Motor wiring error detection device

Abstract

The present application provides a kind of wiring error detection device capable of detecting wiring error of motor controlled by multiple amplifiers.A wiring error detection device detects wiring error of motor controlled by multiple amplifiers, and the wiring error detection device has: control amplifier selection unit, to control the motor by a part of the multiple amplifiers, select and combine the amplifiers for control to determine two or more selection modes; Instruction generation unit generates instructions for making the motor perform predetermined actions for each selection mode determined by control amplifier selection unit; Servo control unit calculates torque instruction value for controlling motor based on the selection mode and instructions from instruction generation unit; Wiring check confirmation unit compares the torque instruction value corresponding to each selection mode or the current feedback value of the motor with each other between two or more selection modes, to determine whether there is wiring error in the system of the amplifier and the motor.

Description

Technical Field

[0001] This invention relates to a device for detecting wiring errors in an electric motor. Background Technology

[0002] In the field of mechanical work, CNC (Computerized Numerical Control) technology is applied, which uses computers to numerically control the movement and speed of tools, thereby highly automating repetitive processing of the same sequence of operations and the processing of complex shapes.

[0003] In addition, it is known that in the control system of industrial machinery such as machine tools and robots, a servo amplifier is set between the CNC device and the servo motor of the machine. The servo amplifier, which receives the action command from the CNC device, drives the servo motor and performs feedback control.

[0004] On the other hand, if there are wiring errors among the CNC device, servo amplifier, and servo motor, unexpected actions may occur during machine startup, potentially leading to accidents. As a technology to prevent such situations, Patent Document 1 discloses a wiring error detection device that can automatically detect wiring errors occurring between servo motors and servo amplifiers in a control system equipped with multiple servo motors and multiple servo amplifiers. This wiring error detection device detects wiring errors by comparing the feedback value of the current position of the servo motor with the position command value.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-154772 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] In servo motors requiring high torque, there exist servo motors with multiple independent windings, driven and controlled by multiple servo amplifiers connected to each winding. Regarding such servo motors, according to the technology disclosed in Patent Document 1, there is a problem of being unable to detect wiring errors.

[0010] For example, consider a servo motor with four independent windings, where four servo amplifiers are connected to each winding respectively, and the servo motor is jointly controlled based on position commands from a CNC device. In this case, even if there is a wiring error in the connection between winding 4 and the power line, the motor can still be operated by the three normal amplifiers. Since the position command and the position feedback value are consistent, the wiring error cannot be detected according to the technology disclosed in Patent Document 1.

[0011] The purpose of this invention is to provide a wiring error detection device capable of detecting wiring errors in a motor controlled by multiple amplifiers.

[0012] Methods for solving problems

[0013] A wiring error detection device according to one embodiment of the present invention detects wiring errors in a motor controlled by a plurality of amplifiers. It comprises: a control amplifier selection unit that selects and combines amplifiers for control of the motor by means of a subset of the plurality of amplifiers, and determines two or more selection modes; an instruction generation unit that generates an instruction for causing the motor to perform a predetermined action for each selection mode determined by the control amplifier selection unit; a servo control unit that calculates a torque instruction value for controlling the motor based on the selection modes and the instruction from the instruction generation unit; and a wiring check confirmation unit that compares the torque instruction value or the current feedback value of the motor corresponding to each of the two or more selection modes, thereby determining whether there is a wiring error within the system of the amplifiers and the motor.

[0014] The “wiring within the amplifier and motor system” mentioned in this manual includes power lines, feedback cables, amplifier power cables, etc.

[0015] Another embodiment of the present invention provides a wiring error detection device for detecting wiring errors of motors in a mechanical control system that controls the same movement of a controlled object by multiple motors. The wiring error detection device includes: a control amplifier selection unit that selects and combines amplifiers for control by driving a portion of a plurality of amplifiers of the plurality of motors, and determines two or more selection modes; an instruction generation unit that generates instructions for causing the controlled object to perform a predetermined action for each selection mode determined by the control amplifier selection unit; a servo control unit that calculates torque instruction values ​​for controlling the motors based on the selection modes and the instructions from the instruction generation unit; and a wiring check confirmation unit that compares the torque instruction values ​​or current feedback values ​​of the motors corresponding to each of the two or more selection modes to determine whether there are wiring errors within the system of the amplifiers and the motors.

