Conveyor system

Abstract

The conveying system includes a mover, a plurality of stators, a plurality of drive devices (D9 to D11) for driving the stators, and a host controller (40) for controlling the drive devices. The drive devices are daisy-chain connected such that the internal circuits of the drive devices are connected in parallel to a main circuit power line (EP3) that transmits power from a main circuit power supply, which is the power supply used when driving the stators, from a converter (C23) under management to the drive devices. The drive devices are also daisy-chain connected to the host controller via a control detection signal line (L2) for transmitting signals therebetween. The host controller supplies power from the main circuit power supply to the drive devices by controlling the converter, identifies the connected drive devices, which are the drive devices connected to the converter, by receiving the power supply voltage values detected by the drive devices from the drive devices, and detects the connection configuration of the connected drive devices by specifying the connection order of the connected drive devices by transmitting and receiving signals to and from the connected drive devices.

Description

Technical Field

[0001] The present disclosure relates to a conveying system including a linear motor.

Background Art

[0002] In a production line for assembling factory-automated industrial products, a production line for packaging food, etc., a conveying system is used to convey a work object (such as a workpiece) placed on a carriage, which is a mover, between a plurality of stations within or between production lines.

[0003] In recent years, as this conveying system, a conveying system that divides a conveying line into a plurality of control zones, arranges a control device for each control zone, and runs a mover between control zones has been frequently used. As one form of this conveying system, there is a moving magnet type linear motor.

[0004] In a moving magnet type linear motor, a magnet is arranged on the mover and a coil is arranged on the stator, and it is suitable for long-stroke conveyance compared to a moving coil type linear motor in which an electric wire is connected to a carriage. For such a moving magnet type linear motor, when a long driving stroke is required compared to the size of the mover, a plurality of coils corresponding to the stroke length are required.

[0005] As one of the technologies to which this moving magnet type linear motor is applied, there is a technology in which a plurality of linear track modules having coils and arranged with drive equipment are continuously arranged side by side to convey a plurality of carriages on the same track with a long stroke.

[0006] In the transport system to which this technology is applied, a converter is connected to the drive power supply for the motor, and it is often used in such a way that as many drive devices as possible are connected to one converter. However, since the usage method of the user is not unique, the product specifications are determined in the worst case. That is, in the product specifications, the number of drive devices allowed to be connected to one converter is set to be small. For this reason, the product specifications are over-specified for many users, and the number of converters may be unnecessarily increased. Therefore, it is desirable to appropriately connect the drive devices to reduce the number of converters.

[0007] The peripheral device of the programmable controller of Patent Document 1 displays the connection configuration of the network communication path as image graphic information, and when an image name is selected by the user from the image graphic information, the programmable controller corresponding to the selected image name is set as the connection destination of the peripheral device.

Prior Art Documents

Patent Documents

[0008]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0009] However, in the technology of the above Patent Document 1, there is a problem that the connection configuration of the drive device cannot be detected when the information on the connection configuration of the drive device is not prepared in advance by the user.

[0010] The present disclosure has been made in view of the above, and an object is to obtain a transport system capable of detecting the connection configuration of drive devices even when the information on the connection configuration of drive devices is not prepared in advance by the user.

Means for Solving the Problems

[0011] In order to solve the above-described problems and achieve the object, the transport system of the present disclosure includes at least one mover, a plurality of stators arranged on a path along which the mover moves, a plurality of drive devices that drive the stators, and a host controller that controls the drive devices. The drive devices are daisy-chain connected to a main circuit power line that transmits power from a main circuit power supply, which is a power supply used when driving the stators, such that the internal circuits of the drive devices are connected in parallel from a converter to be managed to the drive devices, and are daisy-chain connected from the host controller to a signal line that transmits signals between the drive devices and the host controller. The host controller supplies power from the main circuit power supply to the drive devices by controlling the converter, and identifies a connection drive device, which is a drive device connected to the converter, based on detection of a power supply voltage value by the drive device connected to the converter. Also, the host controller designates any one of the identified connection drive devices as the designated drive device, transmits a power-on signal, which is a signal for causing the designated drive device to be powered on as a signal, receives a detection signal including identification information for identifying the connection drive device from the connection drive device that detected the current among the connection drive devices, and specifies the distance-based connection order of the connection drive devices corresponding to the connection configuration of the daisy-chain-connected connection drive devices based on the identification information of the connection drive device that transmitted the detection signal.

Advantages of the Invention

[0012] The transport system according to the present disclosure has an effect that even when information on the connection configuration of the drive devices is not prepared in advance by the user, the connection configuration of the drive devices can be detected.

Brief Description of the Drawings

[0013]

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Embodiments for Carrying Out the Invention

[0014] Hereinafter, the transport system according to the embodiments of the present disclosure will be described in detail with reference to the drawings.

[0015] Embodiment 1. FIG. 1 is a diagram showing a schematic configuration of a transport system according to Embodiment 1. FIG. 1 shows a configuration example of a transport system 10, which is an example of a transport system in which a moving magnet type linear motor is arranged in a track shape.

[0016] The transport system 10 is a system that moves the mover 11 along a transport path by a plurality of drive devices Dn. The transport system 10 of Embodiment 1 detects the connection configuration of the drive devices Dn.

[0017] The transport system 10 includes a control device 200, drive devices Dn, at least one mover 11, and a plurality of linear track modules 105. The linear track module 105 has a stator 12 arranged on the path along which the mover 11 moves, a guide rail 13, and a guide module 14.

[0018] In the transport system 10, a magnet (not shown) is arranged on a carriage that is the mover 11 of the moving magnet type linear motor, and a coil (not shown) is arranged on the stator 12.

[0019] Also, in the transport system 10, the guide rail 13, which is a mechanical part for smoothly and noiselessly operating the mover 11 in the direction of the rail, and the stator 12 are fixed to the guide module 14 and used.

[0020] By connecting a plurality of linear track modules 105 combining the guide rail 13, the stator 12, and the guide module 14, it becomes possible to construct a transport system 10 having various paths.

[0021] The drive device Dn drives the stator 12 by supplying power to the coil of the stator 12 in order to operate the mover 11. The drive device Dn is arranged, for example, in the track together with the linear track module 105.

[0022] Note that the drive device Dn may be configured to be integrated with the linear track module 105. Further, the drive device Dn may be arranged to be completely separated from the linear track module 105. Further, the drive device Dn may be arranged within a control device 200 arranged at a position away from the linear track module 105.

[0023] The control device 200 is, for example, a control panel. The control device 200 generates electric power from a power source (main circuit power source described later) for driving the mover 11 and sends it to the drive device Dn. Further, the control device 200 is connected to the drive device Dn and controls the drive device Dn. Thereby, the drive device Dn supplies electric power to the coil of the stator 12, and the mover 11 moves on the guide rail 13. In the first embodiment, the control device 200 detects the connection configuration of the drive device Dn by transmitting and receiving signals to and from the drive device Dn.

[0024] FIG. 2 is a diagram showing a configuration example of the transport system according to the first embodiment. FIG. 2 shows a connection configuration example of a drive device in which the connection configuration is detected by the transport system 10 and a configuration example of the control device 200. In FIG. 2, illustration of the mover 11 and the linear track module 105 is omitted.

[0025] The transport system 10 receives electric power (control circuit power source and main circuit power source described later) from an AC power source 1 which is a commercial power source. The transport system 10 includes a control device 200 and a drive device Dn, and the control device 200 detects the connection configuration of the drive device Dn. FIG. 2 shows a case where the drive device Dn is 11 units of drive devices D1 to D11, but the drive device Dn may be 10 units or less, or may be 12 units or more.

[0026] The control device 200 includes a plurality of control devices, a plurality of converters to be managed, and a host controller 40. In FIG. 2, a case where the control device 200 includes three control devices 31 to 33 is shown, but the number of control devices may be two or less, or may be four or more. Also, in FIG. 2, a case where the control device 200 includes three converters C21 to C23 is shown, but the number of converters may be two or less, or may be four or more. Since the converters are connected to the control devices one-to-one, in the transport system 10, the number of converters is the same as the number of control devices. The transport system 10 manages the converters C21 to C23 to be managed by detecting the connection configuration of the drive devices connected to the converters C21 to C23.

[0027] The control devices 31 to 33 are connected to an AC power supply 1 which is a drive power supply for the motor. Also, the control device 31 is connected to the converter C21, the control device 32 is connected to the converter C22, and the control device 33 is connected to the converter C23. A plurality of drive devices are daisy-chain connected from the converters C21 to C23 to the converters C21 to C23, respectively.

[0028] The host controller 40 can communicate with the control devices 31 to 33 and the drive devices D1 to D11, and controls the control devices 31 to 33 and the drive devices D1 to D11. The host controller 40 controls the converters C21 to C23 by controlling the control devices 31 to 33, and drives the drive devices D1 to D11 by controlling the converters C21 to C23.

[0029] In the transport system 10, when the host controller 40 controls the control devices 31 to 33, the control devices 31 to 33 are made to control the converters C21 to C23. Thereby, the converters C21 to C23 convert the main circuit power supply in order to drive the stator 12 and move the rotor 11, and supply the converted main circuit power supply to the drive devices D1 to D11. Note that, in the transport system 10, supplying a power supply (control circuit power supply or main circuit power supply) means supplying electric power from the power supply.

[0030] The control device 200 and the drive devices D1 to D11 are connected by cables being routed. The cables connecting the control device 200 and the drive devices D1 to D11 are the cables of the control detection signal line L2. That is, the host controller 40 is connected to the drive devices D1 to D11 by the control detection signal line L2.

[0031] Also, the AC power supply 1 and the drive devices D1 to D11 are connected by cables being routed. The cables connecting the AC power supply 1 and the drive devices D1 to D11 are the cables of the control circuit power line EX. That is, the AC power supply 1 is connected to the drive devices D1 to D11 by the control circuit power line EX.

[0032] Also, the host controller 40 is connected to the control devices 31 to 33 by the control signal line L1. The control signal line L1 is a signal line for transmitting a signal (control device control signal) for the host controller 40 to control the control devices 31 to 33.

[0033] When identifying the drive devices connected to the converters C21 to C23, the host controller 40 sequentially transmits control device control signals for turning on the power to the converters C21 to C23 to the control devices 31 to 33. That is, the host controller 40 sequentially executes processing for identifying the drive devices connected to the plurality of converters C21 to C23 for each converter.

[0034] When the control devices 31 to 33 receive the control device control signals for turning on the power to the converters C21 to C23, they turn on the power to the converters C21 to C23. When the power is turned on to the converters C21 to C23, the drive devices connected to the converter to which the power is turned on can detect the power voltage value via the control detection signal line L2. By the drive device that has detected the power voltage value transmitting this power voltage value to the host controller 40, the host controller 40 can recognize the drive devices (connected drive devices) connected to the converter to which the power has been turned on.

