Motor control device

Abstract

The present invention provides a motor control device that generates a composite signal indicating the current status of the motor, motor control device, etc., as desired by the user. [Solution] A motor control device 100 for controlling multiple motors 300, comprising: a receiving unit 110 for receiving setting signals from an external device 200 of the motor control device 100; and a composite signal generation unit 140 for generating a composite signal from multiple status signals that indicate the status of the multiple motors 300 and / or the status of the motor control device 100. The composite signal generation unit 140 determines a logical operation expression including multiple status signals based on the setting signal and generates a composite signal using the logical operation expression.

Description

Technical Field

[0001] The present invention relates to a motor control device.

Background Art

[0002] Patent Document 1 discloses a motor control device that generates a composite signal, which is a processing signal to be processed next, using a parallel arithmetic circuit based on data read from a motor that is a control target. By using the parallel arithmetic circuit, high-speed processing of the motor control device is enabled.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, there is a demand for a motor control device that can independently generate a composite signal indicating the current states of a plurality of motors by a user. The motor control device disclosed in Patent Document 1 does not include means for generating a composite signal indicating the current states of a plurality of motors based on a setting signal set by the user. Therefore, the user has to receive a plurality of signals indicating the current states of the respective motors from the motor control device in a host device of the motor control device, and generate a composite signal based on the plurality of signals. Therefore, there is a problem that the signal lines between the motor control device and the host device increase.

[0005] Therefore, an object of the present disclosure is to provide a motor control device that generates a composite signal indicating the state of a current motor, a motor control device, or the like desired by the user.

Means for Solving the Problems

[0006] A motor control device according to one aspect of the present disclosure is A motor control device that controls multiple motors, The motor control device includes a receiving unit that receives setting signals from an external device, A composite signal generation unit that generates a composite signal from multiple status signals indicating the status of multiple motors and / or the status of the motor control device, Equipped with, The composite signal generation unit is characterized by determining a logical operation expression including a plurality of state signals based on the setting signal, and generating the composite signal using the logical operation expression. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a motor control device that generates a composite signal indicating the current state of the motor, motor control device, etc., as desired by the user. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram of a motor control device according to the first embodiment of the present disclosure. [Figure 2] This is a flowchart for generating a composite signal. [Figure 3] This figure shows an example of a user settings screen displayed in the settings section of an external device. [Modes for carrying out the invention]

[0009] The embodiments of this disclosure will be described below with reference to the drawings. For the sake of clarity, the description of components having the same reference numeral as those already described in the description of the embodiments will be omitted.

[0010] Figure 1 is a block diagram of a motor control device 100 according to the first embodiment. As shown in Figure 1, the motor control device 100 is connected to an external device 200, which is a higher-level device of the motor control device 100, a plurality of motors 300, limit switches 400 for the objects that each motor 300 drives, and a power supply 500 for driving the motors, all by communication cables or the like. The power supply 500 for driving the motors is an AC power supply or a DC power supply, for example, a commercial power supply. In the example in Figure 1, for the sake of explanation, only one motor 300 is shown connected, but in reality, multiple motors are connected.

[0011] The external device 200 includes a setting unit 210 and a display unit 220. The external device 200 is, for example, a computer or a programmable logic controller. The setting unit 210 transmits a setting signal set by the user to the motor control device 100. The display unit 220 displays a screen corresponding to the composite signal output from the motor control device 100. The external device 200 may also include input devices such as a keyboard, mouse, or touch panel for setting the setting signal.

[0012] The user can select any signal from among various status signals as a selection signal, and have the motor control device 100 output a composite signal which is the result of a logical operation on the selected signal. The user can input a logical operation signal to an external device 200. The setting signals, including these instructions set by the user, are transmitted to the motor control device 100 through the setting unit 210. A selection signal is a signal that indicates the status of the motor and / or the status of the motor control device. A logical operation signal is a signal that indicates what kind of logical operation expression to set using the selection signal. A status signal is, for example, a binary signal.

[0013] As shown in Figure 1, the external device 200 may be configured to transmit a motor excitation ON signal, which is a control signal that instructs the motor control device 100 to turn on motor excitation, and an emergency stop signal, which instructs the motor control device 100 to perform an emergency stop.

[0014] The motor 300 is controlled by the motor control device 100. Multiple motors 300 are, for example, multi-axis transport motors for transporting objects, or drive motors for articulated robots. Each motor 300 has an encoder 310, an alarm generation unit 320, and a temperature sensor 330. The encoder 310 generates an analog or digital signal corresponding to the rotational position of the motor 300 and transmits it to the motor control device 100. The alarm generation unit 320 generates a motor alarm signal indicating a malfunction or other issue occurring in the motor 300 and transmits it to the motor control device 100. The temperature sensor 330 generates an analog or digital signal indicating the current temperature of the motor 300 and transmits it to the motor control device 100.

[0015] The limit switch 400 is, for example, a stopper sensor. The limit switch 400 is a sensor that detects when the object driven by the motor 300 exceeds the movement restriction limit and transmits this information to the motor control device 100. The limit switch 400 turns on the limit signal when the object driven by the motor 300 exceeds the movement restriction limit.

