Motor control system, motor control device, motor control method, and program

Abstract

Provided is a motor control system that can easily detect a divergence from a target position. A motor control system (2) includes a controller (21), a motor control device (22), and a position detection device (23). In the controller (21), an operation instruction plan with respect to a movement plan for until a moving part (4) arrives at a target position from an initial position is set. The controller (21) outputs a movement amount of the moving part at the present time as an operation instruction on the basis of the operation instruction plan. The motor control device (22) generates a drive signal for a drive device (3) on the basis of the operation instruction. The position detection device (23) detects the position of the moving part (4) and outputs a first position. The motor control device (22) generates a subsequent movement distance of the moving part (4) based on a subsequent operation instruction, and generates an amount of divergence from the target position of the moving part (4) on the basis of the first position and the target position. The motor control device (22) outputs a notification signal if the amount of divergence is at or above a threshold value.

Description

[Technical Field]

[0001] The present disclosure relates to a motor control system, a motor control device, a motor control method, and a program that control a motor in a production device or the like. [Background technology]

[0002] Below, we will explain a production device that uses a conventional motor control system. The production device includes a motor control system, a motor, and a moving unit. The motor control system includes a controller, a motor control device, and a camera. The camera transmits captured image data to the controller. The production device is, for example, an electronic component mounter that mounts electronic components onto a printed circuit board. In this case, the moving unit includes a mounting head. The camera moves together with the moving unit (mounting head).

[0003] The controller determines the position of the placement head based on the received data, generates a target position for moving the motor based on the determined position, and sends the target position as an operation command (position command) to the motor control device. At this time, the controller compares the operation command previously output with the position of the placement head detected by the camera, and generates an operation command based on the difference. The motor control device generates a drive signal to drive the motor based on the operation command. The motor then moves the moving part according to the drive signal.

[0004] As prior art document information related to the present disclosure, for example, Patent Document 1 is known. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 5-29795 Summary of the Invention

[0006] However, in conventional motor control devices, the controller generates motor operation commands based on the position detected by the camera, which means that if the camera is displaced from its designated position due to an external force, for example, the moving part will move to a different position from the normal position.

[0007] The present disclosure solves this problem and aims to provide a motor control system, a motor control device, a motor control method, and a program that can detect deviation of a moving part from a target position.

[0008] The motor control system of the present disclosure includes a controller, a motor control device, and a position detection device. The controller has a first signal processing circuit. A motion command plan is set in the first signal processing circuit for a movement plan from an initial position to a target position of a moving unit. The first signal processing circuit outputs a current movement amount of the moving unit as a motion command based on the motion command plan. The motor control device includes a second signal processing circuit. The second signal processing circuit generates a drive signal for a drive device that moves the moving unit based on the motion command. The position detection device detects the position of the moving unit and outputs the detected position of the moving unit as a first position. In the above configuration, the second signal processing circuit generates a deviation amount from the target position of the moving unit based on the future movement distance of the moving unit based on the future motion command in the motion command plan, the first position, and the target position. Furthermore, if the deviation amount is equal to or greater than a predetermined threshold, a notification signal is output. This allows the desired objective to be achieved.

[0009] The motor control device of the present disclosure also includes a second signal processing circuit that generates a drive signal for a drive device that moves the moving unit based on a motion command output from a controller that outputs a current movement amount of the moving unit as a motion command based on a motion command plan for a movement plan from an initial position to a target position. The second signal processing circuit generates a deviation amount from the target position of the moving unit based on a future movement distance of the moving unit based on the future motion command in the motion command plan, a first position output from a position detection device that detects the position of the moving unit and outputs the detected position of the moving unit as a first position, and the target position, and outputs a notification signal when the deviation amount is equal to or greater than a predetermined threshold. This allows the desired object to be achieved.

