MOTOR AMPLIFIER, TERMINAL DEVICE, CONTROL SYSTEM, SETTING PROGRAM, AND SETTING METHOD

Abstract

To provide a motor amplifier that suppresses the occurrence of an unintended operation during setting.SOLUTION: A motor amplifier 1 is connected to a terminal device 3 to set parameters for controlling a motor and controls the motor through communication with a host device 2. That is, the motor amplifier 1 may be connected to the terminal device 3 and the host device 2 at the same time. A communication unit 10 communicates with the host device 2. A state transmission unit 100 transits state information 200 indicating whether or not the communication unit 10 is communicating with the host device 2 to the terminal device 3. A setting execution unit 110 sets parameters according to instructions from the connected terminal device 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention particularly relates to a motor amplifier that controls the rotation of a motor, a terminal device that sets up the motor amplifier, a control system, a setting program, and a setting method. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there exists a control system including a host device such as a PLC (Programmable Logic Controller) that transmits a position command, an encoder that acquires the rotational position of a motor, and a motor amplifier connected to this encoder. For example, Patent Document 1 describes an example of a control system that includes a control device that corresponds to a motor amplifier.

[0003] In such a control system, a terminal device is often connected for adjusting settings such as the motor amplifier. Here, when both the higher-level device and the terminal device are connected at the same time, in a conventional motor amplifier, the same setting parameters can be rewritten to different values ​​by each of them. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2014-013163 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in a conventional control system, if a host device and a terminal device are simultaneously connected and each device rewrites a different value for the same parameter, there is a possibility that unintended operation of the motor amplifier may occur.

[0006] The present invention has been made in consideration of the above-mentioned situation, and aims to provide a motor amplifier that suppresses unintended motor amplifier operation even when a terminal device and a higher-level device are connected simultaneously, thereby solving the above-mentioned problems. [Means for solving the problem]

[0007] The motor amplifier of the present invention is a motor amplifier that is connected to a terminal device to set parameters for controlling a motor and control the motor through communication with a host device, and includes a communication unit that performs the communication with the host device, a status transmission unit that transmits status information to the terminal device indicating whether the communication unit is communicating with the host device, and a setting execution unit that sets the parameters in response to an instruction from the connected terminal device. When the state information indicates that communication with the higher-level device is in progress, the setting execution unit does not perform setting from the terminal device only for the parameters that may be written by the higher-level device. It is characterized by: With this configuration, it is possible to prevent unintended operations from occurring.

[0009] The motor amplifier of the present invention is characterized in that the parameters that are not set include the parameters related to mode setting in control and the parameters related to internal commands. By configuring in this way, it is possible to reliably prevent unintended operations from occurring.

[0010] The terminal device of the present invention is a terminal device connected to a motor amplifier that controls the rotation of a motor through communication with a higher-level device, and includes a status acquisition unit that acquires, from the motor amplifier, status information indicating whether communication with the higher-level device is in progress, a display unit that displays parameters for setting the motor amplifier according to the status information acquired by the status acquisition unit, and an amplifier setting unit that acquires setting information only for the parameters that can be input when the display / non-display or input availability of the parameters displayed on the display unit is changed, and sets the setting information in the motor amplifier. If the state information indicates that communication with the host device is in progress, the terminal device does not set only the parameters that may be written by the host device. It is characterized by: With this configuration, unintended operation of the motor amplifier can be suppressed.

[0011] The terminal device of the present invention is characterized in that, when the status information indicates that communication with the higher-level device is in progress, the parameters that the higher-level device may write are hidden, or an input-prohibited display is displayed indicating that the setting information cannot be input. With this configuration, it is possible to prevent the user from dynamically changing the parameters.

[0012] The terminal device of the present invention is characterized in that the parameters that are hidden include the parameters for mode setting that executes commands or operations from the terminal device or the higher-level device, and the parameters related to internal commands of the motor amplifier that are changed by the higher-level device. By configuring in this manner, parameters that would only confuse the user if they were able to view them can be hidden.

[0013] The terminal device of the present invention is characterized in that the parameters that are displayed as unavailable for input include parameters whose current setting values ​​are referenced by the terminal device depending on convenience at the time of setting. Such a configuration can improve user convenience and reduce stress for the user.

[0014] A control system of the present invention is a control system comprising a host device, a motor amplifier connected to the host device to control the rotation of a motor, and a terminal device for setting the motor amplifier, wherein the motor amplifier comprises a communication unit for communicating with the host device via a network, a status transmission unit for transmitting status information to the terminal device indicating whether the communication unit is communicating with the host device, and a setting execution unit for acquiring instructions from the terminal device and performing setting, and the terminal device comprises a status acquisition unit for acquiring the status information from the motor amplifier, a display unit for changing whether parameters for setting the motor amplifier are displayed or not and / or whether or not they can be input in accordance with the status information acquired by the status acquisition unit, and an amplifier setting unit for acquiring setting information only for the parameters that are displayed and can be input when changed by the display unit, and transmitting an instruction based on the setting information to the motor amplifier to have the motor amplifier set. When the state information indicates that communication with the higher-level device is in progress, the setting execution unit does not perform setting from the terminal device only for the parameters that may be written by the higher-level device. It is characterized by: With this configuration, unintended operation of the motor amplifier can be suppressed.

