Motor control system, motor control device, motor control method, and program

Abstract

A motor control system capable of easily detecting deviations relative to a target position is provided. The motor control system (2) includes a controller (21), a motor control device (22), and a position detection device (23). The controller (21) is configured with an action command plan for the period from when the moving part (4) is in its initial position until it reaches the target position. The controller (21) outputs the amount of movement of the moving part at the current time point as an action command based on the action command plan. The motor control device (22) generates a drive signal for the drive device (3) based on the action command. The position detection device (23) detects the position of the moving part (4) and outputs a first position. The motor control device (22) generates a deviation of the moving part (4) relative to the target position based on the first position, the target position, and the future movement distance of the moving part (4) based on future action commands. If the deviation exceeds a threshold value, the motor control device (22) outputs a notification signal.

Description

Technical Field

[0001] This disclosure relates to a motor control system, motor control device, motor control method, and program for controlling a motor in a production facility or the like. Background Technology

[0002] The following describes a production apparatus using a conventional motor control system. The production apparatus includes a motor control system, a motor, and a moving part. The motor control system includes a controller, a motor control device, and a camera. The camera sends the captured data to the controller. The production apparatus is, for example, an electronic component mounting machine that mounts electronic components onto printed circuit boards. In this case, the moving part includes a mounting head. Furthermore, the camera moves together with the moving part (mounting head).

[0003] The controller determines the position of the mounting head based on the received data, generates a target position for moving the motor based on the determined position, and sends the target position as an action command (position command) to the motor control device. At this time, the controller compares the previously output action command with the position of the mounting head detected by the camera to generate an action command corresponding to the difference. The motor control device generates a drive signal for driving the motor based on the action command. Then, the motor moves the moving part according to the drive signal.

[0004] In addition, prior art information associated with this disclosure includes, for example, patent document 1.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 5-29795 Summary of the Invention

[0008] However, in conventional motor control devices, the controller generates motor motion commands based on the position detected by the camera. This results in a problem: for example, if the camera deviates from its predetermined position due to external forces, the moving part may move towards the position that deviates from its intended position.

[0009] Therefore, this disclosure is an invention that solves the problem, and its object is to provide a motor control system, motor control device, motor control method and program capable of detecting the deviation of a moving part relative to a target position.

[0010] The motor control system disclosed herein includes a controller, a motor control device, and a position detection device. The controller has a first signal processing circuit. In the first signal processing circuit, an action command plan is set for a movement plan during the period from when the moving part is in an initial position until the moving part reaches a target position. Furthermore, the first signal processing circuit outputs the movement amount of the moving part at the current time point as an action command based on the action command plan. The motor control device includes a second signal processing circuit. The second signal processing circuit generates a drive signal for a drive device to move the moving part based on the action command. The position detection device detects the position of the moving part and outputs the detected position of the moving part as a first position. In the above structure, the second signal processing circuit generates a deviation of the moving part relative to the target position based on the first position, the target position, and the future movement distance of the moving part based on future action commands in the action command plan. Furthermore, if the deviation is above a predetermined threshold, the second signal processing circuit outputs a notification signal. Thus, the desired objective can be achieved.

[0011] Furthermore, the motor control device disclosed herein includes a second signal processing circuit. This second signal processing circuit generates a drive signal for moving a moving unit based on an action command output from a controller. The controller, based on an action command plan for a movement schedule from the moment the moving unit is in its initial position until it reaches a target position, outputs the movement amount of the moving unit at the current time as an action command. The second signal processing circuit generates a deviation of the moving unit relative to the target position based on the target position, a first position output from a position detection device, and the future movement distance of the moving unit based on future action commands in the action command plan. The position detection device detects the position of the moving unit and outputs the detected position as the first position. If the deviation exceeds a predetermined threshold, the second signal processing circuit outputs a notification signal. Thus, the desired objective can be achieved.

[0012] Furthermore, the motor control method disclosed herein includes: planning an action command based on a movement plan for the period from when the moving part is in an initial position until the moving part reaches a target position, outputting the movement amount of the moving part at the current time point as an action command; generating a drive signal for a drive device to move the moving part based on the action command; and detecting the position of the moving part and outputting the detected position of the moving part as a first position. Moreover, based on the first position, the target position, and the future movement distance of the moving part based on future action commands in the action command plan, a deviation of the moving part relative to the target position is generated, and a notification signal is output when the deviation exceeds a predetermined threshold. Thus, the desired objective can be achieved.

