Mechanical system equipped with control device and drive device

The mechanical system addresses inefficiencies in command generation by switching between control and drive units, achieving precise synchronization and high-speed control through selective command generation, optimizing communication and control precision.

WO2026126375A1PCT designated stage Publication Date: 2026-06-18FANUC LTD
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
FANUC LTD
Filing Date
2024-12-11
Publication Date
2026-06-18

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    Figure JP2024043784_18062026_PF_FP_ABST
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Abstract

In conventional mechanical systems, there are cases where a certain command needs to be generated on the control device side and cases where the same command needs to be generated on the motor drive side.　A mechanical system 10 comprises: a control device 14 that has a first command generation unit 22 for generating a first command; a drive device 16 that is communicatively connected to the control device 14 via a communication network 18, drives a machine 12 in accordance with a command from the control device 14, and has a second command generation unit 24 for generating the first command; and a switching unit 20 that switches the source of the first command between the first command generation unit 22 and the second command generation unit 24.
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Description

Mechanical system equipped with control device and drive device 【0001】 This disclosure relates to a mechanical system comprising a control device and a drive device. 【0002】 A drive device for driving a motor is known (for example, Patent Document 1). 【0003】 Japanese Patent Publication No. 2013-114340 【0004】 In conventional mechanical systems, there were cases where certain commands needed to be generated on the control unit side and cases where they needed to be generated on the drive unit side. 【0005】 In one embodiment of the present disclosure, the machine system comprises a control device that generates commands for operating a machine, and having a first command generation unit that generates a first command; a drive device that is communicably connected to the control device via a communication network and drives the machine according to commands from the control device, and having a second command generation unit that generates a first command; and a switching unit that switches the source of the first command between the first command generation unit and the second command generation unit. 【0006】 This is a block diagram of a mechanical system according to one embodiment. This is a block diagram of one function of the mechanical system shown in Figure 1. This is a flowchart showing the function flow of the switching unit according to one embodiment. This is a block diagram of another function of the mechanical system shown in Figure 1. This is a block diagram of yet another function of the mechanical system shown in Figure 1. This is a block diagram of yet another function of the mechanical system shown in Figure 1. 【0007】 The embodiments of this disclosure will now be described in detail with reference to the drawings. In the various embodiments described below, the same reference numerals will be used for similar elements, and redundant descriptions will be omitted. First, with reference to Figure 1, a machine system 10 according to one embodiment will be described. The machine system 10 comprises a machine 12, a control device 14, a drive device 16, a communication network 18, and a switching unit 20. In this embodiment, the machine 12 is, for example, an industrial machine such as a machine tool, a press, or an industrial robot (for example, a vertical articulated robot). Alternatively, the machine 12 may be a consumer machine such as an automobile or a household robot. 【0008】 The control device 14 has a processor (CPU, GPU, etc.) and memory (ROM, RAM, etc.) and generates commands C for operating the machine 12. In this embodiment, the control device 14 has a first command generation unit 22 that generates a first command C1 from among the commands C. The drive device 16 is communicably connected to the control device 14 via a communication network 18. The drive device 16 has a processor (CPU, GPU, etc.) and memory (ROM, RAM, etc.) and drives the machine 12 according to commands C from the control device 14. In this embodiment, the drive device 16 has a second command generation unit 24 that generates a first command C1, similar to the control device 14. 【0009】 The communication network 18 includes communication cables (optical fiber cables, LAN cables, etc.), LAN (wired or wireless), or the Internet, etc., and connects the control device 14 and the drive device 16 in a communicative manner. In this embodiment, the communication network 18 communicates digital signals between the control device 14 and the drive device 16 according to a predetermined digital communication standard DP. The digital communication standard DP has communication standards such as optical communication (FANUC serial servo bus communication: FSSB, etc.), USB communication, Ethernet communication, or Ethernet communication, and defines a predetermined communication bandwidth, maximum communication speed, or maximum communication capacity. 【0010】 The switching unit 20 switches the source of the first command C1 between the first command generation unit 22 of the control device 14 and the second command generation unit 24 of the drive device 16. That is, the switching unit 20 selectively decides whether to have the first command C1 generated by the first command generation unit 22 or by the second command generation unit 24. In this paper, the operating mode OM of the machine system 10 when the source of the first command C1 is switched to the first command generation unit 22 is referred to as synchronous control mode OM1. On the other hand, the operating mode OM of the machine system 10 when the source of the first command C1 is switched to the second command generation unit 24 is referred to as high-speed control mode OM2. 【0011】Next, with reference to Figure 2, the functions of the mechanical system 10 will be described in detail. In this embodiment, the machine 12 has a motor 36 (specifically, a servo motor), and the drive device 16 is a motor drive device that drives the motor 36. The mechanical system 10 further includes sensors 52 and 54 that detect the operating state parameter PR of the machine 12. 【0012】 Sensor 52 has an encoder or Hall element, and detects the position P of the machine 12 (specifically, the rotational position of the motor 36) as the operating state parameter PR. On the other hand, sensor 54 has an ammeter, and detects the current I supplied from the drive unit 16 to the machine 12 (specifically, the drive current of the motor 36) as the operating state parameter PR. In this embodiment, sensor 52 is provided on the motor 36 of the machine 12, while sensor 54 is provided inside the drive unit 16. Note that sensor 54 may also be provided on the machine 12 (motor 36). 【0013】 The control device 14 includes a position command generation unit 26, a speed command generation unit 28, a torque command generation unit 30, a current command generation unit 32, a voltage command generation unit 34, and a command switching unit 20A. The position command generation unit 26 generates a position command Cp that defines the position of the machine 12 (specifically, the rotational position of the motor 36). The speed command generation unit 28 generates a speed command Cs that defines the speed of the machine 12 (specifically, the rotational speed of the motor 36). The torque command generation unit 30 generates a torque command Cτ that defines the torque of the machine 12 (specifically, the driving torque of the motor 36). 