[0015] The setting program of the present invention is a setting program executed by a terminal device that sets a motor amplifier that is connected to a host device and controls the rotation of a motor, and causes the terminal device to obtain, from the motor amplifier, status information indicating whether or not communication with the host device is in progress, change display of parameters for setting the motor amplifier in accordance with the obtained status information, obtain only setting information that can be input in accordance with the changed parameters, and transmit instructions based on the set setting information to the motor amplifier for setting it. If the state information indicates that communication with the host device is in progress, the terminal device does not set only the parameters that may be written by the host device. It is characterized by: With this configuration, unintended operation of the motor amplifier can be suppressed.

[0016] The setting method of the present invention is a setting method executed by a terminal device which sets a motor amplifier which is connected to a higher-level device and controls the rotation of a motor, the terminal device acquiring status information from the motor amplifier which indicates whether or not communication with the higher-level device is in progress, changing a display of parameters for setting the motor amplifier in accordance with the acquired status information, acquiring only setting information which can be input in accordance with the changed parameters, and transmitting an instruction based on the set setting information to the motor amplifier to set it. If the state information indicates that communication with the host device is in progress, the terminal device does not set only the parameters that may be written by the host device. It is characterized by: With this configuration, unintended operation of the motor amplifier can be suppressed. Effect of the Invention

[0017] According to the present invention, a motor amplifier can be provided that suppresses unintended operation of the motor amplifier by transmitting status information indicating whether or not communication with a higher-level device is in progress to a terminal device, and setting parameters for controlling the motor based on instructions from the terminal device in response to this. [Brief description of the drawings]

[0018] [Figure 1] 1 is a system configuration diagram of a control system according to an embodiment of the present invention. [Diagram 2] 5 is a flowchart of a motor amplifier setting process according to the embodiment of the present invention. [Diagram 3] FIG. 4 is a conceptual diagram of a motor amplifier setting process according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] <Embodiment> [Configuration of control system X] The configuration of a control system X according to an embodiment of the present invention will be described with reference to FIG. The control system X according to this embodiment is an example of a control system capable of controlling a motor 4 according to a command from a higher-level device 2 and configuring settings for a motor amplifier 1 using a terminal device 3 connected thereto. The control system X includes a motor amplifier 1, a higher-level device 2, a terminal device 3, a motor 4, and an encoder 5.

[0020] The motor amplifier 1 is a control device connected to a higher-level device 2 and an encoder 5. In this embodiment, the motor amplifier 1 communicates with the higher-level device 2, and drives and controls a motor 4 based on various commands transmitted from the higher-level device 2. Meanwhile, the motor amplifier 1 is connected to a terminal device 3 to set parameters for controlling the motor. That is, in this embodiment, the motor amplifier 1 may be connected to both the terminal device 3 and the higher-level device 2 at the same time.

[0021] In this embodiment, the motor amplifier 1 and the higher-level device 2 are connected by a field network such as EtherCAT. On the other hand, the motor amplifier 1 and the encoder 5 are connected by a dedicated line or a serial communication line, for example, and power for servo-driving the motor 4 is also supplied. This power is supplied to the motor 4 via the encoder 5 or directly. Furthermore, the motor amplifier 1 can also calculate a torque value indicating the torque of the shaft S by using a current feedback value of the motor control of the motor 4. In addition, the motor amplifier 1 can also obtain information such as temperature from the encoder 5. Furthermore, the motor amplifier 1 may be capable of responding to a data request from the higher-level device 2. In this embodiment, the motor amplifier 1 and the terminal device 3 are directly connected to each other via a connection terminal such as a Universal Serial Bus (USB).

[0022] The higher-level device 2 is a device for a client (customer) that transmits commands. The higher-level device 2 is, for example, a PLC or a logic board of various devices equipped with a microcontroller. Specifically, the higher-level device 2 transmits a control signal for controlling the motor 4 as a command to the motor amplifier 1. The period for transmitting this command, the amount of data transmitted at one time, etc. are arbitrary (variable) depending on the configuration of the field network and the configuration of the higher-level device 2. In addition, the higher-level device 2 may perform periodic communication even without a command. Furthermore, the higher-level device 2 can also obtain the detected position data, torque value, and other data of the motor 4 from the motor amplifier 1.

[0023] The terminal device 3 is a terminal that is connected to the motor amplifier 1 and is capable of setting the motor amplifier 1. In this embodiment, the terminal device 3 is a PC (Personal Computer), a tablet terminal, a smartphone, a dedicated terminal, or the like. In this embodiment, an example in which the terminal device 3 and the motor amplifier 1 are connected via USB or the like will be described. The terminal device 3 is capable of receiving instructions from a user such as a service person, a factory maintenance person, or a manager, and carrying out various settings including setting parameters for PI (Proportional-Integral) control of the motor 4 by the motor amplifier 1.

[0024] In response to a control signal from the motor amplifier 1, the motor 4 rotates a shaft S, which is a rotary output shaft, about a rotary axis A as a central axis. The motor 4 is a typical servo motor or the like that includes a rotor, bearings, a stator, a bracket, and the like.

