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WO2025203382A1 - Dispositif de servocommande et procédé de servocommande - Google Patents

Dispositif de servocommande et procédé de servocommande

Info

Publication number
WO2025203382A1
WO2025203382A1 PCT/JP2024/012453 JP2024012453W WO2025203382A1 WO 2025203382 A1 WO2025203382 A1 WO 2025203382A1 JP 2024012453 W JP2024012453 W JP 2024012453W WO 2025203382 A1 WO2025203382 A1 WO 2025203382A1
Authority
WO
WIPO (PCT)
Prior art keywords
servo
control unit
safety
control device
command
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/012453
Other languages
English (en)
Japanese (ja)
Inventor
幸一郎 堀口
敬介 辻川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to PCT/JP2024/012453 priority Critical patent/WO2025203382A1/fr
Publication of WO2025203382A1 publication Critical patent/WO2025203382A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric

Definitions

  • This disclosure relates to a servo control device and a servo control method, and in particular to a servo control device and a servo control method that achieve functional safety of machines.
  • Patent Document 1 describes a speed monitoring device that can monitor the speeds of a plurality of servo motors with one speed monitoring unit.
  • a servo controller in a motor mechanism sends request information to an encoder requesting motor position information.
  • the servo controller then sends a speed command generated based on a control command from a numerical control device to a safety control device.
  • the servo controller assigns unique ID information to the request information and the speed command.
  • the safety control device intercepts communication between the servo controller and the encoder and determines whether the unique ID information assigned to the speed command from the servo controller matches the unique ID information assigned to the position information returned by the encoder. If there is a mismatch, the safety control device outputs an STO command to stop driving the motor. Because a servo system can detect abnormalities in the communication partner, a single safety control device can monitor the speeds of multiple motors.
  • Patent Document 2 describes an intelligent robot system having an autonomous control function that can reliably avoid danger when remotely controlled. Specifically, Patent Document 2 describes an intelligent robot system comprising a robot having driving units such as hands, arms, and motors and various sensors, a control unit that controls the robot in accordance with command information, and a remote operation control unit.
  • a safety PLC also called a safety sequencer or safety controller
  • a delay in communication between the safety control device and the servo control device may reduce the responsiveness of the servo control device to signals from the safety control device. If communication between the safety control device and the servo control device becomes unstable due to noise or other factors, causing a communication error, the servo control device may be judged to be unsafe regardless of its actual safe state, and the servo control device may safely shut down.
  • a servo control device and servo control method that allows for a simple configuration of the motion control system including the servo control device, eliminates the need for wiring to connect to a safety PLC, and does not require support for communication protocols for safety communication. Furthermore, what is needed is a servo control device and servo control method that realizes a motion control system that can safely stop the servo without delay and is not affected by noise from the external environment.
  • a first representative aspect of the present disclosure is a servo control device that controls servos of one or more axes of a machine based on a control command from a host control device, a communication control unit that receives the control command from the upper control device; a servo control unit that controls a servo based on the received control command; a safety sequence control unit that determines a safe state of the machine and, when determining that the machine is unsafe, inputs a command to the servo control unit to slow down or stop the servo or to cut off power; Equipped with The servo control unit is a servo control device that decelerates or stops the servo, or cuts off the power, based on a command from the safety sequence control unit.
  • a second representative aspect of the present disclosure is a computer as a servo control device that controls servos of one or more axes of a machine in response to a control command from a host control device, A process of receiving the control command from the upper control device; A process of controlling a servo based on the received control command; determining a safe state of the machine, and if it is determined that the machine is unsafe, slowing down or stopping the servo or cutting off power; This is a servo control method that executes the above.
  • FIG. 1 is a block diagram illustrating a configuration example of a motion control system including a servo control device according to a first embodiment of the present disclosure.
  • FIG. 2 is a block diagram showing an example of the configuration of a servo control unit.
  • 4 is a flowchart showing an example of the operation of the servo control device.
  • 1 is a block diagram illustrating a configuration example of a motion control system including a servo control device according to a first embodiment of the present disclosure.
  • FIG. 10 is a block diagram illustrating a configuration example of a motion control system including a servo control device according to a second embodiment of the present disclosure.
  • FIG. 10 is a block diagram illustrating a configuration example of a motion control system including a servo control device according to a third embodiment of the present disclosure.
  • FIG. 10 is a block diagram illustrating a configuration example of a motion control system including a servo control device according to a second embodiment of the present disclosure.
  • FIG. 10 is a block diagram illustrating a configuration example of a motion control system including a modified example of a servo control device according to a second embodiment of the present disclosure.
  • the motion control device 100 generates control commands for controlling the motor 300 and transmits them to the servo control device 200.
  • the motion control device 100 is a higher-level control device relative to the servo control device 200.
  • the servo control device 200 controls the servo of one or more axes of the machine based on control commands received from the motion control device 100.
