Servo system

Abstract

To solve the problem in that it is difficult to confirm respective pieces of alarm information when it is difficult for an operator to approach an AMP or a CNT in a case where the respective installation locations of the connected AMP and CNT are positionally apart from each other in a servo system.SOLUTION: In a servo system in which a controller and a motor control device are network-connected so as to be able to communicate data to each other, the controller has a controller storage unit that stores various kinds of information of the motor control device, acquired by a first data communication unit; and the motor control device has a motor control device storage unit that stores various kinds of information of the controller and the motor control device, acquired by a second data communication unit.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a servo system, and particularly to a technique for extracting information specific to each device constituting the servo system, alarm information, and device information.

Background Art

[0002] Conventionally, a servo system having a controller (hereinafter also referred to as "CNT") and a servo amplifier (hereinafter also referred to as "motor control device", "AMP") connected by a network is known. When an abnormality occurs in such a servo system, an operator at the site extracts various information such as basic information and alarm information specific to the AMP with the abnormality from the AMP itself or the CNT, and performs an abnormality repair procedure.

[0003] Also known is a display system in which a plurality of displays are connected to one programmable logic controller. For example, a display system is disclosed in which, in a system in which a group of displays is composed of one master display and other slave displays, by connecting a computer to the master display, data can be downloaded or uploaded between any slave display (see Patent Document 1). [[ID=2nd]]

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In servo systems, when the connected AMP and CNT are located in geographically distant locations, it is difficult for operators to access the AMP and CNT, making it challenging to check various information such as alarm data. Furthermore, there was the problem that the entire servo system had to be powered in order to extract information by supplying power to the AMP and CNT. The present invention aims to solve the above problems and make it easier to extract this information. [Means for solving the problem]

[0006] According to one aspect of the present invention, a network-connected servo system having a data communication unit that enables data communication between a controller and a motor control device, wherein the controller has a controller storage unit that stores various information of the motor control device acquired by the data communication unit, and the motor control device has a motor control device storage unit that stores various information of the controller or the motor control device acquired by the data communication unit. The controller storage unit includes a first storage unit for temporarily storing various information of the controller and the motor control device, a second storage unit for non-temporarily storing the various information of the controller and the motor control device temporarily stored in the first storage unit, and a first storage control unit for detecting the difference in stored data between the first storage unit and the second storage unit and reflecting the difference in stored data in the second storage unit. The motor control device storage unit includes a third storage unit for temporarily storing various information of the controller and the motor control device, a fourth storage unit for non-temporarily storing the various information of the controller and the motor control device temporarily stored in the third storage unit, and a second storage control unit for detecting the difference in stored data between the third storage unit and the fourth storage unit and reflecting the difference in stored data in the fourth storage unit. A servo system characterized by the above is provided.

[0007] Communication between the controller CNT and multiple motor control units AMP is performed using a master (CNT)-slave (AMP) scheme. According to the above configuration, the unique basic information of the network-connected controller and motor control unit, as well as information regarding alarm occurrences, are shared among the respective devices and stored in independent memory units within the controller and motor control unit. Accessing any of the devices allows access to all the various information of the network-connected controller and motor control unit.

[0008] When an alarm occurs, an extraction device (display) is connected to the controller and motor control device to extract various information. By supplying power from the battery-powered extraction device, various information can be extracted even if the AMP·CNT main unit is not powered on. The extraction device (display unit) can display information using a QR code, link with a mobile device, and be used by the worker to guide their actions.

[0009] Also, With the above configuration, the stored information in the second storage unit and the fourth storage unit can be synchronized, and various types of information can be stored in any of the devices.

[0010] Furthermore, each of the controller and the motor control device is characterized by having an interface section between it and an information extraction device that extracts information stored in the second storage unit and the fourth storage unit, respectively.

[0011] The information extraction device is characterized by having a power supply unit that supplies power to the second storage unit or the fourth storage unit via the interface unit.

[0012] According to one aspect of the present invention, a servo system is provided in which a controller and a motor control device are network-connected to each other so as to be able to communicate data with each other, and the motor control device and an encoder of a servo motor equipped with a position detector are serially connected to each other so as to be able to communicate data with each other, wherein the controller has a first data communication unit that performs data communication with the motor control device and a controller storage unit that stores various information of the motor control device acquired by the first data communication unit, the motor control device has a first data communication unit that performs data communication with the controller and a second data communication unit that performs serial communication with the encoder and the motor control device, and has a motor control device storage unit that stores various information of the controller or the motor control device acquired by the first data communication unit, and the encoder of the servo motor has an encoder storage unit that stores various information of the controller or the motor control device acquired by the second data communication unit The controller storage unit includes a first storage unit for temporarily storing various information of the controller and the motor control device, a second storage unit for non-temporarily storing the various information of the controller and the motor control device temporarily stored in the first storage unit, and a first storage control unit for detecting the difference in stored data between the first storage unit and the second storage unit and reflecting the difference in stored data in the second storage unit. The motor control device storage unit includes a third storage unit for temporarily storing various information of the controller and the motor control device, a fourth storage unit for non-temporarily storing the various information of the controller and the motor control device temporarily stored in the third storage unit, and a second storage control unit for detecting the difference in stored data between the third storage unit and the fourth storage unit and reflecting the difference in stored data in the fourth storage unit. A servo system characterized by the above is provided.

