Control device, control system, and determination method

Abstract

To determine a motor while suppressing a current flow to the motor.SOLUTION: A control device can connect one of different types of motors, and can control the connected motor on the basis of an output signal of the corresponding one of encoders disposed for respective motors. The control device includes a plurality of power source supply paths that are disposed for the respective types of the motors and supply power sources for the encoders, a selection unit that selects among the power source supply paths, and a determination unit that determines the type of the motor on the basis of the presence / absence of an output signal from the corresponding encoder when power is supplied to the encoder via the power source supply path selected by the selection unit.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a control device, a control system, and a determination method. [Background technology]

[0002] Conventionally, there are techniques for identifying motor types. For example, there is a technique for identifying the type of motor by comparing a threshold value determined based on the current value distribution when a specific voltage is applied to the motor with a measured current value (see Patent Document 1). With this conventional technique, when trying to identify a motor with a small winding resistance and a relatively large current flowing through it by current response, it was necessary to pass a large current until the current value was saturated. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-141864 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the conventional technology, the current that can be passed is limited due to the circuitry used, and it is difficult to pass a current until the current value becomes saturated depending on the motor. Therefore, depending on the magnitude of the motor's winding resistance, there is a risk that the motor cannot be identified by the current response.

[0005] Furthermore, there is a problem that supplying electricity to the motor for the determination is undesirable because it may cause the motor to move unnecessarily.

[0006] An object of the technology disclosed herein is to provide a control device, a control system, and a discrimination method that are capable of discriminating between motors while suppressing the supply of electricity to the motors. [Means for solving the problem]

[0007] The control device disclosed herein is a control device that is capable of connecting one motor of a different type and controlling the connected motor based on the output signal of an encoder provided corresponding to each motor, and includes: a power supply path that is provided in plurality according to the type of motor and supplies power to the encoder; a selection unit that selects one or more of the plurality of power supply paths in accordance with predetermined selection conditions; and a discrimination unit that discriminates the type of motor based on the presence or absence of an output signal from the encoder when power is supplied to the encoder via the power supply path selected by the selection unit. Effect of the Invention

[0008] The control device, control system, and discrimination method disclosed herein have the advantage of being able to discriminate the motor while suppressing the supply of current to the motor. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of the control system. [Diagram 2] FIG. 2 is a schematic diagram showing an example of determination by switching the encoder power supply. [Diagram 3] FIG. 3 is a graph showing an example of current response for each type of motor. [Figure 4] FIG. 4 is a block diagram showing a functional configuration of a control system including each unit of the control device. [Diagram 5] FIG. 5 is a flowchart showing the flow of the determination process. [Figure 6] FIG. 6 shows an example in which a power supply path is determined for each unit. [Figure 7] FIG. 7 is a diagram showing a flow of a modified example. [Figure 8] FIG. 8 is a diagram illustrating an example of a circuit configuration of a differential receiver. [Figure 9] FIG. 9 shows an example in which multiple cables according to the type of motor are detachably connected. [Figure 10]FIG. 10 shows an example of a case where multiple cables according to the type of motor are detachably connected. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an example of an embodiment of the disclosed technology will be described with reference to the drawings. In each drawing, the same or equivalent components and parts are given the same reference numerals. In addition, the dimensional ratios of the drawings are exaggerated for the convenience of explanation and may differ from the actual ratios.

[0011] An outline of an embodiment of the present disclosure will be described. For example, in order to enable one controller (control device) to control one motor of a different type, such as one with a different winding resistance value, the control device needs to set parameters suitable for the connected motor. It is better that this parameter setting is performed automatically by the control device rather than manually. In general, there is a means for identifying a motor connected to a control device by utilizing the magnitude of saturation current and rapid response when a voltage is applied to the motor. Problems with this identification include the fact that a motor that requires a current exceeding the detectable range of current to be passed in order to saturate the current because the resistance value is small cannot be identified, and that individual differences in inductance and the characteristics of the connected cable affect the rapid response, making it difficult to identify. Therefore, it is preferable to be able to identify the motor without passing current through it as much as possible.

