WO2023189134A1 - Drive system - Google Patents

Drive system Download PDF

Info

Publication number
WO2023189134A1
WO2023189134A1 PCT/JP2023/007536 JP2023007536W WO2023189134A1 WO 2023189134 A1 WO2023189134 A1 WO 2023189134A1 JP 2023007536 W JP2023007536 W JP 2023007536W WO 2023189134 A1 WO2023189134 A1 WO 2023189134A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
control
drive
information
communication
Prior art date
Application number
PCT/JP2023/007536
Other languages
French (fr)
Japanese (ja)
Inventor
亮介 阿部
悌 大野
聖 山脇
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Publication of WO2023189134A1 publication Critical patent/WO2023189134A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present invention relates to a drive system.
  • the drive unit In a drive system that drives a motor, the drive unit (driver) generally controls the motor according to instructions from a controller such as a PLC (Programmable Logic Controller), or the drive unit controls the motor based on preset information. Sometimes it is done.
  • a controller such as a PLC (Programmable Logic Controller)
  • PLC Programmable Logic Controller
  • Patent Document 1 describes a technology related to a servo drive system that controls and drives a plurality of servo motors.
  • a failure occurs in the control section of the drive unit and the control section stops, the drive unit may stop and the work being manufactured may be damaged. Furthermore, the drive system cannot be restarted until the failed control unit is replaced, which reduces work efficiency.
  • the present invention has been made in view of the above circumstances, and its purpose is to provide a technology that allows the drive system to continue operating even when the control section of the drive unit stops. .
  • a drive system includes a controller, a first drive unit, and a second drive unit, and control information transmitted from the controller is transmitted to the controller via the first drive unit and the second drive unit.
  • the first drive unit includes a first communication section that transmits and receives the control information, a first control section, and a first drive section that drives a first electric motor connected to the first drive unit.
  • the second drive unit includes a second communication section that transmits and receives the control information, a second control section, and a second drive section that drives a second electric motor connected to the second drive unit.
  • the first control section is capable of controlling the first drive section and the second drive section based on the control information via a connection line connecting the first drive unit and the second drive unit.
  • the second control section can control the first drive section and the second drive section via the connection line based on the control information, and the first control section can control the first drive section and the second drive section based on the control information.
  • the control section When the control section is operating, the first drive section is controlled; when the second control section is stopped, the first drive section and the second drive section are controlled; When the first control section is operating, the second drive section is controlled, and when the first control section is stopped, the first drive section and the second drive section are controlled.
  • the first control section of the first drive unit controls the second drive section of the second drive unit via the connection line to control the second drive section connected to the second drive unit. Drives an electric motor. Even if the second control section of the second drive unit stops, the first control section of the first drive unit adjacent to the second drive unit controls the second drive section of the second drive unit, so that the second drive unit Stopping of the connected second electric motor can be avoided. This prevents the second drive unit from stopping and allows the drive system to continue operating.
  • the second control section of the second drive unit controls the first drive section of the first drive unit via the connection line to control the first drive section connected to the first drive unit. Drives an electric motor.
  • the second control section of the second drive unit adjacent to the first drive unit controls the first drive section of the first drive unit, so that the first drive unit Stopping of the connected first electric motor can be avoided. This prevents the first drive unit from stopping and allows the drive system to continue operating.
  • This drive unit may have the following features.
  • the control information is transmitted and received between a communication device included in the controller and the first communication unit, the control information is transmitted and received between the first communication unit and the second communication unit, and the control information is transmitted and received between the first communication unit and the second communication unit, and the first
  • the first control unit includes first operation information regarding the operation of the first electric motor and second operation information regarding the operation of the second electric motor in the control information.
  • the second control unit receives the control information from the first communication unit
  • the second control unit includes the first operation information and the second operation information in the control information. Perform the second process to By performing the first process, the control information includes first operation information and second operation information.
  • the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the second motor in the control information based on the second operation information. This prevents the second drive unit from stopping and allows the drive system to continue operating.
  • the control information includes first operation information and second operation information. Therefore, even if the first control section of the first drive unit stops, the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the first motor in the control information based on the first operation information. This prevents the first drive unit from stopping and allows the drive system to continue operating.
  • This drive unit may have the following features.
  • the second control unit performs the second processing.
  • the second control section of the second drive unit performs the second process.
  • This drive unit may have the following features. If the first communication unit receives the control information from the communication device and the second communication unit is stopped, after the first process is performed, the first communication unit receives the control information from the communication device. The control information is transmitted to. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the first communication unit receives the control information from the communication device and the second communication unit and the second control unit are stopped, after the first process is performed, the first A communication unit transmits the control information to the communication device. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the second communication unit receives the control information from the communication device and the first communication unit is stopped, after the second process is performed, the second communication unit receives the control information from the communication device.
  • the control information is transmitted to. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the second communication unit receives the control information from the communication device and the first communication unit and the first control unit are stopped, after the second process is performed, the second communication unit A communication unit transmits the control information to the communication device. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
  • This drive unit may have the following features.
  • the first control unit controls the first drive unit and acquires the first operation information, and transmits the first operation information via the connection line.
  • the second control unit controls the second drive unit and acquires the second operation information when the first control unit is operating, and the second control unit controls the connection.
  • the second operation information is sent to the first controller via a line.
  • the first operation information and the second operation information can be shared between the first control section of the first drive unit and the second control section of the second drive unit.
  • the communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. area, a fifth area, and a sixth area, the first control unit stores the first operation information in the third area, and stores the second operation information in the fourth area. The second control unit stores the first operation information in the fifth area and stores the second operation information in the sixth area.
  • the control information includes the first command value, the second command value, the first operation information and second operation information stored by the first control section of the first drive unit, and the second control value of the second drive unit.
  • First operation information and second operation information stored by the unit are included.
  • the communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area.
  • the first control unit stores the first operation information in the third area, stores the second operation information in the fourth area, and transmits the control information including the second control area.
  • the unit stores the first motion information in the third area and stores the second motion information in the fourth area.
  • the control information includes the first command value, the second command value, and the first operation information and second operation information stored by the first control section of the first drive unit or the second control section of the second drive unit. and is included.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system according to the first embodiment.
  • FIG. 2 is a diagram showing an example of control information.
  • FIG. 3 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped.
  • FIG. 4 is a diagram showing an example of control information.
  • FIG. 5 is a diagram showing an example of each configuration of each drive unit.
  • FIG. 6 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped.
  • FIG. 7 is a diagram showing the configuration of a drive system according to a comparative example.
  • FIG. 8 is a diagram showing a frame according to a comparative example.
  • FIG. 9 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system according to the first embodiment.
  • FIG. 2 is a diagram showing an example of control information.
  • FIG. 3 is a
  • FIG. 10 is a diagram showing an example of the configuration of each drive system according to the second embodiment.
  • FIG. 11 is a diagram illustrating an example of the operation of each drive unit when the communication section and the control section are stopped.
  • FIG. 12 is a diagram showing an example of control information.
  • FIG. 13 is a diagram showing the configuration of a drive system according to a comparative example.
  • FIG. 14 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops.
  • FIG. 15 is a diagram showing control information in a modified example.
  • FIG. 1 is a diagram showing an example of the configuration of a drive system 100 according to the first embodiment.
  • the drive system 100 includes a PLC 1, drive units 2A, 2B, and motors 3A, 3B.
  • the drive unit 2A controls the motors (servo motors) 3A and 3B based on commands from the PLC 1.
  • the drive unit 2A is an example of a first drive unit.
  • Drive unit 2B controls motors 3A and 3B based on commands from PLC1.
  • Drive unit 2B is an example of a second drive unit.
  • the control targets of the drive units 2A and 2B are the motors 3A and 3B, but the configuration is not limited to that of FIG.
  • the PLC 1 and the drive units 2A and 2B are connected by wire.
  • a communication method between the PLC 1 and the drive units 2A and 2B for example, a communication protocol such as EtherCAT (registered trademark) may be used.
  • EtherCAT registered trademark
  • a motor 3A is connected to the drive unit 2A, and a motor 3B is connected to the drive unit 2B.
  • Motor 3A is an example of a first electric motor.
  • Motor 3B is an example of a second electric motor.
  • the PLC 1 functions, for example, as a monitoring device for the drive system 100 by executing processing according to a program prepared in advance.
  • PLC1 is an example of a controller.
  • Control information is transmitted from PLC1.
  • control information transmitted from the PLC 1 is returned to the PLC 1 via the drive units 2A and 2B.
  • the control information includes a command value for driving the motor 3A (first command value) and a command value for driving the motor 3B (second command value). Details of the control information will be described later.
  • the drive units 2A and 2B are provided with a built-in bus 20, which is a connection line that connects the drive unit 2A and the drive unit 2B.
  • the drive unit 2A includes a communication section 21A, a control section 22A, a drive section 23A, and a power connector 24A.
  • the drive unit 2B includes a communication section 21B, a control section 22B, a drive section 23B, and a power connector 24B.
  • the communication units 21A and 21B transmit and receive control information.
  • the communication unit 21A is an example of a first communication unit.
  • the communication unit 21B is an example of a second communication unit. Control information is transmitted and received between the communication device 11 included in the PLC 1 and the communication section 21A. Further, control information is transmitted and received between the communication section 21A and the communication section 21B.
  • a motor 3A is connected to the drive unit 2A via a power connector 24A.
  • the drive unit 23A is a drive circuit that drives the motor 3A connected to the drive unit 2A.
  • the drive unit 23A is an example of a first drive unit.
  • a motor 3B is connected to the drive unit 2B via a power connector 24B.
  • the drive section 23B is a drive circuit that drives the motor 3B connected to the drive unit 2B.
  • the drive section 23B is an example of a second drive section.
  • the control unit 22A can control the drive units 23A and 23B via the built-in bus 20 based on the control information.
  • the control unit 22A is an example of a first control unit.
  • the control section 22B can control the drive sections 23A and 23B via the built-in bus 20 based on the control information.
  • the control unit 22B is an example of a second control unit.
  • the control section 22A controls the drive section 23A when the control section 22B is operating, and controls the drive sections 23A and 23B when the control section 22B is stopped. Stopping of the control unit 22B includes cases where the control unit 22B needs to be repaired or replaced due to a failure of the control unit 22B, cases where the control unit 22B needs to be restarted, and the like.
  • the control unit 22A controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B.
  • the control information includes a command value for driving the motor 3A and a command value for driving the motor 3B.
  • the control unit 22A acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A.
  • the control unit 22A acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
  • the control unit 22B controls the drive unit 23B when the control unit 22A is operating, and controls the drive units 23A and 23B when the control unit 22A is stopped. Stopping of the control unit 22A includes cases where the control unit 22A needs to be repaired or replaced due to a failure of the control unit 22A, cases where the control unit 22A needs to be restarted, and the like.
  • the control unit 22B controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B.
  • the control unit 22B acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A.
  • the control unit 22B acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
  • FIG. 2 is a diagram showing an example of control information.
  • (A-1) and (A-2) in FIG. 2 show frames that are examples of control information, and the frame (A-1) in FIG. 2 is a frame transmitted from the PLC 1.
  • the frame (A-2) in FIG. 2 is a frame received by the PLC1.
  • the frame of FIG. 2 may be, for example, an EtherCAT (registered trademark) frame.
  • the frame in FIG. 2 includes a header, a footer, an area (1) for storing the command value (A), an area (2) for storing the command value (B), and an area (2) for storing the current value (A).
  • the command value (A) is a command value for driving the motor 3A
  • the command value (B) is a command value for driving the motor 3B.
  • Areas (3) and (4) of the frame are areas updated by the control unit 22A
  • areas (5) and (6) of the frame are areas updated by the control unit 22B. Since the frame (A-1) in FIG. 2 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in the areas (3) to (6) of the frame.
  • the control unit 22A When the communication unit 21A receives control information from the communication device 11, the control unit 22A performs a process (hereinafter referred to as “first operation information”) of including in the control information first operation information regarding the operation of the motor 3A and second operation information regarding the operation of the motor 3B. (referred to as 1 process).
  • the first operation information regarding the operation of the motor 3A includes, for example, information such as the rotational speed and position of the motor 3A.
  • the second operation information regarding the operation of the motor 3B includes, for example, information such as the rotational speed and position of the motor 3B.
  • the control unit 22A stores the current value (A) which is the first operation information in the area (3) of the frame, and stores the current value (A) which is the first operation information in the area (4) of the frame. Stores the current value (B) which is operation information.
  • the control unit 22B performs a process (hereinafter referred to as a second process) of including the first operation information and the second operation information in the control information.
  • the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information.
  • areas (3) and (4) of the frame are updated by the control unit 22A, and areas (5) and (6) of the frame are updated by the control unit 22B. Accordingly, the current value (A) is stored in areas (3) and (5) of the frame, and the current value (B) is stored in areas (4) and (6) of the frame. Therefore, the frame includes the command value (A), the command value (B), the current values (A) and (B) stored by the control unit 22A, and the current value (A) stored by the control unit 22B. and (B).
  • the communication device 11 receives control information via the drive units 2A and 2B.
  • the PLC 1 acquires first operation information stored by the control unit 22A from the control information, and acquires second operation information stored by the control unit 22B from the control information.
  • the communication device 11 receives the frame (A-2) in FIG. 2
  • the PLC 1 obtains the current value (A) stored in the area (3) of the frame, and obtains the current value (A) stored in the area (6) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • the control unit 22A acquires a command value regarding driving the motor 3A and a command value regarding driving the motor 3B from the control information. Further, when the communication unit 21B receives control information from the communication unit 21A, the control unit 22B acquires a command value related to driving the motor 3A and a command value related to driving the motor 3B from the control information. In this way, the command value for driving the motor 3A and the command value for driving the motor 3B can be shared between the drive unit 2A and the drive unit 2B.
  • the control unit 22A controls the drive unit 23A, acquires the first operation information, and sends the first operation information to the control unit 22B via the built-in bus 20.
  • the control unit 22B controls the drive unit 23B, acquires the second operation information, and sends the second operation information to the control unit 22A via the built-in bus 20.
  • the information regarding the operation of the motor 3A (first operation information) and the information regarding the operation of the motor 3B (second operation information) are shared between the control section 22A of the drive unit 2A and the control section 22B of the drive unit 2B. be able to.
  • control unit 22A controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information.
  • control unit 22B controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information.
  • FIG. 3 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • FIG. 4 is a diagram showing an example of control information.
  • (A-3) and (A-4) in FIG. 4 show frames that are examples of control information, and the frame (A-3) in FIG. 4 is a frame transmitted from the PLC 1.
  • the frame (A-4) in FIG. 4 is a frame received by the PLC1.
  • the frame (A-3) in FIG. 4 is similar to the frame (A-1) in FIG.
  • the control unit 22A Since the control unit 22A is stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-4) in FIG. 4.
  • the control unit 22A performs the second process.
  • the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-4) of FIG.
  • the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6).
  • the communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication unit 21A. Note that since the control unit 22A is stopped, the first process is not performed.
  • the communication device 11 receives control information via the drive units 2A and 2B.
  • the PLC 1 acquires the first operation information and the second operation information stored by the control unit 22B from the control information.
  • the communication device 11 receives the frame (A-4) in FIG. 4, the PLC 1 obtains the current value (A) stored in the area (5) of the frame, and obtains the current value (A) stored in the area (6) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • FIG. 5 is a diagram showing an example of each configuration of the drive units 2A and 2B.
  • the control section 22A has a motor control signal calculation section (hereinafter referred to as calculation section) 25A, and the control section 22B has a calculation section 25B.
  • calculation section a motor control signal calculation section
  • an encoder 4A is provided near the motor 3A
  • an encoder 4B is provided near the motor 3B.
  • the calculation unit 25A generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information.
  • a control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20.
  • the drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A.
  • Encoder 4A sends position information of motor 3A to drive unit 23A.
  • the drive unit 23A sends position information of the motor 3A to the calculation unit 25A via the built-in bus 20.
  • the calculation unit 25A acquires the position information of the motor 3A, and sends the position information of the motor 3A to the calculation unit 25B via the built-in bus 20. Further, the drive unit 23A may send position information of the motor 3A to the calculation unit 25B via the built-in bus 20.
  • the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information.
  • a control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20.
  • the drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B.
  • Encoder 4B sends position information of motor 3B to drive unit 23B.
  • the drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20.
  • the calculation unit 25B acquires the position information of the motor 3B, and sends the position information of the motor 3B to the calculation unit 25A via the built-in bus 20. Further, the drive unit 23B may send position information of the motor 3B to the calculation unit 25A via the built-in bus 20.
  • the calculation unit 25A generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25A stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • the calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • FIG. 6 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information. Further, the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information.
  • a control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20.
  • a control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20.
  • the drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A.
  • the drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B.
  • the encoder 4A sends position information of the motor 3A to the drive unit 23A.
  • Encoder 4B sends position information of motor 3B to drive unit 23B.
  • the drive unit 23A sends position information of the motor 3A to the calculation unit 25B via the built-in bus 20.
  • the drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20.
  • the calculation unit 25B acquires the position information of the motor 3A and the position information of the motor 3B.
  • the calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B.
  • the calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
  • the control section 22B accesses the drive section 23A via the built-in bus 20 and controls the motor 3A. Thereby, the control section 22B can control the drive section 23A to drive the motor 3A. In this way, even if the control section 22A of the drive unit 2A stops, the control section 22B of the drive unit 2B adjacent to the drive unit 2A controls the drive section 23A, thereby avoiding stopping of the motor 3A. . Stopping of the drive unit 2A is avoided, and the drive system 100 can continue to operate.
  • the control information includes the first operation information and the second operation information. Therefore, even if the control section 22A of the drive unit 2A stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3A in the control information based on the first operation information. This prevents the drive unit 2A from stopping and allows the drive system 100 to continue operating.
  • the drive unit 2A sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2A includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (second operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22B of the drive unit 2B, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
  • the drive unit 2B sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2B includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (first operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22A of the drive unit 2A, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
  • the control section 22A controls the drive sections 23A and 23B based on the control information. Thereby, the control section 22A can control the drive section 23B to drive the motor 3B. In this way, even if the control section 22B of the drive unit 2B stops, the control section 22A of the drive unit 2A adjacent to the drive unit 2B controls the drive section 23B, thereby avoiding stopping of the motor 3B. . Stopping of the drive unit 2B is avoided, and the drive system 100 can continue to operate.
  • the communication unit 21A receives control information from the communication device 11 and the control unit 22B is stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
  • the control information includes first operation information and second operation information. Therefore, even if the control section 22B of the drive unit 2B stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3B in the control information based on the second operation information. This prevents the drive unit 2B from stopping and allows the drive system 100 to continue operating.
  • control section 22A controls the drive sections 23A and 23B based on the control information.
  • the control unit 22A receives control information from the communication device 11 and the communication unit 21B and the control unit 22B are stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
  • FIG. 7 is a diagram showing the configuration of a drive system 200 according to a comparative example.
  • the drive system 200 includes a PLC 201, drive units 202A, 202B, and motors 203A, 203B.
  • PLC 201 has a communication device 211.
  • the drive unit 202A includes a communication section 221A, a control section 222A, and a power connector 223A.
  • a motor 203A is connected to the drive unit 202A via a power connector 223A.
  • Drive unit 202B includes a communication section 221B, a control section 222B, and a power connector 223B.
  • a motor 203B is connected to the drive unit 202B via a power connector 223B.
  • FIG. 8 is a diagram showing a frame according to a comparative example.
  • the frame (B-1) in FIG. 8 is a frame transmitted from the PLC 201, and the frame (B-2) in FIG. 8 is a frame received by the PLC 201.
  • the frame in FIG. 8 is an EtherCAT (registered trademark) frame.
  • the frame in FIG. 8 includes a header, a footer, an area (21) for storing a command value (C), and an area (22) for storing a command value (D).
  • the command value (C) is a command value for driving the motor 203A
  • the command value (D) is a command value for driving the motor 203B.
  • the frame area (21) is an area updated by the control unit 222A
  • the frame area (22) is an area updated by the control unit 222B.
  • the current value (D) is stored in the area (21) of the frame.
  • the current value (D) is stored in the area (22) of the frame.
  • the communication unit 221A receives a frame transmitted from the communication device 211.
  • the control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211.
  • the communication unit 221B receives frames transmitted from the communication unit 221A.
  • the control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A.
  • the control unit 222A cannot control the motor 203B connected to the drive unit 202B.
  • the control unit 222B cannot control the motor 203A connected to the drive unit 202A.
  • FIG. 9 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops.
  • the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops.
  • the drive unit 202B cannot acquire frames from the drive unit 202A. Therefore, the control unit 222B cannot control the motor 203B, and the motor 203B stops.
  • the drive system 200 according to the comparative example when the communication unit 221A stops, the drive units 202A and 202B cannot continue operating, and the motors 203A and 203B stop. Therefore, the drive system 200 according to the comparative example cannot continue to operate.
  • FIG. 10 is a diagram showing an example of the configuration of a drive system 100 according to the second embodiment.
  • the PLC 1 and the drive units 2A and 2B are communicably connected by a so-called ring topology. Control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21A of the drive unit 2A. Further, control information is transmitted and received between the communication section 21A of the drive unit 2A and the communication section 21B of the drive unit 2B. Further, control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21B of the drive unit 2B.
  • control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21A of the drive unit 2A, and control information is transmitted from the communication section 21A of the drive unit 2A to the communication section 21B of the drive unit 2B.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B.
  • the control unit 22B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11.
  • control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21B of the drive unit 2B, and control information is transmitted from the communication section 21B of the drive unit 2B to the communication section 21A of the drive unit 2A.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication unit 21A.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication device 11.
  • the second case will be explained.
  • the communication unit 21B When the communication unit 21B receives control information from the communication device 11, the communication unit 21B transmits the control information to the communication unit 21A.
  • the control unit 22A When the communication unit 21A receives control information from the communication unit 21B, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B.
  • the control unit 22B When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11. For example, if the cable between the communication device 11 and the communication unit 21A is disconnected, the process described in the second case is performed.
  • FIG. 11 is a diagram showing an example of the operation of the drive units 2A and 2B when the communication section 21A and the control section 22A are stopped.
  • the communication unit 21B receives control information from the communication device 11.
  • the control section 22B controls the drive sections 23A and 23B based on the control information.
  • FIG. 12 is a diagram showing an example of control information.
  • (A-5) and (A-6) in FIG. 12 show frames that are examples of control information, and the frame (A-5) in FIG. 12 is a frame transmitted from the PLC 1.
  • the frame (A-6) in FIG. 12 is a frame received by the PLC1.
  • the frame (A-5) in FIG. 12 is similar to the frame (A-1) in FIG. Since the communication unit 21A and the control unit 22A are stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-6) in FIG. 12.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information.
  • the control unit 22B receives a frame from the communication device 11, the control unit 22B stores the current value (A), which is the first operation information, in the area (5) of the frame, and stores the second value in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-6) of FIG. 12, the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6).
  • the communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication device 11.
  • control section 22A controls the drive sections 23A and 23B based on the control information.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
  • the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information.
  • the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
  • FIG. 13 is a diagram showing the configuration of a drive system 300 according to a comparative example.
  • a PLC 201 and drive units 202A and 202B are communicably connected by a so-called ring topology.
  • the other configuration of the drive system 300 according to the comparative example shown in FIG. 13 is the same as the configuration of the drive system 200 according to the comparative example shown in FIG.
  • the frames transmitted and received in the drive system 300 according to the comparative example shown in FIG. 13 are the same as the frames according to the comparative example shown in FIG.
  • the communication unit 221A receives a frame transmitted from the communication device 211.
  • the control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211.
  • the communication unit 221B receives frames transmitted from the communication unit 221A.
  • the control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A.
  • the control unit 222A cannot control the motor 203B connected to the drive unit 202B.
  • the control unit 222B cannot control the motor 203A connected to the drive unit 202A.
  • FIG. 14 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops.
  • the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops.
  • the drive unit 202B can acquire frames from the PLC 201. Therefore, the control unit 222B can control the motor 203B, and can avoid stopping the motor 203B.
  • the drive system 300 according to the comparative example when the communication unit 221A stops, the drive unit 202A cannot continue its operation, and the motor 203A stops. Therefore, the drive system 300 according to the comparative example cannot continue to operate.
  • FIG. 15 is a diagram showing control information in a modified example.
  • (A-7) and (A-8) in FIG. 15 show frames that are examples of control information, and the frame (A-7) in FIG. 15 is a frame transmitted from the PLC 1.
  • the frame (A-7) in FIG. 15 is a frame received by the PLC1.
  • the frame in FIG. 15 may be, for example, an EtherCAT (registered trademark) frame.
  • the frame in FIG. 15 includes a header, a footer, an area (11) for storing the command value (A), an area (12) for storing the command value (B), and an area (12) for storing the current value (A).
  • the command value (A) is a command value for driving the motor 3A
  • the command value (B) is a command value for driving the motor 3B.
  • Areas (3) and (4) of the frame are areas that are updated by the control unit 22A as well as areas that are updated by the control unit 22B. Since the frame (A-7) in FIG. 15 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in areas (3) and (4) of the frame.
  • the control unit 22A updates regions (13) and (14) of the frame by performing the first process. That is, the control unit 22A stores the current value (A) in the frame area (13), and stores the current value (B) in the frame area (14).
  • the communication unit 21A sends a frame in which the current value (A) and the current value (B) are stored to the communication unit 21B.
  • the control unit 22B updates regions (13) and (14) of the frame by performing the second process. When the communication unit 21B receives a frame from the communication unit 21A, the current value (A) and the current value (B) are already stored in areas (13) and (14) of the frame.
  • the control unit 22B overwrites the current value (A) and current value (B) stored in areas (13) and (14) of the frame. Therefore, the frame includes the command value (A), the command value (B), and the current values (A) and (B) stored by the control unit 22A or the control unit 22B.
  • the communication device 11 receives frames that have passed through the drive units 2A and 2B.
  • PLC1 acquires the current value (A) and current value (B) from areas (13) and (14) of the frame.
  • the PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
  • the control unit 22A is stopped, the control unit 22B can store the current value (A) and the current value (B) in areas (13) and (14) of the frame.
  • the control unit 22A can store the current value (A) and the current value (B) in the areas (13) and (14) of the frame. Therefore, even if the control unit 22A or the control unit 22B stops, the PLC 1 can obtain the current value (A) and the current value (B) from the frame, and the drive system 100 can continue to operate.
  • the first drive unit (2A) includes a first communication section (21A) that transmits and receives the control information, a first control section (22A), and a first electric motor (3A) connected to the first drive unit (2A).
  • the second drive unit (2B) includes a second communication section (21B) that transmits and receives the control information, a second control section (22B), and a second electric motor (3B) connected to the second drive unit (2B).
  • a second drive unit (23B) that drives the Based on the control information, the first control section (21B) controls the first drive section (21B) via a connection line (20) connecting the first drive unit (2A) and the second drive unit (2B).
  • the second control unit (22B) can control the first drive unit (23A) and the second drive unit (23B) via the connection line (20) based on the control information,
  • the first control section (22A) controls the first drive section (23A) when the second control section (22B) is operating, and when the second control section (22B) is stopped.
  • the second control section (22B) controls the second drive section (23B) when the first control section (22A) is operating, and when the first control section (22A) is stopped.
  • controlling the first driving section (23A) and the second driving section (23B) Drive system (100).
  • the control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and the control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and ), the control information is transmitted and received between When the first communication unit (21A) receives the control information from the communication device (11), the first control unit (22A) receives the first operation information regarding the operation of the first electric motor (3A) and the first operation information regarding the operation of the first electric motor (3A).
  • the control information is transmitted and received between the communication device (11) and the second communication unit (21B), When the second communication unit (21B) receives the control information from the communication device (11), the second control unit (22B) performs the second process.
  • the drive system (100) according to Appendix 2.
  • the communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). and transmitting the control information including a third area, a fourth area, a fifth area, and a sixth area,
  • the first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area
  • the second control unit (22B) stores the first operation information in the fifth area and stores the second operation information in the sixth area.
  • the drive system (100) according to any one of appendices 2 to 8.
  • the communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). transmitting the control information including a third area and a fourth area;
  • the first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area,
  • the second control unit (22B) stores the first operation information in the third area and stores the second operation information in the fourth area.
  • the drive system (100) according to any one of appendices 2 to 8.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Programmable Controllers (AREA)

