of a machine tool such as an NC lathe or a machining center, a servo amplifier 102 (102a, 102b, 102c and 102d) for driving and controlling the servomotor 103, A CNC device (computer numerical control device) 101 that controls the entire machine control system 100 above the servo amplifier 102 is provided.
- the CNC device 101 has a connection error detection device 110 .
- the connection error detection device 110 is incorporated in the CNC device 101, but may be provided separately.
- the servomotor 103 has four independent windings.
- the machine control system 100 has four servo amplifiers 102, called “first servo amplifier 102a”, “second servo amplifier 102b", “third servo amplifier 102c” and “fourth servo amplifier 102d", respectively.
- first servo amplifier 102a the term "servo amplifier 102" may be used.
- the four servo amplifiers 102 are connected to each winding of the servo motor 103 by power lines 104 respectively.
- the four servo amplifiers 102 receive commands from the wiring error detection device 110 of the CNC device 101 through the signal line 105, and jointly control the servo motors 103 based on the commands. Specifically, in this embodiment, as shown in FIG. 1, a command from the connection error detection device 110 is first transmitted to the first servo amplifier 102a through the signal line 105, and then transmitted to the signal line between the servo amplifiers. 105 to the second servo amplifier 102b, the third servo amplifier 102c and the fourth servo amplifier 102d.
- the four servo amplifiers 102 feed back the current value in each power line 104 of the servo motor 103 to the connection error detection device 110 through the signal line 105 .
- the four servo amplifiers 102 may feed back current feedback values through separately provided feedback lines.
- the servomotor 103 feeds back the current position of the servomotor 103 to the connection error detection device 110 through the feedback line 108 .
- connection error detection device 110 of the present embodiment detects a connection error. It is explained as an example that there is
- FIG. 2 is a schematic diagram showing the configuration of the connection error detection device 110 in the machine control system 100 of FIG.
- the connection error detection device 110 is a device for detecting connection errors in the system of the servo amplifier 102 and the servo motor 103 .
- the connection error detection device 110 includes a startup mode confirmation unit 111, an operation command unit 112, a connection check command unit 113, a first storage unit 114, a second storage unit 115, an abnormality detection unit 116, and a servo control unit. It includes a unit 117 , a display unit 118 , an alarm unit 119 , and a connection check operation unit 120 .
- the start-up mode confirmation unit 111 detects the start-up operation of the machine, and also confirms and specifies whether it is in the normal operation mode or the start-up mode. For example, the start-up mode confirmation unit 111 identifies whether the normal operation mode or the start-up mode is in accordance with the input content of an operator or the like. When the assembly of the machine control system 100 is completed and the necessary wiring connections are completed, the start-up mode confirmation unit 111 receives a signal indicating that the drive power is first turned on to the machine control system 100, indicating that the machine control system 100 is in the start-up mode. may be specified.
- the switches S1 and S2 are automatically connected to the a-contacts, so that the connection error detector 110 is ready to detect the connection error. Become.
- the switches S1 and S2 are automatically switched to the b contacts, so the machine control system 100 can perform normal operation.
- the operation command unit 112 outputs an operation command to the servo motor 103 via the servo control unit 117 and the servo amplifier 102 when the normal operation mode is confirmed by the startup mode confirmation unit 111 .
- the operation command unit 112 receives the detection result from the abnormality detection unit 116 when no connection error is detected by the abnormality detection unit 116, which will be described in detail later, and instructs the servomotor 103 to operate according to the command value from the CNC device 101. Output commands.
- the connection check command section 113 includes a control amplifier selection section 131 and a command generation section 132 .
- the control amplifier selection unit 131 controls the servo motors 103 using some of the plurality of servo amplifiers 102.
- the servo amplifiers 102 used for control are selected and combined to determine two or more selection patterns.
- the control amplifier selector 131 determines a selection pattern based on the number of servo amplifiers 102 connected to the servo motors 103 .
- the control amplifier selector 131 determines four selection patterns.
- selection pattern 1 is a pattern in which the servo motor 103 is controlled and driven using the other three servo amplifiers without using the first servo amplifier 102a.
- Selection pattern 2 is a pattern in which the servomotor 103 is controlled and driven using the other three servo amplifiers without using the second servo amplifier 102b.
