Motor amplifier, terminal device, control system, setting program, and setting method

Abstract

A motor amplifier that suppresses occurrence of an undesirable action in setting is provided. A motor amplifier (1) is connected with a terminal device (3) that sets a parameter for controlling a motor, and controls the motor by communication with a host device (2). That is, the motor amplifier (1) is sometimes connected with both the terminal device (3) and the host device (2). A communication section (10) communicates with the host device (2). A state transmission section (100) transmits state information (200) that shows a state in which communication with the host device (2) is in progress or not in progress in the communication section (10) to the terminal device (3). A setting execution section (110) sets the parameter according to an instruction from the connected terminal device (3).

Description

TECHNICAL FIELD

[0001] The present application particularly relates to a motor amplifier that controls rotation of a motor, a terminal device that sets the motor amplifier, a control system, a setting program, and a setting method. BACKGROUND

[0002] Conventionally, there is a control system that includes an upper device such as a PLC (Programmable Logic Controller) that transmits a position command, an encoder that acquires a rotational position of a motor, and a motor amplifier that is connected to the encoder.

[0003] For example, in Patent Literature 1, an example of a control system that includes a control device corresponding to a motor amplifier is described.

[0004] In such a control system, a terminal device that is used to perform setting such as adjustment of the motor amplifier is sometimes connected.

[0005] Here, in the case where the upper device and the terminal device are connected at the same time, in the conventional motor amplifier, for the same parameter for setting, different values can be rewritten.

[0006] [Patent Literature]

[0007] [Patent Literature]

[0008] [Patent Literature 1] Japanese Patent Application Publication No. 2014-013163 SUMMARY

[0009] However, in the conventional control system, for the same parameter, if different values are respectively rewritten while the upper device and the terminal device are connected at the same time, an undesirable operation of the motor amplifier can occur.

[0010] The present application was achieved in view of such a situation, and aims to provide a motor amplifier that can suppress occurrence of an undesirable operation of the motor amplifier even if a terminal device is connected at the same time as an upper device, thereby solving the above-described problem.

[0011] The motor amplifier of the present application is connected to a terminal device, sets a parameter for control of a motor, and controls the motor through communication with an upper device, characterized by including: a communication section that performs the communication with the upper device; a state transmission section that transmits state information that shows whether or not a state of being in communication with the upper device in the communication section to the terminal device; and a setting execution section that sets the parameter according to an instruction from the connected terminal device.

[0012] By being thus configured, occurrence of an undesirable operation can be suppressed.

[0013] The motor amplifier of the present application is characterized in that the setting execution section does not perform setting of the parameters that can be written by the upper-level device with respect to the parameters that can be written by the upper-level device, in the case where the communication section is communicating with the upper-level device.

[0014] With this configuration, it is possible to suppress the occurrence of an undesirable action.

[0015] The motor amplifier of the present application is characterized in that the parameters for which setting is not performed include the parameters related to mode setting in control and the parameters related to internal instructions.

[0016] With this configuration, it is possible to reliably prevent the occurrence of an undesirable action.

[0017] The terminal device of the present application, which is connected to a motor amplifier that controls the rotation of a motor through communication with an upper-level device, is characterized by comprising: a state acquisition section that acquires state information showing whether or not in communication with the upper-level device from the motor amplifier; a display section that displays parameters for setting of the motor amplifier in accordance with the state information acquired by the state acquisition section; and an amplifier setting section that, when the display of the parameters displayed by the display section is changed to non-display or input possibility, acquires setting information only for the parameters that can be input and performs setting to the motor amplifier.

[0018] With this configuration, it is possible to suppress the occurrence of an undesirable action of the motor amplifier.

[0019] The terminal device of the present application is characterized in that, in the case where the state information shows that communication with the upper-level device is in progress, the parameters that can be written by the upper-level device are set to non-display or to non-input display indicating that the setting information cannot be input.

[0020] With this configuration, it is possible to dynamically set that the change of the parameters based on the user is not performed.

[0021] The terminal device of the present application is characterized in that the parameters set to non-display include the parameters for mode setting of instructions or operations from the terminal device or the upper-level device and the parameters related to internal instructions of the motor amplifier that are changed by the upper-level device.

[0022] With this configuration, it is possible to make the parameters that the user feels confused even if he or she can read them non-display.

[0023] The terminal device of the present application is characterized in that the parameters set to non-input display include the parameters that are referred to by the terminal device with respect to the current setting values in accordance with convenience at the time of setting.

[0024] By so configuring, the user's convenience can be improved, and stress can be reduced.

[0025] The control system of the present application is a control system provided with an upper device, a motor amplifier connected to the upper device and controlling rotation of a motor, and a terminal device performing setting of the motor amplifier, characterized in that the motor amplifier is provided with: a communication section performing network-based communication with the upper device; a state transmission section transmitting state information showing whether or not in communication with the upper device in the communication section to the terminal device; and a setting execution section performing setting upon acquisition of an instruction from the terminal device, the terminal device is provided with: a state acquisition section acquiring the state information from the motor amplifier; a display section changing display and / or input possibility of a parameter for setting of the motor amplifier according to the state information acquired by the state acquisition section; and an amplifier setting section acquiring only setting information of the parameter which can be input when displayed by the display section which is changed, and performing setting by transmitting an instruction based on the setting information to the motor amplifier.

[0026] By so configuring, occurrence of an undesirable motor amplifier operation can be suppressed.

