Slave units and servo drive systems

Abstract

This system provides a slave unit and a servo drive system. In driving a power source comprising multiple servo motors and / or servo motors with multiple windings, it avoids increased cost, response time delays, and performance degradation. The slave unit, according to instructions from a host controller, uses multiple amplifiers to drive the power source comprising multiple servo motors and / or servo motors with multiple windings. It includes: a storage unit that stores the servo internal states, decision data, and resource data of each servo motor and / or each winding; a servo internal state copying determination unit that determines the copying source and copying destination based on the decision data and resource data, and determines whether to copy the servo internal states of the copying source to the copying destination for public use; a servo internal state copying implementation unit that copies the servo internal states of the copying source to the copying destination; and a servo control unit that outputs the multiple servo internal states to each of the multiple amplifiers and drives and controls the power source.

Description

Technical Field

[0001] This invention relates to slave units and servo drive systems. Background Technology

[0002] Large machine tools and industrial machinery may use multiple amplifiers and multiple servo motors to drive a single axis, or multiple amplifiers to drive servo motors with multiple windings (see, for example, Patent Document 1).

[0003] Here, CiA402 is an example of a standard for controlling servo motors. In the CiA402 standard, the individual states of multiple servo motors or multiple windings, indicating whether they are capable of being driven by applied excitation, are represented by a "servo internal state" called the PDS (Power Drive Systems) state. The servo internal state can be changed via the control word (6040H) of the CiA402 standard from the host controller, and can indicate servo on / off states of the amplifier. Additionally, the servo internal state can be obtained via the status word (6041H).

[0004] However, when using multiple servo motors to drive a single shaft in strict synchronization or to drive a servo motor with multiple windings, strict synchronization between multiple amplifiers is required (strict synchronization of servo control between shafts or windings).

[0005] To synchronize multiple amplifiers, there are two methods depending on the location of the servo control unit.

[0006] Figure 8 This is an example of a servo drive system in which servo control units are configured on each amplifier.

[0007] Figure 9 This is an example of a servo drive system where the servo control unit is configured in a slave unit that stores the internal state of the servo. Additionally, regarding systems with... Figure 8 The block diagrams of structures with the same function use the same labels.

[0008] In addition, Figure 8 as well as Figure 9 The text describes the case where a servo drive system drives multiple servo motors, but the same applies to servo motors with multiple windings.

[0009] Figure 8The servo drive system shown has a host controller 10, a slave unit 20 corresponding to CiA402, a dedicated unit 30, four amplifiers 40(1)-40(4), four servo control units 41(1)-41(4), four servo motors 50(1)-50(4), and a drive mechanism 60 for driving one axis through the four servo motors 50. Figure 8 As shown, servo control units 41(1)-41(4) are respectively configured on each of amplifiers 40(1)-40(4). Furthermore, the host controller 10 outputs instruction 11 to slave unit 20 through control field (6040H) and changes the servo internal state 21 stored in storage units (not shown) such as RAM (Random Access Memory) and HDD (Hard Disk Drive) included in slave unit 20. In order to simultaneously instruct amplifiers 40(1)-40(4), dedicated unit 30 such as motion controller outputs the updated servo internal state 21 to servo control units 41(1)-41(4) respectively.

[0010] In addition, the dedicated unit 30 obtains information indicating the respective states of the servo amplifiers 50 (1)-50 (4) via amplifiers 40 (1)-40 (4) and servo control units 41 (1)-41 (4), and outputs it to the servo internal state 21 of the slave unit 20. Then, the host controller 10 obtains the servo internal state 21 as the state output 12 through the state field (6041H).

[0011] so, Figure 8 In the servo drive system, amplifiers 40(1)-40(4) can be strictly synchronized, and servo motors 50(1)-50(4) can be used to strictly synchronize and drive an axis.

