control device

Abstract

To provide a control device in which an excessive rated temperature of an element is suppressed and the life of the element is lengthened, and which can support a motor of a variety of rated outputs.SOLUTION: Provided is a control device capable of controlling one motor of different rated outputs by the same hardware configuration. The control device includes a control unit that is configured to perform control to shut off supply of regenerative power to a first resistor which converts, to heat inside the control device, the regenerative power generated during regenerative operation of the motor according to an amount of heat generated in the control device when the motor is driven, and to supply regenerative power to a second resistor which is connectable to the control device, if needed, and which converts the regenerative power to heat outside the control device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a control device.

Background Art

[0002] A control device that controls motor driving by inverter control has a regenerative resistor for consuming kinetic energy regenerated to the control device when the motor is stopped, for example. Patent Document 1 discloses an invention of a servo control device. In the invention disclosed in Patent Document 1, in addition to an internal regenerative resistor, an external regenerative resistor unit can be connected to the outside of the servo control device as required, according to the rated output of the motor, its application, and the like. The servo control device turns on a switching element connected in series with the internal regenerative resistor inside, so that regenerative power is consumed, that is, converted into heat, by both the internal regenerative resistor and the external regenerative resistor of the external regenerative resistor unit.

Prior Art Literature

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] However, when a conventional control device for controlling motor driving is intended to support motors with a wide range of rated outputs from several tens of watts to several hundreds of watts using the same hardware, for example, when a motor with the maximum rated output is connected, the switching of the internal regenerative resistor and the external regenerative resistor is collectively managed, so there is a risk that the heat generation amount of the control device accompanying heat generation of the internal regenerative resistor will exceed the heat dissipation capability of the control device. Therefore, when a motor with a large rated output of about several hundreds of watts is connected, there is a risk that the temperature of elements such as capacitors and switching elements inside the control device will exceed the rated temperature, rendering them unusable (exceeding the rated temperature), or shortening the service life of the elements.

[0005] This disclosure has been made in view of the above points, and aims to provide a control device that suppresses exceeding the rated temperature of the element, extends its lifespan, and is compatible with motors of a wide range of rated outputs. [Means for solving the problem]

[0006] A control device according to a first aspect of the present disclosure is a control device capable of controlling a motor with different rated outputs using the same hardware configuration, and includes a control unit that, depending on the amount of heat generated inside the control device when driving the motor, shuts off the supply of regenerative power to a first resistor that converts the regenerative power generated during the regenerative operation of the motor into heat inside the control device, and, if necessary, can be connected to the control device, and is configured to enable control of supplying regenerative power to the second resistor that converts the regenerative power into heat outside the control device.

[0007] According to the first aspect of this disclosure, by interrupting the supply of regenerative power to the first resistor in accordance with the amount of heat generated, the amount of internal heat generated can be suppressed, the element can be prevented from exceeding its rated temperature, and its lifespan can be extended, and it can be made compatible with motors of a wide range of rated outputs.

[0008] A control device according to a second aspect of the present disclosure is a control device according to a first aspect, further comprising a first switching element connected in series with the first resistor, and a second switching element connected to the second resistor when the second resistor is connected to the control device, wherein the control unit is configured to turn off the first switching element and turn on the second switching element during regenerative operation, depending on the amount of heat generated inside the control device when the motor is driven while the second resistor is connected.

[0009] According to a second aspect of this disclosure, by switching the switching element on and off according to the amount of heat generated and interrupting the supply of regenerative power to the first resistor to suppress the amount of internal heat generated, it is possible to suppress the element from exceeding its rated temperature and extend its lifespan, and to accommodate motors with a wide range of rated outputs.

[0010] A control device according to a third aspect of the present disclosure is a control device according to a second aspect, further comprising a capacitor for smoothing the voltage of a power supply for driving the motor, wherein the control unit, with the second resistor connected, turns off the first switching element and turns on the second switching element when the terminal voltage of the capacitor is above a predetermined threshold voltage, depending on the amount of heat generated inside the control device when the motor is driven.