[0027] The setting program of the present application is executed by a terminal device connected to an upper device and performing setting of a motor amplifier controlling rotation of a motor, characterized in that the terminal device acquires state information showing whether or not in communication with the upper device from the motor amplifier, changes display of a parameter for setting of the motor amplifier according to the acquired state information, acquires only setting information which can be input according to the changed parameter, and performs setting by transmitting an instruction based on the set setting information to the motor amplifier.

[0028] By so configuring, occurrence of an undesirable motor amplifier operation can be suppressed.

[0029] The setting method of the present application is a setting method executed by a terminal device connected to an upper device and performing setting of a motor amplifier controlling rotation of a motor, characterized in that the terminal device acquires state information showing whether or not in communication with the upper device from the motor amplifier, changes display of a parameter for setting of the motor amplifier according to the acquired state information, acquires only setting information which can be input according to the changed parameter, and performs setting by transmitting an instruction based on the set setting information to the motor amplifier.

[0030] By so configuring, occurrence of an undesirable motor amplifier operation can be suppressed.

[0031] According to the present application, it is possible to provide a motor amplifier that suppresses generation of an unwanted motor amplifier action by transmitting state information showing whether or not in a state of communication with a host device to a terminal device, and setting a parameter for control of a motor in accordance with an instruction from the terminal device in correspondence therewith. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a system configuration diagram of the control system of the embodiment of the present application.

[0033] Figure 2 is a flowchart of the motor amplifier setting process of the embodiment of the present application.

[0034] Figure 3 is a conceptual diagram of the motor amplifier setting process of the present application. DETAILED DESCRIPTION

[0035] <EMBODIMENT>

[0036] [Structure of Control System X]

[0037] Reference Figure 1 The structure of the control system X of the embodiment of the present application will be described.

[0038] The control system X of the present embodiment is an example of a control system that can control a motor 4 by an instruction from a host device 2, and set a motor amplifier 1 by a connected terminal device 3.

[0039] The control system X is configured to include the motor amplifier 1, the host device 2, the terminal device 3, the motor 4, and an encoder 5.

[0040] The motor amplifier 1 is a control device connected with the host device 2 and the encoder 5. In the present embodiment, the motor amplifier 1 communicates with the host device 2, and performs drive control of the motor 4 in accordance with various instructions transmitted from the host device 2. On the other hand, the motor amplifier 1 is connected with the terminal device 3, and sets a control parameter of the motor. That is, in the present embodiment, the motor amplifier 1 sometimes connects the terminal device 3 and the host device 2 at the same time.

[0041] In the present embodiment, the motor amplifier 1 is connected with the upper device 2 through a field network such as EtherCAT or the like. On the other hand, the motor amplifier 1 is connected with the encoder 5 through a dedicated line or a serial communication line or the like, and also supplies power for servo driving of the motor 4. This power is supplied to the motor 4 via the encoder 5 or directly. Further, the motor amplifier 1 can also calculate a torque value showing the torque of the shaft S using a current feedback value of the motor control of the motor 4. In addition, the motor amplifier 1 can also acquire information such as temperature from the encoder 5. Also, the motor amplifier 1 can also respond to a data request from the upper device 2.

[0042] In addition, in the present embodiment, the motor amplifier 1 is connected with the terminal device 3 through a direct connection via a connection terminal such as a USB (Universal Serial Bus).

[0043] The upper device 2 is a device for a client (customer) who sends an instruction. The upper device 2 is, for example, a PLC or a logic board or the like of various devices provided with a microcontroller.

[0044] Specifically, the upper device 2 sends a control signal for controlling the motor 4 to the motor amplifier 1 as an instruction. The sending cycle of the instruction, the data amount of one sending, and the like are arbitrary (variable) according to the structure of the field network or the structure of the upper device 2 or the like. In addition, the upper device 2 can also perform periodic communication even without an instruction.

[0045] In addition, the upper device 2 can also acquire detected position data of the motor 4, a torque value, other data from the motor amplifier 1.

[0046] The terminal device 3 is a terminal connected with the motor amplifier 1 and capable of setting the motor amplifier 1. In the present embodiment, the terminal device 3 is a PC (Personal Computer), a tablet terminal, a smart phone, a dedicated terminal, or the like. In the present embodiment, an example in which the terminal device 3 is connected with the motor amplifier 1 through a USB or the like is described.

[0047] The terminal device 3 acquires an instruction of a user such as a service person or a maintenance person or a manager of a factory, and can perform various settings including setting of parameters of PI (Proportional-Integral) control of the motor 4 by the motor amplifier 1.

[0048] The motor 4 rotates the shaft S as a rotating output shaft with the rotating shaft A as a center axis in accordance with a control signal from the motor amplifier 1.

[0049] The motor 4 is a general servo motor or the like having a rotor, a bearing, a stator, a bracket, and the like.

[0050] The encoder 5 is a device that acquires the rotational position of the motor 4. In the present embodiment, the encoder 5 detects position data of the rotational position of the shaft S related to the rotational shaft A of the motor 4, and transmits the same to the motor amplifier 1 as angle information. Therefore, the encoder 5 includes, for example, an angle detection mechanism of a magnetic or optical type, a control arithmetic unit such as an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or the like, a RAM (Random Access Memory) that holds angle information or temporary data, a non-temporary recording medium 0 such as a ROM (Read Only Memory) on which a control program (not shown) is recorded, and the like. The RAM or the ROM can include a non-volatile recording medium such as an SRAM with a battery backup, a ReRAM, an MRAM, or a flash memory. In addition, the encoder 5 can also be provided with a temperature sensor or the like that measures the temperature of the motor 4 or the encoder 5 itself. Furthermore, the encoder 5 can also transmit the signals of the temperature sensor, a voltage sensor of a battery, or the like as data different from the position data.

