WO2023276043A1

WO2023276043A1 - Servo system and articulated robot

Info

Publication number: WO2023276043A1
Application number: PCT/JP2021/024743
Authority: WO
Inventors: 進一加藤
Original assignee: 株式会社Fuji
Priority date: 2021-06-30
Filing date: 2021-06-30
Publication date: 2023-01-05
Also published as: JPWO2023276043A1

Abstract

This servo system comprises a first motor control unit and a first communication control unit. The first motor control unit drives and controls first servo motors which are a plurality of servo motors for moving the joints of an articulated robot. The first communication control unit can communicate with the first motor control unit and a peripheral device that is provided depending on the necessity thereof for work performed by the articulated robot.

Description

Servo system and articulated robot

This specification discloses technologies related to servo systems and articulated robots.

A stepping motor control device described in Patent Document 1 includes connection means and control means, and controls a plurality of motors by at least two arithmetic units. The connection means enables the hardware of the master computing unit to be used by the slave computing unit with little impact on the processing power of the master computing unit. The control means controls the slave-side arithmetic device according to a command given from the master-side arithmetic device.

JP-A-10-80196

A multi-joint robot that uses multiple servo motors to move its joints may be equipped with peripheral equipment. In this case, in the servo system, communication for controlling the servo motors that move the joints and communication for controlling the peripheral devices are performed. If these communications coexist in the same communications network, the communications for controlling the servo motors that move the joints may be affected by the communications for controlling the peripheral devices. What has been described above can be similarly applied to the case where the above communication is performed in an articulated robot.

In view of such circumstances, the present specification discloses a servo system and an articulated robot capable of ensuring the communication performance of the communication for controlling the servo motors that move the joints.

The present specification includes a first motor control unit that drives and controls first servo motors, which are a plurality of servo motors that move the joints of an articulated robot, peripheral devices provided as necessary for work by the articulated robot, and the A servo system is disclosed that includes a first communication control unit that can communicate with each of the first motor control units.

In addition, the present specification includes a first motor control unit that drives and controls a first servo motor that is a plurality of servo motors that move joints, and a peripheral device and the first motor control unit that are provided as necessary for work. Disclosed is an articulated robot comprising a communicable first communication control unit.

According to the above servo system, the first communication control section can communicate with the peripheral device and the first motor control section. Therefore, in the servo system, the communication for controlling the servo motors that move the joints can be separated from the communication for controlling the peripheral devices, and the communication performance of the communication for controlling the servo motors that move the joints can be improved. can be secured. What has been described above for the servo system also applies to the articulated robot including the first motor control section and the first communication control section.

4 is a block diagram showing an example of control blocks of the servo system; FIG. It is a perspective view showing an example of an articulated robot. 1 is a perspective view showing an example of a peripheral device; FIG. FIG. 11 is a perspective view showing another example of a peripheral device; FIG. 4 is a plan view showing an example of a state in which supplies are arranged at predetermined positions in a storage case; FIG. 4 is a plan view showing an example of a state in which a supply item is attached to a predetermined portion of an attachment portion of an object to be worked on;

1. Embodiment 1-1. Configuration Example of Servo System 10 As shown in FIG. 1 , the servo system 10 includes a first motor control section 21 and a first communication control section 31 . The first motor control unit 21 drives and controls the first servomotors 21m, which are a plurality of servomotors that move the joints 50j of the articulated robot 50 . The articulated robot 50 can take various forms as long as it moves the joints 50j by servo motors. Also, the number of joints 50j is not limited, and the articulated robot 50 can be provided with first servo motors 21m corresponding to the number of joints 50j.

The drive control of the first servomotor 21m can take various known controls. For example, drive control of the first servomotor 21m includes position control, speed control, current control, etc. of the first servomotor 21m. For example, the first motor control unit 21, based on a movement command (position command) and position information acquired from a position detector (for example, an encoder) that detects the position of the first servo motor 21m, the first servo Position control, speed control and current control of the motor 21m are performed. A movement command (position command) can be obtained from the motion controller MC0 via the first communication control unit 31, which will be described later.

