CN1974145A - Robot controller system - Google Patents

Abstract

The robot controller system includes a robot, a main controller, and a sub-controller. The main controller has an actuator control device that calculates a target driving amount of the first actuator, generates first control data including the target driving amount of the first actuator, and calculates a target driving amount of the second actuator. the driving amount generates second control data including a target driving amount of the second actuator; the first actuator driving unit generates a first driving signal based on the first control data and supplies the first actuator to the first actuator. a drive signal to drive the first actuator; and a first input-output unit that supplies the second control data to the sub-controller. The sub-controller has: a second actuator drive unit that generates a second drive signal based on the second control data and supplies the second drive signal to the second actuator to drive the second actuator; and a second input An output unit that supplies the second control data supplied from the first input and output unit to the second actuator drive unit.

Description

Robot Controller System

technical field

The invention relates to a system for controlling a robot.

Background technique

Generally, an industrial robot is connected to a robot controller via a power cable and a signal cable. The power cable is used to supply power from the robot controller to the motor of the industrial robot. The signal cable is used to transmit information related to the rotation speed of the motor from the industrial robot to the robot controller. The robot controller gives operation commands to actuators of the industrial robot via these connecting cables, and causes the industrial robot to perform arbitrary operations.

When such a robot controller controls, for example, a 4-axis control industrial robot, the robot controller includes four servo amplifiers. In addition, when such a robot controller controls an industrial robot controlled by 6 axes, the robot controller includes six servo amplifiers. That is, it is necessary to select a dedicated type of robot controller according to the type of industrial robot. As a result, since it is necessary to prepare a dedicated robot controller for each type of industrial robot, the production cost increases.

Therefore, in order to flexibly respond to the expansion or change of the robot, it has been proposed to form a robot controller system with a plurality of robot controllers.

JP-A-10-20910 discloses a main controller connected to a plurality of sub-controllers. The main controller stores definition files respectively defining types of a plurality of robots. The main controller selects the definition file of the type of object, and calculates the trajectory or joint angle of the robot one by one. The sub-controller calculates the driving amount of each actuator based on the trajectory or joint angle calculated by the main controller, and drives and controls each actuator. Therefore, when the robot controller expands or changes the robot, it can cope with the expansion or change of the robot only by changing the definition file. Therefore, it is not necessary to newly add a dedicated robot controller, and an existing robot controller can be used.

JP-A-10-20922 discloses that a driver program for a sub-controller is stored in the main controller. The main controller causes each sub-controller to download its own driver program at a predetermined timing. Therefore, the robot controller can flexibly respond to driver changes or updates.

Japanese Patent Application Laid-Open No. 2000-112512 discloses a plurality of robot controllers each including a transmitting and receiving unit and a memory. Each of the plurality of robot controllers exchanges I/O information with other robot controllers, and stores shared I/O information in the memory. By sending and receiving this information, for example, a robot controller incorporating four motor drivers and a robot controller incorporating two motor drivers can cooperatively control a 6-axis controlled industrial robot. Therefore, common use of robot controllers can be realized.

However, in the above-mentioned robot controller system, each sub-controller successively calculates the control commands of the corresponding actuators. Therefore, each sub-controller mounts a CPU for computing control commands, or a memory serving as an operating area of the CPU. As a result, there arises a problem that the size or cost of each sub-controller increases, thereby increasing the installation space or cost of the robot controller system.

Furthermore, in the above-mentioned robot controller system, the main controller needs to synchronize the CPUs respectively mounted in the plurality of sub-controllers. Therefore, the main controller becomes complicated and the cost of the robot controller system increases.

Contents of the invention

An object of the present invention is to provide an inexpensive robot controller system that does not require an excessively large installation space.

One embodiment of the present invention is a robot controller system. This system includes: a robot including a first actuator and a second actuator; a main controller that drives the first actuator; and a sub-controller that drives the second actuator. The main controller has an actuator control device that calculates a target driving amount of the first actuator, generates first control data including the target driving amount of the first actuator, and calculates a target driving amount of the second actuator. the drive amount generates second control data including a target drive amount of the second actuator; the first actuator driver generates a first drive signal based on the first control data and supplies the first actuator to the first actuator. a drive signal to drive the first actuator; and a first input-output unit that supplies the second control data to the sub-controller. The sub-controller has: a second actuator drive unit that generates a second drive signal based on the second control data and supplies the second drive signal to the second actuator to drive the second actuator; and a second input An output unit that supplies the second control data supplied from the first input and output unit to the second actuator drive unit.

Description of drawings

FIG. 1 is a diagram showing a robot controller system according to an embodiment of the present invention.

Fig. 2 is a perspective view showing a body controller according to an embodiment of the present invention.

FIG. 3 is a block diagram showing an electrical configuration of a main body controller according to an embodiment of the present invention.

FIG. 4 is a diagram showing a robot controller system according to an embodiment of the present invention.

Fig. 5 is an exploded perspective view showing an additional controller according to an embodiment of the present invention.

6 is a block diagram showing an electrical configuration of a robot controller according to an embodiment of the present invention.

7 is a block diagram showing an electrical configuration of a robot controller according to another embodiment of the present invention.

8 is a block diagram showing an electrical configuration of a robot controller according to another embodiment of the present invention.

9 is a block diagram showing an electrical configuration of a robot controller according to still another embodiment of the present invention.