[0051] More specifically, in the present embodiment, the motor amplifier 1 has a communication section 10 and an amplifier control section 20.

[0052] The communication section 10 is a communication unit that receives communication of the field network, acquires an instruction to the motor amplifier 1 from the upper device 2, and transmits the same to the amplifier control section 20.

[0053] The communication section 10 includes, for example, a communication circuit (physical layer) for the field network.

[0054] The amplifier control section 20 causes the motor 4 to perform servo driving in accordance with the instruction acquired from the communication section 10, and controls the position of the shaft S. The amplifier control section 20 includes a control arithmetic unit such as an MPU, a DSP, an ASIC, or the like.

[0055] In the present embodiment, the amplifier control section 20 can perform control of the motor 4 in accordance with a control pattern, with reference to angle information acquired from the encoder 5, information of other various sensors, a torque value, and the like.

[0056] Further, the amplifier control section 20 includes a non-transitory recording medium such as a RAM or a ROM. In the recording medium of the amplifier control section 20, a control program (not shown) of the motor amplifier 1, and various data including the state information 200 and the parameter group 210 described later are stored.

[0057] In the present embodiment, the terminal device 3 is provided with a terminal control section 30, a storage section 40, an I / F section 50, an input section 60, and a display section 70.

[0058] The terminal control section 30 performs overall control of the terminal device 3, and is a control arithmetic unit connected to the motor amplifier 1. The terminal control section 30 includes an MPU, a DSP, a GPU (Graphics Processing Unit), an ASIC, and the like.

[0059] The storage section 40 is a main storage unit and an auxiliary storage unit that stores and expands a program for setting the motor amplifier 1 by the terminal device 3. The storage section 40 includes a non-transitory recording medium such as a RAM or a ROM.

[0060] In the present embodiment, the storage section 40 stores an OS (Operating System), a device driver of the motor amplifier 1, middleware, and various application software (Application Software, hereinafter referred to as "application") including a setting program 400 described later, and various data.

[0061] Alternatively, the terminal control section 30 and the storage section 40 can be integrally configured.

[0062] The I / F section 50 is a connection unit including an interface (Interface, I / F) for connecting the control section and other devices. The I / F section 50 includes a CPU dedicated bus interface, a bus interface such as a PCI-Express (registered trademark), various USB interfaces for peripheral devices, a close proximity wireless interface, an RS-232C interface, a LAN (Local Area Network) interface, a wireless LAN interface, and the like, and a circuit and the like of a physical layer thereof.

[0063] In the present embodiment, the I / F section 50 is directly connected to the motor amplifier 1 through a USB connection, and can communicate in a prescribed protocol.

[0064] The input section 60 is an input unit in which a user inputs setting information.

[0065] In the present embodiment, the input section 60 includes a pointing device such as a keyboard, a mouse, a touch panel, or a digitizer, a switch or a button, a slide bar, a stick input device, an image input device (a camera), a proximity radar, a gesture input device, a console terminal, or the like.

[0066] The display section 70 is a display unit of a GUI (Graphical User Interface) or a CUI (Character User Interface) that the user can view.

[0067] In the present embodiment, the display section 70 includes a liquid crystal, an organic EL (Organic Electro-Luminescence) display, an LED (Light Emitting Diode), a projector, an HMD (Head-Mounted Display), a console terminal, or the like.

[0068] Here, the input section 60 and the display section 70 can also be integrally formed like a display with a touch panel.

[0069] (Functional Configuration of Motor Amplifier 1 and Terminal Device 3)

[0070] Next, the functional configuration of the motor amplifier 1 and the terminal device 3 will be described.

[0071] First, the functional configuration of the motor amplifier 1 will be described.

[0072] The amplifier control section 20 of the motor amplifier 1 is provided with a state transmission section 100 and a setting execution section 110.

[0073] The recording medium of the amplifier control section 20 stores the state information 200 and the parameter group 210.

[0074] In the present embodiment, the communication section 10 performs communication with the upper device 2 in a factory network or the like and responds to various instructions.

[0075] The state transmission section 100 transmits the state information 200 to the terminal device 3. In the present embodiment, the state transmission section 100 can also transmit the state information 200 through other threads or the like even in communication with the upper device 2, by a request based on a USB connection from the state acquisition section 300 of the terminal device 3.

[0076] Here, the state in communication in the present embodiment shows a state in which communication is established between the upper device 2 and the motor amplifier 1 in the factory network, and instructions (commands) and data can be transmitted and received. In addition, in the present embodiment, the state information 200 includes a state in which the motor amplifier 1 is in communication with the upper device 2, and a state in which the motor amplifier 1 is not in communication with the upper device 2. Figure 1 ,Figure 2 Next, the flow of information (movement) is shown by a single-dotted line arrow.

[0077] The setting execution section 110 sets the control parameters of the motor in accordance with an instruction from the connected terminal device 3. Here, in the present embodiment, the setting execution section 110 does not perform setting from the terminal device 3 with respect to parameters that the upper device 2 is likely to write in the case where the communication section 10 is in communication with the upper device 2. The parameters for which setting is not performed include parameters of mode setting and parameters related to internal instructions.

[0078] The state information 200 is information such as a flag showing whether or not the communication section 10 is in communication with the upper device 2. Further, the state information 200 can also contain information showing whether or not writing is possible, by the ID of the parameters of the parameter group 210 or by each kind.

