JP2008033898A - Multi-shaft drive device and data display/change method thereof, and auxiliary function execution method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a multi-shaft drive device for solving disadvantages, where only parameter values of a specific shaft can be displayed and changed on the same screen of a conventional operation panel and those of a plurality shafts cannot be displayed and changed when controlling the plurality of motor shafts. <P>SOLUTION: The multi-shaft drive device has a plurality of motor drive sections 3n having inherent parameters for driving a plurality of motors 2n. The multi-shaft drive device comprises: a single parameter management section 12 for numbering a logical shaft number #n for identifying the correspondence to the plurality of motors 3n to the motor drive section 3n, and managing a plurality of shaft parameters; a parameter read/change section 13 for reading and changing the parameter values of one shaft; an operation panel 17 for displaying data including parameters and inputting from a key; and a multi-shaft data processing section 18 for reading/changing a plurality of shaft parameter values simultaneously. The value of a specified parameter number is displayed and changed for a plurality of shafts on the same screen of the operation panel 17. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a multi-axis drive device capable of driving a plurality of motors, and more particularly to a data display / change method and an auxiliary function execution method.

In a conventional multi-axis drive device that controls a plurality of motor axes with a single CPU, a motor drive unit and a control parameter exist for each motor axis, and when a certain control parameter value is displayed or changed, the multi-axis drive device When the axis number is selected on the attached operation panel, the specified control parameter value for the specified axis can be displayed or changed. At this time, only a specific one-axis control parameter value can be displayed or changed on the same screen of the operation panel. Hereinafter, the control parameter is simply referred to as a parameter.
Similarly, only one specific axis is displayed on the same screen of the operation panel for the monitor data (see, for example, Patent Documents 1 and 2).

FIG. 8 is a block diagram of a conventional multi-axis drive. In the multi-axis drive apparatus 10, 3i (i = 1, 2,... N, the same applies hereinafter) is a motor drive unit and is connected to the motor 2i. . Reference numeral 11 denotes a CPU that performs motor control, 12 is a parameter management unit, 13 is a parameter reading / changing unit, 14 is a monitor management unit, and 15 is a monitor data reading unit. A serial transmission / reception unit 16 transmits screen display data to the operation panel 17 and receives key operation information from the operation panel 17.
The parameter management unit 12 is provided with a parameter storage area corresponding to each axis, and stores a parameter 4i for each motor axis. For reading parameters, key input information related to reading of the operation panel 17 is received by the serial transmission / reception unit 16, the parameter management unit 12 is accessed from the parameter reading / changing unit 13, the parameters are read, and the screen display data of the operation panel 17 is read. It is prepared and transmitted to the operation panel 17 by the serial transmission / reception unit 16. To change the parameters, key input information related to the change of the operation panel 17 is received by the serial transmission / reception unit 16, the parameter management unit 12 is accessed from the parameter reading / changing unit 13, the parameters are changed, and the screen display data of the operation panel is displayed. It is prepared and transmitted to the operation panel 17 by the serial transmission / reception unit 16. Perform the above to read and change parameters.
The monitor management unit 14 is provided with monitor data 5i corresponding to each axis, and holds monitor data for each motor axis.
To read the monitor data, the serial transmission / reception unit 16 receives key input information related to the reading of the operation panel 17, accesses the monitor management unit 14 from the monitor data reading unit 15, reads the monitor data, and uses the serial transmission / reception unit 16 to operate the operation panel. 17 to send.
The monitor data is read by performing the above.