[0010] The motor control method of the present disclosure also outputs the current movement amount of the moving unit as a movement command based on a movement command plan for a movement plan from an initial position to a target position, generates a drive signal for a drive device that moves the moving unit based on the movement command, detects the position of the moving unit, and outputs the detected position of the moving unit as a first position. Then, based on the future movement distance of the moving unit based on the future movement command in the movement command plan, the first position, and the target position, calculates the amount of deviation from the target position of the moving unit, and outputs a notification signal if the amount of deviation is equal to or greater than a predetermined threshold. This allows the desired objective to be achieved.

[0011] The present disclosure also provides a program for causing a computer to execute the motor control method, thereby achieving the desired object.

[0012] As described above, according to the present disclosure, the amount of deviation of the moving unit from the target position when the drive device is operated according to the operation command plan can be calculated based on the distance to the target based on the detection information from the position detection device and the movement distance of the moving unit based on the future operation command. Then, a notification signal is output based on this detected amount of deviation, so that an operator using the motor control system or an administrator or maintainer of the system can easily know that the moving unit has deviated from the target position. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic block diagram of a production device using a motor control system according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a conceptual diagram of a processing block in a signal processing circuit in the motor control device. [Figure 3] 10 is an explanatory diagram showing processing in the signal processing circuit of the first embodiment. FIG. [Figure 4] 10 is a flowchart of processing in the signal processing circuit of the first embodiment. [Figure 5] 10 is a flowchart of another process in the signal processing circuit of the first embodiment. [Figure 6] 10A and 10B are explanatory diagrams illustrating another processing method for setting a threshold value in the signal processing circuit according to the first embodiment. [Figure 7] FIG. 10 is an explanatory diagram showing processing in a modified example of a signal processing circuit in the motor control device. [Figure 8] 10 is a flowchart of processing in a modified example of the signal processing circuit of the first embodiment. [Figure 9] 10 is a conceptual diagram of a processing block of a modified example of the signal processing circuit of the first embodiment. FIG. [Figure 10] 10 is a flowchart of processing in a modified example of the signal processing circuit of the first embodiment. [Figure 11] FIG. 2 is an explanatory diagram illustrating processing in a controller and a control device of a motor control system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0014] A motor control system according to an embodiment of the present disclosure will be described below.

[0015] (Embodiment) The motor control system and motor control device according to the present embodiment will be described below with reference to the accompanying drawings, in which components may be shown in simplified form to facilitate understanding.

[0016] Fig. 1 is a schematic block diagram of a production device using a motor control system. Fig. 2 is a conceptual diagram of a processing block in a signal processing circuit in a motor control device. Fig. 3 is an explanatory diagram showing processing in the signal processing circuit in a motor control device. Fig. 11 is an explanatory diagram showing a controller in a motor control device and signal processing in the motor control device.

[0017] 1 to 3 and 11, production apparatus 1 includes a motor control system 2, a drive unit 3, and a moving unit 4. Production apparatus 1 is, for example, an electronic component mounter that mounts electronic components on a printed circuit board 5. In this case, the moving unit 4 includes a mounting head. The mounting head moves over the printed circuit board 5 while holding an electronic component by suction, and mounts the electronic component at a predetermined target position on the printed circuit board 5. The drive unit 3 moves the moving unit 4.

[0018] The motor control system 2 includes a controller 21, a motor control device 22, and a position detection device 23. The position detection device 23 is, for example, an imaging device such as a camera. The controller 21 includes a signal processing circuit 211, an input device 212, and a memory 213. The signal processing circuit 211 is an example of a first signal processing circuit. The signal processing circuit 211 processes a motion command plan set for an input motion plan. The motion plan is a plan for the movement of the moving unit 4 on the printed circuit board 5 from the initial position until the moving unit 4 reaches the target position. In other words, the motion command plan is set in the controller 21 for the movement of the moving unit 4 from the initial position until the moving unit 4 reaches the target position. The motion plan is input to the controller 21 by, for example, an operator of the controller 21 via the input device 212. The controller 21 generates a motion command plan according to the input motion plan and stores the motion command plan in the memory 213 of the controller 21. The motion command plan is a motion command to be output to the motor control device 22 while the moving unit 4 moves from the initial position to the target position. The signal processing circuit 211 outputs the current movement amount of the moving unit 4 as a motion command based on the motion command plan.

