JP2018113780A - Motor control system, component mounting apparatus, and motor control method - Google Patents

Abstract

Communication can be performed at a communication speed corresponding to the type of a driver. A control device 2 that generates a command C including profile information Ip and sequential operation information It, a first driver 3A that controls a first motor Ma, and a second driver 4A that controls a second motor Ms. The first driver 3A includes a receiving unit 31 that receives the command C from the control device 2 at the first communication speed, and sequential operation information It included in the command C for the first motor Ma received by the receiving unit 31. Based on the control unit 32 for controlling the first motor Ma, and the reception unit 31 transmits the profile information Ip included in the command C for the second motor Ms received to the second driver 4A at a second communication speed lower than the first communication speed. And the second driver 4A is based on the profile information Ip received from the transmission unit 34 of the first driver 3A. To control the second motor Ms. [Selection] Figure 1

Description

  The present invention relates to a technique for controlling a plurality of types of motors such as a servo motor or a stepping motor.

  Patent Document 1 discloses a configuration in which serial communication is performed on a communication path in which a command output from a control unit returns to the control unit via a servo driver and a stepping driver in order (FIG. 1). In such a configuration, each of the servo driver and the stepping driver can control the servo motor and the stepping motor based on a command received through serial communication.

JP 2001-168597 A

  By the way, the stepping driver and the servo driver have different command forms to be input. That is, the stepping driver can control the stepping motor based on the profile information once the profile information defining the operation profile indicating the operation of the motor for a predetermined period is given. On the other hand, the servo driver controls the servo motor based on sequential operation information that sequentially indicates the operation of the motor every unit time shorter than the predetermined period.

  Therefore, while it is necessary to send a command to the servo driver at a high communication speed, it is not always necessary to send a command to the stepping driver at a high communication speed like the servo driver. However, in the configuration in which the command is transmitted to the servo driver and the stepping driver through serial communication via a single communication path, the communication is executed at a uniform communication speed required by the servo driver, which is unnecessary for the stepping driver. In some cases, commands were sent at a high communication speed.

  The present invention has been made in view of the above problems, and an object thereof is to provide a technique that enables communication to be executed at a communication speed corresponding to the type of driver.

  The motor control system according to the present invention includes profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile for each unit time shorter than the predetermined period. A control device for generating a command, a first driver for controlling the first motor, and a second driver for controlling the second motor, wherein the first driver receives the command from the control device at the first communication speed. And a control unit for controlling the first motor based on sequential operation information included in the command for the first motor received by the receiver, and profile information included in the command for the second motor received by the receiver. And a transmission unit for transmitting at a second communication speed lower than the first communication speed. Iba controls the second motor based on the profile information received from the transmitting unit of the first driver.

  A component mounter according to the present invention supplies a board carrying unit that carries a board into a predetermined position and supports the board at a predetermined position, and a board carrying unit that carries out the board from the predetermined position. A component supply unit, a mounting head for performing a mounting operation for transferring the component supplied by the component supply unit to a substrate supported at a predetermined position by the substrate transport unit, a first motor for driving the mounting head, and a substrate The motor control system includes a second motor that drives the conveyance unit and the motor control system described above. The motor control system controls the first motor to cause the mounting head to perform a mounting operation and control the second motor. The substrate carrying unit is caused to execute a carry-in operation and a carry-out operation.

  The motor control method according to the present invention includes profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile for each unit time shorter than the predetermined period. Generating a command, receiving a command at a first communication speed by the first driver, controlling the first motor based on sequential operation information included in the command for the first motor, A step in which the first driver transmits the profile information included in the command for the two motors to the second driver at a second communication speed lower than the first communication speed; and a step in which the second driver controls the second motor based on the profile information. With.

