WO2025047311A1 - Servo driver and injection molding system - Google Patents

Abstract

Provide is a servo driver capable of coping with motors of various capacities. This servo driver comprises: a supply unit that supplies a drive current to a motor; a detection unit that detects a current value of the drive current with a resolution corresponding to a clock frequency of a supplied clock signal; and a control unit that supplies the clock signal to the detection unit. The control unit can change the clock frequency.

Description

Servo driver and injection molding system

The present invention relates to a servo driver and an injection molding system.

In a servo system, the position of the motor is counted by an encoder with slits and reported to the servo driver as a feedback signal. Patent Document 1 proposes a technology to increase the resolution of the encoder by supplying a high-speed clock to a counting device that counts the slit spacing of the encoder.

JP 2005-091047 A

The servo driver is provided with a detection unit that detects the current value of the drive current supplied to the motor. Conventionally, the resolution of drive current detection is determined by the combination of resistors and A/D converters that make up the detection unit, so different servo drivers are used depending on the desired resolution of drive current detection.

One aspect of the disclosed technology aims to provide a servo driver and injection molding system that can change the resolution of drive current detection by a detection unit.

One aspect of the disclosed technology is exemplified by a servo driver as follows. This servo driver includes a supply unit that supplies a drive current to a motor, a detection unit that detects the current value of the drive current with a resolution according to the clock frequency of a supplied clock signal, and a control unit that supplies the clock signal to the detection unit, and the control unit is capable of changing the clock frequency.

The resolution of the detection unit's detection of the current value of the drive current varies according to the clock frequency of the supplied clock signal. The current value of the motor's rated current varies according to the motor's capacity. With the servo driver described above, the resolution of the detection unit can be changed by varying the clock frequency of the clock signal supplied from the control unit.

The servo driver may further include the following feature. The control unit sets the clock frequency higher as the current value of the drive current is lower. A servo driver with such a feature can suppress a decrease in accuracy of position control of the motor, which is finely controlled due to a low current value of the drive current, by detecting the current value with higher resolution.

The servo driver may further include the following feature. The motor stores motor information including information related to the current value of the rated current of the motor, and the control unit acquires the motor information from the motor and varies the clock frequency according to the acquired motor information. By having such a feature, the servo driver can supply the detection unit with the clock frequency suitable for the current value of the rated current indicated by the motor information acquired from the motor.

The servo driver may further include the following feature. The control unit sets the clock frequency higher as the current value of the rated current indicated by the motor information is lower. A servo driver with such a feature can suppress a decrease in accuracy of position control of the motor, which is finely controlled due to a low current value of the rated current, by detecting the current value with higher resolution.

The servo driver may further include the following feature: The control unit receives information on options related to the clock frequency, and supplies the clock signal of the clock frequency selected from the options to the detection unit. By including such features, the servo driver can cause the detection unit to detect the drive current with a resolution desired by the user.

The servo driver may further include the following feature. The servo driver further includes a storage unit that stores a correspondence relationship between the current value of the drive current and the clock frequency. The control unit acquires the current value of the drive current detected by the detection unit, acquires the clock frequency corresponding to the acquired current value of the drive current from the correspondence relationship, and supplies the clock signal of the clock frequency acquired from the correspondence relationship to the detection unit. By having such a feature, the servo driver can determine the clock frequency suitable for detecting the current value of the drive current by referring to the correspondence relationship.

The disclosed technology can also be understood from the perspective of an injection molding system. This injection molding system is an injection molding system that includes an injection molding machine and a servo driver. The injection molding machine includes a cylinder having an injection port and filled with a plastic material, a motor that receives a drive current from the servo driver, and an injection unit that is driven by the motor and injects the plastic material in the cylinder from the injection port. The servo driver includes a supply unit that supplies the drive current to the motor, a detection unit that detects the current value of the drive current with a resolution according to the clock frequency of the supplied clock signal, and a control unit that supplies the clock signal to the detection unit, and the control unit is capable of changing the clock frequency.

In this type of injection molding system, the detection accuracy of the drive current by the detection unit can be changed by changing the clock frequency of the clock signal supplied to the detection unit. Therefore, the drive current can be detected with suitable detection accuracy at each stage from the start to the end of injection of the plastic material.