[0019] The motor control device 22 includes a signal processing circuit 221. The signal processing circuit 221 is an example of a second signal processing circuit. The signal processing circuit 221 generates a drive signal for the drive device 3 that moves the moving unit 4 based on an operation command. In other words, the signal processing circuit 221 generates the drive signal based on the operation command. The drive signal is supplied to the drive device 3, and the drive device 3 moves the moving unit 4 based on this drive signal.

[0020] The position detection device 23 moves together with the moving unit 4. The position detection device 23 detects the position of the moving unit 4. The position detection device 23 outputs the detected position of the moving unit 4 as position information of the moving unit 4. Specifically, for example, the position detection device 23 outputs the detected position of the moving unit 4 as a first position. Note that the position detection device 23 does not have to move together with the moving unit 4, and may be fixed at a position where it can detect the position of the moving unit 4. Specifically, for example, if the position detection device 23 is an imaging device, the position detection device 23 may be fixed at a position where it can capture an image of the target position. In this case, when the moving unit 4 is located within a range where it can be captured by the position detection device 23, the position detection device 23 can detect the position of the moving unit 4 from the positional relationship between the moving unit 4 and the target position.

[0021] The generation of the amount of deviation of the moving unit 4 from the target position will be described below. As shown in Fig. 11, the position detection device 23 detects the initial position of the moving unit 4 and the current position (first position) of the moving unit 4. The initial position and the first position (current position) of the moving unit 4 are input to the controller 21 by the input device 212 after passing through a signal processing circuit 221 of the motor control device 22. The signal processing circuit 211 outputs the current movement amount and movement distance of the moving unit 4 as an operation command to the motor control device 22 based on the operation command plan, using data indicating the initial position and current position of the moving unit 4.

[0022] The signal processing circuit 221 generates a deviation amount from the target position of the moving unit 4 based on a future movement distance of the moving unit 4 based on a future operation command in the operation command plan, position information of the moving unit 4, and a target position previously set in the controller 21. Specifically, for example, the signal processing circuit 221 generates a deviation amount from the target position of the moving unit 4 based on a future movement distance of the moving unit 4 based on a future operation command in the operation command plan, the first position, and a target position previously set in the controller 21. Furthermore, the signal processing circuit 221 outputs a notification signal when the generated deviation amount is equal to or greater than a predetermined threshold.

[0023] With the above configuration, the signal processing circuit 221 can generate the amount of deviation of the moving unit 4 from the target position when the drive unit 3 is operated according to the operation command plan, based on the distance to the target position based on the position information detected by the position detection device 23 and the movement distance of the moving unit 4 based on the future operation command. Specifically, for example, the signal processing circuit 221 generates the amount of deviation of the moving unit 4 from the target position when the drive unit 3 is operated according to the operation command plan, based on the difference between the distance from the first position to the target position and the future movement distance of the moving unit 4 based on the future operation command in the operation command plan. For example, the amount of deviation of the moving unit 4 from the target position when the drive unit 3 is operated according to the operation command plan is the amount of deviation between the predicted arrival position to which the moving unit 4 is predicted to reach when the drive unit 3 is operated according to the operation command plan and the target position of the moving unit 4. Then, the signal processing circuit 221 outputs a notification signal based on the generated amount of deviation. Therefore, those involved with the production equipment 1 (motor control system 2) (including, for example, workers using the production equipment 1 or managers and maintenance personnel of the production equipment 1) can easily and quickly understand that the moving part 4 has deviated from the target position.

[0024] The motor control system 2 will be described in more detail below. The motor control system 2 includes a notification device 24. With this configuration, the subject can easily and quickly understand that the moving unit 4 has deviated from the target position by receiving a warning from the notification device 24.

[0025] The notification device 24 is connected to the controller 21. The notification device 24 is, for example, a display. In this case, the notification device 24 displays a notification based on a notification signal. DisplayThe notification device 24 displays a warning indicating that the moving unit 4 has deviated from the target position. Alternatively, the notification device 24 may be a warning light. In this case, the notification device 24 turns on the warning light based on the notification signal. Note that the notification device 24 is not limited to being connected to the controller 21, and may be connected to the motor control device 22. Alternatively, the notification device 24 may be a warning light or a display device that is pre-installed in the production apparatus 1. The notification device 24 may also be included in the controller 21 or the motor control device 22.