[0016] Invention Effects

[0017] According to the above embodiments, a system capable of detecting wiring errors in the motors of industrial machinery such as machine tools and robots, and in the amplifiers that control them, can prevent unexpected actions from occurring on the mechanical side due to wiring errors. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating the mechanical control system of an industrial machine equipped with a wiring error detection device according to an embodiment of the present invention.

[0019] Figure 2 It means Figure 1 A schematic diagram of the structure of a wiring error detection device in a mechanical control system.

[0020] Figure 3 This is a schematic diagram illustrating another mechanical control system equipped with a wiring error detection device according to an embodiment of the present invention. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] <First Implementation Method>

[0023] Figure 1 This is a schematic diagram illustrating a machine control system 100 of an industrial machine equipped with a wiring error detection device according to an embodiment of the present invention. In this embodiment, the industrial machine is assumed to be a machine tool, but the present invention can be applied to all machines, such as industrial robots, that have an electric motor that automatically controls the drive via an amplifier.

[0024] like Figure 1 As shown, the mechanical control system 100 includes: a servo motor 103 for a machine tool such as an NC lathe or machining center; servo amplifiers 102 (102a, 102b, 102c, and 102d) for driving and controlling the servo motor 103; and a CNC device (computer numerical control device) 101 that controls the entire mechanical control system 100 from the servo amplifiers 102. The CNC device 101 includes a wiring error detection device 110. In this embodiment, the wiring error detection device 110 is assembled into the CNC device 101, but it can also be provided separately.

[0025] In the mechanical control system 100, the servo motor 103 has four independent windings. The mechanical control system 100 has four servo amplifiers 102, referred to as "first servo amplifier 102a", "second servo amplifier 102b", "third servo amplifier 102c", and "fourth servo amplifier 102d". However, when it is not necessary to distinguish which servo amplifier it is, or when referring to all four servo amplifiers, it is sometimes also referred to as "servo amplifier 102".

[0026] Four servo amplifiers 102 are connected to the windings of the servo motor 103 via power lines 104. The four servo amplifiers 102 receive commands from the wiring error detection device 110 of the CNC device 101 via signal lines 105, and collectively control the servo motor 103 based on these commands. Specifically, in this embodiment, as follows... Figure 1 As shown, the command from the wiring error detection device 110 is first transmitted to the first servo amplifier 102a via signal line 105, and then sequentially transmitted to the second servo amplifier 102b, the third servo amplifier 102c, and the fourth servo amplifier 102d via signal lines 105 between the servo amplifiers. Furthermore, the four servo amplifiers 102 feed back the current values ​​in each power line 104 of the servo motor 103 to the wiring error detection device 110 via signal lines 105. The four servo amplifiers 102 can also feed back the current feedback value via a separately provided feedback line. Additionally, the servo motor 103 feeds back its current position to the wiring error detection device 110 via feedback line 108.

[0027] The following explanation will focus on how the wiring error detection device 110 of this embodiment detects wiring errors, taking the example of a wiring error in the connection between winding 4 of the four windings of the servo motor 103 and the fourth servo amplifier 102d.

[0028] Figure 2 It means Figure 1This is a schematic diagram of the structure of the wiring error detection device 110 in the mechanical control system 100. The wiring error detection device 110 is a device for detecting wiring errors within the system of the servo amplifier 102 and the servo motor 103. The wiring error detection device 110 includes a start-up mode confirmation unit 111, an operation command unit 112, a wiring check command unit 113, a first storage unit 114, a second storage unit 115, an abnormality detection unit 116, a servo control unit 117, a display unit 118, an alarm unit 119, and a wiring check operation unit 120.

[0029] The start-up mode confirmation unit 111 detects the machine's start-up operation and confirms whether it is in normal operation mode or start-up mode. For example, the start-up mode confirmation unit 111 determines whether it is in normal operation mode or start-up mode based on input from the operator or others. Furthermore, when the machine control system 100 is assembled and the necessary wiring is connected, the start-up mode confirmation unit 111 can also determine that it is in start-up mode based on the signal that the drive power was initially connected to the machine control system 100.