In addition, in the injection molding system, when the control unit is injecting the plastic member, if the absolute value of the fluctuation range per unit time of the torque command value instructed by the upper device is equal to or greater than a threshold value, the control unit may supply the clock signal of a first clock frequency to the detection unit, and if the absolute value of the fluctuation range of the torque command value is less than the threshold value, the control unit may supply the clock signal of a second clock frequency higher than the first clock frequency to the detection unit. In such an injection molding system, if the absolute value of the fluctuation range of the torque command value is less than the threshold value, the clock frequency of the clock signal supplied to the detection unit is set high, so that the torque fluctuation is monitored more precisely. Therefore, in this injection molding system, the torque fluctuation of the motor is monitored more precisely, so that torque ripple is suppressed and the injection of the plastic member can be stabilized. In addition, this injection molding system can enable the production of more stable molded products.

According to the disclosed technology, the servo driver can change the resolution of the drive current detection by the detection unit.

FIG. 1 is a diagram illustrating an example of a servo system according to an embodiment. FIG. 2 is a diagram illustrating an example of a processing block of a control unit included in the servo driver according to the embodiment. FIG. 3 is a diagram illustrating an example of a management table stored in the storage unit in the embodiment. 4A and 4B are diagrams illustrating an example of the relationship between the position command value from the servo driver 1 and the detected position of the output shaft detected by the encoder when the clock frequency of the clock signal supplied to the resistor is changed. FIG. 5 is a diagram illustrating an example of a process flow of the servo driver according to the embodiment. FIG. 6 is a diagram illustrating an example of a process flow of the presetting process in the embodiment. FIG. 7 is a diagram illustrating an example of a process flow of the in-operation setting process in the embodiment. FIG. 8 is a diagram showing an example of an injection molding system according to a first modified example. FIG. 9 is a diagram showing an example of a processing block of a control unit included in a servo driver according to a first modified example. FIG. 10 is a diagram showing an example of a management table stored in the storage unit in the first modified example. FIG. 11 is a diagram showing a schematic diagram of a time series change in a torque command value for a motor mounted in an injection molding machine.

<Application Examples>
An application example of the present invention will be described with reference to the drawings. As shown in Fig. 1, a servo driver 1 according to this application example detects the current value of a drive current supplied from a supply unit 12 to a motor 2 by a detection unit 13. The detection unit 13 includes a resistor 131 arranged on a power line 7 that supplies the drive current, and a detection IC 132 that detects the current flowing through the resistor 131.

In this application example, the detection unit 13 detects the current value of the drive current supplied from the supply unit 12 to the motor 2 with a resolution according to the clock frequency of the clock signal supplied from the control unit 11. The control unit 11 can change the clock frequency of the clock signal supplied to the detection unit 13 (detection IC 132). Changing the clock frequency of the clock signal supplied to the detection IC 132 changes the resolution for detecting the current value of the drive current. Therefore, even when a low-capacity motor 2 is connected, a decrease in accuracy of position control, etc. for the low-capacity motor 2 can be suppressed by setting the clock frequency of the clock signal high. In other words, according to this application example, the resolution of drive current detection by the detection unit 13 can be changed.

<Embodiment>
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment will now be described with reference to the accompanying drawings. Fig. 1 is a diagram showing an example of a servo system 100 according to an embodiment. The servo system 100 includes a servo driver 1 and a motor 2.

The servo driver 1 has a control unit 11, a supply unit 12, and a detection unit 13. The control unit 11 is connected to the supply unit 12 by a signal line 14. The control unit 11 is connected to the detection IC 132 of the detection unit 13 by a signal line 15 and a clock signal supply line 16. The supply unit 12 is connected to the motor body 21 by a power line 7. A resistor 131 is arranged on the power line 7 between the supply unit 12 and the motor body 21, and inside the servo driver 1.