[0012] In this embodiment, a system having multiple encoder power supply paths is constructed to identify the connected motor. By associating a combination of motor type and encoder power supply path, it becomes possible to identify the motor based on the power supply switching operation and the presence or absence of an encoder response signal when switching.

[0013] FIG. 1 is a diagram showing a schematic configuration of a control system 1. The control system 1 includes a control device 10, a teaching device 12, and an actuator 14. The control device 10 and the teaching device 12 are connected by a cable 20 (20A), and the control device 10 and the actuator 14 are connected by a cable 20 (20B). The actuator 14 mainly includes a motor encoder unit 30, a slider (moving body) 32, a feed screw shaft 34, a feed screw nut 36, and an actuator cover 38. When the feed screw shaft 34 rotates by the drive of the motor, the feed screw nut 36 moves in the axial direction of the feed screw shaft 34. The slider 32 moves in the lateral direction in response to this, and the actuator 14 operates.

[0014] In addition, the control device 10 and the teaching device 12 have the functions of a general computer as a hardware configuration, and have a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), storage, an input unit, a display unit, a communication interface, etc.

[0015] In this embodiment, the discrimination of three types of motors (for example, two-phase stepping motors) of the motor encoder unit 30 to be discriminated in this embodiment is exemplified. The three types of motors are classified by winding resistance value, and 4 [A], 1.2 [A], and 0.4 [A] types are provided according to the winding resistance value. The following first and second discrimination methods are combined to discriminate the three types of motors. First, the cable used is identified by switching between a 4 [A] cable and a non-4 [A] cable for supplying power to the encoder and confirming the presence or absence of an output signal from the encoder, and it is indirectly discriminated whether or not it is a 4 [A] motor (first motor). Second, a discrimination using the difference in current response due to the resistance value of the winding is combined to discriminate between a 1.2 [A] motor (second motor) and a 0.4 [A] motor (third motor).

[0016] A first discrimination method is illustrated. FIG. 2 is a schematic diagram showing an example of discrimination by switching the encoder power supply. FIG. 2 illustrates a case where the encoder power supply is switched by switching between two types of cables, a 4[A] cable (20B1) and a non-4[A] cable (20B2), as the cable 20B connecting the encoder of the motor encoder unit 30 and the control device 10. In the example of FIG. 2, the 4[A] cable 20B1 has a power supply path connected from the input terminal b1 to the output terminal c1 for the 4[A] power supply, and is not connected (cut off) from the input terminal b2. In addition, the non-4[A] cable 20B2 has a power supply path connected from the input terminal b2 to the output terminal c1 for the non-4[A] power supply, and is not connected (cut off) from the input terminal b1. In addition, each cable has input terminals d1 and d2 for output signals, and output terminals e1 and e2. The control device 10 performs a power supply switching process as an input. Furthermore, when the encoder receives power supply, it transmits an A-phase output signal and a B-phase output signal to the control device 10. The encoder outputs differential signals as output signals, and also transmits output signals of opposite phases to the A-phase output signal and the B-phase output signal to the control device 10, but these input / output terminals are not shown. The control device 10 performs an encoder signal confirmation process for the output signal from the encoder. In this way, since the input terminals of the pins to be connected are assigned to each type of motor, when a different type of motor is connected, no power is supplied to the encoder side and no signal is output. In the following explanation, for the sake of convenience, the explanation of the input / output terminals of the power supply and the signals is omitted.

[0017] In the second discrimination method, 24 [V] is applied to the motor windings, and if the current response [A] exceeds a threshold, it is discriminated as a non-0.4 [A] motor. If the current response [A] does not exceed the threshold even after continuing to apply the voltage for a specified time (e.g., 10 [ms]), it is discriminated as a 0.4 [A] motor. The threshold may be determined using the "minimum winding resistance value [Ω] at which it can be determined that the motor is a 0.4 [A] motor" as an index. For example, if the resistance value is 8 [Ω], the threshold value can be determined as 24 [V] ÷ 8 [Ω] = 3 [A]. Note that the control device 10 includes, as a means for detecting the current response, a current detection unit (not shown) that detects the current flowing through each of a plurality of switching elements constituting the driver 10D described later as a current response. In the case of a two-phase stepping motor, for example, currents of A phase, B phase, and their reverse phases / A phase and / B phase are detected as the current response.