[0079] The parameter group 210 is a database containing data of parameters for control of the motor 4. In the present embodiment, the parameter group 210 has attributes such as a parameter setting ID and a kind for each parameter. Further, each parameter of the parameter group 210 contains not only a value for control (control value) but also a character string or other data.

[0080] Specifically, as the kind of the parameter, there are included parameters related to mode setting in control of the motor amplifier 1, parameters related to motor control setting, and parameters related to internal instructions.

[0081] Among them, the parameters related to mode setting include, for example, parameters of control mode, instruction mode, and operation mode of the motor amplifier 1. Among them, the control mode is a parameter that sets the control of the motor 4 of the motor amplifier 1 to a position control mode, a speed control mode, or a torque control mode, or the like. The instruction mode is a parameter showing which one of the instruction from the upper device 2 and the internal instruction is used to control the motor 4. The operation mode is a parameter showing which one of the indication through the USB and the factory network is used to control the motor 4 or perform setting.

[0082] The parameters related to control setting are various parameters for adjustment of PI control. The various parameters for adjustment include, for example, parameters for detection of position deviation abnormality, limit of torque instruction, switching of use, output condition, and parameters related to limit value, parameters related to limit value of speed instruction.

[0083] The parameters related to internal instructions include parameters related to change of designation method of internal position instruction, origin restoration or reference signal, reference setting or value acquisition of the encoder 5, and the like.

[0084] Next, the functional structure of the terminal device 3 will be described.

[0085] The terminal control section 30 includes a state acquisition section 300 and an amplifier setting section 310.

[0086] The storage section 40 stores a setting program 400.

[0087] The state acquisition section 300 of the terminal control section 30 acquires the state information 200 from the motor amplifier 1. In the present embodiment, the state acquisition section 300 acquires the state information 200 transmitted from the state transmission section 100 of the motor amplifier 1 through the USB connection and stores it in the storage section 40.

[0088] The amplifier setting section 310, when the display of the parameters displayed on the display section 70 is not displayed or the input possibility is changed, acquires setting information only for the inputtable parameters, transmits an instruction based on the setting information to the motor amplifier 1, and causes the motor amplifier 1 to perform the setting.

[0089] In a case where the state information 200 shows that communication with the host device 2 is in progress, the amplifier setting section 310 can not display the parameters that the host device 2 is likely to write in the display section 70. Here, the parameters not to be displayed include parameters for which mode setting by an instruction or operation from the terminal device 3 or the host device 2 is performed, and parameters related to internal instructions of the motor amplifier 1 that are changed by the host device 2.

[0090] Alternatively, in a case where the state information 200 shows that the host device 2 is in communication with the motor amplifier 1, the amplifier setting section 310 can also be configured to show a non-input display that shows that the input of the setting information is not possible, with respect to the setting fields or buttons and the like displayed on the display section 70. The parameters of the non-input display include parameters for which the current setting value is referred to by the terminal device 3 in accordance with convenience at the time of setting.

[0091] The setting program 400 is an example of an application program for performing the setting of the motor amplifier 1 by the terminal device 3 of the present embodiment.

[0092] The setting program 400 can also be downloaded and installed from an external recording medium or an external server and the like.

[0093] In the present embodiment, the display section 70 displays the parameters for the setting of the motor amplifier 1 in accordance with the state information 200 acquired by the state acquisition section 300. In the present embodiment, the display section 70 displays each parameter in a list form (hereinafter referred to as a "parameter list") as a GUI at the time of executing the setting program 400.

[0094] Here, the amplifier control section 20 functions as the state transmission section 100 and the setting execution section 110 by executing the control program stored in the built-in recording medium.

[0095] The terminal control section 30 functions as the state acquisition section 300 and the amplifier setting section 310 by expanding and executing the setting program 400 stored in the auxiliary storage section 40 of the storage section 40 in the main storage section 40.

[0096] Further, each section of the motor amplifier 1 and the terminal device 3 described above becomes a hardware resource that executes the setting method of the present embodiment.

[0097] Furthermore, a part or any combination of the above-described functional structure can also be configured in a hardware manner, a circuit manner, with an IC or a programmable logic or an FPGA (Field-Programmable Gate Array), and the like.

[0098] [MOTOR AMPLIFIER SETTING PROCESS]

[0099] Next, a motor amplifier setting process according to the present embodiment will be described with reference to Figure 2 and Figure 3

[0100] In the motor amplifier setting process of the present embodiment, the state information 200 is transmitted from the motor amplifier 1 to the terminal device 3. The terminal device 3 acquires the state information 200 and changes the display of the setting parameters of the motor amplifier 1. Then, the terminal device 3 acquires only the settable setting information in accordance with the changed parameters and transmits an instruction to the motor amplifier 1. The terminal device 3 transmits an instruction based on the set setting information to the motor amplifier 1. The motor amplifier 1 sets the parameters in accordance with the instruction from the connected terminal device 3.

[0101] The motor amplifier setting process of the present embodiment is that the terminal control section 30 of the terminal device 3 cooperates with each section to use the hardware resources to execute the setting program 400 stored in the storage section 40. In conjunction with this, the communication section 10 and the amplifier control section 20 of the motor amplifier 1 cooperate with each section to use the hardware resources to execute a control program (not shown) stored in the built-in storage medium.