[0013] According to the above configuration, various information can be obtained and confirmed wirelessly from the encoder of the servo motor. Furthermore, with the above configuration, the stored information in the second storage unit and the fourth storage unit can be synchronized, and various types of information can be stored in any of the devices.

Advantages of the Invention

[0014] The present invention can facilitate the extraction of information related to the occurrence of an alarm in a servo system.

Brief Description of the Drawings

[0015] [Figure 1] Fig. 1(a) is a functional block diagram showing a configuration example of a servo system according to the first embodiment of the present invention. Fig. 1(b) is a diagram showing a data configuration example of a transmission frame (from CNT to AMP). Fig. 1(c) is a diagram showing a data configuration example of a reception frame (from AMP to CNT). [Figure 2] It is an alarm information table showing a data configuration example of alarm information. [Figure 3] It is a table showing a data configuration example of basic information. [Figure 4] It is a flowchart showing an example of a procedure for sharing basic information and alarm information between the controller CNT and a plurality of motor control devices AMP. [Figure 5] It is a diagram showing an appearance configuration example of connecting an information extraction device to the controller CNT and a plurality of motor control devices AMP. Fig. 5(a) shows the state before connecting the information extraction device to the controller CNT and a plurality of motor control devices AMP. Fig. 5(b) shows the state after connecting the information extraction device to the controller CNT and a plurality of motor control devices AMP. [Figure 6] It is a system configuration diagram showing an arrangement example of one motor control device AMP, an information extraction device, a mobile terminal, and a database server. [Figure 7] It is a diagram showing a data configuration example of a countermeasure provision table in which alarm information and countermeasures against alarms are associated in the storage unit of the database server. [Figure 8] It is a diagram showing a star-type communication method. [Figure 9] It is a diagram showing a daisy chain - ring - type communication method. [Figure 10] Fig. 10(a) is a functional block diagram showing a configuration example of a servo system according to the second embodiment of the present invention. Fig. 10(b) is a diagram showing a data configuration example of a request command (from an external device to a wireless communication processing unit). Fig. 10(c) is a diagram showing a data configuration example of a reply frame (from the wireless communication processing unit to an external device). [Figure 11] It is a table showing a data configuration example of machine information. [Figure 12] It is a table showing a data configuration example of coordinate position information. [Figure 13] It is a table showing a data configuration example of control device information. [Figure 14] It is a flowchart diagram showing an example of a procedure for storing / transmitting various information.

Embodiments for Carrying Out the Invention

[0016] In the present invention, "non - temporary" is a term contrasted with "temporary", and means that the memory is retained regardless of whether the power is on or off. Also, in the present invention, the "synchronizing" function is a function that can keep specified information in the same state between two or more different devices (apparatuses). For example, it is a function such as making the data to be held the same.

[0017] (First Embodiment) Hereinafter, the servo system according to the first embodiment of the present invention will be described in detail with reference to FIGS. 1 to 9. Fig. 1(a) is a functional block diagram showing a configuration example of a servo system according to the first embodiment of the present invention.

[0018] (Overall Configuration Example) As shown in Figure 1(a), the servo system A includes a controller CNT1, a plurality of motor control devices (servo amplifiers) AMP3 (3a, 3b, ...), and information extraction devices 5 (5a, 5b, 5c, ...). Figure 1(b) shows an example of the data structure of a transmission frame (from CNT to AMP). Figure 1(c) shows an example of the data structure of a reception frame (from AMP to CNT). Communication between the controller CNT1 and the plurality of motor control devices AMP3 is performed using a master (CNT)-slave (AMP) scheme.

[0019] As shown in Figure 1(b), the header section 41, command section 42, data section 43, basic information data section 44, and alarm data section 45 are transmitted from the controller CNT1 to each motor control device (servo amplifier) ​​AMP3.

[0020] In this specification, various types of information refer to the unique basic information of the controller CNT1 and one or more motor control devices AMP3, alarm information of the controller CNT1 and one or more motor control devices AMP3, device information including mechanical information, coordinate position information, control equipment information, servo motor gain information, parameter setting information, operation history information, and position information of the encoder for servo motor driving. Various types of information may be any information held by the various devices of the servo system, and are not limited to these.

[0021] As shown in Figure 1(c), the header section 51, the state feedback data section 52, and the data section 53 are sent back from each motor control device AMP3 to the controller CNT1. The data in the state feedback data section 52 is used to set alarm information in the state feedback data section 52 when an alarm occurs in each motor control device (servo amplifier) ​​AMP3, and is sent to the controller CNT1. This information is used to feed back changes in the state of each motor control device (servo amplifier) ​​AMP3 to the controller CNT1.

[0022] When an alarm occurs, the alarm notification and the alarm number that caused it are set in the state feedback data section 52 and data section 53 of the communication frame. These data are sent back to the controller CNT1 through periodic communication.