Detailed ways

Throughout the drawings, the same reference signs are used to denote the same constituent elements.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 6 . First, as shown in FIGS. 1 to 3 , a robot controller system 1 according to an embodiment of the present invention includes a main controller A1 as a main controller. FIG. 1 is a diagram showing a robot controller system 1, and FIG. 2 is a perspective view showing a main body controller A1.

In FIG. 1 , robot RB1 is a 4-axis controlled horizontal articulated industrial robot having first to fourth motors M1 to M4 as first actuators (see FIG. 3 ). The robot RB1 is driven and controlled by the robot controller system 1 (body controller A1).

The body controller A1 includes a substantially cuboid body-side housing 2 having a control panel movable between an open first position and a closed second position. The body-side housing 2 has a base portion 3 , a left side panel 4 , a right side panel 5 , a top panel 6 , a back panel 7 , and a front control panel 8 .

The base unit 3 includes base-side interface connectors B1, B2. The base-side interface connectors B1 and B2 are installed such that their long sides are along the horizontal direction. The base-side interface connectors B1, B2 are connected to the connectors (cable-side interface connectors C1, C2) of the connection cables L1, L2. The connecting cables L1 and L2 are respectively connected with the personal computer PC and the teaching box TP.

The left side plate 4 and the right side plate 5 each include a vent W2. In addition, a cooling fan (not shown) is disposed on the inner surface of the left side plate 4 . The cooling fan takes in outside air into the body side housing 2 through the vent W2 provided on the left side plate 4 , and forcibly discharges the taken in outside air through the vent W2 provided on the right side plate 5 . By operating the cooling fan, the main body controller A1 cools the inside of the main body side housing 2 .

In FIG. 2 , the main body side housing 2 includes a frame 9 inside. The rack 9 includes four servo amplifiers 10 for driving and controlling the motors M1 to M4. The servo amplifiers 10 are detachably arranged at predetermined intervals along the vertical direction. The body-side casing 2 includes a terminal fixing plate 11 provided on the right side of the chassis 9 inside. The terminal fixing plate 11 includes power input terminals 12 . The power input terminal 12 is connected to the power cable L3 and receives power from an external power source.

The upper edge of the front control board 8 is connected with the top board 6 by a hinge H. The front control panel 8 rotates around the hinge H to open or close the opening of the main body side housing 2 .

The front panel 8 includes a panel-side power connector 20 . The panel-side power connector 20 is attached to the upper portion of the front panel 8 such that its long side is along the horizontal direction. The control board side power connector 20 is connected to the connector (cable side power connector 21 ) of the power connection cable L4 connected to the robot RB1. The control board side power connector 20 is connected to the servo amplifier 10 via an internal power supply wiring (not shown) provided on the rear surface of the front control board 8 . In addition, the internal power supply wiring is formed in such a length that it does not interfere with the movement of the front panel 8 when the front panel 8 is moved between the first open position and the second closed position.

A board-side signal connector 30 is attached to the right side of the board-side power connector 20 . The control board side signal connector 30 is attached to the front control board 8 so that its long side is along the horizontal direction. The control board side signal connector 30 is connected to the connector (cable side signal connector 31 ) of the signal connection cable L5 connected to the robot RB1. The control board side signal connector 30 is connected to the servo amplifier 10 via an internal power supply wiring (not shown) provided on the rear surface of the front control board 8 . In addition, the internal signal wiring is formed to a length that does not interfere with the movement of the front control panel 8 when the front control panel 8 is moved between the first open position and the second closed position.

The front panel 8 includes a terminal insertion hole 8 a and a cable fitting groove 8 b formed at a position facing the power input terminal 12 on the right side thereof. When the front panel 8 is located at the closed second position, the power input terminal 12 is inserted into the terminal insertion hole 8a. When the front panel 8 is located at the closed second position, the power cable L3 is fitted into the cable fitting groove 8b. The front control board 8 includes a substantially cup-shaped lid-shaped case K provided outside the terminal insertion holes 8 a on the front side. The lid-shaped case K includes a recess Ka formed on the right side thereof. When the front panel 8 is in the closed second position, the cover-shaped case K protects the power input terminal 12 and fits the power cable L3 into the concave portion Ka. Through the concave portion Ka, the power cable L3 is drawn out to the outside of the main body side housing 2 irrespective of the operating position of the front panel 8 .

The front panel 8 includes an insertion hole 8c formed below the terminal insertion hole 8a on the right side thereof. The power switch S formed on the terminal fixing plate 11 is inserted through the insertion hole 8c. The power switch S is used to switch on and off the power of the main body controller A1.

The right side plate 5 of the body-side casing 2 includes a connector (body-side connection connector 40 ) extending from the inside of the body-side casing 2 . In this embodiment, the body-side connection connector 40 constitutes a first input/output portion.

Next, the electrical configuration of the main body controller A1 will be described with reference to FIG. 3 .

In FIG. 3 , the main body controller A1 includes a main power supply circuit MG that is connected to an external power supply E to constitute a power supply device. The main power supply circuit MG supplies the AC power supply AC supplied from the external power supply E to the inverter circuit COV. The inverter circuit COV rectifies the alternating current power supply AC to generate a direct current power supply DC as an output signal, and supplies the direct current power supply DC to each circuit (for example, each servo amplifier 10 ) of the main body controller A1 and the main body side connection terminal. Plugin 40.

The body controller A1 includes a main controller MC. Main controller MC includes a CPU, a ROM storing various data or various control programs, and a RAM such as DRAM or SRAM storing various data. These CPU, ROM, and RAM are connected to each other via a bus (not shown).