[0018] FIG. 3 is a graph showing an example of the current response for each type of motor. The graph shows the transition of the current value of the current response of three types of motors: a first motor with M1: 4 [A], a second motor with M2: 1.2 [A], and a third motor with M3: 0.4 [A]. A motor that does not exceed the discrimination threshold α (current threshold) can be discriminated from the third motor. The threshold utilizes the property that the 0.4 [A] motor has a large electrical resistance [Ω], so that even if 24 [V] is continuously applied, a large current does not occur. On the other hand, in order to discriminate between the 4 [A] motor and the 1.2 [A] motor by comparing the current response with a threshold other than the threshold α, it is necessary to continue to flow the current at least until the current response of the 1.2 [A] motor is saturated. However, if the current detectable range of the control device 10 is limited, it may not be possible to discriminate the motor by comparing the current response with the threshold. 3 shows a case where the upper limit value β (e.g., 8 [A]) of the current detectable range of the control device 10 is smaller than the current saturation values ​​of the 4 [A] motor and the 1.2 [A] motor. In this case, even if current is passed through the 4 [A] motor and the 1.2 [A] motor until the current response is saturated, the control device 10 cannot detect the current response, and therefore the motor cannot be identified by comparing the current response with a threshold value. As described above, in the example shown in FIG. 3, the only motor that can be identified by the threshold value alone is M3, so it is necessary to identify M1 and M2 as well.

[0019] FIG. 4 is a block diagram showing a functional configuration of the control system 1 including each part of the control device 10. In the example of FIG. 4, the cable is not particularly specified, and a plurality of cables are provided according to the type of motor, and the embodiment will be described as a power supply path 22 that supplies power for the encoder. A plurality of types of cables may be prepared according to the motor. Here, the first power supply path 22a includes a first output terminal provided on the control device 10, and the input terminal of b1 is connected to the first output terminal. In addition, the second power supply path 22b includes a second output terminal provided on the control device 10, and the input terminal of b2 is connected to the second output terminal. In addition, each power supply path is connected to supply power across the control device 10, the cable 20, and the actuator 14. The cable 20 functions as a part of the power supply path 22 by being connected to the power supply path 22.

[0020] The control device 10 includes a DC-DC converter 10A, a microcomputer 10B, a receiving circuit 10C, a driver 10D, a switching transistor 10E, and a first power supply path 22a and a second power supply path 22b connected to an encoder 30B. The microcomputer 10B includes a selection section 100, a discrimination section 102, a parameter setting section 104, and a control section 106. The motor encoder unit 30 of the actuator 14 includes a motor 30A, an encoder 30B, and an encoder circuit 30C. The first power supply path 22a supplies power to the encoder of the first motor (4 [A] motor). The second power supply path 22b supplies power to both the encoder of the second motor (1.2 [A] motor) and the encoder of the third motor (0.4 [A] motor). In the following description, the reference numerals are omitted when it is not necessary to specify which power supply path is used. Moreover, each power supply path supplies power to the encoder circuit 30C. In this specification, "supplying power for the encoder" means supplying power to the encoder circuit 30C.

[0021] The selection unit 100 outputs a signal for selecting the power supply to the switching transistor 10E, and switches the power supply between the first power supply path 22a and the second power supply path 22b. By switching, power is supplied from the DC-DC converter 10A to the encoder 30B through one of the power supply paths. In this manner, one or more of the multiple power supply paths are selected according to a predetermined selection condition. The selection condition may be determined in advance as to which power supply path is to be turned ON or OFF at the branch of processing, as shown in the flow described later. By appropriately selecting a power supply path to supply power and determining the output signal, it is possible to determine the type of motor.

