Motor drive device, industrial machine system, and method for operating motor drive device

Abstract

Conventionally, when abnormality occurs in a motor, it is required to notify an operator of a motor drive device to which the motor is connected.　Motor drive devices 50, 50A, 50B that drive motors according to commands from a control device each comprise: an information acquisition unit 72 that acquires, from the control device, identification information for identifying the motor drive devices 50, 50A, 50B to which a motor in which an abnormality detected by the control device has occurred is connected; and a notification signal generation unit 74 that generates, on the basis of the identification information acquired by the information acquisition unit 72, a notification signal for notifying that the motor in which the abnormality has occurred is connected.

Description

Motor drive device, industrial machine system, and method of operating a motor drive device

[0001] The present disclosure relates to a motor drive device, an industrial machine system, and a method of operating a motor drive device.

[0002] A motor drive device provided with a display device (segment display) is known (for example, Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2011-199925

[0004] Conventionally, when an abnormality occurs in a motor, it has been required to notify an operator of the motor drive device to which the motor is connected.

[0005] In one aspect of the present disclosure, a motor drive device that drives a motor according to a command from a control device includes an information acquisition unit that acquires, from the control device, identification information for identifying the motor drive device to which a motor in which an abnormality has been detected by the control device is connected, and a notification signal generation unit that generates a notification signal for notifying that a motor in which an abnormality has occurred is connected, based on the identification information acquired by the information acquisition unit.

[0006] In another aspect of the present disclosure, a method of operating a motor drive device that drives a motor according to a command from a control device includes a processor acquiring, from the control device, identification information for identifying the motor drive device to which a motor in which an abnormality has been detected by the control device is connected, and generating a notification signal for notifying that a motor in which an abnormality has occurred is connected, based on the acquired identification information.

[0007] This is a schematic diagram of an industrial machine system according to one embodiment. This is a block diagram of the motor drive device shown in Figure 1. This is an enlarged view of a display device provided in the motor drive device shown in Figure 1. This is a flowchart showing an example of how the motor drive device operates. This is a diagram showing an example of a notification signal displayed on the display device shown in Figure 3. This is a diagram showing another example of a notification signal displayed on the display device shown in Figure 3. This is a diagram showing yet how the motor drive device operates.

[0008] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the various embodiments described below, the same elements will be denoted by the same reference numerals, and redundant descriptions will be omitted. First, an industrial machine system 10 according to one embodiment will be described with reference to Figure 1. The industrial machine system 10 comprises a control device 12, a plurality of motors 14, and a plurality of motor drive devices 50.

[0009] The motor drive unit 50 drives the motor 14 according to a command C from the control device 12. In this embodiment, two motor drive units 50A and 50B are connected to the control device 12. However, any number of motor drive units 50 (for example, one or three or more) may be connected to the control device 12. As shown in Figure 2, the motor drive units 50 (50A, 50B) include a processor 52, memory 54, display device 56, I / O interface 58, and housing 60.

[0010] The processor 52 has a CPU or GPU, and is communicated via the bus 62 to the memory 54, display device 56, and I / O interface 58. The processor 52 performs calculation processing to realize the function of generating a notification signal, which will be described later, while communicating with the memory 54, display device 56, and I / O interface 58.

[0011] The memory 54 has RAM or ROM, etc., and stores various data temporarily or permanently. The memory 54 may be a computer-readable non-temporary recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. The processor 52 and the memory 54 are housed inside the casing 60 together with other electronic components such as a power element PW (not shown).

[0012] The display device 56 is integrally mounted on the housing 60 so as to be exposed on the outside of the housing 60. As shown in Figure 3, in this embodiment, the display device 56 is a segment display including a plurality (specifically, seven) light-emitting segments 64. Each light-emitting segment 64 has an LED, liquid crystal, or fluorescent lamp, and lights up and turns off in response to a signal from the processor 52. As a result, the display device 56 displays the information indicated by the signal in a visible manner.

[0013] The I / O interface 58 communicates data with external devices (control device 12, motor 14) via wired or wireless connection under the command of the processor 52. In this embodiment, the I / O interface 58 has a first terminal 58A, a second terminal 58B, and a third terminal 58C. The first terminal 58A, the second terminal 58B, and the third terminal 58C are provided on the housing 60 so as to face outwards from the housing 60.

[0014] Referring again to Figure 1, the motor 14 is, for example, a servo motor and includes a stator 18, a rotor 20, and a sensor 22, etc. As an example, the sensor 22 has an encoder (or Hall element) and detects the position Pd or speed Vd of the rotor 20 (i.e., the output shaft). As another example, the sensor 22 has a torque sensor and detects the torque τd applied to the rotor 20. As yet another example, the sensor 22 may have a temperature sensor and detect the temperature Td of the motor 14. The sensor 22 supplies the detected position Pd, speed Vd, torque τd, or temperature Td to the control device 12 as feedback FB.

[0015] In this embodiment, three motors 14A, 14B, and 14C are connected to the motor drive unit 50A, and two motors 14D and 14E are connected to the motor drive unit 50B. Specifically, motor 14A is connected to the first terminal 58A of the motor drive unit 50A, motor 14B is connected to the second terminal 58B of the motor drive unit 50A, and motor 14C is connected to the third terminal 58C of the motor drive unit 50A.

[0016] Meanwhile, motor 14D is connected to the first terminal 58A of the motor drive unit 50B, and motor 14E is connected to the second terminal 58B of the motor drive unit 50B. These five motors 14A to 14E constitute actuators for industrial machinery IM (machine tools, robots, etc.) and are rotationally driven by the motor drive units 50A and 50B to operate the industrial machinery IM. Any number of motors 14 (for example, one or four or more) may be connected to a single motor drive unit 50.