The main controller MC is connected to the base-side interface connector B1. The main controller MC is connected to a personal computer PC via a base-side interface connector B1 and a cable-side interface connector C1. The personal computer PC transmits data (program data AP) of an application program for driving the robot RB1 to the main controller MC. The personal computer PC displays data calculated by the main control device MC or data stored in the main control device MC.

The main controller MC is connected to the base-side interface connector B2. The main controller MC is connected to the teaching box TP via the base-side interface connector B2 and the cable-side interface connector C2. The teaching pendant TP transmits teaching command data ID for teaching the robot RB1 to the main controller MC. The teaching box TP displays data related to the teaching calculated by the main controller MC or data related to the teaching stored in the main controller MC. The main controller MC stores, as point data, the movement positions of the fingers of the robot RB1 taught based on the teaching command data ID.

Main controller MC calculates the angle of each joint of robot RB1 based on program data AP and point data, and generates data (position command data PI) related to the target speed of each motor M1-M4.

The main control device MC is connected to a motor control device MOC as an actuator control device. The motor control device MOC is connected to a plurality of motor control circuits (the first motor control circuit 51 to the fourth motor control circuit 54 ) and the main body side connection connector 40 . The respective motor control circuits 51 to 54 are connected to respective servo amplifiers 10 and encoder receiving circuits 60 . Each servo amplifier 10 is connected to a corresponding motor (first motor M1 to fourth motor M4 ) via a control board side power connector 20 and a cable side power connector 21 . Each encoder receiving circuit 60 is connected to the corresponding motor encoder (first encoder M1 a to fourth encoder M4 a ) via the board-side signal connector 30 and the cable-side signal connector 31 .

In this embodiment, each motor control circuit (the first motor control circuit 51 to the fourth motor control circuit 54), the corresponding servo amplifier 10, and the corresponding encoder receiving circuit 60 form a single first actuator drive unit. . That is, the main body controller A1 includes four first actuator driving units.

Motor control device MOC receives position command data PI from main control device MC. In addition, the motor control device MOC receives signals (position information signals: first encoder pulse signal EP1 to fourth encoder pulse signal EP4 ) related to the immediate position of each motor from the corresponding encoder receiving circuit 60 . Motor control device MOC calculates a target load current (target driving amount) for making the rotational speeds of motors M1 to M4 reach target speeds based on position command data PI and encoder pulse signals EP1 to EP4 . The motor control device MOC generates the first control data (the first current command data IP1 to the fourth current command data IP4) specifying the target load current, and sends them to the corresponding motor control circuits (the first motor control circuit 51 to the fourth motor control circuit 51 to the fourth motor control circuit respectively). The circuit 54) supplies the current command data IP1 to IP4.

The respective motor control circuits 51 to 54 receive signals (current detection signals: first current detection signal IS1 to fourth current detection signal IS4 ) related to the actual load current of the corresponding motor from the corresponding servo amplifier 10 . The motor control circuit 51 compares the current detection signal IS1 with the current command data IP1, and generates a power element drive signal (first power element drive signal PS1) for driving the power element of the corresponding servo amplifier 10 so that the actual load current reaches the target load current. . The motor control circuits 52 to 54 compare the current detection signals (IS2 to IS4) and the current command data (IP2 to IP4) in the same manner as the motor control circuit 51, and generate power elements for driving the corresponding servo amplifiers 10, so that the actual load current The power element driving signals (the second power element driving signal PS2 to the fourth power element driving signal PS4 ) reaching the target load current. The respective motor control circuits 51 to 54 supply respective power element drive signals PS1 to PS4 to the corresponding servo amplifiers 10 .

Each servo amplifier 10 receives a direct current power supply DC from the inverter circuit COV. Each servo amplifier 10 generates a load current (first drive signal: variable-frequency three-phase current TC) based on each power element drive signal PS1 to PS4 using a direct current power supply DC from the inverter circuit COV. Each servo amplifier 10 supplies the three-phase current TC to the corresponding motor.

Each servo amplifier 10 has a current detection circuit (not shown), and detects the actual load current supplied to the corresponding motor (first motor M1 to fourth motor M4 ). Each servo amplifier 10 uses the detected actual load current as a feedback value (the first current detection signal IS1 to the fourth current detection signal IS4), and supplies it to the corresponding motor control circuit (the first motor control circuit 51 to the fourth motor control circuit 54).

The first encoder M1a to the fourth encoder M4a respectively detect the immediate positions of the corresponding motors (the first motor M1 to the fourth motor M4). Each of the encoders M1a to M4a generates a position information signal (first encoder pulse signal EP1 to fourth encoder pulse signal EP4 ) related to the detected instant position, and supplies it to the corresponding encoder receiving circuit 60 .

Each encoder receiving circuit 60 supplies the corresponding motor control circuit (first motor control circuit 51 to fourth motor control circuit 54) with position information signals (first encoder pulse signal EP1 to fourth Four encoder pulse signal EP4). The first motor control circuit 51 to the fourth motor control circuit 54 respectively supply the motor control device MOC with position information signals (first encoder pulse signal EP1 to fourth encoder pulse signal EP4 ) from the corresponding encoder receiving circuit 60 .