[0023] (Example of controller configuration) Controller CNT1 is a master device that controls multiple motor control devices AMP3 via data communication. Controller CNT1 includes a processing unit (CPU) 11 that performs various processing, including a data communication unit (not shown), and a controller storage unit that stores various information about the motor control devices AMP acquired by the data communication unit included in the processing unit (CPU) 11.

[0024] The controller memory unit may have two types of memory units, for example, as described below. The controller memory unit includes, for example, a memory unit (1) 13 that temporarily stores various information acquired from the motor control devices AMP3 (3a, 3b, ...) via data communication with the controller CNT1. Furthermore, the controller memory unit includes a memory unit (2) 15 that permanently stores the various information temporarily stored in the memory unit (1) 13. A memory unit that permanently stores data is, for example, an EEPROM that retains stored information even when power is not supplied. A memory unit that temporarily stores data is, for example, an SRAM that loses stored information when power is not supplied. The processing unit (CPU) 11 includes a first memory control unit (not shown) that detects the difference in stored data between the first memory unit (1) 13 and the second memory unit (2) 15 at a predetermined timing and reflects the detected difference in stored data in the second memory unit (2) 15. The data stored in the second memory unit (2) 15 retains stored information even when power is not supplied due to a failure, making it possible to extract basic information, alarm information, etc., as described later.

[0025] (Example of motor control device configuration) Each motor control device AMP3a, 3b, ... is a slave device controlled by controller CNT1, and each has the following configuration. Motor control device AMP3a, which will be described as a representative from among one or more motor control devices AMP3a, 3b, ..., has a data communication unit (not shown) that performs data communication between the controller CNT1 and one or more motor control devices AMP3b, ..., and a motor control device storage unit that stores various information of the controller CNT and motor control devices AMP acquired by the data communication unit.

[0026] The motor control device storage unit may have two types of storage units, as described below. The motor control device storage unit has, for example, a third storage unit (3) 23 that temporarily stores the unique basic information of the controller CNT1 and one or more motor control devices AMP3b,... acquired by the data communication unit, and alarm information of the controller CNT1 and one or more motor control devices AMP3b,... that is detected when an abnormality occurs and acquired by the data communication unit.

[0027] Furthermore, the motor control device storage unit has a fourth storage unit (4) 25 that non-temporarily stores the controller CNT1 and the unique basic information of one or more motor control devices AMP3b,... which are temporarily stored in the third storage unit (3) 23, as well as alarm information of the controller and the one or more motor control devices. The data stored in the fourth storage unit (4) 25 retains the stored information even when power is not supplied due to a malfunction or the like, making it possible to extract basic information, alarm information, etc., as will be described later.

[0028] The processing unit (CPU unit) 21 includes a second memory control unit that detects the difference in stored data between the third memory unit (3) 23 and the fourth memory unit (4) 25, and reflects (adds / deletes) that difference in stored data in the fourth memory unit (4) 25. Furthermore, the controller CNT1 and one or more motor control devices AMP3a, 3b, ... each have interface units 17, 27, 37, 47 (see also Figure 5). Interface units 17, 27, 37, 47 are interfaces for connecting to the information extraction device 5, which will be described later.

[0029] (Various Information Tables) Figure 2 is an alarm information table showing an example of the data structure for alarm information, and Figure 3 is a table showing an example of the data structure for basic information. As shown in Figure 2, the alarm information table 100 has alarm information 103. The alarm information 103 includes an alarm history (time) item 105, an alarm status 107 for each item 105, and an alarm number 109.

[0030] As shown in Figure 3, the basic information table 111 contains the unique basic information 113 of the target device. The basic information 113 includes an address item 115, a device name 117 for each address item 115, and device information 119 for that device. The device information 119 contains the model number of the target device, a website for displaying device information (such as a URL for accessing a device information site), a serial number, a date of manufacture, a MACID, and device maintenance information. By storing this information in all devices, it becomes easy to retrieve troubleshooting steps for any malfunctioning device that triggers an alarm.

[0031] Figure 4 is a flowchart illustrating an example of the procedure for sharing basic information and alarm information between controller CNT1 and multiple motor control devices AMP3a, 3b, ...

[0032] (Procedure for sharing basic information) 1) After power-on (step S1), the master device, controller CNT1, accesses each motor control device AMP3a, 3b, ... via communication and reads the basic information stored in the first memory unit (1) 13. Controller CNT1 sends a request command for basic information to all motor control devices AMP3a,3b,... (steps S3, S4 (waiting for reception)), and the data received from the motor control devices AMP is stored in the first storage unit (1) 13, and a copy thereof is stored in the second storage unit (2) 15 as a basic information table 111 as shown in Figure 2 (step S5). 2) Controller CNT1 sets the data from the basic information table 111 into the basic information data section 44 of the transmission frame and sends it to all motor control devices AMP3a, 3b, ... (step S6).

[0033] 3) In the process described in 1) and 2) above, each motor control device AMP3a, 3b, ... stores the received basic information data unit 44 in the third storage unit (3) 23 and the fourth storage unit (4) 25 (steps S21-S26). For example, in motor control device AMP3a, the power is turned on in step S21, and in step S22, the storage unit (3) 23 and storage unit (4) 25 are compared, and if there is a difference in the basic information, it is written to storage unit (4) 25. Then, it waits for reception from controller CNT1 (step S23). In step S24, it receives a request command from controller CNT1 and transmits the basic information. In step S26, it receives the basic information of all motor control devices AMP3a, 3b, ... from controller CNT1 and writes it to storage unit (4) 25. After the writing process is completed, a notification of completion of the writing process is sent to controller CNT1.

