How to identify the encoder and the driver

Abstract

To enable control processing using encoder detection to be started in a state where a driver is set to be capable of communicating with an encoder.SOLUTION: In a method for identifying an encoder attached to a target motor for control processing to be performed by a driver using encoder detection in a predetermined communication state in which the driver is able to communicate with the encoder, the motor is configured so that signals can be communicated between the encoder and windings of the motor. The method includes a first step for connecting the driver and the motor through a power line, a second step of transmitting first identification information for identifying a transmission side out of the driver and the motor between the driver and the motor connected to each other by the power line from the transmission side to the reception side through the power line, and a third step of identifying an encoder corresponding to the driver for the control processing by using at least the first identification information.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a method for specifying an encoder and a driver. [Background technology]

[0002] Recently, there has been active development of articulated robots such as industrial robots. Many of these robots use a control device to control multiple motors, including motors at the joints, to achieve complex movements. In addition, equipment installed in factories and other places generally has multiple control axes, and therefore many motors are installed as drive sources. In equipment equipped with multiple motors like this, it is necessary to understand each of the multiple motors and give instructions to each one. Therefore, when constructing equipment, it is necessary to properly recognize the combination of the control device and the motor to be controlled.

[0003] For example, Patent Document 1 discloses a control system that wirelessly controls multiple motors in facility equipment. In this system, the combination of motor devices to be controlled can be changed arbitrarily by updating a combination table, and the combination table is updated via a wireless communication interface in the motor devices. Patent Document 2 discloses a configuration in which identification information of encoders to be communicated with is exchanged over a wired bus. This configuration makes it possible to easily set the encoder addresses of multiple encoders connected to the bus to arbitrary encoder addresses. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2017-175716 A [Patent Document 2] JP 2004-318439 A Summary of the Invention [Problem to be solved by the invention]

[0005] In general, when multiple motors are servo-controlled by a control device located upstream, the driver includes a control unit related to the servo control of the motors and a power converter that supplies driving power to the motors using a calculated value related to the servo control, so the combination of the driver corresponding to each motor and the motor must be set appropriately. If the combination of the driver and the corresponding motor is not set appropriately, the detection signal of the encoder of the motor will not be handed over to the corresponding driver, making it difficult to servo-control the motor.

[0006] Here, as a state before the control device servo-controls the multiple motors, each driver and each motor's encoder can communicate with an unspecified other party, but the combination of the driver and the motor's encoder may not yet be determined. For example, when the driver and the motor's encoder communicate wirelessly, the driver is placed in a state in which it can communicate with an unspecified encoder before the encoder of the specific motor corresponding to the driver is specified. Alternatively, when the control device, the driver, and each encoder are daisy-chained to communicate with each other as in EtherCAT (registered trademark), the driver is placed in a state in which it can communicate with an unspecified encoder before the encoder of the specific motor corresponding to the driver is specified. If the driver is placed in a state in which it can communicate with an unspecified encoder, the driver cannot realize a control process using encoder detection.

[0007] The present invention has been made in consideration of such problems, and aims to provide a technology that enables a driver to start control processing using encoder detection while in a state in which the driver is able to communicate with an unidentified encoder. [Means for solving the problem]

[0008] A method for identifying an encoder according to one aspect of the present invention is a method for identifying an encoder attached to a motor that is the target of control processing by a driver in a predetermined communication state in which a driver and an encoder are able to communicate, the motor being configured to enable the exchange of signals between the encoder and the windings of the motor, and the method includes a first step of connecting the driver and the motor with a power line, a second step of transmitting first identification information for identifying the sending side of the driver and the motor via the power line from the sending side to the receiving side via the power line, and a third step of using at least the first identification information to identify the encoder corresponding to the driver with respect to the control processing.

[0009] The above-mentioned predetermined communication state is a state in which the driver can communicate with the encoder before the specific processing for the control processing is performed, in other words, a state in which the specific encoder and the driver have not yet recognized each other and communicated for the control processing using the encoder detection (e.g., servo control). Therefore, the predetermined communication state represents a state in which the communication state for the control processing using the encoder detection has not yet been established between the driver and the encoder. The above-mentioned encoder specification method is a method for going from the predetermined communication state to the communication state for the control processing using the encoder detection. The predetermined communication state may be a communication state by wireless communication, or a communication state formed by daisy-chaining the driver and the encoder.

[0010] Here, the motor is configured so that signals can be exchanged between the encoder and the motor windings. In this case, the motor may be a single-phase AC motor or a three-phase AC motor. The connection of the coils in the winding section of the motor may be a so-called delta connection or a star connection (or Y connection). The coils of the winding section may be wound around the stator of the motor in a distributed winding or concentrated winding manner. That is, there is no intention to particularly limit the specific configuration of the winding section in the motor of the present invention. And, for example, the motor may further include a signal exchange section that is arranged so as to form a predetermined transformer structure for the winding section and enables predetermined signals to be exchanged between the winding section and the encoder via the predetermined transformer structure.