[0011] According to a third aspect of this disclosure, by switching the switching element on and off according to the amount of heat generated and interrupting the supply of regenerative power to the first resistor to suppress the amount of internal heat generated, it is possible to suppress exceeding the rated temperature of the element, extend its lifespan, and enable compatibility with motors of a wide range of rated outputs.

[0012] A control device according to a fourth aspect of the present disclosure is a control device according to a first aspect, further comprising a capacitor for smoothing the voltage of a power supply that drives the motor, wherein when a motor with a rated output value equal to or greater than a predetermined output value is connected, the control unit cuts off the supply of the regenerative power to the first resistor and supplies the regenerative power to the second resistor when the terminal voltage of the capacitor is equal to or greater than a predetermined threshold voltage.

[0013] According to a fourth aspect of this disclosure, by interrupting the supply of regenerative power to the first resistor according to the rated output of the connected motor, the amount of internal heat generated is suppressed, thereby preventing the element from exceeding its rated temperature and extending its lifespan, and enabling compatibility with motors of a wide range of rated outputs.

[0014] A control device according to a fifth aspect of the present disclosure is a control device according to a first aspect, further comprising a capacitor for smoothing the voltage of a power supply for driving the motor, and a temperature sensor, wherein the control unit, when the temperature measured by the temperature sensor is above a predetermined temperature, and the terminal voltage of the capacitor is above a predetermined threshold voltage, cuts off the supply of the regenerative power to the first resistor and supplies the regenerative power to the second resistor.

[0015] According to a fifth aspect of this disclosure, by interrupting the supply of regenerative power to the first resistor in accordance with the internal temperature to suppress internal heat generation, it is possible to suppress exceeding the rated temperature of the element, extend its lifespan, and enable compatibility with motors of a wide range of rated outputs.

[0016] A control device according to a sixth aspect of this disclosure is a control device according to a fifth aspect, wherein the temperature sensor is provided for predicting the lifespan of the capacitor.

[0017] According to a sixth aspect of this disclosure, by shutting off the supply of regenerative power to the first resistor in accordance with the internal temperature measured by a temperature sensor provided for predicting the lifespan of the capacitor, the amount of internal heat generated can be suppressed, the element can be prevented from exceeding its rated temperature, and its lifespan can be extended, and it can be made compatible with motors of a wide range of rated outputs.

[0018] A control device according to the seventh aspect of this disclosure is a control device according to any of the first to sixth aspects, wherein the control device is configured to control the operation of an actuator comprising a motor and a movable body that moves by the drive of the motor.

[0019] According to a seventh aspect of this disclosure, by interrupting the supply of regenerative power generated by controlling the operation of an actuator comprising a motor and a mobile body moved by the drive of the motor to a first resistor, it is possible to suppress exceeding the rated temperature of the element, extend its lifespan, and enable compatibility with motors of a wide range of rated outputs. [Effects of the Invention]

[0020] According to the present disclosure, by suppressing the internal heat generation amount, it is possible to provide a control device that can suppress the rated temperature excess of elements, achieve a longer service life, and is compatible with motors of a wide range of rated outputs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] [Figure 1] This is a diagram showing a schematic configuration of the control device according to the present embodiment. [Figure 2] This is a diagram showing a schematic configuration of the control device according to the present embodiment. [Figure 3] This is a diagram showing a schematic configuration of the control device according to the present embodiment. [Figure 4] This is a diagram showing a schematic configuration of the control device according to the present embodiment. [Figure 5] This is a diagram schematically showing an example of the configuration of a control device and an actuator. DETAILED DESCRIPTION OF EMBODIMENTS

[0022] Hereinafter, an example of the embodiment of the present disclosure will be described with reference to the drawings. Note that identical or equivalent constituent elements and parts in the respective drawings are assigned the same reference signs. In addition, the dimensional ratios in the drawings are exaggerated for convenience of description, and may differ from the actual ratios.

[0023] Figure 1 is a diagram showing a schematic configuration of the control device according to the present embodiment. The control device 10 shown in Figure 1 is a device capable of controlling the drive of the motor 20 through inverter control. The control device 10 is configured to control the operation of an actuator (not shown) that includes the motor 20 and a moving body (not shown) that moves as the motor 20 is driven.