[0034] (Operating procedure for periodic communication mode: Procedure for sharing alarm information) Once the basic information has been saved in this manner, a reception completion signal is sent to the controller CNT1, and the system switches to periodic operation mode (step S27). 4) Periodic communication takes place between the controller CNT1 and each motor control device AMP3a, 3b, ... (steps S8, S27).

[0035] When an alarm occurs (Y in step S28, Y in step S29), one of the motor control devices AMP3a, 3b, ... sets the notification of alarm item 105 and the alarm number 109 that caused it in the state feedback data section 52 and data section 53 of the communication frame. Then, these data are sent back to the controller CNT1 via periodic communication (step S30).

[0036] The controller CNT1 creates an alarm information table 100, as shown in Figure 2, based on the received alarm data, and stores it in the first storage unit (1) 13 and the second storage unit (2) 15. The controller CNT1 sets the data from the alarm information table 100 in the alarm data 45 of the transmission frame and transmits it to all motor control devices AMP3a, 3b, ... (step S10). Each motor control device AMP3a,3b,... stores the received alarm information 103 in the third storage unit (3)23 and the fourth storage unit (4)25 (step S32).

[0037] Furthermore, when the alarm data is updated (Y in step S31), the received alarm data is written to the fourth storage unit (4) 35 (step S32), and the updated alarm data is transmitted to the other device (steps S10, S30). As described above, the unique basic information of the network-connected controller CNT1 and each motor control device AMP3a, 3b, ..., as well as information when an alarm occurs, are shared among the devices and stored in independent memory units within the AMP / CNT. Accessing any of the devices allows access to all the information of the network-connected AMP / CNTs.

[0038] 5) Regarding the timing of communication After power is turned on, communication is performed with all connected motor control devices AMP3a, 3b, ... and basic information is received (steps S1-S7, S21-S26). The controller CNT1 transmits basic information about the controller CNT1 and all motor control devices AMP3a, 3b, ... to each motor control device AMP3a, 3b, ... (steps S3 to S7). When a reception completion signal is received from all motor control devices AMP3a, 3b, ... (steps S24 to S26), the system switches to periodic operation mode (steps S8, S27). Data is periodically transmitted and received between the controller CNT1 and each motor control unit AMP3a, 3b, ... When an alarm occurs in each motor control unit AMP3a, 3b, ..., alarm information is set in the status feedback and sent to the controller CNT1 (S8~S11, S27~S32).

[0039] (Example of information extraction device configuration) The information extraction device 5 has an interface that can connect to a CNT or AMP, and can extract basic information and alarm information. The information extraction device 5 extracts basic information and alarm information, saves it, and displays it on the LCD screen as a QR code, thereby linking with smartphones, the cloud, etc., to show detailed instructions on how to deal with the situation.

[0040] Figure 5 shows an example of the external configuration in which the information extraction device 5 is connected to the controller CNT1 and one or more motor control devices AMP3a, 3b, ... Figure 5(a) shows the state before the information extraction device 5 is connected to the controller CNT1 and one or more motor control devices AMP3a, 3b, ... Figure 5(b) shows the state after the information extraction device 5 is connected to the controller CNT1 and one or more motor control devices AMP3a, 3b, ...

[0041] The information extraction device 5 will be described below with reference to Figures 1 and 5. The information extraction device 5 has a battery 8 that can supply power to the controller CNT1 and one or more motor control devices AMP3a, 3b, ... and an interface unit 9 for connecting to the controller CNT1 and one or more motor control devices AMP3a, 3b, .... As shown in Figure 5(b), by connecting the information extraction device 5 to at least one of the controller CNT1 or one or more motor control devices AMP3a, 3b, ..., the controller CNT1 and one or more motor control devices AMP3a, 3b, ... can extract basic information, alarm information, etc., that are not temporarily held by the second storage unit (2) 15 and the fourth storage unit (4) via the interface unit 9 of the connected device.

[0042] Furthermore, the information extraction device 5 is equipped with a display unit 7 for displaying the information extracted from the controller CNT1 and one or more motor control devices AMP3a, 3b, ..., as well as a memory (not shown). This allows basic information and alarm information to be extracted from the controller CNT1 and one or more motor control devices AMP3a, 3b, ..., stored in memory, or displayed on the display unit 7 using a QR code or the like. By having a device with decoding capabilities, such as a mobile terminal described later, read the QR code on the display unit 7, it is possible to link with a smartphone or cloud service and display error handling procedures corresponding to the alarm information on the display unit 7 to show to the operator of the information extraction device 5.