[0011] In the above method, first, the driver and the motor are connected by a power line. As a result, in addition to the communication between the driver and the encoder in a predetermined communication state (i.e., communication with an unspecified encoder), communication between the motor and the driver, i.e., communication between the encoder and the driver, is realized by communication via the power line (e.g., communication via the transmission and reception of a predetermined signal by the above-mentioned signal exchange unit). The communication via the power line is communication in a state in which the driver and the motor are connected one-to-one by a physical power line, and at this time, the communication partner is practically specified. Therefore, taking into account the technical significance of communication via the power line, in the second step, first identification information is transmitted and received between the driver and the motor. The first identification information is information for identifying the sender.

[0012] The side receiving the first identification information via the power line can accurately identify the other side (transmitter) connected by the power line. Therefore, in the third step, the encoder corresponding to the driver in relation to the control process is identified using at least the first identification information. If the encoder corresponding to the driver is identified, it is possible to transition from a predetermined communication state to a communication state for control process using encoder detection, and thus the driver can determine whether or not the predetermined communication state is established. Through the communication path associated with the receive state, the encoder corresponding to itself can be recognized and communicated with.

[0013] Here, a more specific embodiment of the method for identifying an encoder will be illustrated. First, in the above method, in the second step, the first identification information for identifying the encoder may be transmitted from the encoder to the driver via the power line, and in the third step, the driver may identify the encoder identified by the first identification information as corresponding to the driver based on the first identification information. According to this embodiment, the driver can use the first identification information to identify the encoder of the motor connected by the power line. Since the power line physically connects the motor and the driver, the first identification information transmitted via the power line can provide a suitable link between the driver and the encoder.

[0014] Secondly, in the above method, in the second step, the first identification information for identifying the encoder from the encoder to the driver is transmitted from the encoder to the driver via the power line and the communication path associated with the predetermined communication state, and in the third step, the driver may identify the encoder identified by the first identification information as corresponding to the driver based on a comparison result between the two pieces of first identification information transmitted via the power line and the communication path. According to this aspect, the first identification information is transmitted from the encoder to the driver via the power line as well as the communication path associated with the predetermined communication state. Therefore, the driver has two pieces of first identification information. Here, if the two pieces of first identification information are the same, it can be determined with a high degree of certainty that the encoder of the motor that can communicate via the communication path and the encoder of the motor that is physically connected to the driver via the power line are the same. This makes it possible for the driver to suitably identify the encoder that is the target of communication for performing control processing via the communication path.

[0015] Thirdly, in the above method, in the second step, the first identification information for identifying the driver is transmitted from the driver to the encoder via the power line, and further, the second identification information for identifying the encoder is transmitted from the encoder to the driver together with the first identification information via a communication path associated with the predetermined communication state, and in the third step, the driver may identify the encoder identified by the transmitted second identification information as corresponding to the driver based on a comparison result between the transmitted first identification information and the driver's own identification information. According to this aspect, first, the first identification information is transmitted to the encoder via the power line, and then the encoder transmits the received first identification information and the second identification information relating to itself back to the driver via the communication path. Therefore, the driver receives the first identification information again via the encoder. Here, if the first identification information received from the encoder and the driver's own identification information are the same, it can be determined with a high degree of certainty that the encoder of the motor that can communicate via the communication path and the encoder of the motor that is physically connected to the driver via the power line are the same. This enables the driver to use the second identification information to suitably identify the encoder that is the target of communication for performing the control process via the communication path.

[0016] Here, the above-described method for identifying an encoder may further include a fourth step of transmitting driver identification information for identifying the driver from the driver to the encoder via the power line or via a communication path associated with the predetermined communication state after the identification process in the third step, and a fifth step of identifying the driver as corresponding to the encoder based on the driver identification information in the encoder. With this configuration, the encoder can also identify the driver corresponding to the encoder for the above control process.

[0017] The present invention can also be seen from the aspect of a driver. The driver performs control processing of a motor using detection from an encoder attached to a motor configured to enable transmission and reception of signals between the encoder and a winding, and includes a communication unit that transmits or receives first identification information for identifying the sender of the driver or the motor between the driver and the motor via a power line connecting the driver and the motor in a predetermined communication state in which the driver can communicate with the encoder, and an identification unit that uses at least the first identification information to identify the encoder corresponding to the driver in relation to the control processing. The technical ideas disclosed in the present application regarding the encoder identification method described above can also be applied to the above driver to the extent that no technical inconsistency occurs. Effect of the Invention

[0018] With the driver placed in a state in which it can communicate with the unidentified encoder, it becomes possible to start control processing using encoder detection. [Brief description of the drawings]