[0017] The control device 12 controls the operation of the motor drive unit 50 and the motor 14. Specifically, the control device 12 is a computer having a processor (CPU, GPU, etc.), memory (RAM, ROM, etc.), I / O interfaces (various terminals including Ethernet® ports, USB ports, optical fiber connectors, or HDMI® terminals, etc.), and a display device 16. The processor of the control device 12 generates a command C for operating the motor 14, and operates the motor drive unit 50 and the motor 14 according to the command C.

[0018] Specifically, the control device 12 (processor) generates a command C consisting of a position command Pc, a speed command Vc, a torque command τc, and a current command Ic. The position command Pc, speed command Vc, and torque command τc define the position P, speed V, and drive torque τ of the rotor 20 of the motor 14, respectively. On the other hand, the current command Ic defines the drive current I that the motor drive unit 50 supplies to each motor 14. The processor of the control device 12 transmits the current command Ic to each motor drive unit 50.

[0019] The processor 52 of the motor drive unit 50 generates a drive current I using a power element PW or the like, according to a current command Ic from the control device 12, and supplies it to each motor 14 (14A to 14E) through the I / O interface 58 (terminals 58A, 58C, 58C). In this way, each of the motors 14A to 14E is driven to rotate.

[0020] The configuration of the industrial machine system 10 is pre-set by the operator as system setting information SI. Specifically, the motor drive units 50A and 50B connected to the control device 12 are identified by drive unit identification information IDd. The drive unit identification information IDd includes characters (e.g., numbers) or symbols. For example, the motor drive unit 50A is assigned the number "1" as the drive unit identification information IDd, and the motor drive unit 50B is assigned the number "2". Note that these numbers "1" and "2" may also be the terminal numbers of the I / O interface of the control device 12 to which the motor drive units 50A and 50B are connected.

[0021] On the other hand, the motors 14A to 14E connected to the motor drive units 50A and 50B, respectively, are identified by motor identification information IDm. Motor identification information IDm includes letters (e.g., numbers) or symbols. For example, motor identification information IDm includes numbers assigned to terminals 58A, 58B, and 58C of the motor drive units 50A and 50B, respectively.

[0022] Specifically, as motor identification information IDm, motor 14A is assigned the number "1" which is assigned to the first terminal 58A of the motor drive device 50A, motor 14B is assigned the number "2" which is assigned to the second terminal 58B of the motor drive device 50A, and motor 14C is assigned the number "3" which is assigned to the third terminal 58C of the motor drive device 50A.

[0023] Furthermore, as motor identification information IDm, motor 14D is assigned the number "1" assigned to the first terminal 58A of the motor drive unit 50B, and motor 14E is assigned the number "2" assigned to the second terminal 58B of the motor drive unit 50B. Alternatively, motors 14A to 14E may be assigned a unique number as motor identification information IDm. Also, each of motors 14A to 14E may be assigned a name NM consisting of multiple characters as motor identification information IDm. For example, motor 14A may be assigned a name NM consisting of the characters "Motor 14A" or "X-axis motor".

[0024] In this way, motors 14A to 14E connected to motor drive units 50A and 50B are identified by drive unit identification information IDd and motor identification information IDm. For example, motor 14B connected to motor drive unit 50A can be identified by drive unit identification information IDd: number "1" and motor identification information IDm: number "2". On the other hand, motor 14D connected to motor drive unit 50B can be identified by drive unit identification information IDd: number "2" and motor identification information IDm: number "1". When the operator starts up the industrial machine system 10, they pre-set the drive unit identification information IDd and motor identification information IDm as system setting information SI and store it in the memory of the control device 12.

[0025] The control device 12 (processor) detects whether an abnormality AB has occurred in the operation of the motor 14 based on the feedback FB obtained from the sensor 22. For example, the control device 12 detects that a position abnormality AB1 has occurred with respect to the position P of the motor 14 if the difference δp between the position Pd obtained as feedback FB and the generated position command Pc (or reference value) exceeds a predetermined allowable value. Alternatively, the control device 12 may detect a position abnormality AB1 when the position command Pc is outside a predetermined allowable range.

[0026] Furthermore, the control device 12 detects that a speed anomaly AB2 has occurred with respect to the speed V of the motor 14 if the difference δv between the speed Vd acquired as feedback FB and the generated speed command Vc (or reference value) exceeds a predetermined allowable value. Alternatively, the control device 12 may detect a speed anomaly AB2 when the speed command Vc is outside a predetermined allowable range.

[0027] Furthermore, the control device 12 detects that a torque anomaly AB3 has occurred related to the torque τ of the motor 14 if the difference δτ between the torque τd acquired as feedback FB and the generated torque command τc (or reference value) exceeds a predetermined allowable value. Alternatively, the control device 12 may detect a torque anomaly AB3 when the torque command τc is outside a predetermined allowable range. Also, the control device 12 detects that a temperature anomaly AB4 has occurred related to the temperature T of the motor 14 if the difference δt between the temperature Td acquired as feedback FB and a predetermined reference value exceeds a predetermined allowable value.

[0028] These position anomalies AB1, speed anomalies AB2, torque anomalies AB3, and temperature anomalies AB4 are identified by anomaly identification information IDa. Anomaly identification information IDa includes characters (e.g., numbers) or symbols. For example, position anomaly AB1 is assigned the number "1", speed anomaly AB2 is assigned the number "2", torque anomaly AB3 is assigned the number "3", and temperature anomaly AB4 is assigned the number "4".

[0029] When the control device 12 detects an abnormality AB in any of the motors 14, it acquires the date and time DH of the detection of the abnormality AB, the motor identification information IDm (for example, name NM) of the motor 14 that detected the abnormality AB, and the abnormality identification information IDa (number) of the abnormality AB as alarm information AL. The control device 12 then displays the alarm information AL on the display device 16 in a visible manner.