[0102] Hereinafter, the details of the motor amplifier setting process of the present embodiment will be described in steps according to the flowchart of Figure 3

[0103] (Step S101)

[0104] First, it is determined whether the communication section 10 of the motor amplifier 1 is in communication with the upper device 2. The communication section 10 determines "Yes" if it is in communication with the upper device 2 through the factory network. The communication section 10 determines "No" in other cases.

[0105] ​​In the case of "Yes", the communication section 10 causes the process to proceed to step S102.

[0106] In the case of "No", the communication section 10 causes the process to proceed to step S103.

[0107] (Step S102)

[0108] In the case where the upper device 2 is in communication, the communication section 10 performs communication-in setting processing.

[0109] The communication section 10 sets, in the state information 200 of the amplifier control section 20, the case where the upper device 2 is in communication through the factory network. In the present embodiment, for example, the communication section 10 can also directly access the recording medium of the amplifier control section 20 by DMA (Direct Memory Access) or the like, and set the flag or the like of the state information 200. Alternatively, the communication section 10 can notify the amplifier control section 20 of the case by a signal line or a command (instruction), and the state transmission section 100 of the amplifier control section 20 that detected the case can also write it to the state information 200.

[0110] (Step S103)

[0111] Next, the state transmission section 100 performs state transmission processing.

[0112] The state transmission section 100 transmits the state information 200 to the terminal device 3. In the present embodiment, the state transmission section 100 transmits the state information 200 to the terminal device 3 in a state where the USB connection is established, in a case where an instruction to request transmission of the state information 200 from the terminal device 33 is obtained. At this time, the state transmission section 100 can also refer to the parameter group 210 to transmit a list of settable parameters.

[0113] (Step S201)

[0114] Here, the state acquisition section 300 of the terminal device 3 performs state acquisition processing.

[0115] First, in the present embodiment, for example, when an application program that starts and executes the setting program 400 is started, the state acquisition section 300 connects to the motor amplifier 1 through the USB.

[0116] After the connection is established, the state acquisition section 300 causes the GUI screen of the setting program 400 to be displayed on the display section 70, and starts to acquire an instruction from the input section 60 of the user.

[0117] Figure 3The screen example 500 of (a) shows an example in which, when the tab of "Parameter" on the screen is pressed, a parameter change screen of the motor amplifier 1 is displayed in the display section 70. In the present embodiment, the parameter change screen includes a GUI in which a set value (dynamic) can be input. In the screen example 500, a state in which all parameters that can be set are displayed is shown without the display change described later.

[0118] Here, the state acquisition section 300 sends an instruction to the motor amplifier 1 to request the motor amplifier 1 to send the state information 200 in real time. The state acquisition section 300 acquires the state information 200 sent from the state sending section 100 of the motor amplifier 1 and stores it in the storage section 40. This acquisition can also be performed periodically at a prescribed interval of several milliseconds to several seconds, for example.

[0119] (Step S202)

[0120] Next, the state acquisition section 300 determines whether the motor amplifier 1 is in communication with the host device 2.

[0121] The state acquisition section 300 analyzes the state information 200 stored in the storage section 40 and determines "Yes" if the motor amplifier 1 is in communication with the host device 2. The state acquisition section 300 determines "No" in other cases.

[0122] If "Yes", the state acquisition section 300 causes the process to proceed to step S203.

[0123] If "No", the state acquisition section 300 causes the process to proceed to step S204.

[0124] (Step S203)

[0125] If the motor amplifier 1 is in communication with the host device 2, the amplifier setting section 310 performs display change processing.

[0126] The amplifier setting section 310 changes (display changes) the display of the parameters displayed in the display section 70 based on the state information 200 acquired by the state acquisition section 300. In the present embodiment, the amplifier setting section 310 sets the parameters that the host device 2 is likely to write as not displayed, or as not input display in which set information cannot be input.

[0127] More specifically, the amplifier setting section 310 sets the parameters of the command mode and the operation mode, and the parameters related to internal commands, for example, as not displayed. These parameters are parameters that are likely to be changed from the host device 2 in real time if the motor amplifier 1 is in communication with the host device 2 even if the change is made from the terminal device 3, and that are likely to confuse the user if they are viewed.

[0128] exist Figure 3 (b) In screen example 501, the following will be shown Figure 3 In example 500 of screen (a), the parameter column D of "Command Mode" is set to not be displayed.

[0129] Furthermore, based on ease of setting, the amplifier setting unit 310 sets parameters whose current setting value is referenced by the terminal device 3 to a non-inputable display, indicating that setting information cannot be input (written, set). That is, the amplifier setting unit 310 sets parameters that the user can view during setting and that improve user convenience to a state displaying the parameter value, while also setting them to a non-inputable display. This non-inputable display includes, for example, a grayed-out display that does not change even when a button is pressed, or an invalid display indicating that the input of the setting value is invalid.

[0130] Specifically, parameters that are set to be non-inputable and non-displayable include, for example, control mode, detection of position deviation anomalies, parameters used for detecting position deviation anomalies, limits related to torque commands, switching of use, output conditions and parameters related to limit values, and parameters related to limit values ​​of speed commands.

[0131] exist Figure 3 In screen example 501 of (b), the parameters of the control mode are changed to "invalid", and the display is changed to an input-free display.

[0132] Additionally, sometimes users temporarily set the parameters of motor amplifier 1 for testing purposes. In this case, it is sufficient to temporarily set the value of motor amplifier 1; there is no need to save the value on a non-volatile recording medium. However, if the "write" button for writing parameters to a non-volatile recording medium is active, it is possible to save the temporary parameter, or the value changed by the host device 2. As a result, malfunctions may occur during subsequent communication with the host device 2 or upon the next startup.

