Motor control devices, numerical control devices, robot controllers, and integrated controller systems

Abstract

The present invention provides a motor control device, a numerical control device, a robot controller, and an integrated controller system. The motor control device comprises: a main CPU (11) that outputs position command values ​​for a plurality of motors; a plurality of integrated circuits (12) that are connected to the main CPU (11) and are provided corresponding to the number of the plurality of motors; and a plurality of sub-CPUs (13) that are connected to the plurality of integrated circuits (12) in a corresponding manner. The plurality of integrated circuits (12) each comprises: a motor interface control unit (21) that outputs a drive command value to an amplifier that drives the motor to move the motor to a position corresponding to the position command value. The plurality of sub-CPUs (13) each control the output of the drive command value by the motor interface control unit (21) in the integrated circuit (12) connected to the sub-CPU (13) based on the position command value read by the integrated circuit (12) connected to the sub-CPU (13) and the position feedback value of the motor.

Description

Technical Field

[0001] The present invention relates to a motor control device, a numerical control device, a robot controller and an integrated controller system. Background Art

[0002] In recent years, processor multi-core systems have advanced. Furthermore, some communication between integrated circuits has shifted from conventional parallel communication to high-quality serial communication. These multi-core processors and serial interfaces are used to implement motor control devices that meet the specifications required by control devices such as those that control machine tools, forging presses, injection molding machines, and industrial machinery, or robot controllers that control robots. Hereinafter, integrated circuits may be referred to as "ICs," and interfaces may be referred to as "I / Fs."

[0003] Numerical control devices are used, for example, to control motors in machines such as machine tools, injection molding machines, and industrial machinery. Robot controllers are used to control motors in robots and have a structure similar to that of numerical control devices. Numerical control devices and robot controllers are responsible for motor control and input / output control (I / O control). In the motor control devices provided in the numerical control devices and robot controllers, the number of controlled axes corresponds to the number of motors, and the number of motors to be controlled varies according to the specifications. Therefore, it is desirable that the motor interface control unit be provided as a separate IC (integrated circuit) and the number of integrated circuits to be connected be changed according to the specifications. In particular, in numerical control devices and robot controllers, it is desirable to achieve a structure that takes cost into consideration and fully meets the required specifications, but it is also desirable to consider the performance improvement of the components used at this time and changes in the supply system and to achieve scalability.

[0004] When manufacturing numerical control devices or robot controllers, the CPU (processor) that forms the main control unit and PLC (Programmable Logic Control) unit, and the DSP that typically serves as the motor control unit, are generally general-purpose products. Reducing the number of components is also effective for cost reduction, so the components other than the CPU and DSP, namely the motor interface control unit, are implemented on a single IC. The IC that implements such a motor interface control unit is typically implemented as an integrated circuit (ASIC) designed for a specific purpose. When designing a motor interface control IC composed of an ASIC, it is possible to incorporate only the motor interface control unit, but it is also possible to further incorporate other functional components to achieve multifunctionality. When a CPU, DSP, and ASIC are used to construct a motor control unit within a numerical control device or robot controller, the CPU and ASIC are connected via a communication line, and the ASIC and DSP are connected via a communication line.

[0005] For example, as described in Japanese Patent Gazette No. 2017-097474, a numerical control device is known, characterized in that it comprises: a CPU that outputs a position command value of a servo motor; an integrated circuit that has a servo control unit that outputs a current command value to an amplifier that drives the servo motor and an I / O unit that inputs and outputs external signals; a DSP that reads the position command value and performs control for moving the servo motor to the position of the position command value; and an inter-device communication path between the CPU and the integrated circuit, the integrated circuit having: an internal bus that is connected to a communication interface and the I / O unit, the communication interface being connected to the inter-device communication path; and an internal communication path that directly transmits signals between the servo control unit and the I / O unit without passing through the internal bus.

[0006] For example, as described in Japanese Patent Application Laid-Open No. 2003-288120, a simultaneous start device for a positioning module is known, characterized in that it is constructed to include an external simultaneous start input fin. When the external simultaneous start output signals of multiple ASICs composed of logic circuits are in the "high-impedance" state, the external simultaneous start input fin receives an external simultaneous start input signal in the "high" state from the outside to complete the simultaneous start.

[0007] The number of axes driven by electric motors in typical machine tools and robots ranges from three to 32. Therefore, motor control devices are often designed with a maximum controllable axis count of around 32. On the other hand, some machine tools and robots have significantly more controllable axes than 32, creating a need for motor control devices with even higher maximum controllable axis counts. For example, specialized machine tools (indexing machines), which integrate multiple component machining operations and are ideal for a series of workpiece machining operations, often have a very high number of controllable axes.

[0008] To implement a motor control device with a very large number of control axes, it is necessary to further improve the performance of the CPU and integrated circuits and add various interfaces to the basic structure of a motor control device with a standard number of control axes (e.g., approximately 3 to 32 axes). However, it is difficult to modify the basic structure of a motor control device with a standard number of control axes to accommodate a motor control device with a very large number of control axes. For example, developing an ASIC for a very large number of control axes separately from an ASIC for a standard number of control axes increases development costs. Furthermore, if an ASIC for a very large number of control axes is also used for the same purpose as an ASIC for a standard number of control axes, an expensive ASIC is used that exceeds the specifications for the motor control device with a standard number of control axes, increasing the price of the motor control device itself. Furthermore, if multiple motor control devices with a standard number of control axes are used and coordinated via a network to accommodate a very large number of control axes, synchronization and interpolation of control axes between the motor control devices becomes complicated. Therefore, it is desirable to improve the scalability of motor control devices with respect to the number of control axes. Summary of the Invention

[0009] According to one embodiment of the present disclosure, a motor control device includes: a main CPU that outputs position command values ​​for multiple motors; multiple integrated circuits that are connected to the main CPU and are set corresponding to the number of multiple motors; and multiple sub-CPUs that are connected to each of the multiple integrated circuits, and the multiple integrated circuits respectively include: a motor interface control unit that outputs a drive command value to an amplifier that drives the motor to move the motor to the position of the position command value, and the multiple sub-CPUs respectively control the output of the drive command value by the motor interface control unit in the integrated circuit connected to the sub-CPU based on the position command value and the position feedback value of the motor read via the integrated circuit connected to the sub-CPU.

[0010] In addition, according to one embodiment of the present disclosure, a numerical control device for controlling a machine has the above-mentioned motor control device, and multiple groups consisting of an integrated circuit and a sub-CPU connected corresponding to the integrated circuit respectively control at least one motor corresponding to the group among the motors in the machine.