[0012] exist Figure 9 The servo drive system shown includes a host controller 10A, a slave unit 20A corresponding to CiA402, amplifiers 40(1)-40(4), servo motors 50(1)-50(4), and a drive mechanism 60. Figure 9As shown, the servo control unit 22 is configured on the slave unit 20A. Furthermore, the host controller 10A outputs commands 11A(1)-11A(4) for each of the amplifiers 40(1)-40(4) to the slave unit 20A via the control field (6040H). Simultaneously, the host controller 10A obtains the internal servo states 21A(1)-21A(4) of the slave unit 20A via the status field (6041H) and outputs them as status outputs 12A(1)-12A(4). Furthermore, the servo control unit 22 of the slave unit 20A simultaneously outputs each of the updated internal servo states 21A(1)-21A(4) to each of the amplifiers 40(1)-40(4).

[0013] so, Figure 9 In the servo drive system, amplifiers 40(1)-40(4) can be strictly synchronized, and servo motors 50(1)-50(4) can be used to strictly synchronize and drive an axis.

[0014] Patent Literature

[0015] Patent Document 1: Japanese Patent Application Publication No. 2016-46833 Summary of the Invention

[0016] However, in Figure 8 In the servo drive system, a dedicated unit 30 is required, which will increase the cost.

[0017] On the other hand, Figure 9 In the servo drive system, communication is required to include communication data packets (communication data) containing the servo's internal states 21A(1)-21A(4), thus increasing the communication load and resource consumption. Furthermore, in Figure 9 In the servo drive system, the host controller 10A needs to strictly and simultaneously acquire the output of each instruction 11A(1)-11A(4) and the status output 12A(1)-12A(4). Additionally, in... Figure 9 In a servo drive system, the host controller 10A needs to prepare the instructions 11A(1)-11A(4) required for the internal servo states 21A(1)-21A(4) of each amplifier 40(1)-40(4), which sometimes increases the processing load. Thus, in Figure 9 In servo drive systems, this can lead to issues such as "response time delay" and "performance issues".

[0018] Therefore, in the drive of a power source that includes multiple servo motors and / or servo motors with multiple windings, it is desirable to avoid increased costs, delayed response times, and poor performance.

[0019] (1) In one embodiment of the slave unit of this disclosure, a power source comprising a plurality of servo motors and / or servo motors having a plurality of windings is driven using a plurality of amplifiers according to instructions from a host controller. The slave unit comprises: a storage unit that stores servo internal states representing the states of the plurality of servo motors and / or the plurality of windings, judgment data representing the contents of set parameters, and resource data representing at least the structure of the plurality of amplifiers and the power source; a servo internal state copying judgment unit that, based on the judgment data and the resource data, sets one of the plurality of servo internal states as a copying source and sets at least one remaining servo internal state as a copying destination, and determines whether to copy the servo internal state of the copying source to the copying destination for public use; a servo internal state copying implementation unit that, based on the judgment result of the servo internal state copying judgment unit, copies the servo internal state of the copying source to the copying destination; and a servo control unit that outputs each of the plurality of servo internal states to each of the plurality of amplifiers to drive and control the power source.

[0020] (2) One embodiment of the servo drive system of the present disclosure includes the controller described above and the slave unit of (1).

[0021] According to one approach, in driving a power source containing multiple servo motors and / or multiple windings of servo motors, it is possible to avoid increased costs, delayed response times, and reduced performance. Attached Figure Description

[0022] Figure 1 This is a functional block diagram illustrating an example of the functional structure of a servo drive system in one implementation.

[0023] Figure 2 This is an explanation Figure 1 The flowchart for the copying process from the unit.

[0024] Figure 3 This is an explanation Figure 2 The flowchart shown illustrates the process of copying the internal state of the servo.

[0025] Figure 4 This is an explanation Figure 2 The flowchart shown is for the servo internal status monitoring process.

[0026] Figure 5 This is an example of a servo drive system that represents a power source that drives a servo motor with multiple windings.

[0027] Figure 6 This represents an example of a servo drive system.

[0028] Figure 7 This represents an example of a servo drive system.

[0029] Figure 8 This is an example of a servo drive system in which servo control units are configured in each amplifier.

