JP2008269553A - Servo motor control unit and method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a servo motor control unit for directly and more quickly controlling a servo motor and to provide a servo motor control method. <P>SOLUTION: The servo motor control unit is provided with: a man-machine interface 100; a central processing unit 110; and a plurality of communication interfaces 200 and 300. The man-machine interface 100 among them inputs at least one parameter. The central processing unit 110 has a module that receives parameters and operates to generate an instruction. The central processing unit 110 further transmits the instruction to control at least one servo motor. The plurality of communication interfaces 200 and 300 are connected to the central processing unit 110 and the servo motor 500, respectively. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motor control method and apparatus, and more particularly to a servo motor control apparatus and method.

  Automation technology is one of the key technologies that accelerates the improvement of the industrial level and enhances competitiveness. In particular, precision positioning and control systems in the automation industry are becoming increasingly important, among which motors and related control components are the most important components.

  An electric motor is generally called a motor in the industry, and among them, a servo motor having a feedback function is relatively widely used in the industry. Conventional servo motor control methods are mainly divided into two types, one of which is controlled by a computer (PC) as shown in FIG. The computer 10 controls the servo motor 20 by communicating with a general-purpose bus / communication interface 12 (generally RS232) and an axis control card 14 (also called a servo motor control card). In other words, the computer 10 performs functions such as parameter setting or target position data correction with the axis control card 14 via the communication interface 12, and further communicates in real time with the computer 10 and monitors the operation of the servo motor 20. To do. More specifically, after the parameter is input by the computer 10 and the command is sent to the axis control card 14, the axis control card 14 sends the command to the servo driver 18, thereby monitoring the servo motor 20. Of these, the servo driver 18 actually controls the servo motor 20, but since the one that communicates with the servo driver 18 is the axis control card 14, the computer 10 simply communicates with the axis control card 14. Good.

  The second is controlled by a programmable logic controller (PLC). The programmable logic controller 10 controls the servo motor 20 by communicating with the servo driver 18 via the axis control card 14 of a dedicated programmable logic controller. In other words, the programmable logic controller 10 performs functions such as parameter setting or correction of target position data via the axis control card 14 and communicates with the servo driver 18. In the embodiment shown in FIG. 1, the programmable logic controller 10 is also connected to the axis control card 14 via a communication interface 12 (generally RS232). Of these, the programmable logic controller 10 sets various parameters and target positions with the axis control card 14, then the axis control card 14 sends a command to the servo driver 18, and then the programmable logic controller 10. Controls the servo motor 20 by using the I / O control function.

The computer / programmable logic controller 10 controls the single or plural servo motors 20 in a one-to-one or one-to-many format. Although the computer 10 can achieve the purpose of controlling and operating the servo motor 20, the computer 10 must pass through the axis control card 14 and the servo driver 18 in order to send commands to the servo motor 20. Therefore, if a plurality of servo motors 20 are controlled at the same time, there will be a problem that a time delay will inevitably occur. When the servo motor 20 is controlled by the programmable logic controller 10, the servo driver 18 is controlled by the dedicated axis control card 14, which is certainly quicker than computer operation, but the control method is relatively Since it is limited by the I / O control function, it lacks multiplicity.
JP 2000-33064 A JP-A-10-240330 JP-A-9-160627 JP-A-62-26517

SUMMARY OF THE INVENTION The main object of the present invention is to provide a servo motor control apparatus and method having the advantage of controlling the servo motor directly and more quickly.
SUMMARY OF THE INVENTION The main object of the present invention is to provide a servo motor control apparatus and method having the advantages of cost reduction.

  Another object of the present invention is to provide an apparatus and method for controlling various servo motors with program software.

  The present invention is a servo motor control device including a man-machine interface, a central processing unit, and a plurality of communication interfaces. Of these, the man-machine interface inputs at least one parameter. The central processing unit has a module that receives parameters and operates to generate instructions. The central processing unit further sends commands to control at least one servo motor. The plurality of communication interfaces respectively connect a man-machine interface, a central processing unit, and a servo motor.

  In the preferred embodiment, the central processing unit and man-machine interface may be juxtaposed or incorporated into a computer. The servo motor further includes a servo motor driver that receives commands sent from the central processing unit. The module is preferably a program / software which is a module sequence written for one / a plurality of specific servo motors. The communication interface further includes a first communication interface that connects the man-machine interface and the central processing unit, respectively, and a second communication interface that connects the central processing unit and the servo motor, respectively.

  The present invention includes the steps of inputting at least one parameter, receiving and operating the parameter to generate a command, sending the command, and controlling at least one servo motor based on the command. A servo motor control method is further provided.

  In the preferred embodiment, the parameters are entered by the I / O function of the man-machine interface and stored in storage means. In another preferred embodiment, the servo motor may be controlled by using the parameter stored by the previous parameter input. After inputting each parameter and generating a command via the module of the central processing unit, operations such as activation, positioning, delay or monitoring of the servo motor can be performed.