[0011] In addition, according to one embodiment of the present disclosure, a robot controller that controls at least one robot has the above-mentioned motor control device, which controls at least one motor that serves as a driving source for the robot through multiple groups consisting of an integrated circuit and a sub-CPU connected corresponding to the integrated circuit.

[0012] In addition, according to one embodiment of the present invention, an integrated controller system that controls both at least one machine and at least one robot has the above-mentioned motor control device, at least one of a plurality of groups consisting of an integrated circuit and a sub-CPU connected corresponding to the integrated circuit, controls at least one motor corresponding to the group among the motors in the machine, and controls at least one motor that serves as a driving source for the robot through a group different from at least one of the plurality of groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The present invention can be more clearly understood with reference to the following drawings.

[0014] Figure 1 1 is a block diagram showing a motor control device according to an embodiment of the present disclosure.

[0015] Figure 2 1 is a configuration diagram showing an example in which an input / output control unit is provided for the m-th integrated circuit in the motor control device according to the embodiment of the present disclosure.

[0016] Figure 3 This is a structural diagram showing an example of connections between integrated circuits in the motor control device according to the embodiment of the present disclosure.

[0017] Figure 4 This is a diagram showing the configuration of a numerical controller including a motor control device according to an embodiment of the present disclosure.

[0018] Figure 5 1 is a block diagram showing a robot controller including a motor control device according to an embodiment of the present disclosure.

[0019] Figure 6 1 is a block diagram showing an integrated controller system including a motor control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The following describes a motor control device, a numerical control device, a robot controller, and an integrated controller system with reference to the accompanying drawings. Identical elements are denoted by the same reference numerals in the various drawings. For ease of understanding, the scales of the drawings may be appropriately altered. The embodiments shown in the drawings are examples for implementation and are not limited to the illustrated embodiments. In the following description, the "position" and "position command value" of a motor refer to the "position of the rotor" and "position command value for the rotor" of the motor, and "position control" of a motor refers to "position control for the rotor" of the motor. Furthermore, if "position" is differentiated, it becomes "speed (rotational speed)." Therefore, in the embodiments of the present disclosure, the "position" of a motor includes the "speed" of the motor, the "position command value" of a motor includes the "speed command value" of the motor, and the "position feedback value" of a motor includes the "speed feedback value" of the motor. The "speed" and "speed command value" of a motor refer to the "speed of the rotor" and "speed command value for the rotor" of the motor. Furthermore, "speed control" of a motor refers to "speed control for the rotor" of the motor.

[0021] Figure 1 1 is a block diagram showing a motor control device according to an embodiment of the present disclosure.

[0022] As described later, a motor control device 1 according to an embodiment of the present disclosure is used in a numerical controller for machinery (e.g., a machine tool) or a robot controller. The motor (not shown) controlled by the motor control device 1 is used, for example, as a drive source for machining axes and peripheral axes in a machine tool, or as a drive source for an arm or the robot itself in a robot.

[0023] A motor control device 1 according to an embodiment of the present disclosure includes a main CPU 11, an integrated circuit (IC) 12, and a sub-CPU 13. The main CPU 11 is connected to the IC 12 via a serial communication unit 41. The sub-CPU 13 is connected to the IC 12 via a serial communication unit 42. Furthermore, the motor control device 1 includes, for example, a DRAM 31 connected to the main CPU 11, a storage device 32 connected to the IC 12, a storage-class memory (SCM) 33, and a display interface (display I / F) 34.

[0024] The main CPU 11 is implemented by, for example, a multi-core (multi-threaded) CPU and generally includes a main control unit (not shown) formed by software, a PLC (Programmable Logic Control) unit (not shown), and peripheral devices (not shown) for communicating with peripheral devices.

[0025] The main CPU 11 outputs position command values ​​for multiple motors (not shown). As described above, in the embodiments of the present disclosure, the "position command value" of the motor includes the "speed command value" of the motor, that is, the "position command value" can be interpreted as the "speed command value".

[0026] More specifically, the main control unit of the main CPU 11 performs the following functions: parsing motion commands from machining programs and timing programs in a numerical control device, or robot motion programs in a robot controller, to calculate and output position command values ​​for all multiple motors; parsing motion commands and transmitting and receiving on / off signals to and from the machine; and controlling the timing of input and output (I / O) of control signals to the machine. The main CPU 11 also includes functions such as a high-speed serial communication interface (e.g., PCI Express (registered trademark)). Furthermore, peripheral devices within the main CPU 11 include interfaces for data input and output with externally connected storage devices such as SD and USB, as well as data input and output via RS232C (232C#1), enabling communication with externally connected devices.

[0027] DRAM 31 is a main memory used by the main CPU 11 to execute processing. Figure 1 In the example shown, the DRAM 31 is connected to the outside of the main CPU, but it may also be connected to the integrated circuit 12 externally.

[0028] The main CPU 11 and the integrated circuit 12 are connected via a serial communication unit 41. An example of the serial communication unit 41 is PCI Express (registered trademark).

[0029] The integrated circuit (IC) 12 is implemented as, for example, an application-specific integrated circuit (ASIC), or may be implemented by an FPGA, or may be implemented as a device in which a plurality of integrated circuits are mounted on a printed circuit board.

[0030] A plurality of integrated circuits 12 are provided corresponding to the number of the control objects of the motor control device 1, i.e., the plurality of motors. By changing the number of integrated circuits 12, the motor control device 1 can cope with the control of various numbers of motors. Therefore, for example, by connecting a plurality of integrated circuits 12 composed of ASICs for control axes configured as a standard number (e.g., 3 to 32 axes, etc.) to the CPU 11, a very large number of control axes (e.g., 33 to several hundred axes, etc.) can also be controlled. Therefore, according to the embodiment of the present disclosure, the scalability for the number of control axes can be improved. In addition, in Figure 1In the example shown, the plurality of integrated circuits 12 are represented by n integrated circuits (where n is an integer greater than or equal to 2), namely, a first integrated circuit 12 - 1 , a second integrated circuit 12 - 2 , . . . , and an nth integrated circuit 12 - n .