[0026] The position detection device 23 is, for example, an imaging device 23a. In this case, the imaging device 23a includes a camera 231 and an image processing device 232. The camera 231 is fixed to the moving unit 4 (for example, a mounting head). In this case, the moving unit 4 also includes the camera 231. The camera 231 acquires an image of the object to be photographed (for example, a printed circuit board 5). The image processing device 232 acquires position information of the moving unit 4 based on the captured image and outputs the information to the motor control device 22. Note that the image processing device 232 is located outside the motor control device 22, but the motor control device 22 may also be configured to include the image processing device 232. In this case, the signal processing circuit 221 may include the image processing device 232.

[0027] The driving device 3 includes a motor 31 and an encoder 32. The motor 31 moves the moving unit 4 in response to a driving signal generated based on an operation command. The encoder 32 detects the position of the motor 31 and outputs the position data to the signal processing circuit 221. For example, the encoder 32 detects the current position of the motor 31 and outputs position data indicating the current position of the motor 31.

[0028] The signal processing circuit 211 generates a future movement distance of the moving unit 4 based on the position data acquired by the encoder 32 and a future operation command in the operation command plan. Specifically, for example, the signal processing circuit 211 generates a second position of the moving unit 4 based on the position data acquired by the encoder 32 and a future movement distance of the moving unit 4 based on the future operation command. For example, the second position is the current position of the moving unit 4 based on the position data acquired by the encoder 32. To achieve this, the signal processing circuit 211 acquires the current position of the moving unit 4 based on position data of the motor 31. In this case, the signal processing circuit 211 acquires the position data of the motor 31 via the motor control device 22. Note that the present invention is not limited to a configuration in which the signal processing circuit 211 generates the future movement distance, and the signal processing circuit 221 may generate the future movement distance. If the position of the motor 31 differs from the position of the moving unit 4, the signal processing circuit 211 or the signal processing circuit 221 adds the difference α (shown in FIG. 3) between the positions of the motor 31 and the moving unit 4 to the acquired position data to determine the current position of the moving unit 4. The signal processing circuit 211 is, for example, a computer, and in this case the above processing can be performed by a computer program.

[0029] As shown in FIG. 2, the signal processing circuit 221 Position control unit 221a and, Positional deviation calculation unit 221b and a positional deviation determining unit 221c. The signal processing circuit 221 can be configured by, for example, a computer. In this case, Position control unit 221a The positional deviation calculation unit 221b and the positional deviation determination unit 221c can be realized by program processing within a computer.

[0030] The processing in the signal processing circuit 221 will be described in detail below. Position control unit 221 In step a, the operation command generated by the controller 21 is acquired. Position control unit 221a acquires the operation command and the position data obtained by the encoder 32. Then, based on the operation command and the position data, a drive signal for driving the drive device 3 is generated and supplied to the drive device 3.

[0031] 4 is a flowchart showing the processing in the signal processing circuit 221. The signal processing circuit 221 acquires position information of the moving unit 4 from the position detection device 23. Furthermore, the positional deviation calculation unit 221b acquires the future moving distance generated by the signal processing circuit 211 or the signal processing circuit 221.

[0032] After acquiring these data, the positional deviation calculation unit 221b calculates the difference between the position information of the moving unit 4 detected by the position detection device 23 and the future moving distance, and generates the amount of deviation. Next, the positional deviation determination unit 221c outputs a notification signal (determination signal) if the amount of deviation is equal to or exceeds a predetermined threshold value.

[0033] The threshold value is stored in advance in the input device memory 222m. Positional deviation calculation unit 221b The motor control device 22 also sets a threshold value. The motor control device 22 includes an input device 222, and an operator uses the input device 222 to store a predetermined threshold value in the memory of the signal processing circuit 221. The threshold value is set at least before the amount of deviation is calculated.