  In the present invention thus configured (motor control system, component mounter, motor control method), a first driver for controlling the first motor and a second driver for controlling the second motor are provided. Then, the first driver receives a command including profile information and sequential operation information at the first communication speed. When the first driver receives a command for the first motor, the first driver controls the first motor based on sequential operation information included in the command. On the other hand, when the first driver receives a command for the second motor, the first driver obtains profile information included in the command. 2 Transmit to the driver at a second communication speed lower than the first communication speed. Then, the second driver controls the second motor based on the received profile information. As described above, communication is performed at the first communication speed for the first driver that controls the first motor based on the sequential operation information, whereas the second driver that controls the second motor based on the profile information. In contrast, communication is executed at a second communication speed lower than the first communication speed. Thus, it is possible to execute communication at a communication speed corresponding to the type of driver.

  In addition, the first driver further includes a conversion unit that converts an operating profile defining aspect of the profile information for the second driver, and the transmission unit transmits the profile information converted by the conversion unit to the second driver. In addition, a motor control system may be configured. Such a configuration is preferable because profile information in a prescribed form corresponding to the second driver can be transmitted from the first driver to the second driver.

  Further, the transmission unit may configure the motor control system so as to transmit the profile information converted by the conversion unit to the second driver by serial communication. As a result, an inexpensive second driver of the serial communication method can be used, so that cost can be suppressed.

  In addition, the control device may configure the motor control system so as to calculate the operation information based on the profile information after calculating the profile information. In such a configuration, the profile information generated in the process of calculating the sequential operation information can be effectively used when the second driver controls the second motor.

  As described above, according to the present invention, it is possible to execute communication at a communication speed corresponding to the type of driver.

It is a block diagram which shows an example of the motor control system which concerns on this invention. It is a flowchart which shows an example of operation | movement of a system controller. It is a figure which shows an example of the operation profile of a motor typically. It is a figure which shows an example of the profile information which prescribes | regulates the operation profile of FIG. It is a figure which shows typically an example of the command which a system controller outputs. It is a flowchart which shows an example of operation | movement of an AC servo driver. 7 is a flowchart illustrating an example of an operation executed by command conversion in the flowchart of FIG. 6. It is a flowchart which shows an example of operation | movement of a stepping driver. It is a figure which shows typically an example of the communication operation of a system controller and a stepping driver. It is a figure which shows typically the modification of communication operation | movement with a system controller and a stepping driver. It is a fragmentary top view which shows typically an example of the component mounting machine which concerns on this invention. It is a figure which shows the electrical constitution with which the component mounting machine of FIG. 11 is provided.

  FIG. 1 is a block diagram showing an example of a motor control system according to the present invention. The motor control system 1 includes a system controller 2, two AC servo drivers 3A and 3B, and two stepping drivers 4A and 4B. The system controller 2 and the AC servo drivers 3A and 3B are connected to each other by a high-speed communication path Nh configured by an industrial high-speed field bus such as EtherCAT (registered trademark), and the system controller 2 is connected to the high-speed communication path Nh. By outputting the command, the command is sequentially transmitted to the AC servo drivers 3A and 3B. The AC servo driver 3A controls two AC servo motors Ma based on the command received directly from the system controller 2, and the AC servo driver 3B is controlled based on the command received from the system controller 2 via the AC servo driver 3A. The AC servo motor Ma is controlled.

  The stepping driver 4A is connected to the AC servo driver 3A through a low-speed communication path Nl compliant with, for example, RS-422, which has a lower bandwidth than the high-speed communication path Nh. Specifically, for example, the communication speed on the high-speed communication path Nh is about 100 Mbps (bits / second), whereas the communication speed on the low-speed communication path Nl is 500 kbps to 1 Mbps. The stepping driver 4A controls the two stepping motors Ms based on the command received from the system controller 2 via the AC servo driver 3A. The stepping driver 4B is connected to the AC servo driver 3B through the low-speed communication path Nl. The stepping driver 4B controls the two stepping motors Ms based on a command received from the system controller 2 via the AC servo driver 3B.

  FIG. 2 is a flowchart showing an example of the operation of the system controller. Subsequently, the configuration and operation of the system controller 2 will be described with reference to FIGS. 1 and 2. The system controller 2 includes a motion controller 21 and a fieldbus controller 22 that controls communication via the high-speed communication path Nh. In step S101 in FIG. 2, the motion controller 21 generates profile information (FIG. 4) that defines an operation profile (FIG. 3) indicating the operation of the motor during the operation period.

