Main circuit unit and controller

Abstract

The invention provides a main circuit unit and a controller, which realize integration of a substrate and an electric component in the controller, realize improvement of assembling performance and reduction of work load, and realize space saving in a housing. The controller includes a main circuit unit and a driver unit including a driver substrate. The main circuit unit generates a DC voltage from an AC voltage and supplies the DC voltage to the driver substrate. The main circuit unit is provided with: a first substrate (51) on which a main circuit relay (510), a rectifier circuit, a pre-driver power supply (513), and a brake power supply (514) are disposed; a second substrate (52) on which a main circuit capacitor (520) connected to the rectifying circuit is disposed; a safety relay module (56) for emergently stopping the actuator; a third substrate (53) on which a signal relay (531) and a connector (532) are mounted; and a second base frame (50) to which the first substrate, the second substrate, the third substrate, and the safety relay module (56) are fixed.

Description

Technical Field

[0001] The present invention relates to a main circuit unit including a power supply circuit for generating a DC voltage from an AC voltage, and a controller including the main circuit unit. Background Art

[0002] Patent Document 1 describes a controller (control device) that supplies a driving current to an actuator (motor) of a robot and has a structure in which various substrates, electrical components, a cooling fan, and the like are housed in a metal casing.

[0003] In the controller (control device) of patent document 1, a main circuit substrate, a power supply substrate for generating 24V and 5V DC voltages, a regenerative resistor and a fan, a unit for connecting multiple capacitors via a bus bar, a relay module and an EMIF substrate for emergency stop, a communication interface substrate and a control substrate are respectively fixed to the frame of the casing via a metal plate base component. Prior art literature Patent Literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2023-53456 Summary of the invention

[0005] Patent Document 1 unitizes the electrical components and the substrate by assembling them on a metal plate base component, but the unitization is subdivided and the number of units is large. Therefore, the workload during assembly is large. In addition, the wiring operation is complicated, and a large wiring space needs to be ensured, which makes it difficult to save space. In particular, since the substrate and electrical components connected to the power line are dispersedly arranged, the power line and the signal line need to be arranged separately, which increases the wiring length and becomes the main reason for the complication of the wiring operation and the increase of the wiring space.

[0006] In view of the above problems, an object of the present invention is to realize integration of a substrate and electrical components in a controller, to improve assemblability and reduce work load, and to realize space saving in a casing.

[0007] In order to solve the above-mentioned problems, the main circuit unit of the present invention generates a DC voltage from an AC voltage and provides the DC voltage to a driver substrate for generating a driving current for driving an actuator, wherein the main circuit unit comprises: at least one substrate configured with a main circuit relay, a rectifier circuit for inputting AC voltage via the main circuit relay, a pre-driver power supply, a brake power supply, a plurality of main circuit capacitors connected to the rectifier circuit, a signal relay and a connector for connecting to the signal relay; a safety relay module for emergency stopping the actuator; and a base frame to which the at least one substrate and the safety relay module are fixed.

[0008] According to the present invention, since the rectifier circuit, main circuit relay, pre-driver power supply and brake power supply which were previously arranged on different substrates and fixed on the housing are concentrated in one unit, the electrical components connected to the power wiring related to the function of AC-DC conversion can be concentrated in one unit. In addition, by concentrating them in one unit, the wiring can be reduced, the number of substrates can be reduced, and the reduction of the workload during assembly and the reduction of the installation space can be achieved. Moreover, since a plurality of main circuit capacitors are mounted on the substrate, it is not necessary to assemble them separately on the housing as in the case of using large electrolytic capacitors, and they can be assembled in the main circuit unit. In addition, since the safety relay module and the signal relay are concentrated in one unit and all are fixed on a common base frame, not only the function of AC-DC conversion but also the electrical components related to the function of emergency stop can be concentrated. Thus, it is possible to further achieve the improvement of assembly, the reduction of wiring and space saving. In addition, since all are fixed on a common base frame, it is possible to achieve the improvement of grounding continuity.

[0009] In the present invention, it is preferred that the at least one substrate includes: a first substrate on which the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply are arranged; a second substrate on which the main circuit capacitor is arranged; and a third substrate on which the signal relay and the connector are arranged. In this way, electrical components related to the function of AC-DC conversion and connected to power wiring can be concentrated on the first substrate. In addition, since a plurality of main circuit capacitors are arranged on the second substrate, and electrical components related to the emergency stop function are concentrated on the third substrate, wiring can be reduced, the number of substrates can be reduced, and a reduction in the workload during assembly and a reduction in the installation space can be achieved.

[0010] In the present invention, it is preferred that the first substrate and the second substrate are stacked, the first substrate having the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply mounted on the substrate surface on the opposite side of the second substrate, and the second substrate having the plurality of main circuit capacitors mounted on the substrate surface on the opposite side of the first substrate. In this way, since no electrical components or elements are arranged between the two substrates, the distance between the substrates can be reduced. In addition, since the surface on which no electrical components or elements are mounted has a portion protruding from the substrate surface such as the legs of the mounted elements, when the surface is exposed to the outside, it is necessary to be separated from other components. Therefore, by making the surface on which no electrical components or elements are mounted not facing the outside but facing each other, a space-saving configuration can be achieved.

[0011] In the present invention, it is preferred that a plurality of spacers are provided between the first substrate and the second substrate, and a portion of the plurality of spacers is a spacer for power wiring that also serves as a power wiring connecting the first substrate and the second substrate. In this way, it is not necessary to provide wiring other than the spacers between the first substrate and the second substrate. Therefore, it is possible to reduce wiring components and terminal components, and the substrate can be miniaturized.

[0012] In the present invention, it is preferred that the second substrate has a substrate end portion that does not overlap with the first substrate, and a power wiring connector is arranged on the substrate surface on the first substrate side of the substrate end portion, the power wiring connector is connected to the power wiring for providing a DC voltage to the driver substrate, and a heat sink is fixed to the edge of the substrate end side of the first substrate, and a diode bridge of the rectifier circuit is fixed to the heat sink. In this way, the operability when connecting the power wiring between the driver substrate is good. In addition, by arranging the power wiring connector and the heat sink on the same side, it is easy to arrange them on the driver substrate side at the same time. Therefore, it is easy to shorten the wiring length, and the airflow from the fan that cools the driver substrate can easily reach the heat sink. Therefore, it is easy to cool the heat sink.

[0013] In the present invention, it is preferred that the base frame has a flat base plate and a pair of substrate mounting plates rising in parallel from the base plate, the first substrate and the second substrate are arranged between the pair of substrate mounting plates, the third substrate is fixed to one of the pair of substrate mounting plates from the opposite side of the side where the first substrate and the second substrate are located in a posture parallel to the substrate mounting plate, and the safety relay module is fixed to the base plate at a position adjacent to the pair of substrate mounting plates. When the substrate is assembled in this way, the first substrate is arranged on the upper part of the unit, and the third substrate is arranged on the side of the unit. Therefore, in the case where the connectors for connecting the wiring from the power supply side are concentrated on the substrate on which the main circuit relay or the rectifier circuit is installed, it is possible to connect these connectors from the upper side, so the wiring connection is easy. In addition, since the third substrate is arranged on the side of the unit, it is easy to connect the signal line to the third substrate. In addition, it is easy to separate the signal line and the power wiring for layout.