[0034] In this embodiment, the threshold value is externally set by the subject, but is not limited to this configuration and may be set by the signal processing circuit 221. When the positional deviation calculation unit 221b calculates the current amount of deviation, it compares it with past deviation values ​​stored in memory. If the current amount of deviation is greater than the amount of deviation stored in memory, the current amount of deviation is stored in memory as the maximum amount of deviation up to the present. This causes the maximum amount of deviation from the past to the present to be stored in memory. The positional deviation determination unit 221c then sets the amount of deviation stored in memory as the threshold value. Note that the threshold value is not limited to being set to the maximum amount of deviation, and may be set to a value exceeding the maximum amount of deviation. For example, the positional deviation determination unit 221c may set the threshold value to a value obtained by multiplying the maximum amount of deviation by a specified value (a real value greater than 1). The above configuration reduces the work time required to determine the threshold value.

[0035] Alternatively, the positional deviation calculation unit 221b stores the calculated amount of deviation in memory. As a result, the amount of deviation from the past to the present is stored in memory as history data. In other words, the signal processing circuit 221 stores history data including the current amount of deviation and past amounts of deviation. The positional deviation determination unit 221c sets the maximum value of the change in the amount of deviation over a predetermined time period in the history data as the threshold. Note that the positional deviation determination unit 221c may set a value exceeding the maximum value of the change in the amount of deviation as the threshold. For example, the positional deviation determination unit 221c may set the threshold value to a value obtained by multiplying the maximum value of the change in the amount of deviation by a specified value (a real value equal to or greater than 1).

[0036] At this time, the past Amount of deviation The maximum value of the change is stored in memory, and if the change in the deviation amount from the past to the present within a predetermined time is greater than the maximum value of the past deviation amount stored in memory, the value of the change in the deviation amount at the present time is written into memory.

[0037] Furthermore, the signal processing circuit 221 may set the threshold value to be equal to or greater than the maximum deviation amount in the history data, or may set the threshold value to be a value obtained by multiplying the maximum deviation amount by a predetermined multiple.

[0038] 5 is a flowchart showing other processing in the signal processing circuit 221. The signal processing circuit 221 generates a deviation amount based on the difference between the distance from the first position to the target position and the sum of the future movement distance and the movement distance of the moving unit 4 based on the operation command output from the controller 21 and the movement distance over which the moving unit 4 has not yet moved.

[0039] The first position is the position of the moving unit 4 detected by the position detection device 23. The target position is a target position to which the moving unit 4 is moved. For example, the distance from the first position to the target position is the distance from the current position of the moving unit 4 detected by the position detection device 23 to the target position.

[0040] Further, the future movement distance is the movement distance of the moving unit 4 based on the operation command in the operation command plan that will be output from the controller 21 in the future. That is, for example, the future movement distance is the movement distance of the moving unit 4 based on the operation command in the operation command plan that will be output from the controller 21 after the current time point.

[0041] Also, for example, the distance traveled by the moving unit 4 based on the operation command output from the controller 21 and that the moving unit 4 has not yet traveled is the distance traveled by the moving unit 4 based on the operation command that has already been output from the controller 21 at the current point in time in the operation command plan.

[0042] That is, for example, the sum of the future movement distance and the movement distance of the moving unit 4 based on the operation command output from the controller 21 but over which the moving unit 4 has not yet moved is the sum of the movement distances shown below. That is, it is the sum of the movement distance of the moving unit 4 based on the operation command in the operation command plan that has not yet been output from the controller 21 at the current time, and the movement distance of the moving unit 4 based on the operation command that has already been output from the controller 21 at the current time, over which the moving unit 4 has not yet moved.

[0043] 5, the positional deviation calculation unit 221b acquires position information detected by the camera (position detection device 23) and calculates the distance from the first position to the target position. The positional deviation calculation unit 221b also acquires the moving distance according to a future operation command. The positional deviation calculation unit 221b also acquires the moving distance according to an operation command that has already been output from the controller 21, which is the moving distance over which the moving unit 4 has not yet moved.

