Servo system

Abstract

To provide a servo system which enables a servo amplifier to perform operation requested by each user even in the case that an unspecified large number of users use the servo amplifier and can reduce cost of the servo amplifier even in the case that the servo amplifier can perform the operation requested by each user in a servo system having the servo amplifier.SOLUTION: In a servo system 1, basic firmware for making a servo amplifier 3 perform standard operation is installed in the servo amplifier 3, and a plurality of pieces of function firmware for making the servo amplifier 3 perform a specific operation is stored in an information processing device 5. The information processing device 5 transmits a piece of function firmware selected from among the plurality of pieces of function firmware stored in the information processing device 5 to the servo amplifier 3, and the servo amplifier 3 operated by the basic firmware verifies the appropriateness of the function firmware received from the information processing device 5.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a servo system including a servo amplifier that operates a servo motor.

Background Art

[0002] Conventionally, a robot control system for controlling a robot has been known (see, for example, Patent Document 1). The robot control system described in Patent Document 1 includes a servo motor incorporated in a joint of the robot and a servo amplifier that operates the servo motor. A personal computer installed with software for handling the servo amplifier, for example, is connected to the servo amplifier, and settings of parameters of the servo amplifier are performed by the personal computer.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When servo amplifiers of the same type are used by an unspecified number of users, the functions required for the servo amplifier may differ for each user. If various firmware is installed in the servo amplifier so that the servo amplifier can perform all the functions required by an unspecified number of users, no matter which user uses the servo amplifier, it becomes possible to cause the servo amplifier to perform the operations required by the user. However, in this case, since it is necessary to increase the storage capacity of the servo amplifier for storing the firmware, the cost of the servo amplifier increases.

[0005] Therefore, the object of the present invention is to provide a servo system having a servo amplifier that, even when the servo amplifier is used by an unspecified number of users, can be made to perform the operation requested by each user, and even when it is possible to make the servo amplifier perform the operation requested by each user, the cost of the servo amplifier can be reduced. [Means for solving the problem]

[0006] To solve the above problems, the servo system of the present invention comprises a servo amplifier that operates a servo motor and an information processing device electrically connected to the servo amplifier. The servo amplifier has basic firmware installed, which is firmware for causing the servo amplifier to perform standard operations. The information processing device stores multiple functional firmwares, which are firmware for causing the servo amplifier to perform specific operations. The information processing device transmits a functional firmware selected from the multiple functional firmwares stored in the information processing device to the servo amplifier. The servo amplifier, which operates using the basic firmware, verifies the validity of the functional firmware received from the information processing device. The verification of the validity of the functional firmware includes verifying whether the functional firmware is genuine and created by a legitimate supplier. Each functional firmware has code embedded in it that is generated according to predetermined rules. The servo amplifier generates code using the same rules and compares the code embedded in the functional firmware with the code it generates. If the two match, the servo amplifier determines that the functional firmware is genuine. Furthermore, the functional firmware stored in the information processing device includes functional firmware for adding new functions to the servo amplifier after release, specifically functional firmware for adding a collision detection function to the servo amplifier that detects collisions with objects operated by the servo motor. It is characterized by the following:

[0007] In the present invention, for example, if the servo amplifier determines that the functional firmware received from the information processing device is valid, it installs the functional firmware received from the information processing device into the servo amplifier.

[0008] In the servo system of the present invention, the information processing device stores multiple functional firmwares, which are firmwares for causing the servo amplifier to perform specific operations. The information processing device transmits a selected functional firmware from among the multiple functional firmwares stored in the information processing device to the servo amplifier. Therefore, in the present invention, by having the information processing device transmit functional firmwares for causing the servo amplifier to perform the operation requested by each user, it becomes possible to cause the servo amplifier to perform the operation requested by each user, even when the servo amplifier is used by an unspecified number of users.

[0009] Furthermore, in this invention, since the information processing device transmits only the selected functional firmware from among the multiple functional firmwares stored in the information processing device to the servo amplifier, it is possible to reduce the storage capacity of the servo amplifier for storing firmware, even though it is possible to make the servo amplifier perform the operation requested by each user. Therefore, in this invention, it is possible to reduce the cost of the servo amplifier even though it is possible to make the servo amplifier perform the operation requested by each user.