  • the servo control device 200 servo-controls the motor 300 based on the control commands, and determines the safety state of the machine driven by the motor 300 based on safety input information, servo status information, or safety status monitoring result information. If it determines that the machine cannot operate safely, it slows down or stops the servo without using a control command, or cuts off the power, or simultaneously requests the activation of the brakes via a safety output command.
  • Safety input information is, for example, sensor information from safety sensors such as light curtains.
  • Safety input information and safety output commands are safety I/O information.
  • Servo status information is, for example, servo position information such as position feedback, and servo speed information such as speed feedback.
  • Safety status monitoring result information is information that is generated when the safety status is monitored based on the servo status information and the servo status is determined to be unsafe.
  • the brake serves to prevent the axis from falling due to gravity. The configuration of the servo control device 200 will be described later.
  • Motor 300 is servo-controlled by servo control device 200 and drives a mechanical part of a machine such as a robot or industrial machine.
  • Industrial machines include machine tools.
  • Motor 300 is a motor with a rotating shaft.
  • a linear motor may also be used as motor 300.
  • Motor 300 may be provided as part of a machine such as a robot or industrial machine.
  • safety sequence control unit 230C detects abnormal servo operation from servo status information from servo axis control unit 220C1 while the press is operating, and in accordance with the safety sequence program, sends a safety function command to servo axis control unit 220C1 to request, for example, power shutdown of the motor as a safety function, and also requests activation of the brake as a safety output command, thereby safely stopping the press.
  • ISO13849-1 defines safety categories as classifications based on structure. In these safety categories, the following requirements are specified for structures that achieve a high level of functional safety. (1) A single fault will not cause a loss of safety function. (2) A single fault can be detected. In this modification, the safety category can be met by monitoring and cross-checking using two CPUs. In this modification, three or more safety function CPUs each having a safety sequence control unit implemented therein may be provided.
  • the servo control device or safety sequence control unit then performs calculations based on the application software or OS while the arithmetic processing unit reads the application software or OS from the auxiliary storage device and deploys the loaded application software or OS in the main storage device. Based on the results of this calculation, the servo control device or safety sequence control unit controls various pieces of hardware included in the servo control device or safety sequence control unit. This realizes the functional blocks of this embodiment.
  • the servo control method can also be realized using a configuration similar to that of the servo control device.
  • Non-transitory computer-readable media include various types of tangible storage media.
  • Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R/Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)).
  • the program may also be supplied to the computer via various types of transient computer-readable media.
  • the servo control device and servo control method disclosed herein, including the embodiments and variations described above, enable a simpler motion control system configuration than when the safety PLC is provided outside the servo control device. Furthermore, wiring for connection to the safety PLC is not required, and there is no need to comply with a communication protocol for safety communication. Furthermore, because no external communication is required, the servo can be safely stopped without delay in an emergency, and because there is no external communication, there is no influence from noise in the external environment, eliminating unnecessary system safety shutdowns.
  • (Appendix 2) The servo control device according to claim 1, wherein the safety sequence control unit (230, 230B, 230C, 230-1, 230-2) determines the safety state of the machine based on servo state information of the servo control unit (220, 220C).
  • Appendix 4 The servo control device according to appendix 1, further comprising a safety data I/F between the servo control unit (220, 220A, 220C) and the safety sequence control unit (230, 230A, 230B, 230C, 230-1, 230-2).
  • Appendix 6 The servo control device described in Appendix 1, wherein the safety sequence control unit (230, 230A, 230B, 230C, 230-1, 230-2) determines the safety state of the machine from safety state monitoring result information output from the servo control unit.
  • the safety sequence control unit 230, 230A, 230B, 230C, 230-1, 230-2
  • Appendix 7 The servo control device according to any one of appendices 1 to 6, wherein the safety sequence control unit (230A, 230B, 230C) activates a brake (500) on the machine when it determines that the machine is unsafe.
  • the communication control unit and the servo control unit (220) are implemented in a CPU (240), The servo control device according to any one of appendices 1 to 6, wherein the safety sequence control unit (230, 230-1, 230-2) is implemented in a safety function CPU (250, 250-1, 250-2).
  • a computer as a servo control device (200, 200A, 200B, 200C, 200D, 200E) that controls servos of one or more axes of a machine according to a control command from a host control device (100), A process of receiving the control command from the upper control device (100); A process of controlling a servo based on the received control command; determining a safe state of the machine, and if it is determined that the machine is unsafe, slowing down or stopping the servo or cutting off power; A servo control method for performing the above.
  • Motion control device 200 Motion control device 200, 200A, 200B, 200C, 200D, 200E Servo control device 210 Communication control unit 220, 220A, 220C Servo control unit 2201 Command generation unit 2202 Subtractor 2203 Position control unit 2204 Subtractor 2205 Speed control unit 2206 Subtractor 2207 Current control unit 2208 Amplifier 2209 Differentiator 2210 Safety monitoring unit 2211 Safety control unit 230, 230A, 230B, 230C, 230-1, 230-2 Safety sequence control unit 300, 300A, 300B, 300C Motor 400 Light curtain 500 brake