[0043] As shown in Figure 5, the interface section 9 of the information extraction device 5 has, for example, a general-purpose serial communication terminal, and by plugging it into the terminal receiving section of the interface sections 17, 27, 37, 47 formed on the controller CNT1 and one or more motor control devices AMP3a, 3b, ..., data communication and device control are possible. By utilizing the data communication function of the information extraction device 5, basic information, alarm history, etc., of the motor control device AMP3 connected to the information extraction device 5 can be viewed from any motor control device AMP3 or controller CNT1.

[0044] (Example configuration of an alarm information reading system) The following describes an example configuration and operation of an alarm information reading system utilizing the present invention. Figure 6 shows an example of the arrangement of one motor control device AMP3a, an information extraction device 5, a mobile terminal 151, and a database server 201. As shown in Figure 6, which provides a more detailed view of the system configuration than Figure 1, the motor control device AMP3a includes a CPU unit 21, a communication unit 28, and an interface unit (including a communication port 30 and a PHY (physical) device 29).

[0045] Furthermore, the motor control device AMP3a includes a fourth storage unit (4)25, a DC power supply processing unit 26b, and a power supply processing unit 26a. The CPU unit 21 includes a third memory unit (3) 23, a servo control unit 24a, and a motor drive circuit 24b. The communication unit 28 includes a communication processing unit 28a. The CPU unit 21 is connected to the encoder (EN) and the motor (M). The communication processing unit 28a controls the communication process between the controller CNT1 and other motor control devices AMP3b, etc., as shown in Figure 4. In the above configuration, the power supply processing unit 26a supplies power C13 from an external power supply to the CPU unit 21 via the interface unit 27c. The fourth memory unit (4) 25 performs serial data communication C11 with the information extraction device 5 via the serial communication interface unit 27a. Power supplied from the battery 8 of the information extraction device 5 is supplied to the DC power processing unit 26b.

[0046] The information extraction device 5 is equipped with a display unit 7a. By reading the QR code, which is a two-dimensional code of the alarm information 103 etc. displayed on the display unit 7a, with a mobile terminal 151 or the like, the device can link with a smartphone or cloud service associated with the database server 201, and display details of how to deal with errors corresponding to the alarm information on the display unit 7 for the operator to see. Furthermore, when the information extraction device 5 is connected to the target device (CNT or AMP1, ...), power C12 supplied from the battery 8 of the information extraction device 5 is supplied to the target device via the interface unit 27b to the storage units (2), (4) and storage control units of the target device (CNT or AMP1, ...).

[0047] The mobile terminal 151 includes a code reading unit 157, an interface unit 153, a battery 161, and a display unit 155. The mobile terminal 151 performs functions such as decoding QR code information by communicating wirelessly with the database server 201. The QR code displays alarm information read from the system, etc. By reading this with the code reading unit 157, the mobile terminal 151 can send appropriate countermeasures for the alarm to the database server 201 via the wireless communication unit 159, etc., and the wireless communication unit 203 can obtain appropriate countermeasures for the alarm from the database server 201.

[0048] Figure 7 shows an example of the storage data configuration of the storage unit 205 of the database server 201, which stores alarm information and corresponding methods for dealing with alarms as a countermeasure provision table 205a. As shown in Figure 7, the countermeasure provision table 205a includes the target equipment (CNT or AMP1, ...), the alarm number for each target equipment, and the countermeasure corresponding to the alarm number.

[0049] When alarm information (including device type) is received from the mobile terminal 151, the search processing unit 207 of the database server refers to the countermeasure provision table 205a to search for an appropriate countermeasure. Then, the countermeasure obtained through the search process is paired with the target device name and sent to the information extraction device 5 via the mobile terminal 151. The information extraction device 5 combines the obtained countermeasure and the name of the target device and sends them to the fourth storage unit (4) via serial communication C11 for storage. Then, as described above, the information extraction device 5 displays the countermeasure on its display unit 7a using a QR code or the like, and the QR code can be decoded by a decoding unit held by a mobile terminal 151 or the like, allowing the worker holding the mobile terminal to take action. Although this example describes a configuration where the information processing device and the mobile terminal are separate components, a configuration in which the mobile terminal has the functionality of an information extraction device internally is also acceptable.

[0050] (Example of system operation) The following describes an example of how the system works when an alarm occurs. When an alarm occurs in a device, an information extraction device (with a display) is connected to the target device (CNT or AMP1, ...) to extract alarm information. For example, by supplying power to each device from an information extraction device equipped with a battery, basic information and alarm information can be extracted even if the power to the target device (CNT or AMP1, ...) itself is turned off. The information extraction device can display information using a QR code on its display unit and can be used in conjunction with a separately provided mobile terminal or similar device to notify workers of the necessary actions to take in response to alarms.

[0051] (System effectiveness) As described above, in this embodiment, even in locations where it is difficult for workers to approach the equipment (CNT or AMP), basic equipment-specific information and alarm information for all equipment (CNT and AMP) can be collected from any of the network-connected devices, thereby improving the efficiency of maintenance work by workers. By supplying power only to the memory unit of one of the AMPs or CNTs to which the information extraction device is connected, and enabling information acquisition and analysis of past alarm occurrences, it becomes unnecessary to supply power to the entire device. Furthermore, the information extraction device allows power to be supplied and access to the memory unit even if the power supply for the controller CNT or other control devices AMP fails and they are not operating, thus enabling data retrieval and equipment diagnosis.