  FIG. 3 is a diagram schematically showing an example of the operation profile of the motor, and FIG. 4 is a diagram showing an example of profile information defining the operation profile of FIG. As shown in FIG. 3, the operation profile Pm shows a motor acceleration / deceleration pattern over an operation period Tm from when the motor starts to when it stops. According to this operation profile Pm, during the acceleration time Ta, the rotational speed V of the motor increases from zero to the maximum speed Vx, and during the constant speed time Tb, the rotational speed V of the motor becomes constant at the maximum speed Vx and decelerates. During the time Tc, the rotational speed V of the motor decreases from the maximum speed Vx to zero.

  On the other hand, the profile information Ip generated by the motion controller 21 in step S101 is acceleration time, constant speed time, deceleration time, acceleration distance, constant speed distance, deceleration distance, maximum speed, target as shown in FIG. The motion profile Pm is defined by parameters such as position. In FIG. 4, the amount of information (bytes) representing each parameter and the unit of each parameter are shown together. Describing the unit, [ms] represents milliseconds, [pls] represents the number of pulses, and [rpm] represents the number of rotations per minute.

  The contents of the acceleration time, constant speed time, deceleration time and maximum speed in FIG. 4 are as shown in FIG. On the other hand, the acceleration distance, the constant speed distance, and the deceleration distance are the number of times that a pulse (control pulse) for controlling the motor is output during the acceleration time Ta, the constant speed time Tb, and the deceleration time Tc, respectively. The target position is the number of times that the control pulse is output during the operation period Tm. This control pulse is, for example, a pulse output from the encoder of the AC servomotor Ma when the AC servomotor Ma is a control target, and a pulse given to the stepping motor Ms when the stepping motor Ms is a control target. Although the number of pulses indicates the distance, the distance corresponding to one pulse differs depending on the motor. In order to cope with this, the system controller 2 stores the number of pulses (distance) corresponding to, for example, 1 mm for each motor.

  In step S102, the motion controller 21 sequentially calculates the motion information It based on the profile information Ip. This sequential operation information It sequentially indicates the operation of the motor indicated by the operation profile Pm, in other words, the command position to the motor every minute time t. Here, the minute time t is a unit for dividing the operation period Tm into a large number as shown in FIG. 3, and is, for example, 1 [ms] or less. Thus, when the command C (FIG. 5) composed of the profile information Ip and the sequential operation information It is generated, the fieldbus controller 22 sends the command C to the high-speed communication path Nh at the first communication speed (high communication speed). Transmit (step S103). Here, the communication speed can be obtained as a bit rate indicating the number of bits that can be transmitted per unit time.

  FIG. 5 is a diagram schematically illustrating an example of a command output by the system controller. As shown in FIG. 5, the sequential operation information It is transmitted following the transmission of the profile information Ip. At this time, the sequential operation information It included in the command C instructs the operation of the motor every minute time t. Therefore, the sequential operation information It (which is a packet included in the command C) must be transmitted earlier than the timing at which the servo controller 321 actually transmits to the drive circuit 33, and the sequential operation information It is from the minute time t. Must be transmitted from the fieldbus controller 22 to the high-speed communication path Nh in a short communication cycle.

  When the system controller 2 generates and transmits the command C for the motor, the system controller 2 ends the flowchart of FIG. The system controller 2 can generate a command C for each motor while designating four AC servo motors Ma and four stepping motors Ms. Each command C generated in this manner is sequentially transmitted from the system controller 2 to the high-speed communication path Nh.

  FIG. 6 is a flowchart showing an example of the operation of the AC servo driver. Next, the configuration and operation of the AC servo drivers 3A and 3B will be described with reference to FIGS. Since the configuration and operation of the AC servo drivers 3A and 3B are common, the AC servo driver 3A will be described as a representative here. As shown in FIG. 1, the AC servo driver 3 </ b> A includes a fieldbus controller 31, a CPU (Central Processing Unit) 32, a drive circuit 33, and a serial communication unit 34.