[0030] Figure 9 This represents an example of a servo drive system when the slave unit, which stores the internal state of the servo, is configured with a servo control unit.

[0031] Description of Reference Signs

[0032] 1: Servo drive system, 40(1)-40(4): Amplifier, 50(1)-50(4): Servo motor, 100: Host controller, 200: Slave unit, 201: Servo internal state copying judgment unit, 202: Servo internal state copying implementation unit, 203: Servo internal state monitoring unit, 204: Servo control unit, 250(1)-250(4): Servo internal state, 251: Judgment data, 252: Resource data. Detailed Implementation

[0033] Hereinafter, an embodiment will be described using the accompanying drawings.

[0034] <One implementation method>

[0035] Figure 1 This is a functional block diagram illustrating a functional structure example of a servo drive system 1 according to one implementation method. Additionally, for systems with... Figure 8 The block diagrams with the same functional structures are labeled with the same tags, and detailed descriptions are omitted.

[0036] like Figure 1 As shown, the servo drive system 1 includes a host controller 100, a slave unit 200, amplifiers 40(1)-40(4) and servo motors 50(1)-50(4).

[0037] In addition, the following describes the operation of the servo drive system 1 when it has four amplifiers 40(1)-40(4) and servo motors 50(1)-50(4), but the operation is the same for the case where there are more than four amplifiers 40 and servo motors 50.

[0038] The host controller 100 and the slave unit 200 can be directly connected to each other via a connection interface not shown. Alternatively, the host controller 100 and the slave unit 200 can be connected to each other via a network such as a LAN (Local Area Network). In this case, the host controller 100 and the slave unit 200 may have a communication unit (not shown) for communicating with each other via the above connection.

[0039] The host controller 100 outputs instruction 101, which modifies the control field (6040H) of the servo internal state 250(1) described later, to the slave unit 200 via a connection interface not shown. At the same time, the host controller 100 obtains the servo internal state 250(1) as a status output 102 via the status field (6041H) through the connection interface not shown.

[0040] <From Unit 200>

[0041] like Figure 1 As shown, the slave unit 200 in this embodiment is the slave unit corresponding to CiA402, and is configured to include a servo internal state copying determination unit 201, a servo internal state copying implementation unit 202, a servo internal state monitoring unit 203, a servo control unit 204, and a storage unit 205.

[0042] From unit 200 in order to achieve Figure 1 The function blocks of the unit include a processing unit (not shown) such as a CPU (Central Processing Unit). Additionally, the slave unit 200 includes auxiliary storage devices (not shown) such as ROM (Read Only Memory) and HDD that store various control programs, and main storage devices (not shown) such as RAM used to store temporarily needed data while the processing unit executes the program.

[0043] Furthermore, in slave unit 200, the arithmetic processing unit reads the operating system and application software from the auxiliary storage device, expands the read-in operating system and application software onto the main storage device, and performs arithmetic processing based on these operating systems and application software. Based on the processing results, slave unit 200 controls various hardware components. This achieves... Figure 1 The processing of functional blocks. That is, the function of unit 200 can be implemented through hardware and software collaboration.

[0044] The servo internal state copying determination unit 201 determines whether to perform copying based on the determination data 251 and resource data 252 described later. Furthermore, when performing copying, the servo internal state copying determination unit 201 determines, for example, servo internal state 250(1) among the servo internal states 250 as the copying source. The servo internal state copying determination unit 201 determines whether to set the remaining servo internal states 250(2)-250(4) as the copying destination and makes the servo internal state 250(1) of the copying source copied to each of the servo internal states 250(2)-250(4) of the copying destination for commonality. The servo internal state copying determination unit 201 outputs the determination result to the servo internal state copying implementation unit 202.

[0045] In addition, the servo internal state copying determination unit 201 determines the servo internal state 250(1) as the copying source in the above description, but it is not limited to this. It may also determine any one of the servo internal states 250(2)-250(4) as the copying source.