[0010] Furthermore, in this invention, the servo amplifier, which operates using the basic firmware, verifies the validity of the functional firmware received from the information processing device. Therefore, in this invention, by installing the functional firmware deemed valid into the servo amplifier, it becomes possible to install valid functional firmware into the servo amplifier even when the information processing device transmits a functional firmware selected from among multiple functional firmwares stored in the information processing device to the servo amplifier.

[0011] In the present invention, it is preferable that the multiple functional firmwares stored in the information processing device are encrypted. With this configuration, even if the functional firmwares stored in the information processing device are illegally copied, it becomes possible to prevent the unauthorized use of the copied functional firmwares.

[0012] In the present invention, it is preferable for the information processing device to transmit the functional firmware to the servo amplifier in an encrypted state. With this configuration, even if the functional firmware is illegally copied when it is transmitted from the information processing device to the servo amplifier, it becomes possible to prevent the illegal use of the copied functional firmware.

[0013] In the present invention, for example, the servo system includes an accessory device electrically connected to a servo amplifier, the information processing device stores accessory function firmware, which is firmware for causing the accessory device to perform a specific operation, the information processing device transmits the accessory function firmware to the servo amplifier, the servo amplifier operating with the basic firmware transmits the accessory function firmware received from the information processing device to the accessory device, and the accessory device installs the accessory function firmware received from the servo amplifier into the accessory device.

[0014] In this case, by transmitting the firmware for the auxiliary functions required by each user to the auxiliary device via a servo amplifier, it becomes possible to make the auxiliary device perform the actions requested by each user. Furthermore, even if it is possible to make the auxiliary device perform the actions requested by each user by transmitting only the necessary auxiliary function firmware to the auxiliary device via a servo amplifier, it becomes possible to reduce the storage capacity of the auxiliary device for storing the firmware, and as a result, the cost of the auxiliary device can be reduced. [Effects of the Invention]

[0015] As described above, the servo system of the present invention makes it possible to have the servo amplifier perform the actions desired by each user, even when the servo amplifier is used by an unspecified number of users. Furthermore, even though the servo system of the present invention makes it possible to have the servo amplifier perform the actions desired by each user, it is possible to reduce the cost of the servo amplifier. [Brief explanation of the drawing]

[0016] [Figure 1] This is a block diagram illustrating the configuration of a servo system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0017] Embodiments of the present invention will be described below with reference to the drawings.

[0018] (Servo system configuration) Figure 1 is a block diagram illustrating the configuration of a servo system 1 according to an embodiment of the present invention.

[0019] The servo system 1 in this embodiment comprises a servo motor 2, a servo amplifier 3 for operating the servo motor 2, an encoder 4 for detecting the rotational position of the servo motor 2, and a personal computer 5 (hereinafter referred to as "PC5") which serves as an information processing device electrically connected to the servo motor 2. The encoder 4 is electrically connected to the servo amplifier 3. The encoder 4 in this embodiment is an auxiliary device electrically connected to the servo amplifier 3.

[0020] The servo amplifier 3 has basic firmware (basic F / W) installed, which is the firmware that enables the servo amplifier 3 to perform standard operations. The basic firmware is stored in the non-volatile memory 7 of the microcomputer built into the servo amplifier 3. The encoder 4 has basic firmware (basic F / W) installed, which is the firmware that enables the encoder 4 to perform standard operations. The basic firmware is stored in the non-volatile memory 8 of the microcomputer built into the encoder 4. The encoder 4 is electrically connected to the servo amplifier 3 via a predetermined communication cable 9.

[0021] PC5 has installed servo amplifier software, which is software for handling the servo amplifier 3. The servo amplifier software is stored in the non-volatile memory 10 built into the PC5. The PC5 is electrically connected to the servo amplifier 3 via a communication cable 11 such as a USB cable. It is possible to set the parameters of the servo amplifier 3 and check the status of the servo amplifier 3 on the PC5.

[0022] The PC5 stores a plurality of function firmware (function F / W), which is firmware for causing the servo amplifier 3 to perform specific operations. For example, the PC5 stores X function firmware from "function F / W1" to "function F / WX". In addition, the PC has stored in it accessory function firmware (accessory function F / W), which is firmware for causing the encoder 4 to perform specific operations. The function firmware and the accessory function firmware are stored in the non-volatile memory 10.