  The fieldbus controller 31 controls communication via the high-speed communication path Nh. The fieldbus controller 31 includes two axis data Da corresponding to the two AC servo motors Ma controlled by the AC servo driver 3A, and two corresponding to the two stepping motors Ms controlled by the stepping driver 4A. An area for receiving the axis data Ds is provided. 2, the fieldbus controller 31 receives the command C from the fieldbus controller 22 of the system controller 2 via the high-speed communication path Nh at the first communication speed. Further, the fieldbus controller 31 determines whether the motor to which the command C is specified is an AC servo motor Ma or a stepping motor Ms.

  When the motor to which the command C is specified is the AC servo motor Ma (in the case of “servo” in step S202), the servo controller 321 constructed in the CPU 32 determines the AC based on the sequential operation information It included in the command C. Feedback control is executed on the servo motor Ma (step S203). That is, the servo controller 321 outputs a control signal corresponding to the deviation between the command value indicated by the sequential operation information It and the output value of the encoder of the AC servo motor Ma to the drive circuit 33 every minute time t. Then, the drive circuit 33 outputs a drive signal corresponding to the control signal to the AC servo motor Ma to drive the AC servo motor Ma. As a result, the operation of the AC servo motor Ma follows the command value indicated by the sequential operation information It every minute time t, and the AC servo motor Ma executes the operation indicated by the operation profile Pm.

  Incidentally, the reason why the servo controller 321 controls the AC servo motor Ma based on the sequential operation information It is that the control of the servo controller 321 is feedback control. That is, if a large command value is given to a system that performs feedback control, a large deviation may occur, and the response may become oscillatory. Therefore, the servo controller 321 executes feedback control based on the sequential operation information It for the purpose of stabilizing the response by setting a minute change in the minute time t as a command value.

  On the other hand, when the motor designated as the command C is the stepping motor Ms (“stepping” in step S202), the command conversion unit 322 constructed in the CPU 32 executes command conversion (step S204). This command conversion converts the prescribed form of the operation profile Pm based on the profile information Ip transmitted from the system controller 2 into a prescribed form corresponding to the stepping driver 4A. That is, the profile information Ip transmitted from the system controller 2 defines the operation profile Pm by each parameter shown in FIG. On the other hand, in the stepping driver 4A, the operation profile Pm is defined using parameters different from these. Therefore, in step S204, command conversion shown in FIG. 7 is executed.

  FIG. 7 is a flowchart showing an example of an operation executed by command conversion in the flowchart of FIG. In step S301, the maximum speed [pps] is calculated by changing the unit of the maximum speed from [rpm] to [pps]. Here, [pps] is the number of pulses per second. In step S302, the acceleration [pps / s] is calculated by dividing the maximum speed by the acceleration time. In step S303, the deceleration [pps / s] is calculated by dividing the maximum speed by the deceleration time. In step S304, the target position [pls] is diverted as it is. The execution order of steps S301 to S304 is not limited to this. Alternatively, steps S301 to S304 may be performed in parallel. Thus, by executing steps S301 to S304, the operation profile Pm is defined with parameters such as maximum speed [pps], acceleration [pps / s], deceleration [pps / s], and target position [pls]. The prescribed form of the profile information Ip is converted, and the process returns to the flowchart of FIG.

  In step S205, the serial communication unit 34 serially transmits the profile information Ip converted by the command conversion unit 322 to the low-speed communication path Nl at the second communication speed (low communication speed). Here, the second communication speed is a communication speed lower than the first communication speed. Incidentally, the sequential operation information It included in the command C having the stepping motor Ms as the designation destination is discarded without being transmitted from the serial communication unit 34 to the stepping driver 4A.

  FIG. 8 is a flowchart showing an example of the operation of the stepping driver. Next, the configuration and operation of the stepping drivers 4A and 4b will be described using FIG. 1 and FIG. Since the configuration and operation of the stepping drivers 4A and 4B are common, the stepping driver 4A will be described as a representative here.