[0024] The control device 10 includes a rectifier 102 that converts alternating current supplied from an external AC power source 101 into direct current, a smoothing capacitor 103 that smooths the voltage, an internal regenerative resistor 104 that consumes regenerative power generated during the regenerative operation of the motor 20 by converting it into heat, a switching element 105 connected in series with the internal regenerative resistor 104, a switching element 106 connected in parallel with the switching element 105, an inverter circuit 107 that converts the direct current converted from alternating current by the rectifier 102 and the smoothing capacitor 103 back into alternating current and sends it to the motor 20 (supplies power to the motor 20), and a microcontroller 110 that detects the terminal voltage Vc of the smoothing capacitor 103 and switches the switching elements 105 and 106 on and off. The inverter circuit 107 is an example of the inverter section of this disclosure. Furthermore, examples of switching elements 105 and 106 include MOSFETs (metal-oxide-semiconductor field-effect transistors), IGBTs (Insulated Gate Bipolar Transistors), and transistors.

[0025] The control device 10 can control a single motor 20 with different rated outputs using the same hardware configuration. More specifically, the control device 10 can control motors 20 with rated outputs ranging from tens of watts to hundreds of watts. To this end, the switching elements (e.g., MOSFETs) and smoothing capacitors 103 that make up the inverter circuit 107, and other components and elements that constitute the control device 10, are selected so that their ratings and characteristics (voltage ratings) match those of the motor 20 with the highest rated output.

[0026] In this control device 10 (with the external regenerative resistor unit 120, described later, not connected), the switching element 105 is in the off state during operation other than regenerative operation of the motor 20. During regenerative operation of the motor 20, the switching element 105 is turned on, making it possible to supply regenerative power to the internal regenerative resistor 104. As a result, the regenerative power is converted into heat and consumed. This is because the terminal voltage Vc of the smoothing capacitor 103 may rise excessively during regenerative operation. Therefore, the microcontroller 110 of the control device 10, described later, performs discharge control to lower the terminal voltage Vc by turning on the switching element 105 when the terminal voltage Vc of the smoothing capacitor 103 is above a predetermined threshold voltage Vt. On the other hand, the switching element 106 is turned on during regenerative operation when the terminal voltage Vc is above a threshold voltage Vt, similar to the switching element 105, but is not limited to this, and may remain in the off state.

[0027] The control device 10 is further configured to be connectable to, i.e., detachable from, an external regenerative resistor unit 120 as needed. The external regenerative resistor unit 120 includes an external regenerative resistor 121 that consumes the regenerative power generated during the regenerative operation of the motor 20 by converting it into heat. The internal regenerative resistor 104 is an example of the first resistor of this disclosure, and the external regenerative resistor 121 is an example of the second resistor of this disclosure. In addition, the switching element 105 is an example of the first switching element of this disclosure, and the switching element 106 is an example of the second switching element of this disclosure.

[0028] In the control device 10 with the external regenerative resistor unit 120 connected, during regenerative operation of the motor 20, if the terminal voltage Vc of the smoothing capacitor 103 is equal to or greater than the threshold voltage Vt, both switching elements 105 and 106 are basically turned on (i.e., discharge control is performed by the internal regenerative resistor 104 and the external regenerative resistor 121), except when the supply of regenerative power to the internal regenerative resistor 104 is cut off, as described later). As a result, regenerative power is supplied to both the internal regenerative resistor 104 and the external regenerative resistor 121. Therefore, the regenerative power is converted into heat and consumed both inside and outside the control device 10, and the terminal voltage Vc decreases. Note that when the external regenerative resistor unit 120 is connected to the control device 10, both switching elements 105 and 106 are in the off state during operation other than regenerative operation of the motor 20.