[0014] In the present invention, the third substrate preferably has the signal relay arranged in the lower region on the base plate side, and the connector arranged in the upper region on the opposite side of the base plate. When arranged in this way, when the main circuit unit is assembled to the unit fixing surface, the connector is arranged at the upper part of the unit side surface. Therefore, since the connection to the connector can be made from the upper side, it is easy to connect the signal line.

[0015] In the present invention, the main circuit unit preferably includes a regenerative resistor, the base frame includes a connecting plate, the connecting plate is bridged between the front ends of the pair of substrate mounting plates and covers the first substrate and the second substrate, and the regenerative resistor is fixed to the connecting plate. In this way, the regenerative resistor can be centrally arranged in the main circuit unit.

[0016] Next, the controller of the present invention comprises: the main circuit unit described above; a driver unit including a plurality of driver substrates and a base member for holding the driver substrates; and a housing for housing the driver unit and the main circuit unit.

[0017] According to the present invention, since the rectifier circuit, main circuit relay, pre-driver power supply and brake power supply which were previously arranged on different substrates and fixed on the housing are concentrated in one unit, the electrical components connected to the power wiring related to the function of AC-DC conversion can be concentrated in one unit. In addition, by concentrating them in one unit, the wiring can be reduced, the number of substrates can be reduced, and the reduction of the workload during assembly and the reduction of the installation space can be achieved. Moreover, since a plurality of main circuit capacitors are mounted on the substrate, it is not necessary to assemble them separately on the housing as in the case of using large electrolytic capacitors, and they can be assembled in the main circuit unit. In addition, since the safety relay module and the signal relay are concentrated in one unit and all are fixed on a common base frame, not only the function of AC-DC conversion but also the electrical components related to the function of emergency stop can be concentrated. Thus, it is possible to further achieve the improvement of assembly, the reduction of wiring and space saving. In addition, since all are fixed on a common base frame, it is possible to achieve the improvement of grounding continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a perspective view of the appearance of a controller to which the present invention is applied. Figure 2 yes Figure 1 Exploded perspective view of the controller. Figure 3 This is a perspective view of a plurality of electric units housed in a casing as viewed from the front panel side. Figure 4 This is a perspective view of a plurality of electric units housed in a housing as viewed from the rear panel side. Figure 5 This is a top view of the controller with the cover removed. Figure 6 It is a plan view showing the fixing position of the base member of each electric unit with respect to the bottom panel. Figure 7 This is an exploded perspective view of the driver unit. Figure 8 This is an exploded perspective view of the power supply circuit unit. Fig. 9 This is an exploded perspective view of the main circuit unit. Fig.10 This is a side view of the main circuit unit viewed from the Y1 direction. Fig.11 It is an exploded perspective view of the first substrate, the second substrate and the second base frame of the main circuit unit. Fig.12 It is an explanatory diagram showing a part of the assembling process of the electric unit (an explanatory diagram of the process of assembling the power circuit unit). Fig.13 It is an explanatory diagram showing a part of the assembly process of the electric unit (an explanatory diagram of the process of assembling the main circuit unit). Fig.14 It is an explanatory diagram showing a part of the assembly process of the electric unit (an explanatory diagram of the process of assembling the driver unit). Fig.15 It is a top view of the driver unit, power supply circuit unit, and main circuit unit. Fig.16 This is a perspective view of the driver unit, power supply circuit unit, and main circuit unit as viewed from the rear panel side. DETAILED DESCRIPTION

[0019] Hereinafter, an embodiment of a controller to which the present invention is applied will be described with reference to the drawings. A controller 1 of the present embodiment is a device that supplies power to a robot (manipulator) having an actuator such as a motor.

[0020] Figure 1 It is a perspective view of the appearance of a controller 1 to which the present invention is applied. Figure 2 yes Figure 1 An exploded perspective view of the controller 1. Figure 3 This is a perspective view of the plurality of electric units 10 housed in the housing 2 as viewed from the front panel 23 side. Figure 4 This is a perspective view of the plurality of electric units 10 housed in the housing 2 as viewed from the rear panel 24 side. Figure 5 It is a top view of the controller 1 with the cover 2B removed.

[0021] In this specification, the three directions XYZ are mutually orthogonal directions. In this specification, for convenience, the Z direction is set as the up and down direction of the controller 1. The Z1 direction is downward, and the Z2 direction is upward. The X direction is the front and back direction of the controller 1. The X1 direction is the front, and the X2 direction is the back. The Y direction is the width direction of the controller 1. The Y1 direction and the Y2 direction are one side and the other side of the Y direction. The Y direction is the first direction. The X direction is the second direction. In addition, in the actual use of the controller 1, the Z direction may not be consistent with the up and down direction (vertical direction). For example, it can also be set to use the Y direction as the up and down direction.

[0022] (Overall structure) like Figure 1 , Figure 2 As shown, the controller 1 includes a metal housing 2. The housing 2 is a rectangular parallelepiped, and includes a bottom panel 21 facing the Z1 direction, a top panel 22 facing the Z2 direction, a front panel 23 facing the X1 direction, and a back panel 24 facing the X2 direction. The housing 2 is formed by assembling two parts, namely, a housing body 2A including the bottom panel 21 and a cover 2B including the top panel 22. The housing body 2A has a box shape that opens in the Z2 direction. The cover 2B is assembled to the housing body 2A from the Z2 direction to close the opening of the housing body 2A.

[0023] The housing body 2A includes: a front panel 23 and a back panel 24, which stand up along the Z2 direction from the edges of the bottom panel 21 in the X1 direction and the X2 direction; a side panel 25, which stands up along the Z2 direction from the edge of the bottom panel 21 in the Y1 direction and connects the ends of the front panel 23 and the back panel 24 in the Y1 direction; and a side panel 26, which stands up along the Z2 direction from the edge of the bottom panel 21 in the Y2 direction and connects the ends of the front panel 23 and the back panel 24 in the Y2 direction. The height of the side panels 25 and 26 in the Z direction is lower than that of the front panel 23 and the back panel 24.

[0024] The cover 2B includes a side panel 27 extending from the edge of the top panel 22 in the Y1 direction to the Z1 direction, and a side panel 28 extending from the edge of the top panel 22 in the Y2 direction to the Z1 direction. The side panels 27 and 28 are provided at their front ends with stepped portions 27a and 28a inserted into the inner sides of the side panels 25 and 26 of the housing body 2A.

[0025] like Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, a plurality of electric units 10 are housed in the housing 2. In the present embodiment, all the electric units 10 are arranged on the same surface and fixed on the same surface. The housing body 2A includes a bottom panel 21 opposite to the top panel 22 of the cover 2B. The bottom panel 21 is used as a unit fixing surface for fixing all the electric units 10.