[0046] Based on the determination result of the servo internal state copying determination unit 201, the servo internal state copying implementation unit 202 copies each of the servo internal states 250(1) of the copying source to each of the servo internal states 250(2)-250(4) of the copying destination in the storage unit 205. That is, the servo internal state copying implementation unit 202 makes the servo internal states 250(1)-250(4) common.

[0047] Thus, the servo drive system 1 of this embodiment can easily update the internal servo states 250(1)-250(4) by receiving only one status output 102 while outputting an instruction 101 to the slave unit 200. In addition, each of the updated internal servo states 250(1)-250(4) can be simultaneously output to each of the amplifiers 40(1)-40(4).

[0048] The internal status monitoring unit 203 monitors, for example, the internal status 250(2)-250(4) of the server at the copy destination.

[0049] More specifically, the servo internal status monitoring unit 203, for example, aggregates the object axes of the copy destination, i.e., the servo internal states 250(2)-250(4), into the servo internal state 250(1) of the copy source using a logical AND (OR). For example, when the servo excitation state is eliminated by any servo motor 50, or when any amplifier 40 becomes alarmed due to an abnormality, the servo internal status monitoring unit 203 notifies the upper controller 100 as a status output 102 of the aggregated servo internal state 250(1) of the copy source. In this way, the upper controller 100 can detect whether an abnormality has occurred in any amplifier 40 or servo motor 50.

[0050] In addition, the internal status monitoring unit 203 can update the judgment data 251 and resource data 252 described later based on the monitoring results.

[0051] The servo control unit 204 outputs each of the servo internal states 250(2)-250(4) to each of the amplifiers 40(1)-40(4), and drives the power source including the servo motors 50(1)-50(4).

[0052] Storage unit 205 includes SSD (Solid State Drive), HDD, etc., and internal storage server status 250(1)-250(4), judgment data 251, resource data 252 and running status 253.

[0053] As described above, the servo internal states 250(1)-250(4) store data representing the various states of the servo motors 50(1)-50(4), such as whether they are in a state that can be excited and driven, in the CiA 402 standard. Figure 1 In this process, the servo internal state 250(1) is updated as a copy source according to the instruction 101 from the host controller 100. On the other hand, in the servo internal states 250(2)-250(4), the servo internal state 250(1) as the copy source is copied by the servo internal state copy implementation unit 202 as the copy destination, so that the servo internal states 250(1)-250(4) are shared.

[0054] In addition, the internal states of the servo 250(1)-250(4) can be updated by the servo control unit 204 based on information representing the states of each servo motor 50(1)-50(4) obtained via each amplifier 40(1)-40(4).

[0055] The judgment data 251 stores, for example, settings related to parameters set in amplifiers 40(1)-40(4) and servo motors 50(1)-50(4). Furthermore, the judgment data 251 can be updated based on monitoring results from the servo internal status monitoring unit 203.

[0056] Resource data 252 stores, for example, the number of replicable servo internal states, data related to the structure of amplifiers 40(1)-40(4) and servo motors 50(1)-50(4), etc. Additionally, resource data 252 may also store data related to the replication source and destination of the servo internal state 250. Furthermore, resource data 252 can be updated based on the monitoring results of the servo internal state monitoring unit 203.

[0057] Operating state 253 stores data related to the operating state of a machine (not shown) such as a machine tool or robot that is driven by servo motors 50(1)-50(4). That is, operating state 253 stores the action content of the machine (not shown) that is driven by instructions 101 from the host controller 100.

[0058] <Copying process from unit 200>

[0059] Next, the operation related to the copying process of unit 200 in one embodiment will be described.

[0060] Figures 2 to 4 This is an explanation Figure 1 The flowchart of the copying process from unit 200.

[0061] In step S1, the servo internal state copying determination unit 201 determines whether to continue the copying process. If the copying process continues, the process proceeds to step S2; otherwise, the process ends.

[0062] In step S2, the servo internal state copying judgment unit 201 reads the judgment data 251 and resource data 252 from the storage unit 205.