That is, motor control device MOC calculates the target load current of each motor M1 - M4 based on position command data PI from main control device MC and encoder pulse signals EP1 - EP4 from each motor control circuit. The motor control device MOC generates first current command data IP1 to fourth current command data IP4 specifying the target load current, and supplies them to the first motor control circuit 51 to the fourth motor control circuit 54, respectively. The first motor control circuit 51 to the fourth motor control circuit 54 respectively generate power element drive signals based on the corresponding current command data IP1 to IP4 from the motor control device MOC and the current detection signals IS1 to IS4 from the corresponding servo amplifier 10. PS1~PS4. The first motor control circuit 51 to the fourth motor control circuit 54 respectively supply power element drive signals PS1 to PS4 to the corresponding servo amplifiers 10 to drive the motors M1 to M4.

According to the above structure, the main control device MC performs PWM (Pulse Width Modulation) control on the first motor M1 to the fourth motor M4, so that the distance between the immediate position of the first motor M1 to the fourth motor M4 and the position of the position command data PI The error is minimal.

Next, as shown in FIGS. 4 to 6 , the robot controller system 1 according to an embodiment of the present invention may include an additional controller A2 as a sub-controller in addition to the main controller A1 as the main controller. In addition, the description related to the main body controller A1 is omitted in order to avoid repetition. FIG. 4 is a diagram showing the robot controller system 1 including the additional controller A2, and FIG. 5 is an exploded perspective view showing the additional controller A2.

In FIG. 4 , the robot RB2 is a 6-wheel drive system having first to fourth motors M1 to M4 as first actuators, and fifth and sixth motors M5 and M6 as second actuators (see FIG. 6 ). An axis-controlled vertical articulated industrial robot. The robot RB2 is driven and controlled by the robot controller system 1 . The robot controller system 1 includes a main controller A1 and an additional controller A2.

The main body controller A1 is connected to the robot RB2 via the control board side power connector 20, the control board side signal connector 30, the cable side power connector 21, the cable side signal connector 31, and the connecting cables L4 and L5. . Also, the main body controller A1 is connected to the personal computer PC and the teaching box TP via the base side interface connectors B1, B2, the cable side interface connectors C1, C2, and the connection cables L1, L2. The personal computer PC transmits the application program (program data AP) of the robot RB2 to the main body controller A1. The teaching pendant TP transmits the teaching instruction data ID for teaching the robot RB2 to the main body controller A1.

An additional controller A2 that is in close contact with the right side plate 5 is connected to the main body side housing 2 of the main body controller A1. The additional side casing 100 of the additional controller A2 is a rectangular parallelepiped box.

In FIG. 5 , the additional side housing 100 has a bottom plate 101 , a top plate 104 , a left side plate 102 , a right side plate 103 , a back plate 105 , and a front plate 106 . A lower mounting platform 110 and an upper mounting platform 114 are respectively provided on the bottom plate 101 and the top plate 104 . Two servo amplifiers 10 are detachably mounted between the lower mounting base 110 and the upper mounting base 114 . Each servo amplifier 10 is connected to an additional substrate (not shown) provided in the addition-side housing 100 when arranged and fixed in the addition-side housing 100 .

The left side plate 102 includes an additional-side connection connector 41 as a second input/output portion provided on the lower rear side thereof. The additional connection connector 41 is connected to the two servo amplifiers 10 via the additional substrate. The additional side connection connector 41 is electrically connected to the main body side connection connector 40 of the main body controller A1 when the additional controller A2 is connected to the main body controller A1. The two servo amplifiers 10 of the additional controller A2 are electrically connected to the motor control device MOC of the main body controller A1 when the additional side connection connector 41 is connected to the main body side connection connector 40 .

The left side panel 102 includes an air vent W3 formed on the front lower side thereof. When the additional controller A2 is connected to the main body controller A1, the air vent W3 is arranged opposite to the air vent W2 on the right side panel 5 of the main body controller A1, and drives the air discharged from the main body side casing 2 into the additional The inside of the side casing 100 . The right side plate 103 includes a vent hole W4 formed on the front upper side thereof. The air vent W4 discharges the air taken into the interior of the additional-side housing 100 to cool the interior of the additional-side housing 100 .

Next, the electrical configuration of the robot controller system 1 including the additional controller A2 as described above will be described with reference to FIG. 6 . In addition, the description of the main body controller A1 is omitted in order to avoid repetition.

The main control device MC of the main body controller A1 calculates the angles of the joints of the robot RB2 based on the program data AP and the point data, and generates data (position command data PI) corresponding to the target speeds of the first motor M1 to the sixth motor M6. ). Main controller MC supplies position command data PI to motor controller MOC.

The control board side power connector 20 and the control board side signal connector 30 of the main body controller A1 are equipped with intermediate motors connected to the fifth motor M5 and the sixth motor M6, and the fifth encoder M5a and the sixth encoder M6a respectively. relay terminal. The relay terminals of the control board side power connector 20 and the control board side signal connector 30 are respectively connected to the main body side connection connector 40 .

The additional controller A2 includes a fifth motor control circuit 55 and a sixth motor control circuit 56 . The fifth motor control circuit 55 and the sixth motor control circuit 56 are connected to the motor control device MOC when the additional side connection connector 41 is connected to the main body side connection connector 40 .

The fifth motor control circuit 55 and the sixth motor control circuit 56 are respectively connected to the corresponding servo amplifier 10 and the encoder receiving circuit 60 . When each servo amplifier 10 of the additional controller A2 is connected to the main body side connecting connector 41 through the control board side power connector 20 and the cable side power connector 21, it is connected to the corresponding motor (No. The fifth motor M5 and the sixth motor M6) are connected. The servo amplifier 10 of the additional controller A2 is connected to the capacitor 57 . The capacitor 57 compensates for the capacitance of the inverter circuit COV when the additional side connection connector 41 is connected to the main body side connection connector 40 .