[0026] like Figure 3 , Figure 4 As shown, a plurality of electrical units 10 are respectively provided with a metal base member 11 and a substrate or an electronic component fixed on the base member 11. Each electrical unit 10 is a unit in which substrates or electronic components of related functions are concentrated and fixed on the same base member 11. In this specification, an electronic component includes a component in which an electronic component or a substrate is modularized. The electrical unit 10 is fixed to the bottom panel 21 via the base member 11. In the present embodiment, each electrical unit 10 is arranged in a manner that does not hinder the loading and unloading of other electrical units 10 relative to the bottom panel 21. That is, each electrical unit 10 is arranged in a manner that the fixing portion where the base member 11 is fixed to the bottom panel 21 does not overlap with other electrical units 10 in the Z direction.

[0027] Figure 6 2 is a top view showing the fixing position of the base member 11 of each electric unit 10 relative to the bottom panel 21. Figure 2 As shown in FIG. 2 , a boss portion 29 protruding in the Z2 direction is provided on the inner surface (upper surface) of the bottom panel 21. Figure 5 , Figure 6 As shown, each electric unit 10 is fixed to a different boss portion 29 via a fixing hole 29a of the base member 11, and the fixing portion (fixing hole 29a) does not overlap with other electric units 10. Therefore, during maintenance, it is not necessary to remove other electric units 10, and only the electric unit 10 including the maintenance target portion can be installed and removed relative to the housing body 2A.

[0028] like Figure 2 , Figure 5 As shown, six electrical units 10, namely, a driver unit 3, a power circuit unit 4, a main circuit unit 5, an interface unit 6, an output unit 7, and a power input unit 8, are accommodated in the housing 2. The three electrical units 10, namely, the driver unit 3, the power circuit unit 4, and the main circuit unit 5, are arranged in this order toward the Y1 direction and are arranged on the inner side of the rear panel 24. The three electrical units 10, namely, the interface unit 6, the output unit 7, and the power input unit 8, are arranged in this order toward the Y2 direction and are arranged on the inner side of the front panel 23. The details of each electrical unit 10 are described below.

[0029] (Driver unit) like Figure 2As shown, the driver unit 3 is a unit including a driver substrate unit 3A that holds a plurality of driver substrates 31 on a first base frame 30 as a base member 11, and a cooling fan 32 is integrated with the driver substrate unit 3A.

[0030] Figure 7 3 is an exploded perspective view of the driver unit 3. Figure 7 As shown, the first base frame 30 includes a first base plate 301, a plurality of first substrate mounting plates 302, and a frame top plate 303. The first base plate 301 is in the shape of a plate along the XY plane and is fixed to the bottom panel 21 (see FIG. Figure 2 ). The first substrate mounting plates 302 are arranged in parallel in a posture vertically standing from the first base plate 301. In this embodiment, three first substrate mounting plates 302 along the XZ plane are arranged in parallel with the Y direction. The frame top plate 303 is fixed to the upper ends of the plurality of first substrate mounting plates 302 in a posture along the XY plane. Two openings 304 extending in the X direction are provided on the frame top plate 303.

[0031] The driver unit 3 includes a plurality of driver substrates 31 and a fan 32 fixed to the first base frame 30. The driver unit 3 includes three driver substrates 31. Each driver substrate 31 is arranged in parallel with the first substrate mounting plate 302 and is fixed to the first substrate mounting plate 302 from the Y2 direction. Each driver substrate 31 has a heat sink 33 fixed to the substrate surface in the Y1 direction, and an electronic component 34 such as an IGBT module is mounted on the substrate surface in the Y2 direction.

[0032] A connector 35 for connecting a power line is disposed at the end of each driver substrate 31 in the Z2 direction. Figure 3 , Figure 4 As shown, the connectors 35 of the two driver substrates 31 on the Y1 side and the center are arranged in the opening 304 of the frame top plate 303. The connector 35 of the driver substrate 31 on the Y2 side is located closer to the Y2 direction than the end of the frame top plate 303 in the Y2 direction. Therefore, the connector 35 of the driver unit 3 is not covered by the frame top plate 303, and the power wiring can be connected from the Z2 direction.

[0033] like Figure 7 As shown, at the end of the Z1 direction of each driver substrate 31, a wiring substrate 36 is arranged along the XY plane. The driver substrate 31 is connected to the wiring substrate 36 via a connector 37 that is fitted in the Z direction. The end of the driver substrate 31 in the Z1 direction is held by the first base frame 30 via the connector 37 and the wiring substrate 36. In addition, at the end of the first base frame 30 in the X1 direction, a unit-to-unit connection connector 38 for connecting wiring from other electric units 10 is arranged.

[0034] The fan 32 is provided in a posture capable of blowing air in a direction (X direction) orthogonal to the arrangement direction (Y direction) of the driver substrates 31, and is arranged in the X2 direction of the driver substrate 31. The end of the fan 32 in the Z2 direction is fixed to the end of the frame top plate 303 in the X2 direction. The end of the fan 32 in the Z1 direction is fixed to the end of the first base plate 301 in the X2 direction.

[0035] like Figure 2 As shown in FIG. 1 , a circular vent 24a is provided at one location on the back panel 24. The vent 24a is located in the area on the Y2 side of the back panel 24. Figure 2 , Figure 5 As shown in the figure, when the driver unit 3 is assembled inside the corner where the side panel 26 and the back panel 24 in the Y2 direction of the housing body 2A are connected, the fan 32 arranged at the end of the driver unit 3 in the X2 direction is opposite to the vent 24a in the X direction. In this state, when the fan 32 is driven, air is sucked from the vent 24a, and the air flows in the gap between the adjacent driver substrates 31. The cooling effect of the airflow of the fan 32 will be described later.

[0036] (Power supply circuit unit) Figure 8 4 is an exploded perspective view of the power supply circuit unit 4. Figure 3 , Figure 4 , Figure 8 As shown, the power circuit unit 4 includes a first base member 40 as a base member 11. The first base member 40 includes: a first mounting plate 401 along the XZ plane; and a first fixing plate 402 bent from the end of the Z1 side of the first mounting plate 401 in the Y2 direction. The first fixing plate 402 is provided at two locations separated from each other in the X direction. The first base member 40 is fixed to the bottom panel 21 (see FIG. 2 ) as the unit fixing surface by fixing the first fixing plates 402 at two locations to the boss portions 29. Figure 2 )superior.

[0037] The first mounting plate 401 is provided with a rectangular notch 403 formed by cutting away the Z2 direction portion (upper end portion) of the X2 direction end portion (end portion on the back panel 24 side), and a rectangular opening 404 formed by cutting away a larger area in the X1 direction of the notch 403. The first fixing plate 402 is configured in a frame shape surrounding the opening 404.

[0038] The power supply circuit unit 4 includes a first voltage substrate 41 and a second voltage substrate 42. A first power supply circuit for generating a DC voltage of a first voltage from an AC voltage is provided on the first voltage substrate 41. A second power supply circuit for generating a DC voltage of a second voltage different from the first voltage from an AC voltage is provided on the second voltage substrate 42. For example, the first voltage is 24V and the second voltage is 5V. Both the first voltage and the second voltage are voltages different from the DC voltage (15V) supplied to the driver substrate 31. The power supply circuit unit 4 supplies DC voltages of 24V and 5V to other electrical units 10. For example, a DC voltage of 24V for driving the fan 32 is supplied to the driver unit 3, and a DC voltage of 5V is supplied to the control circuit substrate 64 described below.