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

Dans la présente invention : un système de commande de mouvement qui comprend un dispositif de servocommande est obtenu avec une configuration simple ; le besoin de compatibilité avec un protocole de communication pour une communication sûre est éliminé ; et l'impact du retard de communication, du bruit et similaire peut être empêché.　Ce dispositif de servocommande commande un servomoteur qui fait partie d'une machine et qui a un ou plusieurs arbres, selon une instruction de commande provenant d'un dispositif de commande de niveau supérieur, le dispositif de servocommande comprenant : une unité de commande de communication qui reçoit une instruction de commande ; une unité de servocommande qui commande le servomoteur sur la base de l'instruction de commande ; et une unité de commande de séquence de sécurité qui détermine l'état de sécurité de la machine, et s'il est déterminé que la machine n'est pas sûre, entre une instruction pour décélérer ou arrêter le servomoteur, ou pour interrompre la puissance, dans l'unité de servocommande. Sur la base de l'instruction provenant de l'unité de commande de séquence de sécurité, l'unité de servocommande décélère ou arrête le servomoteur, ou interrompt la puissance.
PCT/JP2024/012453 2024-03-27 2024-03-27 Dispositif de servocommande et procédé de servocommande Pending WO2025203382A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/012453 WO2025203382A1 (fr) 2024-03-27 2024-03-27 Dispositif de servocommande et procédé de servocommande

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2024/012453 WO2025203382A1 (fr) 2024-03-27 2024-03-27 Dispositif de servocommande et procédé de servocommande

Publications (1)

Publication Number Publication Date
WO2025203382A1 true WO2025203382A1 (fr) 2025-10-02

Family

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Family Applications (1)

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Country Status (1)

Country Link
WO (1) WO2025203382A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014048849A (ja) * 2012-08-30 2014-03-17 Fuji Electric Co Ltd 安全制御システム、及び安全制御システムのプロセッサ
JP2015142489A (ja) * 2014-01-30 2015-08-03 ファナック株式会社 サーボモータ制御装置及び該制御装置を備えた生産システム
WO2016051552A1 (fr) * 2014-10-01 2016-04-07 株式会社日立産機システム Dispositif de conversion d'énergie, procédé de conversion d'énergie et système de conversion d'énergie
JP2018136712A (ja) * 2017-02-21 2018-08-30 オムロン株式会社 モータ制御装置
JP2018136708A (ja) * 2017-02-21 2018-08-30 オムロン株式会社 モータ制御装置
US20220253019A1 (en) * 2021-02-10 2022-08-11 Rockwell Automation Technologies, Inc. System and Method for Safe Retention of Loads with Stored Potential Energy
JP2022166340A (ja) * 2019-10-01 2022-11-02 パナソニックＩｐマネジメント株式会社 モータ制御装置及びモータ制御システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014048849A (ja) * 2012-08-30 2014-03-17 Fuji Electric Co Ltd 安全制御システム、及び安全制御システムのプロセッサ
JP2015142489A (ja) * 2014-01-30 2015-08-03 ファナック株式会社 サーボモータ制御装置及び該制御装置を備えた生産システム
WO2016051552A1 (fr) * 2014-10-01 2016-04-07 株式会社日立産機システム Dispositif de conversion d'énergie, procédé de conversion d'énergie et système de conversion d'énergie
JP2018136712A (ja) * 2017-02-21 2018-08-30 オムロン株式会社 モータ制御装置
JP2018136708A (ja) * 2017-02-21 2018-08-30 オムロン株式会社 モータ制御装置
JP2022166340A (ja) * 2019-10-01 2022-11-02 パナソニックＩｐマネジメント株式会社 モータ制御装置及びモータ制御システム
US20220253019A1 (en) * 2021-02-10 2022-08-11 Rockwell Automation Technologies, Inc. System and Method for Safe Retention of Loads with Stored Potential Energy

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