【0014】 The current command generation unit 32 generates a current command Ci that defines the current that drives the machine 12 (specifically, the drive current of the motor 36). Specifically, the current command generation unit 32 generates a two-phase current command Ci ｄ and Ci ｑ The voltage command generation unit 34 generates a voltage command Cv that specifies the voltage to be applied to the machine 12 (specifically, the voltage applied to the motor 36). Specifically, the voltage command generation unit 34 generates a three-phase voltage command Cv Ｕ , Cv Ｖ and Cv Ｗ Generates. 【0015】In this embodiment, the speed command Cs, the torque command Cτ, the current commands Ci (Ci ｄ and Ci ｑ ), and the voltage commands Cv (Cv Ｕ , Cv Ｖ and Cv Ｗ ) constitute the first command C1. Therefore, the speed command generation unit 28, the torque command generation unit 30, the current command generation unit 32, and the voltage command generation unit 34 constitute the first command generation unit 22 that generates the first command C1. On the other hand, the position command Cp constitutes the second command C2. 【0016】 The command switching unit 20A switches the transmission destination of the position command Cp as the second command C2 between the first command generation unit 22 and the second command generation unit 24. When the command switching unit 20A switches the transmission destination to the second command generation unit 24, the command switching unit 20A transmits the position command Cp as the second command C2 from the control device 14 to the drive device 16 via the communication network 18. At this time, the command switching unit 20A transmits the position command Cp as a digital signal conforming to the digital communication standard DP. 【0017】 The processor (not shown) of the control device 14 functions as the position command generation unit 26, the speed command generation unit 28, the torque command generation unit 30, the current command generation unit 32, the voltage command generation unit 34, and the command switching unit 20A. The functions of the position command generation unit 26, the speed command generation unit 28, the torque command generation unit 30, the current command generation unit 32, the voltage command generation unit 34, and the command switching unit 20A executed by the processor of the control device 14 may be functional modules realized by the computer program PG1. 【0018】 The computer program PG1 is stored in advance in the memory (computer-readable non-transitory storage medium) of the control device 14. This computer program PG1 may be provided as a program product stored in the memory. Thus, in this embodiment, the function of the command switching unit 20A is implemented in the control device 14 as a functional module executed by the processor of the control device 14. 【0019】The drive unit 16 includes a speed command generation unit 38, a torque command generation unit 40, a current command generation unit 42, a voltage command generation unit 44, an amplification unit 46, and feedback switching units 20B and 20C. The speed command generation unit 38, the torque command generation unit 40, the current command generation unit 42, and the voltage command generation unit 44 generate a speed command Cs, a torque command Cτ, and a current command Ci (Ci) as the first command C1. ｄ and Ci ｑ ), and voltage command Cv (Cv Ｕ , Cv Ｖ and Cv Ｗ ) are generated respectively. Therefore, the speed command generation unit 38, torque command generation unit 40, current command generation unit 42, and voltage command generation unit 44 constitute a second command generation unit 24 that generates the first command C1. 【0020】 The feedback switching units 20B and 20C switch the destination of the operation state parameter PR transmitted from sensors 52 and 54 between the first command generation unit 22 and the second command generation unit 24. Specifically, the feedback switching unit 20B receives position P data transmitted from sensor 52 and switches the destination of the position P between the first command generation unit 22 and the second command generation unit 24. 【0021】 When the feedback switching unit 20B switches the transmission destination to the first command generation unit 22, it transmits position P data, which is the operating state parameter PR, from the drive unit 16 to the control unit 14 via the communication network 18. At this time, the feedback switching unit 20B transmits the position P data as a digital signal compliant with the digital communication standard DP. 【0022】 Meanwhile, the feedback switching unit 20C receives current I data transmitted from the sensor 54 and switches the destination of the current I between the first command generation unit 22 and the second command generation unit 24. When the feedback switching unit 20C switches the destination to the first command generation unit 22, it transmits the current I data as an operating state parameter PR from the drive unit 16 to the control device 14 via the communication network 18. At this time, the feedback switching unit 20C transmits the current I data as a digital signal compliant with the digital communication standard DP. 【0023】 The processor (not shown) of the drive unit 16 functions as a speed command generation unit 38, a torque command generation unit 40, a current command generation unit 42, a voltage command generation unit 44, an amplification unit 46, and feedback switching units 20B and 20C. The functions of the speed command generation unit 38, torque command generation unit 40, current command generation unit 42, voltage command generation unit 44, amplification unit 46, and feedback switching units 20B and 20C, executed by the processor of the drive unit 16, may be functional modules implemented by a computer program PG2. 【0024】 The computer program PG2 is pre-stored in the memory (computer-readable non-temporary storage medium) of the drive unit 16. This computer program PG2 may also be provided as a program product stored in memory. Thus, in this embodiment, the functions of the feedback switching units 20B and 20C are implemented in the drive unit 16 as functional modules executed by the processor of the drive unit 16. 【0025】 The command switching unit 20A, the feedback switching units 20B and 20C constitute the switching unit 20 described above. Therefore, in this embodiment, the processors of the control device 14 and the drive device 16 perform the functions of the switching unit 20. As an example, the switching unit 20 switches the source of the first command C1 between the first command generation unit 22 and the second command generation unit 24 according to predetermined setting information SI. The setting information SI is, for example, information that specifies the synchronous control mode OM1 or the high-speed control mode OM2 described above, and is set in advance by the manufacturer of the machine system 10 and stored in the memory of the control device 14 or the drive device 16. 【0026】 The switching unit 20 refers to the setting information SI, and if the setting information SI specifies the second command generation unit 24 (or high-speed control mode OM2), it switches the source of the first command C1 to the second command generation unit 24. On the other hand, if the setting information SI specifies the first command generation unit 22 (or synchronous control mode OM1), the switching unit 20 switches the source of the first command C1 to the first command generation unit 22. 【0027】As another example, the switching unit 20 switches the source of the first command C1 between the first command generation unit 22 and the second command generation unit 24 according to the operation program OP for operating the machine 12. The operation program OP specifies an instruction code for executing the high-speed control mode OM2 (e.g., G code: G00) and an instruction code for executing the synchronous control mode OM1 (e.g., G code: G01). 