CN103019169A - Servo driving system - Google Patents
Servo driving system Download PDFInfo
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- CN103019169A CN103019169A CN2012103592191A CN201210359219A CN103019169A CN 103019169 A CN103019169 A CN 103019169A CN 2012103592191 A CN2012103592191 A CN 2012103592191A CN 201210359219 A CN201210359219 A CN 201210359219A CN 103019169 A CN103019169 A CN 103019169A
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- 238000004422 calculation algorithm Methods 0.000 description 4
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- 238000012360 testing method Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
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- 238000012512 characterization method Methods 0.000 description 2
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- 239000006185 dispersion Substances 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
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- 238000001514 detection method Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a servo driving system capable of improving the control response of the servo control, and according to the characteristics of each axis of the control device, assigning a control arithmetic unit to the sevo amplifier or servo controller. The servo driving system of the present invention, the servo control unit of each axis control servo motor comprises a file generating unit generating the characteristic parameter of the commands of the servo motor, a position control unit controlling the position of the servo motor, a speed control unit controlling the speed of the servo motor, and a current control unit controlling the current of the servo motor motor. The characteristic parameter file generating unit, the position control unit, speed control unit and the current control portions to each axis is assigned to the servo amplifier or servo controller.
Description
Technical field
The present invention relates to structure and the collocation method thereof of the control algorithm section in a kind of control device.
Background technology
As an example of the servo drive system of the control algorithm section that can customize (customize) control device, for example known invention that patent documentation 1 and 2 are arranged.The invention of record is paid close attention to and can be realized by matrix computations the processing of control algorithm section in the patent documentation 1, provides in advance each key element of each matrix that uses in all matrix computations as the control parameter.And, by changing the control parameter, can change to arbitrarily control law.
The invention of record acts on the excessive load of the CPU of each numerical control device in the patent documentation 2 by Host Detection, the driving controls metastasis of a part of servo motor there are other numerical control devices more than needed to the processing ability, thereby can reduce the load of the numerical control device of overload state.
The prior art document
Patent documentation
Patent documentation 1: TOHKEMY 2002-312003 communique
Patent documentation 2: Japanese kokai publication hei 9-305212 communique
Yet, in the patent documentation 1 invention of record be can the custom control operational part in the so-called servo controller of control servoamplifier device.The control cycle of servo controller is generally long than the control cycle of servoamplifier, and therefore servo-controlled control response is not necessarily high.In addition, the invention of record realizes that the load of each control device disperses in the patent documentation 2, does not consider that load dispersion and the function on each axle of each control device disperseed.
Summary of the invention
The present invention In view of the foregoing makes, and to provide a kind of servo drive system as problem, can improve servo-controlled control response, and the characteristic according to each axle of control device partly is assigned in servoamplifier or servo controller with control algorithm.
The servo drive system that technical scheme 1 is related comprises: servoamplifier drives the servo motor that each axle is arranged; And servo controller, control a plurality of servoamplifiers, described servo drive system has the servocontrol section to each axle control servo motor, it is characterized in that, servocontrol section comprises: characterisitic parameter file (profile) generating unit generates the instruction of servo motor; Position control section, the position of control servo motor; Speed controlling portion, the speed of control servo motor; And current control division, the motor current of control servo motor, characterisitic parameter file generated section, position control section, speed controlling portion and current control division are allocated in servoamplifier or servo controller to each axle respectively.
The servo drive system that technical scheme 2 is related, in technical scheme 1, servocontrol section also comprises the additional control part that cooperates with the control of servo motor, characterisitic parameter file generated section, position control section, speed controlling portion, current control division and additional control part are allocated in servoamplifier or servo controller to each axle respectively according to input object and the object output of additional control part.
The servo drive system that technical scheme 3 is related, in technical scheme 1 or 2, according to the kind of the kind of control device, axle and be arranged at least 1 information in the kind of motor unit of control device, select the distribution object of servocontrol section, servocontrol section is downloaded to respectively servoamplifier or servo controller.
The servo drive system that technical scheme 4 is related in technical scheme 3, can be selected when control device starts and be downloaded.
The servo drive system that technical scheme 5 is related in technical scheme 3 or 4, is connected via network in the mode that can download servocontrol section between servoamplifier and the servo controller.