[0025] The encoder 5 is a device that acquires the rotational position of the motor 4. In this embodiment, the encoder 5 detects position data of the rotational position of the shaft S related to the rotation axis A of the motor 4 and transmits it to the motor amplifier 1 as angle information. For this reason, the encoder 5 includes, for example, a magnetic or optical angle detection mechanism, a control calculation means such as an MPU (Micro Processing Unit, microcontroller), a DSP (Digital Signal Processor), or an ASIC (Application Specific Integrated Circuit), and a non-transient recording medium such as a RAM (Random Access Memory) that holds angle information and temporary data, and a ROM (Read Only Memory) that records a control program (not shown). The RAM and ROM may include, for example, a non-volatile recording medium such as an SRAM with a battery backup, a ReRAM, an MRAM, or a flash memory. The encoder 5 may also include a temperature sensor that measures the temperature of the motor 4 and the encoder 5 itself. In addition, the encoder 5 may be capable of transmitting signals from the temperature sensor, the battery voltage sensor, and the like as data separate from the position data.

[0026] To explain in more detail, in this embodiment, the motor amplifier 1 includes a communication unit 10 and an amplifier control unit 20.

[0027] The communication unit 10 is a communication means that receives communication on the field network, acquires commands addressed to the motor amplifier 1 from the higher-level device 2, and transmits the commands to the amplifier control unit 20. The communication unit 10 includes, for example, a circuit (physical layer) for communication in a field network.

[0028] The amplifier control unit 20 servo-drives the motor 4 based on a command obtained from the communication unit 10, and controls the position of the shaft S. The amplifier control unit 20 includes control and calculation means such as an MPU, a DSP, and an ASIC. In this embodiment, the amplifier control unit 20 can control the motor 4 by referring to the angle information acquired from the encoder 5, information from various other sensors, torque values, and the like, depending on the control mode. In addition, the amplifier control unit 20 includes a non-transitory recording medium such as a RAM or a ROM. The recording medium of the amplifier control unit 20 stores a control program (not shown) for the motor amplifier 1, and various data including state information 200 and a parameter group 210, which will be described later.

[0029] In this embodiment, the terminal device 3 includes a terminal control unit 30, a storage unit 40, an I / F unit 50, an input unit 60, and a display unit .

[0030] The terminal control unit 30 is a control and calculation means that performs overall control of the terminal device 3 and is connected to the motor amplifier 1. The terminal control unit 30 includes control and calculation means such as an MPU, a DSP, a GPU (Graphics Processing Unit), and an ASIC.

[0031] The storage unit 40 is a main storage means and an auxiliary storage means in which a program for setting the motor amplifier 1 by the terminal device 3 is stored and deployed. The storage unit 40 includes a non-transitory recording medium such as a RAM or a ROM. In this embodiment, the memory unit 40 stores an OS (Operating System), a device driver for the motor amplifier 1, middleware, various application software (hereinafter simply referred to as "apps") including the setting program 400 described later, and various data. Alternatively, the terminal control unit 30 and the storage unit 40 may be configured integrally.

[0032] The I / F unit 50 is a connection means including an interface (I / F) for connecting the control unit to other devices. The I / F unit 50 includes a CPU-dedicated bus interface, a bus interface such as PCI-Express (registered trademark), various USB interfaces for peripheral devices, a proximity wireless interface, an RS-232C interface, a LAN (Local Area Network) interface, a wireless LAN interface, and the like, as well as physical layer circuits for these interfaces. In this embodiment, the I / F unit 50 is directly connected to the motor amplifier 1 via a USB connection, and is capable of communicating with the motor amplifier 1 using a predetermined protocol.

[0033] The input unit 60 is an input means through which the user inputs setting information. In this embodiment, the input unit 60 includes a keyboard, a pointing device such as a mouse, a touchpad, or a digitizer, a switch, a button, a slide lever, a stick input device, an image input device (camera), a short-range radar, a gesture input device, a console terminal, etc.

[0034] The display unit 70 is a display means for displaying a GUI (Graphical User Interface) or a CUI (Character User Interface) that can be viewed by the user. In this embodiment, the display unit 70 includes a liquid crystal display, an organic electro-luminescence (EL) display, a light emitting diode (LED), a projector, a head-mounted display (HMD), a console terminal, or the like. Here, the input unit 60 and the display unit 70 may be integrally formed, such as a display with a touch panel.

[0035] [Functional configuration of motor amplifier 1 and terminal device 3] Next, the functional configurations of the motor amplifier 1 and the terminal device 3 will be described. First, the functional configuration of the motor amplifier 1 will be described. The amplifier control unit 20 of the motor amplifier 1 includes a status transmission unit 100 and a setting execution unit 110. The recording medium of the amplifier control unit 20 stores state information 200 and a parameter group 210.

[0036] In this embodiment, the communication unit 10 communicates with the higher-level device 2 via a factory network or the like, and responds to various commands.

[0037] The status transmission unit 100 transmits the status information 200 to the terminal device 3. In this embodiment, the status transmission unit 100 may be able to transmit the status information 200 in a separate thread or the like in response to a request from the status acquisition unit 300 of the terminal device 3 via a USB connection even during communication with the higher-level device 2. Here, the communicating state in this embodiment indicates a state in which communication is established between the higher-level device 2 and the motor amplifier 1 on the factory network, and commands and data can be transmitted and received. Note that in Figures 1 and 2, the flow (movement) of information is indicated by dashed arrows.