[0013] Furthermore, the program disclosed herein is a program for causing a computer to execute the aforementioned motor control method. Thus, the desired objective can be achieved.

[0014] As described above, according to this disclosure, the deviation of the moving part relative to the target position when the drive unit operates according to the planned action command can be generated by using the distance to the target based on the detection information in the position detection device and the moving distance of the moving part based on the future action command. Furthermore, a notification signal is output based on the detected deviation, so operators using motor control systems or administrators and maintenance personnel of such systems can easily detect that the moving part has deviated from the target position. Attached Figure Description

[0015] Figure 1 This is a schematic block diagram of a production apparatus that uses a motor control system according to an embodiment of the present disclosure.

[0016] Figure 2 This is a conceptual diagram of the processing block in the signal processing circuit of a motor control device.

[0017] Figure 3 This is an explanatory diagram showing the processing in this signal processing circuit.

[0018] Figure 4 This is a flowchart of the processing in the signal processing circuit.

[0019] Figure 5 This is a flowchart of other processes in the signal processing circuit.

[0020] Figure 6 This is an explanatory diagram illustrating other processing methods when setting a threshold in this signal processing circuit.

[0021] Figure 7 This is an explanatory diagram showing a modified example of the signal processing circuit in a motor control device.

[0022] Figure 8 This is a flowchart of the processing in a modified example of the signal processing circuit.

[0023] Figure 9 This is a conceptual diagram of the processing block of a modified example of the signal processing circuit.

[0024] Figure 10 This is a flowchart of the processing in a modified example of the signal processing circuit.

[0025] Figure 11 This is an explanatory diagram illustrating the processing in the controller and control device of the motor control system according to an embodiment of the present disclosure. Detailed Implementation

[0026] The motor control system in the embodiments of this disclosure will now be described.

[0027] (Implementation Method)

[0028] The motor control system and motor control device of this embodiment will now be described using the accompanying drawings. Furthermore, the constituent elements are sometimes shown simplified for ease of understanding in the drawings.

[0029] Figure 1 This is a schematic diagram of a production unit that uses a motor control system. Figure 2 This is a conceptual diagram of the processing block in the signal processing circuit of a motor control device. Figure 3 This is an explanatory diagram showing the processing in the signal processing circuit of the motor control device. Figure 11 This is an explanatory diagram showing the controller and signal processing in the motor control device.

[0030] exist Figures 1 to 3 as well as Figure 11 In this process, production apparatus 1 includes a motor control system 2, a drive unit 3, and a moving part 4. Production apparatus 1 is, for example, an electronic component mounting machine that mounts electronic components onto a printed circuit board 5. In this case, the moving part 4 includes a mounting head. The mounting head moves on the printed circuit board 5 while holding the electronic component in place, thereby mounting the electronic component to a predetermined target position on the printed circuit board 5. The drive unit 3 moves the moving part 4.

[0031] The motor control system 2 includes a controller 21, a motor control device 22, and a position detection device 23. The position detection device 23 is, for example, a camera or other imaging device. The controller 21 includes a signal processing circuit 211, an input device 212, and a memory 213. The signal processing circuit 211 is an example of a first signal processing circuit. The signal processing circuit 211 processes the motion command plan set for the input movement plan. The movement plan refers to the plan for the movement of the moving part 4 on the printed circuit board 5 from the time the moving part 4 is in the initial position until the moving part 4 reaches the target position. That is, in the controller 21, a motion command plan is set for the movement plan from the time the moving part 4 is in the initial position until the moving part 4 reaches the target position. The movement plan is, for example, input to the controller 21 by the operator of the controller 21 through the input device 212. The controller 21 generates a motion command plan according to the input movement plan and stores the motion command plan in the memory 213 within the controller 21. The motion command plan is the motion command output to the motor control device 22 during the period from when the moving part 4 is in the initial position until the moving part 4 reaches the target position. The signal processing circuit 211 outputs the movement amount of the moving part 4 at the current time point as the motion command based on the motion command plan.