The control unit 11 receives a command signal from a higher-level device (not shown) such as a PLC. Furthermore, the control unit 11 receives a feedback signal from the encoder 23 of the motor 2 via the encoder cable 8. Based on the command signal and the feedback signal, the control unit 11 instructs the supply unit 12 via the signal line 14 on the current value of the drive current to be supplied to the motor 2. The control unit 11 may also receive a specification as to whether the clock frequency of the clock signal supplied to the detection IC 132 (described below) via the clock signal supply line 16 should be changed in advance (before the motor 2 is put into operation) or while the motor 2 is in operation (while the motor 2 is in operation).

The supply unit 12 supplies a drive current to the motor body 21 of the motor 2 via the power line 7 based on the power supplied from the commercial power source. The detection unit 13 includes a resistor 131 arranged on the power line 7 and a detection IC 132 connected to the resistor 131. The resistor 131 is a resistor used to detect the drive current flowing through the power line 7. The detection IC 132 measures the current value of the drive current flowing through the resistor 131 with a resolution according to the clock signal supplied from the control unit 11. The detection IC 132 includes a ΔΣ type A/D converter.

In the servo driver 1, a servo system is formed that performs feedback control using a speed detector, a torque detector, a power generator, etc., and these signals are used to servo-control and drive the motor 2.

The motor 2 is, for example, a three-phase AC servo motor. The motor 2 includes a motor body 21 and an encoder 23. The motor body 21 receives a drive current from the servo driver 1 via a power line 7. The encoder 23 detects the operation of the motor body 21 and generates a feedback signal indicating the detected operation. The encoder 23 stores motor information including information related to the current value of the rated current of the motor 2, and the encoder 23 may include the motor information in the feedback signal. The information related to the current value of the rated current may be the rated current value itself or the rated capacity. The rated current of the motor 2 varies depending on the capacity of the motor 2. The feedback signal is output to the servo driver 1 via the encoder cable 8. The feedback signal includes information related to the displacement of the output shaft 22, such as information on the rotational position (angle) of the output shaft 22 of the motor body 21, information on the rotational speed of the output shaft 22, and information on the rotational direction of the output shaft 22. The configuration of the encoder 23 can be, for example, a known incremental type or absolute type configuration.

<Processing blocks of the control unit 11>
The control unit 11 can be regarded as a computer including a processor and a memory. Fig. 2 is a diagram showing an example of a processing block of the control unit 11 included in the servo driver 1 according to the embodiment. The control unit 11 has a first acquisition unit 111, a second acquisition unit 112, a clock control unit 113, a storage unit 114, and an instruction unit 115. The control unit 11 executes a predetermined program stored in the memory to execute processing as each unit such as the first acquisition unit 111, the second acquisition unit 112, the clock control unit 113, the storage unit 114, and the instruction unit 115.

The first acquisition unit 111 acquires the current value of the drive current detected by the detection unit 13 from the detection IC 132 via the signal line 15. The second acquisition unit 112 receives a feedback signal from the encoder 23 via the encoder cable 8. The second acquisition unit 112 acquires motor information from the received feedback signal.

The clock control unit 113 controls the clock frequency of the clock signal supplied to the detection IC 132 via the clock signal supply line 16. The clock control unit 113 controls the clock frequency of the clock signal supplied to the detection IC 132, for example, according to the current value of the drive current acquired from the detection IC 132. For example, when the current value of the drive current becomes 1/2, the clock control unit 113 doubles the clock frequency of the clock signal supplied to the detection IC 132.

The clock control unit 113 may also control the clock frequency of the clock signal supplied to the detection IC 132 based on, for example, motor information acquired from the encoder 23. The clock control unit 113 may also receive a clock frequency specification from a user, and control the clock frequency of the clock signal supplied to the detection IC 132 to the received clock frequency.

The storage unit 114 stores the current value of the drive current in association with the clock frequency. The storage unit 114 is constructed, for example, in a non-volatile storage device. FIG. 3 is a diagram showing an example of a management table 1141 stored in the storage unit 114 in the embodiment. The management table 1141 includes the items of "drive current" and "clock frequency." In the management table 1141, the current value of the drive current is associated with the clock frequency. In the example of FIG. 3, the smaller the drive current is, the higher the clock frequency is associated with it. In the example of FIG. 3, three patterns of "drive current" are exemplified, namely, "large," "medium," and "small," but specific current values of the drive current, such as "10A," "5A," and "1A," may be stored in the management table 1141. In addition, in the example of FIG. 3, three patterns of "clock frequency" are exemplified, namely, "high," "medium," and "low," but specific numerical values of the clock frequency, such as "10MHz," "5MHz," and "1MHz," may be stored in the management table 1141.