【0028】 When the switching unit 20 reads instruction code G00 while executing the operation program OP, it switches the source of the first command C1 to the second command generation unit 24 according to the instruction code G00 (high-speed control mode OM2). On the other hand, when the switching unit 20 reads instruction code G01 while executing the operation program OP, it switches the source of the first command C1 to the first command generation unit 22 according to the instruction code G01 (synchronous control mode OM1). 【0029】 The operation of the synchronous control mode OM1 will be described in detail below. In this synchronous control mode OM1, the first command generation unit 22 of the control device 14 (speed command generation unit 28, torque command generation unit 30, current command generation unit 32, and voltage command generation unit 34) generates the first command C1 (speed command Cs, torque command Cτ, current command Ci, and voltage command Cv). 【0030】 Specifically, the position command generation unit 26 generates a position command Cp according to the operation program OP and outputs it to the command switching unit 20A. In synchronous control mode OM1, the command switching unit 20A switches the destination of the position command Cp, which is the second command C2, to the first command generation unit 22. Therefore, the command switching unit 20A transmits the position command Cp output by the position command generation unit 26 to the speed command generation unit 28, which constitutes the first command generation unit 22. 【0031】 On the other hand, in synchronous control mode OM1, the feedback switching unit 20B switches the destination of the position P data transmitted from the sensor 52 to the first command generation unit 22. Therefore, the feedback switching unit 20B transmits the position P data from the sensor 52 to the control device 14 via the communication network 18. 【0032】The data of the position P received by the control device 14 is transmitted to the speed command generation unit 28. Further, the data of the position P is time-differentiated by a differentiator (not shown) to obtain the speed S (= δP / δt), and is transmitted to the torque command generation unit 30. Further, the phase φ of the position P is obtained from the data of the position P, and is transmitted to the voltage command generation unit 34. 【0033】 Incidentally, the feedback switching unit 20B may obtain the speed S by time-differentiating the position P, and transmit the data of the speed S to the torque command generation unit 30 via the communication network 18. Further, the feedback switching unit 20B may obtain the phase φ of the position P, and transmit the data of the phase φ to the voltage command generation unit 34 via the communication network 18. 【0034】 On the other hand, in the synchronous control mode OM1, the feedback switching unit 20C switches the transmission destination of the data of the current I transmitted from the sensor 54 to the first command generation unit 22. Therefore, the feedback switching unit 20C transmits the data of the current I from the sensor 54 to the control device 14 via the communication network 18. The data of the current I received by the control device 14 is transmitted to the current command generation unit 32. 【0035】 The speed command generation unit 28 generates a speed command Cs as the first command C1 based on the position command Cp as the second command C2 and the position P acquired from the feedback switching unit 20B. The torque command generation unit 30 generates a torque command Cτ based on the speed command Cs generated by the speed command generation unit 28 and the speed S acquired from the feedback switching unit 20B. 【0036】 The current command generation unit 32 generates a current command Ci (Ci ｄ and Ci ｑ ) based on the torque command Cτ generated by the torque command generation unit 30 and the current I acquired from the feedback switching unit 20C. The voltage command generation unit 34 generates a voltage command Cv (Cv Ｕ , Cv Ｖ and Cv Ｗ)(is generated. The voltage command Cv generated by the voltage command generation unit 34 is transmitted to the control device 14 via the communication network 18.) 【0037】 And the amplifier unit 46 of the drive device 16 generates a drive current by performing PWM control on the voltage command Cv received from the control device 14, and supplies it to the motor 36 of the machine 12. Thus, the motor 36 is driven by the drive current, and the machine 12 operates according to the operation program OP under the synchronous control mode OM1.) 【0038】 As described above, in the synchronous control mode OM1, the command switching unit 20A, the feedback switching units 20B and 20C that constitute the switching unit 20 switch the transmission destinations of the second command C2 (position command Cp) and the operation state parameter PR (position P, current I) to the first command generation unit 22, whereby the first command generation unit 22 provided in the control device 14 generates the first command C1 (speed command Cs, torque command Cτ, current command Ci, and voltage command Cv). 【0039】 According to such a synchronous control mode OM1, for example, when a plurality of motors 36 are provided in the machine 12, the control of the plurality of motors 36 can be synchronized with high precision. Specifically, in the synchronous control mode OM1, the control device 14 can take charge of the operation of generating the first command C1 for the plurality of motors 36.) 【0040】 Further, in the present embodiment, the operation state parameters PR detected by the sensors 52 and 54 are fed back to the control device 14, and the control device 14 can generate the first command C1 for the plurality of motors 36 based on the collected operation state parameters PR. In this way, by taking charge of the arithmetic processing in which the control device 14 generates the first command C1 for the plurality of motors 36, the control of the plurality of motors 36 can be synchronized with high precision.) 【0041】Next, the operation of the high-speed control mode OM2 will be described in detail. In this high-speed control mode OM2, the second command generation unit 24 of the drive unit 16 (speed command generation unit 38, torque command generation unit 40, current command generation unit 42, and voltage command generation unit 44) generates the first command C1 (speed command Cs, torque command Cτ, current command Ci, and voltage command Cv). 【0042】 Specifically, in high-speed control mode OM2, the command switching unit 20A switches the destination of the position command Cp generated by the position command generation unit 26 to the second command generation unit 24. Therefore, the command switching unit 20A transmits the position command Cp output by the position command generation unit 26 from the control device 14 to the drive unit 16 via the communication network 18. The position command Cp received by the drive unit 16 is transmitted to the speed command generation unit 38, which constitutes the second command generation unit 24. 【0043】 On the other hand, in high-speed control mode OM2, the feedback switching unit 20B switches the destination of the position P data transmitted from the sensor 52 to the second command generation unit 24. The feedback switching unit 20B then transmits the position P data from the sensor 52 to the speed command generation unit 38. The position P data acquired by the feedback switching unit 20B is differentiated with respect to time by a differentiator (not shown) to obtain the speed S, which is then transmitted to the torque command generation unit 40. The phase φ of position P is also obtained from the position P data and transmitted to the voltage command generation unit 44. 