[0038] The setting execution unit 110 sets parameters for controlling the motor according to instructions from the connected terminal device 3. Here, in this embodiment, when the setting execution unit 110 is communicating with the higher-level device 2 via the communication unit 10, the setting execution unit 110 does not set parameters that may be written by the higher-level device 2 from the terminal device 3. The parameters that are not set include mode setting parameters and parameters related to internal commands.

[0039] The status information 200 is information such as a flag indicating whether the communication unit 10 is communicating with the higher-level device 2. In addition, the status information 200 may also include information indicating whether or not each of the IDs (Identifications) and types of parameters in the parameter group 210 is writable.

[0040] The parameter group 210 is a database including data of parameters for controlling the motor 4. In this embodiment, attributes such as an ID and a type are set for each parameter in the parameter group 210. In addition, each parameter in the parameter group 210 may include not only a value used for control (control value) but also a character string and other data. Specifically, the types of parameters include parameters relating to mode settings in the control of the motor amplifier 1, parameters relating to motor control settings, and parameters relating to internal commands.

[0041] Among these, the parameters relating to mode setting include, for example, parameters of the control mode, command mode, and operation mode of the motor amplifier 1. Among these, the control mode is a parameter for setting the control of the motor 4 of the motor amplifier 1 to a position control mode, a speed control mode, a torque control mode, or the like. The command mode is a parameter for indicating whether the motor 4 is controlled by a command from the higher-level device 2 or an internal command. The operation mode is a parameter for indicating whether the motor 4 is controlled or set by an instruction from the USB or a factory network.

[0042] The parameters related to the control settings are various parameters for adjusting the PI control, including, for example, a parameter for detecting an abnormality in position deviation, parameters related to torque command limits, switching of use, output conditions, and limit values, and parameters related to speed command limit values.

[0043] The parameters related to the internal command include parameters related to changing the method of specifying the internal position command, returning to the origin, reference signals, reference settings of the encoder 5, and acquisition of values.

[0044] Next, the functional configuration of the terminal device 3 will be described. The terminal control unit 30 includes a status acquisition unit 300 and an amplifier setting unit 310 . The storage unit 40 stores a setting program 400 .

[0045] The status acquisition unit 300 of the terminal control unit 30 acquires the status information 200 from the motor amplifier 1. In this embodiment, the status acquisition unit 300 acquires the status information 200 transmitted from the status transmission unit 100 of the motor amplifier 1 via a USB connection, and stores it in the memory unit 40.

[0046] When the display / non-display or input-availability of parameters displayed on the display unit 70 is changed, the amplifier setting unit 310 obtains setting information only for parameters that can be input, and sends instructions based on the setting information to the motor amplifier 1 to configure the motor amplifier 1. When the status information 200 indicates that communication with the higher-level device 2 is in progress, the amplifier setting unit 310 can hide parameters that may be written by the higher-level device 2 on the display unit 70. Here, the parameters that are hidden include parameters for setting a mode for executing commands or operations from the terminal device 3 or the higher-level device 2, and parameters related to internal commands of the motor amplifier 1 that are changed by the higher-level device 2. Alternatively, when the status information 200 indicates that the higher-level device 2 and the motor amplifier 1 are in communication, the amplifier setting unit 310 can display setting fields, buttons, and the like displayed on the display unit 70 as input-prohibited, indicating that input of setting information is not possible. The parameters that are displayed as input-prohibited include parameters whose current setting values ​​are referenced by the terminal device 3 depending on the convenience at the time of setting.

[0047] The setting program 400 is an example of an application for configuring the motor amplifier 1 using the terminal device 3 according to the present embodiment. The setting program 400 may be downloaded from an external recording medium or an external server, and then installed.

[0048] Furthermore, in this embodiment, the display unit 70 displays parameters for setting the motor amplifier 1 in accordance with the status information 200 acquired by the status acquisition unit 300. In this embodiment, the display unit 70 displays each parameter in a list format (hereinafter referred to as a "parameter list") as a GUI when the setting program 400 is executed.

[0049] Here, the amplifier control section 20 is made to function as a status transmission section 100 and a setting execution section 110 by executing a control program stored in a built-in recording medium. The terminal control unit 30 is made to function as a status acquisition unit 300 and an amplifier setting unit 310 by loading the setting program 400 stored in the auxiliary storage unit 40 of the storage unit 40 into the main storage unit 40 and executing it. In addition, each unit of the motor amplifier 1 and the terminal device 3 described above serves as a hardware resource for executing the setting method according to this embodiment. Furthermore, a part or any combination of the above-mentioned functional configurations may be configured in terms of hardware or circuits using ICs, programmable logic, FPGAs (Field-Programmable Gate Arrays), or the like.

[0050] [Motor amplifier setting process] Next, the motor amplifier setting process according to the embodiment of the present invention will be described with reference to FIG. 2 and FIG. In the motor amplifier setting process according to this embodiment, the motor amplifier 1 transmits status information 200 to the terminal device 3. The terminal device 3 acquires this status information 200 and changes the display of the setting parameters of the motor amplifier 1. The terminal device 3 then acquires only the setting information that can be input according to the changed parameters and transmits instructions to the motor amplifier 1. The terminal device 3 transmits instructions based on the set setting information to the motor amplifier 1. The motor amplifier 1 sets parameters according to instructions from the connected terminal device 3. In the motor amplifier setting process of this embodiment, the terminal control unit 30 of the terminal device 3 executes the setting program 400 stored in the storage unit 40 by using hardware resources in cooperation with each unit. In conjunction with this, the communication unit 10 and the amplifier control unit 20 of the motor amplifier 1 execute a control program (not shown) stored in a built-in storage medium by using hardware resources in cooperation with each unit. The motor amplifier setting process according to this embodiment will be described in detail below for each step with reference to the flowchart in FIG.