Abstract

The present invention enables a drive system to continue operating even when the control unit of a drive unit stops. The drive system comprises a controller, a first drive unit, and a second drive unit, and control information transmitted from the controller is returned to the controller via the first drive unit and the second drive unit. The first drive unit has a first communication unit, a first drive unit, and a first control unit, and the second drive unit has a second communication unit, a second drive unit, and a second control unit. The first control unit controls the first drive unit when the second control unit operates, and controls the first drive unit and the second drive unit when the second control unit stops. The second control unit controls the second drive unit when the first control unit operates, and controls the first drive unit and the second drive unit when the first control unit stops.

Description

ドライブシステムdrive system
　本発明は、ドライブシステムに関する。 The present invention relates to a drive system.
　モータを駆動するドライブシステムでは、一般に、ＰＬＣ（Programmable Logic Controller）等のコントローラからの指令に従って、ドライブユニット（ドライバ）によるモータ制御が行われたり、予め設定された情報に基づいて、ドライブユニットによるモータ制御が行われたりする。特許文献１には、複数のサーボモータを制御して駆動するサーボドライブシステムに関する技術が記載されている。 In a drive system that drives a motor, the drive unit (driver) generally controls the motor according to instructions from a controller such as a PLC (Programmable Logic Controller), or the drive unit controls the motor based on preset information. Sometimes it is done. Patent Document 1 describes a technology related to a servo drive system that controls and drives a plurality of servo motors.
特開２００３－１６９４９７号公報Japanese Patent Application Publication No. 2003-169497
　ドライブシステムにおいて、ドライブユニットの制御部に故障が発生することにより制御部が停止した場合、ドライブユニットが停止し、製造中のワークが破損する可能性がある。また、故障した制御部の交換が終わるまでドライブシステムの再稼働を行うことができず、作業効率が低下する。 In a drive system, if a failure occurs in the control section of the drive unit and the control section stops, the drive unit may stop and the work being manufactured may be damaged. Furthermore, the drive system cannot be restarted until the failed control unit is replaced, which reduces work efficiency.
　本発明は上記実情に鑑みてなされたものであって、その目的とするところは、ドライブユニットの制御部が停止した場合でも、ドライブシステムの稼働を継続することが可能な技術を提供することにある。 The present invention has been made in view of the above circumstances, and its purpose is to provide a technology that allows the drive system to continue operating even when the control section of the drive unit stops. .
　本願の一側面に係るドライブシステムは、コントローラと、第１ドライブユニットと、第２ドライブユニットとを備え、前記コントローラから送信される制御情報が前記第１ドライブユニット及び前記第２ドライブユニットを経由して前記コントローラに戻されるドライブシステムであって、前記第１ドライブユニットは、前記制御情報を送受信する第１通信部と、第１制御部と、前記第１ドライブユニットに接続された第１電動機を駆動する第１駆動部と、を有し、前記第２ドライブユニットは、前記制御情報を送受信する第２通信部と、第２制御部と、前記第２ドライブユニットに接続された第２電動機を駆動する第２駆動部と、を有し、前記第１制御部は、前記制御情報に基づいて、前記第１ドライブユニットと前記第２ドライブユニットとを接続する接続線を介して前記第１駆動部及び前記第２駆動部を制御可能であり、前記第２制御部は、前記制御情報に基づいて、前記接続線を介して前記第１駆動部及び前記第２駆動部を制御可能であり、前記第１制御部は、前記第２制御部が動作している場合、前記第１駆動部を制御し、前記第２制御部が停止している場合、前記第１駆動部及び前記第２駆動部を制御し、前記第２制御部は、前記第１制御部が動作している場合、前記第２駆動部を制御し、前記第１制御部が停止している場合、前記第１駆動部及び前記第２駆動部を制御する。 A drive system according to one aspect of the present application includes a controller, a first drive unit, and a second drive unit, and control information transmitted from the controller is transmitted to the controller via the first drive unit and the second drive unit. In the drive system to be returned, the first drive unit includes a first communication section that transmits and receives the control information, a first control section, and a first drive section that drives a first electric motor connected to the first drive unit. The second drive unit includes a second communication section that transmits and receives the control information, a second control section, and a second drive section that drives a second electric motor connected to the second drive unit. The first control section is capable of controlling the first drive section and the second drive section based on the control information via a connection line connecting the first drive unit and the second drive unit. The second control section can control the first drive section and the second drive section via the connection line based on the control information, and the first control section can control the first drive section and the second drive section based on the control information. When the control section is operating, the first drive section is controlled; when the second control section is stopped, the first drive section and the second drive section are controlled; When the first control section is operating, the second drive section is controlled, and when the first control section is stopped, the first drive section and the second drive section are controlled.
　第２ドライブユニットの第２制御部が停止した場合、第１ドライブユニットの第１制御部が、接続線を介して第２ドライブユニットの第２駆動部を制御して、第２ドライブユニットに接続された第２電動機を駆動する。第２ドライブユニットの第２制御部が停止した場合であっても、第２ドライブユニットの隣接の第１ドライブユニットの第１制御部が第２ドライブユニットの第２駆動部を制御することで、第２ドライブユニットに接続された第２電動機の停止を回避することができる。これにより、第２ドライブユニットの停止が回避され、ドライブシステムの稼働を継続することができる。第１ドライブユニットの第１制御部が停止した場合、第２ドライブユニットの第２制御部が、接続線を介して第１ドライブユニットの第１駆動部を制御して、第１ドライブユニットに接続された第１電動機を駆動する。第１ドライブユニットの第１制御部が停止した場合であっても、第１ドライブユニットの隣接の第２ドライブユニットの第２制御部が第１ドライブユニットの第１駆動部を制御することで、第１ドライブユニットに接続された第１電動機の停止を回避することができる。これにより、第１ドライブユニットの停止が回避され、ドライブシステムの稼働を継続することができる。 When the second control section of the second drive unit stops, the first control section of the first drive unit controls the second drive section of the second drive unit via the connection line to control the second drive section connected to the second drive unit. Drives an electric motor. Even if the second control section of the second drive unit stops, the first control section of the first drive unit adjacent to the second drive unit controls the second drive section of the second drive unit, so that the second drive unit Stopping of the connected second electric motor can be avoided. This prevents the second drive unit from stopping and allows the drive system to continue operating. When the first control section of the first drive unit stops, the second control section of the second drive unit controls the first drive section of the first drive unit via the connection line to control the first drive section connected to the first drive unit. Drives an electric motor. Even if the first control section of the first drive unit stops, the second control section of the second drive unit adjacent to the first drive unit controls the first drive section of the first drive unit, so that the first drive unit Stopping of the connected first electric motor can be avoided. This prevents the first drive unit from stopping and allows the drive system to continue operating.
　本ドライブユニットは、次の特徴を備えてもよい。前記コントローラが有する通信装置と前記第１通信部との間で前記制御情報が送受信され、かつ、前記第１通信部と前記第２通信部との間で前記制御情報が送受信され、前記第１通信部が前記通信装置から前記制御情報を受信した場合、前記第１制御部が前記第１電動機の動作に関する第１動作情報及び前記第２電動機の動作に関する第２動作情報を前記制御情報に含ませる第１処理を行い、前記第２通信部が前記第１通信部から前記制御情報を受信した場合、前記第２制御部が前記第１動作情報及び前記第２動作情報を前記制御情報に含ませる第２処理を行う。第１処理が行われることにより、制御情報は、第１動作情報及び第２動作情報を含む。したがって、第２ドライブユニットの第２制御部が停止した場合であっても、コントローラは、制御情報から第１動作情報及び第２動作情報を取得することができる。そのため、コントローラは、第２動作情報に基づいて、第２モータの駆動に関する指令値を制御情報に含めることが可能になる。これにより、第２ドライブユニットの停止が回避され、ドライブシステムの稼働を継続することができる。第２処理が行われることにより、制御情報は、第１動作情報及び第２動作情報を含む。したがって、第１ドライブユニットの第１制御部が停止した場合であっても、コントローラは、制御情報から第１動作情報及び第２動作情報を取得することができる。そのため、コントローラは、第１動作情報に基づいて、第１モータの駆動に関する指令値を制御情報に含めることが可能になる。これにより、第１ドライブユニットの停止が回避され、ドライブシステムの稼働を継続することができる。 This drive unit may have the following features. The control information is transmitted and received between a communication device included in the controller and the first communication unit, the control information is transmitted and received between the first communication unit and the second communication unit, and the control information is transmitted and received between the first communication unit and the second communication unit, and the first When the communication unit receives the control information from the communication device, the first control unit includes first operation information regarding the operation of the first electric motor and second operation information regarding the operation of the second electric motor in the control information. When the second communication unit receives the control information from the first communication unit, the second control unit includes the first operation information and the second operation information in the control information. Perform the second process to By performing the first process, the control information includes first operation information and second operation information. Therefore, even if the second control section of the second drive unit stops, the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the second motor in the control information based on the second operation information. This prevents the second drive unit from stopping and allows the drive system to continue operating. By performing the second process, the control information includes first operation information and second operation information. Therefore, even if the first control section of the first drive unit stops, the controller can acquire the first operation information and the second operation information from the control information. Therefore, the controller can include a command value related to driving the first motor in the control information based on the first operation information. This prevents the first drive unit from stopping and allows the drive system to continue operating.
　本ドライブユニットは、次の特徴を備えてもよい。前記通信装置と前記第２通信部との間で前記制御情報が送受信され、前記第２通信部が前記通信装置から前記制御情報を受信した場合、前記第２制御部が前記第２処理を行う。これにより、第２ドライブユニットの第２通信部が通信装置から制御情報を受信した場合に、第２ドライブユニットの第２制御部によって第２処理が行われるようになる。 This drive unit may have the following features. When the control information is transmitted and received between the communication device and the second communication unit, and the second communication unit receives the control information from the communication device, the second control unit performs the second processing. . Thereby, when the second communication section of the second drive unit receives control information from the communication device, the second control section of the second drive unit performs the second process.
　本ドライブユニットは、次の特徴を備えてもよい。前記第１通信部が前記通信装置から前記制御情報を受信し、かつ、前記第２通信部が停止している場合、前記第１処理が行われた後、前記第１通信部が前記通信装置に前記制御情報を送信する。第１ドライブユニットの第１制御部が第１処理を行った後に第１ドライブユニットの第１通信部が通信装置に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 This drive unit may have the following features. If the first communication unit receives the control information from the communication device and the second communication unit is stopped, after the first process is performed, the first communication unit receives the control information from the communication device. The control information is transmitted to. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
　本ドライブユニットは、次の特徴を備えてもよい。前記第１通信部が前記通信装置から前記制御情報を受信し、かつ、前記第２通信部及び前記第２制御部が停止している場合、前記第１処理が行われた後、前記第１通信部が前記通信装置に前記制御情報を送信する。第１ドライブユニットの第１制御部が第１処理を行った後に第１ドライブユニットの第１通信部が通信装置に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 This drive unit may have the following features. When the first communication unit receives the control information from the communication device and the second communication unit and the second control unit are stopped, after the first process is performed, the first A communication unit transmits the control information to the communication device. Since the first communication section of the first drive unit sends control information to the communication device after the first control section of the first drive unit performs the first process, the control information includes the first operation information and the second operation information.
　本ドライブユニットは、次の特徴を備えてもよい。前記第２通信部が前記通信装置から前記制御情報を受信し、かつ、前記第１通信部が停止している場合、前記第２処理が行われた後、前記第２通信部が前記通信装置に前記制御情報を送信する。第２ドライブユニットの第２制御部が第２処理を行った後に第２ドライブユニットの第２通信部が通信装置に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 This drive unit may have the following features. When the second communication unit receives the control information from the communication device and the first communication unit is stopped, after the second process is performed, the second communication unit receives the control information from the communication device. The control information is transmitted to. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
　本ドライブユニットは、次の特徴を備えてもよい。前記第２通信部が前記通信装置から前記制御情報を受信し、かつ、前記第１通信部及び前記第１制御部が停止している場合、前記第２処理が行われた後、前記第２通信部が前記通信装置に前記制御情報を送信する。第２ドライブユニットの第２制御部が第２処理を行った後に第２ドライブユニットの第２通信部が通信装置に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 This drive unit may have the following features. When the second communication unit receives the control information from the communication device and the first communication unit and the first control unit are stopped, after the second process is performed, the second communication unit A communication unit transmits the control information to the communication device. Since the second communication section of the second drive unit sends the control information to the communication device after the second control section of the second drive unit performs the second process, the control information includes the first operation information and the second operation information.
　本ドライブユニットは、次の特徴を備えてもよい。前記第１制御部は、前記第２制御部が動作している場合、前記第１駆動部を制御すると共に前記第１動作情報を取得し、かつ、前記接続線を介して前記第１動作情報を前記第２制御部に送り、前記第２制御部は、前記第１制御部が動作している場合、前記第２駆動部を制御すると共に前記第２動作情報を取得し、かつ、前記接続線を介して前記第２動作情報を前記第１制御部に送る。これにより、第１ドライブユニットの第１制御部と第２ドライブユニットの第２制御部との間で、第１動作情報及び第２動作情報を共有することができる。 This drive unit may have the following features. When the second control unit is operating, the first control unit controls the first drive unit and acquires the first operation information, and transmits the first operation information via the connection line. to the second control unit, and the second control unit controls the second drive unit and acquires the second operation information when the first control unit is operating, and the second control unit controls the connection. The second operation information is sent to the first controller via a line. Thereby, the first operation information and the second operation information can be shared between the first control section of the first drive unit and the second control section of the second drive unit.
　本ドライブユニットは、次の特徴を備えてもよい。前記通信装置は、前記第１電動機の駆動に関する第１指令値を格納する第１領域と、前記第２電動機の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域と、第５領域と、第６領域とを含む前記制御情報を送信し、前記第１制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、前記第２制御部は、前記第５領域に前記第１動作情報を格納し、前記第６領域に前記第２動作情報を格納する。これにより、制御情報には、第１指令値と、第２指令値と、第１ドライブユニットの第１制御部によって格納された第１動作情報及び第２動作情報と、第２ドライブユニットの第２制御部によって格納された第１動作情報及び第２動作情報とが含まれる。 This drive unit may have the following features. The communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. area, a fifth area, and a sixth area, the first control unit stores the first operation information in the third area, and stores the second operation information in the fourth area. The second control unit stores the first operation information in the fifth area and stores the second operation information in the sixth area. As a result, the control information includes the first command value, the second command value, the first operation information and second operation information stored by the first control section of the first drive unit, and the second control value of the second drive unit. First operation information and second operation information stored by the unit are included.