[0063] In step S3, the servo internal state copying determination unit 201 determines the servo internal state 250(1) as the copying source and the servo internal states 250(2)-250(4) as the copying destination based on the determination data 251 and resource data 252 read in step S2.

[0064] In step S4, the servo internal state copying implementation unit 202 performs servo internal state copying processing, which copies the servo internal state 250(1) of the copying source determined in step S3 to the servo internal states 250(2)-250(4) of the copying destination. The detailed process of the servo internal state copying processing will be described later.

[0065] In step S5, the servo internal status monitoring unit 203 performs servo internal status monitoring processing to monitor the servo internal status 250(2)-250(4) of the copy destination. Then, the processing returns to step S1. In addition, the detailed process of the servo internal status monitoring processing will be described later.

[0066] Figure 3 This is an explanation Figure 2 The flowchart for the detailed processing of the servo internal state copying process shown in step S4 is as follows.

[0067] In step S41, the servo internal state copying implementation unit 202 obtains the servo internal state 250(1) of the copy source from the storage unit 205.

[0068] In step S42, the servo internal state copying implementation unit 202 copies the servo internal state 250(1) of the copying source obtained in step S41 to the copying destination determined in step S3.

[0069] In step S43, the servo internal state copying implementation unit 202 determines whether to copy the servo internal state 250(1) of the copy source to all copy destinations that are all copy objects. When the copy source is copied to all copy objects, the servo internal state copying process ends, and the process proceeds to step S5. If the copy source is not copied to all copy objects, the process returns to step S41.

[0070] Figure 4 This is an explanation Figure 2 The flowchart for the detailed processing of the servo internal status monitoring process shown in step S5 is as follows.

[0071] In step S51, the servo internal status monitoring unit 203 obtains, for example, the servo internal status 250(2) of the copy destination that was copied in step S42 from the storage unit 205.

[0072] In step S52, the servo internal status monitoring unit 203 sets the servo internal status 250(2) of the copy destination obtained in step S51 as a logical AND setting (aggregation) to the servo internal status 250(1) of the copy source.

[0073] In step S53, the servo internal status monitoring unit 203 determines whether the servo internal status 250, which is the copy destination for all copy objects, has been set. If the servo internal status 250 for all copy objects has been set, the servo internal status monitoring process ends, and the process returns to step S1. If the servo internal status 250 for all copy objects has not been set, the process returns to step S51.

[0074] As described above, in one embodiment, the slave unit 200 sets one servo internal state 250(1) as the copy source and determines the remaining servo internal states 250(2)-250(4) as the copy destinations, and copies the servo internal state 250(1) of the copy source to each copy destination. In this way, in the communication of one set of instructions 101 and status output 102, the servo drive system 1 can synchronously drive one axis using servo motors 50(1)-50(4), which can suppress the increase in communication load, the increase in resource consumption, and the increase in processing load. That is, the servo drive system 1 can avoid the delay in response time or the reduction in performance.

[0075] In addition, such as Figure 8 Like a servo drive system, unit 200 can output the internal states 250(1)-250(4) of the servo simultaneously to each of amplifiers 40(1)-40(4) without using a dedicated unit 30, which can reduce costs.

[0076] Additionally, the internal states 250(2)-250(4) of the servo at the copy destination are monitored from unit 200. The internal states 250(2)-250(4) of the servo at the copy destination are combined into the internal state 250(1) of the servo at the copy source through a logical AND and then notified to the host controller 100. In this way, the host controller 100 can detect whether any abnormality has occurred in any of the amplifiers 40 or the servo motors 50.

[0077] The above describes one embodiment, but the servo drive system 1 is not limited to the above embodiment and includes variations and improvements that can achieve the desired purpose.

[0078] <Variation Example 1>

[0079] In the above embodiment, the servo drive system 1 uses multiple servo motors 50 to synchronously drive an axis, but it is also possible to use a servo motor with multiple windings to drive it.

[0080] Figure 5 This is an example of a servo drive system that drives a servo motor 50A with multiple windings. Each of the amplifiers 40(1)-40(4) is connected to each of the four windings of the servo motor 50A. In addition, the servo internal states 250(1)-250(4) store data representing the states of the four windings (not shown).

