Control device and connection determination method

Abstract

The present application relates to a control device and a connection determination method that are easy to detect erroneous connection of a plurality of power lines and a plurality of feedback lines that connect a plurality of motors and a plurality of motor driving devices together. The control device (10) includes: an output section (28) that selects a motor (14), outputs a driving command to a motor driving device (16) that should be connected to the selected motor (14), and causes the selected motor (14) to perform a prescribed feed motion; an acquisition section (30) that acquires feedback information from the plurality of motor driving devices (16) respectively; and a connection determination section (32) that determines whether the selected motor (14) and the motor driving device (16) that should be connected to the selected motor (14) are connected via a power line (18) and a feedback line (20) based on the feedback information.

Description

TECHNICAL FIELD

[0001] The present application relates to a control device and a wiring determination method that are easy to detect erroneous wiring of a plurality of power lines and a plurality of feedback lines that connect a plurality of electric motors and a plurality of electric motor driving devices together. BACKGROUND

[0002] In Japanese Patent Application Publication No. 2016-001945, an electric motor and an electric motor control device connected to the electric motor are disclosed. The disclosed electric motor control device performs feedback control on the electric motor connected thereto. SUMMARY

[0003] As also disclosed in Japanese Patent Application Publication No. 2016-001945, the connection relationship of the power lines and the feedback lines is generally determined in advance. That is, the electric motor driving device that supplies electric power to a certain electric motor is determined in advance, and the electric motor driving device that receives feedback information from the electric motor is also determined in advance.

[0004] However, in the case where a plurality of electric motor driving devices and electric motors are present respectively, the power lines and the feedback lines are sometimes connected in an erroneous connection relationship due to, for example, human work errors. In this case, it is difficult to normally control the electric motor, and there is a high possibility that the machine driven by the electric motor will lose control, and then damage to peripheral equipment and personal accidents caused by the machine that has lost control will occur.

[0005] Japanese Patent Application Publication No. 2016-001945 proposes a method of detecting erroneous wiring by the electric motor driving device in feedback control in the case where an electric motor and an electric motor driving device (amplifier) are connected via a plurality of power lines and one feedback line. However, the disclosed method does not take into account the case where a plurality of electric motors and electric motor driving devices are present respectively, and they are wired through a plurality of power lines and a plurality of feedback lines.

[0006] Therefore, an object of the present application is to provide a control device and a wiring determination method that are easy to detect erroneous wiring of a plurality of power lines and a plurality of feedback lines that connect a plurality of electric motors and a plurality of electric motor driving devices together.

[0007] One embodiment of the invention is a control device that controls a plurality of motors provided in a machine tool or industrial machine via a plurality of motor driving devices, the plurality of motor driving devices and the plurality of motors being connected to each other via a plurality of power lines and a plurality of feedback lines, the motor driving devices supplying power corresponding to a driving command from the control device to the motors via the power lines, the motors transmitting feedback information corresponding to current position information to the motor driving devices via the feedback lines, the control device including: an output section that selects at least one of the plurality of motors, outputs the driving command to the motor driving device that should be connected to the selected motor, and causes the selected motor to perform a predetermined feed operation; an acquisition section that acquires the feedback information from the plurality of motor driving devices; and a connection determination section that determines whether the selected motor and the motor driving device that should be connected to the selected motor are connected in a predetermined connection relationship via the power lines and the feedback lines based on the feedback information.

[0008] Another embodiment of the invention is a connection determination method that determines whether a plurality of power lines and a plurality of feedback lines are connected in a predetermined connection relationship in a case where a plurality of motor driving devices and a plurality of motors provided in a machine tool or industrial machine are connected to each other via the plurality of power lines and the plurality of feedback lines, the motor driving devices supply power corresponding to a driving command to the motors via the power lines, the motors transmit feedback information corresponding to current position information to the motor driving devices via the feedback lines, the connection determination method including: a selection step of selecting at least one of the plurality of motors; an output step of outputting the driving command to the motor driving device that should be connected to the selected motor, and causing the selected motor to perform a predetermined feed operation; an acquisition step of acquiring the feedback information from the plurality of motor driving devices; and a connection determination step of determining whether the selected motor and the motor driving device that should be connected to the selected motor are connected via the power lines and the feedback lines based on the feedback information.

[0009] According to the invention, a control device and a connection determination method that easily detect an erroneous connection of a plurality of power lines and a plurality of feedback lines to which a plurality of motors and a plurality of motor driving devices are connected are provided.