[0029] The microcontroller 110 is an example of a control unit of this disclosure. The microcontroller 110 is configured to control the supply of regenerative power to the internal regenerative resistor 104 and the external regenerative resistor 121, depending on the amount of heat generated inside the control unit 10 when the motor 20 is driven, when the external regenerative resistor unit 120 is connected to the control unit 10. The microcontroller 110 can determine whether the external regenerative resistor unit 120 is connected to the control unit 10 by a signal transmitted through a signal line (not shown).

[0030] More specifically, when the motor 20 is driven with the external regenerative resistor unit 120 connected, the microcontroller 110, in accordance with the amount of heat generated inside the control device 10, turns off the switching element 105 (i.e., does not perform discharge control by the internal regenerative resistor 104) and turns on the switching element 106 (i.e., performs discharge control by the external regenerative resistor 121) during regenerative operation if the terminal voltage Vc of the smoothing capacitor 103 is equal to or greater than the threshold voltage Vt. In short, the microcontroller 110 is configured to control the switching element 105 to turn off and the switching element 106 to turn on during regenerative operation in accordance with the amount of heat generated as described above. When the microcontroller 110 turns off the switching element 105, the internal regenerative resistor 104 is disconnected from the circuit, and the supply of regenerative power generated during the regenerative operation of the motor 20 to the internal regenerative resistor 104 is cut off. Furthermore, when the microcontroller 110 turns on the switching element 106, the regenerative power generated during the regenerative operation of the motor 20 is supplied only to the external regenerative resistor 121.

[0031] By controlling the on / off states of the switching elements 105 and 106 with the microcontroller 110, the control device 10 according to this embodiment can suppress the exceeding of the rated temperature of elements such as the smoothing capacitor 103 and switching elements 105 and 106 inside the control device 10 and extend the lifespan of the elements when a motor with a large rated output of several hundred watts is connected to it.

[0032] During regenerative operation, the control device 10 may determine whether to perform discharge control for the switching element 105 (turning on the switching element 105) or not (turning off the switching element 105) using the microcontroller 110, based on whether the internal temperature has reached a predetermined threshold, when the terminal voltage Vc is equal to or greater than the threshold voltage Vt.

[0033] Figure 2 is a diagram showing the schematic configuration of the control device according to this embodiment. The control device 10 shown in Figure 2 has a configuration in which a temperature sensor 108 is added to the control device 10 shown in Figure 1. The temperature sensor 108 is a sensor that measures the internal temperature of the control device 10, in particular the temperature around the smoothing capacitor 103 for the purpose of predicting the lifespan of the smoothing capacitor 103 (for example, disclosed in Japanese Patent Publication No. 7039019).

[0034] The microcontroller 110 sequentially acquires temperature measurements from the temperature sensor 108 and controls the on / off states of the switching elements 105 and 106 according to the acquired measurements. For example, if the temperature measurement acquired from the temperature sensor 108 exceeds a predetermined threshold, the microcontroller 110 may control the switching element 105 to turn off or keep the switching element 105 in an off state (i.e., not perform discharge control by the internal regenerative resistor 104) if the terminal voltage Vc is greater than or equal to the threshold voltage Vt during regenerative operation, and turn on the switching element 106 (i.e., perform discharge control by the external regenerative resistor 121). Conversely, for example, if the temperature measurement acquired from the temperature sensor 108 falls below a predetermined threshold, the microcontroller 110 may control the switching element 105 to turn on (i.e., perform discharge control by the internal regenerative resistor 104).

[0035] For example, the microcontroller 110 may, during regenerative operation, control the system to turn off the ON-state switching element 105 or keep the OFF-state switching element 105 OFF (i.e., not perform discharge control by the internal regenerative resistor 104) and turn on the switching element 106 (i.e., perform discharge control by the external regenerative resistor 121) if the cumulative value of the temperature measurements obtained from the temperature sensor 108 over a predetermined period exceeds a predetermined threshold, and the terminal voltage Vc is equal to or greater than the threshold voltage Vt. Conversely, for example, the microcontroller 110 may control the system to turn on the switching element 105 (i.e., perform discharge control by the internal regenerative resistor 104) if the cumulative value of the temperature measurements obtained from the temperature sensor 108 over a predetermined period falls below a predetermined threshold.