[0030] For example, suppose the control device 12 detects that a torque anomaly AB3 has occurred in the motor 14B based on the feedback FB (torque τd) from the sensor 22 of the motor 14B. In this case, the control device 12 refers to the system setting information SI and obtains the motor identification information IDm: name NM: "Y-axis motor" (or number "2") of the motor 14B that detected the torque anomaly AB3, the anomaly identification information IDa: number "3" indicating the torque anomaly AB3, and the date and time DH on which the torque anomaly AB3 was detected, as alarm information AL. The control device 12 then displays the alarm information AL (at least one of the date and time DH, name NM: "Y-axis motor", and anomaly identification information IDa: number "3") on the display device 16.

[0031] In this embodiment, the motor drive unit 50 notifies the system when it detects an abnormality AB (position abnormality AB1, speed abnormality AB2, torque abnormality AB3, temperature abnormality AB4, etc.) in the motor 14 connected to it. The operation method of the motor drive unit 50 will now be described. In this embodiment, first, the control device 12 causes the industrial machine IM to perform a predetermined operation (workpiece processing or workpiece handling, etc.) according to the operation program PG1 of the industrial machine IM.

[0032] For this operation, the control device 12 generates a command C (position command Pc, speed command Vc, torque command τc, current command Ic) and transmits the current command Ic to each motor drive unit 50A and 50B. The processors 52 of the motor drive units 50A and 50B generate a drive current I according to the current command Ic and execute a motor drive operation to drive the motors 14A to 14E. In parallel with this motor drive operation, the processors 52 of the motor drive units 50A and 50B each execute the abnormal notification operation flow shown in Figure 4.

[0033] In step S11, the processor 52 determines whether or not it has obtained identification information ID from the control device 12. Identification information ID is information for identifying the motor drive device 50 to which the motor 14, which experienced the abnormality AB detected by the control device 12, is connected. For example, suppose the control device 12 detects a torque abnormality AB3 in motor 14B during the execution of an operation. In this case, as described above, the control device 12 obtains alarm information AL indicating the torque abnormality AB3 of motor 14B and displays it on the display device 16, while simultaneously identifying the motor drive device 50A to which the motor 14B that experienced the torque abnormality AB3 is connected from the system setting information SI. Then, the control device 12 transmits the identification information ID for identifying the motor drive device 50A to the motor drive device 50A.

[0034] For example, the control device 12 transmits the motor identification information IDm of the motor 14B where the torque anomaly AB3 occurred to the motor drive unit 50A as identification information ID. Alternatively, the control device 12 may transmit the motor identification information IDm of the motor 14B and the drive unit identification information IDd of the motor drive unit 50A as a single data package (data file) to the motor drive unit 50A as identification information ID.

[0035] The processor 52 of the motor drive unit 50A acquires identification information IDs (IDm, IDd) transmitted from the control device 12. In this way, the processor 52 functions as an information acquisition unit 72 (Figure 2) that acquires identification information IDs from the control device 12. In step S11, if the processor 52 acquires identification information IDs, it determines YES and proceeds to step S12, while if it determines NO, it proceeds to step S13.

[0036] In step S12, the processor 52 generates a notification signal SG based on the identification information ID acquired in step S11 to notify that the motor 14 where abnormal AB occurred is connected. In this embodiment, the processor 52 generates the notification signal SG based on the motor identification information ID m included in the acquired identification information ID to cause the display device 56 to display the motor 14 where abnormal AB occurred in an identifiable manner.

[0037] As an example, the processor 52 generates a notification signal SG to light up different light-emitting segments 64 depending on the motor 14 identified by the acquired motor identification information IDm. This function will be explained with reference to Figure 5. For example, if the acquired motor identification information IDm includes the number "1" of the first terminal 58A to which motor 14A or motor 14D is connected, the processor 52 generates a notification signal SG to light up the first light-emitting segment 64a among the multiple light-emitting segments 64, as shown in Figure 5(a).

[0038] On the other hand, if the acquired motor identification information IDm includes the number "2" of the second terminal 58B to which motor 14B or motor 14E is connected, the processor 52 generates a notification signal SG to light up the second light-emitting segment 64b, which is located in a different position from the first light-emitting segment 64a, as shown in Figure 5(b).

[0039] Furthermore, if the acquired motor identification information IDm includes the number "3" of the third terminal 58C to which the motor 14C is connected, the processor 52 generates a notification signal SG to light up the third light-emitting segment 64c, which is located in a different position from the first light-emitting segment 64a and the second light-emitting segment 64b, as shown in Figure 5(c).

[0040] Thus, the processor 52 generates a notification signal SG to light up one of the light-emitting segments 64a, 64b, or 64c corresponding to a character (number) included in the motor identification information IDm. Note that the processor 52 may light up any position of the light-emitting segment 64 according to the motor identification information IDm (number), not limited to the example in Figure 5.

[0041] As another example, the processor 52 generates a notification signal SG to light up the light-emitting segment 64 using a different lighting method LM depending on the motor 14 identified by the motor identification information IDm. For example, as an example of a different lighting method LM, the processor 52 lights up the light-emitting segment 64 with a different brightness α (luminance, illuminance, light intensity, etc.) depending on the motor 14. This function will be explained with reference to Figure 6.

[0042] For example, when the acquired motor identification information IDm includes the information of the number "1" of the first terminal 58A, as shown in FIG. 6(a), the processor 52 generates an alarm signal SG to light one light-emitting segment 64a at the first brightness α1. On the other hand, when the acquired motor identification information IDm includes the information of the number "2" of the second terminal 58B, as shown in FIG. 6(b), the processor 52 generates an alarm signal SG to light the light-emitting segment 64a at a second brightness α2 (<α1) smaller than the first brightness α1.