Each encoder receiving circuit 60 of the additional controller A2 is connected to the corresponding motor via the control board side signal connector 30 and the cable side signal connector 31 when the additional side connection connector 41 is connected to the main body side connection connector 40. The encoders (the fifth encoder M5a and the sixth encoder M6a) are connected.

In this embodiment, each motor control circuit (the fifth motor control circuit 55 or the sixth motor control circuit 56), the corresponding servo amplifier 10, and the corresponding encoder receiving circuit 60 constitute a single second actuator drive unit. . That is, the additional controller A2 includes two second actuator drive units.

The motor control device MOC of the main body controller A1 receives signals related to the instant positions of the fifth motor M5 and the sixth motor M6 respectively from the corresponding encoder receiving circuit 60 (position information signals: fifth encoder pulse signal EP5 and sixth Encoder pulse signal EP6). The motor control device MOC calculates the fifth motor speed for making the rotation speeds of the fifth motor M5 and the sixth motor M6 reach the target speed based on the position command data PI and the fifth encoder pulse signal EP5 and the sixth encoder pulse signal EP6. The target load current (target driving amount) of the M5 and the sixth motor M6. The motor control device MOC generates the second control data (the fifth current command data IP5 and the sixth current command data IP6) specifying the target load current, and sends them to the corresponding motor control circuits (the fifth motor control circuit 55 and the sixth motor control circuit 55 and the sixth motor control circuit respectively). The circuit 56) supplies the current command data IP5, IP6.

The fifth motor control circuit 55 and the sixth motor control circuit 56 respectively receive signals related to the actual load current of the corresponding motor from the corresponding servo amplifier 10 (current detection signals: fifth current detection signal IS5 and sixth current detection signal IS6 ). The fifth motor control circuit 55 and the sixth motor control circuit 56 compare each current detection signal with each current command data (fifth current command data IP5 and sixth current command data IP6 ). The fifth motor control circuit 55 and the sixth motor control circuit 56 respectively generate respective power element drive signals (fifth power element drive signals PS5 and Sixth power element drive signal PS6 ), and each power element drive signal PS5 , PS6 is supplied to the corresponding servo amplifier 10 .

Each servo amplifier 10 of the additional controller A2 receives the direct current power supply DC via the capacitor 57 . Each servo amplifier 10 generates a load current (second drive signal: variable-frequency three-phase current TC) based on fifth power element drive signal PS5 and sixth power element drive signal PS6 using direct current power supply DC via capacitor 57 . Each servo amplifier 10 supplies the three-phase current TC to the corresponding motor (the fifth motor M5 and the sixth motor M6 ).

Each servo amplifier 10 of the additional controller A2 has a current detection circuit not shown, and detects the actual load current supplied to the corresponding motor (the fifth motor M5 and the sixth motor M6 ). Each servo amplifier 10 uses the detected actual load current as a feedback value (the fifth current detection signal IS5 and the sixth current detection signal IS6), and supplies it to the corresponding motor control circuit (the fifth motor control circuit 55 and the sixth motor control circuit 56).

The fifth encoder M5a and the sixth encoder M6a respectively detect the immediate positions of the corresponding electric motors (the fifth electric motor M5 and the sixth electric motor M6 ). Each encoder M5a, M6a generates a position information signal (fifth encoder pulse signal EP5 and sixth encoder pulse signal EP6) related to the detected real-time position, and supplies it to the corresponding encoder receiving circuit 60 .

Each encoder receiving circuit 60 of the additional controller A2 receives the position information signal (the fifth encoder pulse signal EP5 and the sixth encoder pulse signal EP6) from the corresponding encoder M5a, M6a, and sends the corresponding motor control circuit ( The fifth motor control circuit 55 and the sixth motor control circuit 56) respectively supply the position information signals. The fifth motor control circuit 55 and the sixth motor control circuit 56 respectively supply the motor control device MOC with position information signals (fifth encoder pulse signal EP5 and sixth encoder pulse signal EP6 ) from the corresponding encoder receiving circuit 60 .

That is, the motor control device MOC of the main body controller A1 calculates the target load of each motor M1-M6 based on the position command data PI from the main control device MC and the encoder pulse signals EP1-EP6 from the motor control circuits 51-56. current. The motor control device MOC generates current command data IP1 to IP6 for specifying target load currents, and supplies them to the corresponding first to sixth motor control circuits 51 to 56 . Motor control circuits 51 to 56 generate power element drive signals PS1 to PS6 based on current command data IP1 to IP6 from motor control device MOC and current detection signals IS1 to IS6 from corresponding servo amplifiers 10 , respectively. The motor control circuits 51 to 56 supply power element drive signals PS1 to PS6 to the corresponding servo amplifiers 10 to drive the motors M1 to M6 respectively.

According to the above configuration, the main control device MC performs PWM (Pulse Width Modulation) control on the first motor M1 to the sixth motor M6 to minimize the error between the immediate position of each motor M1 to M6 and the position of the position command data PI.

Therefore, the additional controller A2 can generate the position command data PI related to the fifth motor M5 and the sixth motor M6 in the main controller MC of the main controller A1. In addition, the additional controller A2 can sequentially calculate the fifth current command data IP5 and the sixth current command data IP6 for driving and controlling the fifth electric motor M5 and the sixth electric motor M6 in the motor control device MOC of the main body controller A1. In addition, the additional controller A2 can generate the DC current for generating the three-phase current TC in the inverter circuit COV of the main body controller A1.