Position control, speed control, and current control can employ various known controls. For example, the first motor control section 21 can perform feedback control using at least one of proportional control, integral control, and differential control. The first motor control unit 21 can also perform feedforward control. Further, the first motor control section 21 can generate a drive signal for the first servo motor 21m based on the control values of position control, speed control and current control.

For example, the drive signal for the first servomotor 21m can be represented by a duty ratio, which is the ratio of the ON width and OFF width of the pulse in PWM (Pulse Width Modulation) control. In PWM control, when a switching element of a power converter (for example, an inverter) is in a closed state, a motor current flows through the corresponding phase, and the motor current increases or decreases according to the time (ON width) that the switching element is in a closed state. . In other words, the longer the closed state time (ON width) of the switching element, the larger the motor current, and the shorter the closed state time (ON width) of the switching element, the smaller the motor current.

The first communication control unit 31 can communicate with the peripheral device 60 and the first motor control unit 21 provided as required for the work by the articulated robot 50 . The peripheral device 60 may take various forms as long as it is necessary for the work performed by the articulated robot 50 . As will be described later, for example, the peripheral device 60 may be an end effector 61 attached to the arm tip portion 50t of the articulated robot 50 . Further, the peripheral device 60 may be a transport device 62 that transports the work object W1. Further, the peripheral device 60 may be a supply device 63 that supplies the supply P1 to the work object W1.

The first communication control section 31 may take various forms as long as it can communicate with the peripheral device 60 and the first motor control section 21 respectively. The servo system 10 of this embodiment can comprise a first servo network section 41 and a second servo network section 42 . The first servo network unit 41 communicates between the first communication control unit 31 and the first motor control unit 21 . The second servo network unit 42 communicates between the first communication control unit 31 and the second communication control unit 32 provided in the peripheral device 60 when the peripheral device 60 is provided.

Therefore, the first communication control section 31 of this embodiment can communicate with the first motor control section 21 using the first servo network section 41 . Also, when the peripheral device 60 is provided, the first communication control section 31 can communicate with the second communication control section 32 provided in the peripheral device 60 using the second servo network section 42 . Therefore, in the servo system 10 of the present embodiment, it is easy to separate the communication for controlling the first servomotor 21m that moves the joint 50j and the communication for controlling the peripheral device 60. FIG.

The communication between the first communication control unit 31 and the first motor control unit 21 is included in the communication for controlling the first servomotor 21m that moves the joint 50j. Communication between the first communication control unit 31 and the second communication control unit 32 provided in the peripheral device 60 is included in communication for controlling the peripheral device 60 . Also, the communication standard of the first servo network section 41 and the communication standard of the second servo network section 42 may be the same or different.

The control of the first servomotor 21m that moves the joint 50j often requires a faster response than the control of the peripheral device 60. Therefore, the communication for controlling the first servomotor 21m that moves the joint 50j often requires communication performance equal to or faster than that for controlling the peripheral device 60 . Therefore, it is preferable that the communication cycle in the first servo network section 41 is set equal to or shorter than the communication cycle in the second servo network section 42 . This makes it easier for the servo system 10 of the present embodiment to ensure the communication performance of the communication for controlling the first servomotor 21m that moves the joint 50j.

The connection between the first communication control unit 31 and the first motor control unit 21 can take various known forms of connection. For example, in the first servo network section 41 of this embodiment, the first communication control section 31 and the first motor control section 21 are connected via a bus. In the bus connection, the first servomotor 21m is connected in parallel to the first communication control section 31 . Thus, the first servo network unit 41 can form a dedicated servo network for driving and controlling the first servo motor 21m to control the joint 50j.

