Servo System

Abstract

To construct a servo system capable of easily performing, even from a place away from a control board, a maintenance such as a gain adjustment of a motor without accessing an installation place of the control board and opening a door of the control board when the maintenance of the servo system is performed.SOLUTION: A servo system is provided integrally with or adjacently to a motor 3, and has a transmission / reception processing part (processor) 37 of data changing or adjusting a parameter within a drive device 1 of the motor 3 and capable of transmitting / receiving with external terminal devices 21 and 23 that are adjustors, and data processing parts 12 and 67 capable of processing position data outputted from at least a position detector 33 and data of the adjustors 21 and 23 inputted / outputted to / from the transmission / reception processing part 37 into serial signal data so as to be able to transmit / receive bi-directionally through a serial communication line part.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a maintenance technology for a motor servo system, and more particularly to a servo system that controls a motor by a motor drive device, and relates to a technology that utilizes a communication function provided between a motor position detector and the motor drive device to accurately and efficiently drive the motor and adjust gains during maintenance of the drive device. [Background technology]

[0002] When performing maintenance on a motor in a servo system, a technique is known in which an adjuster such as a computer (personal computer (PC)) or a terminal device such as a smartphone is connected to a motor drive device (such as a servo amplifier, hereinafter referred to as the "drive device") via a wired path such as a communication cable or a wireless path such as Wi-Fi, and the motor is adjusted by changing and checking adjustment parameter data (e.g., gain parameters) while the motor is operating (see, for example, Patent Document 1).

[0003] When adjusting such a motor, the drive device for controlling the motor is usually installed in a control panel, and if the motor and drive device are installed in separate locations, adjusting the gain parameters of such a motor requires going to where the control panel is installed, opening the door of the control panel, connecting the necessary cables, etc., and then returning to where the motor is installed and performing maintenance via the drive device in the control panel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2015-11424 A Summary of the Invention [Problem to be solved by the invention]

[0005] To explain this in more detail, FIG. 7 is a functional block diagram showing one configuration example of a conventional servo system X. As shown in FIG. 7, the conventional servo system X performs maintenance of the driving device 101 using terminal devices 121 and 123, which are adjusters such as personal computers and smartphones.

[0006] In this case, if the motor 103 to be controlled and the driving device 101 are spatially separated from each other, it is necessary to lay a wired path such as a long cable as a serial communication path between the regulators 121, 123 and the driving device 101 when adjusting the motor gain parameters, etc. Even if this is not the case, it is troublesome because of restrictions on the space around the driving device 101, etc., limiting the degree of freedom of the operator performing the work of the wiring and maintenance work.

[0007] In this case, reference numeral 102 denotes a motor control block, and reference numeral C denotes a connector. For the sake of convenience, when referring to Fig. 2 showing an embodiment of the present invention described later, other configurations and reference numerals are represented by reference numerals obtained by subtracting 100 from the reference numerals in Fig. 7 for corresponding devices, etc.

[0008] Furthermore, even if maintenance such as adjusting the gain parameters of the motor 103 is performed by communicating with the driving device 101 via a wireless path rather than a wired path, communication may be interrupted or become unstable between the adjusters 121, 123 and the driving device 101 due to radio wave obstructions (which can include any object, but includes obstructions such as the control panel housing or doors) or changes in the transmission and reception gain of the wireless communication device, making it impossible to smoothly adjust the motor gain parameters and perform other maintenance work (see the x mark in the figure).

[0009] The present invention aims to provide a motor servo system that allows maintenance of the motor servo system to be easily performed from near the motor installation location or from a remote location away from the control panel, without having to access the control panel installation location or opening the control panel door. [Means for solving the problem]

[0010] In order to solve the above problems, A servo system comprising: a motor; a position detector for the motor; a motor drive device for driving the motor; a transmitting / receiving unit provided in each of the motor and the motor drive device for enabling bidirectional data transmission therebetween; and a communication line unit for transmitting data between the transmitting / receiving units, a data transmission / reception processing unit that is provided integrally with or adjacent to the motor and that changes or adjusts parameters within the motor drive device and is capable of transmitting and receiving data to and from an external terminal device that is an adjuster; a data processing unit capable of processing at least the position data output from the position detector and the data of the adjuster inputted / outputted to the data transmission / reception processing unit into serial signal data so that the data can be transmitted / received via the communication line unit; The servo system has the following features:

[0011] In this case, the motor drive device may control a plurality of the motors.