[0035] The control detection signal line L2 is a signal line for transmitting signals between the host controller 40 and the drive devices D1 to D11. The host controller 40 uses the control detection signal line L2 to transmit control signals such as operation commands (power-on signals) to the drive devices D1 to D11. Also, the drive devices D1 to D11 use the control detection signal line L2 to transmit response signals (detection signals described later) to the host controller 40.

[0036] The control signal is a signal for the host controller 40 to control the drive devices D1 to D11. The control signal transmitted to the drive devices D1 to D11 when the host controller 40 detects the connection order of the drive devices D1 to D11 is an operation command. The operation command is a signal for the host controller 40 to turn on the main circuit power supply to the drive devices D1 to D11.

[0037] When the drive devices D1 to D11 receive the operation command, they turn on the main circuit power supply. Each of the drive devices D1 to D11 detects the current value of the main circuit power supply regardless of whether the main circuit power supply has been turned on, and transmits the detection result as a detection signal to the host controller 40. The detection signal includes information for identifying the drive device that transmitted the detection signal. Thereby, when the host controller 40 receives the detection signal, it can determine from which drive device the detection signal has been transmitted.

[0038] The drive devices D1 to D11 use the control detection signal line L2 to transmit the detection signal to the host controller 40. The detection signal is a signal indicating that the current value has been detected (received), and includes information on the current value.

[0039] The drive devices D1 to D11 are connected to the AC power supply 1 via the control circuit power supply line EX. Also, the control device 31 is connected to the AC power supply 1 via the main circuit power supply line EP1, the control device 32 is connected to the AC power supply 1 via the main circuit power supply line EP2, and the control device 33 is connected to the AC power supply 1 via the main circuit power supply line EP3.

[0040] The control circuit power line EX and the main circuit power lines EP1 to EP3 are power lines for transmitting (transferring) the power (control circuit power and main circuit power) supplied from the AC power supply 1. The power supplied from the AC power supply 1 is used for driving and controlling the drive devices D1 to D11 of the linear motor (linear track module 105).

[0041] To the AC power supply 1, the drive devices D1 to D11 are daisy-chain connected in the order of drive devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1 via the control circuit power line EX. In this way, for the AC power supply 1, the drive devices D1 to D11 are connected in a daisy chain. Each drive device D1 to D11 on the control circuit power line EX uses the power (control circuit power) from the AC power supply 1 sent via the control circuit power line EX as electric power to control the linear motor.

[0042] Connected to the main circuit power line EP1 are the control device 31, the converter C21, and the drive devices D1 to D4. Specifically, the control device 31 is connected to the converter C21 by the main circuit power line EP1, and to the converter C21, the internal circuits (such as the regenerative resistor 101 described later) of the drive devices D1 to D4 are daisy-chain connected in the order of drive devices D1, D2, D3, D4 by the main circuit power line EP1 so that they are connected in parallel. That is, the drive device D2 is connected to the drive device D1 by the main circuit power line EP1, the drive device D3 is connected to the drive device D2 by the main circuit power line EP1, and the drive device D4 is connected to the drive device D3 by the main circuit power line EP1. Note that for the converter C21, the drive devices D1 to D4 are connected in parallel. The connection configuration between the converter C21 and the drive devices D1 to D4 will be described later.

[0043] In this way, for the converter C21, the drive devices D1 to D4 are connected in a daisy chain. Each drive device D1 to D4 on the main circuit power line EP1 uses the power of the main circuit power from the converter C21 sent by the main circuit power line EP1 to drive the linear motor.

[0044] Also, a control device 32, a converter C22, and drive devices D5 to D8 are connected to the main circuit power line EP2. Specifically, the control device 32 is connected to the converter C22 by the main circuit power line EP2, and to the converter C22, the drive devices D5 to D8 are daisy-chain connected in the order of drive devices D8, D7, D6, D5 by the main circuit power line EP2. That is, the drive device D7 is connected to the drive device D8 by the main circuit power line EP2, the drive device D6 is connected to the drive device D7 by the main circuit power line EP2, and the drive device D5 is connected to the drive device D6 by the main circuit power line EP2. Note that the drive devices D5 to D8 are connected in parallel to the converter C22. The connection configuration between the converter C22 and the drive devices D5 to D8 will be described later.

[0045] In this way, for the converter C22, the drive devices D5 to D8 are connected in a daisy chain in a bead-to-bead manner. Each of the drive devices D5 to D8 on the main circuit power line EP2 drives the linear motor using the power of the main circuit power supplied from the converter C22 via the main circuit power line EP2.

[0046] Also, a control device 33, a converter C23, and drive devices D9 to D11 are connected to the main circuit power line EP3. Specifically, the control device 33 is connected to the converter C23 by the main circuit power line EP3, and to the converter C23, the drive devices D9 to D11 are daisy-chain connected in the order of drive devices D9, D10, D11 by the main circuit power line EP3. That is, the drive device D10 is connected to the drive device D9 by the main circuit power line EP3, and the drive device D11 is connected to the drive device D10 by the main circuit power line EP3. Note that the drive devices D9 to D11 are connected in parallel to the converter C23. The connection configuration between the converter C23 and the drive devices D9 to D11 will be described later.

[0047] In this way, for the converter C23, the drive devices D9 to D11 are connected in a daisy chain. Each of the drive devices D9 to D11 on the main circuit power line EP3 drives the linear motor using the power of the main circuit power supply from the converter C23 sent through the main circuit power line EP3.

[0048] The drive devices D1 to D11 are connected to the upper controller 40 via the control detection signal line L2. The drive devices D1 to D11 are daisy-chain connected to the upper controller 40 in the order of drive devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1 by the control detection signal line L2.

[0049] For example, when the first drive device D1 sends a signal (such as a detection signal) to the upper controller 40 via the control detection signal line L2, the signal is sent to the upper controller 40 via the second drive device D2, the third drive device D3, ···, and the eleventh drive device D11.

[0050] Also, when the upper controller 40 sends a signal (such as a control signal like an operation command) to the first drive device D1 via the control detection signal line L2, the signal is sent to the first drive device D1 via the eleventh drive device D11, the tenth drive device D10, ···, and the second drive device D2.

[0051] Thus, in the conveying system 10, the drive devices D1 to D11 are daisy-chain connected in consideration of the wiring convenience for the user. The connection ways of the control detection signal line L2, the control circuit power line EX, and the main circuit power lines EP1 to EP3 within the conveying system 10 are arbitrary, but restrictions are provided for the connection of the drive devices to the main circuit power lines EP1 to EP3. That is, the drive devices connectable to the main circuit power lines EP1 to EP3 depend on the allowable capacities of the converters C21 to C23. For this reason, for the main circuit power lines EP1 to EP3, the number of connection units connectable in one daisy chain is limited compared to the control circuit power line EX and the control detection signal line L2. Due to such restrictions, among the control detection signal line L2, the control circuit power line EX, and the main circuit power lines EP1 to EP3, the number of connections of the drive devices connected to the main circuit power lines EP1 to EP3 is set to be less than a specific number, and the control detection signal line L2 and the control circuit power line EX are connected in one daisy chain.

[0052] In addition, the drive devices D1 to D11 are connected to the AC power supply 1 via the control circuit power line EX. The drive devices D1 to D11 are daisy-chain connected to the AC power supply 1 in the order of drive devices D11, D10, D9, D8, D7, D6, D5, D4, D3, D2, D1 by the control circuit power line EX.

[0053] The drive devices D1 to D11 execute various controls using the power of the control circuit power supply, which is the power received from the control circuit power line EX. In addition, the drive devices D1 to D4 supply power to the coil using the power of the main circuit power supply, which is the power received from the main circuit power line EP1. Further, the drive devices D5 to D8 supply power to the coil using the power of the main circuit power supply, which is the power received from the main circuit power line EP2. Also, the drive devices D9 to D11 supply power to the coil using the power of the main circuit power supply, which is the power received from the main circuit power line EP3.

[0054] When the host controller 40 detects the connection configuration by specifying the connection order of the drive devices D1 to D11, it transmits and receives signals to and from the drive devices connected to the converter for each converter. That is, the host controller 40 sequentially executes, for each converter, a process of specifying the connection order of the drive devices connected to the converters C21 to C23 and detecting the connection configuration of the drive devices.

[0055] Next, the processing procedure of the processing executed by the transport system 10 will be described. FIG. 3 is a flowchart showing the processing procedure of the processing executed by the transport system according to the first embodiment.

[0056] In the transport system 10, as shown in FIG. 2, after the AC power supply 1, the control devices 31 to 33, the converters C21 to C23, the drive devices D1 to D11, and the host controller 40 are connected, the host controller 40 detects the connection configuration in the transport system 10.

[0057] Specifically, the host controller 40 controls the control device to turn on the main circuit power supply from the AC power supply 1 to the converter connected to this control device (step S10). The host controller 40 first controls the first control device (any one of the control devices 31 to 33) to turn on the main circuit power supply from the AC power supply 1 to the converter (any one of the converters C21 to C23) connected to the first control device. For example, the host controller 40 first controls the control device 31 to turn on the main circuit power supply from the AC power supply 1 to the converter C21 connected to the control device 31. The converter C21 converts the power of the main circuit power supply and outputs the power of the converted main circuit power supply to the drive devices D1 to D4. Thereby, power is supplied to the drive devices D1 to D4.

[0058] The drive devices connected to the converter detect the power supply voltage value and send the detection result as a detection signal to the upper controller 40 via the control detection signal line L2. For example, when the main circuit power supply is turned on for the converter C21, the drive devices D1 to D4 connected to the converter C21 detect the power supply voltage value and send the detection result as a detection signal to the upper controller 40 via the control detection signal line L2.

[0059] Thereby, the upper controller 40 acquires the power supply voltage value detected by the drive devices connected to the converter (step S20). The upper controller 40 acquires, for example, the power supply voltage values detected by the drive devices D1 to D4 connected to the converter C21. In this case, since the main circuit power supply is not turned on for the drive devices other than the drive devices D1 to D4 (here, the drive devices D5 to D11), the detected value of the power supply voltage value is 0 (no input).

[0060] The upper controller 40 identifies the drive devices connected to the converter to which the main circuit power supply is turned on by acquiring the power supply voltage value from the drive devices connected to the converter to which the main circuit power supply is turned on (step S30). For example, when the upper controller 40 turns on the main circuit power supply for the converter C21 and acquires the power supply voltage value from the drive devices D1 to D4, it determines that the drive devices D1 to D4 are connected to the converter C21.

[0061] The upper controller 40 identifies the connection order of the drive devices daisy-chain connected to the converter to which the main circuit power supply is turned on (step S40). The upper controller 40 identifies the connection order of the drive devices by transmitting and receiving signals with the drive devices daisy-chain connected to the converter to which the main circuit power supply is turned on, and detects the connection configuration. A specific example of the method for identifying the connection order of the daisy-chain connected drive devices will be described later.

[0062] The host controller 40 determines whether the connection order of the drive devices has been specified for all converters (step S50). If the connection order of the drive devices has not been specified for any of the converters (step S50, No), the host controller 40 controls the next control device to turn on the main circuit power supply from the AC power supply 1 to the converter connected to this control device (step S60). The next control device here is the control device to which the main circuit power supply from the AC power supply 1 has not been turned on. By turning on the main circuit power supply from the AC power supply 1 to the converter connected to the next control device, power is supplied to the drive devices connected to the converter to which the main circuit power supply has been turned on.