[0051] (Step S101) First, the communication unit 10 of the motor amplifier 1 determines whether or not it is communicating with the higher-level device 2. If it is communicating with the higher-level device 2 via the factory network, the communication unit 10 determines "Yes." Otherwise, the communication unit 10 determines "No." If the answer is Yes, the communication unit 10 advances the process to step S102. If the answer is No, the communication unit 10 advances the process to step S103.

[0052] (Step S102) When communication with the higher-level device 2 is in progress, the communication unit 10 performs a communication in progress setting process. The communication unit 10 sets in the status information 200 of the amplifier control unit 20 that it is communicating with the higher-level device 2 over the factory network. In this embodiment, for example, the communication unit 10 may directly access a recording medium of the amplifier control unit 20 by DMA (Direct Memory Access) or the like and set a flag or the like in the status information 200. Alternatively, the communication unit 10 may notify the amplifier control unit 20 by a signal line or a command (instruction), and the status transmission unit 100 of the amplifier control unit 20 that detects this may write it into the status information 200.

[0053] (Step S103) Next, the status transmission unit 100 performs a status transmission process. The status transmission unit 100 transmits the status information 200 to the terminal device 3. In this embodiment, when the status transmission unit 100 acquires an instruction requesting transmission of the status information 200 from the terminal device 33 while a USB connection is established, the status transmission unit 100 transmits the status information 200 to the terminal device 3. At this time, the status transmission unit 100 may also transmit a list of configurable parameters by referring to the parameter group 210.

[0054] (Step S201) Here, the status acquisition unit 300 of the terminal device 3 performs a status acquisition process. First, in this embodiment, for example, when the application of the setting program 400 is started and executed, the status acquisition unit 300 connects to the motor amplifier 1 via USB. After the connection is established, the status acquisition unit 300 displays the GUI screen of the setting program 400 on the display unit 70 and starts acquiring instructions from the user via the input unit 60 .

[0055] 4(a) shows an example where the "Parameter" tab on the screen is pressed and a parameter list is displayed on the display unit 70 on the parameter change screen of the motor amplifier 1. In this embodiment, this parameter change screen includes a GUI that allows input of setting values ​​(dynamic). This screen example 500 shows a state where no display change, which will be described later, has been made and all configurable parameters are displayed.

[0056] Here, the status acquisition unit 300 transmits an instruction to the motor amplifier 1 in real time (real time) to request the motor amplifier 1 to transmit the status information 200. The status acquisition unit 300 acquires the status information 200 transmitted from the status transmission unit 100 of the motor amplifier 1, and stores it in the storage unit 40. This acquisition may be performed periodically at a predetermined interval, for example, every few milliseconds to every few seconds.

[0057] (Step S202) Next, the status acquisition unit 300 determines whether the motor amplifier 1 is in communication with the higher-level device 2 or not. The status acquisition unit 300 analyzes the status information 200 stored in the storage unit 40, and determines "Yes" if the motor amplifier 1 is communicating with the higher-level device 2. The status acquisition unit 300 determines "No" in other cases. If the answer is Yes, the status acquisition unit 300 advances the process to step S203. If the answer is No, the status acquisition unit 300 advances the process to step S204.

[0058] (Step S203) When the motor amplifier 1 is in communication with the higher-level device 2, the amplifier setting unit 310 performs a display change process. The amplifier setting section 310 changes (changes display) the display of parameters displayed on the display section 70 in accordance with the status information 200 acquired by the status acquisition section 300. In this embodiment, the amplifier setting section 310 hides parameters that may be written by the higher-level device 2, or displays them as input-prohibited, which means that input of setting information is not possible.

[0059] More specifically, the amplifier setting unit 310 hides, for example, parameters of the command mode and the operation mode, and parameters related to the internal command. Even if these are changed from the terminal device 3, they may be changed in real time (real time) from the higher-level device 2 while communicating with the higher-level device 2, and may confuse the user if the user is allowed to view them. In the example screen 501 of FIG. 4(b), the field D showing the parameter "command mode" in the example screen 500 of FIG. 4(a) is not displayed.

[0060] In addition, the amplifier setting unit 310 displays the parameters whose current setting values ​​are referred to by the terminal device 3 according to the convenience at the time of setting as input-prohibited, which means that input (writing, setting) of setting information is not possible. That is, the amplifier setting unit 310 displays the parameters whose user convenience can be improved if they are viewable by the user at the time of setting as input-prohibited, and displays the parameter values. This display of input-prohibited includes, for example, a grayed-out display that does not change even when a button is pressed, an invalid display that invalidates the input of the setting value, and the like.

[0061] Specifically, parameters that are displayed as unavailable for input include, for example, the control mode, detection of position deviation abnormality, parameters for detecting position deviation abnormality, torque command limitations, switching of use, output conditions, parameters related to limit values, and parameters related to limit values ​​of speed commands. In the example screen 501 of FIG. 4(b), the control mode parameter is changed to an "invalid" state, and the input is disabled.