[0019] [Figure 1] FIG. 2 is a diagram showing a schematic configuration of a control system that controls the drive of a motor. [Diagram 2] FIG. 2 is a diagram showing a schematic configuration of a motor. [Diagram 3] FIG. 2 is a diagram showing a schematic arrangement of a winding section of a motor and a transformer structure provided for the winding section; [Figure 4] 11 is a first flowchart showing a control flow for a driver to identify an encoder corresponding to the driver. [Diagram 5] 11 is a second flowchart showing a control flow for a driver to identify an encoder corresponding to the driver. [Figure 6] 13 is a third flowchart showing a control flow for a driver to identify an encoder corresponding to the driver. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] <Example 1> FIG. 1 is a diagram showing a schematic configuration of a control system that controls the drive of a motor. First, the control system will be described. In the control system, a standard PLC (Programmable Logic Controller) 5 is connected to a network 1 as a host controller. A plurality of servo drivers 4 are connected to the network 1, and are configured to be able to send and receive signals to and from the standard PLC 5. In FIG. 1, the functional configuration of one servo driver 4 is shown in detail as a representative example, but the other servo drivers 4a and 4b have the same functional configuration as the servo driver 4. The motor 2 is connected to the servo driver 4 via a power line 11 and receives a supply of driving power. Similarly, the motors 2a and 2b receive a supply of driving power from the servo drivers 4a and 4b via power lines 11a and 11b, respectively. Hereinafter, the structures of the motors and servo drivers will be described representatively based on the motor 2 and the servo driver 4.

[0021] Here, the motor 2 is driven and controlled according to commands from a standard PLC 5 in order to drive a specified load device. As an example, the load device can be various mechanical devices (for example, an arm of an industrial robot or a conveying device), and the motor 2 is incorporated in the device as an actuator for driving the load device. The motor 2 is an AC servo motor. Alternatively, the motor 2 may be an induction motor or a DC motor. The motor 2 is equipped with a motor body 21 having a stator including a winding portion formed by winding a coil around a stator core and a rotor in which a permanent magnet is incorporated, and an encoder 22 having a detection disk that rotates in conjunction with the rotation of the rotor and capable of detecting the rotation state of the rotor. Rotation detection by the encoder 22 The output may be either incremental or absolute.

[0022] The detection signal by the encoder 22 is wirelessly transmitted to the servo driver 4 via a communication unit 42 included in the servo driver 4, which will be described later. The transmitted detection signal is used for servo control in a control unit 41 included in the servo driver 4, which will also be described later. The detection signal by the encoder 22 includes, for example, position information on the rotational position (angle) of the rotating shaft of the motor 2, information on the rotational speed of the rotating shaft, and the like.

[0023] Here, the servo driver 4 has a control unit 41, a communication unit 42, and a power conversion unit 43. The control unit 41 is a functional unit that manages servo control of the motor 2 based on commands from the standard PLC 5. The control unit 41 receives an operation command signal related to the operation (motion) of the motor 2 from the standard PLC 5 via the network 1 and a detection signal output from the encoder 22, and calculates servo control related to the drive of the motor 2, i.e., a command value related to the operation of the motor 2. The control unit 41 executes feedback control using a position controller, a speed controller, and a current controller. The control unit 41 is also configured to manage controls other than the servo control of the motor 2 that are performed by the servo driver 4.

[0024] The communication unit 42 is a functional unit that manages wireless communication between the encoder 22 and the servo driver 4. When starting wireless communication, the communication unit 42 of the servo driver 4 identifies the encoder 22 as the target of wireless communication by a process of identifying the encoder to be communicated with. Therefore, after the process of identifying the encoder is performed, the communication unit 42 does not cross-connect with the encoder of the motor 2a or the encoder of the motor 2b and performs wireless communication. Similarly, the encoder of the motor 2a and the encoder of the motor 2b perform wireless communication only with the servo drivers 4a and 4b, respectively. The power conversion unit 43 supplies driving power to the motor 2 through the power line 11 based on the command value regarding the operation of the motor 2 calculated by the control unit 41. Note that the AC power sent from the AC power source 7 to the servo driver 4 is used to generate this supply power. In this embodiment, the servo driver 4 is a type that receives three-phase AC, but it may be a type that receives single-phase AC.

[0025] Next, the schematic configuration of the motor 2 will be described with reference to FIG. 2. The motor 2 is a three-phase (U-phase, V-phase, W-phase) AC motor, and includes a motor body 21 and an encoder 22. The motor body 21 includes a rotor 212 and a stator 213. A permanent magnet is incorporated in the rotor 212 and is supported rotatably. The stator 213 includes a winding section 25 formed by winding a coil around a stator core formed of electromagnetic steel sheets. In this embodiment, the connection of each phase in the winding section 25 is Y-connection, but it may be delta-connection instead. In this embodiment, the coil may be wound around the stator core by either distributed winding or concentrated winding. The configuration shown in FIG. 2 is merely schematic, and the technical idea of ​​the present invention can be applied regardless of the specific configuration of the motor.