[0022] When power is supplied from the power supply path, the encoder 30B outputs output signals (A+ signal and A- signal) to the control device 10. Note that Fig. 4 shows an example of A-phase, and the encoder 30B has a B-phase as another output signal.

[0023] The receiving circuit 10C receives the output signal from the encoder 30B, and outputs to the determining unit 102 whether or not there is an output signal.

[0024] The discrimination unit 102 discriminates the type of motor based on the presence or absence of an output signal from the encoder 30B when power is supplied to the encoder 30B via the power supply path selected by the selection unit 100. The discrimination will be described later in the process flow.

[0025] A parameter setting unit 104 sets control parameters suited to the type of motor according to the discrimination result of the discrimination unit 102, and transmits the parameters to a control unit 106. The parameters are numerical values ​​necessary for controlling the motor, such as a torque constant, an upper torque limit, a rated current, and a rated speed.

[0026] The control unit 106 transmits a control signal to the driver 10D according to the parameters set by the parameter setting unit 104, and controls the power supply to the motor 30A via the driver 10D, thereby controlling the driving of the motor. The control device 10 is connected to the teaching device 12, and is therefore capable of controlling the driving of the motor according to the user's operation to operate the actuator 14. For example, the user can operate the teaching device 12 to perform adjustment operations such as a jog operation in which the slider 32 is moved only while an operation command is being output, and a pitch feed operation in which the slider 32 is moved and stopped by a certain pitch (interval) repeatedly. The teaching device 12 has a function of generating position data of the slider 32 and the like, as well as generating an operation program for the actuator 14 according to the generated position data, and inputting the program to the control device 10.

[0027] (Processing flow) Next, there will be described a flow of processing by the control system 1. Fig. 5 is a flowchart showing the flow of the determination processing.

[0028] In step S100, the control device 10 as the selection unit 100 turns on the encoder power supply from the first power supply path 22a (for 4 [A]) and the second power supply path 22b (for non-4 [A]).

[0029] In step S102, the control device 10, functioning as the discrimination unit 102, determines whether or not there is an output signal from the encoder 30B. If there is an output signal, the process proceeds to step S104, and if there is no output signal, the process proceeds to step S90. In step S90, the control device 10, functioning as the discrimination unit 102, outputs a discrimination result indicating that the motor is not connected.

[0030] In step S104, the control device 10 functioning as the selection unit 100 turns off the encoder power supply from the second power supply path 22b (for non-4[A]).

[0031] In step S106, the control device 10, functioning as the discrimination unit 102, determines whether or not there is an output signal from the encoder 30B. If there is an output signal, the process proceeds to step S108, and if there is no output signal, the process proceeds to step S110.

[0032] In step S108, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the first motor (4 [A] motor).

[0033] In step S110, the control device 10 applies 24 V to the motor windings.

[0034] In step S112, the control device 10, as the discrimination unit 102, determines, for example, whether 10 [ms] has elapsed while the current response remains at or below 3 [A]. If it is determined that the time has elapsed, the process proceeds to step S116, and if it is determined that the time has not elapsed, the process proceeds to step S114.

[0035] In step S114, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the second motor (1.2 [A] motor).

[0036] In step S116, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the third motor (0.4 [A] motor).

[0037] As described above, the control system 1 can distinguish the motor while suppressing the supply of electricity to the motor.

[0038] As described above, according to the method of the present embodiment, it is possible to discriminate the type of motor by suppressing the supply of electricity to the motor. For example, when comparing the current response and the threshold value by supplying electricity to the motor, which is conventionally performed to discriminate between 4 [A] and 1.2 [A] motors, whose winding resistance values ​​are relatively small and whose resistance values ​​are not so different, it is necessary to supply a large current to create a saturated state in which the current response differs. However, if the current that can be supplied is limited in the circuit due to a limited range in which the current can be detected, it is not possible to discriminate the type of motor. In response to this, it is possible to discriminate the type of motor by suppressing the supply of electricity to the motor by supplying power to the encoder (circuit) through a path according to the motor's rating and determining the presence or absence of an output signal from the encoder.