[0052] Furthermore, when extracting information, the information extraction device, equipped with a battery, is connected to the CNT or AMP. This device supplies power to the memory unit of the AMP or CNT, displays the information on the display unit using a QR code or the like, and can be used to decode the information using a mobile device such as a smartphone with a code reading function, thus enabling its use in responding to alarms. With the above configuration, the stored information in the second storage unit and the fourth storage unit can be synchronized. Therefore, common system information can be stored in any of the devices.

[0053] (An example of a communication method between devices) In this embodiment, existing communication methods can be used for master-slave communication between the controller CNT (master) and the motor control device AMP (slave). Figures 8 and 9 show examples of communication methods. Figure 8 shows a star-type communication scheme. L1 is an example of a communication line, which can perform bidirectional communication between Sg1 and Sg3.

[0054] Figure 9 shows an example configuration of a daisy-chain ring type communication system. L1 shows an example of a communication line, which can perform bidirectional communication from Sg11 to Sg14. This embodiment has the advantage of being highly versatile because it can utilize existing communication methods.

[0055] Processing and control can be achieved through software processing using a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), and hardware processing using an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array).

[0056] (Second Embodiment) A servo system according to a second embodiment of the present invention will be described in detail below with reference to Figures 9 to 14. Figure 10(a) is a functional block diagram showing an example configuration of a servo system according to a second embodiment of the present invention. Figure 10(b) is a diagram showing an example of the data structure of a request command (from an external device to the wireless communication processing unit). Figure 10(c) is a diagram showing an example of the data structure of a reply frame (from the wireless communication processing unit to an external device).

[0057] As shown in Figure 10(a), the servo system B includes a controller CNT1, multiple motor control devices (servo amplifiers) AMP3 (3a, 3b, ...), information extraction devices 5 (5a, 5b, 5c, ...), and encoders EN (ENa, ENb, ...) for driving servo motors. Communication between the controller CNT1 and the multiple motor control devices AMP3 is performed using a master (CNT)-slave (AMP) scheme. Communication between the multiple motor control devices AMP3 and the encoders EN is also performed using a master (AMP)-slave (EN) scheme. Furthermore, various types of information are transmitted and received wirelessly between the wireless communication processing units 65 and 75 of the encoders EN and wirelessly wirelessly capable external devices 78.

[0058] Note that the controller CNT1 and the multiple motor control devices (servo amplifiers) AMP3 (3a, 3b, ...) have the same configuration as the controller CNT1 and the multiple motor control devices (servo amplifiers) AMP3 (3a, 3b, ...) in the first embodiment, so a repeated explanation will not be provided.

[0059] As shown in Figure 10(b), a request command consisting of a header section 81, a request command section 82, and a data section 83 is transmitted from the wireless communication-enabled external device 78 to the wireless communication processing units 65 and 75.

[0060] As shown in Figure 10(c), a reply frame consisting of a header section 91 and various information 95 (machine information section 92, coordinate position information section 93, control equipment information section 94) is transmitted from the wireless communication processing units 65 and 75 to the external device 78.

[0061] (Example of encoder configuration) Each encoder EN (ENa, ENb, ...) is a slave device controlled by the motor control device (servo amplifier) ​​AMP3, and since they each have a similar configuration to one another, we will describe one encoder, ENA, as a representative example. The encoder ENa includes an E encoder communication processing unit 60E that communicates data with the motor control device AMP3a, a processing unit (CPU unit) 62, an encoder storage unit, and a wireless communication processing unit 65 that communicates wirelessly with an external device 78 capable of wireless communication. The encoder storage unit stores various information of the controller CNT and the motor control device AMP acquired via the E encoder communication processing unit 60E.

[0062] The encoder memory unit may have two types of memory units, as described below. The encoder memory unit may have, for example, a fifth memory unit (5) 63 that temporarily stores various information from the controller CNT1 obtained via the E encoder communication processing unit 60E.

[0063] Furthermore, the encoder memory unit has a sixth memory unit (6) 64 that permanently stores various information temporarily stored in the fifth memory unit (5) 63. The data stored in the sixth memory unit (6) 64 can retain the stored information even when power is not supplied.

[0064] The processing unit (CPU unit) 62 includes a third memory control unit that detects the difference in stored data between the fifth memory unit (5) 63 and the sixth memory unit (6) 64, and reflects (adds / deletes) that difference in stored data in the sixth memory unit (6) 64.

[0065] The encoder ENa has a wireless communication processing unit 65. The wireless communication processing unit 65 can transmit various information wirelessly to an external device 78. Furthermore, even if power is not supplied due to a malfunction, the wireless communication processing unit 65 and the sixth storage unit (6) 64 can transmit various information wirelessly by being powered from an external wireless power supply unit (wireless power supply primary coil 77) via a secondary coil. In addition, the wireless communication processing unit 65 has a controller CNT Various information transferred from unit 1 and stored in the sixth memory unit (6) 64 can be transmitted to other controllers (not shown).