[0063] After this, the host controller 40 repeats the processes of steps S20 to S50. For example, the host controller 40 controls the control device 32 to turn on the main circuit power supply from the AC power supply 1 to the converter C22 connected to the control device 32.

[0064] Thereby, the host controller 40 acquires the power supply voltage values detected by the drive devices D5 to D8 connected to the converter C22 (step S20). Also, the host controller 40 identifies the drive devices D5 to D8 connected to the converter C22 to which the power supply has been turned on by acquiring the power supply voltage values from the drive devices D5 to D8 connected to the converter C22 to which the power supply has been turned on (step S30).

[0065] The host controller 40 identifies the connection order of the drive devices D5 to D8 connected in a daisy chain to the converter C22 to which the power supply has been turned on (step S40). The host controller 40 determines whether the connection order of the drive devices has been specified for all converters (step S50).

[0066] Until the connection order of the drive devices is specified for all converters, the host controller 40 repeats the processes of step S60 and steps S20 to S50.

[0067] When the host controller 40 determines that it has identified the connection order of the drive devices for all the converters (step S50, Yes), it generates connection information (step S70) and ends the detection process of the connection configuration in the transport system 10.

[0068] The connection information is information indicating the connection configuration (connection order) of the drive devices D1 to D11 with respect to the converters C21 to C23. Here, the host controller 40 generates connection information indicating the connection configuration of the drive devices D1 to D11 shown in FIG. 2. That is, the connection information generated by the host controller 40 includes the following three pieces of information.

[0069] The first piece of information included in the connection information indicates that for the converter C21, the drive devices D1 to D4 are daisy-chain connected in the order of drive device D1, drive device D2, drive device D3, and drive device D4.

[0070] The second piece of information included in the connection information indicates that for the converter C22, the drive devices D5 to D8 are daisy-chain connected in the order of drive device D8, drive device D7, drive device D6, and drive device D5.

[0071] The third piece of information included in the connection information indicates that for the converter C23, the drive devices D9 to D11 are daisy-chain connected in the order of drive device D9, drive device D10, and drive device D11.

[0072] Thus, in the transport system 10, the host controller 40 controls the control devices 31 to 33 to turn on the main circuit power supply to one of the converters C21 to C23 to which the drive devices D1 to D11 are connected. When the main circuit power supply is turned on, the drive device to which the main circuit power supply is turned on detects that the main circuit power supply has been turned on using a circuit (voltage detection circuit 102 described later) that detects the power of the main circuit power supply. A detection signal corresponding to this detection result is sent from the drive device to the host controller 40 via the control detection signal line L2. As a result, the host controller 40 can identify the drive device connected to the converter to which the main circuit power supply has been turned on.

[0073] FIG. 4 is a diagram showing a configuration example of a drive device included in the transport system according to the first embodiment. In FIG. 4, the configurations of the drive devices D9 to D11 are shown, but the drive devices D1 to D8 also have the same configuration. In FIG. 4, the connection configuration of the drive devices D9 to D11 is shown together with the configuration of the drive devices D9 to D11.

[0074] The drive devices D9 to D11 are connected to a control detection signal line L2 for transmitting and receiving control signals (such as operation commands) and detection signals, and a main circuit power supply line EP3 for receiving the power of the main circuit power supply from the AC power supply 1. In FIG. 4, the illustration of the control circuit power supply line EX is omitted.

[0075] The control detection signal line L2 is connected to the host controller 40, and the main circuit power supply line EP3 is connected to the converter C23. In FIG. 4, the path of the current corresponding to the power (main circuit power supply) from the AC power supply 1 is indicated by a broken line.

[0076] The drive devices D9 to D11 are connected in parallel to the converter C23. The drive devices D9 to D11 are connected to the P (plus) side and the N (minus) side of the main circuit power supply line EP3. The P side is the plug side, and the N side is the ground side. Of the main circuit power supply lines EP3 shown in FIG. 4, the upper main circuit power supply line EP3 shown is the P side, and the lower main circuit power supply line EP3 shown is the N side.

[0077] The control detection signal line L2 is a communication line for performing bidirectional communication. The control detection signal line L2 extending toward the drive device D9 among the control detection signal lines L2 is connected to a drive device D8 (not shown in FIG. 4). Further, the control detection signal line L2 extending toward the drive device D11 among the control detection signal lines L2 is connected to the host controller 40.

[0078] The drive devices D9 to D11 each have a regenerative resistor 101, a voltage detection circuit 102, an MPU (Micro Processing Unit) 103 which is an example of a control unit, a regenerative switch circuit 104, and a current detection circuit 100.

[0079] Among the circuits provided in the drive devices D9 to D11, the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104 are internal circuits connected in parallel from the converter C23. That is, in the transport system 10 of the first embodiment, the drive devices D9 to D11 are daisy-chain connected such that the internal circuits (the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104) of the drive devices D9 to D11 are connected in parallel from the converter C23. Note that the current detection circuit 100 is not an internal circuit connected in parallel from the converter C23.

[0080] Since the drive devices D9 to D11 have the same configuration, the configuration of the drive device D9 will be described here. The drive device D9 is connected to the main circuit power supply line EP3 at connection points 110 to 112 and the current detection circuit 100. Further, the drive device D9 is connected to the control detection signal line L2 at the connection point 113.

[0081] One end of the regenerative resistor 101 is connected to the connection point 110 on the P side, and the other end is connected to one end of the regenerative switch circuit 104. One end of the voltage detection circuit 102 is connected to the connection point 111 on the P side, and the other end is connected to the MPU 103. The voltage detection circuit 102 detects a voltage value corresponding to the main circuit power supply and sends the detected voltage value to the MPU 103.

[0082] In addition, the drive device D11 closest to the top controller 40 in the daisy chain connection may not have the connection point 111. That is, in the drive device D11, the main circuit power line EP3 may be directly connected to the voltage detection circuit 102.

[0083] The MPU 103 is connected to the P-side connection point 113, the voltage detection circuit 102, the regeneration switch circuit 104, and the current detection circuit 100.

[0084] The regeneration switch circuit 104 is connected to the regeneration resistor 101 and the N-side connection point 112. The regeneration switch circuit 104 is a switch circuit for driving the load of the regeneration resistor 101. The regeneration switch circuit 104 turns on or off according to the signal sent from the MPU 103. When the regeneration switch circuit 104 turns on, the regeneration resistor 101 and the connection point 112 are connected, and when it turns off, the connection between the regeneration resistor 101 and the connection point 112 is cut off.

[0085] In the conveyance system 10, when the regeneration switch circuit 104 of one drive device turns on, the converter and one or a plurality of current detection circuits 100 are connected in series.

[0086] The current sent from the converter C23 returns to the converter C23 through the connection points 110, 111 of the drive device D9, the connection points 110, 111 of the drive device D10, the connection points 110, 111 of the drive device D11, the connection point 112 of the drive device D11, the connection point 112 of the drive device D10, and the connection point 112 of the drive device D9.

[0087] The current detection circuit 100 is arranged on the main circuit power line EP3 in the drive device D9 and detects the current value of the current flowing through the main circuit power line EP3. That is, the current detection circuit 100 detects the current flowing on the path where the main circuit power is supplied.

[0088] FIG. 4 shows a case where the current detection circuit 100 is connected on the main circuit power line EP3 in the upstream stage on the N side of the regeneration switch circuit 104 (between the connection point 112 and the converter C23). That is, in FIG. 4, the current detection circuit 100 is connected on the main circuit power line EP3 on the downstream side (converter C23 side) of the connection point 112 of the regeneration switch circuit 104. The current detection circuit 100 sends the detected current value to the MPU 103.

[0089] Note that the regeneration resistor 101 may be arranged outside the drive device D9. When the regeneration resistor 101 is arranged inside the drive device D9, the regeneration resistor 101 is an internal regeneration resistor, and when the regeneration resistor 101 is arranged outside the drive device D9, the regeneration resistor 101 is an external regeneration resistor. Also, the current detection circuit 100 may be arranged outside the drive device D9.

[0090] Next, the processing procedure of the process in which the host controller 40 identifies the connection order of the drive devices connected in a daisy chain will be described. FIG. 5 is a flowchart showing the processing procedure of the process in which the host controller according to Embodiment 1 identifies the connection order of the drive devices.

[0091] The host controller 40 transmits an operation command, which is a command (power-on signal) for operating the regeneration switch circuit 104, to the drive device identified by the process described with reference to FIG. 3. The host controller 40 transmits the operation command via the control detection signal line L2 for each drive device daisy-chain connected to the converter.

[0092] The host controller 40 designates an arbitrary target converter (any one of the converters C21 to C23) as the target for identifying the connection order (step S110). The host controller 40 selects, for example, one converter C23 as the next target converter.

[0093] The host controller 40 sequentially sends operation commands to all the drive device groups connected to the target converter. First, the host controller 40 designates an arbitrary drive device among the drive devices connected to the target converter, and sends an operation command to the designated drive device (the first designated drive device) (step S120). For example, when the target converter is converter C23, the host controller 40 sends an operation command, which is a power-on signal for turning on one drive device (for example, drive device D9) connected to converter C23.

[0094] The MPU 103 of the drive device that has received the operation command controls the regenerative switch circuit 104 and operates the regenerative switch circuit 104. For example, when drive device D9 connected to converter C23 receives the operation command, the MPU 103 of drive device D9 operates the regenerative switch circuit 104 to turn it on. As a result, current flows through the main circuit power line EP3 via the regenerative resistor 101 of drive device D9.

[0095] When each current detection circuit 100 of drive devices D9 to D11 connected to converter C23 detects a non-zero current value, it sends the current value to the MPU 103. Each MPU 103 sends the current value detected by the current detection circuit 100 to the host controller 40.

[0096] In this way, in the transport system 10, when a specific drive device is operated, the current value of the current flowing through the main circuit power line EP3 is detected by all the current detection circuits 100 capable of detecting the current value, and is transmitted to the host controller 40 via the control detection signal line L2.

[0097] As a result, among drive devices D9 to D11 connected to the target converter (here, converter C23), all the drive devices that have detected the current value send the detected current value to the host controller 40 via the control detection signal line L2. The host controller 40 receives the current values from all the drive devices that have detected the current value (step S130).

[0098] The host controller 40 determines whether operation commands have been sent to all the drive devices connected to the target converter (step S140). If there is a drive device to which an operation command has not been sent among the drive devices connected to the target converter (step S140, No), the host controller 40 sends an operation command to the next arbitrary drive device to which an operation command has not been sent among the drive devices connected to the target converter (step S150). That is, the host controller 40 designates an unspecified drive device (second designated drive device) among the drive devices connected to the target drive converter.