Therefore, the additional controller A2 can be configured without mounting an arithmetic circuit or a memory for generating position command data PI, a motor control device MOC for generating fifth current command data IP5 and sixth current command data IP6, a main power supply circuit MG, or In the case of the inverter circuit COV, the drive control of the fifth motor and the sixth motor is performed. Therefore, it is possible to reduce the size of the additional controller A2 and reduce the cost. That is, since the overall size of the robot controller system 1 including the main body controller A1 and the additional controller A2 is reduced, an installation space can be saved.

Next, the operation of the robot controller system 1 will be described. First, the operation of the robot controller system 1 that controls the robot RB1 using only the main body controller A1 will be described.

As shown in FIG. 1 , the control board side power connector 20 and the control board side signal connector 30 of the main body controller A1 are connected to the robot RB1 via connection cables L4 and L5, respectively. Next, the program data AP and the teaching command data ID are supplied from the personal computer PC and the teaching box TP to the main controller MC, respectively. Main controller MC generates position command data PI based on these program data AP and teaching command data ID, and supplies position command data PI to motor control device MOC.

The motor control device MOC generates current command data IP1 to IP4 based on the position command data PI, and supplies the current command data IP1 to IP4 to the corresponding motor control circuits 51 to 54, respectively. The motor control circuits 51 to 54 respectively generate power element drive signals PS1 to PS4 based on the supplied current command data IP1 to IP4, and supply the power element drive signals PS1 to PS4 to the corresponding servo amplifiers 10, respectively. Each servo amplifier 10 generates a variable-frequency three-phase current TC through PWM control based on the supplied power element drive signals PS1 to PS4 using the direct current DC supplied from the inverter circuit COV, and transfers the three-phase current TC to The corresponding motors M1 to M4 are supplied, and the corresponding motors M1 to M4 are driven based on the position command data PI.

During this period, each encoder receiving circuit 60 feeds back the encoder pulse signal (first encoder pulse signal EP1 ~ the fourth encoder pulse signal EP4). In addition, each servo amplifier 10 converts the detected actual load current into a current detection signal (first current detection signal IS1 to fourth current detection signal IS4 ), and feeds it back to the motor control device MOC.

Motor control device MOC regenerates current command data IP1 to IP4 based on position command data PI and encoder pulse signals EP1 to EP4 , and supplies them to motor control circuits 51 to 54 .

The motor control circuits 51 to 54 regenerate the power element drive signals PS1 to PS4 based on the current command data IP1 to IP4 and the current detection signals IS1 to IS4 and supply them to the corresponding servo amplifiers 10 . Through this operation, the respective motors M1 to M4 are driven and controlled so that the error between the current position and the position of the position command data PI is minimized.

Next, the operation of the robot controller system 1 that controls the robot RB2 as a 6-axis control vertical articulated industrial robot using the main body controller A1 and the additional controller A2 will be described.

First, the additional side connection connector 41 of the additional controller A2 is connected to the main body side connection connector 40 of the main body controller A1. If the main body side connection connector 40 is connected to the connection connector 41, the motor control device MOC of the main body controller A1 controls the actuator driving part (each motor control circuit 55, 56, servo amplifier 10 and encoder) of the additional controller A2. receiving circuit 60).

That is, the first motor control circuit 51 to the sixth motor control circuit 56 generate the first power element drive signal PS1 based on the first current command data IP1 to the sixth current command data IP6 supplied from the motor control device MOC of the main body controller A1. ~Sixth power element driving signal PS6. The first to sixth motor control circuits 51 to 56 supply power element drive signals to the corresponding servo amplifiers 10 , respectively. Each servo amplifier 10 generates a variable-frequency three-phase current TC through PWM control based on the supplied power element drive signals PS1 to PS6 using the direct current power supply DC supplied from the inverter circuit COV, and transfers the three-phase current TC to The corresponding motors M1 to M6 are supplied, and the corresponding motors M1 to M6 are driven based on the position command data PI.

During this period, each encoder receiving circuit 60 feeds back the encoder pulse signal (the first encoder pulse signal EP1 ~Sixth encoder pulse signal EP6). In addition, each servo amplifier 10 converts the detected actual load current into a current detection signal (first current detection signal IS1 to sixth current detection signal IS6 ), and feeds it back to the motor control device MOC.

The motor control device MOC of the main body controller A1 regenerates first current command data IP1 to sixth current command data IP6 based on the position command data PI and encoder pulse signals EP1 to EP6 and supplies them to the respective motor control circuits 51 to 56 .

Through this operation, the main body controller A1 and the additional controller A2 can control the 6-axis controlled robot RB2.

The robot controller system 1 of this embodiment has the following advantages.

(1) According to the present embodiment, the main body controller A1 has the main controller MC for generating the position command data PI, and the motor controller MOC for sequentially calculating the fifth current command data IP5 and the sixth current command data IP6. Furthermore, the main body controller A1 and the additional controller A2 have interfaces for receiving and receiving position command data PI, fifth current command data IP5, and sixth current command data IP6 (main body side connection connector 40 or additional side connection connector plugin 41).

Therefore, the additional controller A2 can be driven without an arithmetic circuit or a memory for generating the position command data PI and a motor control device MOC for generating the fifth current command data IP5 and the sixth current command data IP6. The fifth electric motor and the sixth electric motor are controlled. Therefore, miniaturization of the additional controller A2 can be realized, and the cost of the additional controller A2 can be reduced. As a result, the robot controller system 1 including the main body controller A1 and the additional controller A2 can be downsized, and the installation space of the robot controller system 1 can be reduced in space.