　本ドライブユニットは、次の特徴を備えてもよい。前記通信装置は、前記第１電動機の駆動に関する第１指令値を格納する第１領域と、前記第２電動機の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域とを含む前記制御情報を送信し、前記第１制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、前記第２制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納する。これにより、制御情報には、第１指令値と、第２指令値と、第１ドライブユニットの第１制御部又は第２ドライブユニットの第２制御部によって格納された第１動作情報及び第２動作情報とが含まれる。 This drive unit may have the following features. The communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. The first control unit stores the first operation information in the third area, stores the second operation information in the fourth area, and transmits the control information including the second control area. The unit stores the first motion information in the third area and stores the second motion information in the fourth area. As a result, the control information includes the first command value, the second command value, and the first operation information and second operation information stored by the first control section of the first drive unit or the second control section of the second drive unit. and is included.
　本発明によれば、ドライブユニットの制御部が停止した場合でも、ドライブシステムの稼働を継続することが可能な技術を提供することができる。 According to the present invention, it is possible to provide a technology that allows the drive system to continue operating even if the control section of the drive unit stops.
図１は、第１実施形態に係るドライブシステムの構成の一例を示す図である。FIG. 1 is a diagram showing an example of the configuration of a drive system according to the first embodiment. 図２は、制御情報の一例を示す図である。FIG. 2 is a diagram showing an example of control information. 図３は、制御部が停止した場合の各ドライブユニットの動作の一例を示す図である。FIG. 3 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped. 図４は、制御情報の一例を示す図である。FIG. 4 is a diagram showing an example of control information. 図５は、各ドライブユニットの各構成の一例を示す図である。FIG. 5 is a diagram showing an example of each configuration of each drive unit. 図６は、制御部が停止した場合の各ドライブユニットの動作の一例を示す図である。FIG. 6 is a diagram illustrating an example of the operation of each drive unit when the control section is stopped. 図７は、比較例に係るドライブシステムの構成を示す図である。FIG. 7 is a diagram showing the configuration of a drive system according to a comparative example. 図８は、比較例に係るフレームを示す図である。FIG. 8 is a diagram showing a frame according to a comparative example. 図９は、比較例に係る通信部が停止した場合の各ドライブユニットの動作を示す図である。FIG. 9 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops. 図１０は、第２実施形態に係る各ドライブシステムの構成の一例を示す図である。FIG. 10 is a diagram showing an example of the configuration of each drive system according to the second embodiment. 図１１は、通信部及び制御部が停止した場合の各ドライブユニットの動作の一例を示す図である。FIG. 11 is a diagram illustrating an example of the operation of each drive unit when the communication section and the control section are stopped. 図１２は、制御情報の一例を示す図である。FIG. 12 is a diagram showing an example of control information. 図１３は、比較例に係るドライブシステムの構成を示す図である。FIG. 13 is a diagram showing the configuration of a drive system according to a comparative example. 図１４は、比較例に係る通信部が停止した場合の各ドライブユニットの動作を示す図である。FIG. 14 is a diagram showing the operation of each drive unit when the communication section according to the comparative example stops. 図１５は、変形例における制御情報を示す図である。FIG. 15 is a diagram showing control information in a modified example.
　＜第１実施形態＞
　図面を参照して第１実施形態に係るドライブシステムについて説明する。図１は、第１実施形態に係るドライブシステム１００の構成の一例を示す図である。ドライブシステム１００は、ＰＬＣ１、ドライブユニット２Ａ，２Ｂ及びモータ３Ａ，３Ｂを備える。ドライブユニット２Ａは、ＰＬＣ１からの指令に基づいて、モータ（サーボモータ）３Ａ，３Ｂの制御を行う。ドライブユニット２Ａは、第１ドライブユニットの一例である。ドライブユニット２Ｂは、ＰＬＣ１からの指令に基づいて、モータ３Ａ，３Ｂの制御を行う。ドライブユニット２Ｂは、第２ドライブユニットの一例である。図１では、ドライブユニット２Ａ，２Ｂの制御対象はモータ３Ａ，３Ｂであるが、図１の構成に限定されず、ドライブユニット２Ａ，２Ｂの制御対象は他の機器であってもよい。ＰＬＣ１とドライブユニット２Ａ，２Ｂとは有線によって接続されている。ＰＬＣ１及びドライブユニット２Ａ，２Ｂにおける通信方法として、例えば、ＥｔｈｅｒＣＡＴ（登録商標）などの通信プロトコルを用いてもよい。ドライブユニット２Ａにモータ３Ａが接続され、ドライブユニット２Ｂにモータ３Ｂが接続されている。モータ３Ａは、第１電動機の一例である。モータ３Ｂは、第２電動機の一例である。 <First embodiment>
A drive system according to a first embodiment will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the configuration of a drive system 100 according to the first embodiment. The drive system 100 includes a PLC 1, drive units 2A, 2B, and motors 3A, 3B. The drive unit 2A controls the motors (servo motors) 3A and 3B based on commands from the PLC 1. The drive unit 2A is an example of a first drive unit. Drive unit 2B controls motors 3A and 3B based on commands from PLC1. Drive unit 2B is an example of a second drive unit. In FIG. 1, the control targets of the drive units 2A and 2B are the motors 3A and 3B, but the configuration is not limited to that of FIG. 1, and the control targets of the drive units 2A and 2B may be other devices. The PLC 1 and the drive units 2A and 2B are connected by wire. As a communication method between the PLC 1 and the drive units 2A and 2B, for example, a communication protocol such as EtherCAT (registered trademark) may be used. A motor 3A is connected to the drive unit 2A, and a motor 3B is connected to the drive unit 2B. Motor 3A is an example of a first electric motor. Motor 3B is an example of a second electric motor.
　ＰＬＣ１は、予め準備されたプログラムに従う処理を実行することによって、例えば、ドライブシステム１００の監視装置として機能する。ＰＬＣ１は、コントローラの一例である。ＰＬＣ１から制御情報が送信される。図１に示すドライブシステム１００では、ＰＬＣ１から送信される制御情報が、ドライブユニット２Ａ，２Ｂを経由してＰＬＣ１に戻される。制御情報は、モータ３Ａの駆動に関する指令値（第１指令値）と、モータ３Ｂの駆動に関する指令値（第２指令値）とを含む。制御情報の詳細については後述する。 The PLC 1 functions, for example, as a monitoring device for the drive system 100 by executing processing according to a program prepared in advance. PLC1 is an example of a controller. Control information is transmitted from PLC1. In the drive system 100 shown in FIG. 1, control information transmitted from the PLC 1 is returned to the PLC 1 via the drive units 2A and 2B. The control information includes a command value for driving the motor 3A (first command value) and a command value for driving the motor 3B (second command value). Details of the control information will be described later.
　ドライブユニット２Ａ，２Ｂには、ドライブユニット２Ａとドライブユニット２Ｂとを接続する接続線である内蔵バス２０が設けられている。ドライブユニット２Ａは、通信部２１Ａと、制御部２２Ａと、駆動部２３Ａと、動力コネクタ２４Ａとを有する。ドライブユニット２Ｂは、通信部２１Ｂと、制御部２２Ｂと、駆動部２３Ｂと、動力コネクタ２４Ｂとを有する。通信部２１Ａ，２１Ｂは、制御情報を送受信する。通信部２１Ａは、第１通信部の一例である。通信部２１Ｂは、第２通信部の一例である。ＰＬＣ１が有する通信装置１１と通信部２１Ａとの間で制御情報が送受信される。また、通信部２１Ａと通信部２１Ｂとの間で制御情報が送受信される。 The drive units 2A and 2B are provided with a built-in bus 20, which is a connection line that connects the drive unit 2A and the drive unit 2B. The drive unit 2A includes a communication section 21A, a control section 22A, a drive section 23A, and a power connector 24A. The drive unit 2B includes a communication section 21B, a control section 22B, a drive section 23B, and a power connector 24B. The communication units 21A and 21B transmit and receive control information. The communication unit 21A is an example of a first communication unit. The communication unit 21B is an example of a second communication unit. Control information is transmitted and received between the communication device 11 included in the PLC 1 and the communication section 21A. Further, control information is transmitted and received between the communication section 21A and the communication section 21B.
　ドライブユニット２Ａには、動力コネクタ２４Ａを介してモータ３Ａが接続されている。駆動部２３Ａは、ドライブユニット２Ａに接続されたモータ３Ａを駆動する駆動回路である。駆動部２３Ａは、第１駆動部の一例である。ドライブユニット２Ｂには、動力コネクタ２４Ｂを介してモータ３Ｂが接続されている。駆動部２３Ｂは、ドライブユニット２Ｂに接続されたモータ３Ｂを駆動する駆動回路である。駆動部２３Ｂは、第２駆動部の一例である。 A motor 3A is connected to the drive unit 2A via a power connector 24A. The drive unit 23A is a drive circuit that drives the motor 3A connected to the drive unit 2A. The drive unit 23A is an example of a first drive unit. A motor 3B is connected to the drive unit 2B via a power connector 24B. The drive section 23B is a drive circuit that drives the motor 3B connected to the drive unit 2B. The drive section 23B is an example of a second drive section.
　制御部２２Ａは、制御情報に基づいて、内蔵バス２０を介して駆動部２３Ａ，２３Ｂを制御可能である。制御部２２Ａは、第１制御部の一例である。制御部２２Ｂは、制御情報に基づいて、内蔵バス２０を介して駆動部２３Ａ，２３Ｂを制御可能である。制御部２２Ｂは、第２制御部の一例である。制御部２２Ａは、制御部２２Ｂが動作している場合、駆動部２３Ａを制御し、制御部２２Ｂが停止している場合、駆動部２３Ａ，２３Ｂを制御する。制御部２２Ｂの停止は、制御部２２Ｂの故障などが原因で、制御部２２Ｂの修理や交換が必要な場合や、制御部２２Ｂの再起動が必要な場合などを含む。制御部２２Ａは、駆動部２３Ａを制御することで、モータ３Ａを制御し、駆動部２３Ｂを制御することで、モータ３Ｂを制御する。制御情報は、モータ３Ａの駆動に関する指令値及びモータ３Ｂの駆動に関する指令値を含む。制御部２２Ａは、制御情報からモータ３Ａの駆動に関する指令値を取得し、モータ３Ａの駆動に関する指令値に基づいて、駆動部２３Ａを制御する。制御部２２Ａは、制御情報からモータ３Ｂの駆動に関する指令値を取得し、モータ３Ｂの駆動に関する指令値に基づいて、駆動部２３Ｂを制御する。 The control unit 22A can control the drive units 23A and 23B via the built-in bus 20 based on the control information. The control unit 22A is an example of a first control unit. The control section 22B can control the drive sections 23A and 23B via the built-in bus 20 based on the control information. The control unit 22B is an example of a second control unit. The control section 22A controls the drive section 23A when the control section 22B is operating, and controls the drive sections 23A and 23B when the control section 22B is stopped. Stopping of the control unit 22B includes cases where the control unit 22B needs to be repaired or replaced due to a failure of the control unit 22B, cases where the control unit 22B needs to be restarted, and the like. The control unit 22A controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B. The control information includes a command value for driving the motor 3A and a command value for driving the motor 3B. The control unit 22A acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A. The control unit 22A acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
　制御部２２Ｂは、制御部２２Ａが動作している場合、駆動部２３Ｂを制御し、制御部２２Ａが停止している場合、駆動部２３Ａ，２３Ｂを制御する。制御部２２Ａの停止は、制御部２２Ａの故障などが原因で、制御部２２Ａの修理や交換が必要な場合や、制御部２２Ａの再起動が必要な場合などを含む。制御部２２Ｂは、駆動部２３Ａを制御することで、モータ３Ａを制御し、駆動部２３Ｂを制御することで、モータ３Ｂを制御する。制御部２２Ｂは、制御情報からモータ３Ａの駆動に関する指令値を取得し、モータ３Ａの駆動に関する指令値に基づいて、駆動部２３Ａを制御する。制御部２２Ｂは、制御情報からモータ３Ｂの駆動に関する指令値を取得し、モータ３Ｂの駆動に関する指令値に基づいて、駆動部２３Ｂを制御する。 The control unit 22B controls the drive unit 23B when the control unit 22A is operating, and controls the drive units 23A and 23B when the control unit 22A is stopped. Stopping of the control unit 22A includes cases where the control unit 22A needs to be repaired or replaced due to a failure of the control unit 22A, cases where the control unit 22A needs to be restarted, and the like. The control unit 22B controls the motor 3A by controlling the drive unit 23A, and controls the motor 3B by controlling the drive unit 23B. The control unit 22B acquires a command value regarding the drive of the motor 3A from the control information, and controls the drive unit 23A based on the command value regarding the drive of the motor 3A. The control unit 22B acquires a command value regarding the drive of the motor 3B from the control information, and controls the drive unit 23B based on the command value regarding the drive of the motor 3B.
　図２は、制御情報の一例を示す図である。図２の（Ａ－１）及び（Ａ－２）には、制御情報の一例であるフレームが示されており、図２の（Ａ－１）のフレームは、ＰＬＣ１から送信されるフレームであり、図２の（Ａ－２）のフレームは、ＰＬＣ１が受信したフレームである。図２のフレームは、例えば、ＥｔｈｅｒＣＡＴ（登録商標）フレームであってもよい。図２のフレームは、ヘッダと、フッタと、指令値（Ａ）を格納する領域（１）と、指令値（Ｂ）を格納する領域（２）と、現在値（Ａ）を格納する領域（３）と、現在値（Ｂ）を格納する領域（４）と、現在値（Ａ）を格納する領域（５）と、現在値（Ｂ）を格納する領域（６）とを含む。指令値（Ａ）は、モータ３Ａの駆動に関する指令値であり、指令値（Ｂ）は、モータ３Ｂの駆動に関する指令値である。フレームの領域（３）及び（４）は、制御部２２Ａによって更新される領域であり、フレームの領域（５）及び（６）は、制御部２２Ｂによって更新される領域である。図２の（Ａ－１）のフレームは、ドライブユニット２Ａ，２Ｂを経由していないため、フレームの領域（３）～（６）に現在値（Ａ）及び（Ｂ）が格納されていない。 FIG. 2 is a diagram showing an example of control information. (A-1) and (A-2) in FIG. 2 show frames that are examples of control information, and the frame (A-1) in FIG. 2 is a frame transmitted from the PLC 1. The frame (A-2) in FIG. 2 is a frame received by the PLC1. The frame of FIG. 2 may be, for example, an EtherCAT (registered trademark) frame. The frame in FIG. 2 includes a header, a footer, an area (1) for storing the command value (A), an area (2) for storing the command value (B), and an area (2) for storing the current value (A). 3), an area (4) for storing the current value (B), an area (5) for storing the current value (A), and an area (6) for storing the current value (B). The command value (A) is a command value for driving the motor 3A, and the command value (B) is a command value for driving the motor 3B. Areas (3) and (4) of the frame are areas updated by the control unit 22A, and areas (5) and (6) of the frame are areas updated by the control unit 22B. Since the frame (A-1) in FIG. 2 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in the areas (3) to (6) of the frame.
　通信部２１Ａが通信装置１１から制御情報を受信した場合、制御部２２Ａは、モータ３Ａの動作に関する第１動作情報及びモータ３Ｂの動作に関する第２動作情報を制御情報に含ませる処理（以下、第１処理と表記する。）を行う。モータ３Ａの動作に関する第１動作情報は、例えば、モータ３Ａの回転速度、位置などの情報を含む。モータ３Ｂの動作に関する第２動作情報は、例えば、モータ３Ｂの回転速度、位置などの情報を含む。通信部２１Ａが通信装置１１からフレームを受信した場合、制御部２２Ａは、フレームの領域（３）に第１動作情報である現在値（Ａ）を格納し、フレームの領域（４）に第２動作情報である現在値（Ｂ）を格納する。通信部２１Ｂが通信部２１Ａから制御情報を受信した場合、制御部２２Ｂは、第１動作情報及び第２動作情報を制御情報に含ませる処理（以下、第２処理と表記する。）を行う。通信部２１Ｂが通信部２１Ａからフレームを受信した場合、制御部２２Ｂは、フレームの領域（５）に第１動作情報である現在値（Ａ）を格納し、フレームの領域（６）に第２動作情報である現在値（Ｂ）を格納する。図２の（Ａ－２）に示すように、制御部２２Ａによりフレームの領域（３）及び（４）が更新され、制御部２２Ｂによりフレームの領域（５）及び（６）が更新されることにより、フレームの領域（３）及び（５）に現在値（Ａ）が格納され、フレームの領域（４）及び（６）に現在値（Ｂ）が格納される。したがって、フレームには、指令値（Ａ）と、指令値（Ｂ）と、制御部２２Ａによって格納された現在値（Ａ）及び（Ｂ）と、制御部２２Ｂによって格納された現在値（Ａ）及び（Ｂ）とが含まれる。 When the communication unit 21A receives control information from the communication device 11, the control unit 22A performs a process (hereinafter referred to as “first operation information”) of including in the control information first operation information regarding the operation of the motor 3A and second operation information regarding the operation of the motor 3B. (referred to as 1 process). The first operation information regarding the operation of the motor 3A includes, for example, information such as the rotational speed and position of the motor 3A. The second operation information regarding the operation of the motor 3B includes, for example, information such as the rotational speed and position of the motor 3B. When the communication unit 21A receives a frame from the communication device 11, the control unit 22A stores the current value (A) which is the first operation information in the area (3) of the frame, and stores the current value (A) which is the first operation information in the area (4) of the frame. Stores the current value (B) which is operation information. When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22B performs a process (hereinafter referred to as a second process) of including the first operation information and the second operation information in the control information. When the communication unit 21B receives a frame from the communication unit 21A, the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in (A-2) of FIG. 2, areas (3) and (4) of the frame are updated by the control unit 22A, and areas (5) and (6) of the frame are updated by the control unit 22B. Accordingly, the current value (A) is stored in areas (3) and (5) of the frame, and the current value (B) is stored in areas (4) and (6) of the frame. Therefore, the frame includes the command value (A), the command value (B), the current values (A) and (B) stored by the control unit 22A, and the current value (A) stored by the control unit 22B. and (B).
　通信装置１１は、ドライブユニット２Ａ，２Ｂを経由した制御情報を受信する。ＰＬＣ１は、制御情報から制御部２２Ａによって格納された第１動作情報を取得し、制御情報から制御部２２Ｂによって格納された第２動作情報を取得する。通信装置１１が図２の（Ａ－２）のフレームを受信した場合、ＰＬＣ１は、フレームの領域（３）に格納された現在値（Ａ）を取得し、フレームの領域（６）に格納された現在値（Ｂ）を取得する。ＰＬＣ１は、取得した現在値（Ａ）及び（Ｂ）を使用して、所定の処理を行う。 The communication device 11 receives control information via the drive units 2A and 2B. The PLC 1 acquires first operation information stored by the control unit 22A from the control information, and acquires second operation information stored by the control unit 22B from the control information. When the communication device 11 receives the frame (A-2) in FIG. 2, the PLC 1 obtains the current value (A) stored in the area (3) of the frame, and obtains the current value (A) stored in the area (6) of the frame. Obtain the current value (B). The PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
　通信部２１ＡがＰＬＣ１から制御情報を受信した場合、制御部２２Ａは、制御情報からモータ３Ａの駆動に関する指令値及びモータ３Ｂの駆動に関する指令値を取得する。また、通信部２１Ｂが通信部２１Ａから制御情報を受信した場合、制御部２２Ｂは、制御情報からモータ３Ａの駆動に関する指令値及びモータ３Ｂの駆動に関する指令値を取得する。このように、ドライブユニット２Ａとドライブユニット２Ｂとの間で、モータ３Ａの駆動に関する指令値及びモータ３Ｂの駆動に関する指令値を共有することができる。 When the communication unit 21A receives control information from the PLC 1, the control unit 22A acquires a command value regarding driving the motor 3A and a command value regarding driving the motor 3B from the control information. Further, when the communication unit 21B receives control information from the communication unit 21A, the control unit 22B acquires a command value related to driving the motor 3A and a command value related to driving the motor 3B from the control information. In this way, the command value for driving the motor 3A and the command value for driving the motor 3B can be shared between the drive unit 2A and the drive unit 2B.