Here, by referring to the management table 1141, it can be seen that the larger the drive current, the lower the clock frequency. This is because, for example, when driving a small-capacity motor 2, it is considered that detecting fluctuations in the current value of the drive current in detail (having a higher clock frequency of the clock signal supplied to the detection IC 132) is preferable for servo control of the motor 2. The clock control unit 113 may refer to the management table 1141 and determine the clock frequency of the clock signal to be supplied to the detection IC 132 based on, for example, the current value of the rated current indicated by the motor information from the encoder 23 and the current value of the drive current detected by the detection unit 13.

Returning to FIG. 2, the instruction unit 115 determines the current value of the drive current to be supplied to the motor 2 based on a command signal from a higher-level device such as a PLC and a feedback signal received by the second acquisition unit 112, and instructs the supply unit 12 to supply the drive current of the determined current value.

4A and 4B are diagrams illustrating the relationship between the position command value from the servo driver 1 and the detected position of the output shaft 22 detected by the encoder 23 when the clock frequency of the clock signal supplied to the resistor 131 is changed. In FIGS. 4A and 4B, the solid lines illustrate the detected position of the output shaft 22, and the dotted lines illustrate the position command value from the servo driver 1. FIG. 4B illustrates a case where a clock signal with a higher clock frequency than that of FIG. 4A is supplied to the detection IC 132. As can be seen by comparing FIGS. 4A and 4B, the clock frequency of the clock signal supplied to the detection IC 132 affects the accuracy of position control. By setting the clock frequency appropriately, the servo driver 1 can obtain the position of the output shaft 22 more stably. In addition, the servo driver 1 can reflect the stably detected position of the output shaft 22 in the position command, thereby achieving more accurate position control.

<Processing flow>
5 is a diagram showing an example of a process flow of the servo driver 1 according to the embodiment. Hereinafter, an example of a process flow of the servo driver 1 will be described with reference to FIG.

In step S1, the control unit 11 accepts a designation of either pre-setting or in-operation setting. If pre-setting is designated ("pre-setting" in step S1), processing proceeds to step S2. If in-operation setting is designated ("in-operation setting" in step S1), processing proceeds to step S3.

In step S2, the clock frequency of the clock signal supplied to the detection IC 132 is determined by a presetting process. Details of step S2 will be described later with reference to FIG. 6. In step S3, the clock frequency of the clock signal supplied to the detection IC 132 while the motor 2 is operating is determined. Details of step S3 will be described later with reference to FIG. 7.

FIG. 6 is a diagram showing an example of a process flow of the pre-setting process in an embodiment. The process in FIG. 6 is an example of the process executed in step S2 in FIG. 5. Below, an example of the process flow of the pre-setting process is described with reference to FIG. 6.

In step S21, the control unit 11 accepts a designation of automatic or manual setting. If automatic setting is designated ("automatic setting" in step S21), processing proceeds to step S22. If manual setting is designated ("manual setting" in step S21), processing proceeds to step S24.

In step S22, the second acquisition unit 112 acquires motor information of the motor 2 from the encoder 23. In step S23, the clock control unit 113 acquires the current value of the drive current of the motor 2 from the motor information acquired in step S22. The clock control unit 113, for example, refers to the management table 1141 to acquire a clock frequency corresponding to the current value of the drive current acquired from the motor information. The clock control unit 113 determines the clock frequency acquired from the management table 1141 as the clock frequency of the clock signal to be supplied to the detection IC 132.

The clock control unit 113, for example, displays a menu for selecting a clock frequency on a display device or the like of the servo driver 1. The clock control unit 113, for example, refers to the management table 1141, acquires the clock frequencies associated with the drive currents in the management table 1141 ("low", "medium", and "high" in the example of FIG. 3) as options, and displays the acquired options on a display device or the like of the servo driver 1. The clock control unit 113 determines the clock frequency selected from the displayed options as the clock frequency of the clock signal to be supplied to the detection IC 132. The selected clock frequency is an example of the "first frequency".