[0030] When the start-up mode is confirmed by the start-up mode confirmation unit 111, switches S1 and S2 automatically connect to contact a, thus enabling the wiring error detection device 110 to perform wiring error detection. When the start-up mode confirmation unit 111 confirms that it is in normal operation mode, switches S1 and S2 automatically switch to contact b, thus enabling the mechanical control system 100 to perform normal operation.

[0031] When the start-up mode confirmation unit 111 confirms that the normal operating mode is being operated, the operation command unit 112 outputs an operation command to the servo motor 103 via the servo control unit 117 and the servo amplifier 102. If the fault detection unit 116 does not detect a wiring error, the operation command unit 112 receives the detection result from the fault detection unit 116 and outputs an operation command to the servo motor 103 according to the command value from the CNC device 101. The fault detection unit 116 will be described in detail later.

[0032] The wiring check command unit 113 includes a control amplifier selection unit 131 and a command generation unit 132. When the wiring check command unit 113 receives a confirmation signal as the start mode of the machine from the start mode confirmation unit 111, the control amplifier selection unit 131 selects and combines the servo amplifiers 102 used for control in order to detect wiring errors by controlling the servo motor 103 through a portion of the multiple servo amplifiers 102. The control amplifier selection unit 131 determines the selection mode based on the number of servo amplifiers 102 connected to the servo motor 103.

[0033] For example, as shown in Table 1, the control amplifier selection unit 131 determines four selection modes. Selection mode 1 is a mode that uses the other three servo amplifiers instead of the first servo amplifier 102a to control and drive the servo motor 103. Selection mode 2 is a mode that uses the other three servo amplifiers instead of the second servo amplifier 102b to control and drive the servo motor 103. Selection mode 3 is a mode that uses the other three servo amplifiers instead of the third servo amplifier 102c to control and drive the servo motor 103. Selection mode 4 is a mode that uses the other three servo amplifiers instead of the fourth servo amplifier 102d to control and drive the servo motor 103.

[0034] [Table 1]

[0035]

[0036] For each selection mode determined by the control amplifier selection unit 131, the instruction generation unit 132 generates an instruction for causing the servo motor 103 to perform a predetermined action, and outputs this instruction as a wiring check instruction to the servo control unit 117 and the fault detection unit 116. The instruction generated by the instruction generation unit 132 can be a position instruction, a speed instruction, or a torque instruction. This embodiment will be described using a position instruction as an example. For example, the instruction generation unit 132 can generate the same position instruction to cause the servo motor 103 to perform the same action in all selection modes.

[0037] The servo control unit 117 calculates the torque command value for controlling the servo motor 103 based on the selected mode, the position command from the command generation unit 132, and the feedback value of the current position of the servo motor 103. This command value is then output to each servo amplifier 102 via signal lines 105 and fed back to the fault detection unit 116. The servo amplifiers 102 drive and control the servo motor 103 via power lines 104 based on the commands from the servo control unit 117.

[0038] The servo control unit 117 can also obtain the current value of the power line 104 of the servo motor 103 from the servo amplifier 102 via the signal line 105, and use it as a current feedback value. In this case, the servo control unit 117 feeds back the obtained current feedback value to the anomaly detection unit 116.

[0039] The anomaly detection unit 116 is used to confirm and determine whether there is a wiring error in the system between the servo amplifier 102 and the servo motor 103. The anomaly detection unit 116 includes a command value acquisition unit 121, a feedback value acquisition unit 122, a selection unit 123, and a wiring check and confirmation unit 124.

[0040] The instruction value acquisition unit 121 receives wiring check instructions from the wiring check instruction unit 113 and obtains information about the selection mode. The instruction value acquisition unit 121 can also acquire various instruction values ​​from the CNC device 101 (e.g., rotation speed instruction value of the servo motor 103, etc.).

[0041] The feedback value acquisition unit 122 acquires the torque command value for controlling the servo motor 103 from the servo control unit 117. The feedback value acquisition unit 122 can also acquire the current feedback value from the servo control unit 117.

[0042] At this time, the feedback value acquisition unit 122 is configured to have a timer, for example, and after a certain idle time has elapsed since the start of the drive of the servo motor 103, it acquires a feedback value for a certain period of time after the operation has been stable.