[0081] In addition, Figure 5 In this case, the servo motor 50A has four windings, but it can also have more than four. In this case, the number of amplifiers 40 and servo internal states 250 also change depending on the number of windings.

[0082] <Variation Example 2>

[0083] Additionally, for example, in the above embodiment, in the servo drive system 1, the servo internal state 250 of a copy source is copied to the servo internal state 250 of all remaining copy destinations, but is not limited thereto.

[0084] For example, the servo internal state copying determination unit 201 can also dynamically switch the copying destination as the copying object according to changes in the machine structure. For example, when the servo internal state copying determination unit 201 detects an abnormality in the amplifier 40 or servo motor 50 corresponding to the servo internal state 250 of the copying destination based on the determination data 251 or resource data 252, it can remove the servo internal state 250 of the copying destination that has an abnormality from the copying object.

[0085] Furthermore, the servo internal state copying determination unit 201 can also use "energy saving priority" or "precision priority" as judgment data 251 based on the operation content of the machine (not shown) as shown in the operation state 253. For example, when "energy saving priority" is indicated from the host controller 100, the servo internal state copying determination unit 201 determines the servo internal state 250(1) as the copying source, and can determine only the servo internal state 250(2) as the copying destination among the three servo internal states 250(2)-250(4). In this way, when the operation content of the machine (not shown) does not require machining precision, the servo drive system 1 can achieve energy saving by driving one axis with a portion of the servo motor 50.

[0086] Furthermore, when the host controller 100 indicates "precision priority", the servo internal state copying determination unit 201 determines the servo internal state 250(1) as the copying source and all the remaining servo internal states 250(2)-250(4) as the copying destination based on the determination data 251. In this way, in the case of machining accuracy required in a machine (not shown), the servo drive system 1 can drive one axis through all the servo motors 50 to achieve the required machining accuracy.

[0087] In other words, the server internal state copying determination unit 201 plans (schedules) the copy destination as the copying object based on the actions in the machine (not shown) shown in the operating state 253. Furthermore, the server internal state copying determination unit 201 can also determine, based on the determination data 251 and resource data 252, to copy the server internal state 250 of the copying source to the planned copy destination and make it public.

[0088] <Variation Example 3>

[0089] Additionally, for example, in the above embodiment, the servo internal state copying implementation unit 202 copies the servo internal state 250 of the copying source to the copying destination, but it can also copy the motion mode (control mode such as position / speed / torque, etc.) of the copying source to the copying destination. Alternatively, the servo internal state copying implementation unit 202 can also copy the motion commands (position commands / speed commands / torque commands, etc.) of the copying source to the copying destination.

[0090] <Variation Example 4>

[0091] In addition, for example, in the above embodiment, the servo drive system 1 uses a power source of four servo motors 50(1)-50(4) to synchronously drive one axis, but it can also use a power source of a combination of multiple single-winding servo motors 50 and multiple winding servo motors to drive one axis.

[0092] Figure 6This is a diagram illustrating an example of servo drive system 1. In Figure 6 In the figure, it indicates the case of using two servo motors 50(1), 50(2) and a servo motor 50B with two windings to synchronously drive a shaft, with each of the amplifiers 40(3) and 40(4) connected to each of the two windings of the servo motor 50B.

[0093] <Variation Example 5>

[0094] In addition, for example, in the above embodiment, the servo drive system 1 uses four servo motors 50(1)-50(4) to synchronously drive one axis, but it can also drive multiple axes.

[0095] Figure 7 This represents an example of servo drive system 1. Figure 7 This indicates the use of four servo motors 50(1)-50(4) to synchronously drive two axes. That is, servo motors 50(1) and 50(2) synchronously drive one axis via drive mechanism 60A(1), and servo motors 50(3) and 50(4) synchronously drive one axis via drive mechanism 60A(2).