- Selection pattern 3 is a pattern in which the servo motor 103 is controlled and driven using the other three servo amplifiers without using the third servo amplifier 102c.
- Selection pattern 4 is a pattern in which the servo motor 103 is controlled and driven using the other three servo amplifiers without using the fourth servo amplifier 102d.
- the command generation unit 132 generates a command for causing the servo motor 103 to perform a predetermined operation for each selection pattern determined by the control amplifier selection unit 131, and outputs the command to the servo control unit as a command for performing a connection check. 117 and the abnormality detection unit 116 .
- the command generated by the command generator 132 may be a position command, a speed command, or a torque command. This embodiment will be described with an example of a position command.
- the command generator 132 may generate the same position command as a command for causing the servomotor 103 to perform the same operation in all selection patterns.
- the servo control unit 117 calculates a torque command value for controlling the servo motor 103 based on the selected pattern, the position command from the command generation unit 132, and the feedback value of the current position of the servo motor 103,
- the data is output to the servo amplifier 102 and fed back to the abnormality detection section 116 .
- the servo amplifier 102 drives and controls the servomotor 103 through the power line 104 based on commands from the servo control unit 117 .
- the servo control unit 117 can also acquire the current value of the power line 104 of the servo motor 103 from the servo amplifier 102 through the signal line 105 and use it as a current feedback value. In this case, the servo control section 117 feeds back the acquired current feedback value to the abnormality detection section 116 .
- the abnormality detection unit 116 is for confirming the presence or absence of a connection error in the system of the servo amplifier 102 and the servo motor 103 and specifying it.
- the abnormality detection unit 116 includes a command value acquisition unit 121 , a feedback value acquisition unit 122 , a selection unit 123 and a connection check confirmation unit 124 .
- the command value acquisition unit 121 receives a connection check command from the connection check command unit 113 and acquires information on the selected pattern.
- the command value acquisition unit 121 may further acquire various command values from the CNC device 101 (for example, a rotational speed command value for the servomotor 103, etc.).
- the feedback value acquisition unit 122 acquires a torque command value for controlling the servomotor 103 from the servo control unit 117 .
- the feedback value acquisition section 122 can also acquire the current feedback value from the servo control section 117 .
- the feedback value acquisition unit 122 has, for example, a timer, and operates at a time after a preset fixed dead time has elapsed since the drive of the servomotor 103 was started (time after a fixed time has elapsed). is configured to obtain a stable constant time feedback value. Note that the feedback value acquisition unit 122 acquires a plurality of times in an arbitrary time period after a predetermined fixed dead time has passed since the drive of the servomotor 103 was started ( may be configured to obtain feedback values at a plurality of times).
- connection check confirmation unit 124 compares the torque command value or the current feedback value corresponding to each selection pattern acquired by the feedback value acquisition unit 122 among the four selection patterns, thereby checking the servo amplifier 102 and the servo motor 103. Determines whether or not there is a connection error in the system.
- the command generation unit 132 generates the same position command and outputs it to the servo control unit 117 in order to cause the servomotor 103 to perform the same operation in the four selection patterns shown in Table 1.
- the three servo amplifiers used to drive the servo motor 103 include the fourth servo amplifier 102d with a wiring error. Since the fourth servo amplifier 102d with the wiring error does not contribute to the operation of the servo motor 103 requested by the command of the command generation unit 132, it does not contribute to the operation of the servo motor 103 requested by the command of the command generation unit 132. are only the remaining two servo amplifiers.
- the torque command value calculated by the servo control unit 117 becomes larger than in the case of driving with three servoamplifiers. Since selection patterns 1 to 3 are in almost the same situation, the torque command values corresponding to each selection pattern are the same or close values.
- the three servo amplifiers used to drive the servo motor 103 do not include the fourth servo amplifier 102d with a connection error. Therefore, all three servo amplifiers can contribute to the operation of the servomotor 103 required by the command from the command generator 132 . As a result, the torque command value calculated by the servo control unit 117 to drive the servomotor 103 is smaller than when two servo amplifiers are used.
- connection check confirmation unit 124 compares the torque command values corresponding to the four selection patterns. Selection patterns 1 to 3 indicate the same or similar torque command values, whereas selection pattern 4 indicates a small torque command value that is significantly different from selection patterns 1 to 3. If there is an abnormality in the difference between the torque command values, the connection check confirmation unit 124 determines that there is a connection error in the system of the fourth servo amplifier 102d and the servomotor 103. FIG.