[0133] Therefore, in Figure 3 In screen example 501 (b), the amplifier setting unit 310 grays out the "write" button B during communication with the host device 2, making it uninputable.

[0134] To explain this situation in detail, let's take the "torque command limit" parameter as an example. This parameter is used to limit the output torque of motor amplifier 1.

[0135] In communication with the host device 2, the host device 2 can change the parameter limiting the torque command by setting the "MaxTorque (6072h)" value of the object in the factory network. Here, according to the characteristics of factory network communication, the parameter limiting the torque command changes the setting value in real time.

[0136] Therefore, if the parameter can be changed from the terminal device 3, the setting value at the time of the real-time change is written in the nonvolatile recording medium of the motor amplifier 1. That is, at the next start, the setting value of the limit of the torque command written is used, and in this case, the written torque limit value can become a value that the user does not want.

[0137] Therefore, as with the button B of the screen example 501 described above, by making the write button B gray display, the instruction itself cannot be made, the occurrence of the undesirable operation of the motor amplifier 1 can be suppressed, and the convenience of the user is improved, and the stress is reduced.

[0138] (Step S204)

[0139] Here, the amplifier setting section 310 performs setting acquisition processing.

[0140] The amplifier setting section 310 acquires the setting information set by the user from the parameter change screen. At this time, the amplifier setting section 310 acquires the setting information only for the inputtable parameter. In the present embodiment, for example, the amplifier setting section 310 acquires the setting information input by the user's instruction to the part on which the button or the display column is displayed on the screen of the GUI and on which the non-input display is not performed.

[0141] That is, in the above Figure 3 screen example 500 and the screen example 501, the amplifier setting section 310 does not acquire the instruction and the setting information about the button B, the column C, and D.

[0142] (Step S205)

[0143] Next, the amplifier setting section 310 performs amplifier setting processing.

[0144] The amplifier setting section 310 transmits the instruction based on the acquired setting information to the motor amplifier 1, and causes the motor amplifier 1 to perform the setting.

[0145] In the present embodiment, specifically, the amplifier setting section 310 transmits the instruction to change the parameter based on the setting information through the prescribed protocol of the USB.

[0146] (Step S104)

[0147] Here, the setting execution section 110 of the motor amplifier 1 performs instruction acquisition processing.

[0148] In the present embodiment, the setting execution section 110 acquires the instruction from the terminal device 3 via the USB connection.

[0149] (Step S105)

[0150] Next, the setting execution section 110 determines whether or not the instruction is an instruction regarding a parameter that is likely to be changed by the host device 2 in the communication with the host device 2. The setting execution section 110 determines "Yes" in a case where the instruction obtained in the communication with the host device 2 is an instruction regarding a parameter that is likely to be written (changed) by the host device 2. The setting execution section 110 determines "No" in other cases.

[0151] In the case of "Yes", the setting execution section 110 ends the motor amplifier setting processing of the present embodiment. Thus, for the parameter that is likely to be written by the host device 2, the setting from the terminal device 3 can not be performed.

[0152] In the case of "No", the setting execution section 110 causes the processing to proceed to step S106.

[0153] In step S106, the setting execution section 110 performs setting execution processing.

[0154] The setting execution section 110 changes the corresponding parameter of the parameter group 210 according to the setting value or the like included in the instruction.

[0155] After the change, the setting execution section 110 can transmit the changed parameter to the terminal device 3 through the USB.

[0156] Thus, the motor amplifier setting processing of the present embodiment is ended.

[0157] 〔Main Effects of the Present Embodiment〕

[0158] By being configured as described above, the following effects can be obtained.

[0159] In the past, in a case where the terminal device 3 and the host device 2 are connected to the motor amplifier 1 respectively, different values can be rewritten for the same parameter, and thus an undesirable amplifier operation can be likely to occur as a problem.

[0160] In contrast, the motor amplifier 1 of the present embodiment is connected to the terminal device 3, the parameter for controlling the motor is set, and the motor 4 is controlled through the communication with the host device 2, and is characterized by including: a communication section 10 that communicates with the host device 2; a state transmission section 100 that transmits state information 200 showing whether or not the communication section 10 is in communication with the host device 2 to the terminal device 3; and a setting execution section 110 that sets the parameter according to an instruction from the connected terminal device 3.

[0161] By so configuring, even if the terminal device 3 and the upper device 2 are connected at the same time, occurrence of an undesirable operation of the motor amplifier 1 can be suppressed. That is, by the motor amplifier 1 and the upper device 2 cooperating with the communication state, the limitation of the setting of the parameters from the terminal device 3, an operation failure of the motor amplifier 1 caused by the terminal device 3 and the upper device 2 setting the same parameters can be eliminated.

[0162] In the motor amplifier 1 of the embodiment of the present application, it is characterized in that the setting execution section 110 does not perform the setting from the terminal device 3 with respect to the parameters that the upper device 2 is likely to write, in a case where the communication section 10 is in communication with the upper device 2.

[0163] By so configuring, even if a change instruction of the parameters that the upper device 2 is likely to write is acquired from the terminal device 3 due to an operation failure of the setting program 400 of the terminal device 3 or a slight timing difference, the setting can not be performed. Thereby, an undesirable operation of the motor amplifier 1 can be prevented.

[0164] In the motor amplifier 1 of the embodiment of the present application, it is characterized in that the parameters that are not set include parameters of mode setting and parameters related to internal instructions.