[0010] The above objects, features, and advantages will be easily understood by the following description of the embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 Overall configuration diagram of a system including the control device according to the embodiment.

[0012] Figure 2 is a schematic configuration diagram of the control device of the embodiment.

[0013] Figure 3 is an example in a case where an error connection occurs in the system of Figure 1 .

[0014] Figure 4 is a flowchart showing an example of the flow of the connection determination method executed by the control device.

[0015] Figure 5 is a whole configuration diagram of the system of the modified example 3.

[0016] Figure 6 is an example in a case where an error connection occurs in the system of Figure 5 .

[0017] Figure 7 is a whole configuration diagram of the system of the modified example 4.

[0018] Figure 8 is an example in a case where an error connection occurs in the system of Figure 7 . DETAILED DESCRIPTION

[0019] Hereinafter, suitable embodiments will be listed, and the present application will be explained in detail with reference to the accompanying drawings. Figure 1

[0020] [EMBODIMENT]

[0021] Figure 1 is a whole configuration diagram of the system 12 including the control device 10 of the embodiment.

[0022] The system 12 of the embodiment is provided with a motor 14, a motor drive device 16, a power line 18 and a feedback line 20 connecting the motor 14 and the motor drive device 16, and a control device 10 connected to the motor drive device 16. These will be explained in detail below.

[0023] The motor 14 is a servo motor possessed by a machine tool or an industrial machine. If one specific example is listed, for example, the motor 14 possessed by a large punch provided in a factory. The motor 14 performs a rotational action (a feed action) in correspondence with the electric power supplied from the motor drive device 16.

[0024] In addition, the motor 14 is provided with a detector 22. The detector 22 of the embodiment is an encoder that detects the rotational angle (current position information) of the motor 14 that has rotated upon the rotational action of the motor 14. In the embodiment, the rotational angle of the motor 14 detected by the detector 22 is also described as "feedback information".​

[0025] Further, the detector 22 detects the current position information as "feedback information" in the present embodiment as described above is a rotation angle, but can be a rotation speed of the motor 14, or a rotation position. In this way, the "current position information" of the present embodiment refers to a physical quantity detected from the motor 14 according to the feeding action of the motor 14 corresponding to the supplied electric power.

[0026] The number of the motors 14 is plural. In the present embodiment, the number of the motors 14 is set to "3". However, the number of the motors 14 is not limited thereto. In order to distinguish each of the three motors 14, it is also described as "motor 14X", "motor 14Y", and "motor 14Z".

[0027] The motor driving device 16 of the present embodiment is a servo amplifier that supplies electric power to the motor 14. The number of the motor driving devices 16 is plural, and at least the same number as the number of the motors 14 is prepared. In the present embodiment, the number of the motor driving devices 16 is set to the same "3" as the number of the motors 14, and in order to distinguish each, it is also described as "motor driving device 16X", "motor driving device 16Y", and "motor driving device 16Z".

[0028] The supply of electric power from the motor driving device 16 to the motor 14 is performed through the electric power line 18 that connects the motor driving device 16 and the motor 14 to each other. The number of the electric power lines 18 is the same number as the motor driving devices 16 (in the present embodiment, "3").

[0029] In addition, in the present embodiment, the motor 14 and the motor driving device 16 are also connected to each other through a line (cable) described as "feedback line 20". The feedback line 20 is a line for transmitting the above-described feedback information from the detector 22 of the motor 14 to the motor driving device 16. The number of the feedback lines 20 is the same number as the motors 14 (in the present embodiment, "3").

[0030] The connection relationship of the motor 14 and the motor driving device 16 that should be connected to each other through the electric power line 18 and the feedback line 20 is determined in advance. Hereinafter, this connection relationship is also described as a "predetermined connection relationship". In the present embodiment, the "predetermined connection relationship" is as follows. Figure 2That is, in the present embodiment, it is predetermined that the motor 14X and the motor drive device 16X are connected to each other through the power line 18 and the feedback line 20. Similarly, in the present embodiment, it is predetermined that the motor 14Y and the motor drive device 16Y are connected to each other through the power line 18 and the feedback line 20. Further, in the present embodiment, it is predetermined that the motor 14Z and the motor drive device 16Z are connected to each other through the power line 18 and the feedback line 20.

[0031] Figure 3 is a schematic configuration diagram of the control device 10 of the embodiment.