[0032] The motor control device 22 includes a signal processing circuit 221. The signal processing circuit 221 is an example of a second signal processing circuit. The signal processing circuit 221 generates a drive signal for the drive device 3 to move the moving part 4 based on an action command. That is, the signal processing circuit 221 generates the drive signal based on the action command. The drive device 3 is supplied with the drive signal, and the moving part 4 is moved based on this drive signal.

[0033] The position detection device 23 moves together with the moving part 4. The position detection device 23 detects the position of the moving part 4. The position detection device 23 outputs the detected position of the moving part 4 as position information of the moving part 4. Specifically, for example, the position detection device 23 outputs the detected position of the moving part 4 as a first position. Alternatively, the position detection device 23 may not move together with the moving part 4, or it may be fixed at a position where the position of the moving part 4 can be detected. Specifically, for example, if the position detection device 23 is a camera device, it may be fixed at a position where it can capture an image of the target position. In this case, when the moving part 4 is within the range that can be captured by the position detection device 23, the position detection device 23 can detect the position of the moving part 4 based on the positional relationship between the moving part 4 and the target position.

[0034] The following explains the deviation of the moving part 4 relative to the target position. For example... Figure 11As shown, the position detection device 23 detects the initial position and the current position (first position) of the moving part 4. The initial position and the first position (current position) of the moving part 4 are input to the controller 21 via the input device 212 after passing through the signal processing circuit 221 of the motor control device 22. Based on the data representing the initial position and the current position of the moving part 4, the signal processing circuit 211 outputs the movement amount and distance of the moving part 4 at the current time point as an action command to the motor control device 22, according to the action command plan.

[0035] The signal processing circuit 221 generates the deviation of the moving unit 4 relative to the target position based on the position information of the moving unit 4, the target position preset in the controller 21, and the future movement distance of the moving unit 4 based on the future movement command in the motion command plan. Specifically, for example, the signal processing circuit 221 generates the deviation of the moving unit 4 relative to the target position based on a first position, the target position preset in the controller 21, and the future movement distance of the moving unit 4 based on the future movement command in the motion command plan. Furthermore, if the generated deviation is above a predetermined threshold, the signal processing circuit 221 outputs a notification signal.

[0036] Based on the above structure, the signal processing circuit 221 can generate the deviation of the moving unit 4 relative to the target position when the drive device 3 operates according to the action command plan, by using the distance to the target position based on the position information detected by the position detection device 23 and the moving distance of the moving unit 4 based on the future action command. Specifically, for example, the signal processing circuit 221 generates the deviation of the moving unit 4 relative to the target position when the drive device 3 operates according to the action command plan by using the difference between the distance from the first position to the target position and the future moving distance of the moving unit 4 based on the future action command in the action command plan. For example, the deviation of the moving unit 4 relative to the target position when the drive device 3 operates according to the action command plan is the deviation between the predicted arrival position that the moving unit 4 will reach when the drive device 3 operates according to the action command plan and the target position of the moving unit 4. Moreover, the signal processing circuit 221 outputs a notification signal based on the generated deviation. Therefore, those involved with the production device 1 (motor control system 2) (such as operators using the production device 1 or administrators and maintenance personnel of the production device 1) can easily and quickly grasp that the moving part 4 has deviated from the target position.

[0037] The motor control system 2 will now be described in further detail. The motor control system 2 includes a notification device 24. According to this configuration, by issuing a warning through the notification device 24, the user can easily and quickly ascertain that the moving part 4 has deviated from its target position.

[0038] The notification device 24 is connected to the controller 21. The notification device 24 is, for example, a display. In this case, the notification device 24 displays a warning on the display indicating that the moving part 4 has deviated from the target position based on a notification signal. Alternatively, the notification device 24 may be a warning light. In this case, the notification device 24 illuminates the warning light based on a notification signal. Furthermore, the notification device 24 is not limited to a structure connected to the controller 21; it may also be a structure connected to the motor control device 22. Alternatively, the notification device 24 may be a warning light or display device pre-installed in the production device 1. Additionally, the notification device 24 may be included in the controller 21 or the motor control device 22.