[0043] Alternatively, the feedback value acquisition unit 122 may be configured to acquire feedback values ​​at multiple moments in any time period after a predetermined idle time has elapsed since the start of driving the servo motor 103.

[0044] The wiring check and confirmation unit 124 compares the torque command value or current feedback value corresponding to each selection mode obtained by the feedback value acquisition unit 122 among the four selection modes, thereby determining whether there is a wiring error in the system of servo amplifier 102 and servo motor 103.

[0045] For example, in the four selection modes shown in Table 1, to ensure that the servo motor 103 performs the same action, the instruction generation unit 132 generates the same position command and outputs it to the servo control unit 117. Selection modes 1 to 3 include a fourth servo amplifier 102d with a wiring error among the three servo amplifiers used to drive the servo motor 103. The fourth servo amplifier 102d with the wiring error does not contribute to the action of the servo motor 103 required by the instruction generation unit 132; therefore, only the remaining two servo amplifiers contribute to the action of the servo motor 103 required by the instruction generation unit 132.

[0046] As a result, in order to drive the servo motor 103 through the remaining two servo amplifiers, the torque command value calculated by the servo control unit 117 is larger than that in the case of driving through three servo amplifiers. The conditions for selecting modes 1 to 3 are roughly the same, so the torque command values ​​corresponding to each selection mode are the same or close to the values.

[0047] On the other hand, in selection mode 4, the fourth servo amplifier 102d, which is prone to wiring errors, is not included among the three servo amplifiers used to drive the servo motor 103. Therefore, all three servo amplifiers can contribute to the operation of the servo motor 103 as required by the command generation unit 132. As a result, the torque command value calculated by the servo control unit 117 to drive the servo motor 103 is smaller compared to the case where it is driven by two servo amplifiers.

[0048] The wiring check and confirmation unit 124 compares the torque command values ​​with those corresponding to the four selection modes. Selection modes 1 to 3 represent the same or similar torque command values, while selection mode 4 represents a smaller torque command value that is significantly different from selection modes 1 to 3. If there is an abnormality in the difference between the torque command values, the wiring check and confirmation unit 124 determines that a wiring error has occurred in the system between the fourth servo amplifier 102d and the servo motor 103.

[0049] In the absence of wiring errors, the torque command values ​​corresponding to the four selection modes all represent the same or similar torque command values, so there is almost no difference between the torque command values.

[0050] If the anomaly detection unit 116 determines that a wiring error has occurred, the alarm unit 119 issues an alarm based on the result, the display unit 118 displays the wiring error, and notifies the operator, etc. The alarm may sound an audible warning or illuminate a warning light. Furthermore, control is implemented to prevent unexpected dangerous or abnormal actions from occurring in the servo motor 103 due to the wiring error. For example, control is implemented to prevent a transition to the normal operating mode.

[0051] If the anomaly detection unit 116 determines that no wiring error has occurred, the display unit 118 displays a normal status and reports it to the operator.

[0052] If the fault detection unit 116 determines that no wiring error has occurred, switches S1 and S2 automatically switch to contact b, ending the start-up mode. In this case, the operation command unit 112 sends a command to the servo control unit 117 to perform normal operation according to the command values ​​of the CNC device 101.

[0053] The anomaly detection unit 116 can not only determine wiring errors as described above, but also detect anomalies in the motor by comparing the position deviation of the servo motor 103 with the alarm detection threshold. Here, "position deviation" refers to the difference between the position command value and the feedback value of the current position of the servo motor 103.

[0054] The first storage unit 114 and the second storage unit 115 store alarm detection thresholds to prevent the servo motor 103 from performing unexpected and dangerous actions. The first storage unit 114 stores alarm detection thresholds for the start-up mode, and the second storage unit 115 stores alarm detection thresholds for the normal operation mode. For example, as the alarm detection threshold for the start-up mode, the position deviation limit value during drive can be set to 10, and as the alarm detection threshold for the normal operation mode, the position deviation limit value during drive can be set to 160000.