[0032] The control device 10 is a device that is connected to the plurality of motor drive devices 16 described above and controls the plurality of motors 14 via the plurality of motor drive devices 16. The control device 10 is provided with a processor 24 and a memory 26. Thereby, the control device 10 has an arithmetic processing function including execution of a program.

[0033] In the memory 26, a predetermined program for controlling the motor 14, the above-described predetermined connection relationship are stored.

[0034] The processor 24 controls the motor 14 by executing the predetermined program stored in the memory 26. Further, the processor 24 is provided with an output section 28, an acquisition section 30, and a connection determination section 32. Hereinafter, these will be described in order.

[0035] The output section 28 outputs an instruction for the motor 14 to perform a rotational operation to the motor drive device 16 to which the motor 14 should be connected. In the present embodiment, this instruction is also described as a "drive instruction".

[0036] A designation of a parameter related to the rotational operation to be performed by the motor 14 is included in the drive instruction. This "parameter" is, for example, a physical quantity such as a rotational speed, a rotational angle, or a rotational position of the motor 14 when performing the rotational operation. In the present embodiment, a designation of the rotational angle is included in the drive instruction at least. If the motor drive device 16 is inputted with the drive instruction, it supplies power corresponding to the drive instruction to the motor 14 connected to itself via the power line 18.

[0037] According to the connection relationship stored in the memory 26, the motor drive device 16 that "should be connected to the motor 14" is decided. For example, in the present embodiment, it is assumed that the control device 10 is to control the motor 14X. In this case, the motor drive device 16 that should be connected to the motor 14X through the power line 18 is the motor drive device 16X. Therefore, the output section 28 outputs the drive command to the motor drive device 16X. The same applies when the motor 14Y and the motor 14Z are to be controlled separately, and the output section 28 outputs the drive command to each of the motor drive device 16Y and the motor drive device 16Z.

[0038] The acquisition section 30 acquires the feedback information from each of the plurality of motor drive devices 16. The control device 10 of the present embodiment acquires the feedback information from all of the plurality of motor drive devices 16 connected thereto.

[0039] Accordingly, the control device 10 can grasp the actual rotational operation of the motor 14 with respect to the output drive command. Then, the control device 10 further outputs the drive command to the plurality of motor drive devices 16 based on the acquired feedback information, so that each motor 14 appropriately performs the rotational operation. The control method of further controlling the control object based on the feedback information detected from the control object is also referred to as "feedback control".

[0040] In the case of the present embodiment, the control device 10 grasps the actual rotational operation of the motor 14X based on the feedback information acquired from the motor drive device 16X. It suffices that the rotational operation is grasped based on the feedback information by the processor 24 analyzing the feedback information. Similarly, the control device 10 grasps the actual rotational operation of the motor 14Y based on the feedback information acquired from the motor drive device 16Y and the actual rotational operation of the motor 14Z based on the feedback information acquired from the motor drive device 16Z.

[0041] The connection determination section 32 determines whether the motor 14 and the motor drive device 16 that should be connected to the motor 14 are correctly connected via the power line 18 and the feedback line 20 based on the feedback information. Hereinafter, the flow of the process (connection determination method) until the connection determination section 32 completes the determination will be described with specific examples.

[0042] Figure 1 is an example of a case where an erroneous connection has occurred in the system 12 of Figure 4 Figure 1 is a flowchart showing an example of the flow of the connection determination method performed by the control device 10.

[0043] For example, it is assumed that the connection relationship stored in the memory 26 is as shown in Figure 3 Accordingly, the actual connection relationship is as shown in Figure 3 ​That is. Figure 4 In the figure, the state is shown in which the motor 14X and the motor drive device 16Y are connected to each other through the feedback line 20, and likewise, the motor 14Y and the motor drive device 16X are connected to each other through the feedback line 20.

[0044] First, the output section 28 selects at least one motor 14 among the plurality of motors 14 (step S1). Step S1 is started by the control device 10 being instructed by the operator who wants to confirm the connection state to execute the "connection determination program". The "connection determination program" is a program for causing the control device 10 to execute the connection determination method of Figure 3

[0045] In step S1, the output section 28 can also cause the operator to select the motor 14. In the present embodiment, it is assumed that the motor 14X is selected by the operator.

[0046] Next, the output section 28 outputs a drive command only to the motor drive device 16 that should be connected to the selected motor 14, so that the selected motor 14 performs a prescribed rotational operation (step S2). As already explained, the motor drive device 16 that is the output target is determined in accordance with the connection relationship stored in the memory 26. In the present embodiment, the motor 14X is selected in step S1. Therefore, in this step S2, the drive command is output to the motor drive device 16X.