[0012] Also, The data frame structure of the communication between the data transmission / reception processing unit, the terminal device, and the motor drive device is as follows: a node ID unique to each of the motor driving devices is stored in a header portion of the data frame; The data portion may store data indicating parameters for each of the node IDs.

[0013] Furthermore, the multiple motors may be connected in a daisy chain manner. Effect of the Invention

[0014] According to the present invention, it is possible to construct a motor servo system that enables maintenance of the motor servo system, such as adjustment of motor gain, to be performed accurately and efficiently from near the motor installation location or from a remote location without accessing the control panel installation location or opening the door of the control panel. [Brief description of the drawings]

[0015] [Figure 1] 1A is a diagram showing an outline of a conventional servo system and FIG. 1B is a diagram showing a servo system of the present invention in comparison with FIG. [Diagram 2] FIG. 8 is a functional block diagram showing an example of the configuration of a servo system according to an embodiment of the present invention, and corresponds to FIG. 7. [Figure 3A] FIG. 11 is a communication data frame diagram showing an example of the configuration of serial communication data transmitted and received (encoder communication) between a conventional motor drive device and a motor. [Figure 3B] FIG. 2 is a communication data frame diagram showing an example of the configuration of serial communication data transmitted and received (adjuster communication) between a regulator and a transmission and reception processor of a motor in one embodiment of the present invention. [Figure 3C] 4 is a communication data frame diagram showing an example of the configuration of serial communication data transmitted and received (hybrid communication) between the motor drive device and the motor in the embodiment of the present invention. FIG. [Figure 4] FIG. 2 is a diagram including an example of a processing sequence of a servo system according to an embodiment of the present invention. [Diagram 5] FIG. 1 is a diagram showing an example of a configuration using a plurality of motors and a plurality of motor driving devices in one embodiment of the present invention. [Figure 6] FIG. 1 is a functional block diagram showing an example of a configuration in which a plurality of motors are connected in a daisy chain system in one embodiment of the present invention. [Figure 7] FIG. 1 is a functional block diagram showing an example of the configuration of a conventional servo system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (First embodiment) An overview of one embodiment of the present invention described below is a servo system comprising a motor, a position detector for the motor, a motor driving device that drives the motor, a transmission / reception processor (transmission / reception unit) provided in each of the motor and the motor driving device to enable bidirectional transmission and reception (transmission) of data between them, and an encoder cable ECa or a wireless path (communication line unit) that transmits data between the transmission / reception units. The servo system has a data transmission / reception processor (transmission / reception processing unit) that is provided integrally with or adjacent to the motor and changes or adjusts parameters within the motor driving device and is capable of transmitting and receiving data with an external terminal device that is an adjuster, and a data processing unit that is capable of processing at least position data output from the position detector and adjuster data input and output to the data transmission / reception processor into serial signal data so that it can be transmitted and received via the encoder cable ECa or the wireless path.

[0017] In this specification, the term "adjuster" refers to a so-called terminal device that can transmit and receive operation and adjustment information of the operator's drive device, etc. through the encoder communication path via the aforementioned transmission and reception processor, and includes all devices such as computers (personal computers (PCs)), smartphones, dedicated terminals, wireless terminals, etc. In addition, in this specification, the encoder cable ECa between the motor's inherent position detector and the drive device is also referred to as the "serial communication path ST," with communication regarding position data being referred to as "encoder communication," communication with the regulator being referred to as "regulator communication," and communication in which both types of communication are performed simultaneously being referred to as "hybrid communication."

[0018] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A servo system according to an embodiment of the present invention will now be described in detail with reference to the drawings.

[0019] First, the contents of the present invention will be described by comparing a conventional motor servo system with a motor servo system of the present invention with reference to FIG.