[0055] The selection unit 123 of the anomaly detection unit 116 selectively obtains alarm detection thresholds for startup mode and alarm detection thresholds for normal operation from the first storage unit 114 and the second storage unit 115. For example, when the startup mode is confirmed by the startup mode confirmation unit 111, the switch S2 automatically connects to contact a, so the selection unit 123 obtains the alarm detection threshold for startup mode from the first storage unit 114. Furthermore, when the startup mode confirmation unit 111 confirms that the normal operation mode is being used, the switch S2 automatically switches to contact b, so the selection unit 123 obtains the alarm detection threshold for normal operation from the second storage unit 115. Thus, in startup mode, even if the settings on the user side (operator side) of the machine are not changed, the alarm detection threshold for startup mode is automatically set. Additionally, during normal operation, the alarm threshold is automatically set to the alarm detection threshold for normal operation.

[0056] When the anomaly detection unit 116 detects a position deviation exceeding the alarm detection threshold, the alarm unit 119 issues an alarm based on the result, and the display unit 118 displays the alarm content, thereby notifying the operator, etc. This prevents the servo motor 103 from performing unexpected and dangerous actions.

[0057] Furthermore, if the fault detection unit 116 determines that no wiring error has occurred in the startup mode, the switch S2 automatically switches to contact b. Therefore, the selection unit 123 obtains the normal operation alarm detection threshold from the second storage unit 115 and replaces the startup alarm detection threshold with the normal operation alarm detection threshold.

[0058] And, as Figure 2 As shown, the wiring error detection device 110 is equipped with a wiring inspection operation unit 120. Regardless of whether the machine is in start-up mode or normal operation mode, by operating the wiring inspection operation unit 120, the wiring inspection command unit 113 issues a command, and the same wiring inspection as described above can be performed.

[0059] Therefore, the wiring inspection operation unit 120 can be operated to perform wiring inspections at any time when wiring work is desired, such as when only a part of the system wiring work is completed or when maintenance parts are replaced.

[0060] As described above, the wiring error detection device of this embodiment can detect wiring errors within a system of servo amplifiers and servo motors in a mechanical control system that includes servo motors controlled by multiple servo amplifiers, and can identify the servo amplifier associated with the wiring error.

[0061] <Second Implementation Method>

[0062] Figure 3 This is a schematic diagram illustrating another mechanical control system 200 equipped with a wiring error detection device according to an embodiment of the present invention. The mechanical control system 200 of this embodiment is a variation of the mechanical control system 100 of the first embodiment. In this embodiment, components, parts, elements, and features having the same or similar functions as those in the first embodiment are labeled with the same reference numerals as in the first embodiment, and their descriptions are sometimes omitted.

[0063] The biggest difference between the mechanical control system 200 and the mechanical control system 100 of the first embodiment is that the mechanical control system 200 controls the same movement of a controlled object through multiple motors. Specifically, four servo amplifiers drive and control four servo motors respectively, and these four servo motors jointly drive a worktable 202, moving towards... Figure 3 It can move left or right. Large torque can be obtained by driving four servo motors.

[0064] The four servo motors are referred to as "first servo motor 103a", "second servo motor 103b", "third servo motor 103c", and "fourth servo motor 103d". However, when it is not necessary to distinguish which servo motor it is, or when referring to all four servo amplifiers, it is sometimes also referred to as "servo motor 103".

[0065] exist Figure 3 In the example shown, all four servo motors are driven by a single servo amplifier. However, all or some of the four servo motors could be driven by multiple servo amplifiers. For example, the first servo motor 103a and the fourth servo motor 103d could be driven by multiple servo amplifiers, while the second servo motor 103b and the third servo motor 103c could be driven by a single servo amplifier.

[0066] The wiring error detection device 110 of the mechanical control system 200 has the same structure as the wiring error detection device of the mechanical control system 100. However, there are slight differences in the functions of each part and the signals processed, which will be described below.

[0067] In order to control all (in the case where the four servo motors include servo motors driven by multiple servo amplifiers) or a portion of the four servo motors 103 by driving a portion of the multiple servo amplifiers that drive the servo motors 103, thereby driving the worktable 202 to perform wiring error detection, the control amplifier selection unit 131 selects and combines the servo amplifiers 102 used in the control of the servo motors 103 to determine two or more selection modes. For example, in this embodiment, four selection modes can also be determined as shown in Table 1. The control amplifier selection unit 131 determines the selection mode based on the number of servo amplifiers 102 or servo motors 103.