　制御部２２Ａは、制御部２２Ｂが動作している場合、駆動部２３Ａを制御すると共に第１動作情報を取得し、かつ、内蔵バス２０を介して第１動作情報を制御部２２Ｂに送る。制御部２２Ｂは、制御部２２Ａが動作している場合、駆動部２３Ｂを制御すると共に第２動作情報を取得し、かつ、内蔵バス２０を介して第２動作情報を制御部２２Ａに送る。このように、ドライブユニット２Ａの制御部２２Ａとドライブユニット２Ｂの制御部２２Ｂとの間で、モータ３Ａの動作に関する情報（第１動作情報）及びモータ３Ｂの動作に関する情報（第２動作情報）を共有することができる。 When the control unit 22B is operating, the control unit 22A controls the drive unit 23A, acquires the first operation information, and sends the first operation information to the control unit 22B via the built-in bus 20. When the control unit 22A is operating, the control unit 22B controls the drive unit 23B, acquires the second operation information, and sends the second operation information to the control unit 22A via the built-in bus 20. In this way, the information regarding the operation of the motor 3A (first operation information) and the information regarding the operation of the motor 3B (second operation information) are shared between the control section 22A of the drive unit 2A and the control section 22B of the drive unit 2B. be able to.
　制御部２２Ａは、制御部２２Ｂが停止している場合、駆動部２３Ａ及び駆動部２３Ｂを制御すると共に第１動作情報及び第２動作情報を取得する。制御部２２Ｂは、制御部２２Ａが停止している場合、駆動部２３Ａ及び駆動部２３Ｂを制御すると共に第１動作情報及び第２動作情報を取得する。 When the control unit 22B is stopped, the control unit 22A controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information. When the control unit 22A is stopped, the control unit 22B controls the drive unit 23A and the drive unit 23B, and acquires the first operation information and the second operation information.
　図３は、制御部２２Ａが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例を示す図である。制御部２２Ａが停止している場合、制御部２２Ｂは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。図４は、制御情報の一例を示す図である。図４の（Ａ－３）及び（Ａ－４）には、制御情報の一例であるフレームが示されており、図４の（Ａ－３）のフレームは、ＰＬＣ１から送信されるフレームであり、図４の（Ａ－４）のフレームは、ＰＬＣ１が受信したフレームである。図４の（Ａ－３）のフレームは、図２の（Ａ－１）のフレームと同様である。制御部２２Ａが停止しているため、図４の（Ａ－４）のフレームの領域（３）及び（４）に現在値（Ａ）及び（Ｂ）が格納されていない。通信部２１Ｂが通信部２１Ａから制御情報を受信した場合、制御部２２Ａは第２処理を行う。通信部２１Ｂが通信部２１Ａからフレームを受信した場合、制御部２２Ｂは、フレームの領域（５）に第１動作情報である現在値（Ａ）を格納し、フレームの領域（６）に第２動作情報である現在値（Ｂ）を格納する。図４の（Ａ－４）のフレームに示すように、フレームの領域（５）に現在値（Ａ）が格納され、フレームの領域（６）に現在値（Ｂ）が格納される。通信部２１Ｂは、現在値（Ａ）及び（Ｂ）が格納されたフレームを通信部２１Ａに送信する。なお、制御部２２Ａが停止しているため、第１処理は行われない。 FIG. 3 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped. When the control section 22A is stopped, the control section 22B controls the drive sections 23A and 23B based on the control information. FIG. 4 is a diagram showing an example of control information. (A-3) and (A-4) in FIG. 4 show frames that are examples of control information, and the frame (A-3) in FIG. 4 is a frame transmitted from the PLC 1. The frame (A-4) in FIG. 4 is a frame received by the PLC1. The frame (A-3) in FIG. 4 is similar to the frame (A-1) in FIG. Since the control unit 22A is stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-4) in FIG. 4. When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22A performs the second process. When the communication unit 21B receives a frame from the communication unit 21A, the control unit 22B stores the current value (A) which is the first operation information in the area (5) of the frame, and stores the current value (A) which is the first operation information in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-4) of FIG. 4, the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6). The communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication unit 21A. Note that since the control unit 22A is stopped, the first process is not performed.
　通信装置１１は、ドライブユニット２Ａ，２Ｂを経由した制御情報を受信する。ＰＬＣ１は、制御情報から制御部２２Ｂによって格納された第１動作情報及び第２動作情報を取得する。通信装置１１が図４の（Ａ－４）のフレームを受信した場合、ＰＬＣ１は、フレームの領域（５）に格納された現在値（Ａ）を取得し、フレームの領域（６）に格納された現在値（Ｂ）を取得する。ＰＬＣ１は、取得した現在値（Ａ）及び（Ｂ）を使用して、所定の処理を行う。 The communication device 11 receives control information via the drive units 2A and 2B. The PLC 1 acquires the first operation information and the second operation information stored by the control unit 22B from the control information. When the communication device 11 receives the frame (A-4) in FIG. 4, the PLC 1 obtains the current value (A) stored in the area (5) of the frame, and obtains the current value (A) stored in the area (6) of the frame. Obtain the current value (B). The PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing.
　図５は、ドライブユニット２Ａ，２Ｂの各構成の一例を示す図である。図１と比較して、制御部２２Ａがモータ制御信号演算部（以下、演算部と表記する。）２５Ａを有し、制御部２２Ｂが演算部２５Ｂを有する。また、図１と比較して、モータ３Ａの近傍にエンコーダ４Ａが設けられ、モータ３Ｂの近傍にエンコーダ４Ｂが設けられている。演算部２５Ａは、制御情報に含まれる指令値（Ａ）に基づいて、モータ３Ａの駆動を制御するための制御信号を生成し、出力する。モータ３Ａの駆動を制御するための制御信号は、内蔵バス２０を介して駆動部２３Ａに入力される。駆動部２３Ａは、モータ３Ａの駆動を制御するための制御信号に従い、モータ３Ａを駆動する。エンコーダ４Ａは、モータ３Ａの位置情報を駆動部２３Ａに送る。駆動部２３Ａは、内蔵バス２０を介してモータ３Ａの位置情報を演算部２５Ａに送る。演算部２５Ａは、モータ３Ａの位置情報を取得し、内蔵バス２０を介してモータ３Ａの位置情報を演算部２５Ｂに送る。また、駆動部２３Ａは、内蔵バス２０を介してモータ３Ａの位置情報を演算部２５Ｂに送ってもよい。 FIG. 5 is a diagram showing an example of each configuration of the drive units 2A and 2B. In comparison with FIG. 1, the control section 22A has a motor control signal calculation section (hereinafter referred to as calculation section) 25A, and the control section 22B has a calculation section 25B. Furthermore, compared to FIG. 1, an encoder 4A is provided near the motor 3A, and an encoder 4B is provided near the motor 3B. The calculation unit 25A generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information. A control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20. The drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A. Encoder 4A sends position information of motor 3A to drive unit 23A. The drive unit 23A sends position information of the motor 3A to the calculation unit 25A via the built-in bus 20. The calculation unit 25A acquires the position information of the motor 3A, and sends the position information of the motor 3A to the calculation unit 25B via the built-in bus 20. Further, the drive unit 23A may send position information of the motor 3A to the calculation unit 25B via the built-in bus 20.
　演算部２５Ｂは、制御情報に含まれる指令値（Ｂ）に基づいて、モータ３Ｂの駆動を制御するための制御信号を生成し、出力する。モータ３Ｂの駆動を制御するための制御信号は、内蔵バス２０を介して駆動部２３Ｂに入力される。駆動部２３Ｂは、モータ３Ｂの駆動を制御するための制御信号に従い、モータ３Ｂを駆動する。エンコーダ４Ｂは、モータ３Ｂの位置情報を駆動部２３Ｂに送る。駆動部２３Ｂは、内蔵バス２０を介してモータ３Ｂの位置情報を演算部２５Ｂに送る。演算部２５Ｂは、モータ３Ｂの位置情報を取得し、内蔵バス２０を介してモータ３Ｂの位置情報を演算部２５Ａに送る。また、駆動部２３Ｂは、内蔵バス２０を介してモータ３Ｂの位置情報を演算部２５Ａに送ってもよい。 The calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information. A control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20. The drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B. Encoder 4B sends position information of motor 3B to drive unit 23B. The drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20. The calculation unit 25B acquires the position information of the motor 3B, and sends the position information of the motor 3B to the calculation unit 25A via the built-in bus 20. Further, the drive unit 23B may send position information of the motor 3B to the calculation unit 25A via the built-in bus 20.
　演算部２５Ａは、モータ３Ａの位置情報に基づいて現在値（Ａ）を生成し、モータ３Ｂの位置情報に基づいて現在値（Ｂ）を生成する。演算部２５Ａは、制御情報に現在値（Ａ）及び現在値（Ｂ）が含まれるように、制御情報の所定領域に現在値（Ａ）及び現在値（Ｂ）を格納する。演算部２５Ｂは、モータ３Ａの位置情報に基づいて現在値（Ａ）を生成し、モータ３Ｂの位置情報に基づいて現在値（Ｂ）を生成する。演算部２５Ｂは、制御情報に現在値（Ａ）及び現在値（Ｂ）が含まれるように、制御情報の所定領域に現在値（Ａ）及び現在値（Ｂ）を格納する。 The calculation unit 25A generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B. The calculation unit 25A stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information. The calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B. The calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
　図６は、制御部２２Ａが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例を示す図である。制御部２２Ａが停止している場合、制御部２２Ｂは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。演算部２５Ｂは、制御情報に含まれる指令値（Ａ）に基づいて、モータ３Ａの駆動を制御するための制御信号を生成し、出力する。また、演算部２５Ｂは、制御情報に含まれる指令値（Ｂ）に基づいて、モータ３Ｂの駆動を制御するための制御信号を生成し、出力する。モータ３Ａの駆動を制御するための制御信号は、内蔵バス２０を介して駆動部２３Ａに入力される。モータ３Ｂの駆動を制御するための制御信号は、内蔵バス２０を介して駆動部２３Ｂに入力される。駆動部２３Ａは、モータ３Ａの駆動を制御するための制御信号に従い、モータ３Ａを駆動する。駆動部２３Ｂは、モータ３Ｂの駆動を制御するための制御信号に従い、モータ３Ｂを駆動する。 FIG. 6 is a diagram showing an example of the operation of the drive units 2A and 2B when the control section 22A is stopped. When the control section 22A is stopped, the control section 22B controls the drive sections 23A and 23B based on the control information. The calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3A based on the command value (A) included in the control information. Further, the calculation unit 25B generates and outputs a control signal for controlling the drive of the motor 3B based on the command value (B) included in the control information. A control signal for controlling the drive of the motor 3A is input to the drive section 23A via the built-in bus 20. A control signal for controlling the drive of the motor 3B is input to the drive section 23B via the built-in bus 20. The drive unit 23A drives the motor 3A according to a control signal for controlling the drive of the motor 3A. The drive unit 23B drives the motor 3B according to a control signal for controlling the drive of the motor 3B.
　エンコーダ４Ａは、モータ３Ａの位置情報を駆動部２３Ａに送る。エンコーダ４Ｂは、モータ３Ｂの位置情報を駆動部２３Ｂに送る。駆動部２３Ａは、内蔵バス２０を介してモータ３Ａの位置情報を演算部２５Ｂに送る。駆動部２３Ｂは、内蔵バス２０を介してモータ３Ｂの位置情報を演算部２５Ｂに送る。演算部２５Ｂは、モータ３Ａの位置情報及びモータ３Ｂの位置情報を取得する。演算部２５Ｂは、モータ３Ａの位置情報に基づいて現在値（Ａ）を生成し、モータ３Ｂの位置情報に基づいて現在値（Ｂ）を生成する。演算部２５Ｂは、制御情報に現在値（Ａ）及び現在値（Ｂ）が含まれるように、制御情報の所定領域に現在値（Ａ）及び現在値（Ｂ）を格納する。 The encoder 4A sends position information of the motor 3A to the drive unit 23A. Encoder 4B sends position information of motor 3B to drive unit 23B. The drive unit 23A sends position information of the motor 3A to the calculation unit 25B via the built-in bus 20. The drive section 23B sends position information of the motor 3B to the calculation section 25B via the built-in bus 20. The calculation unit 25B acquires the position information of the motor 3A and the position information of the motor 3B. The calculation unit 25B generates a current value (A) based on the position information of the motor 3A, and generates a current value (B) based on the position information of the motor 3B. The calculation unit 25B stores the current value (A) and the current value (B) in a predetermined area of the control information so that the current value (A) and the current value (B) are included in the control information.
　図６に示すように、制御部２２Ａが停止した場合、制御部２２Ｂが、内蔵バス２０を介して、駆動部２３Ａにアクセスし、モータ３Ａを制御する。これにより、制御部２２Ｂが、駆動部２３Ａを制御してモータ３Ａを駆動することができる。このように、ドライブユニット２Ａの制御部２２Ａが停止した場合であっても、ドライブユニット２Ａの隣接のドライブユニット２Ｂの制御部２２Ｂが駆動部２３Ａを制御することで、モータ３Ａの停止を回避することができる。ドライブユニット２Ａの停止が回避され、ドライブシステム１００の稼働を継続することができる。 As shown in FIG. 6, when the control section 22A stops, the control section 22B accesses the drive section 23A via the built-in bus 20 and controls the motor 3A. Thereby, the control section 22B can control the drive section 23A to drive the motor 3A. In this way, even if the control section 22A of the drive unit 2A stops, the control section 22B of the drive unit 2B adjacent to the drive unit 2A controls the drive section 23A, thereby avoiding stopping of the motor 3A. . Stopping of the drive unit 2A is avoided, and the drive system 100 can continue to operate.
　第２処理が行われることにより、制御情報は、第１動作情報及び第２動作情報を含む。したがって、ドライブユニット２Ａの制御部２２Ａが停止した場合であっても、ＰＬＣ１は、制御情報から第１動作情報及び第２動作情報を取得することができる。そのため、ＰＬＣ１は、第１動作情報に基づいて、モータ３Ａの駆動に関する指令値を制御情報に含めることが可能になる。これにより、ドライブユニット２Ａの停止が回避され、ドライブシステム１００の稼働を継続することができる。 By performing the second process, the control information includes the first operation information and the second operation information. Therefore, even if the control section 22A of the drive unit 2A stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3A in the control information based on the first operation information. This prevents the drive unit 2A from stopping and allows the drive system 100 to continue operating.
　ドライブユニット２Ａは、ドライブユニット２Ａの制御対象であるモータ３Ａの現在値（Ａ）と、ドライブユニット２Ｂの制御対象であるモータ３Ｂの現在値（Ｂ）と、をＰＬＣ１に送る。すなわち、ドライブユニット２Ａは、ドライブユニット２Ａの制御対象であるモータ３Ａの動作に関する情報（第１動作情報）と、ドライブユニット２Ｂの制御対象であるモータ３Ｂの動作に関する情報（第２動作情報）とが含まれた制御情報をＰＬＣ１に送る。これにより、ドライブユニット２Ｂの制御部２２Ｂに故障が発生した場合であっても、ＰＬＣ１は、制御情報を受信することで、第１動作情報及び第２動作情報を取得することができる。 The drive unit 2A sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2A includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (second operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22B of the drive unit 2B, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
　ドライブユニット２Ｂは、ドライブユニット２Ａの制御対象であるモータ３Ａの現在値（Ａ）と、ドライブユニット２Ｂの制御対象であるモータ３Ｂの現在値（Ｂ）と、をＰＬＣ１に送る。すなわち、ドライブユニット２Ｂは、ドライブユニット２Ａの制御対象であるモータ３Ａの動作に関する情報（第１動作情報）と、ドライブユニット２Ｂの制御対象であるモータ３Ｂの動作に関する情報（第１動作情報）とが含まれた制御情報をＰＬＣ１に送る。これにより、ドライブユニット２Ａの制御部２２Ａに故障が発生した場合であっても、ＰＬＣ１は、制御情報を受信することで、第１動作情報及び第２動作情報を取得することができる。 The drive unit 2B sends the current value (A) of the motor 3A, which is the control target of the drive unit 2A, and the current value (B) of the motor 3B, which is the control target of the drive unit 2B, to the PLC1. That is, the drive unit 2B includes information regarding the operation of the motor 3A that is the control target of the drive unit 2A (first operation information), and information (first operation information) regarding the operation of the motor 3B that is the control target of the drive unit 2B. control information is sent to PLC1. Thereby, even if a failure occurs in the control section 22A of the drive unit 2A, the PLC 1 can obtain the first operation information and the second operation information by receiving the control information.
　制御部２２Ｂが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例について説明する。制御部２２Ｂが停止している場合、制御部２２Ａは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。これにより、制御部２２Ａが、駆動部２３Ｂを制御してモータ３Ｂを駆動することができる。このように、ドライブユニット２Ｂの制御部２２Ｂが停止した場合であっても、ドライブユニット２Ｂの隣接のドライブユニット２Ａの制御部２２Ａが駆動部２３Ｂを制御することで、モータ３Ｂの停止を回避することができる。ドライブユニット２Ｂの停止が回避され、ドライブシステム１００の稼働を継続することができる。通信部２１Ａが通信装置１１から制御情報を受信し、かつ、制御部２２Ｂが停止している場合、制御部２２Ａは第１処理を行う。第１処理が行われた後、通信部２１Ａが通信装置１１に制御情報を送る。 An example of the operation of the drive units 2A, 2B when the control section 22B is stopped will be described. When the control section 22B is stopped, the control section 22A controls the drive sections 23A and 23B based on the control information. Thereby, the control section 22A can control the drive section 23B to drive the motor 3B. In this way, even if the control section 22B of the drive unit 2B stops, the control section 22A of the drive unit 2A adjacent to the drive unit 2B controls the drive section 23B, thereby avoiding stopping of the motor 3B. . Stopping of the drive unit 2B is avoided, and the drive system 100 can continue to operate. When the communication unit 21A receives control information from the communication device 11 and the control unit 22B is stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
　第１処理が行われることにより、制御情報は、第１動作情報及び第２動作情報を含む。したがって、ドライブユニット２Ｂの制御部２２Ｂが停止した場合であっても、ＰＬＣ１は、制御情報から第１動作情報及び第２動作情報を取得することができる。そのため、ＰＬＣ１は、第２動作情報に基づいて、モータ３Ｂの駆動に関する指令値を制御情報に含めることが可能になる。これにより、ドライブユニット２Ｂの停止が回避され、ドライブシステム１００の稼働を継続することができる。 By performing the first process, the control information includes first operation information and second operation information. Therefore, even if the control section 22B of the drive unit 2B stops, the PLC 1 can acquire the first operation information and the second operation information from the control information. Therefore, the PLC 1 can include a command value related to driving the motor 3B in the control information based on the second operation information. This prevents the drive unit 2B from stopping and allows the drive system 100 to continue operating.