[0047] Next, the acquisition section 30 acquires feedback information from each of the plurality of motor drive devices 16 (step S3). Step S3 is continuously executed during a prescribed time from the end of step S2.

[0048] Next, the connection determination section 32 determines whether the motor 14 selected by the output section 28 and the motor drive device 16 that should be connected to the selected motor 14 are connected via the power line 18 and the feedback line 20 (step S4).

[0049] The determination by the connection determination section 32 is executed in accordance with the feedback information acquired by the acquisition section 30 in step S3. The connection determination section 32 of the present embodiment determines whether the drive command and the feedback information actually acquired from the motor drive device 16X converge within an allowable error. Here, the rotational angle specified by the drive command and the rotational angle shown by the feedback information are compared. The range of the above "allowable error" can be appropriately changed by the operator who manages the control device 10.

[0050] In the figure, the state is shown in which the motor 14X and the motor drive device 16Y are connected to each other through the feedback line 20, and likewise, the motor 14Y and the motor drive device 16X are connected to each other through the feedback line 20. Figure 2 ​In the case where the feedback information is not acquired from the motor 14X, the feedback information of the motor 14X that does not perform the rotational operation is acquired from the motor drive device 16X. Therefore, the acquisition section 30 acquires the feedback information indicating the rotational angle (no rotational operation) that is completely different from the drive command from the motor drive device 16X. If the result of comparing the drive command and the feedback information is not converged within the allowable error, the wiring determination section 32 determines that the motor 14X and the motor drive device 16X are not connected as the connection relationship stored in the storage 26.

[0051] The control device 10 easily determines whether the selected motor 14 and the motor drive device 16 that should be connected to the selected motor 14 are connected via the power line 18 and the feedback line 20 as above.

[0052] The control device 10 further has a reporting section 34 Figure 5 The reporting section 34 is, for example, a speaker that emits a sound, a display screen that displays a message. The result of the determination by the wiring determination section 32 is reported to the operator around by the reporting section 34.

[0053] In addition, it is preferable that the control device 10 not perform the feedback control based on the feedback information acquired in step S3. By not performing the feedback control based on the feedback information acquired in step S3, it is possible to prevent the motor 14 from possibly running out of control before the state is improved in the case where the erroneous connection has occurred.

[0054] In addition, the execution of the wiring determination program is instructed by the operator as above, but the wiring determination program can also be executed at a prescribed timing (for example, at the start time of the operation of the factory every morning, and the like).

[0055] [Modified Example]

[0056] As above, the embodiment is explained as one example of the present application, but of course various changes or improvements can be made to the above-described embodiment. Embodiments to which such changes or improvements are made can also be included in the technical scope of the present application according to the recitations of the claims.

[0057] (Modified Example 1)

[0058] In the embodiment, the motor 14 selected in step S1 is selected by the operator. The control device 10 can also automatically repeat the above-described steps S1 to S4 so that the output section 28 sequentially selects the plurality of motors 14. If one example is cited, for example, the control device 10 first selects the motor 14X in step S1, and executes steps S2 to S4. Next, the motor 14Y is selected in step S1, and steps S2 to S4 are executed. Next, the motor 14Z is selected in step S1, and steps S2 to S4 are executed.

[0059] Thus, for each of the plurality of electric motors 14, the control device 10 can easily determine whether the motor drive devices 16 to which the plurality of electric motors 14 should be connected are correctly connected via the power lines 18 and the feedback lines 20.

[0060] (Modified example 2)

[0061] The output section 28 can also select the plurality of electric motors 14 in step S1. Then, the output section 28 can also output the drive commands to the plurality of motor drive devices 16 to which the selected plurality of electric motors 14 should be connected, respectively, so that the selected plurality of electric motors 14 perform mutually different prescribed rotational movements. At this time, the drive commands can also be output to the plurality of motor drive devices 16, respectively, at the same time.

[0062] The rotational movements indicated by the feedback information obtained from the plurality of motor drive devices 16 are mutually different by outputting the drive commands so that the selected plurality of electric motors 14 perform mutually different prescribed rotational movements.