[0039] The first voltage substrate 41 and the second voltage substrate 42 are fixed to the first mounting plate 401 from the Y2 direction (driver unit 3 side) and are arranged on the same surface. The first voltage substrate 41 and the second voltage substrate 42 are fixed to the front end of the spacer 405 protruding from the first mounting plate 401 in the Y2 direction. As a result, the first voltage substrate 41 and the second voltage substrate 42 are in a posture parallel to the XZ plane like the driver substrate 31, and are opposite to the driver unit 3 in the Y direction. The first voltage substrate 41 and the second voltage substrate 42 are mounted with electronic components 43 constituting a power supply circuit such as a power module on the substrate surface in the Y2 direction opposite to the driver unit 3. The first voltage substrate 41 and the second voltage substrate 42 face the opening 404 of the first mounting plate 401, so it is a structure that can also dissipate heat from the surface on the side where the electronic components are not mounted.

[0040] The first voltage substrate 41 and the second voltage substrate 42 are both rectangular substrates that are longer in the X direction and are arranged side by side in the Z direction. In the present embodiment, the first voltage substrate 41 for 24V is located in the Z2 direction, and the second voltage substrate 42 for 5V is located in the Z1 direction. The length of the second voltage substrate 42 in the X direction is longer than that of the first voltage substrate 41. The first voltage substrate 41 and the second voltage substrate 42 both overlap with the opening 404 of the first mounting plate 401, but do not overlap with the notch 403. The notch 403 of the first mounting plate 401 is shaped in such a way that the first mounting plate 401 is notched in accordance with the difference in length between the first voltage substrate 41 and the second voltage substrate 42 in the X direction.

[0041] (Main circuit unit) Fig. 9 It is an exploded perspective view of the main circuit unit 5 . Fig.10 This is a side view of the main circuit unit 5 as viewed from the Y1 direction. Fig.11 FIG. 5 is an exploded perspective view of the first substrate 51, the second substrate 52 and the second base frame 50 of the main circuit unit 5. Figure 3, Figure 4 , Fig. 9 As shown, the main circuit unit 5 includes a second base frame 50 as the base member 11. Fig. 9 , Fig.10 As shown, the second base frame 50 includes a second base plate 501, a pair of second substrate mounting plates 502 and a connecting plate 503. The pair of second substrate mounting plates 502 stand vertically from the second base plate 501 and are arranged in the X direction. In the present embodiment, from the second base plate 501 along the XY plane, a pair of second substrate mounting plates 502 along the YZ plane stand in the Z2 direction. The second substrate mounting plate 502 on the X2 side is formed integrally with the second base plate 501. The connecting plate 503 is fixed to the upper ends of the pair of second substrate mounting plates 502 in a posture along the XY plane. In addition, the pair of second substrate mounting plates 502 may also be inclined relative to the direction vertically standing from the second base plate 501.

[0042] The main circuit unit 5 includes a first substrate 51, a second substrate 52, and a third substrate 53. The first substrate 51 and the second substrate 52 are in a posture parallel to the second base plate 501 and overlap in the Z direction. The first substrate 51 is located on the upper side (Z2 side) of the second substrate 52. The four corners of the first substrate 51 and the second substrate 52 are connected by spacers 54, and are connected by two spacers 55 at a position close to the center of the substrate. The two spacers 55 are electrically connected to the circuit on the first substrate 51 and the circuit on the second substrate 52. The spacer 55 is a spacer for power wiring that also serves as a power wiring that supplies the voltage from the rectifier circuit mounted on the first substrate 51 to the power wiring of the second substrate 52.

[0043] The first substrate 51 and the second substrate 52 are mounted between a pair of second substrate mounting plates 502. Both ends of the second substrate 52 in the X direction located on the Z1 side are supported by arm portions 504 bent from both ends of the pair of second substrate mounting plates 502 in the Y direction. The first substrate 51 is supported by the pair of second substrate mounting plates 502 via the second substrate 52.

[0044] The third substrate 53 is arranged in a vertical position extending in the Z direction and is disposed on the side of the main circuit unit 5 in the X1 direction. The third substrate 53 is fixed to the second substrate mounting plate 502 on the X1 side from the side opposite to the first substrate 51 and the second substrate 52 (X1 side). Figure 8 As shown, the second substrate mounting plate 502 on the X1 side is provided with a rectangular opening 505 in the center and is formed in a frame shape.

[0045] The first substrate 51 and the second substrate 52 are assembled in such a manner that the substrate surfaces on which the circuits and components are mounted are opposite to each other, and components are not mounted on the portions of the substrates facing each other. The first substrate 51 has a rectifier circuit and various components described below mounted on the substrate surface on the Z2 side opposite to the second substrate 52, and no components are mounted on the substrate surface on the Z1 side opposite to the second substrate 52. The second substrate 52 has a plurality of main circuit capacitors 520 mounted on the substrate surface on the Z1 side opposite to the first substrate 51, and no components are mounted on the area of ​​the substrate surface on the Z2 side opposite to the first substrate 51 that faces the first substrate 51. The second substrate 52 is longer in the Y direction than the first substrate 51, and has a substrate end 52a on the Y2 side that does not face the first substrate 51. The second substrate 52 has a power wiring connector 521 and an LED lamp 522 mounted on the substrate surface on the Z2 side of the substrate end 52a. The main circuit unit 5 supplies a 15V DC voltage to the driver substrate 31 from the power wiring connector 521 of the second substrate 52.

[0046] like Fig. 9 As shown, the components mounted on the first substrate 51 include: two main circuit relays 510 arranged at the end of the first substrate 51 in the X2 direction; an anti-surge resistor 511 and an anti-surge relay 512 arranged in the Y2 direction of the main circuit relay 510; a 15V pre-driver power supply 513 and a 24V brake power supply 514 arranged on the X1 side of the main circuit relay 510; a diode bridge 515 constituting a rectifier circuit; and connectors 516, 517, 518 for connecting to other electric units 10. The connectors 516, 517, 518 are arranged at the end of the first substrate 51 in the Y1 direction. The diode bridge 515 is fixed to a heat sink 519, and the heat sink 512 is fixed to the end of the first substrate 51 in the Y2 direction. The spacer 55 for power wiring between the first substrate 51 and the second substrate 52 is arranged on the back side of the pre-driver power supply 513 and the brake power supply 514.

[0047] The main circuit unit 5 further includes a safety relay module 56 for emergency stopping the motor and a regenerative resistor 57. The safety relay module 56 is fixed to the second base plate 501 on the Y1 side of the first substrate 51 and the second substrate 52. The regenerative resistor 57 is fixed to the top surface of the connecting plate 503. The regenerative resistor 57 is connected to the connector on the first substrate 51.

[0048] like Figure 3As shown in FIG. 1 , a signal relay 531 is mounted on the third substrate 53 as an element for emergency stop control, and a connector 532 is mounted for connection with the signal relay 531. The signal relay 531 is arranged in the area on the Z1 side of the third substrate 53, and the connector 532 is arranged in the area on the Z2 side of the third substrate 53. Therefore, the connector 532 is arranged on the upper part of the main circuit unit 5, so it is easy to access when the main circuit unit 5 is assembled in the housing body 2A, and is arranged at a position where the wiring cable can be easily connected.