[0165] By so configuring, the setting from the terminal device 3 can not be performed with respect to the parameters of mode setting that are likely to be changed from the upper device 2 in communication, and the parameters of internal instructions. Thereby, an undesirable operation of the motor amplifier 1 can be reliably prevented.

[0166] The terminal device 3 of the embodiment of the present application is connected to a motor amplifier 1 that controls rotation of a motor through communication with an upper device 2, and is characterized by including: a state acquisition section 300 that acquires state information 200 showing whether or not in communication with the upper device 2 from the motor amplifier 1; a display section 70 that displays parameters for setting of the motor amplifier 1 in accordance with the state information 200 acquired by the state acquisition section 300; and an amplifier setting section 310 that acquires setting information only with respect to the parameters that can be input when display of the parameters displayed by the display section 70 is not displayed or input possibility is changed, and performs setting to the motor amplifier 1.

[0167] By so configuring, even if the terminal device 3 and the upper device 2 are connected to the motor amplifier 1 at the same time, occurrence of an undesirable operation of the motor amplifier 1 can be suppressed. Further, for the user, by setting the parameters that can not be displayed as not displayed, or the parameters that are preferably reviewed as displayed only but not input, the convenience of the user can be improved.

[0168] Further, the setting program 400 of the present embodiment displays a parameter list by tab switching or the like at the time of setting, and is capable of changing parameters for setting of the motor amplifier 1 as a dynamic GUI, whereby it is also possible to reduce stress associated with setting by the user.

[0169] The terminal device 3 of the embodiment of the present application is characterized in that, in a case where the state information 200 shows that communication with the host device 2 is in progress, a parameter that the host device 2 is likely to write is set not to be displayed, or is set to show that input of setting information is not possible.

[0170] With this configuration, particularly in a case where the host device 2 is in communication with the motor amplifier 1, display change is performed, and it is possible to dynamically set that change of the parameter based on the user is not performed. Further, by display change, the user is shown that the host device 2 is in communication, and it is also possible to draw the user's attention. Thus, it is possible to reliably suppress occurrence of an unwanted action of the motor amplifier 1.

[0171] In the terminal device 3 of the embodiment of the present application, the parameter set not to be displayed includes a parameter for mode setting of an instruction or operation from the terminal device 3 or the host device 2, and a parameter related to an internal instruction of the motor amplifier 1 changed by the host device 2.

[0172] With this configuration, it is conceivable that real-time change based on an instruction of the host device 2 is performed, and at the time of setting of the parameter, a parameter that even if the user is able to read, will only cause confusion is set not to be displayed. Thus, it is possible to suppress occurrence of an unwanted action of the motor amplifier 1, while improving operability of the user and reducing stress.

[0173] In the terminal device 3 of the embodiment of the present application, the parameter set not to be input includes a parameter that is referred to by the terminal device 3 with reference to a currently set value in accordance with convenience at the time of setting.

[0174] With this configuration, a parameter that can improve convenience by being referred to by the user at the time of setting of the parameter, and that becomes a help for the user, can be referred to on the basis of being set not to be input. Thus, it is possible to suppress occurrence of an unwanted action of the motor amplifier 1, and to improve convenience of the user and reduce stress.

[0175] [Other Embodiments]

[0176] Further, in the above-described embodiment, it is described that the setting execution unit 110 of the motor amplifier 1, in a case where communication with the host device 2 is in progress, judges whether or not it is a parameter that the host device 2 is likely to write, and does not perform setting from the terminal device 3.

[0177] However, the setting execution section 110 of the motor amplifier 1 can also be configured to not perform this determination and to determine only by the terminal device 3. Specifically, the determination in step S105 can also not be performed. Figure 2

[0178] By so configuring, the processing load of the motor amplifier 1 can be suppressed. In addition, the change of the control program of the existing motor amplifier 1 can be reduced, and the development resources can be cut down.

[0179] In the above-described embodiment, an example in which the parameter setting is performed by connecting the terminal device 3 and the motor amplifier 1 through the USB is described.

[0180] However, the terminal device 3 and the motor amplifier 1 can also be connected through Bluetooth (registered trademark), Wi-fi, an industrial wireless network, a factory network, or a LAN other than these. In this case, the terminal device 3 and the upper device 2 can also be connected to the motor amplifier 1 at the same time.

[0181] By so configuring, even if not directly connected through the USB, the parameter setting can be performed by the terminal device 3, and flexible setting can be dealt with. In particular, by using Bluetooth (registered trademark), the parameter setting can be performed through wireless connection, and the user's trouble can be reduced.

[0182] In addition, the setting in the console based on RS-232C or the like can also be performed between the terminal device 3 and the motor amplifier 1. In this case, the restriction of the parameter setting can also be performed in the communication with the upper device 2.

[0183] In the above-described embodiment, it is described that the input section 60 and the display section 70 are built in the terminal device 3.

[0184] However, the terminal can not be a one-piece type, but can be a structure like a computer in which the input section 60 and the display section 70 are separately connected. Alternatively, the I / F section 50 can also be separately provided in the form of an interface box, an interface card, or the like.

[0185] By so configuring, flexible configuration can be dealt with.

[0186] In the above-described embodiment, an example in which the terminal device 3 stores the setting program 400, and the setting of the motor amplifier 1 is performed by the terminal control section 30 of the terminal device 3 is described.