　通信部２１Ｂ及び制御部２２Ｂが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例について説明する。制御部２２Ｂが停止している場合、制御部２２Ａは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。通信部２１Ａが通信装置１１から制御情報を受信し、かつ、通信部２１Ｂ及び制御部２２Ｂが停止している場合、制御部２２Ａは第１処理を行う。第１処理が行われた後、通信部２１Ａが通信装置１１に制御情報を送る。 An example of the operation of the drive units 2A and 2B when the communication section 21B and the control section 22B are stopped will be described. When the control section 22B is stopped, the control section 22A controls the drive sections 23A and 23B based on the control information. When the communication unit 21A receives control information from the communication device 11 and the communication unit 21B and the control unit 22B are stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11.
　図７は、比較例に係るドライブシステム２００の構成を示す図である。ドライブシステム２００は、ＰＬＣ２０１、ドライブユニット２０２Ａ，２０２Ｂ及びモータ２０３Ａ，２０３Ｂを備える。ＰＬＣ２０１は、通信装置２１１を有する。ドライブユニット２０２Ａは、通信部２２１Ａと、制御部２２２Ａと、動力コネクタ２２３Ａとを有する。ドライブユニット２０２Ａには、動力コネクタ２２３Ａを介してモータ２０３Ａが接続されている。ドライブユニット２０２Ｂは、通信部２２１Ｂと、制御部２２２Ｂと、動力コネクタ２２３Ｂとを有する。ドライブユニット２０２Ｂには、動力コネクタ２２３Ｂを介してモータ２０３Ｂが接続されている。 FIG. 7 is a diagram showing the configuration of a drive system 200 according to a comparative example. The drive system 200 includes a PLC 201, drive units 202A, 202B, and motors 203A, 203B. PLC 201 has a communication device 211. The drive unit 202A includes a communication section 221A, a control section 222A, and a power connector 223A. A motor 203A is connected to the drive unit 202A via a power connector 223A. Drive unit 202B includes a communication section 221B, a control section 222B, and a power connector 223B. A motor 203B is connected to the drive unit 202B via a power connector 223B.
　図８は、比較例に係るフレームを示す図である。図８の（Ｂ－１）のフレームは、ＰＬＣ２０１から送信されるフレームであり、図８の（Ｂ－２）のフレームは、ＰＬＣ２０１が受信したフレームである。図８のフレームは、ＥｔｈｅｒＣＡＴ（登録商標）フレームである。図８のフレームは、ヘッダと、フッタと、指令値（Ｃ）を格納する領域（２１）と、指令値（Ｄ）を格納する領域（２２）とを含む。指令値（Ｃ）は、モータ２０３Ａの駆動に関する指令値であり、指令値（Ｄ）は、モータ２０３Ｂの駆動に関する指令値である。フレームの領域（２１）は、制御部２２２Ａによって更新される領域であり、フレームの領域（２２）は、制御部２２２Ｂによって更新される領域である。図８の（Ｂ－２）のフレームでは、制御部２２２Ａによってフレームの領域（２１）が更新されるため、フレームの領域（２１）に現在値（Ｄ）が格納される。また、図８の（Ｂ－２）のフレームでは、制御部２２２Ｂによってフレームの領域（２２）が更新されるため、フレームの領域（２２）に現在値（Ｄ）が格納される。 FIG. 8 is a diagram showing a frame according to a comparative example. The frame (B-1) in FIG. 8 is a frame transmitted from the PLC 201, and the frame (B-2) in FIG. 8 is a frame received by the PLC 201. The frame in FIG. 8 is an EtherCAT (registered trademark) frame. The frame in FIG. 8 includes a header, a footer, an area (21) for storing a command value (C), and an area (22) for storing a command value (D). The command value (C) is a command value for driving the motor 203A, and the command value (D) is a command value for driving the motor 203B. The frame area (21) is an area updated by the control unit 222A, and the frame area (22) is an area updated by the control unit 222B. In the frame (B-2) of FIG. 8, since the area (21) of the frame is updated by the control unit 222A, the current value (D) is stored in the area (21) of the frame. Furthermore, in the frame (B-2) of FIG. 8, since the area (22) of the frame is updated by the control unit 222B, the current value (D) is stored in the area (22) of the frame.
　比較例に係るドライブシステム２００では、通信部２２１Ａが、通信装置２１１から送信されるフレームを受信する。制御部２２２Ａは、通信装置２１１から受信したフレームの指令値（Ｃ）に基づいて、モータ２０３Ａを制御する。通信部２２１Ｂは、通信部２２１Ａから送信されるフレームを受信する。制御部２２２Ｂは、通信部２２１Ａから受信したフレームの指令値（Ｄ）に基づいて、モータ２０３Ｂを制御する。制御部２２２Ａは、ドライブユニット２０２Ｂに接続されたモータ２０３Ｂを制御することができない。制御部２２２Ｂは、ドライブユニット２０２Ａに接続されたモータ２０３Ａを制御することができない。 In the drive system 200 according to the comparative example, the communication unit 221A receives a frame transmitted from the communication device 211. The control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211. The communication unit 221B receives frames transmitted from the communication unit 221A. The control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A. The control unit 222A cannot control the motor 203B connected to the drive unit 202B. The control unit 222B cannot control the motor 203A connected to the drive unit 202A.
　図９は、比較例に係る通信部２２１Ａが停止した場合のドライブユニット２０２Ａ，２０２Ｂの動作を示す図である。通信部２２１Ａが停止した場合、ドライブユニット２０２Ａは、ＰＬＣ２０１からフレームを取得することができない。そのため、制御部２２２Ａは、モータ２０３Ａを制御することができず、モータ２０３Ａが停止する。通信部２２１Ａが停止した場合、ドライブユニット２０２Ｂは、ドライブユニット２０２Ａからフレームを取得することができない。そのため、制御部２２２Ｂは、モータ２０３Ｂを制御することができず、モータ２０３Ｂが停止する。このように、比較例に係るドライブシステム２００では、通信部２２１Ａが停止することで、ドライブユニット２０２Ａ，２０２Ｂが動作を継続することができず、モータ２０３Ａ，２０３Ｂが停止する。したがって、比較例に係るドライブシステム２００の稼働を継続することができない。 FIG. 9 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops. When the communication unit 221A stops, the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops. If the communication unit 221A stops, the drive unit 202B cannot acquire frames from the drive unit 202A. Therefore, the control unit 222B cannot control the motor 203B, and the motor 203B stops. In this way, in the drive system 200 according to the comparative example, when the communication unit 221A stops, the drive units 202A and 202B cannot continue operating, and the motors 203A and 203B stop. Therefore, the drive system 200 according to the comparative example cannot continue to operate.
　＜第２実施形態＞
　第２実施形態について説明する。第２実施形態において、第１実施形態と同一の構成要素については、第１実施形態と同一の符号を付し、その説明を適宜省略する。図１０は、第２実施形態に係るドライブシステム１００の構成の一例を示す図である。第２実施形態に係るドライブシステム１００は、いわゆるリングトポロジにより、ＰＬＣ１、ドライブユニット２Ａ，２Ｂが通信可能に接続されている。ＰＬＣ１の通信装置１１とドライブユニット２Ａの通信部２１Ａとの間で制御情報が送受信される。また、ドライブユニット２Ａの通信部２１Ａとドライブユニット２Ｂの通信部２１Ｂとの間で制御情報が送受信される。更に、ＰＬＣ１の通信装置１１とドライブユニット２Ｂの通信部２１Ｂとの間で制御情報が送受信される。 <Second embodiment>
A second embodiment will be described. In the second embodiment, the same components as in the first embodiment are given the same reference numerals as in the first embodiment, and the description thereof will be omitted as appropriate. FIG. 10 is a diagram showing an example of the configuration of a drive system 100 according to the second embodiment. In the drive system 100 according to the second embodiment, the PLC 1 and the drive units 2A and 2B are communicably connected by a so-called ring topology. Control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21A of the drive unit 2A. Further, control information is transmitted and received between the communication section 21A of the drive unit 2A and the communication section 21B of the drive unit 2B. Further, control information is transmitted and received between the communication device 11 of the PLC 1 and the communication section 21B of the drive unit 2B.
　ＰＬＣ１の通信装置１１からドライブユニット２Ａの通信部２１Ａに制御情報が送信され、ドライブユニット２Ａの通信部２１Ａからドライブユニット２Ｂの通信部２１Ｂに制御情報が送信される場合について説明する。通信部２１Ａが通信装置１１から制御情報を受信した場合、制御部２２Ａが第１処理を行う。第１処理が行われた後、通信部２１Ａは、制御情報を通信部２１Ｂに送信する。通信部２１Ｂが通信部２１Ａから制御情報を受信した場合、制御部２２Ｂが第２処理を行う。第２処理が行われた後、通信部２１Ｂは、制御情報を通信装置１１に送信する。 A case will be described in which control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21A of the drive unit 2A, and control information is transmitted from the communication section 21A of the drive unit 2A to the communication section 21B of the drive unit 2B. When the communication unit 21A receives control information from the communication device 11, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B. When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11.
　ＰＬＣ１の通信装置１１からドライブユニット２Ｂの通信部２１Ｂに制御情報が送信され、ドライブユニット２Ｂの通信部２１Ｂからドライブユニット２Ａの通信部２１Ａに制御情報が送信される場合について説明する。まず、第１のケースについて説明する。通信部２１Ｂが通信装置１１から制御情報を受信した場合、制御部２２Ｂが第２処理を行う。第２処理が行われた後、通信部２１Ｂは、制御情報を通信部２１Ａに送信する。通信部２１Ａが通信部２１Ｂから制御情報を受信した場合、制御部２２Ａが第１処理を行う。第１処理が行われた後、通信部２１Ａは、制御情報を通信装置１１に送信する。次に、第２のケースについて説明する。通信部２１Ｂが通信装置１１から制御情報を受信した場合、通信部２１Ｂは、制御情報を通信部２１Ａに送信する。通信部２１Ａが通信部２１Ｂから制御情報を受信した場合、制御部２２Ａが第１処理を行う。第１処理が行われた後、通信部２１Ａは、制御情報を通信部２１Ｂに送信する。通信部２１Ｂが通信部２１Ａから制御情報を受信した場合、制御部２２Ｂが第２処理を行う。第２処理が行われた後、通信部２１Ｂは、制御情報を通信装置１１に送信する。例えば、通信装置１１と通信部２１Ａとの間におけるケーブルが断線した場合、第２のケースで説明した処理が行われる。 A case will be described in which control information is transmitted from the communication device 11 of the PLC 1 to the communication section 21B of the drive unit 2B, and control information is transmitted from the communication section 21B of the drive unit 2B to the communication section 21A of the drive unit 2A. First, the first case will be explained. When the communication unit 21B receives control information from the communication device 11, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication unit 21A. When the communication unit 21A receives control information from the communication unit 21B, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication device 11. Next, the second case will be explained. When the communication unit 21B receives control information from the communication device 11, the communication unit 21B transmits the control information to the communication unit 21A. When the communication unit 21A receives control information from the communication unit 21B, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A transmits control information to the communication unit 21B. When the communication unit 21B receives the control information from the communication unit 21A, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B transmits control information to the communication device 11. For example, if the cable between the communication device 11 and the communication unit 21A is disconnected, the process described in the second case is performed.
　図１１は、通信部２１Ａ及び制御部２２Ａが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例を示す図である。通信部２１Ｂは、通信装置１１から制御情報を受信する。制御部２２Ｂは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。図１２は、制御情報の一例を示す図である。図１２の（Ａ－５）及び（Ａ－６）には、制御情報の一例であるフレームが示されており、図１２の（Ａ－５）のフレームは、ＰＬＣ１から送信されるフレームであり、図１２の（Ａ－６）のフレームは、ＰＬＣ１が受信したフレームである。図１２の（Ａ－５）のフレームは、図２の（Ａ－１）のフレームと同様である。通信部２１Ａ及び制御部２２Ａが停止しているため、図１２の（Ａ－６）のフレームの領域（３）及び（４）に現在値（Ａ）及び（Ｂ）が格納されていない。 FIG. 11 is a diagram showing an example of the operation of the drive units 2A and 2B when the communication section 21A and the control section 22A are stopped. The communication unit 21B receives control information from the communication device 11. The control section 22B controls the drive sections 23A and 23B based on the control information. FIG. 12 is a diagram showing an example of control information. (A-5) and (A-6) in FIG. 12 show frames that are examples of control information, and the frame (A-5) in FIG. 12 is a frame transmitted from the PLC 1. The frame (A-6) in FIG. 12 is a frame received by the PLC1. The frame (A-5) in FIG. 12 is similar to the frame (A-1) in FIG. Since the communication unit 21A and the control unit 22A are stopped, the current values (A) and (B) are not stored in areas (3) and (4) of the frame (A-6) in FIG. 12.
　通信部２１Ｂが通信装置１１から制御情報を受信し、かつ、通信部２１Ａ及び制御部２２Ａが停止している場合、制御部２２Ｂは第２処理を行う。第２処理が行われた後、通信部２１Ｂが通信装置１１に制御情報を送る。制御部２２Ｂが第２処理を行った後に、通信部２１Ｂが通信装置１１に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。通信部２１Ｂが通信装置１１からフレームを受信した場合、制御部２２Ｂは、フレームの領域（５）に第１動作情報である現在値（Ａ）を格納し、フレームの領域（６）に第２動作情報である現在値（Ｂ）を格納する。図１２の（Ａ－６）のフレームに示すように、フレームの領域（５）に現在値（Ａ）が格納され、フレームの領域（６）に現在値（Ｂ）が格納される。通信部２１Ｂは、現在値（Ａ）及び（Ｂ）が格納されたフレームを通信装置１１に送信する。 When the communication unit 21B receives control information from the communication device 11 and the communication unit 21A and the control unit 22A are stopped, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information. When the communication unit 21B receives a frame from the communication device 11, the control unit 22B stores the current value (A), which is the first operation information, in the area (5) of the frame, and stores the second value in the area (6) of the frame. Stores the current value (B) which is operation information. As shown in the frame (A-6) of FIG. 12, the current value (A) is stored in the frame area (5), and the current value (B) is stored in the frame area (6). The communication unit 21B transmits the frame in which the current values (A) and (B) are stored to the communication device 11.
　通信部２１Ｂ及び制御部２２Ｂが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例について説明する。制御部２２Ｂが停止している場合、制御部２２Ａは、制御情報に基づいて、駆動部２３Ａ，２３Ｂを制御する。通信部２１Ａが通信装置１１から制御情報を受信し、かつ、通信部２１Ｂ及び制御部２２Ｂが停止している場合、制御部２２Ａは第１処理を行う。第１処理が行われた後、通信部２１Ａが通信装置１１に制御情報を送る。制御部２２Ａが第１処理を行った後に通信部２１Ａが通信装置１１に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 An example of the operation of the drive units 2A and 2B when the communication section 21B and the control section 22B are stopped will be described. When the control section 22B is stopped, the control section 22A controls the drive sections 23A and 23B based on the control information. When the communication unit 21A receives control information from the communication device 11 and the communication unit 21B and the control unit 22B are stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
　通信部２１Ａが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例について説明する。通信部２１Ｂが通信装置１１から制御情報を受信し、かつ、通信部２１Ａが停止している場合、制御部２２Ｂは第２処理を行う。第２処理が行われた後、通信部２１Ｂが通信装置１１に制御情報を送る。制御部２２Ｂが第２処理を行った後に、通信部２１Ｂが通信装置１１に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 An example of the operation of the drive units 2A and 2B when the communication unit 21A is stopped will be described. When the communication unit 21B receives control information from the communication device 11 and the communication unit 21A is stopped, the control unit 22B performs the second process. After the second process is performed, the communication unit 21B sends control information to the communication device 11. After the control unit 22B performs the second process, the communication unit 21B sends the control information to the communication device 11, so the control information includes the first operation information and the second operation information.
　通信部２１Ｂが停止した場合のドライブユニット２Ａ，２Ｂの動作の一例について説明する。通信部２１Ａが通信装置１１から制御情報を受信し、かつ、通信部２１Ｂが停止している場合、制御部２２Ａは第１処理を行う。第１処理が行われた後、通信部２１Ａが通信装置１１に制御情報を送る。制御部２２Ａが第１処理を行った後に通信部２１Ａが通信装置１１に制御情報を送るため、制御情報は、第１動作情報及び第２動作情報を含む。 An example of the operation of the drive units 2A and 2B when the communication section 21B is stopped will be described. When the communication unit 21A receives control information from the communication device 11 and the communication unit 21B is stopped, the control unit 22A performs the first process. After the first process is performed, the communication unit 21A sends control information to the communication device 11. Since the communication unit 21A sends control information to the communication device 11 after the control unit 22A performs the first process, the control information includes the first operation information and the second operation information.
　図１３は、比較例に係るドライブシステム３００の構成を示す図である。図１３に示す比較例に係るドライブシステム３００は、いわゆるリングトポロジにより、ＰＬＣ２０１、ドライブユニット２０２Ａ，２０２Ｂが通信可能に接続されている。図１３に示す比較例に係るドライブシステム３００の他の構成については、図７に示す比較例に係るドライブシステム２００の構成と同様である。また、図１３に示す比較例に係るドライブシステム３００において送受信されるフレームは、図８に示す比較例に係るフレームと同様である。 FIG. 13 is a diagram showing the configuration of a drive system 300 according to a comparative example. In a drive system 300 according to a comparative example shown in FIG. 13, a PLC 201 and drive units 202A and 202B are communicably connected by a so-called ring topology. The other configuration of the drive system 300 according to the comparative example shown in FIG. 13 is the same as the configuration of the drive system 200 according to the comparative example shown in FIG. Further, the frames transmitted and received in the drive system 300 according to the comparative example shown in FIG. 13 are the same as the frames according to the comparative example shown in FIG.
　比較例に係るドライブシステム３００では、通信部２２１Ａが、通信装置２１１から送信されるフレームを受信する。制御部２２２Ａは、通信装置２１１から受信したフレームの指令値（Ｃ）に基づいて、モータ２０３Ａを制御する。通信部２２１Ｂは、通信部２２１Ａから送信されるフレームを受信する。制御部２２２Ｂは、通信部２２１Ａから受信したフレームの指令値（Ｄ）に基づいて、モータ２０３Ｂを制御する。制御部２２２Ａは、ドライブユニット２０２Ｂに接続されたモータ２０３Ｂを制御することができない。制御部２２２Ｂは、ドライブユニット２０２Ａに接続されたモータ２０３Ａを制御することができない。 In the drive system 300 according to the comparative example, the communication unit 221A receives a frame transmitted from the communication device 211. The control unit 222A controls the motor 203A based on the command value (C) of the frame received from the communication device 211. The communication unit 221B receives frames transmitted from the communication unit 221A. The control unit 222B controls the motor 203B based on the command value (D) of the frame received from the communication unit 221A. The control unit 222A cannot control the motor 203B connected to the drive unit 202B. The control unit 222B cannot control the motor 203A connected to the drive unit 202A.