FIG. 7 is a diagram showing an example of a process flow for in-operation setting processing in an embodiment. The process in FIG. 7 is an example of the process executed in step S3 in FIG. 5. Below, an example of the process flow for pre-setting processing is described with reference to FIG. 7.

In step S31, the first acquisition unit 111 acquires the current value of the drive current from the detection IC 132. In step S32, the clock control unit 113 acquires the clock frequency corresponding to the current value of the drive current acquired in step S31, for example, by referring to the management table 1141. The clock control unit 113 determines the clock frequency acquired from the management table 1141 as the clock frequency of the clock signal to be supplied to the detection IC 132. The processing from step S31 to step S32 may be repeatedly executed at a predetermined interval while the motor 2 is in operation.

<Effects of the embodiment>
As a method for detecting drive currents of various current values, a method of preparing a combination of a resistor with a resistance value corresponding to the current value of the drive current and a detection IC that uses the resistor to read the current value can be given. In such a method, in order to drive the motor 2, a servo driver including a resistor and a detection IC that are suitable for the current value of the drive current must be prepared, so it is difficult to drive the motor 2 of various drive current values with one servo driver.

Here, the resolution of the detection of the drive current by the detection unit 13 changes according to the clock frequency of the clock signal supplied from the control unit 11. Also, the resolution of the drive current detection suitable for servo control changes according to the current value of the drive current. In this embodiment, by making the clock frequency of the clock signal supplied from the control unit 11 to the detection IC 132 variable, one servo driver 1 can be made to correspond to motors 2 of multiple capacities. Furthermore, by making the clock frequency of the clock signal supplied from the control unit 11 to the detection IC 132 variable, it becomes possible to maintain the accuracy of the position control, torque control, and speed control for motors 2 of various capacities within a predetermined range. For example, the lower the current value of the drive current supplied to the motor 2, the higher the clock frequency of the clock signal supplied to the detection unit 13 is set by the control unit 11, thereby suppressing the decrease in accuracy of the position control for the motor 2, which is finely controlled due to the low current value of the drive current, by detecting the current value with a higher resolution. That is, according to this embodiment, by changing the clock frequency of the clock signal supplied to the detection IC 132, the resolution of the drive current detection by the detection IC 132 can be changed to a desired resolution.

In this embodiment, motor information is stored in the motor body 21 of the motor 2. The motor information includes, for example, information indicating the current value of the rated current of the motor 2. The second acquisition unit 112 acquires the motor information from the motor body 21 via the encoder cable 8, and the clock control unit 113 can determine the clock frequency of the clock signal to be supplied to the detection IC 132 based on the current value of the drive current acquired by the second acquisition unit 112. Therefore, according to this embodiment, the burden on the user involved in determining the clock frequency according to the drive current of the motor 2 can be reduced. For example, the lower the current value of the rated current of the motor 2, the higher the clock frequency of the clock signal to be supplied to the detection unit 13 is set by the control unit 11. This makes it possible to suppress a decrease in the accuracy of position control of the motor 2, which is finely controlled due to the low current value of the rated current, by detecting the current value with higher resolution.

In this embodiment, the clock control unit 113 displays the clock frequencies associated with the drive current in the management table 1141 (in the example of FIG. 3, "low", "medium", and "high") as options on the display device of the servo driver 1, and the user can specify a clock frequency from the displayed options. Therefore, according to this embodiment, the drive current can be detected with the resolution desired by the user.

In this embodiment, the clock control unit 113 can determine the clock frequency of the clock signal to be supplied to the resistor 131 according to the current value of the drive current detected by the detection unit 13. Therefore, according to this embodiment, the drive current can be detected with a resolution according to the drive current of the motor 2 while the motor 2 is in operation.

<First Modification>
The servo system 100 according to the embodiment described above can be applied to, for example, an injection molding machine. In the first modified example, a case where the servo system 100 according to the embodiment is applied to an injection molding machine will be described. The same components as those in the embodiment will be given the same reference numerals, and the description thereof will be omitted. The first modified example will be described below with reference to the drawings.