[0036] The microcontroller 110 controls the on / off state of the switching elements 105 and 106 according to the internal temperature of the control device 10 (in other words, it decides whether or not to perform discharge control). As a result, the control device 10 according to this embodiment can suppress the exceeding of the rated temperature of elements such as the smoothing capacitor 103 and switching elements 105 and 106 inside the control device 10 and extend the lifespan of the elements when a motor with a large rated output of several hundred watts is connected to it.

[0037] The control device 10 shown in Figures 1 and 2 has switching elements 105 and 106 connected in parallel, which controls the supply of regenerative power to the internal regenerative resistor 104 and the supply of regenerative power to the external regenerative resistor 121 in accordance with the amount of heat generated inside the control device 10 when driving the motor 20. However, this disclosure is not limited to such examples.

[0038] Figure 3 is a diagram showing the schematic configuration of the control device according to this embodiment. The control device 10 shown in Figure 3 is a device that controls the drive of the motor 20 by inverter control.

[0039] The control device 10 includes a rectifier 102 that converts alternating current supplied from an external AC power source 101 into direct current, a smoothing capacitor 103 that smooths the voltage, an internal regenerative resistor 104 that consumes regenerative power generated during the regenerative operation of the motor 20 by converting it into heat, a switching element 115 connected in series with the internal regenerative resistor 104, a switching element 116 connected in series with the switching element 115, an inverter circuit 107 that converts the direct current converted from alternating current by the rectifier 102 and the smoothing capacitor 103 back into alternating current and sends it to the motor 20, and a microcontroller 110 that switches the switching elements 115 and 116 on and off. Switching element 115 is an example of a first switching element of this disclosure, and switching element 116 is an example of a second switching element of this disclosure. Examples of switching elements 115 and 116 include MOSFETs, IGBTs, and transistors.

[0040] The microcontroller 110 is an example of a control unit of this disclosure. When the motor 20 is driven while an external regenerative resistor unit 120 is connected, the microcontroller 110 controls the supply of regenerative power to the internal regenerative resistor 104 and the supply of regenerative power to the external regenerative resistor 121, in accordance with the amount of heat generated inside the control device 10.

[0041] More specifically, when an external regenerative resistor unit 120 is connected, the microcontroller 110 is configured to turn off the switching element 115 (i.e., not perform discharge control by the internal regenerative resistor 104) and turn on the switching element 116 (i.e., perform discharge control by the external regenerative resistor 121) when the terminal voltage Vc of the smoothing capacitor 103 is equal to or greater than the threshold voltage Vt during regenerative operation, depending on the amount of heat generated inside the control device 10 when the motor 20 is driven, in the case of an external regenerative resistor unit 120 being connected. By turning off the switching element 115, the microcontroller 110 disconnects the internal regenerative resistor 104 from the circuit, and the supply of regenerative power generated during the regenerative operation of the motor 20 to the internal regenerative resistor 104 is cut off. Also, by keeping the switching element 116 on, the microcontroller 110 supplies regenerative power generated during the regenerative operation of the motor 20 only to the external regenerative resistor 121.

[0042] By controlling the on / off states of the switching elements 115 and 116 with the microcontroller 110, the control device 10 according to this embodiment can suppress the exceeding of the rated temperature of elements such as the smoothing capacitor 103 and switching elements 105 and 106 inside the control device 10 and extend the lifespan of the elements when a motor with a large rated output of several hundred watts is connected to it.

[0043] The control device 10 may use whether the internal temperature exceeds a predetermined threshold as a trigger for control when the microcontroller 110 controls the on / off state of the switching elements 115 and 116.

[0044] Figure 4 is a diagram showing the schematic configuration of the control device according to this embodiment. The control device 10 shown in Figure 4 has a configuration in which a temperature sensor 108 is added to the control device 10 shown in Figure 3. The temperature sensor 108 is a sensor that measures the internal temperature of the control device 10, in particular the temperature around the smoothing capacitor 103. Similar to the configuration shown in Figure 2, the microcontroller 110 sequentially acquires temperature measurements from the temperature sensor 108 and controls the on / off state of the switching elements 105 and 106 according to the acquired measurement values.