　図１４は、比較例に係る通信部２２１Ａが停止した場合のドライブユニット２０２Ａ，２０２Ｂの動作を示す図である。通信部２２１Ａが停止した場合、ドライブユニット２０２Ａは、ＰＬＣ２０１からフレームを取得することができない。そのため、制御部２２２Ａは、モータ２０３Ａを制御することができず、モータ２０３Ａが停止する。通信部２２１Ａが停止した場合、ドライブユニット２０２Ｂは、ＰＬＣ２０１からフレームを取得することができる。そのため、制御部２２２Ｂは、モータ２０３Ｂを制御することが可能であり、モータ２０３Ｂの停止を回避することができる。しかしながら、比較例に係るドライブシステム３００では、通信部２２１Ａが停止することで、ドライブユニット２０２Ａが動作を継続することができず、モータ２０３Ａが停止する。したがって、比較例に係るドライブシステム３００の稼働を継続することができない。 FIG. 14 is a diagram showing the operation of the drive units 202A and 202B when the communication unit 221A according to the comparative example stops. When the communication unit 221A stops, the drive unit 202A cannot acquire frames from the PLC 201. Therefore, the control unit 222A cannot control the motor 203A, and the motor 203A stops. When the communication unit 221A stops, the drive unit 202B can acquire frames from the PLC 201. Therefore, the control unit 222B can control the motor 203B, and can avoid stopping the motor 203B. However, in the drive system 300 according to the comparative example, when the communication unit 221A stops, the drive unit 202A cannot continue its operation, and the motor 203A stops. Therefore, the drive system 300 according to the comparative example cannot continue to operate.
　＜変形例＞
　変形例について説明する。変形例は、第１実施形態及び第２実施形態に適用してもよい。図１５は、変形例における制御情報を示す図である。図１５の（Ａ－７）及び（Ａ－８）には、制御情報の一例であるフレームが示されており、図１５の（Ａ－７）のフレームは、ＰＬＣ１から送信されるフレームであり、図１５の（Ａ－７）のフレームは、ＰＬＣ１が受信したフレームである。図１５のフレームは、例えば、ＥｔｈｅｒＣＡＴ（登録商標）フレームであってもよい。図１５のフレームは、ヘッダと、フッタと、指令値（Ａ）を格納する領域（１１）と、指令値（Ｂ）を格納する領域（１２）と、現在値（Ａ）を格納する領域（１３）と、現在値（Ｂ）を格納する領域（１４）とを含む。指令値（Ａ）は、モータ３Ａの駆動に関する指令値であり、指令値（Ｂ）は、モータ３Ｂの駆動に関する指令値である。フレームの領域（３）及び（４）は、制御部２２Ａによって更新される領域であると共に、制御部２２Ｂによって更新される領域である。図１５の（Ａ－７）のフレームは、ドライブユニット２Ａ，２Ｂを経由していないため、フレームの領域（３）及び（４）に現在値（Ａ）及び（Ｂ）が格納されていない。 <Modified example>
A modified example will be explained. Modifications may be applied to the first embodiment and the second embodiment. FIG. 15 is a diagram showing control information in a modified example. (A-7) and (A-8) in FIG. 15 show frames that are examples of control information, and the frame (A-7) in FIG. 15 is a frame transmitted from the PLC 1. , the frame (A-7) in FIG. 15 is a frame received by the PLC1. The frame in FIG. 15 may be, for example, an EtherCAT (registered trademark) frame. The frame in FIG. 15 includes a header, a footer, an area (11) for storing the command value (A), an area (12) for storing the command value (B), and an area (12) for storing the current value (A). 13) and an area (14) for storing the current value (B). The command value (A) is a command value for driving the motor 3A, and the command value (B) is a command value for driving the motor 3B. Areas (3) and (4) of the frame are areas that are updated by the control unit 22A as well as areas that are updated by the control unit 22B. Since the frame (A-7) in FIG. 15 does not pass through the drive units 2A and 2B, the current values (A) and (B) are not stored in areas (3) and (4) of the frame.
　ＰＬＣ１からドライブユニット２Ａに図１５の（Ａ－７）のフレームが送信される場合について説明する。制御部２２Ａは、第１処理を行うことにより、フレームの領域（１３）及び（１４）を更新する。すなわち、制御部２２Ａは、フレームの領域（１３）に現在値（Ａ）を格納し、フレームの領域（１４）に現在値（Ｂ）を格納する。通信部２１Ａは、現在値（Ａ）及び現在値（Ｂ）が格納されたフレームを通信部２１Ｂに送る。制御部２２Ｂは、第２処理を行うことにより、フレームの領域（１３）及び（１４）を更新する。通信部２１Ｂが通信部２１Ａからフレームを受信した場合、フレームの領域（１３）及び（１４）には既に現在値（Ａ）及び現在値（Ｂ）が格納されている。制御部２２Ｂは、フレームの領域（１３）及び（１４）に格納されている現在値（Ａ）及び現在値（Ｂ）を上書きする。したがって、フレームには、指令値（Ａ）と、指令値（Ｂ）と、制御部２２Ａ又は制御部２２Ｂによって格納された現在値（Ａ）及び（Ｂ）とが含まれる。 A case in which the frame shown in (A-7) in FIG. 15 is transmitted from the PLC 1 to the drive unit 2A will be described. The control unit 22A updates regions (13) and (14) of the frame by performing the first process. That is, the control unit 22A stores the current value (A) in the frame area (13), and stores the current value (B) in the frame area (14). The communication unit 21A sends a frame in which the current value (A) and the current value (B) are stored to the communication unit 21B. The control unit 22B updates regions (13) and (14) of the frame by performing the second process. When the communication unit 21B receives a frame from the communication unit 21A, the current value (A) and the current value (B) are already stored in areas (13) and (14) of the frame. The control unit 22B overwrites the current value (A) and current value (B) stored in areas (13) and (14) of the frame. Therefore, the frame includes the command value (A), the command value (B), and the current values (A) and (B) stored by the control unit 22A or the control unit 22B.
　通信装置１１は、ドライブユニット２Ａ，２Ｂを経由したフレームを受信する。ＰＬＣ１は、フレームの領域（１３）及び（１４）から現在値（Ａ）及び現在値（Ｂ）を取得する。ＰＬＣ１は、取得した現在値（Ａ）及び（Ｂ）を使用して、所定の処理を行う。制御部２２Ａが停止している場合、制御部２２Ｂがフレームの領域（１３）及び（１４）に現在値（Ａ）及び現在値（Ｂ）を格納することができる。また、制御部２２Ｂが停止している場合、制御部２２Ａがフレームの領域（１３）及び（１４）に現在値（Ａ）及び現在値（Ｂ）を格納することができる。したがって、制御部２２Ａ又は制御部２２Ｂが停止した場合でも、ＰＬＣ１は、フレームから現在値（Ａ）及び現在値（Ｂ）を取得することができ、ドライブシステム１００の稼働を継続することができる。 The communication device 11 receives frames that have passed through the drive units 2A and 2B. PLC1 acquires the current value (A) and current value (B) from areas (13) and (14) of the frame. The PLC 1 uses the acquired current values (A) and (B) to perform predetermined processing. When the control unit 22A is stopped, the control unit 22B can store the current value (A) and the current value (B) in areas (13) and (14) of the frame. Further, when the control unit 22B is stopped, the control unit 22A can store the current value (A) and the current value (B) in the areas (13) and (14) of the frame. Therefore, even if the control unit 22A or the control unit 22B stops, the PLC 1 can obtain the current value (A) and the current value (B) from the frame, and the drive system 100 can continue to operate.
　以上説明した各実施形態及び変形例は、組み合わせることができる。 The embodiments and modifications described above can be combined.
　＜付記１＞
　コントローラ（１）と、第１ドライブユニット（２Ａ）と、第２ドライブユニット（２Ｂ）とを備え、前記コントローラ（１）から送信される制御情報が前記第１ドライブユニット（２Ａ）及び前記第２ドライブユニット（２Ｂ）を経由して前記コントローラ（１）に戻されるドライブシステム（１００）であって、
　前記第１ドライブユニット（２Ａ）は、前記制御情報を送受信する第１通信部（２１Ａ）と、第１制御部（２２Ａ）と、前記第１ドライブユニット（２Ａ）に接続された第１電動機（３Ａ）を駆動する第１駆動部（２３Ａ）と、を有し、
　前記第２ドライブユニット（２Ｂ）は、前記制御情報を送受信する第２通信部（２１Ｂ）と、第２制御部（２２Ｂ）と、前記第２ドライブユニット（２Ｂ）に接続された第２電動機（３Ｂ）を駆動する第２駆動部（２３Ｂ）と、を有し、
　前記第１制御部（２１Ｂ）は、前記制御情報に基づいて、前記第１ドライブユニット（２Ａ）と前記第２ドライブユニット（２Ｂ）とを接続する接続線（２０）を介して前記第１駆動部（２３Ａ）及び前記第２駆動部（２３Ｂ）を制御可能であり、
　前記第２制御部（２２Ｂ）は、前記制御情報に基づいて、前記接続線（２０）を介して前記第１駆動部（２３Ａ）及び前記第２駆動部（２３Ｂ）を制御可能であり、
　前記第１制御部（２２Ａ）は、前記第２制御部（２２Ｂ）が動作している場合、前記第１駆動部（２３Ａ）を制御し、前記第２制御部（２２Ｂ）が停止している場合、前記第１駆動部（２３Ａ）及び前記第２駆動部（２３Ｂ）を制御し、
　前記第２制御部（２２Ｂ）は、前記第１制御部（２２Ａ）が動作している場合、前記第２駆動部（２３Ｂ）を制御し、前記第１制御部（２２Ａ）が停止している場合、前記第１駆動部（２３Ａ）及び前記第２駆動部（２３Ｂ）を制御する、
　ドライブシステム（１００）。
　＜付記２＞
　前記コントローラ（１）が有する通信装置（１１）と前記第１通信部（２１Ａ）との間で前記制御情報が送受信され、かつ、前記第１通信部（２１Ａ）と前記第２通信部（２１Ｂ）との間で前記制御情報が送受信され、
　前記第１通信部（２１Ａ）が前記通信装置（１１）から前記制御情報を受信した場合、前記第１制御部（２２Ａ）が前記第１電動機（３Ａ）の動作に関する第１動作情報及び前記第２電動機（３Ｂ）の動作に関する第２動作情報を前記制御情報に含ませる第１処理を行い、
　前記第２通信部（２１Ｂ）が前記第１通信部（２１Ａ）から前記制御情報を受信した場合、前記第２制御部（２２Ｂ）が前記第１動作情報及び前記第２動作情報を前記制御情報に含ませる第２処理を行う、
　付記１に記載のドライブシステム（１００）。
　＜付記３＞
　前記通信装置（１１）と前記第２通信部（２１Ｂ）との間で前記制御情報が送受信され、
　前記第２通信部（２１Ｂ）が前記通信装置（１１）から前記制御情報を受信した場合、前記第２制御部（２２Ｂ）が前記第２処理を行う、
　付記２に記載のドライブシステム（１００）。
　＜付記４＞
　前記第１通信部（２１Ａ）が前記通信装置（１１）から前記制御情報を受信し、かつ、前記第２通信部（２１Ｂ）が停止している場合、前記第１処理が行われた後、前記第１通信部（２１Ａ）が前記通信装置（１１）に前記制御情報を送信する、
　付記３に記載のドライブシステム。
　＜付記５＞
　前記第１通信部（２１Ａ）が前記通信装置（１１）から前記制御情報を受信し、かつ、前記第２通信部（２１Ｂ）及び前記第２制御部（２２Ｂ）が停止している場合、前記第１処理が行われた後、前記第１通信部（２１Ａ）が前記通信装置（１１）に前記制御情報を送信する、
　付記３に記載のドライブシステム（１００）。
　＜付記６＞
　前記第２通信部（２１Ｂ）が前記通信装置（１１）から前記制御情報を受信し、かつ、前記第１通信部（２１Ａ）が停止している場合、前記第２処理が行われた後、前記第２通信部（２１Ｂ）が前記通信装置（１１）に前記制御情報を送信する、
　付記３から５の何れか一つに記載のドライブシステム（１００）。
　＜付記７＞
　前記第２通信部（２１Ｂ）が前記通信装置（１１）から前記制御情報を受信し、かつ、前記第１通信部（２１Ａ）及び前記第１制御部（２２Ａ）が停止している場合、前記第２処理が行われた後、前記第２通信部（２１Ｂ）が前記通信装置（１１）に前記制御情報を送信する、
　付記３から５の何れか一つに記載のドライブシステム（１００）。
　＜付記８＞
　前記第１制御部（２２Ａ）は、前記第２制御部（２２Ｂ）が動作している場合、前記第１駆動部を制御すると共に前記第１動作情報を取得し、かつ、前記接続線（２０）を介して前記第１動作情報を前記第２制御部（２２Ｂ）に送り、
　前記第２制御部（２２Ｂ）は、前記第１制御部（２２Ａ）が動作している場合、前記第２駆動部を制御すると共に前記第２動作情報を取得し、かつ、前記接続線（２０）を介して前記第２動作情報を前記第１制御部（２２Ａ）に送り、
　付記２から７の何れか一つに記載のドライブシステム（１００）。
　＜付記９＞
　前記通信装置（１１）は、前記第１電動機（３Ａ）の駆動に関する第１指令値を格納する第１領域と、前記第２電動機（３Ｂ）の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域と、第５領域と、第６領域とを含む前記制御情報を送信し、
　前記第１制御部（２２Ａ）は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、
　前記第２制御部（２２Ｂ）は、前記第５領域に前記第１動作情報を格納し、前記第６領域に前記第２動作情報を格納する、
　付記２から８の何れか一つに記載のドライブシステム（１００）。
　＜付記１０＞
　前記通信装置（１１）は、前記第１電動機（３Ａ）の駆動に関する第１指令値を格納する第１領域と、前記第２電動機（３Ｂ）の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域とを含む前記制御情報を送信し、
　前記第１制御部（２２Ａ）は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、
　前記第２制御部（２２Ｂ）は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納する、
　付記２から８の何れか一つに記載のドライブシステム（１００）。 <Additional note 1>
It includes a controller (1), a first drive unit (2A), and a second drive unit (2B), and control information transmitted from the controller (1) is transmitted to the first drive unit (2A) and the second drive unit (2B). ), the drive system (100) being returned to the controller (1) via the
The first drive unit (2A) includes a first communication section (21A) that transmits and receives the control information, a first control section (22A), and a first electric motor (3A) connected to the first drive unit (2A). a first drive unit (23A) that drives the
The second drive unit (2B) includes a second communication section (21B) that transmits and receives the control information, a second control section (22B), and a second electric motor (3B) connected to the second drive unit (2B). a second drive unit (23B) that drives the
Based on the control information, the first control section (21B) controls the first drive section (21B) via a connection line (20) connecting the first drive unit (2A) and the second drive unit (2B). 23A) and the second drive unit (23B),
The second control unit (22B) can control the first drive unit (23A) and the second drive unit (23B) via the connection line (20) based on the control information,
The first control section (22A) controls the first drive section (23A) when the second control section (22B) is operating, and when the second control section (22B) is stopped. In this case, controlling the first drive unit (23A) and the second drive unit (23B),
The second control section (22B) controls the second drive section (23B) when the first control section (22A) is operating, and when the first control section (22A) is stopped. In this case, controlling the first driving section (23A) and the second driving section (23B),
Drive system (100).
<Additional note 2>
The control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and the control information is transmitted and received between the communication device (11) of the controller (1) and the first communication unit (21A), and ), the control information is transmitted and received between
When the first communication unit (21A) receives the control information from the communication device (11), the first control unit (22A) receives the first operation information regarding the operation of the first electric motor (3A) and the first operation information regarding the operation of the first electric motor (3A). performing a first process of including second operation information regarding the operation of the second electric motor (3B) in the control information;
When the second communication unit (21B) receives the control information from the first communication unit (21A), the second control unit (22B) converts the first operation information and the second operation information into the control information. Performing a second process to include in
The drive system (100) according to Appendix 1.
<Additional note 3>
The control information is transmitted and received between the communication device (11) and the second communication unit (21B),
When the second communication unit (21B) receives the control information from the communication device (11), the second control unit (22B) performs the second process.
The drive system (100) according to Appendix 2.
<Additional note 4>
When the first communication unit (21A) receives the control information from the communication device (11) and the second communication unit (21B) is stopped, after the first process is performed, the first communication unit (21A) transmits the control information to the communication device (11);
The drive system described in Appendix 3.
<Additional note 5>
When the first communication unit (21A) receives the control information from the communication device (11) and the second communication unit (21B) and the second control unit (22B) are stopped, the After the first process is performed, the first communication unit (21A) transmits the control information to the communication device (11);
The drive system (100) according to Appendix 3.
<Additional note 6>
When the second communication unit (21B) receives the control information from the communication device (11) and the first communication unit (21A) is stopped, after the second process is performed, the second communication unit (21B) transmits the control information to the communication device (11);
The drive system (100) according to any one of appendices 3 to 5.
<Additional note 7>
When the second communication unit (21B) receives the control information from the communication device (11) and the first communication unit (21A) and the first control unit (22A) are stopped, the After the second process is performed, the second communication unit (21B) transmits the control information to the communication device (11);
The drive system (100) according to any one of appendices 3 to 5.
<Additional note 8>
When the second control unit (22B) is operating, the first control unit (22A) controls the first drive unit and acquires the first operation information, and also controls the connection line (20 ) sending the first operation information to the second control unit (22B),
The second control unit (22B) controls the second drive unit and acquires the second operation information when the first control unit (22A) is operating, and also controls the connection line (20 ) sending the second operation information to the first control unit (22A),
The drive system (100) according to any one of appendices 2 to 7.
<Additional note 9>
The communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). and transmitting the control information including a third area, a fourth area, a fifth area, and a sixth area,
The first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area,
The second control unit (22B) stores the first operation information in the fifth area and stores the second operation information in the sixth area.
The drive system (100) according to any one of appendices 2 to 8.
<Additional Note 10>
The communication device (11) has a first area storing a first command value related to driving the first electric motor (3A) and a second area storing a second command value related to driving the second electric motor (3B). transmitting the control information including a third area and a fourth area;
The first control unit (22A) stores the first operation information in the third area and stores the second operation information in the fourth area,
The second control unit (22B) stores the first operation information in the third area and stores the second operation information in the fourth area.
The drive system (100) according to any one of appendices 2 to 8.
　１・・ＰＬＣ
　２Ａ，２Ｂ・・ドライブユニット
　３Ａ，３Ｂ・・モータ
　４Ａ，４Ｂ・・エンコーダ
　１１・・通信装置
　２０・・内蔵バス
　２１Ａ，２１Ｂ・・通信部
　２２Ａ，２２Ｂ・・制御部
　２３Ａ，２３Ｂ・・駆動部
　２４Ａ，２４Ｂ・・動力コネクタ
　２５Ａ，２５Ｂ・・モータ制御信号演算部
　１００・・ドライブシステム 1...PLC
2A, 2B... Drive unit 3A, 3B... Motor 4A, 4B...Encoder 11...Communication device 20...Built-in bus 21A, 21B... Communication section 22A, 22B... Control section 23A, 23B... Drive section 24A , 24B...Power connector 25A, 25B...Motor control signal calculation unit 100...Drive system