The servo drive system related according to technical scheme 1, servocontrol section is allocated in servoamplifier or servo controller to each axle respectively, therefore can suitably dispose servocontrol section according to the characteristic of each axle of control device, can realize that the function of servocontrol section disperses to each axle.
The servo drive system related according to technical scheme 2, servocontrol section is according to input object and the object output of additional control part, respectively each axle is allocated in servoamplifier or servo controller, therefore can suitably disposes servocontrol section according to the needed control response of additional control part.
The servo drive system related according to technical scheme 3, according to the kind of the kind of control device, axle and be arranged at least 1 information in the kind of motor unit of control device, the distribution object of selection servocontrol section is also downloaded, and therefore can suitably dispose servocontrol section according to these kinds.
The servo drive system related according to technical scheme 4, can when starting, control device carry out the selection of distribution object of servocontrol section and the download of servocontrol section, therefore the distribution of servocontrol section 6 can be carried out accordingly with the startup of control device, the initiating task of control device can be automatically carried out.
Be connected via network in the mode that can download servocontrol section between the servo drive system related according to technical scheme 5, servoamplifier and servo controller, therefore can download efficiently servocontrol section to a plurality of servoamplifiers.Therefore, compare with the situation of downloading individually servocontrol section, operating efficiency improves, and flow chart reduces, thereby can realize cost degradation.
Description of drawings
Fig. 1 is the structural drawing of the related servo drive system of the 1st embodiment.
Fig. 2 is illustrated in the synoptic diagram of an example that servocontrol section among Fig. 1 is allocated in respectively the state of servoamplifier or servo controller.
Fig. 3 is the piece figure of an example of the controll block of expression axle 1 shown in Figure 2.
Fig. 4 is the piece figure of an example of the controll block of expression axle 2 shown in Figure 2.
Fig. 5 is the piece figure of an example of the controll block of expression axle 3 shown in Figure 2.
Fig. 6 relates to the 2nd embodiment, is the synoptic diagram of an example of the expression servocontrol section state that is allocated in respectively servoamplifier or servo controller.
Label declaration
1: servo motor
2: servoamplifier
3: servo controller
4: the upper control device
5: information transfer path
6: servocontrol section
61: characterisitic parameter file generated section 62: position control section 63: speed controlling portion
64: current control division 65: additional control part
Embodiment
Below, embodiments of the present invention are described with reference to the accompanying drawings.For each embodiment, common position is marked with common label and is mapped, thereby the repetitive description thereof will be omitted.In addition, accompanying drawing is concept map, does not stipulate the size of detailed construction.
(1) the 1st embodiment
(1-1) structure of servo drive system
Fig. 1 is the structural drawing of the related servo drive system of present embodiment.Servo drive system 100 possesses servoamplifier 2, control a plurality of (among this figure being 3) servoamplifier 2,2,2 servo controller 3 and the upper control device 4 that the move of control object is provided to servo controller 3 that drives the set servo motor 1 of each axle.
Be provided with the position detector 11 of the position of detecting servo motor 1 at servo motor 1, position detector 11 can be exported with the rotary synchronous ground of servo motor 1 positional information of servo motor 1.Servo motor 1 and position detector 11 can use known servo motor and the position detector that adopts in the numerical control device.Such as AC servo motor and scrambler etc. are arranged.In the situation of using incremental encoder, positional information is the count value that the train of impulses corresponding with the swing offset amount of servo motor 1 counted to get.In the situation of using absolute encoder, positional information is the output code corresponding with the swing offset amount of servo motor 1.Positional information can comprise the various data such as error message of servo motor 1, sends to servoamplifier 2 via information transfer path 5 according to the predetermined cycle.
Servoamplifier 2 has CPU20, storer 21, IO interface 22 and communication interface 23, can send and receive various data and control signal ground and connect by bus 25.The positional information that sends from position detector 11 sends to storer 21 via IO interface 22, bus 25.CPU20 can send via bus 25, communication interface 23 positional information of servo motor 1 to servo controller 3.
Servo controller 3 has CPU30, storer 31 and communication interface 32 ~ 35, can send and receive various data and control signal ground and connect by bus 36.Send to storer 31 from 3 servoamplifiers 2,2,2 positional informations that send via communication interface 32 ~ 34, bus 36 respectively.CPU30 can via bus 36, communication interface 35 upwards level controller 4 send the positional information of servo motors 1.