[0039] As a specific example of applying a predetermined voltage to a motor, for example, in the case of a two-phase stepping motor, a voltage may be applied only to phase A. In this case, there is a possibility of some movement. Therefore, by adopting the method of this embodiment that can identify the motor without passing electricity through the motor as much as possible, it is possible to suppress some movement of the motor compared to the case of adopting a discrimination method that involves passing electricity.

[0040] (Modification) The above-mentioned power supply paths may be designed so that the presence or absence of a connection line of the power supply path is determined for the motor encoder unit 30 for each type of motor. FIG. 6 shows an example of a case where a power supply path is determined for each unit. As shown in FIG. 6, the cable 20C connecting the motor encoder unit 30 and the control device 10 has a cable configuration different from that shown in FIG. 2. The cable configuration of the cable 20C is such that a power supply path is connected from the input terminal b1 to the output terminal f1 for supplying power for 4 [A], and a power supply path is connected from the input terminal b2 to the output terminal f2 for supplying power for 1.2 [A] and 0.4 [A]. That is, in the example shown in FIG. 6, the cable 20C is not blocked inside, and it is not necessary to prepare a cable for each type of motor. Note that the motor is not shown in FIG. 6. As shown in FIG. 6, the first power supply path 22a (current supply path A) is configured by designing units (4 [A] unit and 0.4 [A] unit) to supply power to the first encoder and the third encoder corresponding to the first motor and the third motor, respectively. In addition, the second power supply path 22b (current supply path B) is configured by designing units (1.2 [A] unit and 0.4 [A] unit) to supply power to the second encoder and the third encoder corresponding to the second motor and the third motor, respectively. More specifically, in the 4 [A] unit, when the cable 20C (output terminal f1 and output terminal f2) is connected to the first input terminal a1 and the second input terminal a2 to supply power, the first input terminal a1 is connected to the encoder 30B (encoder circuit 30C), and the second input terminal a2 is disconnected from the encoder 30B (encoder circuit 30C). Therefore, electricity is supplied to the encoder 30B from the first input terminal a1, and electricity is not supplied to the encoder 30B from the second input terminal a2. In the 1.2[A] unit, when the cable 20C (output terminals f1 and f2) is connected to the first input terminal a1 and the second input terminal a2 and power is supplied, the second input terminal a2 is connected to the encoder 30B (encoder circuit 30C), and the connection between the first input terminal a1 and the encoder 30B (encoder circuit 30C) is cut off.Therefore, the second input terminal a2 supplies current to the encoder 30B, and the first input terminal a1 does not supply current to the encoder 30B. In the 0.4[A] unit, when the cable 20C (output terminals f1 and f2) is connected to the first input terminal a1 and the second input terminal a2 to supply power, the first input terminal a1 is connected to the encoder 30B (encoder circuit 30C) and the second input terminal a2 is also connected to the encoder 30B (encoder circuit 30C). However, when a power supply path is determined for each motor encoder unit 30 having a motor and an encoder corresponding to the motor as shown in FIG. 6, the cable connecting the motor encoder unit 30 and the control device 10 is not limited to the cable 20C. For example, a cable having a cable configuration in which a part of the inside is blocked for each type of motor, such as the cables 20B1 and 20B2 shown in FIG. 2, may be applied.

[0041] (Modification of flow) Next, a modified example of the above flow will be described. In this modified example, the presence or absence of an output signal is determined only by ON / OFF of the power supply path. Fig. 7 is a diagram showing the flow of the modified example. For convenience, the first power supply path 22a will be referred to as "power supply path A" and the second power supply path 22b will be referred to as "power supply path B".

[0042] In step S200, the control device 10 functioning as the selection unit 100 turns the power supply path A ON and the power supply path B OFF.

[0043] In step S202, the control device 10, functioning as the discrimination unit 102, determines whether or not there is an output signal from the encoder 30B. If there is an output signal, the process proceeds to step S204, and if there is no output signal, the process proceeds to step S212.