[0062] Also, a user may temporarily set parameters for the motor amplifier 1 to perform a test operation. In this case, it is sufficient to be able to temporarily set a set value for the motor amplifier 1, and there is no need to save the value in a non-volatile recording medium. However, if the "write" button for parameters to a non-volatile recording medium is enabled, there is a possibility that this temporary parameter will be saved, or that a value changed by the higher-level device 2 will be saved. This may cause problems during subsequent communication with the higher-level device 2 or the next time the device is started up. For this reason, in the screen example 501 of FIG. 4(b), the amplifier setting section 310 grays out the "Write" button B during communication with the higher-level device 2, displaying it as being unable to be input.

[0063] The details of such a situation will be described using the parameter "torque command limit" as an example. This parameter is used to limit the output torque of the motor amplifier 1. During communication with the higher-level device 2, the higher-level device 2 can change the torque command limit parameter by setting a value in "Object MaxTorque (6072h)" of the factory network. Due to the nature of factory network communication, the torque command limit parameter setting value is changed in real time. Therefore, if the parameters can be changed from the terminal device 3, the setting value at the time of change in real time is written to the non-volatile recording medium of the motor amplifier 1. In other words, the written torque command limit setting value is used the next time the motor amplifier is started, and in this case, the written torque limit value may be a value not intended by the user. For this reason, like button B in the above-mentioned example screen 501, by graying out the write button B and making it impossible to give any instructions, it is possible to prevent unintended operation of the motor amplifier 1, while improving convenience for the user and reducing stress.

[0064] (Step S204) Here, the amplifier setting unit 310 performs a setting acquisition process. The amplifier setting unit 310 acquires setting information set by the user from the parameter change screen. At this time, the amplifier setting unit 310 acquires setting information only for parameters that can be input. In this embodiment, for example, the amplifier setting unit 310 acquires the setting information input by the user for buttons and display fields displayed on the GUI screen and not displayed as not inputtable. That is, in the above-mentioned screen example 500 and screen example 501 in FIG. 4, the amplifier setting section 310 does not acquire instructions or setting information for button B and fields C and D.

[0065] (Step S205) Next, the amplifier setting section 310 performs an amplifier setting process. The amplifier setting unit 310 transmits an instruction based on the acquired setting information to the motor amplifier 1, causing the motor amplifier 1 to make settings. Specifically, in this embodiment, the amplifier setting section 310 transmits an instruction to change the parameters based on the setting information using a predetermined USB protocol.

[0066] (Step S104) Here, the setting execution unit 110 of the motor amplifier 1 performs an instruction acquisition process. In this embodiment, the setting execution unit 110 receives instructions from the terminal device 3 via a USB connection.

[0067] (Step S105) Next, the setting execution unit 110, while communicating with the higher-level device 2, judges whether the instruction is regarding a parameter that may be changed by the higher-level device 2. The setting execution unit 110 judges "Yes" when communicating with the higher-level device 2 and the acquired instruction is regarding a parameter that may be written (changed) by the higher-level device 2. The setting execution unit 110 judges "No" in other cases. If the answer is Yes, the setting execution unit 110 ends the motor amplifier setting process according to this embodiment. This makes it possible to prevent the terminal device 3 from setting parameters that may be written by the higher-level device 2. If the answer is No, the setting execution section 110 advances the process to step S106.

[0068] (Step S106) In this case, the setting execution unit 110 performs the setting execution process. The setting execution unit 110 changes the corresponding parameters in the parameter group 210 based on the setting values ​​and the like included in the instruction. After the change, the setting execution unit 110 may transmit the changed parameters to the terminal device 3 via USB. This completes the motor amplifier setting process according to the embodiment of the present invention.

[0069] [Main Effects of the Present Embodiment] With the above configuration, the following effects can be obtained. Conventionally, when a terminal device 3 and a higher-level device 2 were connected to a motor amplifier 1, it was possible for the same parameters to be overwritten with different values, which could result in a malfunction that would result in unintended amplifier operation.

[0070] In contrast, the motor amplifier 1 according to an embodiment of the present invention is a motor amplifier 1 that is connected to a terminal device 3 to set parameters for controlling a motor and control a motor 4 through communication with a higher-level device 2, and is characterized by comprising a communication unit 10 that communicates with the higher-level device 2, a status transmission unit 100 that transmits status information 200 indicating whether communication with the higher-level device 2 is in progress via the communication unit 10 to the terminal device 3, and a setting execution unit 110 that sets parameters based on instructions from the connected terminal device 3. With this configuration, even if the terminal device 3 and the higher-level device 2 are simultaneously connected, it is possible to suppress the occurrence of unintended operation of the motor amplifier 1. In other words, by restricting parameter setting from the terminal device 3 according to the communication state between the motor amplifier 1 and the higher-level device 2, it is possible to eliminate malfunction of the motor amplifier 1 caused by the higher-level device 2 and the terminal device 3 setting the same parameters.

[0071] In the motor amplifier 1 according to an embodiment of the present invention, the setting execution unit 110 is characterized in that, when communication with the higher-level device 2 is in progress via the communication unit 10, the setting execution unit 110 does not perform setting from the terminal device 3 for parameters that may be written by the higher-level device 2. With this configuration, even if an instruction to change a parameter that may be written from the upper device 2 due to a malfunction of the setting program 400 of the terminal device 3 or a slight timing difference is received from the terminal device 3, the setting is not performed. This makes it possible to prevent unintended operation of the motor amplifier 1.