Can send and receive various data and control signal ground between the communication interface 42,35, between the communication interface 32,23, between the communication interface 33,23 and between the communication interface 34,23 and consist of network by information transfer path 5 connections respectively.The positional information and the described various operation result that comprise servo motor 1 in the various data.Communication unit on the information transfer path 5, agreement etc. are not particularly limited.Network for example can use servo network described later.In addition, also can not consist of network, but by sending and receiving separately various data and control signal such as known serial communication (RS-232C) etc.
In addition, the inputoutput datas such as positional information of servo motor 1 also can send by direct memory access (DMA) (DMA).DMA can be not via CPU20,30,40 and between input-output unit and storer 21,31,41, send and receive various data.For example, can between position detector 11 and storer 21,31,41, directly send the positional information of servo motor 1.
(1-2) control of servo drive system
If servo drive system 100 is interpreted as servo-controlled controll block, then each axle of axle 1 ~ axle 3 had the servocontrol section 6,6,6 of control servo motor 1.Servocontrol section 6 has current control division 64, and the additional control part 65 that cooperates with the control of servo motor 1 of motor current of speed controlling portion 63, control servo motor 1 of speed of position control section 62, control servo motor 1 of position of characterisitic parameter file generated section 61, the control servo motor 1 of the instruction that generates servo motor 1.Fig. 2 is illustrated in the synoptic diagram of an example that servocontrol section among Fig. 1 is allocated in respectively the state of servoamplifier or servo controller.
As shown in Figure 2, on axle 1, characterisitic parameter file generated section 61 is disposed at servo controller 3, and position control section 62, speed controlling portion 63, current control division 64 and additional control part 65 are disposed at servoamplifier 2.On axle 2, characterisitic parameter file generated section 61, position control section 62 and speed controlling portion 63 are disposed at servo controller 3, and current control division 64 and additional control part 65 are disposed at servoamplifier 2.On axle 3, characterisitic parameter file generated section 61, position control section 62, speed controlling portion 63 and additional control part 65 are disposed at servo controller 3, and current control division 64 is disposed at servoamplifier 2.
Characterisitic parameter file generated section 61 bases are from the position command of the servo motor 1 of each axle of move computing of upper control device 4.Position control section 62 is according to from the position command of characterisitic parameter file generated section 61 and deviation from the positional information of position detector 11, formation speed instruction.Speed controlling portion 63 is according to from the speed command of position control section 62 and the deviation of the velocity information of servo motor 1, generation current-order (torque instruction).The velocity information of servo motor 1 can be according to the frequency computation part of positional information out.In addition, the velocity information of servo motor 1 can also be used the testing result of the speed detector of the speed that detects servo motor 1.The method of position control and speed control is not particularly limited.For example, can use the known FEEDBACK CONTROL such as PID control.
The input that adds control part 65 can come according to the Control the content of additional control part 65 position command from 61 generations of characterisitic parameter file generated section, the speed command that position control section 62 generates, the current-order (torque instruction) that speed controlling portion 63 generates to reach from least 1 positional information of position detector 11 arbitrarily selection.The output of additional control part 65 can be according to the Control the content of additional control part 65, current-order (torque instruction) addition that the position command that generates with characterisitic parameter file generated section 61, the speed command that position control section 62 generates or speed controlling portion 63 generate or subtract each other.In addition, additional control part 65 also can be any control in FEEDBACK CONTROL, the feedforward control.In addition, additional control part 65 also can be provided with a plurality of in 1 servoamplifier 2 or 1 servo controller 3.
Fig. 3 is the piece figure of an example of the controll block of expression axle 1 shown in Figure 2.To the positional information of additional control part 65 inputs from position detector 11, the output of additional control part 65 and the output of characterisitic parameter file generated section 61 are the position command addition of servo motor 1.On axle 1, suppose the situation of the control needs response at a high speed of additional control part 65.At this, " needs response at a high speed " refers to, need to control with the control cycle identical with the control cycle of the servoamplifier 2 of lacking than the control cycle of servo controller 3 situation of additional control part 65.On the contrary, " do not need at a high speed response " refer to, control additional control part 65 with regard to enough situations with the control cycle identical with the control cycle of servo controller 3.Therefore, on axle 1, additional control part 65 need to be disposed at servoamplifier 2.