【0044】 The feedback switching unit 20B may also determine the velocity S by differentiating the position P with respect to time and transmit the velocity S data to the torque command generation unit 40. Alternatively, the feedback switching unit 20B may determine the phase φ of the position P and transmit the phase φ data to the voltage command generation unit 44. 【0045】 On the other hand, in high-speed control mode OM2, the feedback switching unit 20C switches the destination of the current I data transmitted from the sensor 54 to the second command generation unit 24. Therefore, the feedback switching unit 20C transmits the current I data from the sensor 54 to the current command generation unit 42. 【0046】The speed command generation unit 38 generates a speed command Cs as a first command C1 based on a position command Cp as a second command C2 and a position P obtained from the feedback switching unit 20B. The torque command generation unit 40 generates a torque command Cτ based on the speed command Cs generated by the speed command generation unit 38 and a speed S obtained from the feedback switching unit 20B. 【0047】 The current command generation unit 42 generates a current command Ci based on the torque command Cτ generated by the torque command generation unit 40 and the current I obtained from the feedback switching unit 20C. The voltage command generation unit 44 generates a voltage command Cv based on the current command Ci generated by the current command generation unit 42 and the phase φ obtained from the feedback switching unit 20B. The amplification unit 46 generates a drive current by PWM control of the voltage command Cv generated by the voltage command generation unit 44 and supplies it to the motor 36 of the machine 12. In this way, the motor 36 is driven by the drive current, and the machine 12 operates in high-speed control mode OM2 according to the operation program OP. 【0048】 As described above, in high-speed control mode OM2, the command switching unit 20A and the feedback switching units 20B and 20C, which constitute the switching unit 20, switch the destination of the second command C2 (position command Cp) and operating state parameters PR (position P, current I) to the second command generation unit 24, so that the second command generation unit 24 provided in the drive device 16 generates the first command C1 (speed command Cs, torque command Cτ, current command Ci, and voltage command Cv). 【0049】 This high-speed control mode OM2 shortens the control period T of the feedback control using the operating state parameters PR fed back from sensors 52 and 54, thereby enabling high-speed control of the machine 12. Specifically, in high-speed control mode OM2, the operating state parameters PR fed back from sensors 52 and 54 are used to generate the first command C1 within the drive unit 16 without going through the communication network 18. 【0050】As mentioned above, the digital communication standard DP of the communication network 18 has limitations on communication bandwidth, maximum communication speed, or maximum communication capacity. Therefore, as the amount of information transmitted through the communication network 18 increases, it becomes more difficult to shorten the control period T. In the high-speed control mode OM2, the operating state parameters PR fed back from sensors 52 and 54 are used to generate the first command C1 without passing through the communication network 18, so the control period T can be shortened compared to the synchronous control mode OM1. As a result, the machine 12 can be controlled at high speed. 【0051】 Next, with reference to Figure 3, the function flow of the switching unit 20 will be described. When the processor of the control device 14 receives an operation start command, it executes steps S11 to S16. In step S11, the processor of the control device 14 determines whether the first command generation unit 22 or the second command generation unit 24 is designated as the source of the first command C1. 【0052】 For example, the above-mentioned operation start command is issued when the control device 14 is started (i.e., powered ON). Then, in step S11, the processor of the control device 14 refers to the setting information SI stored in memory. The processor of the control device 14 determines YES if the setting information SI specifies the first command generation unit 22 (or synchronous control mode OM1), while determining NO if the second command generation unit 24 (high-speed control mode OM2) is specified. 【0053】 As another example, the above-mentioned operation start command is issued when the processor of the control device 14 starts the operation program OP. In step S1, the processor of the control device 14 determines YES if it reads instruction code G01 (instruction code for synchronous control mode OM1) during the execution of the operation program OP. On the other hand, the processor of the control device 14 determines NO if it reads instruction code G00 (instruction code for high-speed control mode OM2). 【0054】If the result in step S11 is YES, in step S12 the processor of the control device 14 functions as a command switching unit 20A and switches the destination of the second command C2 (position command Cp) to the first command generation unit 22. Then, in step S13 the processor of the control device 14 sends a first switching signal SG1 to the drive device 16 indicating that the destination of the operation state parameter PR is to be switched to the first command generation unit 22. 【0055】 On the other hand, if the result in step S11 is NO, in step S14, the processor of the control device 14 functions as a command switching unit 20A and switches the destination of the second command C2 to the second command generation unit 24. Then, in step S15, the processor of the control device 14 sends a second switching signal SG2 to the drive device 16 indicating that the destination of the operation state parameter PR is to be switched to the second command generation unit 24. In step S16, the processor of the control device 14 determines whether or not it has received an operation termination command. If the processor of the control device 14 determines it is YES, it terminates the flow shown in Figure 3, while if it determines it is NO, it returns to step S11. 【0056】 Meanwhile, when the processor of the drive unit 16 receives an operation start command, it executes steps S21 to S24. In step S21, the processor of the drive unit 16 determines whether the destination of the operation state parameter PR from sensors 52 and 54 should be the first command generation unit 22 or the second command generation unit 24. Specifically, the processor of the drive unit 16 determines YES if it receives the first switching signal SG1 from the control device 14, and NO if it receives the second switching signal SG2. 【0057】If the result in step S21 is YES, in step S22 the processor of the drive unit 16 functions as feedback switching units 20B and 20C to switch the destination of the position P and current I from sensors 52 and 54 to the first command generation unit 22. On the other hand, if the result in step S21 is NO, in step S23 the processor of the drive unit 16 functions as feedback switching units 20B and 20C to switch the destination of the position P and current I from sensors 52 and 54 to the second command generation unit 24. In step S24 the processor of the drive unit 16 determines whether or not it has received an operation termination command. If the processor of the drive unit 16 determines it is YES, it terminates the flow shown in Figure 3, while if it determines it is NO, it returns to step S21. 【0058】 As described above, in this embodiment, the switching unit 20 switches the source of the first command C1 between the first command generation unit 22 and the second command generation unit 24. With this configuration, it is possible to appropriately switch whether the first command C1 is generated by the control device 14 or by the drive device 16, depending on the operation to be performed by the machine 12 (for example, the operation mode OM). 