[0072] In the motor amplifier 1 according to the embodiment of the present invention, the parameters that are not set include parameters for mode setting and parameters related to internal commands. With this configuration, it is possible to prevent mode setting parameters and internal command parameters that may be changed by the higher-level device 2 during communication from being set by the terminal device 3. This makes it possible to reliably prevent unintended operation of the motor amplifier 1.

[0073] A terminal device 3 according to an embodiment of the present invention is a terminal device 3 connected to a motor amplifier 1 that controls the rotation of a motor through communication with a higher-level device 2, and is characterized by comprising a status acquisition unit 300 that acquires status information 200 from the motor amplifier 1 indicating whether communication with the higher-level device 2 is in progress, a display unit 70 that displays parameters for setting the motor amplifier 1 in accordance with the status information 200 acquired by the status acquisition unit 300, and an amplifier setting unit 310 that acquires setting information only for parameters that can be input and sets it in the motor amplifier 1 when the display / non-display or input-availability of the parameters displayed on the display unit 70 is changed. With this configuration, it is possible to prevent unintended operation of the motor amplifier 1 even if the terminal device 3 and the higher-level device 2 are simultaneously connected to the motor amplifier 1. In addition, it is possible to increase user convenience by hiding parameters that do not need to be displayed to the user, and by displaying parameters that should be viewed by the user but cannot be input.

[0074] In addition, the setting program 400 of this embodiment displays a parameter list by switching tabs during setting, and allows the setting parameters of the motor amplifier 1 to be changed as a dynamic GUI, thereby reducing the stress associated with setting for the user.

[0075] The terminal device 3 in accordance with an embodiment of the present invention is characterized in that, when the status information 200 indicates that communication with the higher-level device 2 is in progress, the terminal device 3 either hides parameters that the higher-level device 2 may write, or displays an input-prohibited message indicating that input of setting information is not possible. With this configuration, it is possible to dynamically prevent the user from changing parameters by changing the display, particularly when the host device 2 and the motor amplifier 1 are in communication. Furthermore, it is also possible to attract the user's attention by showing the user that the host device 2 is in communication by changing the display. This makes it possible to reliably prevent the motor amplifier 1 from operating unintentionally.

[0076] In the terminal device 3 according to the embodiment of the present invention, the parameters that are hidden include mode setting parameters for issuing commands or performing operations from the terminal device 3 or the higher-level device 2, and parameters related to internal commands of the motor amplifier 1 that are changed by the higher-level device 2. With this configuration, it is possible to anticipate real-time changes in response to commands from the higher-level device 2, and to hide parameters that would only confuse the user if they were visible when the parameters were set. This makes it possible to improve operability for the user and reduce stress while suppressing unintended operation of the motor amplifier 1.

[0077] In the terminal device 3 according to the embodiment of the present invention, the parameters that are displayed as unavailable for input include parameters whose current setting values ​​are referenced by the terminal device 3 depending on the convenience at the time of setting. With this configuration, it is more convenient for the user to be able to refer to the parameters when setting them, and parameters that would be helpful to the user can be referred to while being made unavailable for input. This makes it possible to improve user convenience and reduce stress while preventing unintended operation of the motor amplifier 1.

[0078] Other Embodiments In the above embodiment, it has been described that when the setting execution unit 110 of the motor amplifier 1 is communicating with the higher-level device 2, it determines whether the parameter is one that the higher-level device 2 may write, and does not perform setting from the terminal device 3. However, it is also possible to configure the setting execution unit 110 of the motor amplifier 1 not to make this determination, and for the determination to be made only by the terminal device 3. Specifically, the determination in step S105 in FIG. Such a configuration can reduce the processing load of the motor amplifier 1. Also, it can reduce the number of changes to the control program of the conventional motor amplifier 1, resulting in reduced development resources.

[0079] In the above embodiment, an example has been described in which the terminal device 3 and the motor amplifier 1 are connected via a USB to set parameters. However, the terminal device 3 and the motor amplifier 1 may be connected via Bluetooth (registered trademark), Wi-fi, an industrial wireless network, a factory network, or other LANs. In this case, both the terminal device 3 and the higher-level device 2 may be connected to the motor amplifier 1. With this configuration, parameters can be set by the terminal device 3 without a direct connection via USB, making it possible to accommodate flexible settings. In particular, parameters can be set by wireless connection using Bluetooth (registered trademark), reducing the effort required by the user. Furthermore, it may be possible to perform settings on a console such as RS-232C between the terminal device 3 and the motor amplifier 1. In this case, too, restrictions on parameter settings may be imposed during communication with the higher-level device 2.

[0080] In the above embodiment, the terminal device 3 has been described as having the input unit 60 and the display unit 70 built therein. However, the terminal may not be an integrated type, but may be configured like a computer to which the input unit 60 and the display unit 70 are separately connected. Alternatively, the I / F unit 50 may be provided separately in the form of an interface box or an interface card. Such a configuration makes it possible to accommodate a flexible configuration.