[0063] Then, the wiring determination section 32 can also determine, based on the feedback information, whether the selected plurality of electric motors 14 and the plurality of motor drive devices 16 to which the selected plurality of electric motors 14 should be connected are connected via the power lines 18 and the feedback lines 20. At this time, the wiring determination section 32 can distinguish, based on the contents of the plurality of feedback information, respectively, each of the plurality of feedback information as feedback information corresponding to the drive command output to which of the motor drive devices 16.

[0064] Thus, it is possible to easily and efficiently determine whether the selected plurality of electric motors 14 and the plurality of motor drive devices 16 to which the selected plurality of electric motors 14 should be connected are connected via the power lines 18 and the feedback lines 20.

[0065] (Modified example 3)

[0066] Figure 6 is a whole configuration view of the system 12' of the modified example 3.

[0067] In the system 12', the 2 motor drive devices 16 are connected to one electric motor 14 via the power lines 18. Hereinafter, for the sake of distinction, the motor drive devices 16 that should be connected to the electric motor 14X via the power lines 18 are also described as "motor drive device 16X1", "motor drive device 16X2". Similarly, the motor drive devices 16 that should be connected to the electric motor 14Y via the power lines 18 are also described as "motor drive device 16Y1", "motor drive device 16Y2". In addition, the motor drive devices 16 that should be connected to the electric motor 14Z via the power lines 18 are also described as "motor drive device 16Z1", "motor drive device 16Z2".

[0068] In addition, in the system 12', not only the feedback information corresponding to the drive command output to the motor drive device 16X1, but also the feedback information corresponding to the drive command output to the motor drive device 16X2 is sent to the motor drive device 16X1. Therefore, the motor 14X is connected to the motor drive device 16X1 of the motor drive devices 16X1 and 16X2 through the feedback line 20. Similarly, the motors 14Y and 14Z are connected to the motor drive devices 16Y1 and 16Z1, respectively, through the feedback line 20.

[0069] In the system 12' described above, the output section 28 can also select a plurality of motors 14 to which the plurality of motor drive devices 16 should be connected via the power lines 18. Then, the output section 28 can also output, in order, to the motor drive devices 16 to which the selected plurality of motors 14 should be connected, drive commands instructing the motors 14 to a prescribed rotational motion different from each other.

[0070] Figure 6 is an example of a case where an erroneous connection occurs in the system 12' of Modification Example 3.

[0071] For example, in Figure 7 , the power lines 18 to which the motor drive devices 16X2 and 16Y1 should be connected are different from each other. In this case, it is assumed that if the same content of drive command is output to the motor drive devices 16X2 and 16Y1, the feedback information obtained by each is the content indicating the same rotational motion.

[0072] Therefore, in the present modification example, as described above, to the plurality of motor drive devices 16 to which the selected plurality of motors 14 should be connected, drive commands instructing the motors 14 to a prescribed rotational motion different from each other are output. Thereby, it is possible to distinguish that the feedback information obtained from the motor drive devices 16X2 and 16Y1 is information corresponding to the drive command output to which motor drive device 16.

[0073] Therefore, even in a case where a plurality of motors 14 to which a plurality of motor drive devices 16 should be connected via the power lines 18 is selected, it is possible to easily determine whether an erroneous connection occurs in the system 12'.

[0074] Further, in the present modification example, the number of the plurality of motor drive devices 16 to which one motor 14 can be connected is not limited to "2".

[0075] Alternatively, in this modified example, the motor drive device 16, which should be connected to the motor 14X in system 12' via the feedback line 20, can be changed from the motor drive device 16X1 to the motor drive device 16X1 by appropriately changing the predetermined connection relationship.

[0076] (Variation Example 4)

[0077] Figure 7 This is the overall structure diagram of System 12, which is a variation of Example 4.

[0078] The connection determination unit 32 can also determine whether the selected motor 14 and the motor drive device 16 that should be connected to the motor 14 are connected via the power line 18 and the feedback line 20 based on the earliest feedback information obtained after the output drive command.

[0079] exist Figure 8 In system 12", motors 14X and 14Y are connected by a connecting member 36. In this case, motors 14X and 14Y are linked. That is, when motor 14X receives power and rotates, motor 14Y rotates in the same way as motor 14X without power supply. Therefore, the acquisition unit 30 acquires feedback information indicating the rotational action corresponding to the drive command not only from motor drive device 16X, but also from motor drive device 16Y.

[0080] Figure 8 This is an example of a case where an incorrect connection occurred in system 12”, which is a variation of Example 4.