[0026] The power line 11 for supplying driving power from the servo driver 4 is connected to the connector 211. The connector 211 is connected to each phase of the winding section 25. In the motor 2, a predetermined transformer structure (see 53, 63, and 73 shown in FIG. 3; details will be described later) is arranged for the winding section 25, and an extractor 214 is provided that uses the transformer structure to extract a part of the driving power supplied to the coil of the winding section 25 as the power of the encoder. That is, the extractor 214 applies AC power to the primary coil side of the transformer structure together with the winding section 25 of the motor body 21, thereby extracting a current that can be used as a driving current for the encoder 22 from the secondary coil side. In the embodiment shown in FIG. 3, for example, the transformer structure is formed for the winding section 25 at the coil end of the stator 213, but the transformer structure may be formed in other forms.

[0027] The extraction unit 214 extracts the power output from the secondary coil of the transformer structure as power for the encoder 22. There, the power is rectified by the supply unit 215, and converted into a DC voltage suitable for driving the encoder 22 by a DC-DC converter included in the supply unit 215 as necessary. The supply unit 215 is electrically connected to the encoder 22 so that the DC power can be supplied to the encoder 22 side, particularly to the processing unit 221 that performs detection processing of the rotation of the rotor 212, when the encoder 22 is attached to the motor body 21. The supply unit 215 may also have a secondary battery that can store the rectified DC power. In that case, power can be supplied to the encoder 22 even during a period when no drive current flows through the winding unit 25 or when the drive current is extremely low.

[0028] In addition, the motor 2 of this embodiment is configured to enable the transmission and reception of a predetermined signal between the winding section 25 of the motor body 21 and the processing section 221 of the encoder 22 by utilizing the extraction process by the extraction section 214. The transmission and reception of the predetermined signal is realized by the signal exchange section 216 using the above-mentioned transformer structure. When sending a predetermined signal from the winding section 25 to the processing section 221, the extraction section 214 can generate a current corresponding to the predetermined signal on the secondary coil side of the transformer structure by providing AC power with a predetermined signal superimposed on the coil of the winding section 25 to the primary coil side of the transformer structure. Then, the signal exchange section 216 passes this extracted corresponding current to the processing section 221. In this case, in order to accurately convey the information possessed by the predetermined signal, the signal exchange section 216 does not perform rectification processing on the corresponding current extracted by the extraction section 214. On the other hand, when the extracted corresponding current is weak, the signal exchange section 216 may perform a predetermined amplification processing.

[0029] In addition, when sending a predetermined signal from the processing unit 221 to the winding unit 25, the extraction unit 214 generates a current corresponding to the predetermined signal on the primary coil side of the transformer structure by providing AC power including the predetermined signal to the secondary coil side of the transformer structure via the signal exchange unit 216, and the current can be passed through the coil of the winding unit 25. In this case, the signal exchange unit 216 may also perform a predetermined amplification process on the predetermined signal. Since the coil of the winding unit 25 is electrically connected to the servo driver 4 via the power line 11, the predetermined signal can be transmitted from the encoder 22 to the servo driver 4 via AC power corresponding to the predetermined signal output from the processing unit 221. As described above, the encoder 22 and the servo driver 4 are configured to be able to communicate wirelessly via the communication unit 42, but the exchange of the predetermined signal via the signal exchange unit 216 is a useful form of communication under certain conditions, such as a state before the wireless communication is possible.

[0030] Next, the winding section 25 of the motor body 21 and an example of the arrangement of a transformer structure provided for the winding section 25 will be described with reference to Fig. 3. The winding section 25 includes three-phase winding sections L5, L6, and L7 for U, V, and W phases. The winding sections for each phase are connected in a Y-connection, and the joints of the winding sections are neutral points. In Fig. 3, the inductance component of the U-phase winding section L5 is referenced at 51 and the resistance component is referenced at 52. Similarly, the inductance component of the V-phase winding section L6 is referenced at 61 and the resistance component is referenced at 62, and further, the inductance component of the W-phase winding section L7 is referenced at 71 and the resistance component is referenced at 72.

[0031] A transformer structure forming the extraction unit 214 is disposed in each phase. Specifically, in the U phase, the primary coil 531 of the U phase transformer structure 53 is connected in series to the winding portion L5, in the V phase, the primary coil 631 of the V phase transformer structure 63 is connected in series to the winding portion L6, and in the W phase, the primary coil 731 of the W phase transformer structure 73 is connected in series to the winding portion L7. The secondary coil 532 of the U phase transformer structure 53, the secondary coil 632 of the V phase transformer structure 63, and the secondary coil 732 of the W phase transformer structure 73 are connected to the supply unit 215. Furthermore, each secondary coil 532 , 632 , 732 are also connected to the signal exchange unit 216 .