Similarly, the connection between the first communication control unit 31 and the second communication control unit 32 provided in the peripheral device 60 can take various known connection forms. As shown in FIG. 1, for example, the second servo network unit 42 of the present embodiment uses the second communication control unit provided in the peripheral device 60 via the communication control unit 30 directly connected to the first communication control unit 31. Section 32 is daisy chained.

This makes it easier to change the configuration of the second servo network section 42 according to the increase or decrease in the number of peripheral devices 60 . In the example shown in FIG. 1, two peripheral devices 60 are illustrated. Therefore, in the second servo network section 42 shown in the figure, the first communication control section 31, the communication control section 30, the second communication control section 32 and the second communication control section 32 are connected in this order, and two second A communication control unit 32 is connected in a daisy chain.

Thus, in this embodiment, the second communication control unit 32 provided in the peripheral device 60 is connected to the second servo network unit 42 different from the first servo network unit 41 that controls the first servo motor 21m that moves the joint 50j. be provided. Therefore, the communication for controlling the first servomotor 21m that moves the joint 50j is less likely to be affected by the communication for controlling the peripheral device 60. FIG. For example, even if the amount of communication for controlling the peripheral device 60 increases with an increase in the number of peripheral devices 60, problems such as a delay in communication for controlling the first servo motor 21m that moves the joint 50j are less likely to occur. .

The communication control unit 30 and the second communication control unit 32 may take various forms as long as they can communicate with the first communication control unit 31. The communication control unit 30 and the second communication control unit 32 can be provided in various control devices. For example, the communication control unit 30 can be formed in an ASIC (Application Specific Integrated Circuit). The second communication control unit 32 can be formed in a communication FPGA (Field Programmable Gate Array). Also, for example, the second servo network unit 42 can be formed using a known general-purpose servo network (eg, MECHATROLINK (registered trademark) III, etc.). The communication control unit 30 is provided when the peripheral device 60 is provided, and controls communication with the first communication control unit 31 and communication with the second communication control unit 32 .

The second communication control section 32 provided in the middle of the second servo network section 42 performs transmission and reception of communications with itself as the destination or source among the communications in the second servo network section 42 . In addition, the second communication control unit 32 transmits, among the communications in the second servo network unit 42, the communication whose destination or source is another second communication control unit 32 to the adjacent second communication control unit 32. and broadcast. Furthermore, the second communication control section 32 provided at the end of the second servo network section 42 performs transmission and reception of communication with itself as the destination or source. The communication control unit 30 and the second communication control unit 32 can communicate with each other in a master-slave system at a predetermined transmission cycle.

Note that the first motor control unit 21 and the first communication control unit 31 can be provided in various control devices. For example, the first motor controller 21 can be formed in an FPGA for motor control. The first communication control unit 31 can be formed in a communication FPGA. Further, as shown in FIG. 1, in this embodiment, the first motor control section 21 and the first communication control section 31 are provided in the first servo amplifier SA1 that drives the first servo motor 21m. A known servo amplifier can be used for the first servo amplifier SA1. The first servo amplifier SA1 supplies a motor current based on the drive signal for the first servo motor 21m generated by the first motor control unit 21 from the power converter to the first servo motor 21m. This drives the first servomotor 21m.

As shown in FIG. 1, the first communication control unit 31 is provided so as to be able to communicate with the motion controller MC0 that controls the motion of the articulated robot 50. A known motion controller can be used as the motion controller MC0. The motion controller MC0 has a known CPU (Central Processing Unit), and calculates a movement command (position command) for the first servomotor 21m based on a command value obtained from a higher control device.

The first communication control unit 31 transmits to the first motor control unit 21 the movement command (position command) for the first servo motor 21m received from the motion controller MC0. The first communication control unit 31 can also receive control information for the first servomotor 21m from the first motor control unit 21 and transmit the received control information for the first servomotor 21m to the motion controller MC0.