[0081] For example in ​ In this case, the feedback lines 20 connected to motor drive units 16X and 16Y should be different from each other. If motor 14X is selected and a drive command is output to motor drive unit 16, feedback information corresponding to the drive command will be obtained from motor drive unit 16X without any problems. This is because motor 14Y, which is incorrectly connected to motor drive unit 16X via feedback line 20, is linked to motor 14X.

[0082] Therefore, in this modified example, the connection determination unit 32, as described above, executes step S4 based on the earliest feedback information obtained after the output drive command, ignoring the second and subsequent feedback information. This is because, in the case of multiple motors 14 operating in tandem, the motor 14 connected to the motor drive device 16 that output the drive command via the power line 18 also starts rotating earliest. Furthermore, the "earliest obtained feedback information" mentioned here refers to "the earliest obtained feedback information indicating that the motor 14 has rotated."

[0083] Thus, even in the case where a plurality of electric motors 14 are linked, it is possible to easily determine whether the selected electric motor 14 and the electric motor drive device 16 that should be connected to the electric motor 14 are connected via the power line 18 and the feedback line 20.

[0084] (Modified example 5)

[0085] In the embodiment, it is described that the electric motor 14 is a servo motor. The electric motor 14 is not limited thereto, and may, for example, be a linear motor. As the feeding action, the linear motor performs linear movement. In addition, in correspondence thereto, the content of the feedback information (the current position information detected by the detector 22 of the electric motor 14) can also be appropriately changed. If one example is cited, the current position information when the electric motor 14 is a linear motor may, for example, be the amount of movement when the electric motor 14 performs the feeding action (linear movement).

[0086] (Modified example 6)

[0087] The above embodiment and each modified example can be appropriately combined within a range that does not cause contradiction.

[0088] [Invention that can be derived from the embodiment]

[0089] The following describes the invention that can be grasped from the above embodiment and modified examples.

[0090] <First invention>

[0091] A control device (10) controls a plurality of motors (14) of a machine tool or an industrial machine via a plurality of motor driving devices (16), the plurality of motor driving devices (16) and the plurality of motors (14) are connected to each other via a plurality of power lines (18) and a plurality of feedback lines (20), the motor driving devices (16) supply electric power corresponding to a driving command from the control device (10) to the motors (14) via the power lines (18), the motors (14) transmit feedback information corresponding to current position information to the motor driving devices (16) via the feedback lines (20), the control device (10) includes: an output section (28) that selects at least one of the plurality of motors (14), outputs the driving command to the motor driving device (16) that should be connected to the selected motor (14), and causes the selected motor (14) to perform a predetermined feed operation; an acquisition section (30) that acquires the feedback information from the plurality of motor driving devices (16); and a wiring determination section (32) that determines whether the selected motor (14) and the motor driving device (16) that should be connected to the selected motor (14) are connected in a predetermined connection relationship via the power lines (18) and the feedback lines (20) based on the feedback information.

[0092] Thus, the control device (10) that easily detects an erroneous connection of the plurality of power lines (18) and the plurality of feedback lines (20) that connect the plurality of motors (14) and the plurality of motor driving devices (16) is provided.

[0093] The output section (28) can also sequentially select one of the plurality of motors (14). Thus, it is easy to determine whether each of the plurality of motors (14) is correctly connected to the motor driving device (16) that should be connected via the power lines (18) and the feedback lines (20).

[0094] The output section (28) can also select a plurality of the motors (14) and output the drive command to the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) so that the selected plurality of the motors (14) perform mutually different prescribed feeding operations. The connection determination section (32) determines whether the selected plurality of the motors (14) and the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) are connected via the power lines (18) and the feedback lines (20) based on the feedback information. In this case, the output of the drive command to each of the plurality of the motor driving devices (16) can be performed simultaneously. Thus, it is possible to easily and efficiently determine whether the selected plurality of the motors (14) and the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) are connected via the power lines (18) and the feedback lines (20).

[0095] The output section (28) can also output the drive command to the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) in order so that the selected plurality of the motors (14) perform mutually different prescribed feeding operations in the case where the plurality of the motors (14) to be connected via the power lines (18) have been selected. Thus, even in the case where the plurality of the motors (14) to be connected via the power lines (18) have been selected, it is possible to easily determine whether an erroneous connection has occurred.

[0096] The connection determination section (32) can also determine whether the selected motor (14) and the motor driving device (16) to be connected to the selected motor (14) are connected via the power line (18) and the feedback line (20) based on the feedback information that is obtained earliest after the drive command is output. In this case, the "feedback information obtained earliest" can be "feedback information obtained earliest that indicates that the motor (14) performed a feeding operation". Thus, for example, even in the case where the selected plurality of the motors (14) are linked, it is possible to easily determine whether an erroneous connection has occurred.