[0016] The power supply 500 is a power supply device that supplies power to the motor control device 100. The motor control device 100 converts the voltage and current values ​​of the power supplied from the power supply 500 into digital signals and transmits them to the status signal generation unit 130.

[0017] The motor control device 100 is a device that controls the motor 300. In addition to its primary function of controlling the motor 300, the motor control device 100 also has the function of generating a composite signal desired by the user. Note that the part that controls the motor 300 is not shown in Figure 1.

[0018] The motor control device 100 includes a receiving unit 110, a signal processing unit 120, a status signal generation unit 130, a composite signal generation unit 140, an output unit 150, an alarm generation unit 160, and a temperature sensor 170.

[0019] The receiving unit 110 receives the setting signal set by the setting unit 210. Among the received setting signals, the receiving unit 110 transmits the selection signal to the state signal generation unit 130. Among the received setting signals, the receiving unit 110 transmits the logical operation signal to the composite signal generation unit 140.

[0020] The signal processing unit 120 converts various analog signals acquired from the motor 300 into digital signals and transmits them to the state signal generation unit 130. When directly acquiring digital signals from the motor 300, the signal processing unit 120 is unnecessary, and various digital signals from the motor 300 may be directly transmitted to the state signal generation unit 130.

[0021] The alarm generation unit 160 of the motor control device 100 detects an abnormality in the motor control device 100 and transmits a signal corresponding to the abnormality to the state signal generation unit 130. For example, the alarm generation unit 160 generates a signal corresponding to an abnormality in the communication state or circuit of the motor control device 100. The temperature sensor 170 of the motor control device 100 generates a signal corresponding to the temperature of the motor control device 100 and transmits the signal corresponding to the temperature to the state signal generation unit 130.

[0022] Based on the selection signal of the received setting signal, the state signal generation unit 130 selects the state signal corresponding to the selection signal among the plurality of state signals. The state signal generation unit 130 transmits the selected plurality of state signals to the composite signal generation unit 140.

[0023] Based on the logical operation signal of the received setting signal, the composite signal generation unit 140 determines a logical expression including the plurality of state signals received from the state signal generation unit 130 and generates a composite signal according to the logical expression. The composite signal generation unit 140 transmits the generated composite signal to the output unit 150.

[0024] The output unit 150 transmits the generated composite signal to the display unit 220 of the external device 200.

[0025] Figure 2 is a flowchart for generating a composite signal. First, when setting up the motor 300, the user sets a setting signal for generating the desired composite signal in the setting unit 210 of the external device 200 (S100). The setting signal consists of multiple selection signals and logic operation signals.

[0026] The selection signal is a signal that indicates the status of the motor and / or the status of the motor control device. Specifically, the selection signal is a signal selected from the motor 300's position signal, alarm signal, temperature data signal, in-position signal (described later), motor control device 100's alarm signal, temperature data signal, limit switch position signal, power supply voltage signal, motor excitation ON signal transmitted from external device 200 to motor control device 100, emergency stop signal, etc. The logical operation signal is a signal that indicates a logical operation expression, such as logical OR or logical AND, which selects which selection signals to perform a logical OR or logical AND operation on.

[0027] Figure 3 shows an example of the user setting screen 221 displayed on the setting unit 210 of the external device 200. In the example in Figure 3, the setting signal consists of four selection signals A to D and one logical operation signal. The user selects and sets each of the four selection signals A to D and the one logical operation signal from multiple candidates on the user setting screen 221. In the example in Figure 3, the in-position signal of motor 301 is set to selection signal A, the alarm signal of motor 301 is set to selection signal B, the in-position signal of motor 302 is set to selection signal C, and the alarm signal of motor 302 is set to selection signal D. Also, a logical AND is set as the logical operation signal. Note that motors 301 and 302 refer to different motors.

[0028] The motor in-position signal is a binary signal indicating whether or not the positioning of motor 300 (301, 302) is complete. For example, if the positioning of motor 300 (301, 302) is not complete, the motor in-position signal is 0, and if the positioning of motor 300 (301, 302) is complete, the motor in-position signal becomes 1. The motor alarm signal is a binary signal indicating whether or not an alarm has occurred in motor 300 (301, 302). For example, if no alarm has occurred in motor 300 (301, 302), the alarm signal is 1, and if an alarm has occurred in motor 300 (301, 302), the alarm signal becomes 0.

[0029] Returning to the explanation of Figure 2, the receiving unit 110 of the motor control device 100 receives a setting signal set by the user from the setting unit 210 of the external device 200 (S101).

[0030] Next, the status signal generation unit 130 of the motor control device 100 acquires multiple status signals corresponding to the selection signals set by the setting signal and transmits them to the composite signal generation unit 140 (S102). Here, from the signals indicating the status of each motor obtained from multiple motors 300 (301, 302), the in-position signal of motor 301 is obtained as selection signal A, the alarm signal of motor 301 is obtained as selection signal B, the in-position signal of motor 302 is obtained as selection signal C, and the alarm signal of motor 302 is obtained as selection signal D, and these are transmitted to the composite signal generation unit 140.