[0049] like Figure 2 , Figure 5 As shown, the main circuit unit 5 is assembled on the inner side of the corner where the side panel 25 and the back panel 24 of the housing body 2A are connected in the Y1 direction. As described above, on the inner side of the back panel 24, the driver unit 3, the power circuit unit 4 and the main circuit unit 5 are arranged in this order in the Y direction. The main circuit unit 5 is arranged in the following posture: the end where the safety relay module 56 is arranged is the Y1 side (side panel 25 side), and the end where the heat dissipation component 519 on the first substrate 51 and the power wiring connector 521 on the second substrate 52 are arranged is the Y2 side (power circuit unit 4 and driver unit 3 side). As described later, the heat dissipation component 519 is opposite to the notch 403 of the power circuit unit 4.

[0050] (Interface Unit) like Figure 3 , Figure 4 As shown, the interface unit 6 includes a second base member 60 as the base member 11. The second base member 60 includes: a rectangular plate 601 along the XY plane; and two boss fixing portions 602 provided at the ends of the plate 601 in the X2 direction. Figure 5 , Figure 6 As shown, the two boss fixing portions 602 of the second base member 60 are fixed to the boss portions 29 of the bottom panel 21 .

[0051] The interface unit 6 includes a first communication substrate 61, a second communication substrate 62, a third communication substrate 63, and a control circuit substrate 64. The board 601, the control circuit substrate 64, the third communication substrate 63, the second communication substrate 62, and the first communication substrate 61 are stacked in sequence in the Z1 direction and connected via spacers. A communication connector 65 is arranged at the end of each substrate in the X1 direction.

[0052] Among the first communication substrate 61, the second communication substrate 62, the third communication substrate 63 and the control circuit substrate 64, the substrate located on the upper side (Z2 side) is shorter in the X direction than the substrate located on the lower side (Z1 side). These four substrates are offset in such a manner that the positions of the ends on the X1 side are aligned. Therefore, the interface unit 6 as a whole is configured to be stepped on the X2 side, and the end of the substrate on the lower side in the X2 direction is configured to be visible from the upper side (Z2 side). At the ends of the control circuit substrate 64 and the third communication substrate 63 in the X2 direction, an inter-unit connection connector 66 (refer to Figure 4 ).

[0053] like Figure 2 and Figure 5 As shown, the interface unit 6 is assembled inside the corner where the side panel 25 and the front panel 23 of the housing body 2A in the Y1 direction are connected. The front panel 23 is provided with a plurality of openings 23a in the area on the Y1 side (see Figure 2 ).like Figure 1 As shown, a plurality of communication connectors 65 are respectively arranged in the openings 23a of the front panel 23, and can be connected from the front of the housing.

[0054] The connector 532 mounted on the third substrate 53 of the main circuit unit 5 is arranged on the X2 side of the interface unit 6. As described above, the X2 side of the interface unit 6 is stepped, and is formed in a shape that recedes toward the X1 side as it goes upward (Z2 side). Therefore, a space is ensured on the X1 side of the connector 532 of the main circuit unit 5, and a space required for the installation and removal work to the connector 532 is ensured.

[0055] (Output unit) like Figure 3 , Figure 4 As shown, the output unit 7 includes a third base member 70 as the base member 11. The third base member 70 includes: a rectangular connector mounting plate 701 along the YZ plane; and a third fixing plate 702 bent in the X2 direction from the end of the connector mounting plate 701 in the Z1 direction. The third fixing plate 702 is provided with fixing holes 29a for fixing to the boss portion 29 of the bottom panel 21 at two locations.

[0056] The output unit 7 includes: an external output connector 71 for outputting a driving current to the outside; a monitoring signal connector 72 for outputting a monitoring signal to the outside; two emergency stop connectors 73 and 74 for inputting an emergency stop signal from the outside; an encoder connector 75 for inputting an encoder signal from an actuator (motor); and a circuit breaker 76. The monitoring signal connector 72 is, for example, a connector for connecting to a teaching box. Figure 4As shown, an external output connector 71 , a monitoring signal connector 72 , emergency stop connectors 73 and 74 , an encoder connector 75 , and a circuit breaker 76 are mounted in an opening 70 a provided in a connector mounting plate 701 .

[0057] like Figure 2 and Figure 5 As shown, the output unit 7 is assembled inside the front panel 23 of the housing body 2A and is located adjacent to the interface unit 6. On the front panel 23, a plurality of openings 23b are provided on the Y2 side of the region where the opening 23a for the communication connector 65 is provided (see Figure 2 ).like Figure 1 As shown, the external output connector 71, the monitoring signal connector 72, the emergency stop connectors 73 and 74, the encoder connector 75, and the circuit breaker 76 are arranged in the opening 23b of the front panel 23 and can be connected from the front of the housing.

[0058] (Power input unit) like Figure 3 , Figure 4 As shown, the power input unit 8 includes a fourth base member 80 as the base member 11. The fourth base member 80 includes: a fourth mounting plate 801 having a rectangular shape along the XZ plane; and a fourth fixing plate 802 bent in the Y1 direction from the end of the fourth mounting plate 801 in the Z1 direction. The fourth fixing plate 802 has fixing holes 29a for fixing to the boss portion 29 of the bottom panel 21 at three locations.

[0059] The power input unit 8 includes: a power input terminal block 81 to which a power supply line from an external power source is connected; a noise filter 82; and a grounding plate 83. The power input terminal block 81 is fixed to the fourth fixing plate 802. In this embodiment, the power input terminal block 81 is fixed to the fourth fixing plate 802 via a plate separate from the fourth base member 80. The noise filter 82 is fixed to the fourth mounting plate 801. Figure 3 As shown, the grounding piece 83 is formed integrally with the fourth base member 80. The grounding piece 83 is bent from the edge of the fourth mounting plate 801 in the X1 direction toward the Z2 direction.

[0060] like Figure 2 and Figure 5 As shown, the power input unit 8 is assembled inside the corner where the side panel 26 and the front panel 23 of the housing body 2A are connected in the Y2 direction. Figure 1 As shown in FIG. 2 , an opening 23c is provided at the end of the front panel 23 on the Y2 side, which is opposite to the power input terminal block 81 and the grounding plate 83. Figure 1Although not shown in the figure, a plate that blocks the opening 23c is mounted on the front panel 23, and a power supply cable from an external power source is introduced into the housing 2 via a sleeve held on the plate. The power supply cable includes: a power supply line connected to the power input terminal block 81; and a grounding line connected to the grounding plate 83.

[0061] For example, a single-phase AC voltage for control power and a three-phase AC voltage for drive power are input from a power supply cable to the power input unit 8. A circuit breaker 76 provided on the output unit 7 is connected to a voltage supply path connecting the power input terminal block 81 and the noise filter 82. The noise filter 82 includes a filter circuit for removing noise superimposed on the AC voltage supplied to the main circuit unit 5.

[0062] (Electric unit assembly process) Fig.12 , Fig.13 , Fig.14 It is an explanatory diagram showing a part of the assembly process of the electric unit 10 . Fig.12 It is an explanatory diagram of the process of assembling the power circuit unit 4. Fig.13 It is an explanatory diagram of the process of assembling the main circuit unit 5. Fig.14 1 is an explanatory diagram of a process of assembling the driver unit 3. When assembling the controller 1, for example, the assembly process described below can be performed. In addition, the assembly process described below is an example, and is not limited to this order.