[0099] For example, when the target converter is converter C23, the host controller 40 sends an operation command to the drive device D10 connected to converter C23. Thereafter, the processes of steps S130 and S140 are repeated. In this way, in the process of step S30 in FIG. 3, the host controller 40 executes the processes of steps S130 and S140 for all the drive devices determined to be connected to the target converter.

[0100] For example, when the target converter is converter C23 and the host controller 40 sends an operation command to the drive device D10, the MPU103 of the drive device D10 operates the regeneration switch circuit 104 to turn it on. As a result, current flows through the main circuit power line EP3 via the regeneration resistor 101 of the drive device D10. Among the drive devices D9 to D11 connected to the converter C23, the current detection circuit 100 of the drive device D10 and the current detection circuit 100 of the drive device D9 detect the current value and send it to the MPU103.

[0101] The host controller 40 repeats the processes of step S150, step S130, and step S140 until operation commands are sent to all the drive devices connected to the target converter. In this way, the host controller 40 repeats the process of designating an unspecified drive device among the drive devices, the process of sending an operation command for turning on the power to the designated drive device, and the process of receiving a current value from the drive device in which current has been detected among the drive devices until all the drive devices are designated.

[0102] When operation commands have been sent to all the drive devices connected to the target converter (step S140, Yes), the host controller 40 identifies the connection order of the drive devices connected to the target converter based on the drive devices from which current values have been received (step S160).

[0103] The host controller 40 determines whether the connection order of the drive devices has been identified for all the converters (step S170). If there is a converter for which the connection order has not been identified among the converters (step S170, No), the host controller 40 designates the next arbitrary target converter as the target for identifying the connection order (step S180). For example, the host controller 40 selects one converter C22 as the next target converter.

[0104] Thereafter, the processes of steps S120 to S170 are repeated for the next target converter. When the connection order of the drive devices has been identified for all the converters (step S170, Yes), the host controller 40 ends the process of identifying the connection order of the drive devices.

[0105] Here, a specific example of the process in which the host controller 40 identifies the connection order of the drive devices connected to the target converter based on the drive devices from which current values have been received will be described.

[0106] Here, a case where the drive devices D9 to D11 are daisy-chain connected with the configuration shown in FIG. 4 will be described. In this case, when the host controller 40 transmits an operation command to the drive device D9, the regeneration switch circuit 104 of the drive device D9 operates. As a result, the current flowing from the AC power supply 1 on the main circuit power line EP3 flows back to the AC power supply 1 through the connection point 110, the regeneration resistor 101, the regeneration switch circuit 104, the connection point 112, and the current detection circuit 100 within the drive device D9. In this case, in the transport system 10, only the current detection circuit 100 of the drive device D9 detects a current value corresponding to the load of the current detection circuit 100 of the drive device D9. Then, the host controller 40 receives the current value only from the drive device D9.

[0107] Also, when the host controller 40 transmits an operation command to the drive device D10, the regeneration switch circuit 104 of the drive device D10 operates. As a result, the current flowing from the AC power supply 1 on the main circuit power line EP3 flows back to the AC power supply 1 through the connection point 110, the regeneration resistor 101, the regeneration switch circuit 104, the connection point 112, and the current detection circuit 100 within the drive device D10. In this case, in the transport system 10, the current detection circuit 100 of the drive device D10 and the current detection circuit 100 of the drive device D9 detect a current value corresponding to the load of the current detection circuit 100 of the drive device D10. Then, the host controller 40 receives the current values from the drive devices D9 and D10.

[0108] FIG. 6 is a diagram for explaining the correspondence relationship between the regeneration circuit operated by the host controller according to the first embodiment and the current detection circuit that detects the current value. The regeneration circuit is a circuit including a regeneration resistor 101, a regeneration switch circuit 104, and an MPU 103.

[0109] As shown in FIG. 6, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D9, the current detection circuit 100 of the drive device D9 detects the current value, and the current detection circuits 100 of the drive devices D10 and D11 do not detect the current value. That is, when the regeneration switch circuit 104 of the drive device D9 operates, current is detected in the drive device D9, and no current is detected in the drive devices D10 and D11.

[0110] Similarly, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D10, the current detection circuits 100 of the drive devices D9 and D10 detect the current value, and the current detection circuit 100 of the drive device D11 does not detect the current value. That is, when the regeneration switch circuit 104 of the drive device D10 operates, current is detected in the drive devices D9 and D10, and no current is detected in the drive device D11.

[0111] Similarly, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D11, the current detection circuits 100 of the drive devices D9, D10, and D11 detect the current value. That is, when the regeneration switch circuit 104 of the drive device D11 operates, current is detected in the drive devices D9, D10, and D11.

[0112] The host controller 40 specifies the connection order of the drive devices connected to the target converter based on the correspondence between the operated regeneration circuit and the current detection circuit 100 that detects the current value.

[0113] For example, when the host controller 40 obtains the correspondence shown in FIG. 6, it can be determined that among the drive devices D9, D10, and D11, the drive device D9 is connected to the foremost stage (converter C23 side). Further, the host controller 40 can determine that the drive device D10 is connected to the subsequent stage (host controller 40 side) of the drive device D9, and the drive device D11 is connected to the subsequent stage of the drive device D10. The host controller 40 specifies the connection order of the drive devices D9, D10, and D11 connected to the converter C23 based on these determination results.

[0114] In the conveying system 10, user settings for detecting the connection configuration of the drive devices are unnecessary, and additional circuits for detecting the connection configuration of the drive devices are unnecessary. The conveying system 10 can detect the connection configuration of the drive devices by using circuits and the like used for driving the drive devices.

[0115] In the conveying system 10, considering voltage drop in the cable, radiation such as noise from the cable, reduction of the total cable length, reduction of the system cost, etc., it is desirable that the drive devices be arranged in order. That is, in the conveying system 10, it is desirable that adjacent drive devices be connected by a cable. In the first embodiment, since the conveying system 10 detects the connection configuration of the drive devices, the user can easily determine whether the drive devices are properly connected.

[0116] Note that the current detection circuit 100 may be arranged on the downstream side of the drive device. FIG. 7 is a diagram showing another configuration example of the drive devices included in the conveying system according to the first embodiment. Among the components in FIG. 7, components that achieve the same functions as the drive devices D9 to D11 shown in FIG. 4 are denoted by the same reference numerals, and redundant descriptions are omitted. In FIG. 7, as another configuration example of the drive devices D9 to D11, the configuration of the drive devices D9A to D11A is shown, but the drive devices D1 to D8 may also have the same configuration as the drive devices D9A to D11A.

[0117] Similar to the drive devices D9 to D11, the drive devices D9A to D11A each have a regenerative resistor 101, a voltage detection circuit 102, an MPU 103, a regenerative switch circuit 104, and a current detection circuit 100.

[0118] Similar to the drive devices D9 to D11, among the circuits included in the drive devices D9A to D11A, the regenerative resistor 101, the voltage detection circuit 102, the MPU 103, and the regenerative switch circuit 104 are internal circuits connected in parallel from the converter C23.

[0119] Since the drive devices D9A to D11A have the same configuration, the configuration of the drive device D9A will be described here. The drive device D9A has the same components as the drive device D9.

[0120] In the drive device D9A of FIG. 7, the current detection circuit 100 is shown connected on the main circuit power line EP3 at the downstream side of the N side of the regeneration switch circuit 104 (between the connection point 112 and the drive device D10A). That is, in FIG. 7, the current detection circuit 100 is connected on the main circuit power line EP3 at the upstream side (the drive device D10A side) of the connection point 112 of the regeneration switch circuit 104.

[0121] The current detection circuit 100 of the drive device D9A is arranged on the main circuit power line EP3 and is connected to the MPU 103. As shown in FIG. 7, the current detection circuit 100 can detect the current value even when it is arranged at the downstream side of the N side of the regeneration circuit.

[0122] Also, in FIGS. 4 and 7, the case where the current detection circuit 100 is arranged on the N side has been described, but the current detection circuit 100 may be arranged on the P side.

[0123] Also, in FIG. 7, the case where the current detection circuit 100 is arranged for the drive device D11A, which is the drive device with the farthest connection position from the converter C23, is shown, but the current detection circuit 100 may not be arranged for the drive device D11A.

[0124] When the current detection circuit 100 is arranged at the downstream side of the N side of the regeneration circuit as in the drive devices D9A to D11A, the correspondence relationship between the regeneration circuit operated by the upper controller 40 and the current detection circuit for detecting the current value is different from the correspondence relationship described in FIG. 6.

[0125] The correspondence between the regeneration circuit and the current detection circuit for detecting the current value when the current detection circuit 100 is arranged at the subsequent stage on the N side of the regeneration circuit will be described. For example, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D9A, the current detection circuits 100 of the drive devices D9A to D11A do not detect the current value.

[0126] Also, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D10A, the current detection circuit 100 of the drive device D9A detects the current value, and the current detection circuits 100 of the drive devices D10A and D11A do not detect the current value.

[0127] Also, when the host controller 40 operates the regeneration switch circuit 104 of the drive device D11A, the current detection circuits 100 of the drive devices D9A and D10A detect the current value, and the current detection circuit 100 of the drive device D11A does not detect the current value.

[0128] The correspondence between the regeneration circuit and the current detection circuit for detecting the current value when the current detection circuit 100 is arranged on the P side is the same as the correspondence when the current detection circuit 100 is arranged on the N side. That is, when the current detection circuit 100 is arranged on the P side at the previous stage (converter C23 side) of the regeneration circuit, the same correspondence as in FIG. 6 is derived. Also, when the current detection circuit 100 is arranged on the P side at the subsequent stage (drive device D10 side) of the regeneration circuit, the same correspondence as when the current detection circuit 100 is arranged on the N side at the subsequent stage of the regeneration circuit is derived.

[0129] In this way, the current detection circuit 100 can be arranged on either the upstream side or the downstream side of the regeneration circuit, and the transport system 10 can be realized with a circuit configuration that offers a high degree of design freedom. Also, the current detection circuit 100 can be arranged on either the P side or the N side of the main circuit power lines EP1 to EP3, and the transport system 10 can be realized with a circuit configuration that offers a high degree of design freedom. For example, by arranging the current detection circuit 100 on the P side of the main circuit power lines EP1 to EP3, the reference of the reference voltage can be shared by each drive circuit. Also, by arranging the current detection circuit 100 on the N side of the main circuit power lines EP1 to EP3, it becomes unnecessary to insulate the current detection circuit 100, so the current detection circuit 100 can be simplified. In this way, the connection position of the current detection circuit 100 can be selected according to the design policy.

[0130] In this way, the host controller 40 can simultaneously determine the drive devices daisy-chain connected to each converter for a plurality of converters. Also, the host controller 40 can easily detect the connection configuration of the drive devices connected to the main circuit power lines EP1 to EP3 even when an arbitrary main circuit power supply is connected in the transport system 10. As a result, the user can change the connection of the drive devices to the main circuit power lines EP1 to EP3 as needed and operate the transport system 10 with an appropriate connection configuration.