FIG. 9 is an operation screen of the operation panel of the conventional multi-axis drive device.
In FIG. 9A, characters in 5 rows and 17 columns can be displayed on the operation panel displaying the display change operation screen. FIG. 9B is an axis number setting screen as one of the operation screens on the operation panel, and FIG. 9C is a parameter monitor setting / display screen.
9B and 9C show the contents of the display area (5 rows and 17 columns) of the example of the operation panel 17. In addition, numbers are attached to the first row so that the position of the character string and the position of the row are recognized in the left end column, but these numbers are not displayed on the screen of the operation panel 17. Further, the meanings of the symbols here are as follows.
・ 0th line 1: BB: Indicates that the axis number currently set on the operation panel is 1. BB represents a status (motor non-energized state and normal).
1-11 after the first line: BB: The leftmost numerical value “1” is a physical axis number, and the central numerical value “11” indicates an axis number that can be arbitrarily set by the user. This is the axis number as seen from the host controller.
--AXIS -... It means that it is an axis number setting screen display mode.
-PRM / MON -... means that it is the parameter (Pn) and monitor (Un) data setting screen display mode of the servo drive device.
-Pn000 = 0010 ... Indicates that the data value of parameter number 000 is 0010.
Un00D = 000001353 ... It is displayed that the data value of the monitor number 00D is 00001753.
When the multi-axis drive device 10 is turned on, the axis number setting screen shown in FIG. The axis number at this time is 1 by default.
Here, move the cursor to the axis number selection position in the first column, select the axis number with the ↑ cursor key or the ↓ cursor key shown in FIG. 9A, and press the “DATA” key. The operation target axis number shown is set. Here, when the “MODE / SET” key is pressed, the parameter monitor display / setting screen shown in FIG. 9C is displayed.
In the parameter / monitor display / setting screen of FIG. 9 (c), parameters for one axis are displayed / changed, and monitor data is displayed. Here, in order to display parameters and monitor data of other axes, it is necessary to press the “MODE / SET” key again to return to the axis number selection screen of FIG. 9B and reselect the axis number using the keys. There is.

As described above, in the conventional multi-axis drive device, when displaying / changing the parameters on the operation panel, it is possible to display / change the parameters only for the designated axis after selecting the axis number on the operation panel. In other words, only one specific axis parameter value could be displayed / changed on the same screen of the operation panel. Similarly, when the monitor data is displayed, the monitor data is displayed only for the designated axis after the axis number is selected on the operation panel. In other words, only one specific axis of monitor data could be displayed on the same screen of the operation panel.
Japanese Patent Laid-Open No. 7-175405 (FIG. 2) Japanese Patent Laying-Open No. 2003-58218 (FIG. 1)

In the conventional multi-axis drive device, when changing the display of axis parameter values and monitor data, the axis number is specified and the specified axis parameter value is displayed and set on the operation panel. When the plurality of axes are adjusted at the same time, the work efficiency is poor, which is inconvenient for the user.
Also, when executing a certain auxiliary function with multiple axes, first select one axis on the axis selection screen, then move to the function execution screen and then execute the function for the selected axis. It was necessary to move to the axis selection screen once in order to switch. Further, since the functions that can be executed at a time are limited to only one axis, the operation becomes complicated in order to execute the functions for a plurality of axes.

The present invention has been made in view of such a problem, and by specifying the parameter number on the operation panel for each parameter of a plurality of motor shafts connected to the multi-axis drive device, all axes on the same screen. It is a first object of the present invention to have a function of displaying or changing parameters for minutes or a plurality of axes, and to easily perform simultaneous adjustment of the plurality of axes. Similarly, the monitor data for each motor axis connected to the multi-axis drive unit can be displayed on the same screen by specifying the monitor number on the operation panel to display monitor data for all axes or multiple axes. The second object is to facilitate the simultaneous adjustment of a plurality of axes.
Furthermore, it is a third object to provide means that can be efficiently performed with a simple operation even when a certain function is executed for a plurality of axes.

In order to solve the above problems, the present invention is configured as follows.
The present invention according to claim 1 relates to a multi-axis drive device, comprising a plurality of motor drive units having specific parameters for driving a plurality of motors, and identifying correspondence between the motor drive units and the plurality of motors. Includes a single parameter management unit for managing the parameters of multiple axes, a parameter reading / changing unit for reading and changing parameter values for one axis, and parameters. In a multi-axis drive device having an operation panel for displaying data and inputting from a key, a multi-axis data processing unit for performing processing for simultaneously reading and changing parameter values of a plurality of axes is provided. By displaying and changing the value of the specified parameter number for all axes or multiple axes on the screen, the specified parameter number is displayed on the same screen of the operation panel. The is to be able to display all the axes or more axes minute.
The invention according to claim 2 is such that, in the multi-axis drive device according to claim 1, when the data of the parameter number designated on the operation panel coincides with all axes, a specific mark can be displayed simultaneously with the parameter number. To do.
Furthermore, in the multi-axis drive device according to the first aspect of the present invention, an arbitrary parameter value can be changed to the same value for a plurality of axes by selecting a specific plurality of axes with an operation panel. It is.
According to a fourth aspect of the present invention, there is provided a multi-axis drive device, comprising: a plurality of motor drive units for driving a plurality of motors; and identifying correspondence between the motor drive units and the plurality of motors. A single monitor management unit that assigns logical axis numbers and manages monitor data for multiple axes, a monitor reading unit that reads monitor data for one axis, and data display and keys that include monitor data A multi-axis drive device comprising an operation panel for performing input from a multi-axis data processing unit for performing processing for simultaneously reading monitor data for a plurality of axes, and monitoring data designated on the same screen of the operation panel By displaying data for all axes or multiple axes, the data of the motor drive unit specified on the same screen of the operation panel can be displayed for all axes or multiple axes.