[0039] The position detection device 23 is, for example, a camera device 23a. In this case, the camera device 23a includes a camera 231 and an image processing device 232. The camera 231 is fixed to the moving part 4 (e.g., a mounting head). In this case, the moving part 4 also includes the camera 231. The camera 231 acquires an image of the photographed object (e.g., a printed circuit board 5). The image processing device 232 acquires the position information of the moving part 4 based on the captured image and outputs the acquired position information of the moving part 4 to the motor control device 22. Furthermore, the image processing device 232 may be external to the motor control device 22, but it can also be a structure where the motor control device 22 includes the image processing device 232. In this case, the signal processing circuit 221 may also include the image processing device 232.

[0040] The drive unit 3 includes a motor 31 and an encoder 32. The motor 31 moves the moving part 4 according to a drive signal generated based on an action command. The encoder 32 detects the position of the motor 31 and outputs the position data to the signal processing circuit 221. For example, the encoder 32 detects the position of the motor 31 at the current time point and outputs position data representing the position of the motor 31 at the current time point.

[0041] The signal processing circuit 211 generates the future travel distance of the moving unit 4 based on the position data acquired by the encoder 32 and the future action command in the action command plan. Specifically, for example, the signal processing circuit 211 generates the future travel distance of the moving unit 4 based on the future action command and the second position of the moving unit 4 based on the position data acquired by the encoder 32. For example, the second position is the position of the moving unit 4 at the current time point based on the position data acquired by the encoder 32. Therefore, the signal processing circuit 211 acquires the position of the moving unit 4 at the current time point based on the position data of the motor 31. In this case, the signal processing circuit 211 acquires the position data of the motor 31 via the motor control device 22. Furthermore, the structure in which the signal processing circuit 211 generates the future travel distance is not limited to the structure in which the signal processing circuit 211 generates the future travel distance; it could also be a structure in which the signal processing circuit 221 generates the future travel distance. If the position of the motor 31 differs from the position of the moving unit 4, the signal processing circuit 211 or the signal processing circuit 221 adds the difference α between the position of the motor 31 and the position of the moving unit 4 to the acquired position data. Figure 3 (As shown in the diagram), the obtained result is set as the position of the moving unit 4 at the current time point. The signal processing circuit 211 is, for example, a computer, in which case the above processing can be performed by a program in the computer.

[0042] like Figure 2 As shown, the signal processing circuit 221 includes a position control unit 221a, a position deviation calculation unit 221b, and a position deviation determination unit 221c. The signal processing circuit 221 can, for example, be configured using a computer. In this case, the position control unit 221a, the position deviation calculation unit 221b, and the position deviation determination unit 221c can be implemented through processing based on a program within the computer.

[0043] The processing in the signal processing circuit 221 will now be described in detail. In the position control unit 221a, the motion command generated by the controller 21 is acquired. The position control unit 221a acquires the motion command and the position data acquired by the encoder 32. Then, based on these motion commands and position data, a drive signal for driving the drive device 3 is generated, and this drive signal is supplied to the drive device 3.

[0044] Figure 4 This is a flowchart illustrating the processing in the signal processing circuit 221. In the signal processing circuit 221, position information of the moving unit 4 is obtained from the position detection device 23. Furthermore, in the position deviation calculation unit 221b, the future movement distance generated in the signal processing circuit 211 or the signal processing circuit 221 is obtained.

[0045] In the position deviation calculation unit 221b, after acquiring these data, the difference between the position information of the moving unit 4 detected by the position detection device 23 and the future moving distance is calculated to generate a deviation amount. Next, in the position deviation determination unit 221c, if the deviation amount is above or exceeds a predetermined threshold, a notification signal (determination signal) is output.

[0046] The threshold is pre-stored in the input device memory 222m. Therefore, the threshold is also set in the position deviation calculation unit 221b. The motor control device 22 includes the input device 222, from which the operator stores the predetermined threshold into the memory of the signal processing circuit 221. Furthermore, the threshold is set at least before calculating the deviation amount.