- the torque command values corresponding to the four selection patterns all indicate the same or similar torque command values, so there is almost no difference between the torque command values.
- the alarm unit 119 issues an alarm based on the result, and the display unit 118 displays the occurrence of a connection error to notify the operator or the like. do.
- a warning sound may be emitted or a warning light may be turned on. Control is performed so that the servomotor 103 does not perform unexpected dangerous/abnormal operations due to connection errors. For example, control is performed so as not to shift to the normal operation mode.
- the display unit 118 displays the normal state and informs the operator of this.
- the switches S1 and S2 automatically switch to the b contacts to end the start-up mode. In that case, the operation command unit 112 issues a command to the servo control unit 117 to perform normal operation according to the command value of the CNC device 101 .
- the abnormality detection unit 116 can not only determine a connection error as described above, but also detect an abnormality of the motor by comparing the positional deviation of the servo motor 103 with the alarm detection threshold.
- positional deviation refers to the difference between the position command value and the feedback value of the current position of the servomotor 103 .
- the first storage unit 114 and the second storage unit 115 store alarm detection thresholds for preventing the servomotor 103 from unexpectedly dangerous operation.
- the first storage unit 114 stores an alarm detection threshold value for the startup mode
- the second storage unit 115 stores an alarm detection threshold value for the normal operation mode.
- the position deviation limit value during driving may be set to 10 as the alarm detection threshold for the startup mode
- the position deviation limit value during driving may be set to 160000 as the alarm detection threshold for the normal operation mode. good.
- the selection unit 123 of the abnormality detection unit 116 selectively acquires the alarm detection threshold for the startup mode and the alarm detection threshold for normal operation from the first storage unit 114 and the second storage unit 115 .
- the switch S2 is automatically connected to the a-contact. Get the alarm detection threshold.
- the switch S2 is automatically switched to the b contact. Get the threshold.
- the alarm detection threshold for the start-up mode is automatically set even if the user side (operator side) of the machine does not change the setting. Also, during normal operation, the alarm threshold automatically becomes the alarm detection threshold for normal operation.
- the alarm unit 119 issues an alarm based on the result, and the display unit 118 displays the content of the alarm to notify the operator or the like. . This can prevent the servomotor 103 from unexpectedly dangerous operation.
- the switch S2 is automatically switched to the b contact, so the selection unit 123 sets the alarm detection threshold for normal operation to the second storage unit. 115 to replace the startup alarm detection threshold with the normal operation alarm detection threshold.
- connection check operation unit 120 is provided in the connection error detection device 110 . Regardless of whether the machine is in startup mode or normal operation mode, by operating the connection check operation unit 120, the connection check command unit 113 issues a command, and the same connection check as described above can be performed. .
- connection check operation unit 120 can be operated at any desired timing, such as when only part of the system connection work has been completed or when maintenance parts have been replaced. You can check the connection by
- connection error detection device of the present embodiment can detect connection errors in the system of servo-ups and servo motors in a machine control system including servo motors controlled by a plurality of servo-ups.
- the servo amplifier associated with the miss can be identified.
- FIG. 3 is a schematic diagram showing another machine control system 200 that includes a connection error detection device according to one embodiment of the present invention.
- the machine control system 200 of this embodiment is a modification of the machine control system 100 of the first embodiment.
- parts, members, portions, elements, and elements having the same or similar functions as those of the first embodiment are denoted by the same reference numerals as those of the first embodiment, and description thereof will be omitted.
- the biggest difference between the machine control system 200 and the machine control system 100 of the first embodiment is that the same motion of one controlled object is controlled by a plurality of motors. Specifically, four servo amplifiers drive and control four servo motors, and the four servo motors jointly drive one table 202 to move leftward or rightward in FIG. Let Large torque can be obtained by driving four servo motors.
- the four servomotors are respectively called “first servomotor 103a”, “second servomotor 103b", “third servomotor 103c” and “fourth servomotor 103d”. However, when there is no need to distinguish between the servomotors, or when all four servoamplifiers are referred to, they may be referred to as "servomotors 103". In the example shown in FIG. 3, all four servo motors are servo motors driven by one servo amplifier, but all or some of the four servo motors are servo motors driven by multiple servo amplifiers.