[0066] (Various Information Tables) Figure 11 is a machine information table showing an example of the data structure of machine information, Figure 12 is a table showing an example of the data structure of coordinate position information, and Figure 13 is a table showing an example of the data structure of control equipment. As shown in Figure 11, the machine information table 120 contains machine information 123. The machine information 123 includes item number 125, information type 127, and machine information 129 for the machine in question. Information type 127 contains information regarding basic machine information, machine status, and processing / work status. For example, the basic machine information includes the model number, serial number, manufacturing date, initial power-on date, power-on time, and alarm information, which are the machine information 129 for the machine in question.

[0067] As shown in Figure 12, the coordinate position information table 130 contains coordinate position information 133. The coordinate position information 133 includes the axis number 135 and position information 137 for each axis number 135. The axis number 135 contains information such as the axis number of the servo motor, coordinates, and the sensor number of the encoder EN. For example, the axis number contains the encoder position information for that axis number as position information 137.

[0068] As shown in Figure 13, the control device information table 140 contains control device information 143. The control device information 143 includes item number 145, device name 147, and device information 149 for the device. For example, if the device name 147 is controller CNT1, the device information 149 includes the model number, serial number, manufacturing date, initial power-on date, power-on time, and alarm information.

[0069] Figure 14 is a flowchart illustrating an example of the procedure for saving and transmitting various types of information.

[0070] (Procedures for sharing various types of information) 1) When power is turned on to each encoder EN (ENa, ENb, ...), it compares the fifth memory unit (5) 63, 73 and the sixth memory unit (6) 64, 74, and if there is a difference in basic information, it is written to the sixth memory unit (6) 64, 74 (step S32). Next, each encoder EN (ENa, ENb, ...) transmits the position information of the position detection unit 61, 71 to the motor control devices AMP3a, 3b, ... (step S33). The transmitted position information is sent from the motor control devices AMP3a, 3b, ... to the controller CNT1, and various information is sent from the controller CNT1 to each motor control device AMP3a, 3b, ... 2) Each encoder EN (ENa, ENb, ...) receives various information transmitted from the controller CNT1 from the motor control devices AMP3a, 3b, ..., stores it in the fifth storage unit (5) 63, 73, and stores copies thereof in the sixth storage unit (6) 64, 74 as a machine information table 120, a coordinate position information table 130, and a control equipment information table 140, as shown in Figures 11-13 (step S34). After the writing process is completed, a notification of completion of the writing process is sent to the controller CNT1 via the motor control devices AMP3a, 3b, ... (step S35).

[0071] (Operating procedure for periodic communication mode: Procedure for transmitting various types of information) 3) Once the storage of the transmission information is complete, each encoder EN (ENa, ENb, ...) switches to periodic operation mode and periodically transmits the status of the servo motor to the controller CNT1 via the motor control devices AMP3a, 3b, ... (step S36). 4) Periodic communication takes place between the controller CNT1 and each motor control device AMP3a, 3b, ... (steps S8, S27).

[0072] When a request to transmit various information is received from the external device 78, the wireless communication processing unit 65 transmits the various information stored in the sixth storage units (6) 64 and 74 to the external device 78 via wireless communication (steps S37 and S38).

[0073] As described above, in addition to being able to check various information from AMP·CNT connected to the network as in the first embodiment, in the second embodiment, various information can also be obtained from each encoder EN (ENa, ENb, ...) of the servo motor via wireless communication.

[0074] Furthermore, the configurations and other elements shown in the above embodiments are not limited to those shown, and can be modified as appropriate within the scope of achieving the effects of the present invention. Other modifications can be made as appropriate, as long as they do not deviate from the scope of the objectives of the present invention. For example, the controller CNT has a controller memory unit that stores various information of the motor control device AMP acquired by the first data communication unit, and the motor control device AMP has a motor control device memory unit that stores various information of the controller CNT and motor control device AMP acquired by the second data communication unit. If these controller memory units and motor control device memory units store data non-temporarily, the stored data can be extracted by an extraction device.

[0075] Furthermore, while the above explains that basic information and alarm information can be extracted, it is also possible to extract various other information such as the servo motor's operation history and coordinate position. In addition, instead of a USB connection, wireless technology can be used to connect to a servo motor equipped with a CNT, AMP, and position sensor. In this case, wireless power supply technology can be used for power supply. Furthermore, each component of the present invention can be arbitrarily selected or omitted, and an invention comprising the selected components is also included in the present invention. [Industrial applicability]

[0076] This invention can be used in servo systems. [Explanation of Symbols]