The motion controller MC0 can also calculate a drive command for the peripheral device 60. The first communication control unit 31 transmits the driving command for the peripheral device 60 received from the motion controller MC<b>0 to the second communication control unit 32 via the communication control unit 30 . The first communication control unit 31 may receive drive information of the peripheral device 60 from the second communication control unit 32 via the communication control unit 30, and transmit the received drive information of the peripheral device 60 to the motion controller MC0. can.

The connection between the first communication control unit 31 and the motion controller MC0 can take various known forms of connection. For example, it is assumed that a known general-purpose servo network is formed between the first communication control unit 31 and the motion controller MC0. However, in this case, a control device corresponding to the communication control unit 30 is required for communication between the first communication control unit 31 and the motion controller MC0.

Therefore, it is preferable that the first communication control unit 31 and the motion controller MC0 are connected so as to be communicable according to the PCI (Peripheral Component Interconnect) communication standard. Also, the communication standard is not limited to PCI, and may be a communication standard such as PCI-X or PCI-Express. In particular, PCI-Express is an extended interface standard for serial transfer, and is capable of relatively high-speed data communication. Therefore, it is preferable that the first communication control unit 31 and the motion controller MC0 are connected so as to be communicable according to the PCI-Express communication standard.

It should be noted that the peripheral device 60 can be provided with various driving devices. For example, the peripheral device 60 can include at least one servo motor 22m that moves the movable portion 60m of the peripheral device 60 . The movable part 60m is not limited as long as it is moved by a servomotor. Moreover, the number of the second servomotors 22m is not limited, and the peripheral device 60 can be provided with the number of the second servomotors 22m necessary to move the movable portion 60m.

In this case, the peripheral device 60 can include the second motor control section 22 that drives and controls the second servo motor 22m. The drive control of the second servomotor 22m can take well-known various controls. For example, like the drive control of the first servomotor 21m, the second motor control unit 22 performs position control, speed control, current control, etc. of the second servomotor 22m, and generates a drive signal of the second servomotor 22m. can do.

For example, the second motor control unit 22 uses a drive command (position command) for the second servomotor 22m and position information acquired from a position detector (for example, an encoder) that detects the position of the second servomotor 22m. Position control, speed control and current control of the second servomotor 22m are performed based on this. As described above, the drive command (position command) for the second servomotor 22m can be obtained from the motion controller MC0 via the first communication control unit 31, the communication control unit 30, and the second communication control unit 32. can.

The connection between the second communication control unit 32 and the second motor control unit 22 can take various known forms of connection. For example, when the peripheral device 60 includes a plurality of second servo motors 22m, the second communication control unit 32 and the second motor control unit 22 can be connected via a bus, similar to the first servo network unit 41. can.

Also, the second motor control unit 22 and the second communication control unit 32 can be provided in various control devices. For example, the second motor controller 22 can be formed in an FPGA for motor control. As already mentioned, the second communication control unit 32 can be formed in a communication FPGA. Furthermore, as shown in FIG. 1, in this embodiment, the second motor control section 22 and the second communication control section 32 are provided in the second servo amplifier SA2 that drives the second servo motor 22m. A known servo amplifier can be used for the second servo amplifier SA2. The second servo amplifier SA2 supplies the motor current based on the drive signal for the second servo motor 22m generated by the second motor control unit 22 from the power converter to the second servo motor 22m. This drives the second servomotor 22m.

1-2. Application Examples of Servo System 10 The servo system 10 can be applied to various work machines including the articulated robot 50 . As shown in FIGS. 2 to 4, the work machine 80 of this embodiment includes an articulated robot 50, an end effector 61, a transfer device 62, a supply device 63, and a base portion . The end effector 61, the transfer device 62 and the supply device 63 are included in the peripheral device 60 and are unitized. Also, the articulated robot 50 having the end effector 61 , the transfer device 62 and the supply device 63 are arranged above the base portion 70 .