[0020] As shown in FIG. 1(a), a conventional servo system includes a motor driving device 101 in a control panel CT, a motor 103, and a gain parameter adjustment computer 121 which is an adjuster of motor gain parameters, etc., or a wireless terminal device 123 such as a smartphone which is an adjuster.

[0021] The driving device 101 and the motor 103 are connected by an encoder cable ECa as a serial communication path ST capable of serial communication, and a driving cable DCa that supplies power to the motor. The driving device 101 and the coordinator PC 121 can communicate with each other via a serial communication path (wired path) that is a communication path separate from the encoder cable ECa. In addition, the wireless terminal device 123 that is the coordinator can directly communicate with the driving device 101 via a wireless communication path (wireless path). The encoder cable ECa transmits position data from the motor's position detector to the driving device in response to periodic requests from the driving device at intervals on the order of μs, and returns a motor position detection signal.

[0022] In contrast, as shown in FIG. 1(b), the servo system of the present invention also has an encoder cable ECa as a serial communication path ST. The adjusters 21, 23 and the drive unit 1 do not communicate directly with the drive unit 1, but communicate through a transmission / reception processor (described later) associated with a position detector (encoder) provided integrally with or adjacent to the motor 3, and are then connected to the drive unit 1 through the serial communication path ST (encoder cable ECa), so that bidirectional communication is possible through the serial communication path ST. That is, hybrid communication is performed by combining encoder communication and adjuster communication through the serial communication path ST. Therefore, the gain parameter adjustment personal computer 21, which is the adjuster, can perform bidirectional communication with the drive unit 1 through the serial communication path ST connected to the motor 3, and even when the wireless terminal device 23 is used as the adjuster, it can perform bidirectional communication with the drive unit 1 through the serial communication path ST connected to the motor 3 via the transmission / reception processor 37 associated with the motor by wireless communication, thereby achieving the desired purpose.

[0023] It is sufficient that the adjuster is either the gain parameter adjustment personal computer 21 or the wireless terminal device 23. It is also possible to use both together, and in that case the division of roles between the two is basically arbitrary, but it is usually possible to have the gain parameter adjustment personal computer 21 perform analysis, display functions, etc., which require a large calculation processing load, and the wireless terminal device 23 perform instructions, settings, display, etc., which require a small calculation processing load, or to have the gain parameter adjustment personal computer 21 perform advanced adjustments and the wireless terminal device 23 perform simple adjustments. Of course, the gain parameter adjustment personal computer 21 and the wireless terminal device 23 may both be intended for one motor, or they may each be intended for adjustment of a different motor.

[0024] As is clear from the above comparative explanation, the motor servo system of the present invention has the following functions. Note that in the explanation in this specification, the operation of adjusters 21, 23 is described as adjusting gain parameters, but this is merely a typical form of adjustment, and any data such as parameters in the motor or drive device or gain parameters can be changed or adjusted in any form.

[0025] 1) When performing regulator communication, there is no need to go to the control panel CT or open the door of the control panel in order to directly control the motor 3 when adjusting the gain parameters of the motor 3. 2) Even if coordinator communication is performed, the number and total length of communication cables for the serial communication path for coordinator-to-coordinator communication is reduced, so the influence of disturbance noise picked up by the communication cables can be relatively reduced. Even if a wireless path is used, interference and crosstalk from multiple radio waves are also reduced, and the influence of disturbance noise can be similarly reduced. 3) Even if there is an obstruction (for example, the control panel CT housing or an obstruction) between the motor 3 and the drive unit 1 during adjuster communication, the motor can be easily moved within a range where communication is possible between the motor and the data transmission / reception processor attached to the motor, making it possible to improve convenience during use. Furthermore, when a wireless path is selected, even if there is another obstruction, the effect can be reduced by moving the gain parameter adjustment computer 21 or by using the frequency and band of the wireless communication means. 4) When a wireless path is used in the regulator communication, it becomes easy to perform short-distance wireless communication with the transmission / reception processor of the motor, improving the communication environment and, in some cases, enabling the use of low-power wireless. Therefore, even Wi-Fi communication can be made power-saving and low-cost, and the freedom of communication means to be selected, such as Bluetooth® communication, weak wireless communication in the 2.4 GHz band, and specific low-power wireless communication, is increased. Note that, in this specification, the term "wireless" is not limited to those using radio waves, but also includes the use of light such as infrared rays, sound waves such as ultrasonic waves, and other transmission media, as long as they are suitable for the purpose of the present invention.