[0131] Also, since the host controller 40 can accurately detect the connection configuration of the drive devices, the user can optimize the connection configuration when the drive devices are miswired, etc., and it becomes possible to provide prior protection against abnormalities such as overloads.

[0132] Note that in Embodiment 1, the case where the host controller 40 sequentially controls the control devices 31 to 33 to sequentially select the target converter has been described, but the host controller 40 may simultaneously select a plurality of the converters C21 to C23 as the target converters. In this case, the converters C21 to C23 that can output arbitrary voltages are used.

[0133] The host controller 40 simultaneously sends commands to output different voltages to the first to the Nth (N is a natural number) converters among the converters, and receives different power supply voltage values from the first to the Nth converters. For example, the host controller 40 simultaneously sends a command to output a first voltage value to the converter C21, a command to output a second voltage value to the converter C22, and a command to output a third voltage value to the converter C23 to the control devices 31 to 33. For example, when the converter C21 is the first converter, the converter C22 or the converter C23 is the second converter, and the converter among C22 and C23 that is not the second converter is the third converter. In this way, the control devices 31 to 33 simultaneously send commands (voltage value output commands) to output different voltages to the converters C21 to C23.

[0134] For example, when the host controller 40 instructs the converter C21 to output a voltage of 100V, the drive devices D1 to D4 connected to the converter C21 detect 100V as the main circuit power supply. In this case, the drive devices D1 to D4 send the voltage value of 100V to the host controller 40.

[0135] Also, when the host controller 40 instructs the converter C22 to output a voltage of 150V, the drive devices D5 to D8 connected to the converter C22 detect 150V as the main circuit power supply. In this case, the drive devices D5 to D8 send the voltage value of 150V to the host controller 40.

[0136] Also, when the host controller 40 instructs the converter C23 to output a voltage of 170V, the drive devices D9 to D11 connected to the converter C23 detect 170V as the main circuit power supply. In this case, the drive devices D9 to D11 send the voltage value of 170V to the host controller 40.

[0137] The host controller 40 determines that the drive devices D1 to D4 that have transmitted a voltage value of 100V are connected to the converter C21. Similarly, the host controller 40 determines that the drive devices D5 to D8 that have transmitted a voltage value of 150V are connected to the converter C22, and determines that the drive devices D9 to D11 that have transmitted a voltage value of 170V are connected to the converter C23.

[0138] In this way, the host controller 40 can simultaneously specify a plurality of converters C21 to C23 as target converters and execute the detection process of the connection configuration for each of the converters C21 to C23 in parallel, so that the detection of the connection configuration can be executed in a short time.

[0139] In this way, the host controller 40 of the first embodiment supplies the power of the main circuit power supply to the drive device by controlling the converter, and receives the power supply voltage value detected by the drive device from the drive device connected to the converter, thereby identifying the drive device connected to the converter. Further, the host controller 40 transmits and receives signals (in the first embodiment, a power-on signal and a current value) to and from the drive device, thereby identifying the connection order of the connected drive devices and detecting the connection configuration of the connected drive devices. Thereby, even when the information on the connection configuration of the drive device is not prepared in advance by the user, the transport system 10 can detect the connection configuration of the drive device.

[0140] In addition, the host controller 40 can simultaneously identify the drive devices daisy-chain connected to each converter for a plurality of converters by outputting different voltage values for each converter.

[0141] Second Embodiment. Next, the second embodiment will be described with reference to FIGS. 8 and 9. In the second embodiment, the host controller 40 detects the connection configuration of the drive device that does not include a regeneration circuit.

[0142] FIG. 8 is a diagram showing a configuration example of drive devices included in the transport system according to Embodiment 2. Among the components in FIG. 8, components that achieve the same functions as the drive devices D9 to D11 shown in FIG. 4 are denoted by the same reference numerals, and duplicate explanations are omitted. In FIG. 8, as another configuration example of the drive devices D9 to D11, the configurations of the drive devices D9B to D11B are shown, but the drive devices D1 to D8 may also have the same configuration as the drive devices D9B to D11B.

[0143] The drive device D9B is arranged at the position of the drive device D9, the drive device D10B is arranged at the position of the drive device D10, and the drive device D11B is arranged at the position of the drive device D11.

[0144] The drive devices D9B to D11B are connected to the control detection signal line L2 and the main circuit power line EP3 in the same manner as the drive devices D9 to D11. The control detection signal line L2 is connected to the upper controller 40, and the main circuit power line EP3 is connected to the converter C23. In FIG. 8, the path of the notification command signal output from the drive device is indicated by a broken line.

[0145] The drive devices D9B to D11B are connected in parallel to the converter C23. The drive devices D9B to D11B are connected to the N side and the P side of the main circuit power line EP3. Among the main circuit power lines EP3 shown in FIG. 8, the upper main circuit power line EP3 shown is the P side, and the lower main circuit power line EP3 shown is the N side.

[0146] The drive devices D9B to D11B do not each include a regeneration circuit, but include a voltage detection circuit 102 and an MPU 103. Among the circuits included in the drive devices D9B to D11B, the voltage detection circuit 102 and the MPU 103 are internal circuits connected in parallel from the converter C23. That is, in the transport system 10 of Embodiment 2, the drive devices D9B to D11B are daisy-chain connected so that the internal circuits (voltage detection circuit 102 and MPU 103) of the drive devices D9B to D11B are connected in parallel from the converter C23.

[0147] Since the drive devices D9B to D11B have the same configuration, the configuration of the drive device D9B will be described here. The drive device D9B is connected to the main circuit power line EP3 at the connection point 114. Also, the drive device D9B is connected to the control detection signal line L2 at the connection point 113. One end of the voltage detection circuit 102 is connected to the connection point 114 on the P side, and the other end is connected to the MPU 103. The MPU 103 is connected to the connection point 113 on the P side.

[0148] In the drive devices D9B to D11B, the MPUs 103 are connected to each other by the notification line LA. Specifically, the MPU 103 of the drive device D9B and the MPU 103 of the drive device D10B are connected by the notification line LA, and the MPU 103 of the drive device D10B and the MPU 103 of the drive device D11B are connected by the notification line LA.

[0149] Similar to Embodiment 1, in Embodiment 2, the host controller 40 controls the control devices 31 to 33 in order and powers on the converters C21 to C23 in order. Thereby, the host controller 40 determines the drive devices connected to the converters C21 to C23 in the same manner as in Embodiment 1.

[0150] The host controller 40 detects the connection configuration of the drive devices for each of the converters C21 to C23. In this case, the host controller 40 sequentially designates the target converter to be the detection target of the connection configuration, and sequentially designates the drive devices connected to the designated target converter and transmits a notification command signal.

[0151] The notification command signal is a signal for causing the drive device that has received the notification command signal to transmit a detection signal (reception notification signal) indicating that the notification command signal has been received and to transfer the notification command signal. Thus, the detection signal of Embodiment 2 is a signal indicating that the notification command signal has been received. The notification command signal of Embodiment 2 is the first signal, and the detection signal of Embodiment 2 is the second signal.

[0152] When the MPU 103 of each drive device in the transfer system 10 detects that it has received a notification command signal from the host controller 40, it transmits a detection signal to the host controller 40 via the control detection signal line L2, and transmits a notification command signal to the MPU 103 of the drive device connected to the host controller 40 side via the notification line LA. That is, when the MPU 103 of each drive device receives a notification command signal, it transmits the notification command signal to the MPU 103 of the drive device connected to the host controller 40 side among the one or two connected MPU 103s.

[0153] For example, when viewed from the drive device D9, the drive device D10 is the first upper-level drive device connected closer to the host controller 40 than the drive device D9 which is the own device, and the drive device D11 is the second upper-level drive device. Also, when viewed from the drive device D10, the drive device D11 is the first upper-level drive device connected closer to the host controller 40 than the drive device D10 which is the own device.

[0154] In the transfer system 10, the transmission and reception (transfer) of the notification command signal between the MPU 103s is repeated until the MPU 103 connected to the host controller 40 side disappears. The host controller 40 continues to wait for the detection signal until the detection signal stops being sent. When a specific time elapses after the host controller 40 receives the detection signal, it transmits a notification command signal to the next drive device. The next drive device is a drive device among the drive devices connected to the target converter that has not transmitted a detection signal to the host controller 40.

[0155] The notification command signal transmitted from the host controller 40 is transmitted to the drive device via the control detection signal line L2. Also, the notification command signal transmitted from the drive device is transmitted to the host controller 40 via the control detection signal line L2. Thus, the signals transmitted and received between the host controller 40 and the drive device are transmitted and received using the control detection signal line L2.

[0156] Further, the notification command signal transmitted from the drive device is transmitted to the drive device on the upper controller 40 side via the notification line LA. In this way, the signals transmitted and received between the drive devices are transmitted and received using the notification line LA.

[0157] In the transport system 10, the transmission and reception of the notification command signal and the detection signal between the upper controller 40 and the MPU 103, and the transmission and reception of the notification command signal between the MPU 103s are repeated.

[0158] Next, the processing procedure of the upper controller 40 for specifying the connection order of the drive devices connected in a daisy chain will be described. FIG. 9 is a flowchart showing the processing procedure of the upper controller according to the second embodiment for specifying the connection order of the drive devices. Here, the processing of the upper controller 40 for specifying the connection order of the drive devices for one target converter will be described.

[0159] Note that the processing of the upper controller 40 for specifying the connection order of the drive devices for the converter C23 and the processing of the upper controller 40 for specifying the connection order of the drive devices for the converters C21 and C22 are the same processing. Therefore, here, the processing of the upper controller 40 for specifying the connection order of the drive devices for the converter C23 will be described.

[0160] The upper controller 40 specifies the drive devices D9 to D11 connected to the converter C23 by the processing described with reference to FIG. 3. The upper controller 40 designates an arbitrary drive device from among the drive devices D9 to D11 connected to the converter C23 for which the connection order is to be specified (step S210).

[0161] The upper controller 40 transmits a notification command signal to the MPU 103 of the designated drive device. For example, when the upper controller 40 transmits a notification command signal to the MPU 103 of the drive device D10B, the MPU 103 of the drive device D10B receives the notification command signal.

[0162] In this case, the MPU 103 of the drive device D10B transmits a detection signal and a notification command signal (step S220). That is, the MPU 103 of the drive device D10B transmits a detection signal indicating that it has received the notification command signal to the host controller 40 via the control detection signal line L2, and transmits the notification command signal to the MPU 103 of the drive device D11B connected to the host controller 40 side via the notification line LA. The host controller 40 receives the detection signal from the MPU 103 of the drive device D10B. Also, the MPU 103 of the drive device D11B receives the notification command signal from the MPU 103 of the drive device D10B.

[0163] In the transport system 10, among the drive devices connected to the target converter, if there is a drive device that has received the notification command signal (step S230, Yes), the MPU 103 of the drive device that has received the notification command signal transmits a detection signal and a notification command signal (step S240). Here, since the MPU 103 of the drive device D11B has received the notification command signal, the MPU 103 of the drive device D11B transmits the detection signal to the host controller 40. As a result, the host controller 40 receives the detection signal from the MPU 103 of the drive device D11B.