[0043] Also, when the acquired motor identification information IDm includes the information of the number "3" of the third terminal 58C, as shown in FIG. 6(c), the processor 52 generates an alarm signal SG to light the light-emitting segment 64a at a third brightness α3 (<α2) smaller than the second brightness α2. Note that the above brightnesses α1, α2, and α3 are not limited to α1>α2>α3, and may also be α1<α2<α3.

[0044] In this way, the processor 52 lights one light-emitting segment 64 at different brightnesses α according to the characters (numbers) included in the motor identification information IDm. By lighting the light-emitting segment 64 in such different lighting methods LM, the operator can identify the motor 14 in which the abnormality AB has occurred from the brightness α of the lit light-emitting segment 64. Note that the processor 52 is not limited to the light-emitting segment 64a shown in FIG. 6, and any light-emitting segment 64 at any position may be lit at different brightnesses α.

[0045] As another example of different lighting methods LM, the processor 52 blinks the light-emitting segment 64 at different periods β according to the motor 14. This function will be described with reference to FIG. 7. For example, when the acquired motor identification information IDm includes the information of the number "1" of the first terminal 58A, as shown in FIGS. 7(a) and (b), the processor 52 generates an alarm signal SG to blink one light-emitting segment 64a at the first period β1.

[0046] On the other hand, when the acquired motor identification information IDm includes the information of the number "2" of the second terminal 58B, the processor 52 generates an alarm signal SG so as to blink the light-emitting segment 64a at a second period β2 (<β1) shorter than the first period β1. Further, when the acquired motor identification information IDm includes the information of the number "3" of the third terminal 58C, the processor 52 generates an alarm signal SG so as to blink the light-emitting segment 64a at a third period β3 (<β2) shorter than the second period β2.

[0047] Thus, the processor 52 blinks one light-emitting segment 64 at different periods β according to the characters (numbers) included in the motor identification information IDm as different lighting patterns LM. With such a lighting pattern LM, the operator can identify the motor 14 in which the abnormality AB has occurred from the period β in which the light-emitting segment 64 blinks.

[0048] Note that the processor 52 is not limited to the light-emitting segment 64a shown in FIG. 7, and any light-emitting segment 64 may be blinked. Further, as different lighting patterns LM, the processor 52 may light the light-emitting segment 64 in different colors (for example, red, green, blue) according to the motor 14 (that is, the characters included in the motor identification information IDm).

[0049] As yet another example, the processor 52 generates an alarm signal SG so as to display, on the display device 56 (segment display), the characters or symbols for identifying the motor 14 included in the acquired motor identification information IDm by lighting a plurality of light-emitting segments 64. For example, when the acquired motor identification information IDm includes the information of the number "2" of the second terminal 58B, as shown in FIG. 8, the processor 52 lights the light-emitting segments 64 so as to display the number "2".

[0050] Thereby, the operator can identify the motor 14 in which the abnormality AB has occurred from the number displayed on the display device 56. Note that the processor 52 is not limited to numbers, and may display characters such as "A" or "B" uniquely assigned to the motor 14 as the motor identification information IDm, or symbols such as "×" or "□".

[0051] As described above, in step S12, the processor 52 generates a notification signal SG so that the motor 14 where the abnormality AB occurred is displayed on the display device 56 in an identifiable manner. Therefore, in this embodiment, the processor 52 functions as a notification signal generation unit 74 (Figure 2) that generates the notification signal SG. This notification signal SG can notify the operator of the motor drive device 50 to which the motor 14 where the abnormality AB occurred is connected.

[0052] If the control device 12 detects an abnormality AB in the motor 14B, the processor 52 of the motor drive unit 50A will determine YES in step S11 and generate a notification signal SG in step S12, which will be displayed visibly on the display device 56 of the motor drive unit 50A, for example, as shown in Figures 5 to 8. As a result, the operator can identify the motor drive unit 50A to which the motor 14B experiencing the abnormality AB is connected, from among the multiple motor drive units 50A and 50B.

[0053] Referring again to Figure 4, in step S13, the processor 52 determines whether it has received a command from the control device 12, the operator, or the computer program PG2 to terminate the abnormal notification operation. If the processor 52 determines it is YES, it terminates the flow shown in Figure 4; otherwise, it returns to step S11.

[0054] As described above, in the motor drive device 50, the information acquisition unit 72 acquires identification information IDs (IDm, IDd) from the control device 12 to identify the motor drive device 50 (for example, motor drive device 50A) to which the motor 14 (for example, motor 14B) that has experienced the abnormality AB detected by the control device 12 is connected (step S11).

[0055] Then, the notification signal generation unit 74 generates a notification signal SG based on the identification information ID acquired by the information acquisition unit 72, which notifies that the motor 14 to which abnormal AB occurred is connected (step S12). With this configuration, the operator can recognize the motor drive device 50 to which the motor 14 to which abnormal AB occurred is connected by the notification signal SG. As a result, the operator can take countermeasures against abnormal AB early, thereby reducing downtime during work.

[0056] Furthermore, in the motor drive unit 50, the display device 56 visually displays the notification signal SG generated by the notification signal generation unit 74. With this configuration, the operator can visually recognize the motor drive unit 50 to which the motor 14 experiencing the abnormality AB is connected by viewing the notification signal SG displayed on the display device 56.