[0047] Regarding the threshold, it is set externally by the target, but it is not limited to this structure; it can also be set by the signal processing circuit 221. In the position deviation calculation unit 221b, when the current deviation is calculated, the current deviation is compared with the past deviations stored in the memory. Furthermore, if the current deviation is greater than the deviation stored in the memory, the current deviation is stored in the memory as the maximum value of the deviation up to the present. Thus, the maximum value of the deviation from the past to the present is stored in the memory. Then, in the position deviation determination unit 221c, the deviation stored in the memory is set as the threshold. Furthermore, the threshold is not limited to setting it as the maximum value of the deviation; it can also be set as a value exceeding the maximum value. For example, in the position deviation determination unit 221c, the value obtained by multiplying the maximum value of the deviation by a predetermined value (a real value exceeding 1) can also be set as the threshold. According to the above structure, the operation time for determining the threshold can be shortened.

[0048] Alternatively, in the position deviation calculation unit 221b, the calculated deviation is stored in the memory each time it is calculated. Thus, the deviation from the past to the present is stored in the memory as historical data. In other words, the signal processing circuit 221 stores historical data including the deviation at the current time point and past deviations. In the position deviation determination unit 221c, the maximum value of the change in deviation within a predetermined time period in the historical data is set as a threshold. Furthermore, the position deviation determination unit 221c may also set a value exceeding the maximum value of the change in deviation as a threshold. For example, the position deviation determination unit 221c may also set the value obtained by multiplying the maximum value of the change in deviation by a predetermined value (a real value greater than or equal to 1) as a threshold.

[0049] At this point, the maximum value of the past deviation change is stored in memory. If the change in deviation during the period from the past to the current time point within a given time period is greater than the maximum value of the past deviation stored in memory, the value of the change in deviation at the current time point is written into memory.

[0050] Alternatively, the signal processing circuit 221 can set the threshold to be greater than or equal to the largest deviation in the historical data, or it can set the threshold to be the value obtained by multiplying the largest deviation by a predetermined multiple.

[0051] Figure 5 This is a flowchart illustrating other processing in the signal processing circuit 221. The signal processing circuit 221 generates an deviation amount by the difference between the distance from the first position to the target position, the future movement distance, and the movement distance of the movement unit 4 based on the movement command output from the controller 21, of which the movement unit 4 has not yet moved.

[0052] The first position is the position of the moving part 4 detected by the position detection device 23. The target position is the position to which the moving part 4 is to be moved. For example, the distance from the first position to the target position is the distance from the position of the moving part 4 at the current time point detected by the position detection device 23 to the target position.

[0053] Furthermore, the future movement distance is based on the movement distance of the movement unit 4 of the future action command output from the controller 21 in the action command plan. That is, for example, the future movement distance is based on the movement distance of the movement unit 4 of the action command output from the controller 21 after the current time point in the action command plan.

[0054] Additionally, for example, the distance that the moving unit 4 has not yet moved in the moving distance based on the action command output from the controller 21 is the distance that the moving unit 4 has not yet moved in the moving distance based on the action command planned in the action command plan, which is the moving distance that the moving unit 4 has not yet moved in the action command output from the controller 21 at the current time point.

[0055] In other words, for example, the sum of the future movement distance and the movement distance of the moving unit 4 based on the action command output from the controller 21, including the movement distance of the moving unit 4 before it has moved, is the sum of the movement distances shown below. That is, it is the sum of the movement distance of the moving unit 4 based on the action command plan before the action command is output from the controller 21 at the current time point and the movement distance of the moving unit 4 based on the action command plan after the action command is output from the controller 21 at the current time point, including the movement distance of the moving unit 4 before it has moved.

[0056] like Figure 5As shown, in the position deviation calculation unit 221b, position information detected by the camera (position detection device 23) is acquired, and the distance from the first position to the target position is calculated. Additionally, the position deviation calculation unit 221b acquires the movement distance based on future action commands. Furthermore, the position deviation calculation unit 221b acquires the movement distance that the moving unit 4 has not yet moved from among the movement distances based on action commands output from the controller 21.

[0057] In the position deviation calculation unit 221b, the deviation between the predicted arrival position and the target position of the moving unit 4 is generated by the difference between the distance from the first position to the target position, the future moving distance, and the moving distance of the moving unit 4 based on the action command output from the controller 21, which is the moving distance of the moving unit 4 that the moving unit 4 has not yet moved.