Furthermore, the invention according to claim 5 relates to a data display / change method for a multi-axis drive device, and includes a plurality of motor drive units having specific parameters for driving a plurality of motors, and the motor drive unit includes the plurality of motor drive units. A logical axis number for identifying the correspondence with multiple motors is assigned, a single parameter management unit that manages the parameters of multiple axes, and parameter reading for reading and changing parameter values for one axis・ In the data display / modification method of a multi-axis drive device equipped with a change unit and an operation panel that displays data including parameters and inputs from keys, a process for simultaneously reading and changing the parameter values of multiple axes A multi-axis data processing unit is provided to display and change the value of the specified parameter number for all axes or multiple axes on the same screen of the operation panel. , On the same screen of the operation panel, and is to the value of the specified parameter number can display all axes or more axes minute.
According to a sixth aspect of the present invention, in the data display / change method for the multi-axis drive device according to the fifth aspect, when the data of the parameter number designated on the operation panel coincides with all the axes, a specific mark is assigned the same parameter number. It can be displayed at the same time.
Further, the invention according to claim 7 is the data display / change method of the multi-axis drive device according to claim 5, wherein a specific mark is displayed on the plurality of specific axes on the operation panel and selected, and the specified parameter is displayed. When the value of the number is set, the parameter value of all the axes selected with the mark is set to the same value, so that the parameter value can be changed to the same value on a plurality of axes.
The invention according to claim 8 relates to a data display / change method for a multi-axis drive device, and includes a plurality of motor drive units for driving a plurality of motors, and the motor drive unit is connected to the plurality of motors. A logical axis number for identifying correspondence is assigned, a single monitor management unit for managing monitor data for a plurality of axes, a monitor reading unit for reading monitor data for one axis, and monitor data In a data display / change method of a multi-axis drive device comprising an operation panel for displaying data and inputting from a key, a multi-axis data processing unit for performing processing for simultaneously reading monitor data of a plurality of axes, By displaying the monitor data specified on the same screen of the operation panel for all axes or multiple axes, the data for the motor drive unit specified on the same screen of the operation panel can be displayed for all axes. It is to be able to view the stone plurality of axes minute.

The invention according to claim 9 is the multi-axis drive device according to any one of claims 1 to 4, further comprising a single auxiliary function management unit for managing a plurality of auxiliary functions, and the operation panel. Select one of the auxiliary functions by key input, and display all the axes, specify one or more axes from all displayed axes by the key input, and select the selected auxiliary function. It is characterized by executing functions for the specified number of axes at once.
According to a tenth aspect of the present invention, in the multi-axis drive device according to the ninth aspect, the auxiliary function is clearing of an alarm history.
The invention of the auxiliary function execution method of the multi-axis drive device according to claim 11 is the data display / change method of the multi-axis drive device according to any one of claims 5 to 8, further comprising a plurality of auxiliary functions. A single auxiliary function management unit for managing the selected one of the auxiliary functions by key input on the operation panel, and displaying all the axes. A plurality of axes are designated by the key input, and the selected auxiliary functions are collectively executed for the designated number of axes.
According to a twelfth aspect of the present invention, in the auxiliary function execution method of the multi-axis drive device according to the eleventh aspect, the auxiliary function is an alarm history clear.