FIG. 8 is a diagram showing an example of an injection molding system 500 according to a first modified example. The injection molding system 500 includes an injection molding machine 50 and a servo system 100A. The injection molding machine 50 includes a motor 2 and a cylinder 51. The motor 2 is connected to a servo driver 1A by a power line 7 and an encoder cable 8.

The servo system 100A differs from the servo system 100 according to the embodiment in that it includes a servo driver 1A. A programmable logic controller (PLC) 500 is connected to the servo driver 1A via an industrial network N1. The output shaft 22 of the motor 2 is connected to the cylinder 51, and when the output shaft 22 is driven, the resin (plastic member) plasticized in the cylinder 51 is injected from the injection port 52 of the cylinder 51.

FIG. 9 is a diagram showing an example of a processing block of a control unit 11A in a servo driver 1A according to a first modified example. The control unit 11A differs from the control unit 11 according to the embodiment in that it has a clock control unit 113A instead of the clock control unit 113, and further has a third acquisition unit 116.

The third acquisition unit 116 acquires a torque command value from a command signal from the PLC 500. The clock control unit 113A controls the clock frequency of the clock signal supplied to the detection IC 132 via the clock signal supply line 16 based on the torque command value acquired by the third acquisition unit 116. For example, when the torque command value is gradually increasing or decreasing, the clock control unit 113A lowers the clock frequency supplied to the detection IC 132. Also, for example, when the torque command value is constant, the clock control unit 113A increases the clock frequency compared to when the torque command value is gradually increasing or decreasing. For example, when the torque command value is constant, the clock control unit 113A may set the clock frequency supplied to the detection IC 132 to the highest clock frequency that can be supplied to the detection IC 132.

FIG. 10 is a diagram showing an example of a management table 1142 stored in the memory unit 114 in the first modified example. The management table 1142 includes the items "torque command value" and "clock frequency." In the management table 1142, the torque command value from the PLC 500 is associated with the clock frequency. In the example of FIG. 10, a constant torque command value is associated with a high clock frequency. Also, in the example of FIG. 10, an increasing or decreasing torque command value is associated with a low clock frequency. Here, a constant torque command value can be, for example, a case where the absolute value of the fluctuation range of the torque command value per unit time is less than a predetermined threshold value. Also, an increase or decrease in the torque command value can be a case where the absolute value of the fluctuation range of the torque command value per unit time is equal to or greater than a predetermined threshold value.

Here, by referring to the management table 1142, it can be seen that the clock frequency becomes high when the torque command value is constant. This is because, for example, it is considered preferable to detect fluctuations in the current value of the drive current in detail in order to control the torque of the motor 2 to a constant value. The clock control unit 113A may, for example, refer to the management table 1142 based on the fluctuations in the torque command value acquired by the third acquisition unit 116, and determine the clock frequency of the clock signal to be supplied to the detection IC 132.

FIG. 11 is a diagram that shows a schematic diagram of the time series change in the torque command value for the motor 2 mounted on the injection molding machine 50. In FIG. 10, the vertical axis shows the torque command value, and the horizontal axis shows time. From time T0 to time T1, the torque command value gradually (linearly) increases in order to bring the amount of resin injected per unit time closer to the target value. From time T2 to time T3, the amount of resin injected per unit time has reached the target value, so the torque command value remains constant. From time T2 to time T3, the torque command value gradually (linearly) decreases in order to reduce the amount of resin injected per unit time towards the end of resin injection.

Because the torque command value from the PLC 500 increases from time T0 to time T1, the clock control unit 113A lowers the clock frequency of the clock signal supplied to the detection IC 132. Because the torque command value from the PLC 500 remains constant from time T1 to time T2, the clock control unit 113A increases the clock frequency of the clock signal supplied to the detection IC 132. Also, because the torque command value from the PLC 500 decreases from time T2 to time T3, the clock control unit 113A lowers the clock frequency of the clock signal supplied to the detection IC 132.

According to the first modified example, the detection accuracy of the drive current by the detection IC 132 can be changed by changing the clock frequency of the clock signal supplied to the detection IC 132. Therefore, the drive current can be detected with suitable detection accuracy at each stage from the start to the end of resin injection.