[0057] Furthermore, in the motor drive device 50, the identification information ID includes a motor identification information ID m (for example, the number of terminals 58A, 58B, or 58C) that identifies the motor 14 where abnormal AB occurred, and the notification signal generation unit 74 generates a notification signal SG based on the motor identification information ID m so that the motor 14 where abnormal AB occurred is displayed on the display device 56 in an identifiable manner (Figures 5 to 8). With this configuration, the operator can easily identify the motor 14 where abnormal AB occurred.

[0058] Furthermore, in the motor drive device 50, the display device 56 has a segment display including a plurality of light-emitting segments 64. As an example, the notification signal generation unit 74 generates a notification signal SG to light up light-emitting segments 64a, 64b, or 64c at different positions according to the motor 14 identified by the motor identification information IDm (Figure 5).

[0059] As another example, the notification signal generation unit 74 generates a notification signal SG so as to light up the light-emitting segments 64a with different lighting methods LM (different brightness α, flashing period β, or color) depending on the motor 14 identified by the motor identification information IDm (Figures 6 and 7). As yet another example, the notification signal generation unit 74 generates a notification signal SG so as to display the character (number) or symbol that identifies the motor 14 included in the motor identification information IDm on the segment display by lighting up multiple light-emitting segments 64 (Figure 8).

[0060] With these configurations, the operator can easily visually recognize the motor 14 where an abnormality AB has occurred by the position of the illuminated light-emitting segments 64a, 64b, or 64c, the illumination method LM of the light-emitting segment 64a, or the characters or symbols displayed on the segment display. The display device 56 is not limited to a segment display, but may also be a liquid crystal display or an organic EL display, or any other display including multiple pixels arranged in the vertical and horizontal directions.

[0061] Furthermore, when the control device 12 detects an abnormality AB, it may transmit the abnormality identification information ID a along with the motor identification information ID m to the motor drive device 50 as identification information IDs. For example, suppose the control device 12 detects a torque abnormality AB3 of the motor 14B. In this case, the control device 12 transmits the motor identification information ID m (number "2") of the motor 14B and the abnormality identification information ID a (number "3") indicating the torque abnormality AB3 to the motor drive device 50A as identification information IDs. The processor 52 of the motor drive device 50A functions as an information acquisition unit 72 in step S11 described above, acquires the motor identification information ID m (number "2") and the abnormality identification information ID a (number "3") as identification information IDs, and determines YES.

[0062] Then, in step S12, the processor 52 functions as a notification signal generation unit 74 and generates a notification signal SG on the display device 56, which alternately displays a first display DS1 that identifies the motor 14 (motor 14B in this embodiment) where an abnormality AB (torque abnormality AB3 in this embodiment) has occurred, and a second display DS2 that identifies the abnormality AB, based on the motor identification information IDm and abnormality identification information IDa. An example of the first display DS1 and the second display DS2 is shown in Figure 9.

[0063] Figure 9(a) shows a first display DS1 that displays the number "2" as motor identification information IDm for motor 14B on the display device 56. On the other hand, Figure 9(b) shows a second display DS2 that displays the number "3" as abnormality identification information IDa for torque abnormality AB3 on the display device 56. The processor 52 generates a notification signal SG so that the first display DS1 and the second display DS2 are displayed alternately at a predetermined period.

[0064] Thus, in this embodiment, the identification information ID includes a motor identification information IDm that identifies the motor 14 where the abnormality AB occurred, and an abnormality identification information IDa that identifies the abnormality AB. The notification signal generation unit 74 generates a notification signal SG based on the motor identification information IDm and the abnormality identification information IDa, so as to alternately display on the display device 56 a first display DS1 that identifies the motor 14 where the abnormality AB occurred, and a second display DS2 that identifies the abnormality AB. With this configuration, the operator can easily visually identify the motor 14 where the abnormality AB occurred and the content of the abnormality AB.

[0065] Furthermore, the motor drive unit 50 may be equipped with an input device (button, keyboard, touch panel, etc.), and the processor 52 may display on the display device 56 that it switches between the first display DS1 and the second display DS2 in response to the input received through the input device. In addition, the processor 52 may not be limited to the number "2" shown in Figure 9(a) as the first display DS1, but may also display the motor 16B in an identifiable manner as shown in Figures 7 to 9.

[0066] Note that the motor identification information ID m may be omitted from the identification information ID. For example, if a torque abnormality AB3 of motor 14B is detected, the control device 12 may transmit only the abnormality identification information ID a (number "3") indicating the torque abnormality AB3 to the motor drive device 50A as the identification information ID. In this case, the processor 52 of the motor drive device 50A will generate a notification signal SG indicating the number "3" as the abnormality identification information ID a in step S12 described above.

[0067] In this case, the processor 52 may generate a notification signal SG to display the number "3" on the display device 56, as shown in Figure 9(b). In this way, the processor 52 generates a notification signal SG to display the abnormality AB on the display device 56 in an identifiable manner based on the abnormality identification information IDa. With this configuration, the operator can easily identify the content of the abnormality AB that has occurred.

[0068] Next, with reference to Figure 10, a motor drive device 50 according to another embodiment will be described. In this embodiment, the motor drive device 50 (50A, 50B) further includes a sensor 76 in addition to a processor 52, memory 54, display device 56, I / O interface 58, and housing 60. The sensor 76 has a current sensor and detects the current Id fed back from each motor 14 connected to the motor drive device 50.

[0069] Next, with reference to Figure 11, the operation method of the motor drive device 50 shown in Figure 10 will be described. In the flow chart shown in Figure 11, the same step numbers are used for processes that are the same as those in the flow chart of Figure 4, and redundant explanations are omitted. In this embodiment, if the processor 52 determines NO in step S11, or after executing step S12, in step S21, it determines whether or not a second abnormality AB of the motor 14 has been detected.