As shown in FIG. 2, the articulated robot 50 has an arm 50a. The arm 50a is a multi-axis (eg, five-axis) vertical multi-joint arm, and has multiple (eg, six) links (first link 51a to sixth link 51f), each of which can rotate or turn. A plurality of (for example, five) joints 50j (first joint 52a to fifth joint 52e) are provided. A plurality of (five) joints 50j are movable by the first servomotor 21m described above. Each joint 50j is provided with a first servomotor 21m and a position detector (such as an encoder) that detects the position (rotational position) of the first servomotor 21m.

As described above, the first servomotor 21m is driven and controlled by the first motor control section 21. The first motor control section 21 and the first communication control section 31 are provided in the first servo amplifier SA1. The first servo amplifier SA1 is arranged inside the base portion 70 . A detection signal is input to the first servo amplifier SA1 from a detector such as a position detector (encoder).

The articulated robot 50 can cooperate with the peripheral device 60 to perform various tasks. The peripheral device 60 may take various forms as long as it is necessary for the work performed by the articulated robot 50 . Peripheral device 60 may be at least one of end effector 61 , carrier device 62 and delivery device 63 . As shown in FIGS. 2 to 4, the work machine 80 of the present embodiment is provided with peripheral devices 60 such as an end effector 61, a transfer device 62 and a supply device 63. As shown in FIGS.

As shown in FIG. 2, an end effector 61 is detachably attached to the sixth link 51f, which is the arm tip 50t of the articulated robot 50. The end effector 61 can use, for example, an electromagnetic chuck, a mechanical chuck, a suction nozzle, or the like. The end effector 61 is appropriately selected according to the shape, material, etc. of the workpiece W1 and the supply product P1. A camera 50c is attached to the fifth link 51e. The camera 50c can image the work object W1, the supplies P1, and the like.

For example, the mechanical chuck of the end effector 61 is the movable portion 60m, which is moved by the second servomotor 22m. The second servomotor 22m is driven and controlled by the second motor control section 22 . The second motor control section 22 and the second communication control section 32 are provided in the second servo amplifier SA2. The second servo amplifier SA2 is arranged inside the base portion 70 . A detection signal is input to the second servo amplifier SA2 from a detector such as a position detector (encoder).

The transport device 62 transports the work object W1. As shown in FIG. 3, the conveying device 62 of this embodiment is configured by, for example, a belt conveyor. The carrier device 62 carries the work object W1 into the work machine 80 and positions the work object W1 at a predetermined position inside the machine. After the work by the articulated robot 50 is completed, the transfer device 62 carries the work W1 out of the work machine 80 . In addition, the transport device 62 can transport various work objects W1 used in the work by the articulated robot 50, and the work object W1 is not limited.

The belt conveyor of the conveying device 62 is the movable portion 60m, which is moved by the second servomotor 22m. The second servomotor 22m is driven and controlled by the second motor control section 22 . The second motor control section 22 and the second communication control section 32 are provided in the second servo amplifier SA2. The second servo amplifier SA2 is arranged inside the carrier device 62 . A detection signal is input to the second servo amplifier SA2 from a detector such as a position detector (encoder).

The supply device 63 supplies the supply item P1 to the work object W1. As shown in FIG. 4, the supply device 63 of the present embodiment includes a plurality (eg, two) of storage sections 63a and a plurality (eg, two) of transport sections 63b. The plurality (two) of storage portions 63a are arranged along the conveying direction of the work object W1, and each of the plurality (two) of the storage portions 63a stores the supplies P1. Each of the plurality (two) of transport units 63b is configured by, for example, a belt conveyor, etc., and transports the supplies P1 discharged from the storage unit 63a to a position where the articulated robot 50 can pick them up. The supply device 63 can supply various supplies P1 necessary for the work by the articulated robot 50, and the supplies P1 are not limited.