- the first servomotor 103a and the fourth servomotor 103d are servomotors driven by a plurality of servoamplifiers, and the second servomotor 103b and the third servomotor 103c are servomotors driven by one servoamplifier. There may be.
- connection error detection device 110 included in the machine control system 200 has the same configuration as the connection error detection device of the machine control system 100 . However, since there are some differences in the functions of each part and the signals handled, these will be explained below.
- the control amplifier selection unit 131 selects all of the four servo motors (when the four servo motors include servo motors driven by a plurality of servo amplifiers) or In order to control a part, drive the table 202, and detect connection errors, the servo amplifiers 102 used for controlling the servo motors 103 are selected and combined to determine two or more selection patterns. For example, also in this embodiment, as shown in Table 1, four selection patterns can be determined. The control amplifier selector 131 determines a selection pattern based on the number of servo amplifiers 102 or servo motors 103 .
- the command generation unit 132 generates a command for causing the table 202 to perform a predetermined operation for each selection pattern determined by the control amplifier selection unit 131, and outputs the command to the servo control unit 117 as a command for performing a connection check. and output to the abnormality detection unit 116 .
- the command generated by the command generator 132 may be a position command, a speed command, or a torque command. This embodiment will be described with an example of a position command of the table 202. FIG. For example, the command generator 132 may generate the same position command as a command for causing the table 202 to perform the same operation in all selection patterns.
- the table 202 feeds back the current position of the table 202 to the servo control unit 117 through the feedback line 108 .
- the servo control unit 117 calculates a torque command value for controlling the servo motor 103 based on the selected pattern, the position command from the command generation unit 132, and the feedback value of the current position of the table 202, and outputs each servo through the signal line 105. It is output to the amplifier 102 and fed back to the abnormality detection section 116 .
- the servo amplifier 102 drives and controls the servomotor 103 through the power line 104 based on commands from the servo control unit 117 .
- the servo control unit 117 can also acquire the current value of the power line 104 of the servo motor 103 from the servo amplifier 102 through the signal line 105 and use it as a current feedback value. In this case, the servo control section 117 feeds back the acquired current feedback value to the abnormality detection section 116 .
- connection check confirmation unit 124 compares the torque command value or the current feedback value corresponding to each selection pattern acquired by the feedback value acquisition unit 122 among the four selection patterns, thereby checking the servo amplifier 102 and the servo motor 103. Determines whether or not there is a connection error in the system.
- the command generation unit 132 generates the same position command and outputs it to the servo control unit 117 in order to cause the table 202 to perform the same operation in the four selection patterns shown in Table 1.
- the three servo amplifiers used to drive the table 202 include the fourth servo amplifier 102d with a wiring error.
- the torque command value calculated by the servo control unit 117 becomes larger than in the case of driving with three servomotors. Since selection patterns 1 to 3 are in almost the same situation, the torque command values corresponding to each selection pattern are the same or close values.
- the three servo amplifiers used to drive the table 202 do not include the fourth servo amplifier 102d with a connection error. Therefore, all of the three servo amplifiers and the three corresponding servo motors can contribute to the operation of the table 202 required by the command of the command generator 132 . As a result, the torque command value calculated by the servo control unit 117 to drive the table 202 is smaller than when two servo motors are used.
- connection check confirmation unit 124 compares the torque command values corresponding to the four selection patterns. Selection patterns 1 to 3 indicate the same or similar torque command values, whereas selection pattern 4 indicates a small torque command value that is significantly different from selection patterns 1 to 3. If there is an abnormality in the difference between the torque command values, the connection check confirmation unit 124 determines that there is a connection error in the system of the fourth servo amplifier 102d and the fourth servomotor 103d.
- connection error detection device of the present embodiment detects connection errors in a system of servo amplifiers and servo motors in a machine control system in which a single controlled object is driven by a plurality of servo motors controlled by a plurality of servo amplifiers. can be detected and the servo amplifier associated with the misconnection can be identified.