[0097] The connection determination section (32) can also determine whether the plurality of the power lines (18) and the plurality of the feedback lines (20) are connected in the connection relationship based on a comparison between the drive command and the feedback information. Thus, it is possible to easily detect an erroneous connection of the plurality of the power lines (18) and the plurality of the feedback lines (20) to which the plurality of the motors (14) and the plurality of the motor driving devices (16) are connected.

[0098] Also, a reporting section (34) can be provided to report the result of the determination by the connection determination section (32). Thus, the result of the determination by the connection determination section (32) can be reported to an operator around.

[0099] <Second Invention>

[0100] A connection determination method determines whether a plurality of power lines (18) and a plurality of feedback lines (20) are connected in a predetermined connection relationship in a case where a plurality of motor driving devices (16) and a plurality of motors (14) possessed by a machine tool or an industrial machine are connected to each other via the plurality of power lines (18) and the plurality of feedback lines (20), the motor driving devices (16) supply power corresponding to a driving command to the motors (14) via the power lines (18), and the motors (14) transmit feedback information corresponding to current position information to the motor driving devices (16) via the feedback lines (20). The connection determination method includes a selection step of selecting at least one of the plurality of motors (14), an output step of outputting the driving command to the motor driving device (16) that should be connected to the selected motor (14) so that the selected motor (14) performs a predetermined feed motion, a retrieval step of retrieving the feedback information from the plurality of motor driving devices (16), and a connection determination step of determining whether the selected motor (14) and the motor driving device (16) that should be connected to the selected motor (14) are connected via the power lines (18) and the feedback lines (20) based on the feedback information.

[0101] Thus, a connection determination method that easily detects an erroneous connection of a plurality of power lines (18) and a plurality of feedback lines (20) that connect a plurality of motors (14) and a plurality of motor driving devices (16) is provided.

[0102] In the selection step, a plurality of the motors (14) can be selected. In the output step, the drive command indicating a different prescribed feed operation to the selected plurality of the motors (14) can be output to each of the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14). In the connection determination step, it can be determined from the feedback information whether the selected plurality of the motors (14) and the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) are connected via the power lines (18) and the feedback lines (20). In this case, the output of the drive command to each of the plurality of the motor driving devices (16) can be performed simultaneously. Thus, it is possible to easily and efficiently determine whether the selected plurality of the motors (14) and the plurality of the motor driving devices (16) to be connected to the selected plurality of the motors (14) are connected via the power lines (18) and the feedback lines (20).

[0103] In the output step, in a case where a plurality of the motors (14) to which the plurality of the motor driving devices (16) should be connected is selected in the selection step, the drive command indicating a different prescribed feed operation to the motors (14) can be output to each of the plurality of the motor driving devices (16) to be connected to the plurality of the motors (14). Thus, even in a case where a plurality of the motors (14) to which the plurality of the motor driving devices (16) should be connected via the power lines (18) is selected, it is possible to easily determine whether an erroneous connection has occurred.

[0104] In the connection determination step, it can be determined from the feedback information obtained earliest after the output of the drive command whether the selected motor (14) and the motor driving device (16) to be connected to the selected motor (14) are connected via the power line (18) and the feedback line (20). In this case, the "feedback information obtained earliest" can be "feedback information indicating that the motor (14) has performed a feed operation obtained earliest". Thus, for example, even in a case where a plurality of the motors (14) is linked, it is possible to easily determine whether an erroneous connection has occurred.

[0105] In the connection determination step, it can be determined from a comparison between the drive command and the feedback information whether the plurality of the power lines (18) and the plurality of the feedback lines (20) are connected in the connection relationship. Thus, it is possible to easily detect an erroneous connection of the plurality of the power lines (18) and the plurality of the feedback lines (20) connecting the plurality of the motors (14) and the plurality of the motor driving devices (16).

[0106] Further, a reporting step of reporting the result of the determination in the connection determination step can be included. Thus, the result of the determination in the connection determination step can be reported to an operator around.