Each of the belt conveyors of the plurality (two) of conveying sections 63b is the movable section 60m, and is movable by the second servomotor 22m. The second servomotor 22m is driven and controlled by the second motor control section 22 . The second motor control section 22 and the second communication control section 32 are provided in the second servo amplifier SA2. The second servo amplifier SA2 is arranged inside the supply device 63 . A detection signal is input to the second servo amplifier SA2 from a detector such as a position detector (encoder).

By driving and controlling the first servomotor 21m, the first motor control section 21 can move the arm 50a and move the end effector 61 toward the work object W1 or the supply item P1. The articulated robot 50 can use the end effector 61 to perform various operations on the work object W1. For example, the articulated robot 50 captures an image of the work W1 with the camera 50c. A control device higher than the motion controller MC0 performs image processing on the captured image of the work object W1, and recognizes the position and orientation of the work object W1.

The control device calculates the target position (X coordinate, Y coordinate and Z coordinate) and target posture (rotational angle) of the end effector 61 based on the position and posture of the work object W1. The motion controller MC0 controls each joint 50j of the arm 50a (first joint 52a to fifth joint 52a to fifth joint 52e) set the target position and target angle. The first motor control unit 21 drives and controls the first servo motor 21m so that the positions of the joints 50j (the first joints 52a to the fifth joints 52e) match the target positions and the angles match the target angles. .

In addition, the articulated robot 50 can perform various operations on the work object W1 while the second motor control unit 22 drives and controls the second servo motor 22m of the end effector 61. Further, the second motor control unit 22 drives and controls the second servo motor 22m of the conveying device 62 to convey the work object W1, and the articulated robot 50 performs various operations on the conveyed work object W1. can also be done. Further, the second motor control unit 22 drives and controls the second servo motor 22m of the supply device 63 to supply the supply item P1, and the articulated robot 50 uses the supplied supply item P1 to move the workpiece W1. can also be used to perform various tasks.

The work performed by the articulated robot 50 is not limited. A pickup operation for picking up the supply item P1, an arrangement operation for arranging the supply item P1 at a predetermined position AR1 of the work object W1, and an assembly operation for assembling the supply item P1 to a predetermined portion AP1 of the assembly target portion AM1 of the work object W1. At least one of them is included in the work performed by the articulated robot 50 .

The articulated robot 50 shown in FIG. 2 can use the end effector 61 to pick up the work object W1 transported and positioned by the transport device 62 . The articulated robot 50 can also use the end effector 61 to pick up the supplies P1 supplied by the supply device 63 . Furthermore, the articulated robot 50 can also place the supplies P1 at a predetermined position AR1 of the storage case C1 shown in FIG. 5, for example. The storage case C1 is the work object W1 and is divided into a plurality of areas. The predetermined position AR1 indicates at least one area (one area in the figure) of the plurality of areas.

For example, if the supply item P1 is an aggregate of a plurality of parts, the articulated robot 50 can arrange the supply item P1 for each type of part in the storage case C1. The articulated robot 50 can also arrange the supplies P1 in the storage case C1 according to the outer dimensions of the parts. Furthermore, the articulated robot 50 can also arrange the supplies P1 in the storage case C1 in the order of work steps.

The articulated robot 50 can also assemble the supply item P1 to the predetermined portion AP1 of the assembling part AM1 of the work object W1 shown in FIG. For example, the articulated robot 50 can pick up the supply item P1 supplied by the supply device 63 and attach the supply item P1 to the predetermined portion AP1 of the assembly target AM1. The articulated robot 50 can also pick up the supplies P1 arranged in the storage case C1 and assemble the supplies P1 to the predetermined portion AP1 of the assembly part AM1. It should be noted that a plurality of articulated robots 50 can work together to assemble the supplies P1 to the predetermined portion AP1 of the assembly part AM1.

The peripheral device 60 of the present embodiment includes an end effector 61 attached to an arm tip portion 50t of the articulated robot 50, a transfer device 62 for transferring the work W1, and a supply device for supplying the work P1 to the work W1. At least one of the devices 63 . Therefore, the articulated robot 50 can perform work using at least one of the end effector 61 , the transfer device 62 and the supply device 63 . Also, the peripheral device 60 is unitized. Therefore, it is easy to change the configuration of the servo system 10 .