【0059】 For example, when the first command C1 is generated by the control device 14, as described above, the control device 14 can consolidate the calculation process for generating the first command C1 to the multiple motors 36, and as a result, a synchronous control mode OM1 can be realized that synchronizes the control of the multiple motors 36 with high precision. On the other hand, when the first command C1 is generated by the drive device 16, the amount of information transmitted through the communication network 18 can be reduced (specifically, the amount of information for the position command Cp < the amount of information for the voltage command Cv), so a high-speed control mode OM2 can be realized. 【0060】 Furthermore, in this embodiment, the first command C1 includes a speed command Cs, a torque command Cτ, a current command Ci, and a voltage command Cv. With this configuration, it is possible to appropriately switch whether these speed command Cs, torque command Cτ, current command Ci, and voltage command Cv are generated by the control device 14 or by the drive device 16. 【0061】Furthermore, in this embodiment, the first command generation unit 22 and the second command generation unit 24 generate the first command C1 (speed command Cs, torque command Cτ, current command Ci, voltage command Cv) based on the second command C2 (position command Cp in this embodiment). The switching unit 20 has a command switching unit 20A that switches the destination of the second command C2 between the first command generation unit 22 and the second command generation unit 24. With this configuration, it is possible to quickly switch whether the first command C1 is generated by the control device 14 or by the drive device 16 by a simple calculation process that switches the destination of the second command C2. 【0062】 Furthermore, in this embodiment, the second command C2 includes a position command Cp, and the first command C1 includes a speed command Cs. With this configuration, by simply switching the destination of the position command Cp that defines the target position of the machine 12, it is possible to quickly switch whether the speed command Cs is generated by the control device 14 or by the drive device 16. 【0063】 Furthermore, in this embodiment, the command switching unit 20A is implemented in the control device 14 and, when the transmission destination is switched to the second command generation unit 24, transmits the second command C2 from the control device 14 to the drive unit 16 via the communication network 18. With this configuration, the calculation process of switching the transmission destination of the second command C2 to the first command generation unit 22 and the calculation process of transmitting the second command C2 to the first command generation unit 22 to generate the first command C1 can be efficiently executed within the control device 14, and synchronous control mode OM1 can be realized. On the other hand, when the transmission destination of the second command C2 is switched to the second command generation unit 24, the second command C2 can be transmitted from the control device 14 to the drive unit 16, thereby realizing high-speed control mode OM2 in which the drive unit 16 generates the first command C1. 【0064】Furthermore, in this embodiment, sensors 52 and 54 detect the operating state parameters PR of the machine 12 (position P and current I in this embodiment), and the first command generation unit 22 and the second command generation unit 24 generate a first command C1 based on the operating state parameters PR transmitted by sensors 52 and 54. The switching unit 20 has feedback switching units 20B and 20C that switch the destination of the transmission of the operating state parameters PR from sensors 52 and 54 between the first command generation unit 22 and the second command generation unit 24. 【0065】 With this configuration, the synchronous control mode OM1 and the high-speed control mode OM2 can be switched appropriately depending on the operation performed by the machine 12, thereby enabling more effective execution of the synchronous control mode OM1 and the high-speed control mode OM2. For example, when the destination of the operation state parameter PR is switched to the first command generation unit 22 (synchronous control mode OM1), as described above, the control device 14 can collect the operation state parameter PR and consolidate the calculation process to generate the first command C1 to the multiple motors 36 based on the collected operation state parameter PR. This makes it possible to more effectively realize the synchronous control mode OM1, which synchronizes the control of the multiple motors 36 with high precision. 【0066】 On the other hand, when the destination of the operating state parameter PR is switched to the second command generation unit 24 (high-speed control mode OM2), the operating state parameter PR fed back from sensors 52 and 54 is supplied to the second command generation unit 24 without going through the communication network 18 and is used to generate the first command C1. This shortens the control cycle T, making high-speed control mode OM2 more effective. 【0067】 Furthermore, in this embodiment, the operating state parameter PR includes the position P of the machine 12 and the current I supplied to the machine 12, and the first command C1 includes a speed command Cs and a current command Ci. With this configuration, by simply switching the destination of the position P and current I fed back from sensors 52 and 54, it is possible to quickly switch whether the speed command Cs and current command Ci are generated by the control device 14 or by the drive device 16. 【0068】Furthermore, in this embodiment, the feedback switching units 20B and 20C are mounted on the drive unit 16 and, when the transmission destination is switched to the first command generation unit 22, transmit the operating state parameter PR from the drive unit 16 to the control unit 14 via the communication network 18. With this configuration, when the transmission destination of the operating state parameter PR is switched to the second command generation unit 24, the operating state parameter PR can be supplied to the second command generation unit 24 without going through the communication network 18. This makes it possible to realize the high-speed control mode OM2 more effectively. On the other hand, when the transmission destination of the operating state parameter PR is switched to the first command generation unit 22, the operating state parameter PR can be supplied from the drive unit 16 to the control unit 14, thereby realizing the synchronous control mode OM1 in which the control unit 14 generates the first command C1. 【0069】 Furthermore, in one example of this embodiment, the switching unit 20 switches the source of the first command C1 between the first command generation unit 22 and the second command generation unit 24 according to predetermined setting information SI. With this configuration, the source of the first command C1 can be initially set by the setting information SI. The setting information SI may be configured to be editable in response to the operator's input operation to the input device provided in the control device 14 or the drive device 16. 【0070】 As another example, the switching unit 20 switches the source of the first command C1 between the first command generation unit 22 and the second command generation unit 24 according to the operation program OP. With this configuration, while the machine 12 is being operated by executing the operation program OP, the source of the first command C1 (in other words, between synchronous control mode OM1 and high-speed control mode OM2) can be switched automatically and dynamically. 