[0058] In the position deviation determination unit 221c, as described above... Figure 4 Similarly, the target position deviation is determined.

[0059] In this way, by calculating the deviation amount using the distance that the moving part 4 has not yet moved from the moving distance of the moving part 4 based on the movement distance of the moving part 4 output from the controller 21, the deviation amount can be calculated more accurately.

[0060] Figure 7 This is an explanatory diagram illustrating other processing methods for setting thresholds in signal processing circuits. Figure 8 This is a flowchart of another processing method. The position deviation determination unit 221c sets a threshold based on the position data obtained by the encoder 32 from the position control unit 221a. Specifically, for example, the signal processing circuit 221 sets the threshold based on the second position. For example, in the position deviation determination unit 221c, motor position information representing the second position is obtained from the position control unit 221a, etc., and the threshold is set based on the second position.

[0061] (Modified Example)

[0062] The following describes a modified example of the motor control device 22. Figure 6 This is an explanatory diagram showing the processing in a modified example of the signal processing circuit. The component connecting the motor 31 and the moving part 4 generally undergoes elastic deformation when the moving part 4 moves. That is, the distance between the motor position and the head position changes as the moving part 4 moves. Therefore, in the position deviation calculation unit 221b, the position of the moving part 4 based on position data is corrected based on the action command. Specifically, for example, the signal processing circuit 221 corrects the second position based on the action command at the current time point. According to this structure, the amount of deviation between the moving part 4 and the target position can be determined more accurately.

[0063] Figure 9 This is a conceptual diagram of a processing block in a modified example of a signal processing circuit. Figure 10 This is a flowchart of the processing in a modified example of the signal processing circuit. The displacement of the distance between the motor position and the head position is determined based on the inertia value (inertial force) of the motor 31 or the moving part 4. The inertia value of the motor 31 or the moving part 4 is proportional to the torque value of the motor 31. Furthermore, in the position control unit 221a, a torque command is generated based on the action command. Therefore, in the position deviation calculation unit 221b, the torque command generated in the position control unit 221a is acquired, and the position of the moving part 4 based on the position data is corrected according to the value of the torque command.

[0064] Furthermore, the structure is not limited to the signal processing circuit 221 correcting the position of the moving unit 4 based on the position data according to the value of the torque command. For example, it could also be a structure where the signal processing circuit 211 corrects the position of the moving unit 4 based on the position data. In this case, the signal processing circuit 221 outputs a torque command to the signal processing circuit 211. The signal processing circuit 221 corrects the position of the moving unit 4 based on the position data according to the torque command.

[0065] As described above, the embodiments have been illustrated as examples of the technology in this disclosure. However, the technology in this disclosure is not limited to the above, and can also be appropriately applied to embodiments obtained by modification, substitution, addition, omission, etc. Furthermore, new embodiments can be formed by combining the constituent elements described in the embodiments.

[0066] Furthermore, the general or specific embodiments of this disclosure can also be implemented by a system, apparatus, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM. Additionally, it can be implemented by any combination of the system, apparatus, method, integrated circuit, computer program, and recording medium.

[0067] For example, this disclosure can also be implemented as a motor control system according to the embodiments described above. Additionally, this disclosure can also be implemented as a motor control device. Furthermore, this disclosure can also be implemented as a motor control method. Additionally, this disclosure can also be implemented as a program for causing a computer to execute a motor control method, or it can be implemented as a computer-readable non-transitory recording medium on which such a program is recorded.

[0068] Industrial availability

[0069] The motor control system disclosed herein has the effect that operators, administrators, and maintenance personnel using the motor control system can easily detect deviations in the moving part relative to the target position, and is useful when used in, for example, electronic component mounting machines for mounting electronic components.

[0070] Explanation of reference numerals in the attached figures

[0071] 1: Production unit; 2: Motor control system; 3: Drive unit; 4: Moving part; 5: Printed circuit board; 21: Controller; 22: Motor control unit; 23: Position detection unit; 23a: Camera unit; 24: Notification unit; 31: Motor; 32: Encoder; 211: Signal processing circuit; 212: Input device; 213: Memory; 221: Signal processing circuit; 222: Input device; 222m: Input device memory; 231: Camera; 232: Image processing unit.