  The present invention provides a servo motor control apparatus having a programmable logic controller with a built-in module program and directly communicating with a servo motor driver, and a method therefor. In a preferred embodiment, the servo motor includes a direct current servo motor (also referred to as a brushless motor). However, in other different embodiments, an AC servo motor, an AC induction motor, an inverter motor, a direct current motor (DC motor), a stepping motor, a reluctance, A motor (Reluctance Motor) or other motors may be included. In addition, the present invention is a programmable logic controller (PLC) that controls a servo motor by inputting a program language that is originally developed and described, and restricts operation / control of the operation of any device. It is not a thing. In other words, the present invention is capable of operating / controlling equipment devices of different fields provided with servo motors of various devices. Hereinafter, embodiments of the present invention and steps thereof will be described in detail with reference to the drawings.

  FIG. 2a is a block schematic diagram of a servo motor control apparatus according to the present invention. The servo motor control device in the present embodiment includes a man-machine interface 100, a central processing unit 110, and a plurality of communication interfaces 200 and 300. Among them, the man-machine interface 100 inputs at least one parameter. The parameters here refer to the types, brands, model numbers, or other related data of various servo motors. In the man-machine interface 100, this parameter is converted into specific data such as commands such as torque, rotation speed, current, and deceleration. In this embodiment, the man-machine interface 100 is preferably a programmable logic controller (PLC). Programmable logic controllers are digital or analog I / O modules that control the electronic systems of equipment, manufacturing processes and other control modules. In other words, a programmable logic controller can receive / input and send / output multiple types of electrical or electronic signals, and can be used to control or control almost any type of mechanical and electrical system. it can. The central processing unit 110 (i.e., CPU) contains a module (not shown) that receives parameters and operates to generate instructions. The module referred to here is preferably a program / software written and described uniquely for various servo motors of a specific operation mode. Simply put, a module is program software written according to a predetermined parameter in each motor in a factory-shipped state. By processing the parameters, the module writes the above parameters to the address of the servo motor driver, and further controls the servo motor principle according to the servo motor driver (that is, outputs a command) to control each servo motor 500. The central processing unit 110 further sends a command to control the at least one servo motor 500. The plurality of communication interfaces 200 and 300 connect the man-machine interface 100, the central processing unit 110, and each servo motor 500, respectively.

  In the embodiment shown in FIG. 2 a, the communication interface preferably comprises a first communication interface 200 and a second communication interface 300. The first communication interface 200 is connected to the man-machine interface 100 and the central processing unit 110, and the second communication interface 300 is connected to the central processing unit 110 and the servo motor 500, respectively. The first communication interface 200 here is preferably RS232. The second communication interface 300 is preferably RS485. RS232 and RS485 are relatively early communication protocols for test or measurement applications, are currently widely supported by numerous instrumentation devices, and are commonly used for device under test (DUT) diagnostic or control ports Has been. However, in other different embodiments, the first communication interface 200 or the second communication interface 300 may include USB, IEEE 1394, or other different communication interfaces. The servo motor 500 further includes a servo motor driver 400. The servo motor driver 400 is a component that actually controls the servo motor 500 and receives a command from the central processing unit 110. In other words, the module built in the central processing unit 110 preferably communicates with the servo motor driver 400 to operate and control the servo motor 500.

  The central processing unit 110 is preferably provided independently of the man-machine interface 100 and is connected to the first communication interface 200. However, in the embodiment shown in FIG. 2 b, the central processing unit 110 may be juxtaposed with the man-machine interface 100 or integrated into a single computer 150. In the present embodiment, the above-described parameters are stored, and at least one storage unit 120 provided in the man-machine interface 100 is further provided. The storage means 120 mentioned here is preferably a random access memory (RAM). However, in the embodiment shown in FIG. 2 b, the man machine interface 100 may be provided outside the man machine interface 100 or in the computer 150.

  Also, in the embodiment shown in FIGS. 2a and 2b, the module preferably communicates with a plurality of servo motors 500 in a paired form. In other words, after each parameter is input and executed by the module of the central processing unit, operations such as system start-up, positioning, delay or servo motor status monitoring can be performed. In addition, each servo motor 500 is assigned with each servo motor driver 400, so that it can finally operate and control the servo motor 500 connected thereto.

  The servo motor control method in the present invention will be described below. As shown in FIG. 3, the servo motor control method according to the present invention includes a step 510 for inputting at least one parameter, a step 520 for receiving and operating the parameter to generate a command, and a step 530 for sending the command. , Controlling at least one servomotor based on the command (ie, step 540).