[0164] Also, if there is a drive device connected to the host controller 40 side with respect to the drive device that has received the notification command signal, the MPU 103 of the drive device that has received the notification command signal transmits the notification command signal to the drive device on the host controller 40 side. For example, if there is a drive device D12B (not shown) connected to the host controller 40 side with respect to the drive device D11B that has received the notification command signal, the MPU 103 of the drive device D11B transmits the notification command signal to the MPU 103 of the drive device D12B. In the second embodiment, since the drive device D12B does not exist, the MPU 103 of the drive device D11B does not transmit the notification command signal to any MPU 103.

[0165] In the conveying system 10, the processes of steps S230 and S240 are repeated until there is no drive device that receives the notification command signal. As a result, the host controller 40 receives detection signals from the drive device that first transmitted the notification command signal and all drive devices connected on the host controller 40 side rather than the drive device that first transmitted the notification command signal.

[0166] When there is no drive device that has received the notification command signal (step S230, No), the host controller 40 determines whether all drive devices connected to the target converter have been detected (step S250). That is, the host controller 40 determines whether detection signals have been received from all of the drive devices D9B to D11B connected to the converter C23 that is the target converter.

[0167] When the host controller 40 has not detected all drive devices connected to the target converter (step S250, No), the host controller 40 designates an arbitrary undetected drive device from among the drive devices connected to the target converter (step S260). That is, the host controller 40 designates an arbitrary drive device that has not transmitted a detection signal from among the drive devices connected to the target converter. Here, the host controller 40 designates the drive device D9 that has not transmitted a detection signal from among the drive devices D9 to D11 connected to the converter C23 that is the target converter.

[0168] In this way, when the host controller 40 stops receiving the detection signal, the host controller 40 designates another drive device that has not transmitted a detection signal among the drive devices connected to the target converter designated as the detection target of the connection configuration. The host controller 40 transmits a notification command signal to the designated drive device.

[0169] Thereafter, in the conveying system 10, the notification command signal and the detection signal are transmitted and received. That is, in the conveying system 10, the processes of steps S220 to S250 are repeated until the host controller 40 has detected all drive devices connected to the target converter.

[0170] The upper controller 40 repeatedly performs a process of transmitting a notification command signal to another drive device that has not transmitted a detection signal, and a process of transmitting and receiving a notification command signal and a detection signal in the conveyance system 10, so that the upper controller 40 receives detection signals from all drive devices.

[0171] When the upper controller 40 has detected all drive devices connected to the target converter (step S250, Yes), based on the order in which the detection signals are received, the upper controller 40 specifies the connection order of the drive devices connected to the target converter (step S270).

[0172] The upper controller 40 detects the connection order of the drive devices connected to the target converter specified as the detection target of the connection configuration. That is, even if the upper controller 40 receives a detection signal from a drive device connected to a converter that is not specified as the detection target of the connection configuration, this drive device is not included in the setting target of the connection order.

[0173] For example, when the target converter is converter C22, even if the upper controller 40 receives detection signals from drive devices D9B to D11B connected to converter C23, the drive devices D9B to D11B are not included in the setting target of the connection order. In this case, the upper controller 40 sets the drive devices D5B to D8B connected to converter C22, which is the target converter, as the setting target of the connection order.

[0174] The upper controller 40 executes the process described in FIG. 5 and the process described in FIG. 9 for all converters. That is, the upper controller 40 sequentially designates the converters included in the conveyance system 10 as the target converter, and executes the process described in FIG. 5 and the process described in FIG. 9 for each target converter. Thereby, the upper controller 40 can detect the connection order of all drive devices in the conveyance system 10.

[0175] Note that the order in which each of the converters C21 to C23 is selected as the target converter is arbitrary. That is, the upper controller 40 may select each of the converters C21 to C23 as the target converter in any order.

[0176] As described above, according to the second embodiment, since the notification command signal is transmitted and received between the drive devices, and the drive device that has received the notification command signal transmits the detection signal to the upper controller 40, the transport system 10 can detect the connection configuration of the drive devices even for drive devices that do not include a regeneration circuit.

[0177] Embodiment 3. Next, Embodiment 3 will be described with reference to FIGS. 10 and 11. In Embodiment 3, for a transport system whose wiring state is not known, after the transport system detects the wiring state, the user changes the wiring.

[0178] In a transport system, if random connections between drive devices are allowed, it becomes difficult to guarantee the transport system as a product due to various restrictions. For this reason, in a transport system in which the wiring state of the main circuit power supply cannot be grasped, a daisy chain connection to continuous linear track modules 105 (drive devices) is recommended. Also, the number of drive devices that can be connected to one converter is a fixed number. The daisy chain connection to the continuous linear track modules 105 is a wiring connection between adjacent linear track modules 105.

[0179] FIG. 10 is a diagram for explaining the wiring state before the transport system according to Embodiment 3 detects the wiring state. Note that in FIG. 10, illustration of the linear track modules 105 included in the transport system 151 of Embodiment 3 is omitted. Also, in FIG. 10, the converter among the control devices 200 included in the transport system 151 is illustrated, and illustration of the control device and the upper controller 40 is omitted.

[0180] In FIG. 10, a daisy-chain connection to the continuous linear track module 105 is recommended, and the connection configuration of the transport system 151 is shown when four units of drive equipment are uniformly recommended as the number of units to be daisy-chain connected to one converter.

[0181] The transport system 151 of Embodiment 3 has the same functions as the transport systems 10 of Embodiments 1 and 2. That is, the transport system 151 has a function of detecting the connection order of the drive equipment daisy-chain connected to the converter, similar to the transport system 10.

[0182] The transport system 151 of Embodiment 3 includes drive equipment 400 to 403, 500 to 503, 600 to 602, and 700 to 703. The transport system 151 also includes converters 300 to 303.

[0183] In the transport system 151 in a state where the wiring state cannot be grasped, the drive equipment 400 to 403 is daisy-chain connected, and the drive equipment 500 to 503 is daisy-chain connected. Also, in the transport system 151 in a state where the wiring state cannot be grasped, the drive equipment 600 to 602 is daisy-chain connected, and the drive equipment 700 to 703 is daisy-chain connected.

[0184] In Embodiment 3, it is assumed that the allowable load (for example, wattage) of each converter 300 to 303 is 400. Also, in Embodiment 3, it is assumed that the load (for example, wattage) of each drive equipment is as follows. · Load: 100... drive equipment 400 to 403, 602, 702, 703 · Load: 80... drive equipment 700, 701 · Load: 50... drive equipment 500 to 503 · Load: 20... drive equipment 600, 601

[0185] As shown in FIG. 10, in the conveyance system 151, a drive device 400 among the drive devices 400 to 403 connected in a daisy chain is connected to the converter 300 by a connection wiring (cable) 4.

[0186] Also, in the conveyance system 151, a drive device 500 among the drive devices 500 to 503 connected in a daisy chain is connected to the converter 301 by a connection wiring 5.

[0187] Also, in the conveyance system 151, a drive device 600 among the drive devices 600 to 602 connected in a daisy chain is connected to the converter 302 by a connection wiring 6.

[0188] Also, in the conveyance system 151, a drive device 700 among the drive devices 700 to 703 connected in a daisy chain is connected to the converter 303 by a connection wiring 7.

[0189] In this way, in a state where the wiring state cannot be grasped, for each of the converters 300 to 303, four or fewer recommended drive devices are connected in a daisy chain. For example, drive devices 400 to 403 with a total load of 400 are connected to the converter 300 with an allowable load of 400, and drive devices 500 to 503 with a total load of 200 are connected to the converter 301 with an allowable load of 400. Also, drive devices 600 to 602 with a total load of 140 are connected to the converter 302 with an allowable load of 400, and drive devices 700 to 703 with a total load of 360 are connected to the converter 303 with an allowable load of 400.

[0190] In this way, for the converters 300 to 303, the number of connected drive devices is four or less each, but the total load of the drive devices connected to the converters 300 to 303 varies. That is, when there is a difference in the load of the drive devices, a difference occurs in the total load of four or less drive devices.

[0191] For example, even though the allowable load (maximum load) of converters 300 to 303 is 400, the total load of drive devices 600 to 602 connected to converter 302 is 140, and the load factor, which is the ratio of the actual load to the allowable load, is small compared to the other converters 300, 301, and 303.

[0192] The upper controller 40 identifies the connection configuration of the drive devices as shown in FIG. 10 and provides the connection configuration to the user by displaying the connection configuration on a display device (not shown) or the like. As a result, the user can determine whether the connection of the drive devices and the converter is appropriate based on the connection configuration displayed on the display device, and can change the connection of the drive devices and the converter as necessary. An appropriate connection of the drive devices and the converter is a wiring with a small number of converters and a short total length of the connection wiring. To reduce the number of converters, it is required to increase the load factor calculated by dividing the allowable load of the converter by the actual load.

[0193] For converters 300 to 303, it is not possible to connect an actual load exceeding the allowable load, but the number of drive devices connected to one converter may be five or more. Therefore, the user changes the connection of the drive devices and the converter so that the actual load is within the allowable load.

[0194] Note that the transport system 10 may identify the connection configuration of the drive devices again with respect to the connection configuration of the transport system (transport system 152 described later) after the connection has been changed by the user, and may display the connection configuration again on a display device or the like. As a result, the user can determine again whether the connection of the drive devices and the converter is appropriate based on the connection configuration displayed on the display device, and can change the connection of the drive devices and the converter again as necessary.

[0195] The host controller 40 may calculate the connections between each drive device and the connections between the drive device and the converter using a wiring tool that calculates the wiring between devices. By calculating the connections between devices using the wiring tool, the host controller 40 calculates an optimized connection between devices. For example, when calculating an optimized connection between devices, the host controller 40 may calculate a connection wiring such that the actual load connected to one converter is equal to or less than the allowable load and approaches the allowable load.

[0196] Also, when calculating an optimized connection between devices, the host controller 40 may calculate a connection wiring such that the number of converters is minimized. That is, the host controller 40 may calculate a connection wiring such that converters with a large allowable load are preferentially used.

[0197] Also, when calculating an optimized connection between devices, the host controller 40 may calculate a connection wiring such that the load or load factor of each converter is equalized. Also, when calculating an optimized connection between devices, the host controller 40 may calculate a connection wiring such that the total length of the cables connecting between each drive device and the length of the cables connecting the drive device and the converter is shorter than the current situation.

[0198] Also, when calculating an optimized connection between devices, the host controller 40 may calculate a connection wiring based on the connection order of the identified drive devices. In this case, for connection points where the host controller 40 does not need to change the connection order of the identified drive devices, the host controller 40 calculates a connection wiring that changes other connection positions while maintaining this connection order.

[0199] By optimizing the connections between each drive device and the connections between the drive device and the converter, the number of converters can be reduced, so that the system cost of the transport system 151 can be reduced.