[0096] In this case, the slave unit 200 sets each group using a set of servo internal states 250(1), 250(2) and a set of servo internal states 250(3), 250(4). Furthermore, the slave unit 200 can output status outputs 102A(1), 102A(2) while receiving instructions 101A(1), 101A(2) for each group from the host controller 100. Additionally, the servo internal state copying determination unit 201 can determine whether to perform copying within each group, or determine the copy source and copy destination when copying, based on the determination data 251 and resource data 252. Furthermore, the servo internal state monitoring unit 203 can monitor the servo internal states 250 for each group.

[0097] More specifically, the servo internal state copying determination unit 201, for example, sets servo internal states 250(1) and 250(3) as copying sources in each group, and determines servo internal states 250(2) and 250(4) as copying destinations. Furthermore, the servo internal state copying implementation unit 202 copies the servo internal state 250(1) of the copying source to the servo internal state 250(2) of the copying destination in each group, and copies the servo internal state 250(3) of the copying source to the servo internal state 250(4) of the copying destination. Additionally, the servo internal state monitoring unit 203 aggregates the servo internal state 250(2) of the copying destination into the servo internal state 250(1) of the copying source in each group using a logical sum, and aggregates the servo internal state 250(4) of the copying destination into the servo internal state 250(3) of the copying source using a logical sum.

[0098] In addition, Figure 7 Four servo motors 50(1)-50(4) are used to synchronously drive two axes, dividing the servo internal states 250(1)-250(4) into two groups, but not limited to this. For example, more than four servo motors 50 can be used to drive more than two axes, dividing the servo internal states 250 into a number of groups corresponding to the number of axes.

[0099] In another embodiment, the various functions contained in the servo drive system 1 and the slave unit 200 can be implemented respectively by hardware, software, or a combination thereof. Here, software implementation means that the computer implements the program by reading it in and executing it.

[0100] The various structural units included in the servo drive system 1 and the slave unit 200 can be implemented using hardware, software, or a combination thereof, including electronic circuits. In the case of software implementation, the program constituting the software is installed on a computer. Alternatively, these programs can be recorded on a removable medium and distributed to users, or downloaded to a user's computer via a network. In the case of hardware implementation, for example, integrated circuits (ICs) such as ASICs (Application Specific Integrated Circuits), gate arrays, FPGAs (Field Programmable Gate Arrays), and CPLDs (Complex Programmable Logic Devices) can constitute part or all of the functionality of the various structural units included in the aforementioned device.

[0101] Programs can be stored and provided to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disks), optical-magnetic recording media (e.g., optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs, EPROMs, flash memory ROMs, RAM). Alternatively, programs can also be provided to a computer using various types of transient computer-readable media. Examples of transient computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transient computer-readable media can provide programs to a computer via wired communication lines such as electrical wires and optical fibers, or via wireless communication lines.

[0102] Furthermore, the steps describing a program recorded on a recording medium include not only processes executed sequentially in their order, but also processes executed in parallel or individually, even if they are not necessarily executed sequentially.

[0103] In other words, the slave unit and servo drive system of this disclosure can be implemented in a variety of ways with the following structure.

[0104] (1) The slave unit 200 of this disclosure is a slave unit that drives a power source including multiple servo motors 50 and / or servo motors 50A having multiple windings using multiple amplifiers 40 according to instructions from the host controller 100. It includes: a storage unit 205 that stores servo internal states 250 representing the respective states of the multiple servo motors 50 and / or the multiple windings, judgment data 251 representing the contents of set parameters, and resource data 252 representing at least the structure of the multiple amplifiers 40 and the power source; and a servo internal state copying judgment unit 201 that determines the servo internal state based on the judgment data 251 and the resource data 251. 2. One of the multiple servo internal states 250 (1) is set as the copy source, and at least one of the remaining servo internal states 250 is set as the copy destination. It is determined whether to copy the servo internal state 250 (1) of the copy source to the copy destination and make it public. The servo internal state copying implementation unit 202 copies the servo internal state 250 (1) of the copy source to the copy destination according to the judgment result of the servo internal state copying judgment unit 201. The servo control unit 204 outputs each state of the multiple servo internal states 250 to each of the multiple amplifiers 40 to drive and control the power source.