[0044] In step S204, the control device 10 functioning as the determination unit 102 turns the power supply path A OFF and turns the power supply path B ON.

[0045] In step S206, the control device 10, functioning as the discrimination unit 102, determines whether or not there is an output signal from the encoder 30B. If there is an output signal, the process proceeds to step S208, and if there is no output signal, the process proceeds to step S210.

[0046] In step S208, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the third motor (0.4 [A] motor).

[0047] In step S210, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the first motor (4 [A] motor).

[0048] In step S212, the control device 10 functioning as the determination unit 102 turns the power supply path A OFF and turns the power supply path B ON.

[0049] In step S214, the control device 10, functioning as the discrimination unit 102, determines whether or not there is an output signal from the encoder 30B. If there is an output signal, the process proceeds to step S216, and if there is no output signal, the process proceeds to step S218.

[0050] In step S216, the control device 10, functioning as the discrimination unit 102, outputs the discrimination result with the second motor (1.2 [A] motor).

[0051] In step S218, the control device 10, functioning as the determining unit 102, outputs a determination result indicating that the motor is not connected.

[0052] (An example of a receiving circuit) Next, the details of the receiving circuit 10C will be described. The receiving circuit 10C uses a differential receiver. FIG. 8 is a diagram showing an example of the circuit configuration of a differential receiver. The encoder 30B outputs a differential signal as an output signal. The receiving circuit 10C is configured with a first differential receiver (30B1) that inputs one of the differential signals, A+, to the positive side and the other, A-, to the negative side, a second differential receiver (30B2) that inputs one of the differential signals, A+, to the negative side and the other, A-, to the positive side, and an output V of the first differential receiver. OUT1 and the output of the second differential receiver, V OUT2 and a logic circuit (30B3) that receives the output V of the first differential receiver 30B1 and outputs an exclusive OR of these. OUT1 includes an output that is input to the logic circuit 30B and an output that is input to the microcomputer 10B and used to control the motor 30A. In addition, the output of the logic circuit 30B3 is input to the microcomputer 10B.

[0053] The operation of a circuit with a differential receiver is as shown in Table 1 below. [Table 1]

[0054] The differential inputs A+ and A- are connected to the first differential receiver 30B1 and the second differential receiver 30B2 in a swapped manner. OUT1 and V OUT2 ) outputs an inverted value. Therefore, the XOR output (the output of the logic circuit 30B3) is always '1'. Also, when power is not supplied to the encoder, the differential input signal levels are the same, so the outputs of the two receivers (V OUT1 and V OUT2 ) will also be the same, and the output of the logic circuit 30B3 will be '0' (disconnection state). The discriminator 102 judges the presence or absence of an output from the encoder 30B according to the above output of the logic circuit 30B3.

[0055] 9 and 10 are examples of a case where a plurality of cables 22 are detachably connected according to the type of motor (a part of the configuration of the control device 10 is omitted). FIG. 9 shows a case where a cable 20B1 for 4[A] and a cable 20B2 for both 0.4[A] and 1.2[A] are detachably connected. FIG. 10 shows a case where a cable 20B1 for 4[A], a cable 20B2 for 1.2, and a cable 20B3 for 0.4[A] are detachably connected. Preparing a plurality of cables 22 according to the type of motor in this way is useful in the following cases. That is, for example, when a user uses the control device 10 together with the teaching device 12 as shown in FIG. 1, in order to avoid mistakenly connecting a motor of a type different from the motor that the user wants to use, in order to connect one motor of a different type, such as a motor with various winding resistance values, to the control device 10 and use it, cables are prepared according to the type of motor. As described above, in order to control a motor appropriately, the control device 10 needs to set parameters that are compatible with the connected motor, but to set the parameters, the control device 10 needs to identify the connected motor. Therefore, by preparing multiple cables 22 according to the type of motor, it becomes possible to use them as multiple power supply paths as shown in Fig. 4, and it is possible to identify the motor by suppressing the supply of electricity to the motor based on the switching of the power supply path and the presence or absence of an output signal from the encoder.