[0070] Specifically, the processor 52 detects that a current anomaly AB5 has occurred in relation to the current I of the motor 14 when the difference δi between the current Id detected by the sensor 76 and the current command Ic (or reference value) from the control device 12 exceeds a predetermined allowable value. Alternatively, the control device 12 may detect a current anomaly AB5 when the current command Ic is outside a predetermined allowable range. The current anomaly AB5 is identified by an anomaly identification information IDa. For example, the number "5" is assigned as the anomaly identification information IDa for the current anomaly AB5.

[0071] If a current anomaly AB5 occurs in the current I of motor 14B, the processor 52 of the motor drive unit 50A will detect the current anomaly AB5 based on the current Id of motor 14B detected by the sensor 76 and determine YES. Thus, in this embodiment, the processor 52 functions as an anomaly detection unit 78 (Figure 10) that detects a second anomaly AB (current anomaly AB5) of motor 14. If the processor 52 detects a second anomaly AB, it determines YES and proceeds to step S22, while if it determines NO, it proceeds to step S13.

[0072] In step S22, the processor 52 functions as a notification signal generation unit 74 and generates a second notification signal SG to notify the second abnormality AB detected in the preceding step S21. If it is detected that a current abnormality AB5 has occurred in the current I of the motor 14B, the processor 52 of the motor drive device 50A functions as an information acquisition unit 72 and acquires abnormality identification information IDa: number "5" which identifies the current abnormality AB5 detected in step S21, and motor identification information IDm (name NM: "motor 14B", or number "2") of the motor 14B that detected the current abnormality AB5. This abnormality identification information IDa and motor identification information IDm may be stored in advance in the memory 54 as a database.

[0073] Then, the processor 52 of the motor drive unit 50A functions as a notification signal generation unit 74 and generates a notification signal SG (second notification signal) to notify of the current abnormality AB5 based on the abnormality identification information ID a: number "5". For example, the processor 52 may generate the notification signal SG so that, as in Figure 9, a first display DS1 that identifies the motor 14B (number "2") where the current abnormality AB5 occurred and a second display DS2 that identifies the current abnormality AB5 (number "5") are alternately displayed on the display device 56 of the motor drive unit 50A.

[0074] In step S23, the processor 52 transmits alarm information AL to the control device 12. If, for example, a current anomaly AB5 of motor 14B is detected in step S21, the processor 52 of the motor drive unit 50A transmits the anomaly identification information IDa (number "5") of the current anomaly AB5, the motor identification information IDm of motor 14B (name NM: "motor 14B", or number "2"), and the date and time DH of the detection of the current anomaly AB5 as alarm information AL to the control device 12. The processor of the control device 12 displays the alarm information AL (date and time DH, name NM of motor 14B, and anomaly identification information IDa: number "5") received from the motor drive unit 50A on the display device 16.

[0075] As described above, in this embodiment, the abnormality detection unit 78 detects a second abnormality AB (current abnormality AB5) of the motor 14, and the information acquisition unit 72 acquires a second abnormality identification information IDa (number "5") that identifies the second abnormality AB. Then, the notification signal generation unit 74 generates a second notification signal SG that notifies of the second abnormality AB based on the second abnormality identification information IDa.

[0076] With this configuration, the motor drive unit 50 (50A, 50B) can detect abnormalities AB in the motor 14 connected to it and notify the operator of the occurrence of such abnormalities AB. The sensor 76 may also feed back the detected current Id data to the control device 12, and the control device 12 may detect current abnormalities AB5 based on the current Id. The sensor 76 may be a sensor other than a current sensor (such as a temperature sensor), and the processor 52 of the motor drive unit 50 may detect abnormalities AB other than current abnormalities AB5 (temperature abnormalities AB4).

[0077] In the above embodiment, a priority order may be assigned to multiple abnormalities AB. If multiple abnormalities AB are detected simultaneously, the processor 52 may generate a notification signal SG in step S12 or S22 according to the priority order. For example, among position abnormality AB1, speed abnormality AB2, torque abnormality AB3, temperature abnormality AB4, and current abnormality AB5, speed abnormality AB2 may be given the highest priority.

[0078] In this case, if a position anomaly AB1 and a speed anomaly AB2 occur simultaneously in the motor 14B, the processor 52 of the motor drive unit 50A will generate a notification signal SG in step S12 to display the number "2" as the anomaly identification information IDa for the speed anomaly AB2 on the display device 56 according to priority. The processor 52 may also generate notification signals SG to display the multiple anomalies AB in order according to priority if multiple anomalies AB are detected simultaneously.

[0079] The processor 52 may store the identification information ID obtained in step S11 in memory 54. For example, the processor 52 generates a database DB that stores the identification information IDs obtained in step S11 in chronological order and stores it in memory 54. Then, when the motor drive device 50 (50A, 50B) is started (i.e., powered on), the processor 52 refers to the database DB stored in memory 54 and reads the most recently stored identification information ID from memory 54.

[0080] The processor 52 then functions as a notification signal generation unit 74 and generates a notification signal SG based on the read identification information ID. For example, suppose the most recently stored identification information IDs are the motor identification information IDm of the motor 14B where the torque anomaly AB3 occurred, and the anomaly identification information IDa of the torque anomaly AB3. In this case, when the motor drive device 50A is started, the processor 52 of the motor drive device 50A obtains the motor identification information IDm of the motor 14B and the anomaly identification information IDa of the torque anomaly AB3 from the memory 54 and generates a notification signal SG that displays the motor identification information IDm and the anomaly identification information IDa, for example, as shown in Figure 9.