According to the first and fifth aspects of the present invention, the parameters designated on the same screen of the operation panel can be displayed or changed for all axes or for a plurality of axes, so that simultaneous adjustment of a plurality of axes is facilitated.
According to the second and sixth aspects of the present invention, when the parameters of all axes on the operation panel have the same value, the parameters designated by displaying a specific mark at the same time as the parameter number match all the axes. It becomes possible to judge easily.
According to the third and seventh aspects of the invention, when a plurality of specific axes are selected and the parameters of any of the selected axes are changed, the other selected axes are also changed. Multiple axes can be set simultaneously.
According to the fourth and eighth aspects of the present invention, the monitor data designated on the same screen of the operation panel can be displayed for all axes or a plurality of axes, so that simultaneous adjustment of a plurality of axes is facilitated.
According to the ninth and eleventh aspects of the present invention, when a certain function is executed for a plurality of axes, it can be efficiently performed with a simple operation.
According to the tenth and twelfth aspects of the present invention, the clearing of the alarm history can be efficiently performed with a simple operation, particularly for a plurality of axes.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings.

<Simultaneous change of parameter value>
FIG. 1 is a block diagram of a multi-axis drive device according to Embodiments 1 and 2 of the present invention. In this block diagram, the configuration other than the multi-axis data processing unit 18 is the same as that in FIG. The present invention is different from the prior art in that a multi-axis data processing unit 18 is added.
In response to a key request from the operation panel 17, the multi-axis data processing unit 18 reads / changes multi-axis parameters and reads monitor data for multiple axes on the same screen.
Conventionally, key input from the operation panel 17 is processed by the parameter reading / changing unit 13 and the monitor data reading unit 15 via the serial transmission / reception unit 16. In the present invention, however, key input is performed by the serial transmission / reception unit 16. Is input to the multi-axis data processing unit 18, and processing that enables data reading / changing for the multi-axis on the same screen is performed. Thereafter, processing of the parameter reading / changing unit 13 and the monitor data reading unit 15 is performed. To do.
FIG. 2 is an operation screen of the operation panel of the multi-axis drive device showing the first embodiment of the present invention.
FIG. 2A shows a parameter / monitor display / setting screen, which displays / changes parameters of one axis and displays monitor data, as in the prior art.
2 (b) to 2 (d) are all axis parameter display / setting screens, FIG. 2 (b) shows a parameter number setting mode in which parameter numbers can be set, and FIG. The axis designation parameter setting mode in which the value and axis number can be set is shown. FIG. 2D is a diagram for explaining the same parameter setting mark as the all-axis data coincidence mark described later.
2 and 3 show the contents of the display area (5 rows and 17 columns) of the example of the operation panel 17. In addition, numbers are attached to the first row so that the position of the character string and the position of the row are identified in the leftmost column, but this number is not displayed on the screen of the operation panel 17.
Further, the meanings of the symbols here are as follows.
The reference numerals used in the parameter / monitor display / setting screen in FIG. 2A are the same as those in FIG.
-ALL MON -... It means that it is the all axis monitor screen display mode.
1-Un000 = −50500 r / min, which means that the data of monitor number 000 on the first axis is −50500 (unit: r / min).

Next, the screen of FIG. 2 will be described with reference to FIG.
When the multi-axis drive device 10 is turned on, the axis number setting screen shown in FIG. The axis number at this time is 1 by default.
Here, move the cursor to the axis number selection position in the first column, select the axis number with the ↑ or ↓ cursor key, and press the “DATA” key. Is set. Here, when the “MODE / SET” key is pressed, the parameter monitor display / setting screen shown in FIG. On this screen, the uniaxial parameter values and monitor data displayed in the operation target number (0 row 0 column) are displayed.
By moving the cursor position to the position of “Pn” on this screen and pressing the “DATA” key, the parameter number setting mode of the all-axis parameter display / setting screen shown in FIG.
In this state, the cursor is at the parameter number setting position, and the parameter number can be changed by pressing the ↑ cursor key or the ↓ cursor key.
If the “DATA” key is pressed here, the axis designation parameter setting mode shown in FIG. In this mode, the parameter value can be changed by moving the cursor to the parameter value and pressing the ↑ or ↓ cursor key. When the cursor is moved to the axis number and the “DATA” key is pressed, the parameter of the next axis number is displayed. If the “MODE / SET” key is pressed on this screen, the cursor moves to the parameter number setting position, and the parameter number setting mode shown in FIG.
As described above, by selecting a parameter number in the parameter number selection mode and selecting an axis in the axis designation parameter setting mode, the parameters of all axes on the same screen can be displayed and changed.