  In step S401, the stepping driver 4A serially receives the profile information Ip at the second communication speed from the serial communication unit 34 of the AC servo driver 3A via the low-speed communication path Nl. In step S402, the stepping driver 4A performs open loop control on the stepping motor Ms based on the received profile information Ip. That is, the stepping driver 4A generates a pulse corresponding to the profile information Ip and outputs the pulse to the stepping motor Ms. As a result, the stepping motor Ms performs the operation indicated by the operation profile Pm.

  As described above, the stepping drivers 4A and 4B communicate with the system controller 2 via the AC servo drivers 3A and 3B. FIG. 9 is a diagram schematically illustrating an example of a communication operation between the system controller and the stepping driver. In the example of FIG. 9, the system controller 2 transmits a command value (profile information Ip) to the AC servo drivers 3A and 3B, and the AC servo drivers 3A and 3B transmit the converted command values to the stepping drivers 4A and 4B. When the stepping drivers 4A and 4B receive the command value, the stepping drivers 4A and 4B transmit a response to the AC servo drivers 3A and 3B, and the AC servo drivers 3A and 3B transmit the received responses to the system controller 2.

  Further, as shown in FIG. 10, the status can be acquired during the period in which the command value is not transmitted in FIG. FIG. 10 is a diagram schematically showing a modification of the communication operation between the system controller and the stepping driver. In the example of FIG. 10, the AC servo drivers 3A and 3B transmit a signal for confirming the status to the stepping drivers 4A and 4B. Upon receiving this signal, the stepping drivers 4A and 4B respond to the AC servo drivers 3A and 3B with the status of the stepping motor Ms (whether there is an error or the target position is reached), and the AC servo drivers 3A and 3B The system controller 2 is requested to update the status according to the received response content.

  As described above, in the present embodiment, the AC servo drivers 3A and 3B for controlling the AC servo motor Ma and the stepping drivers 4A and 4B for controlling the stepping motor Ms are provided. Then, the AC servo drivers 3A and 3B receive the command C including the profile information Ip and the sequential operation information It at the first communication speed. When the AC servo driver 3A, 3B receives the command C for the AC servomotor Ma, it feedback-controls the AC servomotor Ma based on the sequential operation information It included in the command C, while receiving the command C for the stepping motor Ms. The profile information Ip included in the command C is transmitted to the stepping drivers 4A and 4B at a second communication speed lower than the first communication speed. Then, the stepping drivers 4A and 4B perform open loop control of the stepping motor Ms based on the received profile information Ip. As described above, the AC servo drivers 3A and 3B that feedback control the AC servo motor Ma based on the sequential operation information It are communicated at the first communication speed, whereas the stepping motor is based on the profile information Ip. Communication is executed at the second communication speed lower than the first communication speed with respect to the stepping drivers 4A and 4B that perform open-loop control of Ms. Thus, it is possible to execute communication at a communication speed corresponding to the type of driver.

  Further, since communication to the stepping drivers 4A and 4B can be executed at a relatively low communication speed, there is no need to prepare expensive stepping drivers 4A and 4B that can support communication at a high communication speed. As a result, cost can be reduced.

  Further, the system controller 2 uniformly generates a command C composed of profile information Ip and sequential operation information It regardless of whether the command C is specified by the AC servo motor Ma or the stepping motor Ms. Thus, it may be transmitted to the high-speed communication path Nh. Therefore, it is possible to simplify the design or configuration of the system controller 2.

  In addition, the AC servo drivers 3A and 3B include a command conversion unit 322 that converts the specified mode of the operation profile Pm of the profile information Ip for the stepping drivers 4A and 4B. Then, the serial communication unit 34 transmits the profile information Ip converted by the command conversion unit 322 to the stepping drivers 4A and 4B. This configuration is preferable because profile information Ip in a prescribed form corresponding to the stepping drivers 4A and 4B can be transmitted from the AC servo drivers 3A and 3B to the stepping drivers 4A and 4B.

  The serial communication unit 34 transmits the profile information Ip converted by the command conversion unit 322 to the stepping drivers 4A and 4B by serial communication. As a result, the inexpensive stepping drivers 4A and 4B of the serial communication method can be used, so that the cost can be suppressed.