【0071】 Furthermore, in this embodiment, the communication network 18 communicates digital signals between the control device 14 and the drive device 16 according to a predetermined digital communication standard DP. This configuration makes communication between the control device 14 and the drive device 16 more efficient. 【0072】Note that at least one of the position command generation unit 26, speed command generation units 28 and 38, and torque command generation units 30 and 40 can be omitted from the mechanical system 10 shown in Figure 2. Such a configuration will be described below with reference to Figures 4 to 6. In the mechanical system 10 shown in Figure 4, the control device 14 has a speed command generation unit 28', and the aforementioned torque command generation unit 30, current command generation unit 32, voltage command generation unit 34, and command switching unit 20A. On the other hand, the drive device 16 has the aforementioned torque command generation unit 40, current command generation unit 42, voltage command generation unit 44, amplification unit 46, and feedback switching units 20B and 20C. 【0073】 The speed command generation unit 28' generates a speed command Cs' that defines the target speed of the machine 12 (specifically, the target rotational speed of the motor 36) according to the operation program OP. In this embodiment, the speed command Cs' generated by the speed command generation unit 28' constitutes the second command C2, while the torque command Cτ, current command Ci, and voltage command Cv constitute the first command C1. Therefore, the torque command generation unit 30, current command generation unit 32, and voltage command generation unit 34 of the control device 14 constitute the first command generation unit 22 that generates the first command C1. 【0074】 Furthermore, the torque command generation unit 40, current command generation unit 42, and voltage command generation unit 44 of the drive unit 16 constitute a second command generation unit 24 that generates the first command C1. The command switching unit 20A switches the destination of the speed command Cs', which is the second command C2, between the first command generation unit 22 and the second command generation unit 24. When the command switching unit 20A switches the destination of the speed command Cs' to the first command generation unit 22, the torque command generation unit 30 generates a torque command Cτ based on the speed command Cs' and the speed S obtained from the feedback switching unit 20B. 【0075】On the other hand, when the destination of the speed command Cs' is switched to the second command generation unit 24, the command switching unit 20A transmits the speed command Cs' output by the speed command generation unit 28' to the drive unit 16 via the communication network 18 and supplies it to the torque command generation unit 40. The torque command generation unit 40 generates a torque command Cτ based on the speed command Cs' and the speed S obtained from the feedback switching unit 20B. 【0076】 In the mechanical system 10 shown in Figure 5, the control device 14 includes a torque command generation unit 30', the current command generation unit 32, the voltage command generation unit 34, and the command switching unit 20A. On the other hand, the drive device 16 includes the current command generation unit 42, the voltage command generation unit 44, the amplification unit 46, and the feedback switching units 20B and 20C. 【0077】 The torque command generation unit 30' generates a torque command Cτ' that defines the target torque of the machine 12 (motor 36) according to the operation program OP. In this embodiment, the torque command Cτ' generated by the torque command generation unit 30' constitutes the second command C2, while the current command Ci and the voltage command Cv constitute the first command C1. Therefore, the current command generation unit 32 and the voltage command generation unit 34 of the control device 14 constitute the first command generation unit 22 that generates the first command C1. 【0078】 Furthermore, the current command generation unit 42 and the voltage command generation unit 44 of the drive unit 16 constitute a second command generation unit 24 that generates the first command C1. The command switching unit 20A switches the destination of the torque command Cτ', which is the second command C2, between the first command generation unit 22 and the second command generation unit 24. When the command switching unit 20A switches the destination of the torque command Cτ' to the first command generation unit 22, the current command generation unit 32 generates a current command Ci based on the torque command Cτ' and the current I obtained from the feedback switching unit 20C. 【0079】On the other hand, when the destination of the torque command Cτ' is switched to the second command generation unit 24, the command switching unit 20A transmits the torque command Cτ' output by the torque command generation unit 30' to the drive unit 16 via the communication network 18 and supplies it to the current command generation unit 42. The current command generation unit 42 generates a current command Ci based on the torque command Cτ' and the current I obtained from the feedback switching unit 20C. 【0080】 In the mechanical system 10 shown in Figure 6, the control device 14 includes current command generation units 32' and 32'', and the aforementioned voltage command generation unit 34 and command switching unit 20A. On the other hand, the drive device 16 includes a current command generation unit 42', the aforementioned voltage command generation unit 44, an amplification unit 46, and feedback switching units 20B and 20C. 【0081】 The current command generation unit 32' generates a current command Ci' that defines the target current of the machine 12 (specifically, the target drive current of the motor 36) according to the operation program OP. In this embodiment, the current command Ci' generated by the current command generation unit 32' constitutes the second command C2, while the current command Ci generated by the current command generation unit 32'' and the voltage command Cv constitute the first command C1. Therefore, the current command generation unit 32'' and the voltage command generation unit 34 of the control device 14 constitute the first command generation unit 22 that generates the first command C1. Furthermore, the current command generation unit 42' and the voltage command generation unit 44 of the drive device 16 constitute the second command generation unit 24 that generates the first command C1. 【0082】 The command switching unit 20A switches the destination of the current command Ci', which is the second command C2, between the first command generation unit 22 and the second command generation unit 24. When the command switching unit 20A switches the destination of the current command Ci' to the first command generation unit 22, the current command generation unit 32'' generates a current command Ci based on the current command Ci' and the current I obtained from the feedback switching unit 20C (specifically, by calculating the difference between the current command Ci' and the current I). 【0083】On the other hand, when the destination of the current command Ci' is switched to the second command generation unit 24, the command switching unit 20A transmits the current command Ci' output by the current command generation unit 32' to the drive unit 16 via the communication network 18 and supplies it to the current command generation unit 42'. The current command generation unit 42' generates a current command Ci based on the current command Ci' and the current I obtained from the feedback switching unit 20C (specifically, by calculating the difference between the current command Ci' and the current I). 