Next, a case where the set parameter number values match on all axes will be described.
When the set parameter number value matches all axes, a specific mark is displayed on the left of the parameter number as an all-axis data match mark. An example is shown in FIG. Here, “#” is a specific mark.
The processing of the multi-axis drive device 10 in this case is as follows.
When parameter numbers are selected on the All Axis Parameter Display / Setting screen by operating the operation panel 17, the multi-axis data processing unit 18 checks the parameter values of all axes, and if all axes have the same value, the same value is obtained. Is returned to the operation panel 17. The operation panel 17 displays a specific mark on the left of the parameter number by the flag.
In this way, whether or not the contents of the parameter values for all axes match is indicated by a specific mark, so it is easy to determine that the parameters match for all axes, and it is necessary to align the parameter values between the axes. This is effective when a multi-axis drive device is applied to a machine with the same.

In addition, the same parameter value can be set for a plurality of axes. The specific operation is as follows. First, the display is set to the axis designation parameter setting mode, the cursor is moved to the left of the axis number, and the “DATA” key is pressed.
As a result, a specific mark is displayed as the same parameter setting mark, and the cursor moves to the axis number position. An example is shown in FIG. Here, “@” is a specific mark.
This mark is set for each axis for which the same parameter value is to be set, and the parameter value of any axis number for which the mark is set is changed. By doing this, the parameter of the axis number for which another mark is set is set to the same value. The mark can be canceled by pressing the “DATA” key while the mark is displayed.
The processing of the multi-axis drive device 10 is as follows. When a specific mark is added to the axis number by operating the operation panel 17, the information is sent to the multi-axis data processing unit 18 as the same parameter value setting information and stored. When the multi-axis data processing unit 18 receives a parameter value change command from the operation panel 17, the multi-axis data processing unit 18 looks at the same parameter setting information and sets the corresponding axis parameter to the same value.
As described above, since the same parameter value can be set simultaneously for a plurality of axes, it is effective when the multi-axis drive device is applied to a machine or the like that needs to align the parameter values between the axes.
In the above description of the embodiment, the case of displaying / changing the parameters of all axes is shown, but the target can be limited to a specific plurality of axes.
In the axis number setting screen shown in FIG. 2B, the target axis is selected by moving the cursor to the left of the axis number selection position and pressing the “DATA” key. When selected, a mark “*” is displayed. If there is no “*” mark, all axes are selected. Canceling is also possible by pressing the “DATA” key again when the “*” mark is displayed.
When the target axes are limited, the setting and display of the parameters of the axes that are not set as the target axes cannot be performed on the all axis parameter display / setting screen. In addition, all axis coincidence of parameter numbers is targeted only for the axis set as the target axis.

<Simultaneous display of monitor data>
FIG. 3 is an operation change screen of the operation panel of the multi-axis drive device showing the second embodiment of the present invention.
FIG. 3A shows a parameter / monitor display / setting screen. As in the first embodiment, the axis number is set on the axis number setting screen shown in FIG. 9B, and the “MODE / SET” key is pressed to display the parameter monitor display / setting screen.
On this screen, the cursor position is moved to the “Un” position and the “DATA” key is pressed to enter the monitor number setting mode of the all-axis monitor screen of FIG.
In this state, the cursor is at the monitor number setting position, and the monitor number can be changed by pressing the ↑ cursor key or the ↓ cursor key.
Further, when the “DATA” key is pressed, the axis designation monitor mode shown in FIG. In this mode, when the cursor is moved to the axis number and the “DATA” key is pressed, the monitor of the next axis number is displayed. If the “MODE / SET” key is pressed on this screen, the cursor moves to the monitor number setting position, and the monitor number setting mode shown in FIG.
As described above, by selecting a monitor number in the monitor number selection mode and selecting an axis in the axis designation monitor mode, it is possible to display monitors for all axes on the same screen.
In the above description of the embodiment, the case where all axes of the monitor are displayed is shown, but the object can be limited to a specific plurality of axes as in the first embodiment.