[0031] Next, the composite signal generation unit 140 acquires the logic operation signal set by the setting signal, generates a composite signal using the logic operation expression of the multiple state signals received from the state signal generation unit 130, and transmits it to the output unit 150 (S103). An example of a logic operation expression is shown in Equation 1 below. (Formula 1) Composite signal =A AND B AND C AND D Here, A, B, C, and D represent multiple state signals, and AND represents a logical conjunction.

[0032] When a user sets the setting signals on the user setting screen 221 as shown in Figure 3, in Equation 1, A is the in-position signal indicating completion of positioning of motor 301, B is the alarm signal for motor 301, C is the in-position signal indicating completion of positioning of motor 302, and D is the alarm signal for motor 302. In this case, if the positioning of motors 301 and 302 is complete and no alarms have occurred for motors 301 and 302, then A, B, C, and D are each 1, and the composite signal, which is the logical AND of A, B, C, and D, is 1. Also, if the positioning of at least one of motors 301 and 302 is not complete, or if an alarm has occurred for at least one of motors 301 and 302, then at least one of A, B, C, and D is 0, and therefore the composite signal, which is the logical AND of A, B, C, and D, is 0.

[0033] The output unit 150 transmits the generated composite signal to the display unit 220 of the external device 200 (S104). The display unit 220 displays an image based on the transmitted composite signal to the user. This allows the user to recognize the status of multiple devices such as multiple motors 300 (301, 302), motor control device 100, and power supply 500 by checking a single composite signal. In the case of the multiple status signals A, B, C, and D described above, the user can recognize whether motors 301 and 302 have completed positioning without errors by checking a single composite signal. In other words, the user can recognize, for example, whether multiple motors have successfully completed transporting the object by checking a single composite signal.

[0034] Furthermore, since the output unit 150 only needs to send one composite signal to the display unit 220 instead of multiple status signals A, B, C, and D, the signal wiring between the output unit 150 and the display unit 220 can be reduced.

[0035] As described above, the motor control device 100 according to this embodiment can generate a composite signal that indicates the current status of the motor 300 (301, 302) and the motor control device 100, etc., as desired by the user. This allows the user to recognize multiple states of multiple motors 300 (301, 302), motor control device 100, power supply 500, etc., by checking a single composite signal. Furthermore, since the motor control device 100 according to this embodiment only needs to transmit a single composite signal to the external device 200, the number of wires between the motor control device 100 and the external device 200 can be reduced.

[0036] Although Figure 3 above shows an example where only a single operator is specified, this disclosure is not limited to this. The system may also be configured to accept a logical expression itself as input.

[0037] Furthermore, while Equation 1 above shows an example of a composite signal of an in-position signal and an alarm signal, the disclosure is not limited to this. For example, the composite signal may be an in-position composite signal indicating that the positioning operation of all motors has been completed, or it may be an alarm composite signal indicating that at least one of the motors is in an abnormal state.

[0038] While embodiments of this disclosure have been described above, it goes without saying that the technical scope of this disclosure should not be interpreted restrictively by the description of these embodiments. These embodiments are merely examples, and it will be understood by those skilled in the art that various modifications to the embodiments are possible within the scope of the invention described in the claims. The technical scope of this disclosure should be determined based on the scope of the invention described in the claims and the scope of its equivalents. [Explanation of symbols]

[0039] 100: Motor control device 110: Receiver 120: Signal Processing Unit 130: State signal generation unit 140: Composite signal generation section 150: Output section 160: Alarm generation unit 170: Temperature sensor 200: External device 210: Settings section 221: User Settings Screen 220: Display section 300, 301, 302: Motor 310: Encoder 320: Alarm generation unit 330: Temperature sensor 400: Limit switch 500: Power supply

Claims

1. A motor control device that controls multiple motors, The motor control device includes a receiving unit that receives setting signals from an external device, A composite signal generation unit that generates a composite signal from multiple status signals indicating the status of multiple motors and / or the status of the motor control device, Equipped with, The motor control device is characterized in that the composite signal generation unit determines a logical operation expression including a plurality of state signals based on the setting signal, and generates the composite signal using the logical operation expression.

2. The motor control device according to claim 1, wherein the status signal includes a status signal indicating the state of the motor control device.

3. The motor control device according to claim 1, further comprising an output unit that outputs the composite signal to the external device.

4. The motor control device according to claim 1, wherein the status signal is a binary signal.

5. The motor control device according to claim 1, wherein the composite signal is an in-position composite signal indicating that the positioning operation of all the motors has been completed.

6. The motor control device according to claim 1, wherein the composite signal is an alarm composite signal indicating that at least one of the plurality of motors is in an abnormal state.

7. A motor control device that controls a motor, The motor control device includes a receiving unit that receives setting signals from an external device, A composite signal generation unit that generates a composite signal from a plurality of status signals indicating the status of the motor and / or the status of the motor control device, Equipped with, The motor control device is characterized in that the composite signal generation unit determines a logical operation expression including a plurality of state signals based on the setting signal, and generates the composite signal using the logical operation expression.

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