[0032] The winding ratios of the transformer structures of the respective phases (the ratio of the number of windings of the secondary coil to the number of windings of the primary coil) are basically the same, but may be different. In the embodiment shown in FIG. 3, the transformer structures are arranged in all three phases, and the secondary coils are connected to the supply unit 215 and the signal exchange unit 216. However, the transformer structures may be arranged in only some of the three phases, and the secondary coils may be connected to the supply unit 215 and the signal exchange unit 216. Alternatively, the transformer structures may be arranged in all three phases, and the secondary coils of some of the transformer structures may be connected to the supply unit 215, and the secondary coils of the remaining transformer structures may be connected to the signal exchange unit 216. In this case, the winding ratio of the transformer structure connected to the supply unit 215 and controlling the supply of power to the encoder 22 and the winding ratio of the transformer structure connected to the signal exchange unit 216 and controlling the exchange of a predetermined signal with the encoder 22 may be appropriately set according to the respective purposes.

[0033] By employing the winding section 25 and transformer structures 53, 63, 73 configured in this manner, a portion of the power supplied to the motor 2 via the power line 11 can be extracted by the extraction section 214 as drive power for the encoder 22. With this configuration, when the motor 2 is running, power for the encoder 22 is always stably supplied, and since there is no need to wire a cable to the encoder 22 for this purpose, the cable wiring work can be significantly reduced and the cost can be suppressed. Note that, in the first embodiment, it is preferable to arrange the transformer structure for each phase by utilizing the coil end of the stator 213.

[0034] <Encoder identification process by servo driver 4> Here, the process of identifying the combination of the communication unit 42 of the servo driver 4 and the corresponding encoder 22, that is, the process of identifying the encoder to be wirelessly communicated by the servo driver 4, will be described with reference to FIG. 4. As described above, before the identification process is performed, each servo driver 4, 4a, 4b is placed in a state in which wireless communication is possible with unspecified motors 2, 2a, 2b (encoders) (corresponding to a predetermined communication state in the present invention), in other words, is not placed in a state in which wireless communication is possible with a specific motor (encoder) for servo control of the specific motor. Therefore, the servo driver 4 and the encoder 22 cannot exchange signals for servo control, and therefore the servo control of the motor 2 cannot be performed. Therefore, the identification process can be said to be a pre-processing necessary for actually operating the control system shown in FIG. 1. The identification process is realized by exchange of a predetermined signal between the winding unit 25 of the motor main body 21 and the processing unit 221 of the encoder 22 via the signal exchange unit 216, using the extraction process by the extraction unit 214.

[0035] <First aspect> A first aspect of the process of identifying the encoder 22 will be described with reference to FIG. 4. Note that, before the process shown in FIG. 4, a step of connecting the servo driver 4 and the motor 2 by the power line 11 is provided. Then, in S101, the processing unit 221 of the encoder 22 transmits encoder identification information, which is information capable of identifying the encoder 22, to the servo driver 4. This encoder identification information is transmitted via the signal exchange unit 216 and the power line 11 connecting the motor 2 and the servo driver 4. Then, in S102, the control unit 41 of the servo driver 4 receives the encoder identification information transmitted from the encoder 22. Thereafter, in S103, the control unit 41 identifies an encoder corresponding to its own servo driver 4 (hereinafter also referred to as a "corresponding encoder") based on the encoder identification information received in S102. Since the power line 11 is a cable that physically connects the actual motor 2 to the servo driver 4, in this embodiment, the corresponding encoder of the servo driver 4 can be identified as the encoder 22 based on the first identification information transmitted via the power line 11. In other words, the corresponding encoder of the servo driver 4 is not specified as the encoder of the motor 2a or the encoder of the motor 2b.

[0036] Furthermore, when the process of identifying the corresponding encoder is completed, next, in S104, the servo driver 4 transmits driver identification information, which is information capable of identifying the servo driver 4, wirelessly to the encoder 22 identified as the corresponding encoder. This transmission process of the driver identification information is performed via the communication unit 42. Since the corresponding encoder is identified as the encoder 22 in the above S103, the driver identification information can be suitably transmitted wirelessly to the encoder 22 via the communication unit 42. Then, in S105, the driver identification information is received by the encoder 22, and then, in S106, the encoder 22 identifies that the servo driver corresponding to itself is the servo driver 4 based on the received driver identification information.

[0037] By the above processing of S101 to S106, processing for identifying a communication partner for servo control is performed between the servo driver 4 and the encoder 22 of the motor 2. As a result, the servo driver 4 and the encoder 22 of the motor 2 change from a state corresponding to the predetermined communication state of the present invention to a state in which wireless communication with the encoder of a specific motor is possible for servo control of the specific motor. As a result, servo control of the motor 2 can be executed while the encoder 22 and the communication unit 42 are performing wireless communication. Note that the transmission of the driver identification information in the above S104 may be performed via the power line 11 instead of wirelessly.