【0084】 At least one of the feedback switching units 20B and 20C can also be implemented in the control device 14. In this case, the operating state parameters PR (position P, current I) detected by sensors 52 and 54 are transmitted to the control device 14. The processor of the control device 14 functions as the feedback switching units 20B and 20C and switches the destination of the operating state parameters PR from sensors 52 and 54 between the first command generation unit 22 and the second command generation unit 24. In the above embodiment, sensor 52 may also detect the position P, speed S, and phase φ of the machine 12 and transmit them to the feedback switching unit 20B. 【0085】 In addition, sensors 52 and 54 may be omitted from the mechanical system 10, and feedback switching units 20B and 20C may be omitted from the switching unit 20. In this case, the first command generation unit 22 and the second command generation unit 24 generate the first command C1 without using the operating state parameters PR (position P, current I). 【0086】The command switching unit 20A can also be implemented in the drive unit 16. In this case, the control device 14 (or a higher-level controller) may provide the drive unit 16 with a second command C2 (position command Cp, speed command Cs', torque command Cτ', or current command Ci'). The processor of the drive unit 16 functions as the command switching unit 20A and switches the destination of the second command C2 between the first command generation unit 22 and the second command generation unit 24. In this case, the processor of the drive unit 16 executes steps S11 to S15 in Figure 3, while the processor of the control device 14 executes steps S21 to S24 in response to the first switching signal SG1 or the second switching signal SG2 transmitted from the drive unit 16. 【0087】 Note that the command switching unit 20A may be omitted from the switching unit 20. In this case, the second command C2 (for example, a position command Cp) is supplied to the first command generation unit 22 and the second command generation unit 24, while the feedback switching units 20B and 20C switch the destination of the operation state parameter PR between the first command generation unit 22 and the second command generation unit 24. The first command generation unit 22 or the second command generation unit 24 may generate the first command C1 only when it has received the operation state parameter PR from the feedback switching units 20B and 20C. 【0088】 In the above embodiment, the case described is one in which the machine 12 has a motor 36 and the drive device 16 is a motor drive device. However, it is not limited to this, and for example, the machine 12 may have a solenoid valve that controls the flow rate of the fluid. In this case, the drive device 16 drives the solenoid valve according to a command C from the control device 14. Also, the sensor 52 or 54 may detect the flow rate of the fluid as an operating state parameter PR. Furthermore, the command C is not limited to a position command Cp, a speed command Cs, a torque command Cτ, a current command Ci, and a voltage command Cv, but may also include, for example, a flow rate command that defines the flow rate of the fluid. 【0089】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. 【0090】As described above, the present disclosure describes the following embodiments. (Embodiment 1) A machine system 10 comprising: a control device 14 that generates a command C for operating a machine 12, having a first command generation unit 22 that generates a first command C1; a drive device 16 that is communicably connected to the control device 14 via a communication network 18 and drives the machine 12 according to a command C from the control device 14, having a second command generation unit 24 that generates the first command C1; and a switching unit 20 that switches the source of the generation of the first command C1 between the first command generation unit 22 and the second command generation unit 24. (Embodiment 2) The machine system 10 according to Embodiment 1, wherein the first command C1 includes a speed command Cs that defines the speed of the machine 12, a torque command Cτ that defines the torque of the machine 12, a current command Ci that defines the current that drives the machine 12, or a voltage command Cv that defines the voltage applied to the machine 12. (Aspect 3) The machine system 10 according to aspect 1 or 2, wherein the first command generation unit 22 and the second command generation unit 24 generate a first command C1 based on a second command C2, and the switching unit 20 has a command switching unit 20A that switches the destination of the second command C2 between the first command generation unit 22 and the second command generation unit 24. (Aspect 4) The machine system 10 according to aspect 3, wherein the second command C2 includes a position command Cp that defines the position of the machine 12, and the first command C1 includes a speed command Cs that defines the speed of the machine 12. (Aspect 5) The machine system according to aspect 3 or 4, wherein the command switching unit 20A is mounted on the control device 14 and transmits the second command C2 from the control device 14 to the drive device 16 via the communication network 18 when the destination is switched to the second command generation unit 24. (Aspect 6) The machine system 10 according to any one of aspects 1 to 5, further comprising sensors 52 and 54 for detecting operating state parameters PR of the machine 12, a first command generation unit 22 and a second command generation unit 24 for generating a first command C1 based on the operating state parameters PR transmitted by the sensors 52 and 54, and a switching unit 20 having feedback switching units 20B and 20C for switching the destination of the transmission of operating state parameters PR from the sensors 52 and 54 between the first command generation unit 22 and the second command generation unit 24.(Aspect 7) The machine system 10 according to aspect 6, wherein the operating state parameter PR includes the position P of the machine 12, and the first command C1 includes a speed command Cs that defines the speed of the machine 12. (Aspect 8) The machine system 10 according to aspect 6 or 7, wherein the operating state parameter PR includes the current I supplied to the machine 12, and the first command C1 includes a current command Ci that defines the current driving the machine 12. (Aspect 9) The machine system 10 according to any one of aspects 6 to 8, wherein the feedback switching units 20B and 20C are mounted on the drive unit 16 and transmit the operating state parameter PR from the drive unit 16 to the control unit 14 via the communication network 18 when the transmission destination is switched to the first command generation unit 22. (Aspect 10) The machine system 10 according to any one of aspects 1 to 9, wherein the switching unit 20 switches the source of generation between the first command generation unit 22 and the second command generation unit 24 according to a predetermined setting information SI or an operation program OP for operating the machine 12. (Aspect 11) The machine system 10 according to any one of aspects 1 to 10, wherein the communication network 18 communicates digital signals between the control device 14 and the drive device 16 according to a predetermined digital communication standard DP. (Aspect 12) The machine system 10 according to any one of aspects 1 to 11, wherein the machine 12 has a motor 36 and the drive device 16 is a motor drive device that drives the motor 36. 【0091】 10 Mechanical system 12 Machine 14 Control device 16 Drive device 18 Communication network 20 Switching unit 20A Command switching unit 20B, 20C Feedback switching unit 22 First command generation unit 24 Second command generation unit 36 ​​Motor 52, 54 Sensor