Claims

1. A control device that controls multiple electric motors in a machine tool or industrial machinery via multiple electric motor drive devices, characterized in that, Multiple electric motor drive devices and multiple electric motors are interconnected via multiple power lines and multiple feedback lines. The aforementioned motor drive device supplies power to the aforementioned motor via the aforementioned power line, corresponding to the drive command from the aforementioned control device. The aforementioned motor sends feedback information corresponding to the current position information representing the rotation angle of the aforementioned motor to the aforementioned motor drive device via the aforementioned feedback line. The aforementioned control device includes: The output unit selects at least one of the plurality of motors and outputs the drive command to the motor drive device that should be connected to the selected motor, so that the selected motor performs a predetermined feed operation. The acquisition unit obtains the aforementioned feedback information from each of the aforementioned motor drive devices; The connection determination unit determines, based on the feedback information, whether the selected motor and the motor drive device that should be connected to the selected motor are connected via the power line and the feedback line in a predetermined connection relationship.

2. The control device according to claim 1, characterized in that, The output section selects one of the aforementioned motors in sequence.

3. The control device according to claim 1 or 2, characterized in that, The output unit selects multiple motors and outputs drive commands to multiple motor drive devices that should be connected to the selected motors, causing the selected motors to perform different predetermined feed actions. Based on the feedback information, the connection determination unit determines whether the selected plurality of motors and the plurality of motor drive devices that should be connected to the selected plurality of motors are connected via the power line and the feedback line.

4. The control device according to claim 3, characterized in that, When multiple motors that should be connected to the power lines are selected, the output unit sequentially outputs drive commands to the multiple motors that should be connected to the selected multiple motors, instructing each motor to perform a different prescribed feed action.

5. The control device according to claim 1 or 2, characterized in that, The connection determination unit determines, based on the earliest feedback information obtained after the output drive command, whether the selected motor and the motor drive device that should be connected to the selected motor are connected via the power line and the feedback line.

6. The control device according to claim 1 or 2, characterized in that, Based on the comparison between the drive command and the feedback information, the connection determination unit determines whether the plurality of power lines and the plurality of feedback lines are connected in the predetermined connection relationship.

7. The control device according to claim 1 or 2, characterized in that, The control device further includes a reporting unit that reports the result of the determination by the connection determination unit.

8. A connection determination method, which determines whether multiple power lines and multiple feedback lines are connected in a predetermined connection relationship under the following conditions: Multiple electric motor drives and multiple electric motors in machine tools or industrial machinery are interconnected via multiple power lines and multiple feedback lines. The aforementioned motor drive device supplies power corresponding to the drive command to the aforementioned motor via the aforementioned power line. The aforementioned motor sends feedback information corresponding to the current position information representing the rotation angle of the aforementioned motor to the aforementioned motor drive device via the aforementioned feedback line. Its features are, The above connection determination methods include: The selection step involves selecting at least one of the aforementioned motors from a plurality of the aforementioned motors; In the output step, the drive command is output to the motor drive device that should be connected to the selected motor, so that the selected motor performs a predetermined feed action. The step involves obtaining the aforementioned feedback information from multiple aforementioned motor drive devices; The connection determination step, based on the above feedback information, determines whether the selected motor and the motor drive device that should be connected to the selected motor are connected via the power line and the feedback line.

9. The connection determination method according to claim 8, characterized in that, In the above selection steps, multiple of the aforementioned motors are selected. In the above output step, the drive commands are output to the multiple motor drive devices that should be connected to the selected multiple motors, so that the multiple motors selected in the above selection step perform different prescribed feed actions. In the above connection determination step, based on the above feedback information, it is determined whether the selected plurality of motors and the plurality of motor drive devices that should be connected to the selected plurality of motors are connected via the above power line and the above feedback line.

10. The connection determination method according to claim 9, characterized in that, In the above output step, if multiple motors that should be connected to multiple motor drive devices are selected in the above selection step, a drive command that instructs different predetermined feed actions to each of the multiple motor drive devices that should be connected to the multiple motors is output.

11. The connection determination method according to any one of claims 8 to 10, characterized in that, In the above connection determination step, based on the earliest feedback information obtained after the output drive command, it is determined whether the selected motor and the motor drive device that should be connected to the selected motor are connected via the power line and the feedback line.

12. The connection determination method according to any one of claims 8 to 10, characterized in that, In the above connection determination step, based on the comparison between the above drive command and the above feedback information, it is determined whether the multiple power lines and the multiple feedback lines are connected in the above-predetermined connection relationship.

13. The connection determination method according to any one of claims 8 to 10, characterized in that, The above connection determination method also includes a reporting step, which reports the determination result of the above connection determination step.

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