Claims (10)

  1. 　コントローラと、第１ドライブユニットと、第２ドライブユニットとを備え、前記コントローラから送信される制御情報が前記第１ドライブユニット及び前記第２ドライブユニットを経由して前記コントローラに戻されるドライブシステムであって、
    　前記第１ドライブユニットは、前記制御情報を送受信する第１通信部と、第１制御部と、前記第１ドライブユニットに接続された第１電動機を駆動する第１駆動部と、を有し、
    　前記第２ドライブユニットは、前記制御情報を送受信する第２通信部と、第２制御部と、前記第２ドライブユニットに接続された第２電動機を駆動する第２駆動部と、を有し、
    　前記第１制御部は、前記制御情報に基づいて、前記第１ドライブユニットと前記第２ドライブユニットとを接続する接続線を介して前記第１駆動部及び前記第２駆動部を制御可能であり、
    　前記第２制御部は、前記制御情報に基づいて、前記接続線を介して前記第１駆動部及び前記第２駆動部を制御可能であり、
    　前記第１制御部は、前記第２制御部が動作している場合、前記第１駆動部を制御し、前記第２制御部が停止している場合、前記第１駆動部及び前記第２駆動部を制御し、
    　前記第２制御部は、前記第１制御部が動作している場合、前記第２駆動部を制御し、前記第１制御部が停止している場合、前記第１駆動部及び前記第２駆動部を制御する、
    　ドライブシステム。     A drive system comprising a controller, a first drive unit, and a second drive unit, wherein control information transmitted from the controller is returned to the controller via the first drive unit and the second drive unit,
    The first drive unit includes a first communication section that transmits and receives the control information, a first control section, and a first drive section that drives a first electric motor connected to the first drive unit,
    The second drive unit includes a second communication section that transmits and receives the control information, a second control section, and a second drive section that drives a second electric motor connected to the second drive unit,
    The first control unit is capable of controlling the first drive unit and the second drive unit via a connection line connecting the first drive unit and the second drive unit based on the control information,
    The second control unit can control the first drive unit and the second drive unit via the connection line based on the control information,
    The first control section controls the first drive section when the second control section is operating, and controls the first drive section and the second drive section when the second control section is stopped. control the department;
    The second control section controls the second drive section when the first control section is operating, and controls the first drive section and the second drive section when the first control section is stopped. control the department;
    drive system.
  2. 　前記コントローラが有する通信装置と前記第１通信部との間で前記制御情報が送受信され、かつ、前記第１通信部と前記第２通信部との間で前記制御情報が送受信され、
    　前記第１通信部が前記通信装置から前記制御情報を受信した場合、前記第１制御部が前記第１電動機の動作に関する第１動作情報及び前記第２電動機の動作に関する第２動作情報を前記制御情報に含ませる第１処理を行い、
    　前記第２通信部が前記第１通信部から前記制御情報を受信した場合、前記第２制御部が前記第１動作情報及び前記第２動作情報を前記制御情報に含ませる第２処理を行う、
    　請求項１に記載のドライブシステム。     The control information is transmitted and received between a communication device included in the controller and the first communication unit, and the control information is transmitted and received between the first communication unit and the second communication unit,
    When the first communication unit receives the control information from the communication device, the first control unit controls the first operation information regarding the operation of the first electric motor and the second operation information regarding the operation of the second electric motor. Perform the first processing to be included in the information,
    When the second communication unit receives the control information from the first communication unit, the second control unit performs a second process of including the first operation information and the second operation information in the control information.
    The drive system according to claim 1.
  3. 　前記通信装置と前記第２通信部との間で前記制御情報が送受信され、
    　前記第２通信部が前記通信装置から前記制御情報を受信した場合、前記第２制御部が前記第２処理を行う、
    　請求項２に記載のドライブシステム。     The control information is transmitted and received between the communication device and the second communication unit,
    when the second communication unit receives the control information from the communication device, the second control unit performs the second process;
    The drive system according to claim 2.
  4. 　前記第１通信部が前記通信装置から前記制御情報を受信し、かつ、前記第２通信部が停止している場合、前記第１処理が行われた後、前記第１通信部が前記通信装置に前記制御情報を送信する、
    　請求項３に記載のドライブシステム。     If the first communication unit receives the control information from the communication device and the second communication unit is stopped, after the first process is performed, the first communication unit receives the control information from the communication device. transmitting the control information to;
    The drive system according to claim 3.
  5. 　前記第１通信部が前記通信装置から前記制御情報を受信し、かつ、前記第２通信部及び前記第２制御部が停止している場合、前記第１処理が行われた後、前記第１通信部が前記通信装置に前記制御情報を送信する、
    　請求項３に記載のドライブシステム。     When the first communication unit receives the control information from the communication device and the second communication unit and the second control unit are stopped, after the first process is performed, the first a communication unit transmits the control information to the communication device;
    The drive system according to claim 3.
  6. 　前記第２通信部が前記通信装置から前記制御情報を受信し、かつ、前記第１通信部が停止している場合、前記第２処理が行われた後、前記第２通信部が前記通信装置に前記制御情報を送信する、
    　請求項３から５の何れか一項に記載のドライブシステム。     When the second communication unit receives the control information from the communication device and the first communication unit is stopped, after the second process is performed, the second communication unit receives the control information from the communication device. transmitting the control information to;
    A drive system according to any one of claims 3 to 5.
  7. 　前記第２通信部が前記通信装置から前記制御情報を受信し、かつ、前記第１通信部及び前記第１制御部が停止している場合、前記第２処理が行われた後、前記第２通信部が前記通信装置に前記制御情報を送信する、
    　請求項３から５の何れか一項に記載のドライブシステム。     When the second communication unit receives the control information from the communication device and the first communication unit and the first control unit are stopped, after the second process is performed, the second communication unit a communication unit transmits the control information to the communication device;
    A drive system according to any one of claims 3 to 5.
  8. 　前記第１制御部は、前記第２制御部が動作している場合、前記第１駆動部を制御すると共に前記第１動作情報を取得し、かつ、前記接続線を介して前記第１動作情報を前記第２制御部に送り、
    　前記第２制御部は、前記第１制御部が動作している場合、前記第２駆動部を制御すると共に前記第２動作情報を取得し、かつ、前記接続線を介して前記第２動作情報を前記第１制御部に送り、
    　請求項２から５の何れか一項に記載のドライブシステム。     When the second control unit is operating, the first control unit controls the first drive unit and acquires the first operation information, and transmits the first operation information via the connection line. to the second control unit,
    The second control unit controls the second drive unit and acquires the second operation information when the first control unit is operating, and transmits the second operation information via the connection line. to the first control unit,
    A drive system according to any one of claims 2 to 5.
  9. 　前記通信装置は、前記第１電動機の駆動に関する第１指令値を格納する第１領域と、前記第２電動機の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域と、第５領域と、第６領域とを含む前記制御情報を送信し、
    　前記第１制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、
    　前記第２制御部は、前記第５領域に前記第１動作情報を格納し、前記第６領域に前記第２動作情報を格納する、
    　請求項２から５の何れか一項に記載のドライブシステム。     The communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. transmitting the control information including a region, a fifth region, and a sixth region;
    The first control unit stores the first operation information in the third area and stores the second operation information in the fourth area,
    The second control unit stores the first operation information in the fifth area and stores the second operation information in the sixth area.
    A drive system according to any one of claims 2 to 5.
  10. 　前記通信装置は、前記第１電動機の駆動に関する第１指令値を格納する第１領域と、前記第２電動機の駆動に関する第２指令値を格納する第２領域と、第３領域と、第４領域とを含む前記制御情報を送信し、
    　前記第１制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納し、
    　前記第２制御部は、前記第３領域に前記第１動作情報を格納し、前記第４領域に前記第２動作情報を格納する、
    　請求項２から５の何れか一項に記載のドライブシステム。     The communication device has a first area storing a first command value related to driving the first electric motor, a second area storing a second command value related to driving the second electric motor, a third area, and a fourth area. transmitting the control information including a region;
    The first control unit stores the first operation information in the third area and stores the second operation information in the fourth area,
    The second control unit stores the first operation information in the third area and stores the second operation information in the fourth area.
    A drive system according to any one of claims 2 to 5.
PCT/JP2023/007536 2022-04-01 2023-03-01 Drive system WO2023189134A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022-062024 2022-04-01
JP2022062024A JP2023152083A (en) 2022-04-01 2022-04-01 drive system