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Abstract
Description
本明細書でいう「アンプとモータの系内の結線」は、動力線、フィードバックケーブル、アンプの電源ケーブルなどを含む。
図1は、本発明の一実施形態の結線ミス検出装置を備える産業用機械の機械制御システム100を示す模式図である。本実施形態では、産業用機械が工作機械であるものとして説明を行うが、本発明は、産業用ロボットなど、アンプによってその駆動が自動制御されるモータを有するあらゆる機械に適用可能である。
なお、フィードバック値取得部122は、サーボモータ103の駆動が開始されてから予め設定した一定の不感時間が経過した後の任意の時間帯の複数の時刻(一定時間経過後の任意の時間帯の複数の時刻)でそれぞれフィードバック値を取得するように構成されてもよい。
その結果、残りの2つのサーボアンプでサーボモータ103を駆動するために、サーボ制御部117が算出するトルク指令値は、3つのサーボアンプで駆動する場合に比べて大きくなる。選択パターン1から3は、状況がほぼ同じなので、各選択パターンに対応するトルク指令値が同じか近い値になる。
図3は、本発明の一実施形態の結線ミス検出装置を備える他の機械制御システム200を示す模式図である。本実施形態の機械制御システム200は、第1実施形態の機械制御システム100の変形である。本実施形態において、第1実施形態と同じ又は類似の機能を有する部品、部材、部分、素子、要素については、第1の実施形態と同じ符号を付しており、且つその説明を省略することがある。
図3に示した例では、4つのサーボモータの全ては、1つのサーボアンプによって駆動されるサーボモータであるが、4つのサーボモータの全て又は一部が、複数サーボアンプによって駆動されるサーボモータであってもよい。例えば、第1サーボモータ103aと第4サーボモータ103dが複数サーボアンプによって駆動されるサーボモータであって、第2サーボモータ103bと第3サーボモータ103cが1つのサーボアンプによって駆動されるサーボモータであってもよい。
101 CNC装置
102 サーボアンプ
102a 第1サーボアンプ
102b 第2サーボアンプ
102c 第3サーボアンプ
102d 第4サーボアンプ
103 サーボモータ
103a 第1サーボモータ
103b 第2サーボモータ
103c 第3サーボモータ
103d 第4サーボモータ
104 動力線
105 信号線
108 フィードバック線
110 結線ミス検出装置
111 立ち上げモード確認部
112 運転指令部
113 結線チェック指令部
114 第1記憶部
115 第2記憶部
116 異常検出部
117 サーボ制御部
118 表示部
119 警報部
120 結線チェック操作部
121 指令値取得部
122 フィードバック値取得部
123 選択部
124 結線チェック確認部
131 制御アンプ選択部
132 指令生成部
200 機械制御システム
202 テーブル
S1、S2 スイッチ
Claims (8)
- 複数のアンプによって制御されるモータの結線ミスを検出する結線ミス検出装置であって、
複数の前記アンプの一部によって前記モータを制御するために、制御に用いる前記アンプを選択し組み合わせて2以上の選択パターンを決定する制御アンプ選択部と、
前記制御アンプ選択部によって決定された選択パターン毎に、前記モータに予め定められた動作をさせるための指令を生成する指令生成部と、
前記選択パターン及び前記指令生成部からの前記指令に基づいて、前記モータを制御するトルク指令値を算出するサーボ制御部と、
2以上の前記選択パターンの間で、各前記選択パターンに対応する前記トルク指令値又は前記モータの電流フィードバック値を、互いに比較することによって、前記アンプと前記モータの系内の結線ミスの有無を判定する結線チェック確認部と、
を備える結線ミス検出装置。 - 前記指令生成部は、全ての前記選択パターンにおいて、前記モータに同じ動作をさせるために、前記指令として同じ位置指令または速度指令、トルク指令を生成する、
請求項1に記載の結線ミス検出装置。 - 前記制御アンプ選択部は、前記モータに接続されている前記アンプの数に基づいて、前記選択パターンを決定する、
請求項1又は2に記載の結線ミス検出装置。 - 通常運転モードであるか、若しくは立ち上げモードであるかを確認する立ち上げモード確認部を備え、
立ち上げモードである場合に、結線ミスの検出を行う、
請求項1から3の何れか1項に記載の結線ミス検出装置。 - 1つの制御対象の同一運動を複数のモータによって制御する機械制御システムにおける前記モータの結線ミスを検出する結線ミス検出装置であって、
前記複数のモータを駆動する複数のアンプの一部によって前記複数のモータの全部又は一部を制御するために、制御に用いる前記アンプを選択し組み合わせて2以上の選択パターンを決定する制御アンプ選択部と、
前記制御アンプ選択部によって決定された選択パターン毎に、前記制御対象に予め定められた動作をさせるための指令を生成する指令生成部と、
前記選択パターン及び前記指令生成部からの前記指令に基づいて、前記モータを制御するトルク指令値を算出するサーボ制御部と、
2以上の前記選択パターンの間で、各前記選択パターンに対応する前記トルク指令値又は前記モータの電流フィードバック値を、互いに比較することによって、前記アンプと前記モータの系内の結線ミスの有無を判定する結線チェック確認部と、
を備える結線ミス検出装置。 - 前記指令生成部は、全ての前記選択パターンにおいて、前記制御対象に同じ動作をさせるために、前記指令として同じ位置指令または速度指令、トルク指令を生成する、