[0044] The position deviation calculation unit 221b calculates the deviation amount between the predicted arrival position of the moving unit 4 and the target position by calculating the difference between the distance from the first position to the target position and the sum of the future movement distance and the movement distance of the moving unit 4 based on the operation command output from the controller 21 and the movement distance over which the moving unit 4 has not yet moved.

[0045] The positional deviation determination unit 221c determines the target positional deviation, etc., in the same manner as in the case of FIG.

[0046] In this way, by calculating the amount of deviation using the distance traveled by the moving unit 4 based on the operation command output from the controller 21 and the distance the moving unit 4 has not yet traveled, the amount of deviation can be calculated more accurately.

[0047] Fig. 7 is an explanatory diagram illustrating another processing method for setting a threshold value in the signal processing circuit. Fig. 8 is a flowchart of the same processing method. The positional deviation determination unit 221c sets the threshold value based on position data from the encoder 32 acquired by the position control unit 221a. Specifically, for example, the signal processing circuit 221 sets the threshold value based on a second position. For example, the positional deviation determination unit 221c acquires motor position information indicating the second position from the position control unit 221a or the like, and sets the threshold value based on the second position.

[0048] (Variation) Below, a modified example of the motor control device 22 will be described. FIG. 6 is an explanatory diagram showing processing in a modified example of the signal processing circuit. A member connecting the motor 31 and the moving unit 4 generally undergoes elastic deformation when the moving unit 4 moves. In other words, the distance between the motor position and the head position changes as the moving unit 4 moves. Therefore, Positional deviation calculation unit 221b In the , the position of the moving unit 4 based on the position data is corrected based on the operation command. Specifically, for example, the signal processing circuit 221 corrects the second position based on the current operation command. With this configuration, the amount of deviation between the moving unit 4 and the target position can be determined more accurately.

[0049] Fig. 9 is a conceptual diagram of a processing block of a modified example of the signal processing circuit. Fig. 10 is a flowchart of processing in the modified example of the signal processing circuit. The change in distance between the motor position and the head position is determined according to the inertia value (inertial force) of the motor 31 or the moving unit 4. The inertia value of the motor 31 or the moving unit 4 is proportional to the torque value of the motor 31. The position control unit 221a generates a torque command based on the operation command. Therefore, the position deviation calculation unit 221b acquires the torque command generated by the position control unit 221a and corrects the position of the moving unit 4 based on the position data using the value of the torque command.

[0050] Note that the signal processing circuit 221 is not limited to a configuration in which it corrects the position of the moving unit 4 based on the position data using the value of the torque command. For example, the signal processing circuit 211 may be configured to correct the position of the moving unit 4 based on the position data. In this case, the signal processing circuit 221 outputs a torque command to the signal processing circuit 211. The signal processing circuit 221 corrects the position of the moving unit 4 based on the position data using the torque command.

[0051] As described above, the above embodiments have been described as examples of the technology in the present disclosure. However, the technology in the present disclosure is not limited to the above, and can be applied to embodiments in which appropriate modifications, substitutions, additions, omissions, etc. are made. Furthermore, it is also possible to combine the components described in the embodiments to create new embodiments.

[0052] Furthermore, the general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0053] For example, the present disclosure may be realized as the motor control system of the above-described embodiment. The present disclosure may also be realized as a motor control device. The present disclosure may also be realized as a motor control method. The present disclosure may also be realized as a program for causing a computer to execute the motor control method, or as a computer-readable non-transitory recording medium on which such a program is recorded. [Industrial Applicability]

[0054] The motor control system according to the present disclosure has the advantage that the worker using the motor control system or the administrator or maintainer of the system can easily understand when the moving part is deviated from the target position, and is useful when used in, for example, an electronic component mounting machine that mounts electronic components. [Explanation of symbols]

[0055] 1. Production equipment 2. Motor Control System 3. Drive unit 4. Moving Part 5 Printed circuit board 21 Controller 22 Motor control device 23 Position detection device 23a Imaging device 24 Alarm device 31 Motor 32 Encoder 211 Signal Processing Circuit 212 Input Device 213 memory 221 Signal Processing Circuit 222 Input Device 222m input device memory 231 Camera 232 Image Processing Device