Claims

1. A motor control system for controlling a device comprising a moving part, a drive unit, and a motor. The motor control system includes a controller, a motor control device, and a position detection device. in, The controller has a first signal processing circuit. The motor control device includes a second signal processing circuit. The controller is input with a movement plan for the period from when the moving part is in its initial position until it reaches its target position to set an action command plan. This action command plan is then input to the first signal processing circuit, which, based on the plan, outputs the amount of movement of the moving part at the current time point as an action command. The motor control device inputs the action command to the second signal processing circuit, causing the second signal processing circuit to generate a drive signal for the drive device to move the moving part based on the action command. The position detection device detects the position of the moving part and outputs the detected position of the moving part as a first position. The second signal processing circuit generates the deviation of the moving part relative to the target position based on the first position, the target position, and the future moving distance of the moving part based on the future movement command in the action command plan. Furthermore, if the deviation exceeds a predetermined threshold, the second signal processing circuit outputs a notification signal.

2. The motor control system according to claim 1, wherein, The second signal processing circuit generates the deviation amount by the difference between the distance from the first position to the target position and the future movement distance.

3. The motor control system according to claim 1, wherein, The second signal processing circuit generates the deviation amount by the difference between the distance from the first position to the target position, the future movement distance, and the movement distance of the moving part based on the movement command output from the controller, where the moving part has not yet moved.

4. The motor control system according to claim 1, wherein, The driving device includes: A motor that moves the moving part based on the said motion command; and An encoder that detects the position of the motor at the current time point and outputs position data. The first signal processing circuit or the second signal processing circuit generates the movement distance based on the future action command and the second position of the moving part based on the position data.

5. The motor control system according to claim 4, wherein, The first signal processing circuit or the second signal processing circuit corrects the second position based on the action command at the current time point.

6. The motor control system according to claim 1, wherein, The second signal processing circuit stores historical data including the deviation amount and past deviation amounts. The threshold is set to the maximum deviation in the historical data.

7. The motor control system according to claim 6, wherein, The threshold is set to the value obtained by multiplying the maximum deviation by a predetermined multiple.

8. The motor control system according to claim 1, wherein, The second signal processing circuit stores historical data including the deviation amount and past deviation amounts. The second signal processing circuit sets the value above the maximum value of the change in deviation within a predetermined time period in the historical data as the threshold.

9. The motor control system according to claim 4 or 5, wherein, The second signal processing circuit sets the threshold based on the second position.

10. The motor control system according to claim 1, wherein, The position detection device is a camera device.

11. The motor control system according to claim 1, wherein, The position detection device moves together with the moving part.

12. A motor control device for receiving instructions from a controller to control a device comprising a moving part, a drive device, and a motor, wherein the controller outputs the amount of movement of the moving part at the current time as an action command based on an action command plan set for a movement plan for a period from when the moving part is in an initial position until the moving part reaches a target position. The motor control device includes a signal processing circuit that generates a drive signal for moving the moving part based on the action command output from the controller. in, The signal processing circuit generates a deviation of the moving part relative to the target position based on the target position, a first position output from the position detection device, and the future moving distance of the moving part based on the future movement command in the action command plan. The position detection device detects the position of the moving part and outputs the detected position of the moving part as the first position. Furthermore, if the deviation exceeds a predetermined threshold, the signal processing circuit outputs a notification signal.

13. A motor control method, comprising: Based on the motion command plan set for the period from when the moving part is in the initial position until the moving part reaches the target position, the movement amount of the moving part at the current time point is output as a motion command. Based on the action command, a drive signal for a drive device to move the moving part is generated; The position of the moving part is detected, and the detected position of the moving part is output as a first position; The deviation of the moving part relative to the target position is generated based on the first position, the target position, and the future moving distance of the moving part based on the future action command in the action command plan; as well as If the deviation exceeds a predetermined threshold, a notification signal is output.

14. A computer-readable storage medium storing a program for causing a computer to perform the motor control method according to claim 13.

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