[0077] A Servo System EN (ENa, ENb, ...) encoder M Motor 1 Controller CNT 3 (3a, 3b, ...) Motor control device (servo amplifier) ​​AMP 5(5a,5b,5c,…) Information extraction equipment 7,7a Display section 8 batteries 9 Interface section 11. Processing Unit (CPU) 13 The first memory unit (1) of the controller memory unit 15 Second memory unit of the controller memory unit (2) 17, 27, 37, 47 Interface section 21, 31 CPU section 21E, 31E M Encoder Communication Processing Unit 23, 33 Third storage unit (3) of the motor control device storage unit 24a Servo Control Unit 24b Motor drive circuit 25, 35 Fourth storage unit (4) of the motor control device storage unit 26a Power Processing Unit 26b DC Power Processing Unit 28 Communications Department 28a Communication Processing Unit 29 PHY devices 30 communication ports 41 Header section 42 Command Unit 43 Data Section 44 Basic Information Data Section 45 Alarm Data Section 51 Header section 52 State Feedback Data Section 53 Data Section 60E, 70E E Encoder Communication Processing Unit 61, 71 Position detection unit 62, 72 Processing Units (CPU) 63, 73 Fifth memory unit (5) of the encoder 64, 74 Encoder's sixth memory unit (6) 65, 75 Wireless communication processing unit 66, 76 Secondary coil 77 Wireless power supply primary coil 78 External equipment 81 Header section 82 Request Command Section 83 Data Section 91 Header section 92 Mechanical Information Department 93 Coordinate position information section 94 Control Equipment Information Department 95 Various information 100 Alarm Information Table 103 Alarm Information 105 Alarm history (time) item 107 Alarm status 109 Alarm Number 111 Basic Information Table 113 Basic information 115 Address Items 117 Device name 119 Equipment information of the equipment in question 120 Machine Information Table 123 Machine Information 125 Item number 127 Information Types 129 Machine information of the machine in question 130 Coordinate Location Information Table 133 Coordinate location information 135 Axle number 137 Location information 140 Control Equipment Information Table 143 Control Equipment Information 145 Item number 147 Equipment name 149 Equipment information of the equipment in question 151 Mobile devices 153 Interface section 155 Display section 157 Code reading unit 161 Battery 201 Database Server 205 Storage section 205a Table of Solutions 207 Search Processing Unit

Claims

1. A network-connected servo system having a data communication unit that enables data communication between the controller and the motor control unit, The aforementioned controller, It has a controller storage unit that stores various information of the motor control device acquired by the data communication unit, The motor control device is It has a motor control device storage unit that stores various information of the controller or motor control device acquired by the data communication unit, The controller storage unit is, A first storage unit that temporarily stores various information of the controller and the motor control device, A second storage unit that non-temporarily stores various information of the controller and motor control device that is temporarily stored in the first storage unit, A first storage control unit detects the difference in stored data between the first storage unit and the second storage unit and reflects the difference in stored data in the second storage unit, It has, The motor control device storage unit is A third storage unit that temporarily stores various information of the controller and the motor control device, A fourth storage unit that permanently stores various information of the controller and motor control device temporarily stored in the third storage unit, The system includes a second storage control unit that detects the difference in stored data between the third storage unit and the fourth storage unit, and reflects the difference in stored data in the fourth storage unit. Each of the controller and the motor control device is, It has an interface unit between the second storage unit and the fourth storage unit and an information extraction device that extracts the information stored in each of them, The information extraction device is a servo system having a power supply unit that supplies power to the second storage unit or the fourth storage unit via the interface unit.

2. A servo system in which a controller and a motor control device are network-connected to enable data communication with each other, and the motor control device and the encoder of a servo motor equipped with a position detector are serially connected to enable data communication with each other, The aforementioned controller, A first data communication unit that performs data communication with the motor control device, It has a controller storage unit that stores various information of the motor control device acquired by the first data communication unit, The motor control device is The first data communication unit performs data communication with the controller, It has a second data communication unit that performs serial communication between the encoder and the motor control device, It has a motor control device storage unit that stores various information of the controller or motor control device acquired by the first data communication unit, The encoder of the servo motor is It has an encoder storage unit that stores various information of the controller or motor control device acquired by the second data communication unit, The controller storage unit is, A first storage unit that temporarily stores various information of the controller and the motor control device, A second storage unit that non-temporarily stores various information of the controller and motor control device that is temporarily stored in the first storage unit, A first storage control unit detects the difference in stored data between the first storage unit and the second storage unit and reflects the difference in stored data in the second storage unit, It has, The motor control device storage unit is A third storage unit that temporarily stores various information of the controller and the motor control device, A fourth storage unit that permanently stores various information of the controller and motor control device temporarily stored in the third storage unit, The system includes a second storage control unit that detects the difference in stored data between the third storage unit and the fourth storage unit, and reflects the difference in stored data in the fourth storage unit. A servo system characterized by the following features.

3. The encoder storage unit is A fifth storage unit that temporarily stores various information of the controller and the motor control device, A sixth storage unit that non-temporarily stores various information of the controller and the motor control device, A third storage control unit detects the difference in stored data between the fifth storage unit and the sixth storage unit, and reflects the difference in stored data in the sixth storage unit. The servo system according to claim 2, characterized in that it is as described above.

4. The encoder has a wireless communication processing unit that performs wireless communication with external devices. The servo system according to claim 2, characterized in that the wireless communication processing unit is capable of transmitting the various information, which has been transferred from the controller and stored in the encoder storage unit, to the external device.

5. The encoder has a wireless communication processing unit that performs wireless communication with an external device, The servo system according to claim 3, characterized in that the encoder storage unit and the wireless communication processing unit can be powered by an external wireless power supply unit.

6. The servo system according to claim 5, characterized in that the wireless communication processing unit can transmit the various information transferred from the controller and stored in the sixth storage unit to other controllers.

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