[0031] The integrated circuit 12 includes a motor interface control unit (motor I / F control unit) 21, a main CPU serial interface (I / F) 22, a sub-CPU serial interface (I / F) 23, an internal bus 24, an option serial interface (I / F) 25, an input / output (I / O) control unit 26, and peripheral devices 27. In addition to those shown in the figure, the integrated circuit 12 may also have built-in RAM and the like. Figure 1 In order to simplify the drawing, the optional serial interface 25, the input / output control unit 26, and the peripheral device 27 are illustrated only with respect to the first integrated circuit 12-1, and the second integrated circuit 12-2 and the n-th integrated circuit 12-n are omitted from illustration.

[0032] The motor interface control unit 21 , the main CPU serial interface 22 , the option serial interface 25 , the input / output control unit 26 , and the peripheral devices 27 are connected via the internal bus 24 .

[0033] The main CPU serial interface 22 is connected to the main CPU 11 via the serial communication unit 41, and communicates between the main CPU 11 and the motor interface control unit 21. Addresses are assigned to various components other than the main CPU serial interface 22, which are connected via the internal bus 24. The main CPU serial interface 22 detects the destination address included in the serial signal transmitted from the main CPU 11, converts the data and address into parallel data, and transmits the data to the destination component via the internal bus 24. Furthermore, the main CPU serial interface 22 serially converts data output from various components to the internal bus 24, with the main CPU 11 as the destination address, and transmits the data to the main CPU 11.

[0034] Furthermore, data transmission from the main CPU 11 to the various components within the integrated circuit 12 and data transmission from the main CPU serial interface 22 to the main CPU 11 may occur simultaneously. Therefore, the main CPU serial interface 22 includes an arbitrator that arbitrates the order of data to be communicated based on the priority of each data communication, and a buffer memory that temporarily stores this data. In the motor control device 1, data signals related to motor control have a higher priority, and since these data signals are generated periodically, communication of these data signals is prioritized. However, this is not limiting; more urgent data communications may also be given higher priority.

[0035] The integrated circuit 12 and the sub-CPU 13 are connected via a serial communication unit 42. An example of the serial communication unit 42 is PCI Express (registered trademark).

[0036] The sub-CPU serial interface 23 within the integrated circuit 12 is connected to the sub-CPU 13 via the serial communication unit 42, and communication is performed between the sub-CPU 13 and the motor interface control unit 21. The sub-CPU serial interface 23 and the serial communication unit 42 are provided between the motor interface control unit 21 and the sub-CPU 13 connected thereto.

[0037] The motor interface control unit 21 outputs a drive command value (e.g., a current command value) to the amplifier, which drives the motor to move to the position specified by the position command value (or rotate the motor at the speed specified by the speed command value). The drive command value output from the motor interface control unit 21 is transmitted to the amplifier via a motor interface (I / F) external to the integrated circuit 12. To further explain the sequence of steps, the position command value from the main CPU 11 is transmitted via the motor interface control unit 21 to the sub-CPU 13. The sub-CPU 13 generates a drive command value for the motor based on the position command value and transmits it to the motor interface control unit 21. The motor interface control unit 21 then outputs the drive command value to the amplifier via the motor interface.

[0038] The integrated circuit 12 includes at least one motor interface control unit 21. The motor interface control unit 21 is capable of outputting multiple drive command values ​​corresponding to multiple motors. When controlling multiple motors using a single integrated circuit 12, the integrated circuit 12 may include one motor interface control unit 21, or may include multiple motor interface control units 21 equal to the number of motors, or may include multiple motor interface control units 21 fewer than the number of motors. The number of motor interface control units 21 provided in the integrated circuit 12 can be appropriately set based on, for example, the control cycle and control accuracy of the motors.

[0039] The motor interface, externally connected to the motor interface control unit 21, is used to connect to an amplifier. This interface is used to control the amplifier, process digital and analog signals, and control various sensors. The amplifier is connected to the power lines to the motors, and to feedback input signals that transmit position detection values, or position feedback values, for each motor that drives the various controlled axes of a machine tool or robot. The number of motor interface control units 21 is the same as the number of motor interfaces. Furthermore, multiple amplifiers, corresponding to multiple motors, can be connected in series to a single motor interface.

[0040] The processing actions of the motor interface control unit 21 are described in more detail as follows. The position command value from the main CPU 11 is written to the RAM area (not shown) built into the motor interface control unit 21 via the serial communication unit 41, the main CPU serial interface 22 and the internal bus 24. The motor interface control unit 21 sends the drive command value (for example, the current command value) for the amplifier generated from the position command value to the amplifier via the motor interface. In addition, the process of generating the drive command value from the position command value requires multiple calculations and needs to be performed at high speed. Therefore, as described later, the multi-core DSP serving as the sub-CPU 13 is connected to the integrated circuit 12. The sub-CPU 13 composed of the multi-core DSP reads the position command value via the serial communication unit 42 and performs calculations on the drive command value of the motor required for controlling the movement of the motor to the position of the position command value.

[0041] The amplifier performs current control based on, for example, a PWM signal, based on the drive command value received via the motor interface. The amplifier also transmits the value of the current sensor built into the amplifier to the motor interface control unit 21 via the motor interface. Furthermore, the position feedback value detected by the motor is also transmitted to the motor interface control unit 21 via the motor interface, where it is written to the motor interface control unit 21. The sub-CPU 13 calculates the next current control command value based on the current sensor value or position feedback value received via the motor interface control unit 21, and transmits this current control command value to the motor interface control unit 21. The motor interface control unit 21 receives the current control command value from the sub-CPU 13 and transmits it to the amplifier via the motor interface.

[0042] An optional serial interface (I / F) 25 within the integrated circuit 12 is an interface for connecting to an external optional device such as an option board.

[0043] The I / O control unit 26 within the integrated circuit 12 controls I / O communications and includes, for example, an I / O RAM (not shown) for storing input / output signal data (DI / DO). The I / O signal data is read / written via the internal bus 24, the host CPU serial interface 22, and the serial communication unit 41 by a sequence program executed by the host CPU 11.

[0044] The peripheral device 27 within the integrated circuit 12 includes interfaces for signals such as a keyboard, analog output, sensor data input (e.g., a skip signal input for skipping a currently executing machining program, touch sensor signal input), and an RTC (real-time digital clock) (clock signals from a clock circuit consisting of a battery- or capacitor-operated crystal oscillator and its counter circuit). Furthermore, the peripheral device 27 includes interfaces for a storage device 32, storage-level memory 33, and a display interface (I / F) 34.