(2) In addition, the common main control device MC and motor control device MOC control the respective motor control circuits 51 to 56 of the main controller A1 and the additional controller A2. Therefore, compared with the case where a plurality of synchronous CPUs respectively control corresponding motor control devices, the control system of the motor is greatly simplified. Therefore, further space saving of the robot controller system can be realized.

(3) According to the present embodiment, the main body controller A1 includes the main body side connection connector 40 , and the additional controller A2 includes the additional side connection connector 41 . Furthermore, when the connecting connector 40 is connected to the connecting connector 41, the main body controller A1 and the additional controller A2 are closely connected. This tight connection enables the overall size of the robot controller system 1 to be further reduced.

(4) Also, only by connecting the connection connector 40 to the connection connector 41, the inverter circuit COV of the main body controller A1 and each servo amplifier 10 of the additional controller A2 are electrically connected. Therefore, the additional controller A2 can save the space amount of the inverter circuit COV.

In addition, each servo amplifier 10 of the additional controller A2 is electrically connected to the fifth motor M5 and the sixth motor M6 only by connecting the connection connector 40 to the connection connector 41 . Furthermore, only by connecting the connection connector 40 to the connection connector 41, each encoder receiving circuit 60 of the additional controller A2 is electrically connected to the fifth encoder M5a and the sixth encoder M6a.

Therefore, the additional controller A2 can further save the amount of the board-side power connector 20 or the board-side signal connector 30 that is unnecessary for the additional controller A2.

(5) Furthermore, since the power connectors 20, 21 and the signal connectors 30, 31 are gathered in one place, the connection cables L4, L5 between the main body controller A1 and the robot RB2 can be simplified.

(6) According to the present embodiment, the number of actuator driving units housed in the main body controller A1 is set to the smallest number of axes among the number of axes of the multi-axis robot (robots RB1 and RB2 ) to be controlled. Therefore, when controlling the robots RB1 and RB2 having different numbers of axes, the main body controller A1 can be used in common. Therefore, the common use of the robot controller can be realized, and the cost of the robot controller can be reduced more reliably.

(7) According to the present embodiment, the servo amplifier 10 of the main body controller A1 can be replaced from the front panel 8 . In addition, the servo amplifier 10 of the additional controller A2 can be replaced from the front panel 106 . Therefore, the servo amplifier 10 can be replaced from the front side of the robot controller system 1 (the front control board 8 and the front panel 106 ). Therefore, when changing the robot to be controlled, the servo amplifier 10 can be easily replaced.

- In one embodiment of the present invention, one additional controller A2 includes two actuator drive units. However, the present invention is not limited thereto. For example, as shown in FIG. 7 , one additional controller A3 and A4 may include only one actuator drive unit. In this case, the fifth motor control circuit 55 of the additional controller A3 can be connected to the main body controller A1 via the connecting connectors 40, 41, and the sixth motor control circuit 56 of the additional controller A4 can be connected via the connecting connectors 40, 41. 41, 42, 43 are connected with the body controller A1. Alternatively, the main body controller A1 may include a plurality of main body side connection connectors 40 , and a plurality of additional controllers may be connected in parallel via the plurality of main body side connection connectors 40 .

- In one embodiment of the present invention, the servo amplifier 10 to which the controller A2 is added is connected to the robot RB2 via the connection connectors 40 and 41 and the power connectors 20 and 21 . In addition, the encoder receiving circuit 60 of the additional controller A2 is connected to the robot RB2 via the connection connectors 40 and 41 and the signal connectors 30 and 31 . However, it is not limited thereto. For example, as shown in FIG. 8, the controller A2 may also include an additional side power connector 44 and an additional side signal connector 45, and the servo amplifier 10 and the encoder receiver of the controller A2 may be added. The electric circuit 60 is connected to the robot RB2 via the additional-side power connector 44 and the additional-side signal connector 45 , respectively. In this case, it is preferable to change the connecting cable connecting the robot RB2 and the robot controller system 1 to a two-strand cable, and connect the robot RB2 to both the main controller A1 and the additional controller A2.

- In one Embodiment of this invention, the 5th motor control circuit 55 and the 6th motor control circuit 56 of the additional controller A2 drive the 5th motor M5 and the 6th motor M6 of the robot RB2, respectively. However, it is not limited thereto. For example, as shown in FIG. The external device AR.

That is, the motor control device MOC generates external device control data specifying the driving amounts of the seventh motor M7 and the eighth motor M8. In addition, the fifth motor control circuit 55, the sixth motor control circuit 56, the servo amplifier 10, and the encoder receiving circuit 60 of the additional controller A2 generate external device drive signals based on external device control data (for example, variable-frequency 3-phase current TC). Furthermore, the additional controller A2 may be connected to each external device AR via the power connector 46 and the signal connector 47, and may supply an external device drive signal to each external device. According to this modification, the main controller MC and the motor controller MOC can simultaneously drive and control the robot RB1 and the external equipment AR.

- In one embodiment of the present invention, in order to compensate the capacitance of the inverter circuit COV of the main body controller A1, the capacitor 57 is provided in the additional controller A2. However, the present invention is not limited thereto. For example, the body controller A1 may include a capacitor 57 . In addition, if the capacitance of the inverter circuit COV is sufficient, the capacitor 57 may be omitted.