  Preferably, at least one parameter is input by setting a servo motor parameter by a man-machine interface, that is, corresponds to step 700 in the embodiment shown in FIG. Moreover, it is preferable that the parameters to be input are input by the I / O interface function of the man-machine interface. The input parameter here is an internal parameter of the servo motor, and the parameter position of the man-machine interface corresponds to the position of the storage means. In other words, each parameter is entered at the man-machine interface before the system is started, and these parameters are stored in the storage means of the man-machine interface. However, in other different embodiments, each parameter stored in the storage means by the previous input of the parameter may be set with assistance. In other words, before starting the system, without changing any parameter setting on the man-machine interface, it communicates with each servo motor driver based on the storage contents in the storage means, and thus each servo motor is Operate and control. The one that receives the parameter and generates the command in step 520 combines the parameter and the module built in the man-machine interface, and sends the combined command (ie, step 530) to the servo motor driver. In step 540, the servo motor is controlled.

  However, the embodiment shown in FIG. 4 further includes one that communicates with the servo motor driver through a communication interface. In other words, after the man-machine interface sets the servo motor parameters in step 700, the first communication interface in step 710 and the operation of the central processing unit module in step 720 communicate with the servo motor driver in step 740. . Of these, the operation of the central processing unit module in step 720 and the communication with the servo motor driver in step 740 preferably further include a connection to the second communication interface in step 730. In the embodiment shown in FIG. 4, the first communication interface at step 710 and the second communication interface at step 730 preferably communicate via RS232 and RS485 buses, respectively. However, in other different embodiments, communication may be performed over a versatile interface bus such as USB. Finally, the signal communicated via the servo motor driver in step 740 is provided to control each operation of the servo motor in step 750.

  Here, it should be particularly explained that the operation of the module of the central processing unit in step 720 in this embodiment can control a plurality of servo motors in a pair of a plurality of forms. In other words, in creating a module program, the purpose of operating and controlling a plurality of servo motors can be achieved by first defining each servo motor and further limiting each servo motor with a variable creation method. . However, in other different embodiments, the servomotors can be operated in a one-to-one manner.

  Although the invention has been described with reference to the related embodiments, the above embodiments are merely examples for carrying out the invention. It should be noted that the embodiments disclosed above are not intended to limit the scope of the invention. On the contrary, all modifications and equivalent arrangements of the technical idea and the scope included in the claims are included in the scope of the present invention.

It is a control block diagram which controls the servomotor in the past. It is a block schematic diagram of a servo motor control device in the present invention. It is the other block schematic of the servo motor control apparatus in this invention. It is the schematic of the flow of the simple control of the servomotor control method in this invention. It is the schematic of the preferable flow of the servomotor control method in this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Man machine interface, 110 ... Central processing unit, 120 ... Memory | storage means, 150 ... Computer, 200 ... 1st communication interface, 300 ... 2nd communication interface, 400 ... Servo motor driver, 500 ... Servo motor.

Claims (18)

A servo motor control device,
A man-machine interface for inputting at least one parameter;
A central processing unit having a module for receiving the parameters and operating to generate a command, and further sending the command to control at least one servo motor;
A servo motor control device comprising: the man-machine interface; the central processing unit; and a plurality of communication interfaces to which the servo motor is connected. The apparatus of claim 1, wherein the module includes program software. The apparatus of claim 1 wherein the central processing unit is juxtaposed with the man-machine interface. The apparatus according to claim 1, wherein the man-machine interface further comprises at least one storage means for storing the parameter. 5. The apparatus according to claim 4, wherein the storage means includes a random-access memory (RAM). The apparatus of claim 1, wherein the servo motor comprises a servo motor driver that receives the command from the central processing unit. The plurality of communication interfaces include a first communication interface that connects the man-machine interface and the central processing unit, and a second communication interface that connects the central processing unit and the servo motor. The apparatus according to claim 1, wherein: The apparatus of claim 7, wherein the first communication interface comprises an RS-232 communication interface. The apparatus of claim 7, wherein the second communication interface comprises an RS-485 communication interface. The apparatus according to claim 1, wherein the man-machine interface includes a programmable logic controller (PLC). The apparatus of claim 1, wherein the plurality of communication interfaces includes an RS-232 communication interface. The apparatus of claim 1, wherein the plurality of communication interfaces includes a USB communication interface. A servo motor control method,
Entering at least one parameter;
Receiving the parameters and operating to generate instructions;
And a step of controlling the at least one servo motor based on the command and sending the command. 14. The method of claim 13, wherein inputting the parameters further comprises inputting the parameters via a man machine interface and storing them in a storage means. The method according to claim 13, further comprising a step of omitting the input of the parameter by using the parameter stored by the input of the previous parameter. The method of claim 13, wherein generating the instructions comprises generating instructions by executing a module of a central processing unit. The method of claim 13, wherein inputting the parameters includes inputting each internal parameter of a plurality of servo motor drivers. The method of claim 13, wherein sending the command comprises sending a command to control the servo motor upon receipt at at least one servo motor driver.

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