[0045] Multiple sub-CPUs 13 are connected to each of the multiple integrated circuits 12. Specifically, multiple sub-CPUs 13 can be connected to a single motor interface control unit 21, and at least one motor interface control unit 21 is provided within a single integrated circuit 12, corresponding to the number of motor interfaces. The motor interface control unit 21 is connected to the sub-CPU 13 via the sub-CPU serial interface 23 and the serial communication unit 42. The number of sub-CPUs 13 connected to a single motor interface control unit 21 can be appropriately set based on the sub-CPU 13's processing power and control cycle. For example, when controlling a very large number of motors (e.g., approximately 100 motors) or requiring high-precision motor control, the amount of processing power allocated to the integrated circuit 12 is enormous. When the amount of processing power allocated to the integrated circuit 12 is large, multiple sub-CPUs 13 can be connected to share the processing power. Furthermore, when controlling a small number of motors (e.g., a few motors) or when motor control accuracy is not required, the amount of processing power allocated to the integrated circuit 12 is small. When the amount of computational processing assigned to the integrated circuit 12 is small, one or a small number of sub-CPUs 13 may be connected to share the computational processing.

[0046] The sub-CPU 13 is implemented, for example, by a multi-core (multi-threaded) DSP. The sub-CPU 13 controls the output of the drive command value by the motor interface control unit 21 within the integrated circuit 12 connected to the sub-CPU 13 based on the position command value and the position feedback value of the motor read via the integrated circuit 12 connected to the sub-CPU 13. More specifically, the sub-CPU 13 reads the position command value and the position feedback value via the sub-CPU serial interface 23 and the serial communication unit 42, and performs calculations on the drive command value (e.g., current command value) of the motor required to control the movement of the motor to the position of the position command value. The sub-CPU 13 sends the generated drive command value to the motor interface control unit 21 via the serial communication unit 42 and the sub-CPU serial interface 23, and the motor interface control unit 21 sends the drive command value to the amplifier via the motor interface. The sub-CPU 13 repeatedly performs such calculations.

[0047] The storage device 32 connected to the integrated circuit 12 stores the software (program) required for the motor interface control unit 21 to operate, and its operation is controlled by the peripheral device 27. Examples of the storage device 32 include EMMC (registered trademark), SD, and ESSD. Although not shown, the integrated circuit 12 is connected to a boot ROM that stores boot loader software. At startup, the integrated circuit 12 reads the boot loader software, performs its own initial settings, and loads the software stored in the storage device 32, which is then loaded into the DRAM 31 or the built-in memory of the sub-CPU 13.

[0048] The storage-class memory 33 connected to the integrated circuit 12 functions as a working memory for storing calculated values, etc., during processing by the motor interface control unit 21. Examples of storage-class memory 33 include MRAM (Magnetoresistive Random Access Memory), ReRAM (Resistive Random Access Memory), FeRAM (Ferroelectric Random Access Memory), and battery-backed SRAM.

[0049] The display interface 34 connected to the integrated circuit 12 is an interface for transmitting and receiving data used by an external display to generate drawing data. Based on the data output from the display interface 34, the drawing data is generated and displayed on a display (not shown), such as a liquid crystal display (LCD) or an organic EL display. Examples of the display interface 34 include Ethernet (registered trademark).

[0050] As described above, according to the embodiment of the present disclosure, a plurality of integrated circuits 12 are provided corresponding to the number of motors to be controlled by the motor control device 1. By changing the number of integrated circuits 12, the motor control device 1 can cope with the control of various numbers of motors. Therefore, for example, by connecting a plurality of integrated circuits 12 composed of ASICs for control axes configured for a standard number (e.g., 3 to 32 axes, etc.) to the main CPU 11, it is possible to increase the processing resources for controlling multiple axes, and it is possible to control a very large number of control axes (e.g., 33 to several hundred axes, etc.). Therefore, according to the embodiment of the present disclosure, the scalability for the number of control axes can be improved. When configuring a motor control device 1 for a very large number of control axes, it is possible to increase only the number of integrated circuits 12 (e.g., special-purpose integrated circuits configured for a standard number of control axes) connected to one main CPU 11 (e.g., a multi-core CPU), and therefore, there is no need to redevelop an ASIC configured for a very large number of control axes. Conversely, when configuring a motor control device 1 with a limited number of control axes, the number of integrated circuits 12 (e.g., application-specific integrated circuits configured to meet a standard number of control axes) connected to a single main CPU 11 (e.g., a multi-core CPU) can be appropriately adjusted. This reduces the likelihood of excessive use of expensive integrated circuits 12, ultimately suppressing price increases for the motor control device itself. Furthermore, since multiple integrated circuits 12 corresponding to each of the multiple motors are connected to a single main CPU 11, the main CPU 11 can centrally manage errors that may occur in any of the multiple motors. Furthermore, it is easy to set the control cycle for each integrated circuit 12, enabling optimal control based on the motor's intended use.

[0051] Depending on the application of the motor, an optional serial interface 25, an input / output control unit 26, a peripheral device 27 and other functions may be added to the integrated circuit corresponding to the motor. Figure 2 This diagram illustrates an example configuration in which an input / output control unit is provided for the mth integrated circuit in a motor control device according to an embodiment of the present disclosure. For example, among the plurality of integrated circuits 12, an input / output (I / O) control unit 26 is provided for the mth integrated circuit 12-m (where m is a natural number greater than or equal to 2) in addition to the first integrated circuit 12-1. This allows the main CPU 11 to control input / output communications via the I / O control unit 26 of either the first integrated circuit 12-1 or the mth integrated circuit 12-m.

[0052] Figure 3This is a block diagram showing an example of connections between integrated circuits in the motor control device according to the embodiment of the present disclosure. All or some of the integrated circuits 12 can be connected to each other via the serial communication unit 43 and the optional serial interface 25. Figure 3 In the example shown, the optional serial interface 25 within the first integrated circuit 12-1 and the optional serial interface 25 within the second integrated circuit 12-2 are connected via a serial communication unit 43. By connecting the integrated circuits 12 in this manner, data can be directly exchanged between the integrated circuits 12 without going through the main CPU 11, thereby reducing data transmission delays and alleviating the processing burden on the main CPU 11. An example of the serial communication unit 43 is PCI Express (registered trademark). Alternatively, the integrated circuits 12 can be connected to each other via Ethernet (registered trademark), for example. In this case, an interface corresponding to Ethernet (registered trademark) is provided within the integrated circuit 12.