[0068] For each selection mode determined by the control amplifier selection unit 131, the instruction generation unit 132 generates an instruction for causing the worktable 202 to perform a predetermined action, and outputs it as a wiring check instruction to the servo control unit 117 and the fault detection unit 116. The instruction generated by the instruction generation unit 132 can be a position instruction, a speed instruction, or a torque instruction. This embodiment will be described using an example of a position instruction for the worktable 202. For example, the instruction generation unit 132 can generate the same position instruction in all selection modes as an instruction for causing the worktable 202 to perform the same action.

[0069] On the other hand, the worktable 202 feeds back its current position to the servo control unit 117 via the feedback line 108.

[0070] The servo control unit 117 calculates the torque command value for controlling the servo motor 103 based on the selection mode, the position command from the command generation unit 132, and the feedback value of the current position of the worktable 202. This value is then output to each servo amplifier 102 via signal lines 105 and fed back to the anomaly detection unit 116. Based on the commands from the servo control unit 117, the servo amplifiers 102 drive and control the servo motor 103 via power lines 104.

[0071] The servo control unit 117 can also obtain the current value of the power line 104 of the servo motor 103 from the servo amplifier 102 via the signal line 105, and use it as a current feedback value. In this case, the servo control unit 117 feeds back the obtained current feedback value to the anomaly detection unit 116.

[0072] The wiring check and confirmation unit 124 compares the torque command value or current feedback value corresponding to each selection mode obtained by the feedback value acquisition unit 122 among the four selection modes, thereby determining whether there is a wiring error in the system of servo amplifier 102 and servo motor 103.

[0073] For example, suppose there is a wiring error in the connection between the fourth servo amplifier 102d and the fourth servo motor 103d. Furthermore, in the four selection modes shown in Table 1, to ensure the worktable 202 performs the same actions, the instruction generation unit 132 generates the same position command and outputs it to the servo control unit 117. Selection modes 1 to 3 include the fourth servo amplifier 102d, which has a wiring error, among the three servo amplifiers used to drive the worktable 202. The fourth servo amplifier 102d and the fourth servo motor 103d, which have a wiring error, do not contribute to the actions of the worktable 202 required by the instruction generation unit 132. Therefore, only the remaining two servo amplifiers and their corresponding two servo motors contribute to the actions of the worktable 202 required by the instruction generation unit 132.

[0074] As a result, in order to drive the worktable 202 using the remaining two servo motors, the torque command value calculated by the servo control unit 117 is larger than that in the case of driving with three servo motors. The situations of selecting modes 1 to 3 are roughly the same, so the torque command values ​​corresponding to each selection mode are the same or close to the values.

[0075] On the other hand, mode 4 does not include the fourth servo amplifier 102d, which has a wiring error, among the three servo amplifiers used to drive the worktable 202. Therefore, all three servo amplifiers and their corresponding three servo motors can contribute to the operation of the worktable 202 required by the command generation unit 132. As a result, the torque command value calculated by the servo control unit 117 to drive the worktable 202 is smaller compared to the case where it is driven by two servo motors.

[0076] The wiring check and confirmation unit 124 compares the torque command values ​​with those corresponding to the four selection modes. Selection modes 1 to 3 represent the same or similar torque command values, while selection mode 4 represents a smaller torque command value that is significantly different from selection modes 1 to 3. If there is an abnormality in the difference between the torque command values, the wiring check and confirmation unit 124 determines that a wiring error has occurred in the system of the fourth servo amplifier 102d and the fourth servo motor 103d.

[0077] As described above, the wiring error detection device of this embodiment can detect wiring errors within the system of servo amplifiers and servo motors in a mechanical control system that is controlled by multiple servo amplifiers and drives a controlled object, and can identify the servo amplifier associated with the wiring error.

[0078] The present invention has been described above using various embodiments, but the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. According to the patent protection scope, such modifications or improvements can also be included within the technical scope of the present invention. For example, the above embodiments are detailed descriptions for the purpose of easily understanding the present invention, but the present invention is not limited to having all the structures described. Furthermore, parts of the structure of each embodiment can be replaced by other structures, or they can be deleted.