  In this way, it is possible to display and change the parameter values of all axes on the same screen of the operation panel for each parameter of the motor axis of the multi-axis drive device. Similarly, the monitor data can also display the data for all axes. Thus, adjustment and the like of a robot apparatus having a large number of actuators can be performed efficiently.

<Simultaneous execution of auxiliary functions>
FIG. 4 is a block diagram of a multi-axis drive device according to Embodiment 3 of the present invention.
In this block diagram, the multi-axis data processing unit 18 is common to the first and second embodiments, and the third embodiment is different from the first and second embodiments in that an auxiliary function management unit 19 is added. The operation panel 17 is the same as the operation panel 17 used in the first and second embodiments. However, the following six keys are used in the third embodiment. That is, the “up key” 17U for moving the cursor up one line, the “down key” 17S for moving the cursor down one line, the “light key” 17R for moving the cursor one character right in the same line, and the cursor on the same line There are six input keys: four “left keys” 17L for moving one character to the left, and two function keys “DATA key” 17D and “MODE / SET key” 17M.
The multi-axis data processing unit 18 can display the auxiliary functions of the auxiliary function management unit 19 in the display area of the operation panel 17 in response to a key request from the operation panel 17. Auxiliary functions include, for example, clearing the alarm history, initializing user constant setting values, normal auto tuning, encoder alarm reset, and user constant write prohibition settings.
Then, in response to a key request from the operation panel 17, the numbers of all axes to be executed by a certain auxiliary function are displayed in the display area of the operation panel 17.

FIG. 5 shows a screen of the display area 17P (FIG. 4) of the operation panel 17 of the multi-axis drive device according to the third embodiment. Here, as an example, “Alarm history clear” function (ALARM HISTORY CLEAR, abbreviated as “ALM HIST CLEAR” on the screen) (a) and “User constant setting value initialization” function (USER CONSTANT RESET, on the screen) (Abbreviated as “USER CONST RST”) (b) is shown.
In FIGS. 5A and 5B, reference numeral 17A denotes a selected axis display unit. In FIG. 5A, the numbers of all axes subject to the “clear alarm history” function are displayed. In FIG. The numbers of all axes (in the drawings, axis numbers 0 to 7 in FIG. 5) that are the targets of the “initialize” function are displayed on the selected axis display portion 17A.
17T shown by hatching is an example of the axis currently targeted (axis number 1 in both figures), and this portion blinks in the actual device.
On this screen, when the “light key” 17R (FIG. 4) is pressed, the blinking portion indicated by hatching moves one to the right (that is, in the figure, axis number 2 starts blinking and axis number 1 does not blink). ).
In addition, when the “left key” 17L (FIG. 4) is pressed, the blinking portion moves by one to the left (that is, in the figure, axis number 0 starts blinking and axis number 1 does not blink).
When the “right key” 17R is pressed when the blinking part is at the rightmost axis number 7, the blinking part is at the leftmost axis number 0, and when the “left key” 17L is pressed when the blinking part is at the leftmost axis number 0 The blinking part moves to the axis number 7 at the right end.
When the “UP key” 17U (FIG. 4) is pressed, the blinking axis is selected and the display is inverted. In the figure, 17K indicated by a mesh indicates the selected axis. In (a), axis number 3 (third axis) is selected. In (b), axis number 3 (third axis), axis number 5 (fifth axis), and axis number 6 (sixth axis) are selected. Yes.
When the “down key” 17S (FIG. 4) is pressed, the blinking axis is deselected and displayed in a non-inverted display.
When the “DATA key” 17D is pressed, alarm history clear (CLEAR) is executed for all selected axes.
When the “MODE / SET key” 17M is pressed, the screen is canceled (CANCEL, abbreviated as “CAN” on the screen) and exits from this screen.
Therefore, if the axis numbers 3, 5, and 6 are selected on the screens (a) and (b) and the “DATA key” is pressed, the alarm history for the axis numbers 3, 5, and 6 is displayed in (a). At the same time, in (b), the initialization of the user constant setting values for the axis numbers 3, 5, and 6 is cleared at the same time. As described above, according to the third embodiment, auxiliary functions such as clearing the alarm history and initializing the user constant setting value can be efficiently performed with a simple operation.
The third embodiment has been described with reference to two auxiliary functions “clear alarm history” in (a) and “initialize user constant setting values” in (b), but other auxiliary functions such as The same can be done for “normal auto tuning”, “encoder alarm reset”, “user constant write prohibition setting”, and the like.