[0053] The motor control device 1 according to an embodiment of the present disclosure can be used as a numerical control device for controlling machinery. A numerical control device for controlling machinery includes a motor control device 1, which controls at least one motor corresponding to a group of motors within the machinery using multiple groups consisting of integrated circuits and sub-CPUs connected to the integrated circuits. Examples of such machines include machine tools, forging presses, injection molding machines, and industrial machinery. As an example, the motor control device 1 according to an embodiment of the present disclosure is used as a numerical control device for controlling a machine tool having machining axes and peripheral axes. Figure 4 This is a diagram showing the configuration of a numerical controller including a motor control device according to an embodiment of the present disclosure.

[0054] A single motor or multiple motors can be controlled by a group consisting of an integrated circuit and a sub-CPU connected to the integrated circuit. The number of groups consisting of an integrated circuit 12 and a sub-CPU 13 connected to the integrated circuit 12 is appropriately set based on the number of motors and control accuracy, as well as the processing power and control cycle of the sub-CPU 13. The motor is used as a drive source for the machining axis and peripheral axis of a machine tool (not shown). The numerical control device 100 having the motor control device 1 controls at least one motor (not shown) that drives the machining axis of the machine tool among the motors in the machine tool through at least one of the multiple groups consisting of the integrated circuit 12 and the sub-CPU 13 connected to the integrated circuit 12, and controls at least one motor (not shown) that drives the peripheral axis of the machine tool through a group different from the at least one group among the multiple groups.

[0055] Figure 4In the example shown, as an example, a case is shown where a motor (not shown) driving a machining axis of a machine tool and a motor (not shown) driving a peripheral axis of a machine tool are controlled by a numerical control device 100 having a motor control device 1. The main CPU 11 is connected to an integrated circuit 12A for a machining axis and an integrated circuit 12B for a peripheral axis via a serial communication unit 41. The main CPU 11 outputs position instruction values ​​for a plurality of motors in the machine tool. The DRAM 31 connected to the main CPU 11 is omitted from the illustration. A plurality of integrated circuits 12A for machining axis and / or integrated circuits 12B for peripheral axis may be provided. The integrated circuit 12A for machining axis and the integrated circuit 12B for peripheral axis are connected to the sub-CPU 13 via a serial communication unit 42. The integrated circuit 12A for machining axis and the integrated circuit 12B for peripheral axis respectively have: a motor interface control unit 21, a serial interface 22 for the main CPU, and a serial interface 23 for the sub-CPU. In addition, Figure 4 In order to simplify the drawings, the optional serial interface 25, input / output control unit 26 and peripheral device 27 provided in the processing axis integrated circuit 12A and the peripheral axis integrated circuit 12B, as well as the storage device 32, storage-level memory 33 and display interface 34 connected in the processing axis integrated circuit 12A and the peripheral axis integrated circuit 12B are omitted from the drawings.

[0056] Furthermore, the peripheral axis integrated circuit 12B is not limited to position control of peripheral axes of a loader, etc., in a machine tool. For example, it can also control the output of a laser oscillator, control the angle of a reflector mirror for reflecting laser light, control the pressure of a punch mechanism, control the timing of a discharge pulse voltage, or control temperature correction of a machine. For example, when at least one of the multiple groups consisting of an integrated circuit and a sub-CPU 13 connected to the integrated circuit (including the first group of the processing axis integrated circuit 12A) is used to control at least one motor driving a processing axis of the machine tool, some of the multiple groups (the second group) different from the at least one group (including the second and third groups of the peripheral axis integrated circuit 12B) can be used to drive the at least one motor driving the peripheral axis of the machine tool, and the other group (the third group) can be used to control the output of a laser oscillator, control the angle of a reflector mirror for reflecting laser light, control the pressure of a punch mechanism, control the timing of a discharge pulse voltage, or control temperature correction of a machine.

[0057] According to the numerical control device 100 including the motor control device 1 according to the embodiment of the present disclosure, the position command values ​​of multiple axes of a tool machine can be calculated using a single main CPU 11. Therefore, compared to the case where the position command values ​​of multiple axes are calculated using multiple CPUs, the position commands of each axis can be synchronized and interpolated without the overhead of data communication.

[0058] Furthermore, according to the numerical controller 100 including the motor control device 1 according to the embodiment of the present disclosure, a single main CPU 11 can centrally manage various errors that may occur in one of the machine tool's machining axes and peripheral axes. Therefore, for example, even if an abnormality occurs in one of the machining axes or peripheral axes, various retraction and stop actions can be quickly taken. A retraction action is an action that maintains the synchronization of the workpiece and tool when an error occurs in a machine tool that numerically controls the synchronization of the workpiece and tool, retracting the workpiece and tool to a position where they do not interfere with each other. This prevents damage caused by misalignment between the workpiece and tool.

[0059] Furthermore, according to the numerical controller 100 including the motor control device 1 according to the embodiment of the present disclosure, the number of integrated circuits 12 (e.g., application-specific integrated circuits configured to meet a standard number of control axes) connected to a single main CPU 11 can be appropriately adjusted to match the number of machining axes and peripheral axes (i.e., the number of motors). This facilitates the design of the numerical controller 100 adapted to the number of control axes, and suppresses price increases for the numerical controller 100 itself. For example, it is possible to mass-produce numerical controllers 100 commonly found on the market with a standard number of control axes, while managing the production of numerical controllers 100 with a significantly larger number of control axes, which are less common on the market, by appropriately increasing the number of integrated circuits 12 in the numerical controller 100 with the standard number of control axes. This suppresses price increases for the numerical controller 100 itself.

[0060] Furthermore, according to the numerical controller 100 including the motor control device 1 according to the embodiment of the present disclosure, it is easy to individually set the control cycle for the machining axis integrated circuit 12A and the peripheral axis integrated circuit 12B, and it is also easy to set the communication cycle corresponding to the motor interface of each motor driving the machining axis and the peripheral axis. This allows for efficient use of the processing performance and communication bandwidth of the machining axis integrated circuit 12A and the peripheral axis integrated circuit 12B. This allows, for example, differentiated use, such as controlling a small number of machining axis-driving motors with a high-speed control cycle in the machining axis integrated circuit 12A and controlling a large number of peripheral axis motors with a low-speed control cycle in the peripheral axis integrated circuit 12B.

[0061] The motor control device 1 according to the embodiment of the present disclosure can be used for a robot controller that controls a robot. Figure 5 1 is a block diagram showing a robot controller including a motor control device according to an embodiment of the present disclosure.