  Further, the system controller 2 calculates the profile information Ip, and then sequentially calculates the operation information It based on the profile information Ip. Such a configuration is preferable because it effectively uses the profile information Ip generated in the process of calculating the sequential operation information It when the stepping drivers 4A and 4B control the stepping motor Ms.

  By the way, the motor control system 1 as described above can be applied to various devices using both the AC servo motor Ma and the stepping motor Ms. Therefore, as described in the following example, the motor control system 1 may be applied to a component mounter that mounts components on a board.

  FIG. 11 is a partial plan view schematically showing an example of a component mounter according to the present invention. FIG. 12 is a diagram showing an electrical configuration of the component mounter of FIG. In FIG. 11, the orthogonal coordinate which consists of the horizontal directions X and Y and the vertical direction Z is shown. The component mounter 6 mounts components on the board B carried into the mounting work position Bo (position of the board B in FIG. 11), and carries the board B on which the components are mounted from the mounting work position Bo.

  As shown in FIG. 12, the component mounter 6 includes a control unit 600. The control unit 600 includes a calculation unit 610, a storage unit 620, and a drive control unit 630. The calculation unit 610 executes calculation processing necessary for component mounting, and the storage unit 620 is a program required for calculation in the calculation unit 610. And the drive control unit 630 controls the drive system of the component mounter 6 based on the calculation result of the calculation unit 610. Thus, the component mounting in the component mounting machine 6 is controlled by the control unit 600.

  As shown in FIG. 11, the component mounter 6 includes a pair of conveyors 62 and 62 provided on a base 61 and a backup unit 63. The conveyors 62 and 62 are provided in the horizontal direction X, and one conveyor 62 is movable in the horizontal direction Y with respect to the other conveyor 62. Therefore, by driving one conveyor 62 in the horizontal direction Y by the width adjusting motor Mw, the interval between the conveyors 62 and 62 can be adjusted according to the width of the substrate B. The conveyors 62 and 62 that have received the substrate B can transport the substrate B in the horizontal direction X (substrate transport direction) by the driving force from the transport motor Mc.

  That is, the substrate B is carried into the mounting work position Bo from the upstream side in the horizontal direction X (substrate transport direction) by the conveyors 62 and 62, and is supported by the backup unit 63 at the mounting work position Bo (carry-in operation). The backup unit 63 has push-up pins arranged below the mounting work position Bo, and the board B is brought into contact with the board B at the mounting work position Bo by bringing the push-up pins raised by the push-up motor Mp into contact with the board B. Support from below. And the board | substrate B with which components were mounted in the mounting operation position Bo is carried out to the downstream of the horizontal direction X by the conveyors 62 and 62 (unloading operation | movement).

  The component mounter 1 is provided with a pair of Y-axis rails 641 and 641 extending in the horizontal direction Y, a Y-axis ball screw 642 extending in the horizontal direction Y, and a Y-axis motor My that rotationally drives the Y-axis ball screw 642. The support member 643 is fixed to the nut of the Y-axis ball screw 642 while being supported by the pair of Y-axis rails 641 and 641 so as to be movable in the horizontal direction Y. An X-axis ball screw 644 extending in the horizontal direction X and an X-axis motor Mx that rotationally drives the X-axis ball screw 644 are attached to the head support member 643, and the head unit 65 is attached to the head support member 643 in the horizontal direction X. It is fixed to the nut of the X-axis ball screw 644 while being movably supported. Therefore, the Y-axis motor My rotates the Y-axis ball screw 642 to move the head unit 65 in the horizontal direction Y, or the X-axis motor Mx rotates the X-axis ball screw 644 to move the head unit 65 in the horizontal direction X. be able to.

  Two parts supply units 66 are arranged in the horizontal direction X on each side of the pair of conveyors 62 and 62 in the horizontal direction Y. A plurality of tape feeders 661 are detachably mounted side by side in the horizontal direction X with respect to each component supply unit 66. Each tape feeder 661 has a small piece of component such as an integrated circuit, a transistor, or a capacitor. Are loaded at predetermined intervals. The tape feeder 661 supplies parts in the carrier tape by intermittently feeding the carrier tape to the head unit 65 side.