Publications (1)

Publication Number Publication Date
WO2023189134A1 true WO2023189134A1 (en) 2023-10-05

Family

ID=88201107

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/007536 WO2023189134A1 (en) 2022-04-01 2023-03-01 Drive system

Country Status (2)

Country Link
JP (1) JP2023152083A (en)
WO (1) WO2023189134A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009128216A1 (en) * 2008-04-15 2009-10-22 パナソニック株式会社 Motor device, motor drive system provided with motor devices, and integrated circuit device
WO2018179268A1 (en) * 2017-03-30 2018-10-04 株式会社安川電機 Motor control system, control method, and motor control device
WO2020195552A1 (en) * 2019-03-27 2020-10-01 オムロン株式会社 Servo power supply system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009128216A1 (en) * 2008-04-15 2009-10-22 パナソニック株式会社 Motor device, motor drive system provided with motor devices, and integrated circuit device
WO2018179268A1 (en) * 2017-03-30 2018-10-04 株式会社安川電機 Motor control system, control method, and motor control device
WO2020195552A1 (en) * 2019-03-27 2020-10-01 オムロン株式会社 Servo power supply system

Also Published As

Publication number Publication date
JP2023152083A (en) 2023-10-16

Similar Documents

Publication Publication Date Title
JP6772887B2 (en) Servo system
US20090125578A1 (en) System for operating at least one non-safety-critical and at least one safety-critical process
US9106475B2 (en) Protocol conversion device and protocol conversion method
WO2021085228A1 (en) Motor drive system
US10401821B2 (en) Motor control device and control method, information processing program and recording medium
JP2020078107A (en) Motor control device
WO2023189134A1 (en) Drive system
EP2541349A2 (en) Inverter system having a safety module
US10090789B2 (en) Motor control device, motor control method, and non-transitory computer readable medium encoded with computer program
KR101735919B1 (en) Inverter controlling method
CN111555662A (en) Motor control system and motor control device
CN109067812A (en) Wireless Internet industrial robot control system and wireless built controller
KR102420896B1 (en) Welding robot control system and robot recognition method thereof
JP6596239B2 (en) Multiplexing communication device
JP2010118036A (en) Composite servo control system
JP6841171B2 (en) Equipment control system and remote adjustment system
JP5358989B2 (en) Motor drive communication system
JPH1083215A (en) Motor controller
US20230297035A1 (en) Servo system
US10935959B2 (en) Motor control device, control system, and motor control method
JP2009095165A (en) Multi-axis motor controller and its control method
US10601219B2 (en) Method for controlling a drive
WO2021095387A1 (en) Device driving apparatus and device driving system
JP6549050B2 (en) Controller and control method thereof
CN107820673B (en) Servo motor driving device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23779164

Country of ref document: EP

Kind code of ref document: A1