[0062] As described above, a group consisting of an integrated circuit 12 and a sub-CPU 13 connected to the integrated circuit 12 can be used to control one motor or multiple motors. The motor can be used as a driving source for the arm of a robot (not shown) or a driving source for moving the robot itself. In addition, the motor can be used as a driving source for coordinated actions provided in the robot. The robot controller 200 having the motor control device 1 uses multiple groups consisting of an integrated circuit 12 and a sub-CPU 13 connected to the integrated circuit 12 to control at least one motor (not shown) that serves as a driving source for the robot.

[0063] exist Figure 5 In the example shown, as an example, a case where two robots are controlled by using a robot controller 200 having a motor control device 1 is shown. The main CPU 11 is connected to the first robot integrated circuit 12C and the second robot integrated circuit 12D via a serial communication unit 41. The main CPU 11 outputs position command values ​​for multiple motors in the robot. The DRAM 31 connected to the main CPU 11 is omitted from the illustration. The first robot integrated circuit 12C and the second robot integrated circuit 12D are connected to the sub-CPU 13 via a serial communication unit 42. The first robot integrated circuit 12C and the second robot integrated circuit 12D respectively have: a motor interface control unit 21, a main CPU serial interface 22 and a sub-CPU serial interface 23. In addition, Figure 5 In order to simplify the drawings, the optional serial interface 25, the input / output control unit 26 and the peripheral device 27 provided in the first robot integrated circuit 12C and the second robot integrated circuit 12D, and the storage device 32, the storage-level memory 33 and the display interface 34 connected in the machining axis integrated circuit 12A and the peripheral axis integrated circuit 12B are omitted from the drawings.

[0064] According to the robot controller 200 having the motor control device 1 of an embodiment of the present disclosure, the position instruction values ​​of multiple motors in at least one robot or the position instruction values ​​of multiple motors in multiple robots can be calculated using one main CPU 11. Therefore, compared with the case of using multiple CPUs to calculate the position instruction values ​​of multiple motors in the robot, the synchronization and interpolation of the position instructions of each axis can be achieved without the overhead of data communication.

[0065] In addition, according to the robot controller 200 having the motor control device 1 of the embodiment of the present disclosure, unified management of various errors that may occur in one of the multiple robots can be achieved in one main CPU 11. Therefore, for example, even if an abnormality occurs in one of the multiple robots, various retraction actions or stop actions of the robot can be quickly taken.

[0066] Furthermore, according to the robot controller 200 including the motor control device 1 according to the embodiment of the present disclosure, the number of integrated circuits 12 (e.g., application-specific integrated circuits configured to meet a standard number of control axes) connected to a single main CPU 11 can be appropriately adjusted to correspond to the number of robots and the number of motors installed in the robot. This facilitates the design of the robot controller 200 corresponding to the number of motors (number of control axes), and suppresses price increases for the robot controller 200 itself. For example, it is possible to mass-produce robot controllers 200 commonly found on the market with a standard number of control axes, while managing the production of uncommon robot controllers 200 with a significantly larger number of control axes by appropriately increasing the number of integrated circuits 12 in the robot controller 200 with the standard number of control axes. This suppresses price increases for the robot controller 200 itself.

[0067] Furthermore, according to the robot controller 200 including the motor control device 1 according to the embodiment of the present disclosure, it is easy to set the control cycle for each robot or each motor within the robot, and it is also easy to set the communication cycle according to the motor interface that drives each motor of the robot. Therefore, it is possible to effectively use the processing performance and communication bandwidth of the integrated circuit 12. This makes it possible to achieve differentiated use, such as controlling the motors within a high-speed robot with a high-speed control cycle in one integrated circuit 12 and controlling the motors within a low-speed robot with a low-speed control cycle in another integrated circuit 12.

[0068] The motor control device 1 according to the embodiment of the present disclosure can be used in an integrated controller system that controls both at least one machine and at least one robot. The integrated controller system includes a motor control device 1, which controls at least one motor corresponding to the group among the motors in the machine using at least one of a plurality of groups consisting of an integrated circuit and a sub-CPU connected to the integrated circuit, and controls at least one motor that serves as a driving source for the robot using a group different from the at least one group among the plurality of groups. Examples of machines include machine tools, forging machines, injection molding machines, and industrial machinery. Here, as an example, an example of an integrated controller system in which the motor control device 1 according to the embodiment of the present disclosure is used to control both at least one machine tool having a machining axis and a peripheral axis and at least one robot will be described. Figure 6 1 is a block diagram showing an integrated controller system including a motor control device according to an embodiment of the present disclosure.

[0069] An integrated controller system 300, including a motor control device 1 according to an embodiment of the present disclosure, controls both at least one machine tool and at least one robot. Specifically, the integrated controller system 300 integrates the functions of both a numerical controller 100 for controlling the machine tool and a robot controller 200 for controlling the robot, via a single main CPU 11. The main CPU 11 is connected to a machine tool integrated circuit 12-100 and a connected sub-CPU 13, which implement the functions of the numerical controller 100, and to a robot integrated circuit 12-200 and a connected sub-CPU 13, which implement the functions of the robot controller 200.

[0070] As described above, a group consisting of an integrated circuit 12 and a sub-CPU 13 connected to the integrated circuit 12 can be used to control one motor or multiple motors. The motor is used as a driving source for the machining axis and peripheral axis of a machine tool (not shown). In addition, the motor is used as a driving source for the arm of a robot (not shown) or a driving source for moving the robot itself. In addition, it can also be used as a driving source for each motor installed in the robot to perform coordinated actions. In the numerical control device 100 within the integrated controller system 300, at least one of the multiple groups consisting of an integrated circuit 12 and a sub-CPU 13 connected to the integrated circuit 12 can be used to control the motor in the machine tool that drives at least one of the machining axis and peripheral axis of the machine tool (not shown). In addition, in the robot controller 200 within the integrated controller system 300, a group different from the at least one group described above is used to control at least one motor (not shown) that serves as the driving source of the robot.