The object output of the additional control part 65 of axle 1 is position control section 62.In order to add the control of control part 65 with the control cycle identical with the control cycle of servoamplifier 2, position control section 62 need to be disposed at servoamplifier 2.As mentioned above, the output of position control section 62 is imported into speed controlling portion 63, and the output of speed controlling portion 63 is imported into current control division 64, so speed controlling portion 63 and current control division 64 also need to be disposed at servoamplifier 2.At this moment, characterisitic parameter file generated section 61 can be disposed at any in servoamplifier 2 or the servo controller 3.Fig. 2 and Fig. 3 characterization Parameter File generating unit 61 are disposed at the situation of servo controller 3.In addition, the input object of the additional control part 65 of axle 1 is position detector 11, therefore by position control section 62, speed controlling portion 63, current control division 64 and additional control part 65 are disposed at servoamplifier 2, these control parts can be with the positional information of identical control cycle use from position detector 11.
Fig. 4 is the piece figure of an example of the controll block of expression axle 2 shown in Figure 2.This controll block represents for example to add control part 65 and is the situation of above-mentioned slot effect compensator.At this moment, to the positional information of additional control part 65 inputs from position detector 11, the output of additional control part 65 and the output of speed controlling portion 63 are current-order (torque instruction) addition of servo motor 1.With the situation of axle 1 similarly, the control of establishing the additional control part 65 of axle 2 needs response at a high speed.Therefore, on axle 2, additional control part 65 need to be disposed at servoamplifier 2.
The object output of the additional control part 65 of axle 2 is current control division 64.In order to add the control of control part 65 with the control cycle identical with the control cycle of servoamplifier 2, current control division 64 need to be disposed at servoamplifier 2.At this moment, characterisitic parameter file generated section 61, position control section 62 and speed controlling portion 63 can be disposed at any in servoamplifier 2 or the servo controller 3.Fig. 2 and Fig. 4 characterization Parameter File generating unit 61, position control section 62 and speed controlling portion 63 are disposed at the situation of servo controller 3.In addition, the input object of the additional control part 65 of axle 2 is position detector 11, therefore by current control division 64 and additional control part 65 are disposed at servoamplifier 2, these control parts can be with the positional information of identical control cycle use from position detector 11.
Fig. 5 is the piece figure of an example of the controll block of expression axle 3 shown in Figure 2.This controll block represents for example to add control part 65 and is the situation of the torque compensator of above-mentioned aging for control device.At this moment, to the position command of additional control part 65 inputs from characterisitic parameter file generated section 61, the output of additional control part 65 and the output of speed controlling portion 63 are current-order (torque instruction) addition of servo motor 1.If the control of the additional control part 65 of axle 3 does not need response at a high speed.
Because the control of the additional control part 65 of axle 3 does not need response at a high speed, therefore additional control part 65 is disposed at servo controller 3.In addition, the input object of additional control part 65 is characterisitic parameter file generated section 61, the output of additional control part 65 and the output addition of speed controlling portion 63.Therefore, in order to add the control of control part 65 with the control cycle identical with the control cycle of servo controller 3, characterisitic parameter file generated section 61, position control section 62 and speed controlling portion 63 need to be disposed at servo controller 3.At this moment, current control division 64 can be disposed at any in servoamplifier 2 or the servo controller 3, but considers the characteristic of the Current Control that needs high-speed response, and current control division 64 is disposed at servoamplifier 2.
In the present embodiment, servocontrol section 6 is disposed at respectively servoamplifier 2 or servo controller 3 to each axle, therefore can suitably dispose servocontrol section 6 according to the characteristic of each axle of control device, can realize that the function of servocontrol section 6 disperses to each axle.In addition, servocontrol section 6 is allocated in respectively servoamplifier 2 or servo controller 3 according to input object and the object output of additional control part 65 to each axle, therefore can suitably dispose servocontrol section 6 according to additional control part 65 needed control responses.
(mode of texturing)
In the 1st embodiment, be illustrated take the quantity of the axle of control device as 3 situation as example, but the quantity of axle is not limited to this.In addition, the distribution of servocontrol section 6 also is not limited to above-mentioned embodiment.One example of the distribution of the servocontrol section 6 that table 1 expression is different from the embodiment described above.