[0187] ​However, it can also be a structure in which the motor amplifier 1 has a function realized by the setting program 400 of the terminal device 3. For example, it can be configured so that the amplifier control section 20 or the setting control section or the like control arithmetic unit of the motor amplifier 1 executes the setting program 400 based on a web server or a CGI (Common Gateway Interface) or the like, and the terminal device 3 can access and make settings from a web browser. Further, it can be configured so that the input section 60 or the display section 70 is directly connected to the motor amplifier 1, and settings of the motor amplifier 1 can be made without using the terminal device 3.

[0188] With this configuration, settings of the motor amplifier 1 can be made from a general PC or a smart phone or the like. That is, it is possible to improve convenience for users without separately installing a device driver or a control program in the control device.

[0189] Further, in the above-described embodiment, an example in which the upper device 2 is a PLC or the like is described.

[0190] However, other motor amplifiers 1 or sensors or the like connected to the factory network can also be the upper device 2.

[0191] Further, the configuration and operation of the above-described embodiment are examples, and of course can be appropriately changed within a range not departing from the gist of the present application.

[0192] REFERENCE NUMERALS

[0193] 1 motor amplifier

[0194] 2 upper device

[0195] 3 terminal device

[0196] 4 motor

[0197] 5 encoder

[0198] 10 communication section

[0199] 20 amplifier control section

[0200] 30 terminal control section

[0201] 40 storage section

[0202] 50 I / F section

[0203] 60 input section

[0204] 70 display section

[0205] 100 state transmission section

[0206] 110 setting execution section

[0207] 200 state information

[0208] 210 parameter group

[0209] 300 state acquisition section

[0210] 310 amplifier setting section

[0211] 400 setting program

[0212] 500, 501 screen example

[0213] A axis

[0214] B button

[0215] C, D column

[0216] S axis

[0217] X control system

Claims

1. A motor amplifier, connected to a terminal device, for setting parameters for motor control, and for controlling the motor via communication with a host device, characterized in that, including: a communication section that communicates with the host device; a state transmission section that transmits state information showing whether or not the communication section is in communication with the host device to the terminal device; and a setting execution section that sets the parameters according to an instruction from the connected terminal device, the setting execution section not performing setting from the terminal device for the parameters that the host device is likely to write in the case where the communication section is in communication with the host device, the parameters for which setting is not performed including the parameters related to mode setting in control and the parameters related to internal instructions.

2. A terminal device connected to a motor amplifier that controls rotation of a motor through communication with a host device, characterized by including: a state acquisition section that acquires state information showing whether or not in communication with the host device from the motor amplifier; a display section that displays parameters for setting of the motor amplifier according to the state information acquired by the state acquisition section; and an amplifier setting section that acquires setting information only for the parameters that can be input and sets the motor amplifier when the display of the parameters displayed by the display section is not displayed or the inputability is changed, in the case where the state information shows communication with the host device, setting the parameters that the host device is likely to write as not displayed or as not input display showing that the setting information cannot be input.

3. The terminal device according to claim 2, wherein the parameters set as not displayed include the parameters of mode setting of an instruction or operation from the terminal device or the host device and the parameters related to internal instructions of the motor amplifier changed by the host device.

4. The terminal device according to claim 2 or 3, wherein the parameters set as not input display include the parameters that the terminal device refers to the current setting value according to convenience at the time of setting.

5. A control system that has a host device, a motor amplifier connected to the host device and controlling rotation of a motor, and a terminal device that performs setting of the motor amplifier, characterized in that the motor amplifier includes: a communication section that communicates with the host device based on a network; a state transmission section that transmits state information showing whether or not the communication section is in communication with the host device to the terminal device; and a setting execution section that acquires an instruction from the terminal device and performs setting, the terminal device includes: a state acquisition section that acquires the state information from the motor amplifier; a display section that changes not display and / or inputability of display of parameters for setting of the motor amplifier according to the state information acquired by the state acquisition section; and ​ An amplifier setting section that acquires setting information only for the parameters that are displayed and can be input at the time of change by the display section, and sends an instruction based on the setting information to the motor amplifier and performs setting, The setting execution section does not perform setting from the terminal device for the parameters that are likely to be written by the upper device in the case where the communication section is in communication with the upper device, The parameters for which setting is not performed include the parameters related to mode setting in control and the parameters related to internal instructions.

6. A setting program executed by a terminal device that is connected to an upper device and performs setting of a motor amplifier that controls rotation of a motor, the setting program characterized in that the terminal device performs the following actions: acquires state information that shows whether or not in communication with the upper device from the motor amplifier; changes display of parameters for setting of the motor amplifier according to the acquired state information; acquires only setting information that can be input according to the changed parameters; and sends an instruction based on the set setting information to the motor amplifier and performs setting, in the case where in communication with the upper device, does not perform setting from the terminal device for the parameters that are likely to be written by the upper device, the parameters for which setting is not performed include the parameters related to mode setting in control and the parameters related to internal instructions.

7. A setting method executed by a terminal device that is connected to an upper device and performs setting of a motor amplifier that controls rotation of a motor, the setting method characterized in that the terminal device performs the following actions: acquires state information that shows whether or not in communication with the upper device from the motor amplifier; changes display of parameters for setting of the motor amplifier according to the acquired state information; acquires only setting information that can be input according to the changed parameters; and sends an instruction based on the set setting information to the motor amplifier and performs setting, in the case where in communication with the upper device, does not perform setting from the terminal device for the parameters that are likely to be written by the upper device, the parameters for which setting is not performed include the parameters related to mode setting in control and the parameters related to internal instructions. ​

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