[0200] FIG. 11 is a diagram for explaining the wiring state after the wiring state is changed for the transport system according to Embodiment 3. In FIG. 11, the wiring state of the transport system 152 after the wiring state is changed is shown with respect to the transport system 151 in the wiring state shown in FIG. 10. The transport system 152 is a transport system whose connection configuration is changed based on the connection configuration of the transport system 151 identified by the transport system 10.

[0201] Note that in FIG. 11, similar to FIG. 10, the illustration of the linear track module 105 included in the transport system 152 is omitted. Also, in FIG. 11, the converter among the control devices 200 included in the transport system 152 is illustrated, and the illustration of the control equipment and the upper controller 40 is omitted.

[0202] In FIG. 11, compared with FIG. 10, connection wiring is added so that the drive device 503 and the drive device 602 are connected. As a result, the drive devices 500 to 503 and 602 are daisy-chain connected. As a result, the drive devices 500 to 503 and 602 with a total load of 300 are connected to the converter 301 with an allowable load of 400.

[0203] Also, in FIG. 11, compared with FIG. 10, connection wiring is deleted so that the connection between the drive device 601 and the drive device 602 is released, and connection wiring is added so that the drive device 601 and the drive device 700 are connected. As a result, the drive devices 600, 601, and 700 to 703 are daisy-chain connected. Also, in FIG. 11, compared with FIG. 10, the connection wirings 6 and 7 are deleted, and the connection wiring 8 is added. The connection wiring 8 is a wiring that connects the drive device 600 and the converter 303. As a result, in the transport system 152, the drive device 600 among the drive devices 600, 601, and 700 to 703 that are daisy-chain connected is connected to the converter 303 by the connection wiring 8. As a result, the drive devices 600, 601, and 700 to 703 with a total load of 400 are connected to the converter 303 with an allowable load of 400. Also, the converter 302 is deleted from the transport system 152.

[0204] According to the third embodiment as described above, in the transport system 152, since the connection configuration is changed based on the connection configuration of the transport system 151 identified by the transport system 151, an appropriate connection configuration with suppressed system cost is achieved.

[0205] Embodiment 4. Next, Embodiment 4 will be described with reference to FIGS. 12 to 15. In Embodiment 4, connection information indicating the connection order of the drive devices is learned and inferred. Hereinafter, a case where the transport system 10 includes a learning device and an inference device will be described, but the transport systems 151 and 152 may include a learning device and an inference device.

[0206] <Learning phase> FIG. 12 is a diagram showing a configuration example of a learning device included in the transport system according to the fourth embodiment. A learning device (machine learning device) 50 that executes machine learning regarding the transport system 10 includes a data acquisition unit 51 and a model generation unit 52.

[0207] The learning device 50 may be disposed, for example, inside the control device 200 or outside the control device 200. The learning device 50 may be provided in a controller (control devices 31 to 33) of the transport system 10, may be provided in an upper controller 40 connected to the controller, or may be provided in a computer connected to at least one of the controller or the upper controller 40.

[0208] The data acquisition unit 51 acquires, as learning data, connection information indicating the connection order of the drive devices D1 to D11 connected to the converters C21 to C23, operation pattern information indicating the operation pattern of the transport system 10 when the transport system 10 is operated in the connection state indicated by this connection information, and converter load information (hereinafter referred to as load information) that is information on the loads of the converters C21 to C23 in this operation pattern information.

[0209] The operation pattern information acquired by the data acquisition unit 51 is information corresponding to the connection information acquired by the data acquisition unit 51, and the load information acquired by the data acquisition unit 51 is information corresponding to the operation pattern information acquired by the data acquisition unit 51.

[0210] The load information is information indicating the load of the converters C21 to C23 themselves during the operation of the transport system 10, that is, during the operation of the drive devices. For example, the load information of the converter C21 is information indicating the load of the converter C21 itself during the operation of the drive devices D1 to D4 connected to the converter C21.

[0211] The converters C21 to C23 calculate, for example, the load information during the operation of the drive devices and output it to the host controller 40. Thereby, the host controller 40 executes control based on the load information. The data acquisition unit 51 acquires the load information output by the converters C21 to C23 to the host controller 40. The data acquisition unit 51 may acquire the load information from the converters C21 to C23 or may acquire the load information from the host controller 40.

[0212] The connection information of the drive devices connected to the converter is information including the number of converters, which is the number of converters arranged in the transport system 10, the number of drive devices connected to each converter, and the connection order of the drive devices connected to each converter (hereinafter, may be simply referred to as "connection information"). The operation pattern information when the transport system 10 is operated in the connection state indicated by this connection information is information on the operation pattern when moving the mover 11 in the transport system 10. The operation pattern information is information including, for example, the timing to accelerate and decelerate the mover 11 on the transport path (hereinafter, may be simply referred to as "operation pattern information").

[0213] The load information in this operation pattern information is, for example, information including the power load applied to the converter to which the drive device is connected due to the operation of the drive device when power is supplied to the coil of the stator 12 at the acceleration timing of the mover 11 indicated by the operation pattern information (hereinafter, may be simply referred to as "load information").

[0214] Based on the learning data including the connection information, the operation pattern information, and the load information, the model generation unit 52 learns the connection state of the drive devices for reducing the number of converters. That is, the model generation unit 52 generates a learned model for inferring the connection state of the drive devices for reducing the number of converters from the connection information, the operation pattern information, and the load information of the conveyance system 10.

[0215] As the learning algorithm used by the model generation unit 52, known algorithms such as supervised learning, unsupervised learning, and reinforcement learning can be used. As an example, the case where the model generation unit 52 applies reinforcement learning will be described.

[0216] In reinforcement learning, an agent (acting entity) in a certain environment observes the current state (parameters of the environment) and determines the action to be taken. The action of the agent dynamically changes the environment, and the agent is given a reward according to the change in the environment. The agent repeats this and learns an action policy that can obtain the most rewards through a series of actions. As typical methods of reinforcement learning, Q-learning and TD-learning are known. For example, in the case of Q-learning, the general update formula for the action value function Q(s, a) is represented by the following formula (1).

[0217]

Equation

[0218] In formula (1), s t represents the state of the environment at time t, and a t represents the action at time t. The action at According to this, the state becomes s t+1 and changes to r. t+1 r represents the reward obtained due to the change in the state, γ represents the discount rate, and α represents the learning coefficient. Note that γ is in the range of 0 < γ ≤ 1, and α is in the range of 0 < α ≤ 1. The connection information becomes the action a t and the operation pattern information and the load information become the state s t and the model generation unit 52 learns the best action a t in the state s at time t. t

[0219] In the update formula represented by Equation (1), if the action value Q of the action a with the highest Q value at time t + 1 is greater than the action value Q of the action a executed at time t, the action value Q is increased, and in the reverse case, the action value Q is decreased. In other words, the model generation unit 52 updates the action value function Q(s, a) so that the action value Q of the action a at time t approaches the best action value at time t + 1. As a result, the best action value in a certain environment is sequentially propagated to the action values in the previous environments.

[0220] As described above, when generating a learned model by reinforcement learning, the model generation unit 52 includes a reward calculation unit 521 and a function update unit 522.

[0221] The reward calculation unit 521 calculates a reward based on the connection information, the operation pattern information, and the load information. The reward calculation unit 521 calculates the reward r based on the increase or decrease in the number of converters used in the transport system 10. For example, when the number of converters used in the transport system 10 decreases, the reward calculation unit 521 increases the reward r (for example, gives a reward of "1"), and on the other hand, when the number of converters used in the transport system 10 increases, the reward calculation unit 521 reduces the reward r (for example, gives a reward of "-1").

[0222] The function update unit 522 updates a function for determining the connection state of the drive equipment that reduces the number of converters according to the reward calculated by the reward calculation unit 521, and outputs it to the learned model storage unit 55. For example, in the case of Q-learning, the action value function Q(s t ,a t ) is used as a function for calculating the connection state of the drive equipment that reduces the number of converters.

[0223] The learning device 50 repeatedly executes the above learning. The learned model storage unit 55 stores the action value function Q(s t ,a t ) updated by the function update unit 522, that is, stores the learned model.

[0224] Next, with reference to FIG. 13, the process learned by the learning device 50 will be described. FIG. 13 is a flowchart showing the processing procedure of the learning process executed by the learning device according to the fourth embodiment.

[0225] The data acquisition unit 51 acquires connection information, operation pattern information, and load information as learning data (step S310).

[0226] The model generation unit 52 calculates a reward based on the connection information, operation pattern information, and load information (step S320). Specifically, the reward calculation unit 521 acquires the connection information, operation pattern information, and load information, and determines whether to increase the reward (step S330) or decrease the reward (step S340) based on the increase or decrease in the number of converters used in the predetermined transport system 10.

[0227] When the reward calculation unit 521 determines to increase the reward (step S320, decrease in the number of converters), it increases the reward in step S330. On the other hand, when the reward calculation unit 521 determines to decrease the reward (step S320, increase in the number of converters), it decreases the reward in step S340.

[0228] The function update unit 522 updates the action value function Q(s t , a t ) represented by Equation (1) stored in the learned model storage unit 55 based on the reward calculated by the reward calculation unit 521 (step S350).

[0229] The learning device 50 repeatedly executes the steps from step S310 to S350 above, and stores the generated action value function Q(s t , a t ) in the learned model storage unit 55 as a learned model.

[0230] Although the learning device 50 according to the fourth embodiment has been described for the case where the learned model is stored in the learned model storage unit 55 provided outside the learning device 50, the learning device 50 may include the learned model storage unit 55 inside the learning device 50.

[0231] <Utilization phase> FIG. 14 is a diagram showing a configuration example of an inference device included in the transport system according to the fourth embodiment. An inference device 60 that executes inference regarding the transport system 10 includes a data acquisition unit 61 and an inference unit 62.

[0232] The inference device 60 may be arranged, for example, inside the control device 200 or inside the host controller 40, or may be arranged outside the control device 200 and the host controller 40. Further, the inference device 60 may be provided in a transport controller (not shown) that controls the transport in the transport system 10, may be provided in a host transport controller (not shown) connected to the transport controller, or may be provided in a computer connected to at least one of the transport controller and the host transport controller.

[0233] The data acquisition unit 61 acquires the operation pattern information and the load information as inference data. The inference unit 62 infers connection information indicating the connection state of the drive devices for reducing the number of converters by using the learned model. That is, the inference unit 62 inputs the operation pattern information and the load information acquired by the data acquisition unit 61 into the learned model read from the learned model storage unit 55, thereby inferring connection information indicating the connection state of the drive devices suitable for the operation pattern information and the load information.

[0234] In addition, in the fourth embodiment, the case where the connection information of the drive devices for reducing the number of converters is output using the learned model learned by the model generation unit 52 of the transport system 10 has been described. However, the inference device 60 may acquire a learned model from another transport system and output connection information of the drive devices for reducing the number of converters based on this learned model.

[0235] Next, with reference to FIG. 15, the process of the inference device 60 inferring the connection information of the drive devices will be described. FIG. 15 is a flowchart showing the processing procedure of the inference process executed by the inference device according to the fourth embodiment.