[table 1]
Shown in the No.1 and No.2 of this table, by will be in the past in servo controller 3 part of the servocontrol section 6 after the calculation process be assigned to servoamplifier 2, can between servoamplifier 2 and servo controller 3, realize the function dispersion of servocontrol section 6.Thus, can effective use servoamplifier 2 and the hardware resource of servo controller 3.In addition, shown in the No.3 of this table and axle 1 shown in Figure 2, if the major part of servocontrol section 6 is allocated in servoamplifier 2, then can carry out servocontrol with the control cycle of the servoamplifier 2 shorter than the control cycle of servo controller 3.Therefore, and carry out most of servo-controlled situation by servo controller 3 and compare, servo-controlled response improves.
(1-3) distribution of servocontrol section
The control program (being designated hereinafter simply as control program) that comprises the servocontrol section 6 that is divided into each control part and make up information is again passed on respectively the storer 31 that downloads to servo controller 3, the storer 21,21,21 of servoamplifier 2 from the storer 41 of upper control device 4 via information transfer path 5. Storer 31,21,21,21 has respectively RAM and ROM, and control program is stored in ROM.ROM is the nonvolatile memory that also can keep information behind the dump, can use programmable logical device such as CPLD, FPGA.In addition, also can be in RAM part or all of storage control program.In this situation, when starting control device, need to pass on and download control program, but by such as according to distribution control programs such as memory spans, can use efficiently hardware resource.
In the present embodiment, carry out network connection via information transfer path 5 between upper control device 4 and the servo controller 3 and between servo controller 3 and the servoamplifier 2,2,2, so can be from upper control device 4 to servo controller 3 and servoamplifier 2,2,2 download control program efficiently.Therefore, compare with the situation of independent download control program, operating efficiency improves, and flow chart reduces, thereby can realize cost degradation.In the situation of frequent updating control program, its effect is significant.
In the present embodiment, according to the kind of motor unit set on the kind of the kind of control device, axle and the control device, select the distribution object of servocontrol section 6, servocontrol section 6 is downloaded to respectively servoamplifier 2 or servo controller 3.One example of the allocation model of the servocontrol section 6 that the kind of the kind of table 2 expression and control device, the kind of axle and motor unit is relative.For convenience of explanation, the No.1 of the allocation model a of the servocontrol section 6 shown in this table 2 ~ c and table 1 ~ 3 are corresponding.In addition, an example of the allocation model of this table 2 expression servocontrol section 6 is not limited thereto.
[table 2]
For example, it is that device A, axle are that axle 1, motor unit are in the situation of unit 1 that the No.1 of table 2 is illustrated in control device, the allocation model preference pattern a of servocontrol section 6.No.2 ~ 10 too.The kind of the kind of control device, the kind of axle and motor unit sends to servo controller 3 and upper control device 4 from servoamplifier 2,2,2 via information transfer path 5 when control device starts.Allocation model represents the optimum allocation method of the servocontrol section 6 corresponding with these kinds.Allocation model is determined by the test working etc. of simulation, control device in advance, is preserved with control program by data base system.
The CPU40 of upper control device 4 is according to the allocation model of servocontrol section 6, passes on control program to the storer 21,21,21 of the storer 31 of servo controller 3, servoamplifier 2.For example, when having selected pattern a as the allocation model of servocontrol section 6, CPU40 is to storer 31 transfer characteristic Parameter File generating units 61, position control section 62 and additional control part 65, passes on speed controlling portion 63 and current control division 64 to storer 21.CPU20, the 30 again structure information according to servocontrol section 6 make up respectively servocontrol section 6 again.Structure information is for the information that makes up again the servocontrol section 6 that distributes at servoamplifier 2 and servo controller 3 again, comprises such as the information relevant with the input and output object of each control part, represents the address at its place etc.
In the present embodiment, according to the kind of motor unit set on the kind of the kind of control device, axle and the control device, select the distribution object of servocontrol section 6, and download, therefore can suitably dispose servocontrol section 6 according to these kinds.If especially when control device starts, carry out selection and the download of the distribution object of servocontrol section 6, then can carry out accordingly with the startup of control device the distribution of servocontrol section 6, therefore can automatically carry out the initiating task of control device, improve operating efficiency.