[0045] Next, an example of the configuration of an actuator controlled by the control device 10 according to the embodiment of this disclosure will be described.

[0046] Figure 5 is a schematic diagram showing an example of the configuration of a control device 10 and actuator 2 according to an embodiment of the present disclosure. As shown in Figure 5, the actuator 2 comprises a motor 20, an encoder 21, an output shaft 23, a coupling 24, a sliding screw shaft 25, a sliding screw nut 26, and a movable body 27. The sliding screw shaft 25 and sliding screw nut 26 may be a ball screw shaft and a ball screw nut. In Figure 5, a pressing operation is described as an example of the operation of the actuator 2, but the operation of the actuator 2 is not limited to a pressing operation in this disclosure. Also, in the example in Figure 5, the movable body 27 is shown as a rod type, but it may be a table type.

[0047] The encoder 21 is attached to the motor 20. The encoder 21 detects the rotational position of the motor 20 and outputs the detected position as a feedback position signal to the control device 10.

[0048] The motor 20 is controlled by the control device 10 and is the drive source for moving the mobile body 27. More specifically, the motor 20 moves the mobile body 27 axially so that it reciprocates in the axial direction of the output shaft 23.

[0049] The output shaft 23 of the motor 20 is coupled to a sliding screw shaft 25 via a coupling 24. The sliding screw shaft 25, together with a sliding screw nut 26, is configured as a mechanical component for converting the rotational motion of the motor 20 into translational motion. The moving body 27 is joined to the sliding screw shaft 25 via the sliding screw nut 26 and moves toward the workpiece 30 in accordance with the rotation of the motor 20. As a result, the moving body 27 comes into contact with the workpiece 30 and presses the workpiece 30 to a predetermined position. The workpiece 30 is placed, for example, on a workbench (not shown).

[0050] The moving body 27 is initially positioned at a certain distance from the workpiece 30 (the retracted end in Figure 1). During the approach operation, the moving body 27 moves from the retracted end to the approach end position in accordance with the rotation of the motor 22. During the pressing operation, the moving body 27 moves from the approach end position to the forward end in accordance with the rotation of the motor 22.

[0051] The control devices according to each embodiment have been described with illustrative examples. The embodiments may take the form of a program that causes a computer to execute the functions of the control device. The embodiments may also take the form of a non-temporary storage medium that is readable by a computer and stores these programs.

[0052] Furthermore, the configuration of the control device described in the above embodiment is merely an example, and may be modified as needed without departing from the main purpose.

[0053] Furthermore, the program processing flow described in the above embodiment is just one example, and unnecessary steps may be deleted, new steps added, or the processing order rearranged, as long as it does not deviate from the main purpose.

[0054] Furthermore, although the above embodiment describes a case in which the process according to the embodiment is realized by a software configuration using a computer by executing a program, the embodiment is not limited to this. The embodiment may also be realized by a hardware configuration or a combination of a hardware configuration and a software configuration.

[0055] While embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to these examples. It is clear that a person with ordinary skill in the art of the present disclosure may conceive of various modifications or alterations within the scope of the technical idea set forth in the claims, and these modifications or alterations are also understood to fall within the technical scope of the present disclosure.

[0056] For example, in the above embodiment, the microcontroller 110 may obtain information regarding the rated output of the motor 20 connected to the control device 10 from the motor 20, and control the on / off state of the switching elements 105, 106, 115, and 116 according to the rated output of the motor 20 connected to the control device 10. That is, when the rated output of the motor 20 is above a predetermined value, the microcontroller 110 may control the switching element 105 or switching element 115 to remain off (without performing discharge control by the internal regenerative resistor 104) and the switching element 106 or switching element 116 to turn on (without performing discharge control by the external regenerative resistor 121) when the terminal voltage Vc is above a threshold voltage Vt during regenerative operation. On the other hand, the microcontroller 110 may, during regenerative operation, control the switching element 105 or switching element 115 to turn on (performing discharge control by the internal regenerative resistor 104) and the switching element 106 or switching element 116 to turn on (performing discharge control by the external regenerative resistor 121) when the rated output of the motor 20 is below a predetermined value, and the terminal voltage Vc is equal to or greater than the threshold voltage Vt during regenerative operation. The microcontroller 110 may obtain information regarding the rated output of the motor 20 from the motor 20 through signal lines (not shown), or it may obtain it by receiving input from an external source.