[0038] <Second aspect> A second aspect of the process for identifying the encoder 22 will be described with reference to Fig. 5. Note that, prior to the process shown in Fig. 5, a step is provided in which the servo driver 4 and the motor 2 are connected by the power line 11. Then, in S201, the processing unit 221 of the encoder 22 transmits encoder identification information, which is information for identifying the encoder 22, to the servo driver 4. This transmission of the encoder identification information is performed via the signal exchange unit 216 and the power line 11 connecting the motor 2 and the servo driver 4. Then, in S202, the control unit 41 of the servo driver 4 receives the encoder identification information transmitted from the encoder 22.

[0039] Next, in S203, the processing unit 221 of the encoder 22 transmits the same encoder identification information as the above-mentioned encoder identification information to the servo driver 4. This encoder identification information is transmitted via wireless communication. However, at this point in time, the wireless communication is in a state in which the process of identifying the communication partner has not yet been performed between the servo driver 4 and the encoder 22. Therefore, the encoder identification information transmitted in S203 is received by the control unit 41 via the communication unit 42 of the servo driver 4 in S204, and the identification information is also received in the servo drivers 4a and 4b in the same manner.

[0040] After that, in S205, the control unit 41 compares the two pieces of encoder identification information. Since the servo driver 4 is connected to the motor 2 via the power line 11, the servo driver 4 receives the encoder identification information in S202 and also receives the encoder identification information in S204. As a result, the servo driver 4 can determine that the two pieces of encoder identification information match in S205. Based on the result, in S206, the corresponding encoder of the servo driver 4 is specified. By comparing the encoder identification information obtained via the power line and the encoder identification information obtained via wireless communication in this way, the encoder to be the other party of the wireless communication can be specified as the encoder of the motor 2 physically connected via the power line 11. In other words, the corresponding encoder of the servo driver 4 is not specified as the encoder of the motor 2a or the encoder of the motor 2b. Note that the encoder identification information received via the respective power lines of the other servo drivers 4a and 4b does not match the encoder identification information received via wireless communication from the motor 2. Therefore, the corresponding encoder of the servo drivers 4a and 4b is not specified as the encoder 22 of the motor 2.

[0041] Furthermore, when the process of identifying the corresponding encoder is completed, next, in S207, the servo driver 4 transmits driver identification information, which is information capable of identifying the servo driver 4, to the encoder 22 identified as the corresponding encoder via the power line 11. The transmission process of this driver identification information is performed from the control unit 41 via the signal exchange unit 216 in the motor 2. Then, in S208, the driver identification information is received by the encoder 22, and then, in S209, the encoder 22 identifies that the servo driver corresponding to itself is the servo driver 4 based on the received driver identification information.

[0042] By the above-mentioned processes of S201 to S209, a process of identifying a communication partner for servo control is performed between the servo driver 4 and the encoder 22 of the motor 2. As a result, the servo driver 4 and the encoder 22 of the motor 2 change from a state corresponding to the predetermined communication state of the present invention to a state in which wireless communication with the encoder of a specific motor is possible for servo control of the specific motor. As a result, servo control of the motor 2 can be executed while the encoder 22 and the communication unit 42 are performing wireless communication. Note that the transmission of the driver identification information in the above-mentioned S207 may be performed wirelessly instead of via the power line 11.

[0043] <Third aspect> A third aspect of the process for identifying the encoder 22 will be described with reference to Fig. 6. Note that, before the process shown in Fig. 6, a step is provided in which the servo driver 4 and the motor 2 are connected by the power line 11. Then, in S301, the control unit 11 of the servo driver 4 transmits driver identification information, which is information capable of identifying the servo driver 4, to the encoder 22 of the motor 2. This driver identification information is transmitted via the power line 11 connecting the motor 2 and the servo driver 4 and the signal exchange unit 216. Then, in S302, the processing unit 221 of the encoder 22 receives the driver identification information transmitted from the servo driver 4.

[0044] Next, in S303, the processing unit 221 of the encoder 22 transmits the received driver identification information and encoder identification information capable of identifying the encoder 22 to the servo driver 4. The transmission of these identification information is performed via wireless communication. However, at this point in time, the wireless communication is in a state in which the process of identifying the communication partner has not yet been performed between the servo driver 4 and the encoder 22. Therefore, in S304, the driver identification information and the encoder identification information transmitted in S303 are received by the control unit 41 via the communication unit 42 of the servo driver 4, and similarly, the two pieces of identification information are also received in the servo drivers 4a and 4b.