[0236] The data acquisition unit 61 acquires the operation pattern information and the load information as inference data (step S410).

[0237] The inference unit 62 acquires the learned model from the learned model storage unit 55, and inputs the operation pattern information and the load information into the acquired learned model (step S420). Thereby, the inference unit 62 obtains the connection information of the drive devices for reducing the number of converters. The inference unit 62 outputs the connection information of the drive devices for reducing the number of converters obtained by the learned model (step S430).

[0238] The user refers to the connection information of the drive equipment for reducing the number of converters output, and performs the wiring between the converter with the reduced number of converters and the drive equipment for the transport system 10. Thereby, the transport system 10 can increase the operating efficiency (load factor) per converter, and can efficiently move the mover 11 with a smaller number of converters.

[0239] In addition, in the fourth embodiment, the case where reinforcement learning is applied to the learning algorithm used by the inference device 60 has been described, but the present invention is not limited thereto. Regarding the learning algorithm, in addition to reinforcement learning, supervised learning, unsupervised learning, semi-supervised learning, etc. can also be applied.

[0240] Also, as the learning algorithm used in the model generation unit 52, deep learning, which learns the extraction of the feature amount itself, can also be used. Further, the model generation unit 52 may execute machine learning according to other known methods, such as neural networks, genetic programming, inductive logic programming, support vector machines, and the like.

[0241] Note that the learning device 50 and the inference device 60 may be separate devices from the transport system 10, connected to the transport system 10 via a network, for example. Also, the learning device 50 and the inference device 60 may be built into the transport system 10. Furthermore, the learning device 50 and the inference device 60 may exist on a cloud server.

[0242] Further, the model generation unit 52 may learn connection information of drive devices that reduces the number of converters corresponding to operation pattern information and load information using learning data acquired from a plurality of transport systems. Note that the model generation unit 52 may learn connection information of drive devices that reduces the number of converters corresponding to operation pattern information and load information using learning data collected from a plurality of transport systems used in the same area. Further, the model generation unit 52 may learn connection information of drive devices that reduces the number of converters corresponding to operation pattern information and load information using learning data collected from a plurality of transport systems operating independently in different areas.

[0243] Also, it is possible to add a transport system for collecting learning data as a target during the process or remove it from the target. Further, a learning device that has learned connection information of drive devices that reduces the number of converters for a certain transport system may be applied to another transport system different from this, and the connection information of drive devices that reduces the number of converters for the other transport system may be relearned and updated.

[0244] As described above, the transport system 10 of the fourth embodiment learns connection information with a reduced number of converters corresponding to operation pattern information and load information based on the operation pattern information, load information, and connection information indicating the connection order of drive devices. As a result, the transport system 10 can infer connection information with a reduced number of converters based on the operation pattern information and load information.

[0245] Therefore, even when the load of the converter is not uniform in the transport system 10 to which the linear motor is applied, the inference device 60 can infer connection information with a reduced number of converters, so that appropriate connection information with suppressed system costs can be provided to the user.

[0246] Next, the hardware configurations of the upper controller 40, the learning device 50, and the inference device 60 will be described. Since the upper controller 40, the learning device 50, and the inference device 60 have the same hardware configuration, the hardware configuration of the upper controller 40 will be described here. The upper controller 40 is realized by a processing circuit. The processing circuit may be a processor and a memory that execute a program stored in the memory, or may be dedicated hardware.

[0247] FIG. 16 is a diagram showing a configuration example of a processing circuit when the processing circuit included in the upper controller according to Embodiments 1 to 4 is realized by a processor and a memory. The processing circuit 90 shown in FIG. 16 includes a processor 91 and a memory 92. When the processing circuit 90 is composed of the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a connection configuration detection program for detecting the connection configuration of the drive devices and is stored in the memory 92. In the processing circuit 90, the processor 91 reads and executes the connection configuration detection program stored in the memory 92 to realize each function. That is, the processing circuit 90 includes a memory 92 for storing a connection configuration detection program in which the processing of the upper controller 40 is ultimately executed. This connection configuration detection program can also be said to be a program for causing the upper controller 40 to execute each function realized by the processing circuit 90. This connection configuration detection program may be provided by a computer-readable recording medium on which the connection configuration detection program is recorded, or may be provided by other means such as a communication medium.

[0248] The above connection configuration detection program can also be said to be a program that causes the host controller 40 to execute the processes of steps S10 to S70 in FIG. 3 and the processes of steps S110 to S180 in FIG. 5. Note that the above connection configuration detection program may be a program that causes the host controller 40 to execute the processes of steps S10 to S70 in FIG. 3 and the processes of steps S210 to S270 in FIG. 9. Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). Also, the memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), an EEPROM (registered trademark) (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

[0249] FIG. 17 is a diagram showing an example of a processing circuit when the processing circuit included in the host controller according to Embodiments 1 to 4 is configured by dedicated hardware. The processing circuit 93 shown in FIG. 17 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. For the processing circuit 93, a part may be realized by dedicated hardware and a part may be realized by software or firmware. Thus, the processing circuit 93 can realize each of the above functions by dedicated hardware, software, firmware, or a combination thereof.

[0250] Note that the learning device 50 may have the hardware configuration shown in FIG. 16 or FIG. 17. In this case, the learning program used by the learning device 50 is a program that causes the learning device 50 to execute the processes of steps S310 to S350 in FIG. 13.

[0251] Also, the inference device 60 may have the hardware configuration shown in FIG. 16 or FIG. 17. In this case, the learning program used by the inference device 60 is a program that causes the inference device 60 to execute the processes of steps S410 to S430 in FIG. 15.

[0252] The configurations shown in the above embodiments are merely examples, and it is possible to combine them with other known technologies, combine the embodiments with each other, or omit or change a part of the configuration without departing from the gist.

Description of Reference Numerals

[0253] 1 AC power supply, 4 to 8 connection wirings, 10, 151, 152 conveyance systems, 11 mover, 12 stator, 13 guide rail, 14 guide module, 31 to 33 control devices, 40 host controller, 50 learning device, 51, 61 data acquisition units, 52 model generation unit, 55 learned model storage unit, 60 inference device, 62 inference unit, 90, 93 processing circuits, 91 processor, 92 memory, 100 current detection circuit, 101 regenerative resistor, 102 voltage detection circuit, 103 MPU, 104 regenerative switch circuit, 105 linear track module, 110 to 114 connection points, 200 control device, 300 to 303, C21 to C23 converters, 400 to 403, 500 to 503, 600 to 602, 700 to 703, D1 to D11, D9A to D11A, D5B to D12B, Dn drive devices, EP1 to EP3 main circuit power lines, EX control circuit power line, L1 control signal line, L2 control detection signal line, LA notification line.

Claims

1. At least one movable element, A plurality of stators arranged in the path along which the movable element moves, Multiple drive devices for driving the stator, A higher-level controller that controls the aforementioned drive device, Equipped with, The aforementioned drive device is The drive device is daisy-chained to the main circuit power line, which transmits power from the main circuit power supply used to drive the stator, such that the internal circuit of the drive device is connected in parallel from the converter under management, and the drive device is daisy-chained from the higher-level controller to the signal line that transmits signals to the higher-level controller. The aforementioned higher-level controller By controlling the converter, power is supplied from the main circuit power supply to the drive device; based on the detection of the power supply voltage value by the drive device connected to the converter, the connected drive device, which is the drive device connected to the converter, is identified; and by sending and receiving signals with the connected drive device, the connection order of the connected drive device is identified and the connection configuration of the connected drive device is detected. A transport system characterized by the following features.

2. The aforementioned higher-level controller From among the aforementioned connected drive devices, one connected drive device is designated as a specified drive device, a power-on signal is transmitted to the specified drive device as a signal to turn on the power, a current value is received from the connected drive device that has detected current, and the connection order of the connected drive devices is determined based on the connected drive device that transmitted the current value. The transport system according to feature 1.

3. The aforementioned higher-level controller The process of further designating an unspecified connected drive device from among the connected drive devices as the designated drive device, transmitting the power-on signal as the signal to the designated drive device, and receiving the current value from the connected drive device that detected the current among the connected drive devices is repeated until all the connected drive devices are designated, and the connection order of the connected drive devices is determined based on the connected drive devices that have transmitted the current value. The transport system according to feature 2.

4. The aforementioned drive device is A regenerative resistor connected to the main circuit power line, A regenerative switch circuit, which is a switch circuit for driving the load of the regenerative resistor, A control unit that controls the regenerative switch circuit, It has, The control unit, Upon receiving the aforementioned power-on signal, the regenerative switch circuit is turned on. The transport system according to feature 2.

5. The higher-level controller sequentially executes a process for detecting the connection configuration of the connection drive device for each of the multiple converters. The transport system according to feature 1.

6. The aforementioned higher-level controller Select one of the connected drive devices from the above connected drive devices as the designated drive device, and transmit the first signal as the signal to the designated drive device. The aforementioned designated drive device is Upon receiving the first signal, the device transmits a second signal to the higher-level controller indicating that the first signal has been received. Furthermore, if there is a first higher-level drive device connected to the higher-level controller than the device itself, the device transmits the first signal to the first higher-level drive device. When the first upstream drive device receives the first signal, it transmits the second signal to the upstream controller. The aforementioned higher-level controller Based on the second signal, the connection order of the connected drive devices is determined. The transport system according to feature 1.

7. The first upper-side drive device is, Upon receiving the first signal, if there is a second higher-level drive device which is a drive device connected to the higher-level controller than the current device, the first signal is transmitted to the second higher-level drive device. When the second higher-level drive device receives the first signal, it transmits the second signal to the higher-level controller. The aforementioned higher-level controller Based on the second signal, the connection order of the connected drive devices is determined. The transport system according to claim 6.

8. The aforementioned higher-level controller The process of further designating a connected drive device that has not transmitted the second signal from among the connected drive devices as the designated drive device, and the process of transmitting the first signal as the signal to the designated drive device, is repeated until the second signal is received from all the drive devices, and the connection order of the connected drive devices is determined based on the second signal. The transport system according to claim 6.

9. The higher-level controller simultaneously transmits commands to the first and second converters of the converter to output different voltages, receives different power supply voltage values ​​from the first and second converters, and identifies the connected drive equipment connected to the first converter and the connected drive equipment connected to the second converter based on the received power supply voltage values. The transport system according to feature 1.

10. The converter outputs load information indicating its own load during the operation of the drive device to the higher-level controller. A data acquisition unit acquires connection information indicating the connection order of the connected drive devices, operation pattern information which is information on the operation pattern when the drive devices are operated in the connection state indicated by the connection information, and load information corresponding to the operation pattern information, as learning data. A model generation unit generates a trained model for inferring the connection state of the drive equipment that reduces the number of converters, using the training data acquired by the data acquisition unit. An inference unit that uses the trained model to infer connection information indicating the connection status of the drive equipment that reduces the number of converters from the operating pattern information and the load information corresponding to the operating pattern information, Furthermore, A transport system according to any one of claims 1 to 9.

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