For example, in the element fixing apparatus that electronic component is installed on the printed base plate, stick electronic components and to be installed to the kind of the motor units such as component mounting head on the printed base plate many.Therefore, if carry out separately the distribution operation of servocontrol section 6 when changing motor unit, then operation is numerous and diverse.In the present embodiment, can when starting, control device carry out the distribution of servocontrol section 6 according to the kind of control device, the kind of axle and the kind of motor unit, therefore compare with the situation of the distribution operation of carrying out separately servocontrol section 6, operating efficiency improves.In addition, for example in element fixing apparatus, control device has component supplying apparatus, substrate transfer apparatus, element transfer device etc.In addition, axle has straight moving axis, turning axle etc.
(mode of texturing)
The selection of the distribution object of servocontrol section 6 can be carried out according to 1 information in the kind of motor unit set on the kind of the kind of control device, axle and the control device at least, in addition, can also use and produce relevant various information and carry out the selection of the distribution object of servocontrol section 6.In addition, when the selection of the distribution object of servocontrol section 6 and download are not limited to the startup of control device, can also be carried out arbitrarily by the operator of control device.At this moment, the selection picture of the distribution object of servocontrol section 6 be can show at the display part of control device etc., selection and the download of the distribution object of servocontrol section 6 carried out.
In addition, the selection of the distribution object of servocontrol section 6 and download also can be undertaken by servo controller 3.At this moment, the CPU30 of servo controller 3 is according to the allocation model of servocontrol section 6, passes on control program to the storer 21,21,21 of servoamplifier 2.CPU20, the 30 again structure information according to servocontrol section 6 make up respectively servocontrol section 6 again.In addition, the selection of the distribution object of servocontrol section 6 and download also can be carried out separately respectively in servo controller 3 and servoamplifier 2,2,2.
(2) the 2nd embodiments
Fig. 6 is the synoptic diagram of an example of the expression servocontrol section state that is allocated in respectively servoamplifier or servo controller.Present embodiment has and the essentially identical structure of the 1st embodiment, action effect.Common position is marked with common label, centered by different piece, describes.In the present embodiment, be characterised in that, servoamplifier 2,2,2 and servo controller 3 carry out network connection by information transfer path 5,5,5,5 with ring-type.
The communication unit, the agreement that consist of network are not particularly limited, and for example can use servo network to consist of network.Servo network can send and receive by the synchronous communication function data of predetermined quantity according to the predefined cycle.In the present embodiment, servoamplifier 2,2,2 and servo controller 3 can send and receive various data and control signal at synchronization according to some cycles.In addition, servo network is realized run-in synchronism easily by each node connected to the network periodically being produced the starting starting of the jumping the queue function of jumping the queue.In the present embodiment, can be periodically carry out servoamplifier 2,2,2 and the servocontrol of servo controller 3 at synchronization, the run-in synchronism between a plurality of (being in the drawings 3) servo motor 1 becomes easy.
In the present embodiment, servoamplifier 2,2,2 and servo controller 3 carry out network connection with ring-type, therefore use identification servoamplifier 2,2,2 address, carry out selection and the download of the distribution object of servocontrol section 6.For example, in Fig. 6, the address of servoamplifier set on the axle 12 is made as A1, the address of servoamplifier set on the axle 22 is made as A2, the address of servoamplifier set on the axle 32 is made as A3.Send according to the address A1 ~ servoamplifier 2,2 of A3 identification, 2 control program to information transfer path 5,5,5,5.The control program of the CPU20 receiver address A1 of set servoamplifier 2 on the axle 1.The control program of the CPU20 receiver address A2 of set servoamplifier 2 on the axle 2.Equally, the control program of the CPU20 receiver address A3 of set servoamplifier 2 on the axle 3.And each CPU20 makes up respectively servocontrol section 6 again according to the again structure information of servocontrol section 6.In addition, the selection of the distribution object of the servocontrol section 6 in the servo controller 3 and download are identical with the 1st embodiment.
(3) other
The present invention not only is defined in above explanation and illustrated embodiment, can suitably change in the scope that does not break away from purport and implement.