[0045] After that, in S305, the control unit 41 compares and collates the driver identification information included in the above two pieces of identification information with the self-identification information held by the servo driver 4 itself. If the comparison result shows that the received driver identification information matches the identification information held by the servo driver 4 itself, in S306, the corresponding encoder of the servo driver 4 itself is identified. By using the driver identification information sent back from the encoder 22 of the motor 2 physically connected via the power line in this way, the encoder to be the other party of the wireless communication can be identified as the encoder of the motor 2 physically connected via the power line 11. In other words, the corresponding encoder of the servo driver 4 is not identified as the encoder of the motor 2a or the encoder of the motor 2b. Note that the driver identification information received wirelessly by the other servo drivers 4a and 4b does not match the self-identification information held by each of them, so the corresponding encoder of the servo drivers 4a and 4b is not identified as the encoder 22 of the motor 2.

[0046] Furthermore, when the process of identifying the corresponding encoder is completed, next, in S307, the servo driver 4 transmits the corresponding encoder to the encoder 22 identified as the corresponding encoder via the power line 11. The processing unit 221 of the encoder 22 that has received the notification is notified that the servo driver corresponding to itself is the servo driver 4, using the driver identification information received in S302 (processing of S308).

[0047] By the above processing of S301 to S308, processing for identifying a communication partner for servo control is performed between the servo driver 4 and the encoder 22 of the motor 2. As a result, the servo driver 4 and the encoder 22 of the motor 2 transition from a state corresponding to the predetermined communication state of the present invention to a state in which wireless communication with the encoder of a specific motor is possible for servo control of the specific motor. As a result, servo control of the motor 2 can be executed while the encoder 22 and the communication unit 42 are communicating wirelessly. Note that the notification of identification completion in the above S307 may be sent wirelessly instead of via the power line 11.

[0048] <Other Examples> In the control system described above, the servo control of each motor is realized by wireless communication between the encoder of each motor and the corresponding servo driver, and the identification process shown in Figs. 4 to 6 can be applied to enable wireless communication for the servo control. Here, the identification process shown in Figs. 4 to 6 can be applied to a system in which the standard PLC 5, each driver 4, 4a, 4b, and each motor's encoder communicate in a state where they are daisy-chained by EtherCAT (registered trademark) instead of the control system described above. This is because, even in such a system, before the encoder of a specific motor corresponding to the driver is identified, the driver is placed in a state where it can communicate with an unspecified encoder via EtherCAT. Therefore, even in a control system where the servo driver 4 and the encoder 22 of the motor 2 are daisy-chained by EtherCAT, by applying a process substantially similar to the identification process shown in Fig. 4, the servo driver 4 and the encoder 22 of the motor 2 are brought from a state corresponding to the predetermined communication state of the present invention to a state where they can wirelessly communicate with the encoder of the specific motor for servo control of the specific motor.

[0049] <Appendix 1> A method for identifying an encoder (22) attached to a motor that is a target of control processing by a driver (4) in a predetermined communication state in which a driver (4) and an encoder are capable of communicating with each other, comprising the steps of: the motor (2) is configured to enable transmission and reception of signals between the encoder (22) and a winding of the motor (2); The method comprises: a first step of connecting the driver (4) and the motor (2) with a power line (11); a second step of transmitting first identification information for identifying a transmitting side of the driver (4) or the motor (2) between the driver (4) and the motor (2) connected by the power line (11) from a transmitting side to a receiving side via the power line; a third step of identifying the encoder (22) corresponding to the driver (4) in relation to the control process using at least the first identification information; A method for identifying an encoder, including:

[0050] <Appendix 2> A driver (4) that performs control processing of a motor (2) using detection from an encoder (22) attached to the motor (2) configured to enable transmission and reception of signals between the encoder (22) and a winding, a communication unit (42) that transmits or receives first identification information for identifying a sender of the driver (4) or the motor (2) between the driver (4) and the motor (2) via a power line connecting the driver (4) and the motor (2) in a predetermined communication state in which the driver (4) is able to communicate with the encoder; an identification unit (41) that uses at least the first identification information to identify the encoder (22) corresponding to the driver (4) in relation to the control process; A driver comprising: [Explanation of symbols]

[0051] 2 Motors 4 Servo driver 22 Encoder 53, 63, 73 Transformer structure 211 Connector (power input) 214 Extraction part 251 Supply section

Claims

1. A method for identifying an encoder attached to a motor that is a target of control processing by a driver in a predetermined communication state in which a driver and an encoder can communicate with each other, comprising the steps of: the motor is configured to enable transmission and reception of signals between the encoder and a winding of the motor; The method comprises: a first step of connecting the driver and the motor with a power line; a second step of transmitting first identification information for identifying a transmitting side of the driver or the motor between the driver and the motor connected by the power line from a transmitting side to a receiving side via the power line; and a third step of identifying the encoder corresponding to the driver with respect to the control process using at least the first identification information, In the second step, the first identification information for identifying the encoder is transmitted from the encoder to the driver via the power line; In the third step, the encoder identified by the first identification information is identified as corresponding to the driver based on the first identification information. How to identify the encoder.