[0081] In the above embodiment, an example has been described in which the terminal device 3 stores the setting program 400 and the setting of the motor amplifier 1 is executed by the terminal control unit 30 of the terminal device 3. However, the motor amplifier 1 may be configured to have a function realized by the setting program 400 of the terminal device 3. For example, a control calculation means such as the amplifier control unit 20 or a setting control unit of the motor amplifier 1 may execute the setting program 400 based on a web server or CGI (Common Gateway Interface), etc., and the terminal device 3 may be configured to access and set from a web browser. Furthermore, the input unit 60 and display unit 70 may be directly connected to the motor amplifier 1, making it possible to set the motor amplifier 1 without using the terminal device 3. This configuration makes it possible to configure the motor amplifier 1 from a general PC, smartphone, etc. In other words, it is no longer necessary to install a device driver or control program separately in the control device, which increases user convenience.

[0082] In the above embodiment, the higher level device 2 is a PLC or the like. However, other motor amplifiers 1, sensors, and the like connected to the factory network may be the higher-level devices 2.

[0083] It goes without saying that the configurations and operations of the above-described embodiments are merely examples and can be modified as appropriate without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0084] 1 Motor amplifier 2. Upper device 3 Terminal Equipment 4 Motor 5 Encoders 10. Communications Department 20 Amplifier control section 30 Terminal control unit 40 Storage section 50 I / F section 60 Input section 70 Display section 100 Status transmission unit 110 Setting execution unit 200 Status Information 210 Parameter Group 300 Status acquisition unit 310 Amplifier setting section 400 Setting Program 500, 501 Screen example A-axis B Button Column C, D S shaft X Control System

Claims

1. A motor amplifier connected to a terminal device to set parameters for controlling a motor and to control the motor through communication with a higher-level device, A communication unit that performs the communication with the higher-level device; a status transmission unit that transmits to the terminal device status information indicating whether the communication unit is in communication with the higher-level device; a setting execution unit that sets the parameters in response to an instruction from the connected terminal device, The setting execution unit is When the state information indicates that communication with the host device is in progress, only the parameters that may be written by the host device are not set from the terminal device. A motor amplifier comprising:

2. The parameters that are not set include the parameters related to mode setting in control and the parameters related to internal commands.

2. The motor amplifier according to claim 1 .

3. A terminal device connected to a motor amplifier that controls the rotation of a motor through communication with a higher-level device, a status acquisition unit that acquires, from the motor amplifier, status information indicating whether or not communication with the upper device is in progress; a display unit that displays parameters for setting the motor amplifier in accordance with the state information acquired by the state acquisition unit; an amplifier setting unit that, when the display of the parameter displayed on the display unit is changed, obtains setting information only for the parameter that can be input, and sets the setting information in the motor amplifier; When the state information indicates that communication with the host device is in progress, only the parameters that may be written by the host device are not set from the terminal device. A terminal device comprising:

4. When the state information indicates that communication with the higher-level device is in progress, the parameters that may be written by the higher-level device are hidden, or an input-disabled display is displayed to indicate that input of the setting information is not possible.

4. The terminal device according to claim 3.

5. The parameters to be hidden include the parameters for mode setting for performing commands or operations from the terminal device or the higher-level device, and the parameters related to internal commands of the motor amplifier that are changed by the higher-level device.

5. The terminal device according to claim 3 or 4.

6. The parameters that are displayed as unavailable for input include the parameters whose current setting values ​​are referenced by the terminal device depending on the convenience at the time of setting.

6. The terminal device according to claim 4 or 5.

7. A control system including a host device, a motor amplifier connected to the host device to control rotation of a motor, and a terminal device for setting the motor amplifier, The motor amplifier includes: A communication unit that communicates with the higher-level device via a network; a status transmission unit that transmits to the terminal device status information indicating whether the communication unit is in communication with the higher-level device; A setting execution unit that receives an instruction from the terminal device and performs setting, The terminal device a status acquisition unit that acquires the status information from the motor amplifier; a display unit that changes whether or not to display and / or whether or not parameters for setting the motor amplifier can be input in accordance with the state information acquired by the state acquisition unit; an amplifier setting unit that acquires setting information only for the parameters that are displayed when the parameter is changed and can be inputted and transmits an instruction based on the setting information to the motor amplifier to set the parameter; The setting execution unit is When the state information indicates that communication with the host device is in progress, only the parameters that may be written by the host device are not set from the terminal device. A control system comprising:

8. A setting program executed by a terminal device that is connected to a higher-level device and that sets a motor amplifier that controls rotation of a motor, comprising: acquiring status information from the motor amplifier, the status information indicating whether or not communication with the upper device is in progress; changing a display of parameters for setting the motor amplifier in accordance with the acquired status information; According to the changed parameters, only the setting information that can be input is acquired; Sending an instruction based on the set setting information to the motor amplifier to set the setting information, When the state information indicates that communication with the host device is in progress, only the parameters that may be written by the host device are not set from the terminal device. A setting program characterized by:

9. A setting method executed by a terminal device that sets a motor amplifier that is connected to a higher-level device and controls rotation of a motor, the terminal device comprising: acquiring status information from the motor amplifier, the status information indicating whether communication with the higher-level device is in progress; changing a display of parameters for setting the motor amplifier in accordance with the acquired status information; Acquire only the setting information that can be input according to the changed parameters; Sending an instruction based on the set setting information to the motor amplifier to set the setting information, When the state information indicates that communication with the host device is in progress, only the parameters that may be written by the host device are not set from the terminal device. A setting method comprising:

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