Multi-Axis Motor Interface Control for Scalable Robot Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current motor control apparatuses face challenges in scalability to handle a large number of control axes, leading to increased development costs and higher prices due to the need for specialized ASICs, and complexity in synchronizing and interpolating control axes across multiple motor control apparatuses.
Innovation Solution
A motor control apparatus comprising a main CPU, multiple integrated circuits, and sub-CPUs, where each integrated circuit includes a motor interface control unit, allowing for flexible scalability by adjusting the number of integrated circuits based on the number of motors, and enabling efficient communication and control of a wide range of motors through serial communication units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If specialized ASICs are used for motor interface control to handle a large number of control axes, then the control capability is improved, but the development cost and device price increase
Solution Approach 1:
The patent applies universality by designing a single motor interface control IC that can handle multiple control axes (e.g., 32 axes) through integrated functional units. Each functional unit can control one or more axes, and multiple units are contained within one IC, allowing the same hardware to adapt to different control requirements without needing specialized ASICs for each configuration.
Solution Approach 2:
The patent segments the motor interface control function into multiple functional units, where each unit can independently control one or more axes. This segmentation allows flexible configuration of control axes by activating different numbers and combinations of functional units within the single IC, eliminating the need for multiple specialized ASICs.
2Adaptability or versatility
If multiple motor control apparatuses are connected to control a large number of axes, then the control flexibility is improved, but the synchronization and interpolation complexity increases
Solution Approach 1:
The patent merges multiple axis control functions into a single motor interface control IC by integrating multiple functional units within one chip. This consolidation reduces the number of separate control apparatuses needed, thereby simplifying synchronization and interpolation between multiple devices while maintaining the ability to control a large number of axes.
3Adaptability or versatility
If the number of integrated circuits is increased to control more motors, then the control coverage is improved, but the device complexity and cost increase
Solution Approach 1:
The patent applies universality by designing a single motor interface control IC that can handle multiple control axes (e.g., 32 axes) through integrated functional units. Each functional unit can control one or more axes, and multiple units are contained within one IC, allowing the same hardware to adapt to different control requirements without needing specialized ASICs.
Solution Approach 2:
The patent merges multiple axis control functions into a single motor interface control IC by integrating multiple functional units within one chip. This consolidation reduces the number of separate control apparatuses needed, thereby simplifying synchronization and interpolation between multiple devices while maintaining the ability to control a large number of axes.
Data Source
AI summary
A motor control apparatus includes a main CPU configured to output a position command value, a plurality of integrated circuits connected to the main CPU and provided depending on the number of a plurality of motors, and a plurality of sub-CPUs connected to the plurality of corresponding respective integrated circuits, wherein each of the plurality of integrated circuits includes a motor interface control unit that outputs a drive command value to an amplifier that drives each of the motors in such a way as to move the motor to a position of the position command value. Each of the plurality of sub-CPUs controls an output of the drive command value by the motor interface control unit in the integrated circuit connected to the sub-CPU, based on the position command value and a position feedback value of the motor being read via the integrated circuit connected to the sub-CPU.