請求項5に記載の結線ミス検出装置。 - 前記制御アンプ選択部は、前記アンプまたは前記モータの数に基づいて、前記選択パターンを決定する、
請求項5又は6に記載の結線ミス検出装置。 - 通常運転モードであるか、若しくは立ち上げモードであるかを確認する立ち上げモード確認部を備え、
立ち上げモードである場合に、結線ミスの検出を行う、
請求項5から7の何れか1項に記載の結線ミス検出装置。
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US18/552,359 US20240036546A1 (en) | 2021-04-07 | 2021-04-07 | Wiring error detection device for motor |
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CN202180096617.6A CN117099005A (zh) | 2021-04-07 | 2021-04-07 | 电动机的接线错误检测装置 |
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DE112021006895.4T DE112021006895T5 (de) | 2021-04-07 | 2021-04-07 | Verdrahtungsfehler-Erfassungsvorrichtung für einen Motor |
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JP2000181521A (ja) * | 1998-10-05 | 2000-06-30 | Fanuc Ltd | 自動機械のための制御装置 |
JP2005149067A (ja) * | 2003-11-14 | 2005-06-09 | Kawasaki Heavy Ind Ltd | 誤接続検出システム |
JP2016018445A (ja) * | 2014-07-09 | 2016-02-01 | ファナック株式会社 | 複数軸を備えた機械を制御する制御装置を含む制御システム |
EP3076540A2 (en) * | 2015-03-30 | 2016-10-05 | Tata Elxsi Limited | System and method for the automatic validation of motor control firmware of an embedded system |
JP2020125955A (ja) * | 2019-02-04 | 2020-08-20 | ファナック株式会社 | システム |
CN111722585A (zh) * | 2019-03-20 | 2020-09-29 | 发那科株式会社 | 产业用机械的控制系统 |
JP2020195198A (ja) * | 2019-05-28 | 2020-12-03 | ファナック株式会社 | 制御装置、および結線判定方法 |
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- 2021-04-07 WO PCT/JP2021/014818 patent/WO2022215210A1/ja active Application Filing
- 2021-04-07 JP JP2023512588A patent/JPWO2022215210A1/ja active Pending
- 2021-04-07 US US18/552,359 patent/US20240036546A1/en active Pending
- 2021-04-07 DE DE112021006895.4T patent/DE112021006895T5/de active Pending
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JPH10124131A (ja) * | 1996-10-22 | 1998-05-15 | Fanuc Ltd | 制御装置に接続される機器の管理方法 |
JP2000181521A (ja) * | 1998-10-05 | 2000-06-30 | Fanuc Ltd | 自動機械のための制御装置 |
JP2005149067A (ja) * | 2003-11-14 | 2005-06-09 | Kawasaki Heavy Ind Ltd | 誤接続検出システム |
JP2016018445A (ja) * | 2014-07-09 | 2016-02-01 | ファナック株式会社 | 複数軸を備えた機械を制御する制御装置を含む制御システム |
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CN111722585A (zh) * | 2019-03-20 | 2020-09-29 | 发那科株式会社 | 产业用机械的控制系统 |
JP2020195198A (ja) * | 2019-05-28 | 2020-12-03 | ファナック株式会社 | 制御装置、および結線判定方法 |
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CN117099005A (zh) | 2023-11-21 |
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