[0026] A servo system according to an embodiment of the present invention will now be described in more detail with reference to the drawings.

[0027] FIG. 2 is a functional block diagram showing one configuration example of the servo system according to this embodiment, and corresponds to FIG. 7 which has been described as a conventional servo system.

[0028] 2, the servo system A of this embodiment includes a drive device 1, a motor 3, a transmission / reception processor 37 and a position detector 33 that are provided integrally with or adjacent to the motor 3, and an adjuster, such as a PC 21 that is a personal computer for adjusting gain parameters or a wireless terminal device 23. In the following description, the term "motor" may be used as a general term including the position detector and the transmission / reception processor that accompany the motor.

[0029] The driving device 1 is disposed in a control panel 1a, and has a motor control function including, for example, a position control section 5 that performs position control based on a position command, a speed control section 13, a torque control section 15, and a gain adjustment parameter generation section 7. This control itself performs so-called general position control. Furthermore, the driving device 1 has an adjustment parameter storage section 9 that stores gain adjustment parameters, a serial communication transmission / reception section 11, a data processing section 12, and a built-in timer 17. Reference numeral 2 denotes a motor control block.

[0030] In Fig. 2, the transmission / reception processor 37 of the motor 3 is provided in electrical association with the position detector 33 of the motor 3, as described below. That is, although it is shown as a separate block in the figure for convenience, the position detector 33 as a whole is capable of communicating with the drive unit 1 for encoder communication as in the conventional case, and the transmission / reception processor 37 serves to connect with the adjusters 21, 23 for adjuster communication. At least the position data output by the position detector 33 and the adjuster data exchanged between the adjuster, the personal computer 21 or wireless terminal device 23, and the drive unit 1 are also transmitted as serial signals on the serial communication path ST (conventional encoder cable ECa) connecting the drive unit 1 and the position detector 33.

[0031] Adjustment data such as motor gain parameters transmitted from the adjuster, which is the personal computer 21 or the wireless terminal device 23, via adjuster communication is received by the motor's transmission / reception processor 37, combined with the position data of the motor 3 detected by the position detector 33, and processed into serial signal data, and hybrid communication is performed with the drive device 1 via the serial communication path ST.

[0032] 3A to 3C show examples of packet frame configurations of communication data transmitted and received between the driving device 1, regulators 21 and 23, and motor 3. Fig. 3A shows that of conventional encoder communication, Fig. 3B shows that of regulator communication of the present invention, and Fig. 3C shows that of hybrid communication of the present invention.

[0033] FIG. 3A shows a conventional packet frame configuration transmitted over an encoder cable ECa, which is a serial communication path ST through which only encoder communication is carried out between the driving device 1 and the motor 3. In FIG.

[0034] As shown in Fig. 3A, in encoder communication, first, the driving device 1 transmits a packet frame having a header, a payload section, and an end section to the encoder (position detector) 33 on the motor 3 side at predetermined time intervals to request position data. Here, the header section has sections for start of transmission and synchronization frame, and then has a payload section having sections for the encoder address (data for identifying the position detector), request command, and operand data. The synchronization frame is used to synchronize timers on each motor side using the signal of this synchronization frame so that errors do not occur due to communication delays, processing speed, etc.

[0035] After the payload section, there is an end section including a flag indicating the end of the packet frame and a frame checksum (FCS) for performing code correction of data errors. The frame checksum is an error detection code added to the end of data during transmission and reception to check whether an error has occurred in the data during communication. Other flags and other signals that define the end of the packet frame are specified as part of the protocol (communication procedure) specifications, and are not particularly limited in the present invention. These configurations themselves are conventionally known, are based on a predetermined serial communication protocol, and are not limited to a specific mode, so detailed explanations will be omitted.