[0081] Thus, in this embodiment, the memory 54 stores the identification information ID acquired by the information acquisition unit 72, and the notification signal generation unit 74 generates a notification signal SG based on the identification information ID stored in the memory 54 when the motor drive unit 50 (50A, 50B) is started. With this configuration, even when the power to the motor drive unit 50 is turned OFF, the notification signal SG can be reproduced when the motor drive unit 50 is restarted.

[0082] The control device 12 may also detect an abnormality AB other than abnormalities AB1 to AB5 that occur in the motor 14. For example, one such abnormality AB is a power supply abnormality AB6 in which the power supply voltage of the control device 12 becomes abnormal. When the control device 12 detects such a power supply abnormality AB6, it may transmit an identification information ID, which includes an abnormality identification information IDa (for example, the number "6") that identifies the power supply abnormality AB6, to each motor drive device 50.

[0083] In this case, the processor 52 of the motor drive unit 50 may determine whether or not to generate a notification signal SG based on the acquired identification information ID. For example, suppose the processor 52 has acquired an identification information ID that includes the abnormality identification information IDa of power supply abnormality AB6. This abnormality identification information IDa does not include the motor identification information IDa.

[0084] The processor 52 may decide not to generate a notification signal SG if the acquired identification information ID does not include motor identification information ID a. Alternatively, the processor 52 may decide not to generate a notification signal SG if the abnormality identification information ID a included in the acquired identification information ID does not identify abnormalities AB1 to AB5 occurring in the motor 14.

[0085] Furthermore, when the control device 12 detects an abnormality AB, it may determine whether the detected abnormality AB corresponds to any of the abnormalities AB1 to AB5 that occur in the motor 14. If the detected abnormality AB does not correspond to any of the abnormalities AB1 to AB5 that occur in the motor 14, the control device 12 does not need to transmit the identification information ID to the motor drive device 50.

[0086] The processor 52 may execute the flow shown in Figure 4 or Figure 11 according to the computer program PG2 stored in memory 54. Furthermore, the functions of the information acquisition unit 72, the notification signal generation unit 74, and the abnormality detection unit 78 executed by the processor 52 may be functional modules realized by the computer program PG2. The computer program PG2 may also be provided as a program product stored in memory 54.

[0087] In the above-described embodiment, the processor 52 generates the notification signal SG as a display signal that can be visually displayed on the display device 56. However, the processor 52 is not limited to this, and may also generate the notification signal SG as an audio signal or a vibration signal and notify the operator as an audio or vibration by operating a speaker or vibrator provided on the motor drive device 50.

[0088] In the embodiments described above, the case in which the identification information ID includes at least one of the motor identification information ID m and the abnormality identification information ID a was described. However, the identification information ID is not limited to this, and may include, for example, a lighting command to light up the display device 56. In this case, the display device 56 may have a single light-emitting element (light bulb, lamp, etc.). The processor 52 may then generate a notification signal SG to light up the display device 56 according to the lighting command acquired as the identification information ID.

[0089] Alternatively, the control device 12 may transmit a notification signal SG' (display signal, audio signal, vibration signal) as identification information ID to the motor drive device 14. In this case, the processor 52 of the motor drive device 14 may convert the notification signal SG' acquired as identification information ID into a notification signal SG to be output to the display device 56, speaker, or vibrator.