[0063] For example, Fig.12 As shown, the three electrical units 10 (power input unit 8, output unit 7 and interface unit 6) on the front panel 23 side are assembled to the housing body 2A. Figure 5 and Figure 6 As shown, since each electric unit 10 is arranged in a manner that does not hinder the loading and unloading of other electric units 10, the three electric units 10 can be installed in any order.

[0064] Next, the power circuit unit 4 and the main circuit unit 5 arranged in the center of the three electrical units 10 on the back panel 24 side are assembled. Fig.12 , Fig.13 As shown in FIG. 1 , first assemble the power circuit unit 4. Then, as shown in FIG. Fig.13 As shown, the main circuit unit 5 is assembled on the Y1 side of the power circuit unit 4.

[0065] like Fig.14 As shown, it is necessary to draw the power distribution cable 12 between the main circuit unit 5 and the power input unit 8. Figure 5 As shown, in this embodiment, the power circuit unit 4 is arranged at a position retreated from the rear panel 24 compared to the two electrical units 10 (main circuit unit 5, driver unit 3) on both sides. Fig.14 As shown, the power distribution cable 12 extends along the X2 direction inside the side panel 26, and then extends along the Y1 direction inside the back panel 24, from the gap S between the power circuit unit 4 and the back panel 24 toward the main circuit unit 5. Fig.14 Although not shown in the figure, the power distribution cable 12 is drawn around the end portion on the Y1 side of the first substrate 51 and connected to the connector on the first substrate 51 .

[0066] After the driver unit 3 is assembled, the power distribution cable 12 is passed through the gap between the driver unit 3 and the housing body 2A. When the main circuit unit 5 is installed or removed, the power distribution cable 12 is disconnected from the connector on the first substrate 51 to remove only the main circuit unit 5.

[0067] (Cooling effect of the drive unit fan) Fig.15 FIG. 4 is a top view of the driver unit 3, the power supply circuit unit 4 and the main circuit unit 5. Fig.15 In the figure, the frame top plate 303 of the driver unit 3 is omitted, and the regenerative resistor 57 and the connection plate 503 of the main circuit unit 5 are omitted. Fig.16 This is a perspective view of the driver unit 3, the power circuit unit 4, and the main circuit unit 5 as viewed from the rear panel 24 side. Fig.16 In FIG. 5 , the regenerative resistor 57 and the connection plate 503 are omitted from the main circuit unit 5 , and the second base plate 501 is shown in a disassembled state.

[0068] like Fig.15 As shown in FIG. 1 , in the driver unit 3, the driver substrates 31 extending in the X direction are arranged in the Y direction. Gaps S1 and S2 for air to pass through are provided between adjacent driver substrates 31. Figure 5 ) is consistent with the X direction. The fan 32 is arranged at a position opposite to the two gaps S1 and S2. Therefore, when the fan 32 is driven, air flows through the gaps S1 and S2.

[0069] A power circuit unit 4 is arranged on the Y1 side of the driver unit 3, and is assembled as a whole into a thin shape parallel to the driver substrate 31. In the power circuit unit 4, the first voltage substrate 41 and the second voltage substrate 42 are arranged on the side facing the driver unit 3, and extend in parallel with the driver substrate 31. In the present embodiment, the end of the fan 32 of the driver unit 3 in the Y1 direction extends to a position facing a part of the gap S3 between the driver unit 3 and the power circuit unit 4. Therefore, when the fan 32 is driven, air flows not only through the gaps S1 and S2 of the adjacent driver substrates 31, but also through the gap S3 between the driver unit 3 and the power circuit unit 4.

[0070] Since the three driver substrates 31 are all provided with heat sinks 33 fixed on the surfaces on the Y1 side, the airflow from the fan 32 cools the heat sinks 33 at three locations. In addition, the power circuit unit 4 has electronic components 43 constituting the power circuit mounted on the substrate surfaces of the first voltage substrate 41 and the second voltage substrate 42 on the driver unit 3 side (Y2 side), so the air from the fan 32 flows through the location that generates more heat.

[0071] like Fig.13 , Fig.16 As shown, a notch 403 is formed at the end of the power circuit unit 4 on the back panel 24 side (X2 side). As described above, the power circuit unit 4 is retracted toward the X1 side until a gap S is formed between it and the back panel 24 (see FIG. Figure 5 ) position, so that the notch portion 403 faces the gap S3 through which the air from the fan 32 passes. Fig.16 It can be seen that the notch 403 faces the heat dissipation component 519 of the main circuit unit 5. Fig.16 As shown by the arrow in , the airflow from the fan 32 flows toward the heat sink 519 via the notch 403. Therefore, the heat sink 519 is cooled.

[0072] like Figure 2 As shown in FIG. 1 , the housing 2 is provided with vents 23d and 23e on the front panel 23, and air is exhausted to the front side, but there is no vent in the central portion of the front panel 23 located on the X1 side of the power circuit unit 4. The three-dimensional model of this embodiment is used to perform fluid analysis, and the results confirm that when the fan 32 is driven, an airflow ( 23d, 23e ) is generated from the airflow along the power circuit unit 4 and returns to the main circuit unit 5 side via the output unit 7 and the interface unit 6. Figure 5 In addition, the flow velocity of the airflow in each part of the housing 2 was determined by fluid analysis, and it was confirmed that the air flows throughout the entire interior of the housing 2, and the difference in flow velocity due to different positions is small.

[0073] As a layout different from the present embodiment, a fluid analysis was also performed using a three-dimensional model for a layout in which the configurations of the driver unit 3 and the power circuit unit 4 were swapped. However, it was confirmed that in this case, compared with the present embodiment, it was difficult for air to bypass the power circuit unit 4 side, and the flow rate near the power circuit unit 4 became lower, making it impossible to cool effectively.

[0074] In addition, in the present embodiment, an air intake fan that draws air from the vent 24a into the housing 2 is used as the fan 32, but an exhaust fan that exhausts air from the vent 24a to the outside of the housing 2 may be used. Even if the airflow directions are opposite, the power supply circuit unit 4 and the heat dissipation component 519 of the main circuit unit 5 can be cooled by one fan 32.

[0075] (Main effects of this embodiment) As described above, the controller 1 of the present embodiment includes: a main circuit unit 5; a driver unit 3 including a plurality of driver substrates 31 and a base member 11 for holding the driver substrates 31; and a housing 2 for housing the driver unit 3 and the main circuit unit 5. The main circuit unit 5 generates a DC voltage from an AC voltage and supplies the DC voltage to the driver substrate 31 for generating a drive current for driving an actuator. The main circuit unit 5 includes: a first substrate 51 including a rectifier circuit to which an AC voltage is input via a main circuit relay 510, a pre-driver power supply 513, and a brake power supply 514; a second substrate 52 including a plurality of main circuit capacitors 520 connected to the rectifier circuit; a safety relay module 56 for emergency stopping the actuator; a third substrate 53 including a signal relay 531 and a connector for connecting to the signal relay 531; and a second base frame 50 for fixing the first substrate 51, the second substrate 52, the third substrate 53, and the safety relay module 56.