[0105] According to the slave unit 200, in the drive of a power source including multiple servo motors 50 and / or servo motors 50A having multiple windings, it is possible to avoid delays in response time and degradation in performance.

[0106] (2) It may also have a server internal status monitoring unit 203 that monitors the server internal status 250 of the copy destination.

[0107] In this way, it is possible to detect whether any abnormality has occurred in any amplifier 40, servo motor 50, or winding.

[0108] (3) Resource data 252 may contain the number of reproducible servo internal states 250.

[0109] In this way, the destination for replication can be easily determined.

[0110] (4) The copy destination can be switched according to the structural changes of multiple amplifiers 40, multiple servo motors 50 or multiple windings.

[0111] In this way, the driving of servo motors 50 and 50A can be flexibly adapted.

[0112] (5) The internal state copying judgment unit 201 of the servo can determine the copying destination based on the running state of the machine of the driven object.

[0113] In this way, the drive of the servo motor 50 can be flexibly adjusted according to the operating status of the machine (not shown).

[0114] (6) The servo internal state 250 corresponding to each of the multiple amplifiers 40 is divided into multiple groups. The servo internal state copying determination unit 201 determines the copying source and copying destination in each of the multiple groups and determines whether to copy the servo internal state of the copying source to the copying destination for public use. The servo internal state copying implementation unit 202 can also copy the servo internal state 250 of the copying source to the copying destination in each of the multiple groups according to the determination result of the servo internal state copying determination unit 201.

[0115] In this way, even when driving multiple axes, delays in response time or performance degradation can be avoided.

[0116] (7) The servo drive system 1 disclosed herein includes a host controller 100 and a slave unit 200 of any one of (1) to (6).

[0117] According to the servo drive system 1, it is possible to produce the same effect as any one of (1) to (6) above.

Claims

1. A slave unit, in a servo drive system, using multiple amplifiers to drive a power source comprising multiple servo motors and / or servo motors having multiple windings, according to instructions from a host controller, characterized in that, This unit has: The storage unit stores servo internal states representing the states of each winding of the plurality of servo motors and / or the plurality of windings, judgment data representing the contents of the set parameters, and resource data representing at least the structure of the plurality of amplifiers and the power source. The servo internal state copying determination unit determines, based on the determination data and the resource data, whether to copy the servo internal state of the copying source to the copying destination and make it public. The server internal state copying implementation unit copies the server internal state of the copying source to the copying destination based on the judgment result of the server internal state copying judgment unit; and The servo control unit outputs each of the aforementioned internal states of the servo to each of the aforementioned amplifiers, thereby driving and controlling the aforementioned power source.

2. The slave unit according to claim 1, characterized in that, The slave unit includes a server internal status monitoring unit that monitors the server internal status of the aforementioned copy destination.

3. The slave unit according to claim 1 or 2, characterized in that, The resource data above includes the number of replicable internal states of the aforementioned server.

4. The slave unit according to claim 1 or 2, characterized in that, The replication destination is switched based on structural changes in the aforementioned multiple amplifiers, multiple servo motors, or multiple windings.

5. The slave unit according to claim 1 or 2, characterized in that, The aforementioned internal state copying determination unit of the servo determines the copying destination based on the operating state of the machine being driven.

6. The slave unit according to claim 1 or 2, characterized in that, The servo internal states corresponding to each of the aforementioned amplifiers are divided into multiple groups. The aforementioned server internal state copying determination unit determines the copying source and the copying destination in each of the aforementioned multiple groups, and determines whether to copy the server internal state of the copying source to the copying destination for public use. Based on the determination result of the servo internal state copying determination unit, the aforementioned servo internal state copying implementation unit copies the servo internal state of the copying source to the copying destination in each of the aforementioned multiple groups.

7. A servo drive system, characterized in that, The servo drive system includes a host controller and a slave unit as described in any one of claims 1 to 6.

Images