[0056] The present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the spirit and scope of the present invention.

[0057] For example, the above description has been given with an example in which up to three types of motors are identified using the winding resistance value as an index, but the present invention is not limited to this, and the control device may be configured to identify four or more types of motors. For example, the control device may be configured to identify motors with different torques. In this case, the number of output terminals of the control device 10 and the number of input terminals of the cable 20 may be increased as necessary for identification according to the number of types, and associated with each type. For example, the types of motors are configured to include n types from a first motor to an nth motor, and the power supply paths are configured to include m types from a first power supply path to an mth power supply path. The identification unit 102 may identify the type of the motor when there is an output signal from the encoder of the motor corresponding to the combination of the power supply paths to which power has been supplied. The number of types n is n≦2 m -1 (where n is an integer and m is an integer greater than or equal to 2). In other words, 2 m The motor type can be identified with an upper limit of -1. Note that if all power supply paths are OFF, no output signal is sent, so the upper limit is 2 m The result is -1.

[0058] Furthermore, although the present specification has been described as an embodiment in which the program is pre-installed, the program may also be provided by being stored on a computer-readable recording medium. [Explanation of symbols]

[0059] 1. Control System 10 Control device 12 Teaching device 14 Actuator

Claims

1. A control device capable of connecting one motor of a different type to each other and controlling the connected motor based on an output signal of an encoder provided for each motor, comprising: a power supply path, the power supply path being provided in plurality according to the type of the motor, for supplying power to the encoder; a selection unit that selects one or more of the power supply paths from among the plurality of power supply paths in accordance with a predetermined selection condition; a discrimination unit that discriminates the type of the motor based on the presence or absence of an output signal from the encoder when power is supplied to the encoder through the power supply path selected by the selection unit; A control device comprising:

2. The type of the motor includes two types: a first motor and a second motor; the power supply path includes a first power supply path that supplies power to an encoder of the first motor, and a second power supply path that supplies power to an encoder of the second motor, The discrimination unit is When the output signal is present in a case where only the first power supply path is selected and power is supplied, the motor is identified as the first motor; 2. The control device according to claim 1, wherein when only the second power supply path is selected to supply power, if there is an output signal, the control device discriminates that the motor is the second motor.

3. The types of the motor include three types: a first motor, a second motor, and a third motor; the power supply path includes a first power supply path that supplies power to encoders of the first motor and the third motor, and a second power supply path that supplies power to encoders of the second motor and the third motor, The discrimination unit is determining that the output signal is present when only the first power supply path is selected and power is supplied, and then determining that the motor is the first motor when the output signal is not present when only the second power supply path is selected and power is supplied, determining that there is no output signal when only the first power supply path is selected and power is supplied, and then determining that there is an output signal when only the second power supply path is selected and power is supplied, and determining that the motor is the second motor; 2. The control device according to claim 1, wherein after determining that the output signal is present when only the first power supply path is selected and power is supplied, the control device determines that the motor is the third motor when the output signal is present when only the second power supply path is selected and power is supplied.

4. The motor types are classified according to winding resistance values, The control device according to claim 1 , wherein the power supply paths are provided for each of the winding resistance values.

5. The types of the motors include three types: a first motor having a winding resistance value equal to or greater than a predetermined value, a second motor having a winding resistance value less than the predetermined value, and a third motor having a winding resistance value less than the winding resistance value of the second motor, the power supply path includes a first power supply path for an encoder of the first motor, and a second power supply path shared by an encoder of the second motor and an encoder of the third motor; The discrimination unit is determining that the motor is the first motor when the output signal is present in a state where only the first power supply path is selected and power is supplied; determining that the motor is the second motor or the third motor when the output signal is present in a state in which only the second power supply path is selected and power is supplied; 5. The control device according to claim 4, further comprising: a control unit for controlling a motor connected to the first motor and a control unit for controlling a current flowing through ...