[0036] Fig. 3B is a diagram showing the packet frame configuration and the timing of bidirectional communication when performing the coordinator communication of the present invention. As shown in Fig. 3B, the coordinator communication starts by first sending a request command from the coordinators 21 and 23 to the transmission / reception processor 37 of the encoder, and one communication cycle is constituted by the transmission / reception processor 37 returning a reply status to the coordinators 21 and 23 after a certain period of time. This communication is performed asynchronously.

[0037] For example, a request command is sent from the adjuster, personal computer 21, to drive a motor with certain fixed gain parameters, and parameters relating to the state of the motor when driven in a state according to the request command are returned to personal computer 21 as a reply status. Furthermore, by repeating the same process with different gain parameters (the same gain parameters may be set consecutively or different parameters may be set, and the settings are arbitrary and adjusted according to the situation), it becomes possible to find and set the optimal gain parameters or their series.

[0038] At that time, the packet frame structure used for the regulator communication between the regulators 21, 23 and the motor 3 side is as follows.

[0039] A request command transmitted from the coordinator 21, 23 to the transmission / reception processor 37 has a header section 43 and a coordinator communication data section 51 (hereinafter abbreviated as "data section 51"), which is a payload. A frame checksum FCS is attached after the data section 51 (the end flag is omitted).

[0040] The header section 43 consists of at least two sections: a transmission start section 41 and a node section (node ​​ID) 42. The transmission start section 41 consists of a predetermined bit string, flags, etc. according to a protocol that notifies that data transmission is about to start, and any desired one can be used. By detecting the transmission start section 41, the receiving side recognizes that communication is about to start, and proceeds with the reception operation of the data section 51, which is the subsequent payload, according to the protocol.

[0041] The node ID 42 is transmitted next to the transmission start section 41. The node ID 42 is a section indicating the destination of the transmission of the coordinator communication from the coordinators 21 and 23, and is determined according to the node ID 42 assigned to each motor 3 side. Normally, there is a one-to-one correspondence with the encoder address 53 described later, but when the motor 3 to which the coordinators 21 and 23 are connected is different from the motor 3 to be adjusted, or when the daisy chain method described later is adopted, the encoder address 53 on the motor 3 side with which the coordinators 21 and 23 perform the coordinator communication is different from that of the motor 3 to which the request command is actually targeted, and data that specifies a different motor 3 is stored in both. When the data matches its own node ID 42, the receiving side recognizes that the data is addressed to itself and starts receiving, and the receiving operation proceeds according to the protocol. When the data does not match its own node ID 42, the receiving side discards the communication data (however, when the daisy chain method described later is adopted, the data is not discarded but is transferred to the next motor 3 side via the communication path for the daisy chain).

[0042] The data section 51, which is the payload, is the main body of the data to be transmitted, and consists of a request command 52, an encoder address 53 (which is equivalent to specifying the motor 3 that is the target of the request command, i.e., the adjustment axis number), an adjustment parameter save address 54, parameter data 55, etc.

[0043] The request command 52 is data containing an execution command that specifies an operation using the data of the adjustment parameters, such as the gain parameters, to be sent as operands, and consists of a write command for writing adjustment parameters, such as the gain parameters, at a specified address, or a read command for reading the gain adjustment parameters at a specified address.

[0044] The encoder address (adjustment axis number) 53 identifies the axis to be adjusted, i.e., the motor. When the daisy chain method described below is not used, the motor 3 related to the axis to be adjusted is identified only by the data in the header section 43 including the node ID 42, so this is not necessary, but there is no problem in holding the data as necessary. Also, when the daisy chain method described below is used, this data is essential because the motor 3 side that performs the adjustment device communication is different from the motor 3 to be adjusted.

[0045] In addition, even if there is only one axis, i.e., only one motor, the format itself does not change, but in the case of a single axis, it is possible to omit the encoder address 53.