[0071] Figure 6 In the example shown, the numerical controller 100 in the integrated controller system 300 includes a machine tool integrated circuit 12-100, and the robot controller 200 in the integrated controller system 300 includes a robot integrated circuit 12-200. A plurality of machine tool integrated circuits 12-100 and / or robot integrated circuits 12-200 may be provided. In addition, the machine tool integrated circuit 12-100 includes a reference to Figure 4The described integrated circuit 12A for machining axes and the integrated circuit 12B for peripheral axes. The main CPU 11 is connected to the integrated circuit 12-100 for machine tools and the integrated circuit 12-200 for robots via the serial communication unit 41. The main CPU 11 outputs position command values ​​for multiple motors in the machine tool and multiple motors in the robot. The DRAM 31 connected to the main CPU 11 is omitted in the illustration. The integrated circuit 12-100 for machine tools and the integrated circuit 12-200 for robots are connected to the sub-CPU 13 via the serial communication unit 42. The integrated circuit 12-100 for machine tools and the integrated circuit 12-200 for robots respectively have: a motor interface control unit 21, a serial interface 22 for the main CPU and a serial interface 23 for the sub-CPU. In addition, Figure 6 In order to simplify the drawings, the optional serial interface 25, input / output control unit 26 and peripheral device 27 provided in the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200, as well as the storage device 32, storage-level memory 33 and display interface 34 connected in the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200 are omitted from the drawings.

[0072] Furthermore, the machine tool integrated circuit 12-100 is not limited to position control of motors in the machine tool, and may, for example, also perform output control of a laser oscillator, angle control of a reflector for reflecting laser light, pressure control of a punch mechanism, timing control of a discharge pulse voltage, or temperature correction control of a machine. For example, in at least one of a plurality of groups consisting of an integrated circuit and a sub-CPU 13 connected to the integrated circuit (including the first to third groups of the machine tool integrated circuit 12-100), the first group is used to control at least one motor that drives a machining axis of the machine tool, the second group is used to drive at least one motor that drives a peripheral axis of the machine tool, and the third group is used to perform output control of a laser oscillator, angle control of a reflector for reflecting laser light, pressure control of a punch mechanism, timing control of a discharge pulse voltage, or temperature correction control of a machine.

[0073] According to the integrated controller system 300 of the motor control device 1 having an embodiment of the present disclosure, a large number of motor position instruction values ​​for multiple motors in a machine tool and multiple motors in a robot can be calculated using one main CPU 11. Therefore, compared with the case of using multiple CPUs to calculate the position instruction values ​​of multiple motors in a machine tool and a robot, synchronization and interpolation of the position instructions of each axis can be achieved without the overhead of data communication.

[0074] In addition, according to the integrated controller system 300 of the motor control device 1 having an embodiment of the present disclosure, unified management of various errors that may occur in the machining axis and peripheral axis of the machine tool and one of the robots can be achieved in one main CPU 11. Therefore, for example, even if an abnormality occurs in the machining axis and peripheral axis and one of the robots, various retraction actions or stop actions of the machine tool and / or robot can be quickly taken.

[0075] Furthermore, according to the integrated controller system 300 including the motor control device 1 according to the embodiment of the present disclosure, the number of integrated circuits 12 (e.g., application-specific integrated circuits configured for a standard number of control axes) connected to a single main CPU 11 can be appropriately adjusted to correspond to the number of machining axes and peripheral axes, and the number of robots (i.e., the number of motors). This facilitates the design of the integrated controller system 300 corresponding to the number of motors (the number of control axes), and suppresses price increases for the integrated controller system 300 itself. For example, it is possible to mass-produce commonly available integrated controller systems 300 having a standard number of control axes, and to manage the production of uncommonly available integrated controller systems 300 having a very large number of control axes by appropriately increasing the number of integrated circuits 12 in the integrated controller system 300 having the standard number of control axes. This suppresses price increases for the integrated controller system 300 itself.

[0076] Furthermore, according to the integrated controller system 300 including the motor control device 1 according to the embodiment of the present disclosure, it is easy to set the control cycle individually for the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200, and it is also easy to set the communication cycle corresponding to the motor interfaces that drive the machining axes, peripheral axes, and each motor of the robot. This allows for efficient use of the processing performance and communication bandwidth of the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200. For example, it is possible to control the motors driving the machining axes of the machine tool using a high-speed control cycle in the machine tool integrated circuit 12-100, while controlling the motors within the robot using a low-speed control cycle in the robot integrated circuit 12-200.

[0077] Furthermore, according to the integrated controller system 300 having the motor control device 1 according to the embodiment of the present disclosure, a main CPU 11 is connected to the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200. The execution of various processes of the numerical control device 100 is shared by the machine tool integrated circuit 12-100 and the sub-CPU 13 connected thereto, while the execution of various processes of the robot controller 200 is shared by the robot integrated circuit 12-200 and the sub-CPU 13 connected thereto. The main CPU 11 is used to calculate the position command values ​​of all motors included in both the machine tool and the robot, thereby simplifying the structure of the control software program of the main CPU 11. In other words, there is no need to design different control software programs for the machine tool and the robot separately. Instead, the control software program can be designed under the same concept without separating the machine tool and the robot, thereby improving the efficiency of program development.

[0078] In general, in the field of machine tools or robots, efforts are being made to accumulate the effect of shortening the cycle time by several milliseconds by improving software programs, etc. In the integrated controller system 300 of the motor control device 1 having the embodiment of the present disclosure, the main CPU 11 is connected to the integrated circuit 12-100 for machine tools and the integrated circuit 12-200 for robots via a serial communication unit 41. When PCI Express (registered trademark) is used as the serial communication units 41 and 42, the signal transmission delay time is about tens of microseconds, which is very short compared to the signal transmission delay time of Ethernet (registered trademark), which is tens to hundreds of milliseconds. According to the integrated controller system 300, the signal transmission delay time in the serial communication units 41 and 42 is very short as described above, and therefore has a very significant effect on shortening the cycle time. In this regard, several specific examples are listed below for synchronization and interpolation in the collaborative action of the machine tool and the robot in the integrated controller system 300.

[0079] For example, when a robot loads and unloads a machine tool, it performs a loading action before the machine tool processes a workpiece and an unloading action after the machine tool processes the workpiece. Before and after the machine tool processes the workpiece, a loading request signal and an unloading request signal are sent to the robot. Conventionally, given the relatively large time delay (e.g., tens to hundreds of milliseconds) between the position information of the tool or workpiece being transmitted to the robot, the robot moves while avoiding collisions between the tool and the workpiece, taking this time delay into account. Consequently, it is difficult to position the robot near the workpiece during loading and unloading, and the robot's movement path can easily become longer. In contrast, according to an integrated controller system 300 including a motor control device 1 according to an embodiment of the present disclosure, workpiece position information is immediately transmitted between the main CPU 11 and the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200 via the serial communication unit 41, and is immediately transmitted between the machine tool integrated circuit 12-100 and the robot integrated circuit 12-200 and the sub-CPU 13 via the serial communication unit 42. Furthermore, since the signal transmission delay time in serial communication units 41 and 42 is very short as described above, the start times of machine tool processing and robot loading and unloading operations can be determined based on fresher workpiece position information. "Fresh" here means that the time difference between the time the sensor detects the workpiece's position information and the time the main CPU 11 acquires the workpiece's position information is short. The shorter this time difference, the fresher the workpiece's position information. Integrated controller system 300 including motor control device 1 according to embodiments of the present disclosure can perform robot loading and unloading operations even during machine tool processing while taking into account the positional relationship between the tool and workpiece in the machine tool and preventing them from colliding, thereby shortening cycle time.