[0057] Furthermore, the term "regenerative operation" as used herein is not limited to that which occurs when the motor 20 is stopped (decelerated). For example, when the actuator 2 is vertically installed and the axial direction of the output shaft 23 of the motor 20 is vertical, regenerative operation also occurs when the output shaft 23 of the motor 20 is rotated by an external force, such as when the mobile body 27 is lowered using gravity.

[0058] Furthermore, the effects described in the above embodiments are descriptive or illustrative, and are not limited to those described in the above embodiments. In other words, the technology relating to this disclosure may produce other effects that would be obvious to a person of ordinary skill in the art of this disclosure from the descriptions in the above embodiments, in addition to or in lieu of the effects described in the above embodiments. [Explanation of Symbols]

[0059] 10 Control device 101 AC power supply 102 Rectifier 103 Smoothing Capacitor 104 Internal regenerative resistor 105, 106 Switching elements 107 Inverter Circuit 110 Microcontrollers 115, 116 Switching elements 2 Actuators 20 motors 21 Encoders 23 Output shaft 24 Coupling 25. Sliding screw shaft 26. Threaded nuts 27 Mobile Unit 30 Work

Claims

1. A control device capable of controlling a single motor with different rated outputs using the same hardware configuration, A control unit is configured to shut off the supply of regenerative power to a first resistor that converts the regenerative power generated during the regenerative operation of the motor into heat within the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor that converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor which converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven. A first switching element connected in series with the first resistor, When the control device is connected to the second resistor, the second switching element connected to the second resistor, Equipped with, The control unit is configured to enable control such that, with the second resistor connected, the control unit can turn off the first switching element and turn on the second switching element during regenerative operation, depending on the amount of heat generated inside the control unit when the motor is driven.

2. The motor is equipped with a capacitor that smooths the voltage of the power supply that drives the motor, The control unit, with the second resistor connected, turns off the first switching element and turns on the second switching element when the motor is driven, according to the amount of heat generated inside the control unit, depending on the amount of heat generated inside the control unit, if the terminal voltage of the capacitor is above a predetermined threshold voltage.

3. A control device capable of controlling a motor with different rated outputs using the same hardware configuration, A control unit is configured to shut off the supply of regenerative power to a first resistor that converts the regenerative power generated during the regenerative operation of the motor into heat within the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor that converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor which converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven. A capacitor that smooths the voltage of the power supply that drives the motor, Equipped with, The control unit is a control device that, when a motor with a rated output value equal to or greater than a predetermined output value is connected, and the terminal voltage of the capacitor is equal to or greater than a predetermined threshold voltage, cuts off the supply of regenerative power to the first resistor and supplies regenerative power to the second resistor.

4. A control device capable of controlling a motor with different rated outputs using the same hardware configuration, A control unit is configured to shut off the supply of regenerative power to a first resistor that converts the regenerative power generated during the regenerative operation of the motor into heat within the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor that converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven, and to supply regenerative power to the second resistor which converts the regenerative power into heat outside the control unit, in accordance with the amount of heat generated inside the control unit when the motor is driven. A capacitor that smooths the voltage of the power supply that drives the motor, A temperature sensor and Equipped with, The control unit is a control device that, when the temperature measured by the temperature sensor is above a predetermined temperature, and the terminal voltage of the capacitor is above a predetermined threshold voltage, cuts off the supply of regenerative power to the first resistor and supplies regenerative power to the second resistor.

5. The control device according to claim 4, wherein the temperature sensor is provided for predicting the lifespan of the capacitor.

6. The control device according to any one of claims 1 to 5, wherein the control device is configured to control the operation of an actuator comprising a motor and a movable body that moves by the drive of the motor.

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