[0046] The adjustment parameter storage address 54 specifies a memory address where adjustment parameters such as the gain parameters of the specified motor are to be saved or are being saved.

[0047] The parameter data 55 is data that specifies the adjustment parameters themselves for the maintenance of the motor, such as gain parameters.

[0048] Next, the reply status returned from the transmission / reception processor to the adjusters 21 and 23 has, except for the data section 51 which is the payload, the remaining header section 43 and frame checksum FCS which are the same as the packet frame configuration of the request command.

[0049] The data section 51, which is the payload, is the main body of the data to be returned, and includes a status 56, an encoder address (adjustment axis number) 53, an adjustment parameter storage address 54, parameter data 55, and the like.

[0050] The status includes, as data, whether or not the command 52 was executed correctly in response to the request command, various environmental parameters that can be grasped by the driving device 1, and other statuses 56.

[0051] The encoder address (adjustment axis number) 53 and the adjustment parameter storage destination address 54 are the same as those in the request command.

[0052] The parameter data specifies the parameters when the reply status is sent, i.e., the adjustment parameters themselves after the command is executed and adjusted. For example, if the request command is a write command, and the command is executed normally, the parameter data will be the same as the parameter data included in the request command. The parameters returned according to the request command will be different.

[0053] By repeating such regulator communication, the parameters of the driving device 1 can be set easily and accurately.

[0054] FIG. 3C is a diagram showing a packet frame configuration and timing of bidirectional communication when performing hybrid communication in which encoder communication and coordinator communication are performed simultaneously.

[0055] As shown in FIG. 3C, the packet frame configuration of the hybrid communication is a combination of the packet frame configuration of the encoder communication and the packet frame configuration of the coordinator communication, and the payload of the encoder communication is followed by the payload of the coordinator communication. Therefore, the transmission start section of the header section 43 at the beginning of the packet frame configuration of the hybrid communication and the end section such as the synchronization frame and the frame checksum FCS can be the same as those of the encoder communication. Note that the node ID 42 is data necessary only for the coordinator communication, and since the node is fixed during one communication cycle, it has already completed its role at this stage, and it does not need to be included as data in the packet frame of the hybrid communication. It may also be included as data to determine the node when the reply status is returned. Furthermore, if the node to which the coordinator is connected is different when the reply status is returned, the node ID for connecting to the coordinator may be constantly grasped (searched and recorded) on the motor 3 side.

[0056] In the case of hybrid communication, basically, the repetition time of the encoder communication cycle is periodically synchronized and transmitted and received at short intervals in the μs unit, whereas the repetition time of the adjuster communication cycle is asynchronous, so it is configured to be transmitted and received in a packet frame configuration synthesized to match the timing of the nearest encoder communication.

[0057] In this way, by configuring the payload for the encoder communication followed by the payload for the regulator communication, it becomes possible to carry out two types of communication using a single serial communication path ST (encoder cable ECa) that the servo motor originally has.

[0058] FIG. 4 is a diagram including an example of a processing sequence of the servo system A of this embodiment for performing the above-mentioned communications.

[0059] As shown in Fig. 4, data from the personal computer 21 for adjusting gain parameters or the wireless terminal device 23, which is an adjuster, is received by an adjuster communication processing unit (adjustment device communication transmitting / receiving unit) 61 in the transmission / reception processor 37, and data conversion is performed, such as extracting the main data, which is the payload, from the received data by a data conversion unit 63, and the data is sent to a data processing unit 67 in the position detector 33. The data processing unit 67 synthesizes data from a serial communication transmitting / receiving unit 69 and data from a rotational position detection unit 73 to create data for hybrid communication, and transmits a serial communication signal from the serial communication transmitting / receiving unit to the encoder communication path to the drive device 1 side. Reference numeral 65 denotes a connector, reference numeral 71 denotes a built-in timer, and C1 and C2 denote connectors.

[0060] On the driving device 1 side, the serial communication transmission / reception unit 11 receives the serial communication signal for hybrid communication transmitted via the encoder communication path, and sends the main data, which is the payload, to the data processing unit 12. The data processing unit 12 separates the main data into the data for regulator communication and the data for encoder communication.