[0090] Although the present disclosure has been described in detail above, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of the present disclosure or from the spirit of the present disclosure derived from the claims and their equivalents. Furthermore, these embodiments can be implemented in combination. For example, the order of operations and processes in the embodiments described above are shown as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0091] As described above, the present disclosure describes the following embodiments. (Embodiment 1) Motor drive devices 50, 50A, 50B that drive motors 14, 14A, 14B, 14C, 14D, 14E in accordance with a command C from a control device 12, comprising: an information acquisition unit 72 that acquires identification information ID from the control device 12 to identify the motor drive device 50, 50A, 50B to which the motor 14, 14A, 14B, 14C, 14D, 14E to which an abnormality AB detected by the control device 12 has occurred; and a notification signal generation unit 74 that generates a notification signal SG to notify that the motor 14, 14A, 14B, 14C, 14D, 14E to which the abnormality AB has occurred is connected, based on the identification information ID acquired by the information acquisition unit 72. (Aspect 2) The motor drive devices 50, 50A, 50B according to Aspect 1, further comprising a display device 56 that visually displays the notification signal SG generated by the notification signal generation unit 74. (Aspect 3) The motor drive devices 50, 50A, 50B according to Aspect 2, wherein the identification information ID includes motor identification information IDm that identifies motors 14, 14A, 14B, 14C, 14D, 14E where abnormalities AB have occurred, and the notification signal generation unit 74 generates a notification signal SG based on the motor identification information IDm so that the motors 14, 14A, 14B, 14C, 14D, 14E where abnormalities AB have occurred are displayed on the display device 56 in an identifiable manner. (Aspect 4) The motor drive devices 50, 50A, 50B according to aspect 3, wherein the display device 56 has a segment display including a plurality of light-emitting segments 64, and the notification signal generation unit 74 generates a notification signal SG to light up light-emitting segments 64a, 64b, 64c at different positions according to the motors 14, 14A, 14B, 14C, 14D, 14E identified by the motor identification information IDm, or generates a notification signal SG to light up the light-emitting segments 64 with different lighting methods LM according to the motors 14, 14A, 14B, 14C, 14D, 14E identified by the motor identification information IDm, or generates a notification signal SG to display on the segment display by lighting up a plurality of light-emitting segments 64 a character or symbol that identifies the motors 14, 14A, 14B, 14C, 14D, 14E included in the motor identification information IDm.(Aspect 5) The motor drive device 50, 50A, 50B according to any one of aspects 2 to 3, wherein the identification information ID includes an abnormality identification information IDa that identifies abnormality AB, and the notification signal generation unit 74 generates a notification signal SG based on the abnormality identification information IDa so as to display abnormality AB on the display device 56 in an identifiable manner. (Aspect 6) The motor drive device 50, 50A, 50B according to any one of aspects 2 to 5, wherein the identification information ID includes a motor identification information IDm that identifies motors 14, 14A, 14B, 14C, 14D, 14E where abnormality AB occurred, and an abnormality identification information IDa that identifies abnormality AB, and the notification signal generation unit 74 generates a notification signal SG based on the motor identification information IDm and abnormality identification information IDa so as to alternately display on the display device 56 a first display DS1 that identifies motors 14, 14A, 14B, 14C, 14D, 14E where abnormality AB occurred, and a second display DS2 that identifies abnormality AB. (Aspect 7) A motor drive device 50, 50A, 50B according to any one of aspects 1 to 6, further comprising a memory 54 that stores identification information ID acquired by an information acquisition unit 72, and a notification signal generation unit 74 that generates a notification signal SG based on the identification information ID stored in the memory 54 when the motor drive devices 50, 50A, 50B are started. (Aspect 8) A motor drive device 50, 50A, 50B according to any one of aspects 1 to 7, further comprising an abnormality detection unit 78 that detects a second abnormality A or B of the motors 14, 14A, 14B, 14C, 14D, 14E, further comprising an abnormality detection unit 78 that further acquires a second abnormality identification information IDa that identifies the second abnormality A or B, and a notification signal generation unit 74 that further generates a second notification signal SG that notifies of the second abnormality A or B based on the second abnormality identification information IDa. (Aspect 9) An industrial machine system 10 comprising a control device 12 capable of detecting abnormalities A and B of motors 14, 14A, 14B, 14C, 14D, and 14E, and motor drive devices 50, 50A, and 50B according to any of aspects 1 to 8 that drive motors 14, 14A, 14B, 14C, 14D, and 14E according to a command C from the control device 12.(Aspect 10) A method for operating motor drive devices 50, 50A, 50B that drive motors 14, 14A, 14B, 14C, 14D, 14E in accordance with a command C from a control device 12, wherein the processor 52 obtains identification information ID from the control device 12 to identify the motor drive device 50, 50A, 50B to which the motors 14, 14A, 14B, 14C, 14D, 14E to which abnormal AB detected by the control device 12 has occurred, and generates a notification signal SG based on the obtained identification information ID to notify that the motors 14, 14A, 14B, 14C, 14D, 14E to which abnormal AB has occurred is connected. (Aspect 11) A computer program PG2 that causes the processor 52 to execute the operation method described in Aspect 10.

[0092] 10 Industrial machinery system 12 Control devices 14, 14A, 14B, 14C, 14D, 14E Motors 50, 50A, 50B Motor drive devices 52 Processor 54 Memory 56 Display devices 64, 64a, 64b, 64c Light-emitting segments

Claims

1. A motor drive device that drives a motor in accordance with a command from a control device, comprising: an information acquisition unit that acquires identification information from the control device for identifying the motor to which the motor that has experienced an abnormality detected by the control device is connected; and a notification signal generation unit that generates a notification signal to notify that the motor that has experienced the abnormality is connected, based on the identification information acquired by the information acquisition unit.

2. The motor drive device according to claim 1, further comprising a display device that visually displays the notification signal generated by the notification signal generation unit.

3. The motor drive device according to claim 2, wherein the identification information includes motor identification information that identifies the motor in which the abnormality occurred, and the notification signal generation unit generates the notification signal based on the motor identification information so as to display the motor in which the abnormality occurred on the display device in an identifiable manner.

4. The motor drive device according to claim 3, wherein the display device has a segment display including a plurality of light-emitting segments, and the notification signal generation unit generates the notification signal so as to light up the light-emitting segments at different positions according to the motor identified by the motor identification information, or generates the notification signal so as to light up the light-emitting segments in a different lighting method according to the motor identified by the motor identification information, or generates the notification signal so as to display on the segment display the characters or symbols that identify the motor included in the motor identification information by lighting up the plurality of light-emitting segments.

5. The motor drive device according to claim 2, wherein the identification information includes abnormality identification information for identifying the abnormality, and the notification signal generation unit generates the notification signal based on the abnormality identification information so as to display the abnormality on the display device in an identifiable manner.

6. The motor drive device according to claim 2, wherein the identification information includes motor identification information for identifying the motor in which the abnormality occurred and abnormality identification information for identifying the abnormality, and the notification signal generation unit generates the notification signal based on the motor identification information and the abnormality identification information such that a first display for identifying the motor in which the abnormality occurred and a second display for identifying the abnormality are alternately displayed on the display device.

7. The motor drive device according to claim 1, further comprising a memory for storing the identification information acquired by the information acquisition unit, wherein the notification signal generation unit generates the notification signal based on the identification information stored in the memory when the motor drive device is started.

8. The motor drive device according to claim 1, further comprising an abnormality detection unit for detecting a second abnormality of the motor, wherein the information acquisition unit further acquires second abnormality identification information for identifying the second abnormality, and the notification signal generation unit further generates a second notification signal for notifying the second abnormality based on the second abnormality identification information.

9. An industrial machine system comprising: a control device capable of detecting abnormalities in a motor; and a motor drive device according to claim 1, which drives the motor in accordance with commands from the control device.

10. A method for operating a motor drive device that drives a motor in accordance with a command from a control device, wherein a processor obtains identification information from the control device for identifying the motor to which the motor that has experienced an abnormality detected by the control device is connected, and generates a notification signal based on the obtained identification information to notify that the motor that has experienced the abnormality is connected.

11. A computer program that causes the processor to execute the operation method described in claim 10.

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