[0023] The function firmware is, for example, firmware for causing the servo amplifier 3 to realize special functions not included in the standard specifications of the servo amplifier 3. In this case, the function firmware is, for example, firmware for causing the servo amplifier 3 to perform an optimized operation when the servo motor 2 is used in a device that picks up tools set at equal intervals on a disk in a tool changer. Also, the function firmware is, for example, firmware for causing the servo amplifier 3 to realize special functions for a specific user. In this case, the function firmware is, for example, firmware for customizing the input / output functions of the servo amplifier 3 or firmware for customizing the communication specifications between the servo amplifier 3 and a predetermined upper device.

[0024] Furthermore, functional firmware is, for example, firmware for adding new functions to the servo amplifier 3 after its release. In this case, functional firmware is, for example, firmware for adding a collision detection function. Attached functional firmware is, for example, firmware for implementing special functions for a specific user in the encoder 4, and is, for example, firmware for customizing the communication specifications between the servo amplifier 3 and the encoder 4.

[0025] The functional firmware and auxiliary functional firmware are loaded and stored in the PC5, for example, when the servo amplifier software is installed on the PC5. Alternatively, the functional firmware and auxiliary functional firmware may be downloaded to the PC5 from a designated server via the network and stored in the PC5 after the servo amplifier software has been installed on the PC5. The functional firmware stored in the PC5 is encrypted. The auxiliary functional firmware stored in the PC5 is also encrypted.

[0026] The servo amplifier 3 is capable of having function firmware installed. When installing function firmware on the servo amplifier 3, the user launches the servo amplifier software on the PC 5 and selects the function firmware to be installed on the servo amplifier 3 from among several function firmwares stored on the PC 5. For example, the user selects "Function F / W1".

[0027] Subsequently, when the user performs a predetermined operation on PC5, PC5 transmits a selected functional firmware from among the multiple functional firmwares stored on PC5 to servo amplifier 3. For example, PC5 transmits the selected "Function F / W1" to servo amplifier 3. When PC5 transmits functional firmware to servo amplifier 3, PC5 decrypts the encrypted functional firmware stored on PC5 before transmitting it to servo amplifier 3.

[0028] The servo amplifier 3, which operates using the basic firmware, verifies the validity of the functional firmware received from the PC 5. In this configuration, the servo amplifier 3 first verifies the integrity of the data in the functional firmware. At this time, the servo amplifier 3 checks for corruption of the data in the functional firmware, for example, by performing a CRC (Cyclic Redundancy Code) check.

[0029] Furthermore, the servo amplifier 3 verifies whether the functional firmware is genuine and created by a legitimate supplier. Specifically, first, a code generated according to a predetermined rule is embedded in each functional firmware, and the servo amplifier 3 generates code using the same rule. The servo amplifier 3 then compares the code embedded in the functional firmware with the code it generates, and if they match, it determines that the functional firmware is genuine. In this way, the servo amplifier 3, which operates using the basic firmware, verifies whether the functional firmware received from the PC 5 is genuine and correct.

[0030] The servo amplifier 3, which operates using basic firmware, installs the function firmware received from PC5 into the servo amplifier 3 if it determines that the function firmware received from PC5 is valid. For example, the servo amplifier 3 installs "Function F / W1" received from PC5 into the servo amplifier 3. The function firmware is stored in the non-volatile memory 7.

[0031] Encoder 4 is capable of installing auxiliary function firmware. To install auxiliary function firmware on encoder 4, the user launches the servo amplifier software on PC 5, selects the auxiliary function firmware stored on PC 5, and then performs the prescribed operations. PC 5 transmits the auxiliary function firmware to servo amplifier 3. When PC 5 transmits the auxiliary function firmware to servo amplifier 3, PC 5 decrypts the encrypted auxiliary function firmware stored on PC 5 before transmitting it to servo amplifier 3.

[0032] The servo amplifier 3, operating with the basic firmware, transmits the auxiliary function firmware received from the PC 5 to the encoder 4. The encoder 4, also operating with the basic firmware, installs the auxiliary function firmware received from the servo amplifier 3 into the encoder 4. The auxiliary function firmware is stored in the non-volatile memory 8.