[0061] The data of the adjuster communication is reflected in the data of the adjustment parameter storage unit 9 according to the request command and operands contained therein. The data rewritten in the adjustment parameter storage unit 9 can be converted by the adjustment parameter generation unit 7 into a format that can be used to command the motor control block 2 to control the motor, or it is also possible to issue a command directly via the adjustment parameter generation unit 7 according to the request command and operand to control the motor.

[0062] At this time, the adjustment parameter memory unit 9 and the adjustment parameter generation unit 7 determine whether the received request command has been operated correctly, and the resulting status data is sent back to the motor side as a serial communication signal on the encoder communication path via the data processing unit 12 and the serial communication transmission / reception unit 11.

[0063] The data of the encoder communication portion of the hybrid communication signal is separated by the data processing unit 12 and sent to the motor control block 2 in the same manner as before. That is, in response to a data request command periodically sent from the drive unit 1, the data is received from the rotation position detection unit 73 by the serial communication transceiver 11 on the drive unit 1 side via the data processing unit 67, the serial communication transceiver 69, and the encoder cable ECa, and then separated by the data processing unit 12 and sent to the drive unit 1.

[0064] When generating a hybrid communication signal, the data of both the encoder communication and the adjuster communication may be combined in any manner, and the above-described method is one example.

[0065] In any case, the data for the encoder communication and the adjuster communication are transmitted via a single wired path called the serial communication path ST (encoder cable ECa) that transmits the motor position data that is inherently equipped in the motor servo system. In this case, the way in which the data for both communications is transmitted is arbitrary, and it may be superimposed and modulated, and since the repetition intervals of the serial communications for both communications are different, it is also possible to use gap time. In essence, it is sufficient to be able to transmit and receive maintenance data, such as for adjusting the motor gain parameters, via this wired path without setting up any other wired path other than the inherent encoder cable ECa.

[0066] The regulator communication from the drive unit 1 side has a signal flow that is the opposite to that described above. For example, if the request command for the regulator communication data received immediately before is a read command, the data from the corresponding address in the adjustment parameter memory unit 9 is read out, and the data is synthesized in the data processing unit 12 at the timing when the request command for the most recent encoding communication is sent, and then transmitted from the serial communication transmitting / receiving unit 11 to the motor side via the encoder cable ECa.

[0067] The adjuster communication data transmitted to the position detector 33 on the motor side is received by the serial communication transceiver unit, separated by the data processing unit 67, passes through the data conversion unit 63 of the transceiver processor 37, and is transmitted via the adjuster communication processing unit 61 to the personal computer 21 or wireless terminal device 23 for adjusting gain parameters, which is the adjuster.

[0068] (Second embodiment) Next, a second embodiment of the present invention will be described.

[0069] 5 shows a configuration in which multiple drive devices 1-1, 1-2, 1-... are set from a gain parameter adjustment personal computer 21 or wireless terminal device 23, which is an adjuster. Axis numbers 1, 2,... correspond to motors 3-1, 3-2,.... In the following explanation, an example in which there are two drive devices and two motors will be described, but the number is not limited to this, and the number of drive devices and motors may be different.

[0070] In FIG. 5, for the motors 3-1 and 3-2, reference characters 1-1a and 1-2a indicate data processing blocks, and reference characters 1-1b and 1-2b indicate motor control blocks, respectively (see FIG. 2).

[0071] Each of the transmission / reception processors 82a, 82b has a node ID. Then, when a transmission start state is entered, the node ID 45 in the header section 34 transmitted is determined to be the node ID of the motor itself, and if it is the node ID of the motor itself, it is recognized that the transmission is addressed to at least the transmission / reception processor 82a, 82b itself.

[0072] The adjuster, ie, the personal computer 21 for adjusting gain parameters or the wireless terminal device 23, selects which transmission / reception processor to transmit data to based on the node ID.