2. A method for identifying an encoder attached to a motor that is a target of control processing by a driver in a predetermined communication state in which a driver and an encoder are capable of communicating with each other, comprising: the motor is configured to enable transmission and reception of signals between the encoder and a winding of the motor; The method comprises: a first step of connecting the driver and the motor with a power line; a second step of transmitting first identification information for identifying a transmitting side of the driver or the motor between the driver and the motor connected by the power line from a transmitting side to a receiving side via the power line; and a third step of identifying the encoder corresponding to the driver with respect to the control process using at least the first identification information, In the second step, the first identification information for identifying the encoder is transmitted from the encoder to the driver via a communication channel associated with the power line and the predetermined communication state. from the encoder to the driver via each of the paths; In the third step, the driver identifies the encoder identified by the first identification information as corresponding to the driver based on a comparison result between the two pieces of first identification information transmitted via the power line and the communication path, respectively. How to identify the encoder.

3. A method for identifying an encoder attached to a motor that is a target of control processing by a driver in a predetermined communication state in which a driver and an encoder are capable of communicating with each other, comprising: the motor is configured to enable transmission and reception of signals between the encoder and a winding of the motor; The method comprises: a first step of connecting the driver and the motor with a power line; a second step of transmitting first identification information for identifying a transmitting side of the driver or the motor between the driver and the motor connected by the power line from a transmitting side to a receiving side via the power line; and a third step of identifying the encoder corresponding to the driver with respect to the control process using at least the first identification information, In the second step, the first identification information for identifying the driver is transmitted from the driver to the encoder via the power line, and second identification information for identifying the encoder is transmitted together with the first identification information back to the driver from the encoder via a communication path associated with the predetermined communication state; In the third step, the driver identifies the encoder identified by the returned second identification information as corresponding to the driver based on a comparison result between the returned first identification information and the driver's own identification information. How to identify the encoder.

4. a fourth step of transmitting driver identification information for identifying the driver from the driver to the encoder via the power line or via a communication path associated with the predetermined communication state after the identification process in the third step is performed; a fifth step of identifying, in the encoder, the driver as corresponding to the encoder based on the driver identification information; The method of claim 1 , further comprising:

5. The predetermined communication state is a communication state based on wireless communication or a communication state formed by daisy-chaining the driver and the encoder. The method for identifying an encoder according to any one of claims 1 to 4.

6. A driver that performs control processing of a motor using detection from an encoder attached to a motor configured to enable transmission and reception of signals between the encoder and a winding, a communication unit that transmits or receives first identification information for identifying a sender of the driver or the motor between the driver and the motor via a power line connecting the driver and the motor in a predetermined communication state in which the driver is able to communicate with the encoder; an identification unit that identifies the encoder corresponding to the driver in relation to the control process by using at least the first identification information; the communication unit receives the first identification information for identifying the encoder from the encoder via the power line; the identification unit identifies the encoder identified by the first identification information as corresponding to the driver based on the first identification information received via the power line; driver.

7. A driver that performs control processing of a motor using detection from an encoder attached to a motor configured to enable transmission and reception of signals between the encoder and a winding, a communication unit that transmits or receives first identification information for identifying a sender of the driver or the motor between the driver and the motor via a power line connecting the driver and the motor in a predetermined communication state in which the driver is able to communicate with the encoder; an identification unit that identifies the encoder corresponding to the driver in relation to the control process by using at least the first identification information; the communication unit receives, from the encoder, the first identification information for identifying the encoder to the driver via each of the power line and the communication path associated with the predetermined communication state; the identification unit identifies the encoder identified by the first identification information as corresponding to the driver based on a comparison result between the two pieces of first identification information transmitted via the power line and the communication path, respectively. driver.

8. A driver for controlling a motor using detection from an encoder attached to the motor configured to enable transmission and reception of signals between the encoder and a winding, comprising: a communication unit that transmits or receives first identification information for identifying a sender of the driver or the motor between the driver and the motor via a power line connecting the driver and the motor in a predetermined communication state in which the driver is able to communicate with the encoder; an identification unit that identifies the encoder corresponding to the driver in relation to the control process by using at least the first identification information; the communication unit transmits the first identification information for identifying the driver from the driver to the encoder via the power line, and then receives second identification information for identifying the encoder together with the first identification information from the encoder via a communication path associated with the predetermined communication state; The identification unit identifies the encoder identified by the received second identification information as corresponding to the driver based on a comparison result between the received first identification information and self-identification information held by the driver. driver.

9. The predetermined communication state is a communication state based on wireless communication or a communication state formed by daisy-chaining the driver and the encoder. A driver according to any one of claims 6 to 8.

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