6. The control device according to claim 5 , wherein the determining unit determines that the motor is the third motor when the current value remains equal to or less than a predetermined threshold for a predetermined period of time.

7. the encoder outputs a differential signal as the output signal, The control device includes: a first differential receiver that inputs one of the differential signals to a positive side and the other to a negative side; a second differential receiver that inputs one of the differential signals to a negative side and the other to a positive side; a logic circuit which receives an output of the first differential receiver and an output of the second differential receiver and outputs an exclusive OR of these; Further comprising:

7. The control device according to claim 1, wherein the determination unit determines the presence or absence of an output from the encoder in accordance with an output from the logic circuit.

8. The control device according to claim 7 , further comprising a control unit which controls the motor determined by the determination unit by setting parameters for controlling the motor.

9. the motor types include n types from a first motor to an n-th motor, the power supply path includes m types of power supply paths from a first power supply path to an m-th power supply path, The discrimination unit is determining the type of motor when the output signal is received from the encoder of the motor corresponding to the combination of the power supply paths to which power is supplied; n≦2 ｍ -1 (where n is an integer and m is an integer of 2 or more). The control device according to claim 1 .

10. A control system including a control device to which one different type of motor can be connected and which can control the connected motor based on an output signal of an encoder provided corresponding to each motor, and a cable connecting the motor and the control device, The type of the motor includes at least two types of a first motor and a second motor, The control device includes: a first power supply path for supplying power to an encoder of the first motor; a second power supply path for supplying power to an encoder of the second motor; a selection unit that selects at least one of the first power supply path and the second power supply path in accordance with a predetermined selection condition; a discrimination unit that discriminates the type of the motor based on the presence or absence of an output signal from the encoder when power is supplied to the encoder through the power supply path selected by the selection unit; Including, The cables include a first cable connected to the first power supply path and capable of supplying power to an encoder of the first motor, and a second cable connected to the second power supply path and capable of supplying power to an encoder of the second motor; a control system.

11. the first power supply path includes a first output terminal provided on the control device, the second power supply path includes a second output terminal provided on the control device, each of the first cable and the second cable includes an output terminal connected to the encoder, a first input terminal connected to the first output terminal, and a second input terminal connected to the second output terminal; 11. The control system of claim 10, wherein a break is provided between the second input terminal of the first cable and the output terminal, and between the first input terminal of the second cable and the output terminal.

12. A control system including a control device capable of connecting one unit having a different type of motor and an encoder corresponding thereto, and capable of controlling the motor of the connected unit based on an output signal of the encoder, and a cable connecting the unit and the control device, The type of the motor includes at least two types of a first motor and a second motor, the types of units include at least two types: a first unit having the first motor and a first encoder corresponding thereto, and a second unit having the second motor and a second encoder corresponding thereto; The control device includes: a first power supply path for supplying power to the first encoder; a second power supply path for supplying power to the second encoder; a selection unit that selects at least one of the first power supply path and the second power supply path in accordance with a predetermined selection condition; a discrimination unit that discriminates the type of the motor based on the presence or absence of an output signal from the encoder when power is supplied to the encoder of the connected unit through the power supply path selected by the selection unit; Including, when the cable is connected to a first input terminal and a second input terminal of the first unit and power is supplied thereto, the first input terminal is connected to the first encoder, and the second input terminal is disconnected from the first encoder; A control system, wherein when the cable is connected to the first input terminal and the second input terminal of the second unit and power is supplied, the second input terminal is connected to the second encoder and the first input terminal and the second encoder are disconnected.

13. A determination method executed by a control device capable of connecting one motor of a different type to each of the motors and controlling the connected motor based on an output signal of an encoder provided corresponding to each of the motors, the method comprising the steps of: a power supply path for supplying power to the encoder, the power supply path being provided in a plurality of power supply paths according to the type of the motor; and selecting one or more of the power supply paths from the plurality of power supply paths for supplying power to the encoder; determining the type of the motor based on the presence or absence of an output signal from the encoder when power is supplied to the encoder via a selected power supply path; Discrimination method.

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