Claims

1. A motor control system for controlling a device including a moving unit, a drive device, and a motor, the motor control system includes a controller, a motor control device, and a position detection device; the controller has a first signal processing circuit; the motor control device includes a second signal processing circuit; the controller receives input of a movement plan for the moving unit from an initial position to a target position, sets a movement command plan, inputs the movement command plan to the first signal processing circuit, and causes the first signal processing circuit to output a current movement amount of the moving unit based on the movement command plan as a movement command; the motor control device inputs the operation command to the second signal processing circuit, and causes the second signal processing circuit to generate a drive signal for the drive device that moves the moving part based on the operation command; the position detection device detects a position of the moving unit and outputs the detected position of the moving unit as a first position; The second signal processing circuit includes: generating a deviation amount from the target position of the moving unit based on a future movement distance of the moving unit based on the future movement command of the movement command plan, the first position, and the target position; and outputting a notification signal when the deviation amount is equal to or greater than a predetermined threshold value. Motor control system.

2. The second signal processing circuit includes: generating the deviation amount based on a difference between a distance from the first position to the target position and the future moving distance; The motor control system of claim 1 .

3. The second signal processing circuit includes: generating the deviation amount by the difference between the distance from the first position to the target position and the sum of the future movement distance and the movement distance of the moving unit based on the operation command output from the controller, the movement distance being a distance that the moving unit has not yet moved; The motor control system of claim 1 .

4. The drive device is a motor that moves the moving unit based on the operation command; an encoder that detects the current position of the motor and outputs position data; The first signal processing circuit or the second signal processing circuit generating a second position of the moving unit based on the position data and the moving distance based on the future operation command; The motor control system of claim 1 .

5. The first signal processing circuit or the second signal processing circuit correcting the second position based on the current operation command; The motor control system of claim 4 .

6. The second signal processing circuit includes: storing history data including the deviation amount and past deviation amounts; The threshold value is set to be equal to or greater than the maximum deviation amount in the history data. The motor control system of claim 1 .

7. The threshold value is a value obtained by multiplying the maximum deviation amount by a predetermined multiple.

7. The motor control system of claim 6.

8. The second signal processing circuit includes: storing history data including the deviation amount and past deviation amounts; a value equal to or greater than a maximum value of a change in deviation amount over a predetermined time period in the history data is set as the threshold value; The motor control system of claim 1 .

9. The second signal processing circuit includes: setting the threshold value based on the second position; 6. The motor control system according to claim 4 or 5.

10. the position detection device is an imaging device; The motor control system of claim 1 .

11. The position detection device moves together with the moving unit.

11. A motor control system according to any one of claims 1 to 10.

12. receiving a command from the controller and controlling a device including a moving unit, a driving device, and a motor; the controller outputs a current movement amount of the moving unit as an operation command based on an operation command plan set for a movement plan for the moving unit from an initial position to a target position, the motor control device includes a signal processing circuit that generates a drive signal for the drive device that moves the moving part based on the operation command output from the controller, The signal processing circuit generating a deviation amount from the target position of the moving unit based on a future movement distance of the moving unit based on the future movement command in the movement command plan, the first position output from a position detection device that detects the position of the moving unit and outputs the detected position of the moving unit as a first position, and the target position; and outputting a notification signal when the deviation is equal to or greater than a predetermined threshold value. Motor control device.

13. outputting a current movement amount of the moving unit as an operation command based on a movement command plan set for a movement plan for the moving unit from an initial position to a target position; generating a drive signal for a drive device that moves the moving unit based on the operation command; Detecting a position of the moving unit, and outputting the detected position of the moving unit as a first position; generating a deviation amount from the target position of the moving unit based on a future movement distance of the moving unit based on the future movement command of the movement command plan, the first position, and the target position; When the deviation amount is equal to or greater than a predetermined threshold, a notification signal is output. Motor control methods.

14. A program for causing a computer to execute the motor control method according to claim 13.

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