[0076] According to the present embodiment, since the rectifier circuit, the main circuit relay 510, the pre-driver power supply 513, and the brake power supply 514, which were previously arranged on different substrates and fixed to the housing 2, are concentrated on the first substrate 51, the electronic components connected to the power wiring related to the function of AC-DC conversion can be concentrated in one place. In addition, by concentrating them on a common substrate, the wiring can be reduced, the number of substrates can be reduced, and the workload during assembly and the installation space can be reduced. Moreover, since a plurality of main circuit capacitors 520 are mounted on the second substrate 52, it is not necessary to assemble them separately on the housing 2 as in the case of using large electrolytic capacitors, and they can be assembled in the main circuit unit 5. In addition, since the third substrate 53 including the safety relay module 56 and the signal relay 531 are all fixed on the common second base frame 50, not only the function of AC-DC conversion but also the electronic components related to the emergency stop function can be concentrated. As a result, it is possible to further achieve improved assembly, reduced wiring, and space saving. In addition, since all the substrates and electronic components are fixed to the common second base frame 50 and the second base frame 50 is fixed to the bottom panel 21, it is possible to improve the grounding continuity.

[0077] In addition, in this embodiment, the components (rectifier circuit, main circuit relay 510, pre-driver power supply 513, brake power supply 514, main circuit capacitor 520, signal relay 531 and connector 532) concentrated in the main circuit unit 5 are divided into three substrates (first substrate 51, second substrate 52 and third substrate 53) for installation, but the number of substrates is not limited to three. That is, the main circuit unit 5 only needs to have a structure in which at least one substrate on which these components are installed and the safety relay module 56 are fixed to the common second base frame 50.

[0078] In the present embodiment, the first substrate 51 and the second substrate 52 are stacked. The first substrate 51 is provided with a main circuit relay 510, a rectifier circuit, a pre-driver power supply 513, and a brake power supply 514 on the substrate surface opposite to the second substrate 52. The second substrate 52 is provided with a plurality of main circuit capacitors 520 on the substrate surface opposite to the first substrate 51. If the substrates are arranged in such an orientation, no electronic components are arranged between the two substrates, so that the distance between the substrates can be reduced. In addition, since the surface on which the electronic components are not mounted has a portion protruding from the substrate surface such as the legs of the mounted components, it is necessary to keep a distance from other components when exposing the surface to the outside. Therefore, by making the surface on which the electronic components are not mounted face each other instead of facing the outside, a space-saving configuration can be achieved.

[0079] In the present embodiment, a plurality of spacers 54 and 55 are provided between the first substrate 51 and the second substrate 52, and a part of the plurality of spacers 54 and 55 (two spacers 55) also serves as power wiring for connecting the first substrate 51 and the second substrate 52. Therefore, it is not necessary to provide wiring different from the spacers 55 between the first substrate 51 and the second substrate 52, so that wiring components and terminal components can be reduced, and the substrate can be miniaturized.

[0080] In the present embodiment, the second substrate 52 has a substrate end 52a that does not overlap with the first substrate 51. A power wiring connector 521 for connecting a power wiring for supplying a DC voltage to the driver substrate 31 is arranged on the substrate surface on the first substrate 51 side (Z2 side) of the substrate end 52a. A heat sink 519 is fixed to the edge of the substrate end 52a side of the first substrate 51. A diode bridge 515 of a rectifier circuit is fixed to the heat sink 519. In this way, by arranging the power wiring connector 521 upward at the substrate end, the workability when connecting the power wiring between the main circuit unit 5 and the driver substrate 31 is improved. In addition, by arranging the power wiring connector 521 and the heat sink 519 on the same side, it is easy to arrange them on the driver substrate 31 side at the same time. Therefore, it is easy to shorten the wiring length, and the airflow from the fan 32 that cools the driver substrate 31 easily reaches the heat sink 519. Therefore, it is easy to cool the heat sink 519.

[0081] In the present embodiment, the second base frame 50 includes a flat second base plate 501 and a pair of second substrate mounting plates 502 that stand parallel to the second base plate 501. The first substrate 51 and the second substrate 52 are mounted between the pair of second substrate mounting plates 502. The third substrate 53 is fixed to one of the pair of second substrate mounting plates 502 from the side (X1 side) opposite to the side where the first substrate 51 and the second substrate 52 are located in a posture parallel to the second substrate mounting plate 502. The safety relay module 56 is fixed to the second base plate 501 at a position adjacent to the pair of second substrate mounting plates 502. When the substrates are assembled in this way, the first substrate 51 is arranged on the upper part of the unit, and the third substrate 53 is arranged on the side of the unit. Therefore, when the connectors for connecting the wiring from the power supply side are assembled on the first substrate 51 on which the main circuit relay 510 and the rectifier circuit are mounted, the connection to these connectors can be made from the upper side, so the wiring connection is easy. In addition, since the third substrate 53 is arranged on the side of the unit, it is easy to connect the signal line to the third substrate 53. In addition, it is easy to separate signal lines and power wiring for layout.

[0082] In this embodiment, the third substrate 53 is provided with a signal relay 531 in the lower region on the second base plate 501 side (Z1 side), and a connector 532 is provided in the upper region on the opposite side (Z2 side) to the second base plate 501. If the layout is performed in this way, when the main circuit unit 5 is assembled on the bottom panel 21, the connector 532 is arranged at the upper part of the unit side surface. Therefore, since the connection to the connector 532 can be made from the upper side, it is easy to connect the signal line.

[0083] In this embodiment, the main circuit unit 5 includes the regenerative resistor 57, so it is not necessary to fix the regenerative resistor 57 separately to the housing 2. In addition, the second base frame 50 includes a connecting plate 503 that is mounted between the front ends of a pair of second substrate mounting plates 502 and covers the first substrate 51 and the second substrate 52, and the regenerative resistor 57 is fixed to the connecting plate 503. Therefore, the regenerative resistor 57 can be centrally arranged in the main circuit unit.

[0084] (Other embodiments) The present invention may take the following forms. (1) A main circuit unit that generates a DC voltage from an AC voltage and supplies the DC voltage to a driver substrate that generates a drive current for driving an actuator, comprising: at least one substrate provided with a main circuit relay, a rectifier circuit for inputting an AC voltage via the main circuit relay, a pre-driver power supply, a brake power supply, a plurality of main circuit capacitors connected to the rectifier circuit, a signal relay, and a connector for connecting to the signal relay; a safety relay module for causing an emergency stop of the actuator; and A base frame fixes the at least one substrate and the safety relay module.

[0085] (2) In the main circuit unit of (1) above, The at least one substrate comprises: a first substrate configured with the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply; a second substrate provided with the main circuit capacitor; and A third substrate is provided with the signal relay and the connector.

[0086] (3) In the main circuit unit of (2) above, The first substrate and the second substrate are stacked, The first substrate has the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply mounted on a substrate surface opposite to the second substrate. The second substrate has the plurality of main circuit capacitors mounted on a substrate surface opposite to the first substrate.