- In one embodiment of the present invention, the main body controller A1 is electrically connected to the additional controller A2 by connecting the main body side connection connector 40 to the additional side connection connector 41 . But it is not limited thereto. For example, the connection cable can be extended from the additional side connection connector 41, and the cable side connection connector installed on the front end of the connection cable is connected to the body side connection connector 40, so that the body controls The controller A1 is electrically connected to the additional controller A2.

- In one embodiment of the present invention, the robot controller is embodied as the robot controller system 1 that controls the robot RB1 controlled by 4 axes or the robot RB2 controlled by 6 axes. But it is not limited thereto, and the robot controller system is not limited by the type and quantity of robots controlled. For example, the robot controller system can also control a single-axis robot, a 2-axis robot, or a 3-axis robot. In addition, in this case, it is preferable that the main body controller A1 mounts the minimum necessary servo amplifier 10 corresponding to a single-axis robot having the fewest number of axes.

- In one embodiment of the present invention, the control board side power connector 20 and the control board side signal connector 30 are provided as separate components. However, the present invention is not limited thereto. For example, the board-side power connector 20 and the board-side signal connector 30 may be embodied as common connectors.

- In one embodiment of the present invention, a front panel 8 is provided on the front surface of the main body side casing 2 . However, the present invention is not limited thereto, and a control panel movable between an open first position and a closed second position may also be provided on other side surfaces of the main body side housing 2 . Alternatively, the front surface of the main body side casing 2 may not be opened at all.

- In one embodiment of the present invention, either side of the additional controller A2 may be configured to be openable like the front of the main body controller A1. Also, in this case, preferably, the front panel 106 is openable. Thus, by making the front of the additional controller A2 openable, the replacement work of the servo amplifier 10 of the main body controller A1 and the replacement work of the servo amplifier 10 of the additional controller A2 can be performed from a common method (front).

- In one embodiment of the present invention, the personal computer PC and the teaching box TP are connected to the main body controller A1, but the present invention is not limited thereto. For example, a quick disconnect switch, a programmable logic controller, etc. may be connected to the main body controller A1 or the additional controller A2 in addition to the personal computer PC and the teaching box TP.

Claims (6)

1. A robot controller system, wherein, possesses: A robot (RB2) comprising first actuators (M1-M4) and second actuators (M5, M6); a master controller (A1) driving said first actuator; a secondary controller (A2) driving said second actuator, The master controller (A1) has: an actuator control device (MOC) that calculates a target drive amount of the first actuator, generates first control data (IP1 to IP4) including the target drive amount of the first actuator, and , calculate the target driving amount of the second actuator, and generate second control data (IP5, IP6) including the target driving amount of the second actuator; A first actuator drive unit (51-54, 10, 60) generates a first drive signal (PS1-PS4) based on the first control data, and supplies the first actuator to the first actuator. a drive signal to drive the first actuator; a first input-output unit (40) that supplies the second control data to the sub-controller (A2), The secondary controller (A2) has: A second actuator drive unit (55, 56, 10, 60) generating a second drive signal (PS5, PS6) based on second control data, and supplying the second drive signal to the second actuator , thereby driving the second actuator; A second input-output unit (41) that supplies the second control data supplied from the first input-output unit (40) to the second actuator drive unit. 2. The robot controller system of claim 1, wherein: The main controller (A1) further includes a power supply device (MG), and the power supply device (MG) supplies the first actuator driving parts (51-54, 10, 60) The output part (40) supplies the power signal, The first input-output unit (40) supplies the power signal supplied from the power supply device (MG) to the second input-output unit (41), The second input-output unit (41) supplies the power signal supplied from the first input-output unit (40) to the second actuator drive unit (55, 56, 10, 60). 3. The robot controller system of claim 1, wherein: The second input and output unit (41) receives the second driving signal generated by the second actuator driving unit, and supplies the received second driving signal to the first input and output unit (40 ), The main controller (A1) supplies the first actuator with the first drive signal generated by the first actuator drive unit, and supplies the signal to the first input and output unit (40 ) of the second drive signal is supplied to the second actuator. 4. The robot controller system of claim 3, wherein: The robot includes first encoders (M1a-M4a) that generate first encoder signals (EP1-EP4) related to the driving amount of the first actuator, and generate signals related to the driving amount of the second actuator. The second encoder (M5a-M6a) of the second encoder signal (EP5, EP6) related to the driving amount, The main controller (A1) further includes a third input and output unit (30), and the third input and output unit (30) receives the first encoder signals (EP1-EP4) and the second encoder signals (EP5, EP6), and supply the first and second encoder signals to the actuator control device via the first and second actuator drive units, respectively. 5. The robot controller system of claim 3, wherein: The robot includes first encoders (M1a-M4a) that generate first encoder signals (EP1-EP4) related to the driving amount of the first actuator, and generate signals related to the driving amount of the second actuator. The second encoder (M5a-M6a) of the second encoder signal (EP5, EP6) related to the driving amount, The main controller (A1) further includes a third input and output unit (30), the third input and output unit (30) receives the first encoder signal (EP1-EP4), and through the first actuation an actuator drive unit that supplies the first encoder signal to the actuator control device, The sub-controller (A2) also includes a fourth input-output part (45), the fourth input-output part (45) receives the second encoder signal (EP5, EP6), and through the second actuation The actuator drive unit supplies the second encoder signal to the actuator control device. 6. The robot controller system of claim 1, wherein: Said robot comprises an external device (AR) comprising said second actuator (M7, M8).

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