[0033] (Main effects of this form) As explained above, in this configuration, the PC5 stores multiple functional firmwares for causing the servo amplifier 3 to perform specific actions, and the PC5 transmits the functional firmware selected from among the multiple functional firmwares stored in the PC5 to the servo amplifier 3. Therefore, in this configuration, by having the PC5 transmit the functional firmware for causing the servo amplifier 3 to perform the action requested by each user, it becomes possible to cause the servo amplifier 3 to perform the action requested by each user, even when the servo amplifier 3 is used by an unspecified number of users.

[0034] Furthermore, in this configuration, since the PC5 transmits only the selected functional firmware from among the multiple functional firmwares stored in the PC5 to the servo amplifier 3, it is possible to reduce the storage capacity of the non-volatile memory 7 of the servo amplifier 3, even though it is possible to make the servo amplifier 3 perform the operation requested by each user. Therefore, in this configuration, it is possible to reduce the cost of the servo amplifier 3, even though it is possible to make the servo amplifier 3 perform the operation requested by each user.

[0035] In this configuration, the servo amplifier 3, which operates using basic firmware, verifies the validity of the functional firmware received from the PC 5 and installs the functional firmware deemed valid into the servo amplifier 3. Therefore, in this configuration, even when the PC 5 transmits a functional firmware selected from among multiple functional firmwares stored in the PC 5 to the servo amplifier 3, it is possible to install the valid functional firmware into the servo amplifier 3.

[0036] In this configuration, PC5 stores auxiliary function firmware for causing encoder 4 to perform specific actions, and PC5 transmits the auxiliary function firmware to servo amplifier 3. In this configuration, servo amplifier 3, which operates using the basic firmware, transmits the auxiliary function firmware received from PC5 to encoder 4, and encoder 4 installs the auxiliary function firmware received from servo amplifier 3 into encoder 4.

[0037] Therefore, in this configuration, by transmitting the firmware for the auxiliary functions required by each user to the encoder 4 via the servo amplifier 3, it becomes possible to make the encoder 4 perform the actions requested by each user. Furthermore, in this configuration, since only the necessary auxiliary function firmware is transmitted to the encoder 4 via the servo amplifier 3, it is possible to reduce the storage capacity of the non-volatile memory 8 of the encoder 4, even though it is possible to make the encoder 4 perform the actions requested by each user, and as a result, the cost of the encoder 4 can be reduced.

[0038] In this configuration, the multiple functional firmwares stored on PC5 are encrypted. Therefore, even if the functional firmware stored on PC5 is illegally copied, it is possible to prevent the unauthorized use of the copied functional firmware. Similarly, in this configuration, since the auxiliary functional firmware stored on PC5 is encrypted, even if the auxiliary functional firmware stored on PC5 is illegally copied, it is possible to prevent the unauthorized use of the copied auxiliary functional firmware.

[0039] (Other embodiments) The above-described embodiment is merely one example of a preferred embodiment of the present invention, and is not limited thereto. Various modifications can be made without altering the essence of the present invention.

[0040] In the configuration described above, when the basic firmware is installed, the functional firmware may be installed on the servo amplifier 3 along with the basic firmware. In this case, for example, a functional firmware different from the functional firmware already installed and stored on the servo amplifier 3 is selected by the PC5 and sent from the PC5 to the servo amplifier 3. Alternatively, in this case, an upgraded version of the functional firmware already installed and stored on the servo amplifier 3 may be selected by the PC5 and sent from the PC5 to the servo amplifier 3, thereby rewriting the functional firmware already stored on the servo amplifier 3.

[0041] Similarly, in the configuration described above, when the basic firmware is installed, the auxiliary function firmware may be installed on the encoder 4 along with the basic firmware. In this case, for example, a different auxiliary function firmware from the one already installed and stored on the encoder 4 is selected by the PC 5 and sent from the PC 5 to the encoder 4 via the servo amplifier 3. Alternatively, in this case, an upgraded version of the auxiliary function firmware already installed and stored on the encoder 4 may be selected by the PC 5 and sent from the PC 5 to the encoder 4 via the servo amplifier 3, thereby rewriting the auxiliary function firmware already stored on the encoder 4.

[0042] In the configuration described above, if the microcomputer of the servo amplifier 3 can handle encrypted firmware, the PC 5 may transmit the functional firmware to the servo amplifier 3 in an encrypted state. In this case, even if the functional firmware is illegally copied when it is transmitted from the PC 5 to the servo amplifier 3, it becomes possible to prevent the illegal use of the copied functional firmware. Furthermore, if the microcomputer of the servo amplifier 3 can handle encrypted firmware, the PC 5 may transmit the accompanying functional firmware to the servo amplifier 3 in an encrypted state.