  That is, for the “normal auto tuning”, “encoder alarm reset”, “user constant write prohibition setting”, etc., a desired auxiliary function (for example, “user constant write prohibition setting”) is read and the operation panel 17 (FIG. 4) is displayed in the display area 17P as shown in FIG. 5 (in this case, the “ALM HIST CLEAR” part in FIG. 5 is displayed as “USER CONST INH” meaning “user constant write prohibition setting”. .) Then, for the axis numbers 0 to 7 on the screen of FIG. 5, the axis numbers to be set as “user constant write prohibition setting” are designated by key input on the operation panel 17 of FIG. 4, and the DATA key 17D (FIG. By pressing 4), “user constant write prohibition setting” can be collectively executed for the number of designated axes.

FIG. 6 is a flowchart illustrating auxiliary function simultaneous execution processing according to the third embodiment. Processing varies depending on key input.
In S0, processing is distributed by key input.
If the key input is [←], a process of reducing the target axis number by one is performed in S1. If the axis number is 0, move to the maximum axis number.
If the key input is [→], a process of increasing the target axis number by one is performed in S2. If the axis number is the maximum axis number, move to axis number 0.
If the key input is [↑], processing for selecting the target axis is performed in S3. Set TRUE in the corresponding part of the table.
If the key input is [↓], a process of removing the target axis from the selection is performed in S4. Set FALSE to the corresponding part of the table.
If the key input is [DATA], the function is executed for all selected axes in S5.
If the key input is [MODE / SET], the end processing of this screen is performed in S6.

FIG. 7 is a flowchart showing the distribution of the first to third embodiments of the present invention.
When the multi-axis data processing unit 18 (FIG. 4) is activated, first, “parameter / monitor setting screen”, “Yes”, and “No” are displayed in the display area 17P of the operation panel 17 in S10. By selecting either “No” or “No”, the process proceeds to the next step. Here, if Yes, the process proceeds to S11 to “parameter setting screen”, and if Yes, the process proceeds to S12 to execute the parameter simultaneous display example 1.
Further, if No is selected in S11, the process proceeds to S13 to execute the monitor data simultaneous display example 2, and if S10 is No, the process proceeds to S14 to execute the auxiliary function simultaneous execution example 3. It will be.
As described above, by providing the multi-axis data processing unit 18 according to the present invention, simultaneous display of parameters for a plurality of axes and simultaneous display of a plurality of motor axes for individual monitor data can be easily performed. In addition, even when a certain function is simultaneously executed on a plurality of axes, it can be efficiently performed with a simple operation, so that a multi-axis drive device that is easier to use than a conventional device can be obtained.

It is a block diagram of the multi-axis drive device of the present invention. It is an operation screen of the operation panel of the multi-axis drive device showing Embodiment 1 of the present invention. It is the operation screen of the operation panel of the multi-axis drive device which shows Example 2 of this invention. It is a block diagram of the multi-axis drive control system which shows Example 3 of this invention. 6 is an example of an operation panel display unit according to a third embodiment. 10 is a flowchart illustrating processing of Example 3; It is a flowchart which shows distribution of Examples 1-3 of this invention. It is a block diagram of the conventional multi-axis drive device. It is an operation screen of the operation panel of the conventional multi-axis drive device.

Explanation of symbols

10 Multi-axis drive device 11 CPU
12 Parameter management section 13 Parameter reading / changing section 14 Monitor management section 15 Monitor reading section 16 Serial transmission / reception section 17 Operation panel 17A Selected axis display section 17D Enter key 17K Enter key 17L Left key 17M Cancel key 17P Display area 17R Right key 17S Down key 17T Current shaft 17U Up key 18 Multi-axis data processing unit 19 Auxiliary function management units 21-2n Motors 31-32n Motor drive power units 41-4n Parameters (motor 21 to motor 2n)
51 to 5n monitor (motor 21 to motor 2n)

Claims (12)