  The head unit 65 has a plurality (four) of mounting heads 651 arranged in a straight line in the horizontal direction X. Each mounting head 651 can be moved up and down in the vertical direction Z by receiving a driving force from the Z-axis motor Mz. Then, each mounting head 651 uses the nozzle attached to the lower end to transfer the component supplied by the component supply unit 66 onto the substrate B supported by the mounting operation position Bo (mounting operation). Specifically, the mounting head 651 moves directly above the component sent out by the tape feeder 661. Then, the mounting head 651 lowers the lower end of the nozzle until it comes into contact with the upper end surface of the component, and then generates a negative pressure in the nozzle, thereby attracting the component to the nozzle. Subsequently, the mounting head 651 transfers the sucked component onto the substrate B at the mounting work position Bo.

  In addition, a scan camera 67 that is movable in the horizontal direction X is attached to the head unit 65. The scan camera 67 images the component suction state by the mounting head 651 while moving in the horizontal direction X by the driving force from the scan motor Mn.

  In order to control each of the motors Mx, My, Mz, Mn, Mw, Mc, and Mp described above, the motor control system 1 illustrated in FIG. 1 is mounted on the control unit 600 of the component mounter 6. Specifically, the system controller 2 is constructed in the calculation unit 610, and the AC servo driver 3A and the stepping driver 4A are mounted in the drive control unit 630. On the other hand, the motors Mx, My, Mz, and Mn are AC servo motors Ma, and the motors Mw, Mc, and Mp are stepping motors Ms. Therefore, the AC servo driver 3A controls the motors Mx, My, Mz, and Mn based on the command C from the system controller 2, and the stepping driver 4A controls the motors Mw, Mc, and Mp based on the command C from the system controller 2. . Note that the number of axes of each of the AC servo driver 3A and the stepping driver 4A is expanded in accordance with the number of motors.

  Thus, in the present embodiment, the motor control system 1 corresponds to an example of the “motor control system” of the present invention, the system controller 2 corresponds to an example of the “control device” of the present invention, and the AC servo drivers 3A, 3B. Each corresponds to an example of the “first driver” of the present invention, each of the stepping drivers 4A and 4B corresponds to an example of the “second driver” of the present invention, and the AC servo motor Ma corresponds to the “first driver” of the present invention. The stepping motor Ms corresponds to an example of the “second motor” of the present invention, the fieldbus controller 31 corresponds to an example of the “receiver” of the present invention, and the fieldbus controller 31 The first communication speed (high communication speed) at which communication is performed via the communication path Nh is the “first communication speed” of the present invention. The CPU 32 corresponds to an example of the “control unit” of the present invention, the serial communication unit 34 corresponds to an example of the “transmission unit” of the present invention, and the serial communication unit 34 passes through the low-speed communication path Nl. The second communication speed (low communication speed) at which communication is performed corresponds to an example of the “second communication speed” of the present invention, the command conversion unit 322 corresponds to an example of the “conversion unit” of the present invention, and the command C corresponds to the present communication speed. It corresponds to an example of “command” of the invention, profile information Ip corresponds to an example of “profile information” of the present invention, sequential operation information It corresponds to an example of “sequential operation information” of the present invention, and operation period Tm Corresponds to an example of the “predetermined period” of the present invention, the operation profile Pm corresponds to an example of the “operation profile” of the present invention, and the minute time t corresponds to an example of the “unit time” of the present invention. The machine 6 is the “component mounting machine” of the present invention. This corresponds to an example, and the conveyors 62 and 62 and the backup unit 63 cooperate to function as an example of the “substrate transport unit” of the present invention, and the mounting head 651 corresponds to an example of the “mounting head” of the present invention. The component supply unit 66 corresponds to an example of the “component supply unit” of the present invention, the board B corresponds to an example of the “board” of the present invention, and the mounting work position Bo corresponds to an example of the “predetermined position” of the present invention. To do.

  The present invention is not limited to the above-described embodiment, and various modifications can be made to the above-described one without departing from the spirit of the present invention. For example, in the example of FIG. 1, the motor control system 1 is provided with two AC servo drivers 3A and 3B. However, the number of AC servo drivers in the motor control system 1 is not limited to two, and may be one or three or more.