[0079] Explanation of reference numerals in the attached figures

[0080] 100 Mechanical Control System

[0081] 101CNC device

[0082] 102 Servo Amplifier

[0083] 102a First Servo Amplifier

[0084] 102b Second Servo Amplifier

[0085] 102c Third Servo Amplifier

[0086] 102d Fourth Servo Amplifier

[0087] 103 servo motor

[0088] 103a First Servo Motor

[0089] 103b Second Servo Motor

[0090] 103c Third Servo Motor

[0091] 103d Fourth Servo Motor

[0092] 104 power line

[0093] 105 signal line

[0094] 108 Feedback Line

[0095] 110 Wiring Error Detection Device

[0096] 111 Startup Mode Confirmation Department

[0097] 112 Operation Command Unit

[0098] 113 Connection Inspection Command Unit

[0099] 114 First Storage Section

[0100] 115 Second Storage Section

[0101] 116 Anomaly Detection Department

[0102] 117 Servo Control Unit

[0103] 118 Display Unit

[0104] 119 Emergency Number

[0105] 120 wiring inspection and operation department

[0106] 121 Instruction Value Acquisition Unit

[0107] 122 Feedback Value Acquisition Department

[0108] 123 Selection Department

[0109] 124 Connection Inspection and Confirmation Department

[0110] 131 Control Amplifier Selection Section

[0111] 132 Instruction Generation Unit

[0112] 200 Mechanical Control System

[0113] 202 workbench

[0114] Switches S1 and S2.

Claims

1. A wiring error detection device for detecting wiring errors in a motor controlled by multiple amplifiers, characterized in that, The wiring error detection device includes: The control amplifier selection unit selects and combines the amplifiers used for control to determine two or more selection modes in order to control the motor by means of a portion of the plurality of amplifiers; The instruction generation unit generates instructions for causing the motor to perform a predetermined action for each selection mode determined by the control amplifier selection unit. The servo control unit calculates a torque command value for controlling the motor based on the selection mode and the command from the command generation unit. as well as The wiring check and confirmation unit compares the torque command value or the current feedback value of the motor corresponding to each of the two or more selection modes to determine whether there is a wiring error in the amplifier and the motor system.

2. The wiring error detection device according to claim 1, characterized in that, In order to make the motor perform the same operation in all the selected modes, the instruction generation unit generates the same position instruction, the same speed instruction, or the same torque instruction as the instruction.

3. The wiring error detection device according to claim 1, characterized in that, The control amplifier selection unit determines the selection mode based on the number of amplifiers connected to the motor.

4. The wiring error detection device according to claim 2, characterized in that, The control amplifier selection unit determines the selection mode based on the number of amplifiers connected to the motor.

5. The wiring error detection device according to any one of claims 1 to 4, characterized in that, The wiring error detection device includes a start-up mode confirmation unit, which confirms whether it is in normal operation mode or start-up mode. Perform wiring error detection in startup mode.

6. A wiring error detection device for detecting wiring errors of motors in a mechanical control system that controls the same movement of a controlled object via multiple motors, characterized in that, The wiring error detection device includes: The control amplifier selection unit selects and combines the amplifiers used for control to determine two or more selection modes in order to control all or part of the plurality of motors by driving a portion of the plurality of amplifiers. The instruction generation unit generates instructions for causing the controlled object to perform a predetermined action for each selection mode determined by the control amplifier selection unit. The servo control unit calculates a torque command value for controlling the motor based on the selection mode and the command from the command generation unit. The wiring check and confirmation unit compares the torque command value or the current feedback value of the motor corresponding to each of the two or more selection modes to determine whether there is a wiring error in the amplifier and the motor system.

7. The wiring error detection device according to claim 6, characterized in that, In order to make the controlled object perform the same action in all the selected modes, the instruction generation unit generates the same position instruction, the same speed instruction, or the same torque instruction as the instruction.

8. The wiring error detection device according to claim 6, characterized in that, The control amplifier selection unit determines the selection mode based on the number of amplifiers or motors.

9. The wiring error detection device according to claim 7, characterized in that, The control amplifier selection unit determines the selection mode based on the number of amplifiers or motors.

10. The wiring error detection device according to any one of claims 6 to 9, characterized in that, The wiring error detection device includes a start-up mode confirmation unit, which confirms whether it is in normal operation mode or start-up mode. Perform wiring error detection in startup mode.

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