2. Articulated robot 50
The articulated robot 50 can also include a first motor control section 21 and a first communication control section 31 . The first motor control unit 21 drives and controls the first servomotors 21m, which are a plurality of servomotors that move the joints 50j. The first communication control unit 31 can communicate with the peripheral device 60 and the first motor control unit 21, which are provided as necessary for the work. The same can be said for the servo system 10 in this embodiment. Therefore, redundant description is omitted in this specification.

3. Example of Effect of Embodiment According to the servo system 10, the first communication control section 31 can communicate with the peripheral device 60 and the first motor control section 21, respectively. Therefore, the servo system 10 can separate the communication for controlling the first servo motor 21m that moves the joint 50j and the communication for controlling the peripheral device 60, and the first servo motor 21m that moves the joint 50j can be separated. It is possible to ensure the communication performance of the communication for controlling the What has been described above for the servo system 10 also applies to the articulated robot 50 including the first motor control section 21 and the first communication control section 31 .

10: servo system, 21: first motor control unit,
21m: first servo motor, 22: second motor control unit,
22m: second servo motor, 30: communication control section, 31: first communication control section,
32: second communication control unit, 41: first servo network unit,
42: second servo network unit, 50: articulated robot, 50j: joint,
50t: arm tip, 60: peripheral device, 60m: movable part,
61: end effector, 62: transport equipment, 63: supply equipment,
MC0: motion controller, SA1: first servo amplifier,
SA2: second servo amplifier, W1: work object, P1: supply.

Claims

a first motor control unit that drives and controls first servo motors, which are a plurality of servo motors that move the joints of the articulated robot;
a first communication control unit capable of communicating with a peripheral device and the first motor control unit provided as required for work by the articulated robot;
Servo system with
a first servo network unit that communicates between the first communication control unit and the first motor control unit;
a second servo network unit that communicates between the first communication control unit and a second communication control unit provided in the peripheral device when the peripheral device is provided;
2. The servo system of claim 1, comprising:
The servo system according to claim 2, wherein the communication cycle in the first servo network section is set equal to or shorter than the communication cycle in the second servo network section.
The servo system according to claim 2 or 3, wherein the first servo network unit has a bus connection between the first communication control unit and the first motor control unit.
Said second servo network unit is daisy-chain connected to said second communication control unit provided in said peripheral device via a communication control unit directly connected to said first communication control unit. 5. The servo system according to any one of Claims 4.
The servo system according to any one of claims 1 to 5, wherein the first motor control unit and the first communication control unit are provided in a first servo amplifier that drives the first servo motor.
The servo system according to any one of claims 1 to 6, wherein the first communication control unit is provided so as to be able to communicate with a motion controller that controls the motion of the articulated robot.
The servo system according to claim 7, wherein communication is possible between the first communication control unit and the motion controller according to the PCI-Express communication standard.
9. The peripheral device according to any one of claims 1 to 8, wherein the peripheral device comprises a second motor control section that drives and controls a second servo motor that is at least one servo motor that moves a movable portion of the peripheral device. servo system.
The peripheral device comprises a second communication control unit that communicates with the first communication control unit,
10. The servo system according to claim 9, wherein said second motor control section and said second communication control section are provided in a second servo amplifier that drives said second servo motor.
The servo system according to any one of claims 1 to 10, wherein the peripheral device is unitized.
The peripheral device is at least one of an end effector attached to the tip of the arm of the articulated robot, a transfer device that transfers a work object, and a supply device that supplies supplies to the work object. The servo system according to any one of claims 1 to 11.
a first motor control unit that drives and controls first servo motors that are a plurality of servo motors that move joints;
a first communication control unit capable of communicating with a peripheral device provided as necessary for work and the first motor control unit, respectively;
Articulated robot with