  In the example of FIG. 1, the motor control system 1 is provided with two stepping drivers 4A and 4B. However, the number of stepping drivers in the motor control system 1 is not limited to two, and may be one or three or more.

  Further, in the example of FIG. 1, one stepping driver 4A is provided for one AC servo driver 3A. However, the relationship between the number of corresponding AC servo drivers and stepping drivers is not limited to 1: 1, and may be, for example, 1: 2 or more.

  Furthermore, even if the number (number of axes) of AC servo motors Ma controlled by each of the AC servo drivers 3A and 3B and the number (number of axes) of stepping motors Ms controlled by each of the stepping drivers 4A and 4B are appropriately changed. good.

  Further, another type of motor may be used instead of the AC servo motor Ma, and another type of motor (for example, a voice coil motor) may be used instead of the stepping motor Ms. At this time, the type of the driver may be changed according to the change of the type of the motor.

  Moreover, the apparatus which can apply the motor control system 1 is not restricted to the component mounting machine 6 illustrated above.

DESCRIPTION OF SYMBOLS 1 ... Motor control system, 2 ... System controller (control apparatus), 3A, 3B ... AC servo driver (1st driver), 31 ... Fieldbus controller (reception part), 32 ... CPU (control part), 321 ... Servo controller 322: Command conversion unit (conversion unit) 34: Serial communication unit (transmission unit) 4A, 4B ... Stepping driver (second driver) 6: Component mounter 62: Conveyor (board transfer unit) 63 ... Backup unit (board transfer unit), 651... Mounting head, 66 .. component supply unit, Ma... AC servo motor (first motor), Ms .. stepping motor (second motor), C .. command, Ip. ... Sequential operation information, Tm ... operation period (predetermined period), Pm ... operation profile, t ... Small Time (unit time), B ... substrate, Bo ... mounting work position (the predetermined position)

Claims (6)

A control device that generates a command including profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile for each unit time shorter than the predetermined period; ,
A first driver for controlling the first motor;
A second driver for controlling the second motor,
The first driver includes a receiving unit that receives the command from the control device at a first communication speed, and the first motor based on the sequential operation information included in the command for the first motor received by the receiving unit. And a transmission unit that transmits the profile information included in the command for the second motor received by the reception unit to the second driver at a second communication speed lower than the first communication speed. Have
The motor control system in which the second driver controls the second motor based on the profile information received from the transmission unit of the first driver.   The first driver further includes a conversion unit that converts a specified aspect of the operation profile of the profile information for the second driver, and the transmission unit converts the profile information converted by the conversion unit into the first information. The motor control system according to claim 1, wherein the motor control system transmits to two drivers.   The motor control system according to claim 1, wherein the transmission unit transmits the profile information converted by the conversion unit to the second driver by serial communication.   The motor control system according to claim 1, wherein the control device calculates the profile information and then calculates the sequential operation information based on the profile information. A substrate transport unit that performs a loading operation for loading the substrate into a predetermined position and supporting the substrate at the predetermined position, and a loading operation for unloading the substrate from the predetermined position;
A component supply unit for supplying components;
A mounting head for performing a mounting operation for transferring the component supplied by the component supply unit to the substrate supported at the predetermined position by the substrate transport unit;
A first motor for driving the mounting head;
A second motor for driving the substrate transport unit;
A motor control system according to any one of claims 1 to 4,
The motor control system controls the first motor to cause the mounting head to execute the mounting operation, and controls the second motor to execute the carry-in operation and the carry-out operation to the substrate transfer unit. A component mounting machine. Generating a command including profile information that defines an operation profile indicating the operation of the motor in a predetermined period, and sequential operation information that sequentially indicates the operation of the motor indicated by the operation profile every unit time shorter than the predetermined period;
A first driver receiving the command at a first communication speed;
The first driver controlling the first motor based on the sequential operation information included in the command to the first motor;
Transmitting the profile information included in the command to the second motor to the second driver at a second communication speed lower than the first communication speed;
And a step of controlling the second motor based on the profile information by the second driver.

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