[0087] (4) In the main circuit unit of (2) or (3) above, A plurality of spacers are provided between the first substrate and the second substrate, Some of the plurality of spacers are spacers for power wiring that also serve as power wiring that connects the first substrate and the second substrate.

[0088] (5) In the main circuit unit described in any one of (2) to (4) above, The second substrate has a substrate end portion that does not overlap with the first substrate. A power wiring connector is arranged on the substrate surface on the first substrate side at the substrate end portion, and the power wiring connector is connected to a power wiring for supplying a DC voltage to the driver substrate. A heat dissipation member is fixed to an edge of the first substrate on the substrate end side, and a diode bridge of the rectifier circuit is fixed to the heat dissipation member.

[0089] (6) In the main circuit unit described in any one of (2) to (5) above, The base frame includes a flat base plate and a pair of substrate mounting plates extending parallel to the base plate. The first substrate and the second substrate are mounted between the pair of substrate mounting plates. The third substrate is fixed to one of the pair of substrate mounting plates from a side opposite to the side where the first substrate and the second substrate are located in a posture parallel to the substrate mounting plate. The safety relay module is fixed to the base plate at a position adjacent to the pair of substrate mounting plates.

[0090] (7) In the main circuit unit described in any one of (2) to (6) above, The third substrate has the signal relay arranged in a lower region on the base plate side, and has the connector arranged in an upper region on the opposite side to the base plate.

[0091] (8) In the main circuit unit described in any one of (2) to (7) above, The main circuit unit includes a regenerative resistor, The base frame includes a connection plate that is bridged between the front ends of the pair of substrate mounting plates to cover the first substrate and the second substrate, and the regenerative resistor is fixed to the connection plate.

[0092] (9) A controller comprising: The main circuit unit according to any one of (1) to (8) above; a driver unit including a plurality of the driver substrates and a base member for holding the driver substrates; and A housing accommodates the driver unit and the main circuit unit. Explanation of symbols

[0093] 1…controller, 2…housing, 2A…housing body, 2B…cover, 3…driver unit, 3A…driver substrate unit, 4…power circuit unit, 5…main circuit unit, 6…interface unit, 7…output unit, 8…power input unit, 10…electrical unit, 11…base member, 12…power distribution cable, 21…bottom panel, 22…top panel, 23…front panel, 23a, 23b, 23c…opening, 23d, 23e…vent, 24…back panel, 24a…vent, 25, 26, 27, 28…side panels, 27a, 28a…stepped portion, 29…boss portion, 29a…fixing hole, 30…first base frame, 3 1…Driver board, 32…Fan, 33…Heat sink, 34…Electronic component, 35…Connector, 36…Wiring board, 37…Connector, 38…Connector for connecting between units, 40…First base member, 41…First voltage board, 42…Second voltage board, 43…Electronic component, 50…Second base frame, 51…First board, 52…Second board, 52a…Board end, 53…Third board, 54, 55…Spacer, 56…Safety relay module, 57…Regenerative resistor, 60…Second base member, 61…First communication board, 62…Second communication board, 63…Third communication board, 64…Control circuit board, 65…Communication connection , 66...Connector for connecting between units, 70...Third base component, 70a...Opening portion, 71...External output connector, 72...Monitoring signal connector, 73, 74...Emergency stop connector, 75...Encoder connector, 76...Circuit breaker, 80...Fourth base component, 81...Power input terminal block, 82...Noise filter, 83...Grounding plate, 301...First base plate, 302...First substrate mounting plate, 303...Frame top plate, 304...Opening portion, 401...First mounting plate, 402...First fixing plate, 403...Notch portion, 404...Opening portion, 405...Spacer, 501...Second base plate, 502...Second substrate mounting plate, 5 03…connecting plate, 504…arm, 505…opening, 510…main circuit relay, 511…anti-shock resistor, 512…anti-shock relay, 513…pre-driver power supply, 514…brake power supply, 515…diode bridge, 516, 517, 518…connector, 519…heat dissipation component, 520…main circuit capacitor, 521…connector for power wiring, 522…LED lamp, 531…signal relay, 532…connector, 601…plate, 602…boss fixing portion, 701…connector mounting plate, 702…third fixing plate, 801…fourth mounting plate, 802…fourth fixing plate, S, S1, S2, S3…gap.

Claims

1. A main circuit unit that generates a DC voltage from an AC voltage and supplies the DC voltage to a driver substrate that generates a drive current for driving an actuator, characterized in that: have: at least one substrate, the at least one substrate being provided with a main circuit relay, a rectifier circuit for inputting an AC voltage via the main circuit relay, a pre-driver power supply, a brake power supply, a plurality of main circuit capacitors connected to the rectifier circuit, a signal relay, and a connector for connecting to the signal relay; A safety relay module, the safety relay module is used to make the actuator stop urgently; as well as A base frame is provided to fix the at least one substrate and the safety relay module.

2. The main circuit unit according to claim 1, characterized in that: The at least one substrate comprises: a first substrate on which the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply are arranged; a second substrate on which the main circuit capacitor is arranged; and A third substrate on which the signal relay and the connector are arranged.

3. The main circuit unit according to claim 2, characterized in that: The first substrate and the second substrate are stacked, The first substrate has the main circuit relay, the rectifier circuit, the pre-driver power supply, and the brake power supply mounted on a substrate surface opposite to the second substrate. The second substrate has the plurality of main circuit capacitors mounted on a substrate surface opposite to the first substrate.

4. The main circuit unit according to claim 3, characterized in that: A plurality of spacers are provided between the first substrate and the second substrate, Some of the plurality of spacers are spacers for power wiring that also serve as power wiring that connects the first substrate and the second substrate.

5. The main circuit unit according to claim 3, characterized in that: The second substrate has a substrate end portion that does not overlap with the first substrate. A power wiring connector is arranged on the substrate surface on the first substrate side at the substrate end portion, and the power wiring connector is connected to a power wiring for supplying a DC voltage to the driver substrate. A heat dissipation member is fixed to an edge of the first substrate on the substrate end side, and a diode bridge of the rectifier circuit is fixed to the heat dissipation member.

6. The main circuit unit according to claim 3, characterized in that: The base frame includes a flat base plate and a pair of substrate mounting plates extending parallel to the base plate. The first substrate and the second substrate are mounted between the pair of substrate mounting plates. The third substrate is fixed to one of the pair of substrate mounting plates from a side opposite to the side where the first substrate and the second substrate are located in a posture parallel to the substrate mounting plate. The safety relay module is fixed to the base plate at a position adjacent to the pair of substrate mounting plates.

7. The main circuit unit according to claim 6, characterized in that: The third substrate has the signal relay arranged in a lower region on the base plate side, and has the connector arranged in an upper region on the opposite side to the base plate.

8. The main circuit unit according to claim 6, characterized in that: The main circuit unit includes a regenerative resistor, The base frame includes a connection plate that is bridged between the front ends of the pair of substrate mounting plates to cover the first substrate and the second substrate, and the regenerative resistor is fixed to the connection plate.

9. A controller, characterized in that: have: The main circuit unit according to any one of claims 1 to 8; a driver unit including a plurality of the driver substrates and a base member for holding the driver substrates; as well as A housing houses the driver unit and the main circuit unit.

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