Claims

1. A machine system comprising: a control device for generating commands to operate a machine, having a first command generation unit for generating a first command; a drive device which is communicably connected to the control device via a communication network and drives the machine according to the commands from the control device, having a second command generation unit for generating the first command; and a switching unit which switches the source of the first command between the first command generation unit and the second command generation unit.

2. The machine system according to claim 1, wherein the first command includes a speed command for defining the speed of the machine, a torque command for defining the torque of the machine, a current command for defining the current driving the machine, or a voltage command for defining the voltage applied to the machine.

3. The machine system according to claim 1, wherein the first command generation unit and the second command generation unit generate the first command based on the second command, and the switching unit has a command switching unit that switches the destination of the second command between the first command generation unit and the second command generation unit.

4. The machine system according to claim 3, wherein the second command includes a position command that defines the position of the machine, and the first command includes a speed command that defines the speed of the machine.

5. The machine system according to claim 1, further comprising a sensor for detecting operating state parameters of the machine, wherein the first command generation unit and the second command generation unit generate a first command based on the operating state parameters transmitted by the sensor, and the switching unit has a feedback switching unit that switches the destination of the transmission of the operating state parameters from the sensor between the first command generation unit and the second command generation unit.

6. The machine system according to claim 5, wherein the operating state parameter includes a current supplied to the machine, and the first command includes a current command that defines the current driving the machine.

7. The mechanical system according to claim 5, wherein the feedback switching unit is mounted on the drive unit and transmits the operating state parameters from the drive unit to the control unit via the communication network when the destination is switched to the first command generation unit.

8. The machine system according to claim 1, wherein the switching unit switches the source between the first command generation unit and the second command generation unit according to predetermined setting information or an operation program for operating the machine.

9. The machine system according to claim 1, wherein the machine has a motor, and the drive device is a motor drive device that drives the motor.