Claims (5)
1. a servo drive system comprises: servoamplifier, the servo motor that driving arranges each axle; And servo controller, control a plurality of described servoamplifiers, described servo drive system has the servocontrol section that each described axle is controlled described servo motor, it is characterized in that,
Described servocontrol section comprises: characterisitic parameter file generated section generates the instruction of described servo motor; Position control section is controlled the position of described servo motor; Speed controlling portion is controlled the speed of described servo motor; And current control division, control the motor current of described servo motor,
Described characterisitic parameter file generated section, described position control section, described speed controlling portion and described current control division are allocated in described servoamplifier or described servo controller to each described axle respectively.
2. servo drive system according to claim 1, wherein,
Described servocontrol section also comprises the additional control part that cooperates with the control of described servo motor,
Described characterisitic parameter file generated section, described position control section, described speed controlling portion, described current control division and described additional control part are allocated in described servoamplifier or described servo controller to each described axle respectively according to input object and the object output of described additional control part.
3. servo drive system according to claim 1 and 2, wherein,
According to the kind of the kind of control device, axle and be arranged at least 1 information in the kind of motor unit of described control device, select the distribution object of described servocontrol section, described servocontrol section is downloaded to respectively described servoamplifier or described servo controller.
4. servo drive system according to claim 3, wherein,
Can when starting, described control device carry out described selection and described download.
5. according to claim 3 or 4 described servo drive systems, wherein,
Be connected via network in the mode that can download described servocontrol section between described servoamplifier and the described servo controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011210923A JP5822621B2 (en) | 2011-09-27 | 2011-09-27 | Servo drive system |
| JP2011-210923 | 2011-09-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103019169A true CN103019169A (en) | 2013-04-03 |
| CN103019169B CN103019169B (en) | 2017-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210359219.1A Active CN103019169B (en) | 2011-09-27 | 2012-09-24 | Servo driving system |
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| Country | Link |
|---|---|
| JP (1) | JP5822621B2 (en) |
| CN (1) | CN103019169B (en) |
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| CN105278464A (en) * | 2014-07-09 | 2016-01-27 | 发那科株式会社 | Control system including control apparatus for controlling machine having a plurality of axes |
| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
| CN106685310A (en) * | 2015-10-30 | 2017-05-17 | 日本电产三协株式会社 | Motor control apparatus |
| CN107820673A (en) * | 2015-07-02 | 2018-03-20 | 富士机械制造株式会社 | Servo-electric machine actuating device |
| CN113098311A (en) * | 2019-12-23 | 2021-07-09 | 株式会社安川电机 | Distributed motor control system, motor control device, and distributed motor control method |
| CN113661464A (en) * | 2019-04-05 | 2021-11-16 | 三菱电机株式会社 | Multi-axis control system, multi-axis control method, and multi-axis control program |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105278464A (en) * | 2014-07-09 | 2016-01-27 | 发那科株式会社 | Control system including control apparatus for controlling machine having a plurality of axes |
| US9874866B2 (en) | 2014-07-09 | 2018-01-23 | Fanuc Corporation | Control system including control apparatus for controlling machine having a plurality of axes |
| CN107820673A (en) * | 2015-07-02 | 2018-03-20 | 富士机械制造株式会社 | Servo-electric machine actuating device |
| CN106685310A (en) * | 2015-10-30 | 2017-05-17 | 日本电产三协株式会社 | Motor control apparatus |
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| CN106383484A (en) * | 2016-12-15 | 2017-02-08 | 合肥工业大学 | Shuttle vehicle control system based on wheel hub motor and magnetic encoder and method thereof |
| CN113661464A (en) * | 2019-04-05 | 2021-11-16 | 三菱电机株式会社 | Multi-axis control system, multi-axis control method, and multi-axis control program |
| CN113661464B (en) * | 2019-04-05 | 2023-03-24 | 三菱电机株式会社 | Multi-axis control system, multi-axis control method, and multi-axis control program |
| CN113098311A (en) * | 2019-12-23 | 2021-07-09 | 株式会社安川电机 | Distributed motor control system, motor control device, and distributed motor control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103019169B (en) | 2017-04-12 |
| JP2013073351A (en) | 2013-04-22 |
| JP5822621B2 (en) | 2015-11-24 |
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