[0080] For example, when a robot performs deburring while a workpiece is moving in a machine tool, in order to maintain the deburring accuracy, it was previously necessary to reduce the moving speed of the workpiece, resulting in a problem of a longer cycle time. According to the integrated controller system 300 having the motor control device 1 according to the embodiment of the present disclosure, the signal transmission delay time in the serial communication units 41 and 42 is very short as described above, so the main CPU 11 can obtain more "fresh" position information of the workpiece for deburring. Therefore, even if the workpiece is moving, it is possible to track the movement of the workpiece to achieve high-precision deburring. For example, it is also easy to deburr the workpiece on the rotary table from all directions. Therefore, the faster the moving speed of the workpiece is set within the range of the accuracy required by the workpiece, the further the cycle time is shortened.

[0081] For example, when an error occurs in a machine tool, the machine tool stops or retracts. Since it takes time from when the machine tool generates an error to when the error is notified to the robot controller, the robot continues to operate during this period. Therefore, there is a problem in which the robot collides with the tool or workpiece of the machine tool or deburrs an unexpected portion. According to the integrated controller system 300 having the motor control device 1 according to the embodiment of the present disclosure, unified management of errors can be achieved in the main CPU 11 through the machine tool. Furthermore, the signal transmission delay time in the serial communication units 41 and 42 is very short as described above. Therefore, the main CPU 11 immediately notifies the robot integrated circuit 12-200 of the error information. Accordingly, the robot integrated circuit 12-200 controls the motor in the robot so that the robot immediately stops or retracts. Therefore, collisions between the robot and the tool or workpiece of the machine tool can be avoided.

[0082] For example, when an error occurs in a machine tool, the machine tool may be retracted in the opposite direction to the normal direction to avoid the tool. This is an emergency action that the robot cannot foresee, and there is a problem of the robot colliding with the tool or workpiece of the machine tool. According to the integrated controller system 300 having the motor control device 1 involved in the embodiment of the present disclosure, the main CPU 11 can achieve unified management of errors through the machine tool. In addition, the signal transmission delay time of the serial communication units 41 and 42 is very short as described above. Therefore, the main CPU 11 immediately notifies the robot integrated circuit 12-200 of the error information and the position information of the workpiece. Correspondingly, the robot integrated circuit 12-200 controls the motor in the robot so that the robot immediately stops or retracts, thereby avoiding the robot from colliding with the tool or workpiece of the machine tool.

[0083] While the embodiments of the present disclosure have been described above, various modifications are possible. For example, the functional components integrated into each IC should be appropriately set according to the specifications, and various modifications are possible.

[0084] According to one embodiment of the present disclosure, a motor control device, a numerical control device, a robot controller, and an integrated controller system with improved scalability with respect to the number of controlled axes can be realized.

Claims

1. A motor control device, characterized in that: have: a main CPU that outputs position command values ​​for the plurality of motors; a plurality of integrated circuits connected to the main CPU and provided corresponding to the number of the plurality of motors; and a plurality of sub-CPUs, each of which is connected to the plurality of integrated circuits in correspondence thereto; The plurality of integrated circuits respectively have: a motor interface control unit configured to output a drive command value to an amplifier, the amplifier driving the motor so as to move the motor to a position corresponding to the position command value; a main CPU serial interface for communicating between the main CPU and the motor interface control unit; a sub-CPU serial interface for communicating between the sub-CPU connected to the integrated circuit and the motor interface control unit; an internal bus connecting the main CPU serial interface and the motor interface control unit; and An option serial interface, which serves as an interface for connecting to an external option device and is connected to the internal bus, The plurality of sub-CPUs each controls the output of the drive command value by the motor interface control unit within the integrated circuit connected to the sub-CPU based on the position command value and the position feedback value of the motor read via the integrated circuit connected to the sub-CPU. The motor interface control units of the plurality of integrated circuits are connected to one another via the optional serial interface.

2. The motor control device according to claim 1, wherein: Each of the plurality of integrated circuits includes an input / output control unit connected to the internal bus to input and output external signals.

3. The motor control device according to claim 1 or 2, characterized in that: The main CPU is a multi-core CPU.

4. The motor control device according to claim 1 or 2, characterized in that: The sub-CPU is a multi-core DSP.

5. The motor control device according to claim 1 or 2, characterized in that: The integrated circuit is an application-specific integrated circuit.

6. A numerical control device for controlling a machine, characterized in that: The numerical control device comprises: the motor control device according to any one of claims 1 to 5, A plurality of groups consisting of the integrated circuit and the sub-CPU connected to the integrated circuit respectively controls at least one motor corresponding to the group among the motors in the machine.

7. The numerical control device according to claim 6, characterized in that The machine is a machine tool, controlling at least one of the plurality of groups of motors in the machine tool, which drives a machining axis of the machine tool, At least one of the motors in the machine tool that drives a peripheral axis of the machine tool is controlled by a group different from the at least one group among the plurality of groups.

8. A robot controller for controlling at least one robot, characterized in that: The robot controller comprises: a motor control device according to any one of claims 1 to 5; At least one electric motor serving as a driving source for the robot is controlled by a plurality of groups each consisting of the integrated circuit and the sub-CPU connected to the integrated circuit.

9. An integrated controller system for controlling both at least one machine and at least one robot, characterized in that: The integrated controller system comprises: a motor control device according to any one of claims 1 to 5; controlling, by means of at least one of a plurality of groups consisting of the integrated circuit and the sub-CPU connected to the integrated circuit, at least one motor corresponding to the group of motors in the machine; At least one motor serving as a driving source of the robot is controlled by a group different from the at least one group among the plurality of groups.

10. The integrated controller system according to claim 9, characterized in that: The machine is a machine tool, At least one of the plurality of groups is used to control at least one of the motors in the machine tool that drives at least one of a machining axis and a peripheral axis of the machine tool; At least one motor serving as a driving source of the robot is controlled by a group different from the at least one group among the plurality of groups.

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