[0043] In the configuration described above, the functional firmware stored in PC5 does not need to be encrypted. Similarly, the auxiliary functional firmware stored in PC5 does not need to be encrypted. Furthermore, in the configuration described above, the auxiliary device electrically connected to servo amplifier 3 may be a device other than encoder 4. Furthermore, in the configuration described above, the auxiliary functional firmware does not need to be stored in PC5.

[0044] (Configuration of this technology) Furthermore, this technology can be configured as follows: (1) comprising a servo amplifier for operating a servo motor and an information processing device electrically connected to the servo amplifier, The servo amplifier has basic firmware installed, which is firmware that enables the servo amplifier to perform standard operations. The information processing device stores multiple functional firmwares, which are firmwares for causing the servo amplifier to perform specific operations. The information processing device transmits to the servo amplifier the selected functional firmware from among the plurality of functional firmwares stored in the information processing device. A servo system characterized in that the servo amplifier, which operates using the basic firmware, verifies the validity of the functional firmware received from the information processing device. (2) The servo system according to (1), characterized in that the servo amplifier installs the functional firmware received from the information processing device into the servo amplifier when it determines that the functional firmware received from the information processing device is valid. (3) The servo system according to (1) or (2), characterized in that the plurality of function firmwares stored in the information processing device are encrypted. (4) The servo system according to (3), characterized in that the information processing device transmits the functional firmware to the servo amplifier in an encrypted state. (5) The servo amplifier is equipped with an auxiliary device that is electrically connected to it, The information processing device stores auxiliary function firmware, which is firmware for causing the auxiliary device to perform a specific operation. The information processing device transmits the associated function firmware to the servo amplifier. The servo amplifier, which operates using the basic firmware, transmits the auxiliary function firmware received from the information processing device to the auxiliary device. The servo system according to any one of (1) to (4), characterized in that the auxiliary device installs the auxiliary function firmware received from the servo amplifier into the auxiliary device. [Explanation of symbols]

[0045] 1. Servo System 2 servo motors 3. Servo amplifier 4. Encoder (attached device) 5. PC (Information Processing Unit)

Claims

1. The system comprises a servo amplifier for operating a servo motor and an information processing device electrically connected to the servo amplifier. The servo amplifier has basic firmware installed, which is firmware that enables the servo amplifier to perform standard operations. The information processing device stores multiple functional firmwares, which are firmwares for causing the servo amplifier to perform specific operations. The information processing device transmits to the servo amplifier the selected functional firmware from among the plurality of functional firmwares stored in the information processing device. The servo amplifier, which operates using the basic firmware, verifies the validity of the functional firmware received from the information processing device. The validation of the aforementioned functional firmware includes verifying whether or not the functional firmware is a genuine product created by a legitimate supplier. The aforementioned functional firmware has code embedded in it that is generated according to predetermined rules for each functional firmware. The servo amplifier generates code using the same rules and compares the code embedded in the functional firmware with the code it has created. If the two match, it determines that the functional firmware is legitimate. The servo system is characterized in that the functional firmware stored in the information processing device includes functional firmware for adding new functions to the servo amplifier after release, and further includes functional firmware for adding a collision detection function to the servo amplifier for detecting collisions with objects that operate using the power of the servo motor.

2. The servo system according to claim 1, characterized in that the servo amplifier installs the functional firmware received from the information processing device into the servo amplifier when it determines that the functional firmware received from the information processing device is valid.

3. The servo system according to claim 1 or 2, characterized in that the plurality of functional firmwares stored in the information processing device are encrypted.

4. The servo system according to claim 3, characterized in that the information processing device transmits the functional firmware to the servo amplifier in an encrypted state.

5. The servo amplifier is equipped with an auxiliary device that is electrically connected to it. The information processing device stores auxiliary function firmware, which is firmware for causing the auxiliary device to perform a specific operation. The information processing device transmits the associated function firmware to the servo amplifier. The servo amplifier, which operates using the basic firmware, transmits the auxiliary function firmware received from the information processing device to the auxiliary device. The servo system according to claim 1 or 2, characterized in that the auxiliary device installs the auxiliary function firmware received from the servo amplifier into the auxiliary device.

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