In order to drive a plurality of motors, a plurality of motor drive units having specific parameters are provided, and a logical axis number for identifying correspondence with the plurality of motors is attached to the motor drive unit,
A single parameter management unit that manages parameters for multiple axes, a parameter reading / changing unit that reads and changes parameter values for one axis, and an operation panel that displays data including parameters and inputs from keys In a multi-axis drive device comprising:
A multi-axis data processing unit that reads and changes the parameter values of multiple axes simultaneously,
A multi-axis drive device that displays and changes the values of specified parameter numbers for all axes or a plurality of axes on the same screen of the operation panel.   2. The multi-axis drive device according to claim 1, wherein when a parameter value designated on the screen of the operation panel coincides with all axes, a specific mark is displayed simultaneously with the parameter number.   When a specific mark is displayed and selected on a plurality of specific axes on the operation panel, and the value of the designated parameter number is set, the parameter values of all the selected axes with the mark are set to the same value. 2. The multi-axis drive device according to claim 1, wherein In order to drive a plurality of motors, a plurality of motor drive units are provided, and a logical axis number for identifying the correspondence with the plurality of motors is assigned to the motor drive unit, and monitor data for a plurality of axes is managed. In a multi-axis drive device comprising a single monitor management unit, a monitor reading unit for reading monitor data for one axis, and an operation panel for displaying data including monitor data and inputting from a key,
A multi-axis data processing unit that performs processing to simultaneously read monitor data of multiple axes,
A multi-axis drive device characterized in that monitor data designated on the same screen of the operation panel is displayed for all axes or a plurality of axes. In order to drive a plurality of motors, a plurality of motor drive units having specific parameters are provided, and a logical axis number for identifying correspondence with the plurality of motors is attached to the motor drive unit,
A single parameter management unit that manages parameters for multiple axes, a parameter reading / changing unit that reads and changes parameter values for one axis, and an operation panel that displays data including parameters and inputs from keys In a data display / change method for a multi-axis drive device comprising:
A multi-axis drive characterized by displaying and changing the value of the specified parameter number for all axes or for multiple axes on the same screen of the operation panel by the processing step of simultaneously reading and changing the parameter values of multiple axes Device data display / modification method.   6. The data display / change method for a multi-axis drive device according to claim 5, wherein when a parameter value designated on the screen of the operation panel matches all axes, a specific mark is displayed simultaneously with the parameter number.   When a specific mark is displayed and selected on a plurality of specific axes on the operation panel, and the value of the designated parameter number is set, the parameter values of all the selected axes with the mark are set to the same value. 6. The data display / change method for a multi-axis drive device according to claim 5, In order to drive a plurality of motors, a plurality of motor drive units are provided, and a logical axis number for identifying the correspondence with the plurality of motors is assigned to the motor drive unit, and monitor data for a plurality of axes is managed. Data of a multi-axis drive device comprising: a single monitor management unit that performs monitoring, a monitor reading unit that reads monitor data for one axis, and an operation panel that displays data including monitor data and inputs from a key In the display / change method,
A method for displaying and changing data in a multi-axis drive device, wherein the monitor data designated on the same screen of the operation panel is displayed for all axes or a plurality of axes by processing step of simultaneously reading monitor data of a plurality of axes. .   5. The multi-axis drive device according to claim 1, further comprising a single auxiliary function management unit that manages a plurality of auxiliary functions, wherein one of the auxiliary functions is detected by key input on the operation panel. Display all the axes, specify one or more axes from the displayed axes using the key input, and execute the selected auxiliary functions as many as the specified number of axes. A multi-axis drive device characterized by:   The multi-axis drive device according to claim 9, wherein the auxiliary function is clearing of an alarm history.   The data display / change method for a multi-axis drive device according to any one of claims 5 to 8, further comprising a single auxiliary function management unit for managing a plurality of auxiliary functions, by key input on the operation panel. Selecting one of the auxiliary functions, displaying all the axes, designating one or more axes among all displayed axes by the key input, and designating the selected auxiliary function An auxiliary function execution method for a multi-axis drive device, wherein the execution is performed collectively for the number of axes.   12. The method for executing an auxiliary function of a multi-axis drive device according to claim 11, wherein the auxiliary function is clearing of an alarm history.

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