[0073] In addition, since the serial communication path is connected to the driving devices 1-1 and 1-2, the process of changing the settings of the motor 3-2 while connected to the transmission / reception processor 82a of the motor 3-1 can be realized by specifying the node ID of the transmission / reception processor 82 connected to the motor 3-1, and specifying the encoder address (adjustment axis number) 53 corresponding to the motor 3-2 as the encoder address (adjustment axis number) 53 in the communication data frame in Figure 3.

[0074] FIG. 6 is a functional block diagram showing a configuration example in which rotational position detectors 33 are connected by a transmission path (communication path) of a daisy chain system.

[0075] In the configuration shown in FIG. 6, the adjustment data for the motor 3-1 can be changed from the transmission / reception processor 82b of the motor 3-2 connected to the personal computer 21 or wireless terminal device 23 for adjusting gain parameters. By using this method, the total length of the serial communication path ST connecting each motor 3-1, 3-2 and the drive device can be further reduced, thereby further reducing the effects of external noise. Furthermore, if the serial communication path ST is a wireless path, it is possible to prevent a decrease in accuracy and transmission speed due to the cross-over of multiple wireless paths.

[0076] Here, the encoder address (axis number to be adjusted) 53 in the communication data frame in Fig. 3 specifies the motor to be adjusted by the request command. By specifying this encoder address (axis number to be adjusted) 53, the driving device 1 receives data on the axis number of the motor it controls, and judges and processes it in its data processing unit 12. Therefore, in this case, the encoder address is essential.

[0077] As has been explained above in a specific form, the present invention is a servo system in which a transmission / reception processor capable of communicating from an adjuster (terminal device) is provided in the motor position detector, and data transmitted and received to and from the adjuster via the transmission / reception processor is transmitted and received in both directions between the motor's drive device (servo amplifier / controller) via a serial communication path ST (the encoder cable ECa conventionally provided between the motor and drive device). Therefore, as long as this is embodied, it is not limited to the above embodiments and can be modified in any way as long as it does not change the gist of the present invention. Needless to say, the serial communication path ST (encoder cable ECa) between the motor and the drive device may be replaced with a wireless communication path WL. [Industrial Applicability]

[0078] The present invention can be used in a servo system. [Explanation of symbols]

[0079] CT control panel 1 Drive unit 3 Motor 5 Position control section 7 Gain adjustment parameter generator 9 Adjustment parameter storage section 11, 69 Serial communication transmitter / receiver 12, 67 Data processing section 13 Speed ​​control section 15 Torque control section 17 Built-in timer 21 Computer (regulator) 23 Wireless terminal device (regulator) 33 Position detector 36 Motor moving part 37, 82 Transmitting and receiving processor 53 Encoder address (adjustment axis number) 61 Adjustment communication processing unit 63 Data Conversion Section 73 Rotational position detection unit

Claims

1. A servo system comprising: a motor; a position detector for the motor; a motor drive device for driving the motor; a transmitting / receiving unit provided in each of the motor and the motor drive device for enabling bidirectional data transmission therebetween; and a communication line unit for transmitting data between the transmitting / receiving units, a data transmission / reception processing unit that is provided integrally with or adjacent to the motor and that changes or adjusts parameters within the motor drive device and is capable of transmitting and receiving data to and from an external terminal device that is an adjuster; a data processing unit capable of processing at least the position data output from the position detector and the data of the adjuster inputted / outputted to the data transmission / reception processing unit into serial signal data so that the data can be transmitted / received via the communication line unit; When asynchronous coordinator communication data is to be transmitted or received, the data processing unit synthesizes the coordinator communication data into a packet frame including the position data that is periodically communicated. Servo system.

2. The servo system of claim 1 , wherein the motor drive unit controls a plurality of the motors.

3. The data frame structure of the communication between the data transmission / reception processing unit, the terminal device, and the motor drive device is as follows: a node ID unique to each of the motor driving devices is stored in a header portion of the data frame; The data section stores data indicating parameters for each of the node IDs.

3. The servo system according to claim 1 or 2.

4. 4. The servo system according to claim 2, wherein the plurality of motors are connected in a daisy chain configuration.

Images