According to the first modified example, when the torque command value from the PLC 500 is constant, the clock frequency of the clock signal supplied to the detection IC 132 is set high. This allows for more precise monitoring of torque fluctuations in the motor 2, which in turn allows for more stable injection of resin by suppressing torque ripple, enabling the production of more stable molded products.

<Other Modifications>
In the embodiment described above, the management table 1141 associates the current value of the drive current with the clock frequency of the clock signal. However, the management table 1141 is not limited to this form. For example, the management table 1141 may associate a model number that specifies the model of the motor 2 with the clock frequency of the clock signal. In such a case, the motor main body 21 stores the model number of the motor 2 as motor information, and the second acquisition unit 112 acquires the model number from the motor main body 21. Then, the clock control unit 113 refers to the management table 1141 and determines the clock frequency of the clock signal to be supplied to the detection IC 132 based on the model number acquired by the second acquisition unit 112.

In the embodiment described above, the larger the drive current supplied to the motor 2, the lower the clock frequency of the clock signal supplied to the detection IC 132. However, even when the drive current is large, a clock signal with a high clock frequency may be supplied to the detection IC 132. For example, when it is desired to achieve torque control with higher accuracy, the clock control unit 113 may achieve torque control with higher accuracy by setting the clock frequency of the clock signal supplied to the detection IC 132 to a higher frequency.

In the embodiment described above, a selection is made between pre-setting and in-operation setting, but such a selection may be omitted. In such a case, the second acquisition unit 112 acquires motor information from the motor body 21 before the operation of the motor 2, and the clock control unit 113 determines the clock frequency of the clock signal to be supplied to the detection IC 132 based on the acquired motor information.

The embodiments and variations disclosed above can be combined with each other.

<Appendix 1>
a supply unit (12) that supplies a drive current to the motor (2);
a detection unit (13) that detects a current value of the drive current with a resolution according to a clock frequency of a supplied clock signal;
A control unit (11) that supplies the clock signal to the detection unit (13),
The control unit (11) is capable of changing the clock frequency.
Servo driver (1).
<Appendix 2>
the control unit sets the clock frequency to a higher value as the current value of the drive current becomes lower;
2. The servo driver of claim 1.
<Appendix 3>
The motor (2) stores motor information including information related to a current value of a rated current of the motor (2),
The control unit (11)
Acquiring the motor information from the motor (2);
varying the clock frequency in response to the acquired motor information;
3. A servo driver (1) according to claim 1 or 2.
<Appendix 4>
The control unit sets the clock frequency to a higher value as the current value of the rated current indicated by the motor information becomes lower.
4. The servo driver of claim 3.
<Appendix 5>
The control unit (11)
receiving information regarding options for said clock frequency;
providing the clock signal having the clock frequency selected from the options to the detector;
A servo driver (1) according to any one of appendices 1 to 4.
<Appendix 6>
A memory unit (114) that stores a correspondence relationship (1141) between the current value of the driving current and the clock frequency,
The control unit (11)
Acquire the current value of the driving current detected by the detection unit (13);
The clock frequency corresponding to the current value of the acquired driving current is acquired from the correspondence relationship (1141);
supplying the clock signal having the clock frequency obtained from the correspondence relationship (1141) to the detection unit (13);
A servo driver (1) according to any one of appendices 1 to 5.
<Appendix 7>
An injection molding system (500) comprising an injection molding machine (50) and a servo driver,
The injection molding machine (50)
A cylinder (51) having an injection port (52) and filled with a plastic material;
a motor (2) receiving a drive current from the servo driver (1A);
an injection section (22) driven by the motor (2) and configured to inject the plastic material in the cylinder (51) from the injection port (52);
The servo driver (1A)
A supply unit (12) that supplies the driving current to the motor (2);
a detection unit (13) that detects a current value of the drive current with a resolution according to a clock frequency of a supplied clock signal;
a control unit (11A) that supplies the clock signal to the detection unit (13);
The control unit (11A) is capable of changing the clock frequency.
An injection molding system (500).
<Appendix 8>
The control unit (11A)
When the plastic member is being injected, if an absolute value of a fluctuation range per unit time of a torque command value instructed by a higher-level device (500) is equal to or greater than a threshold value, the clock signal having a first clock frequency is supplied to the detection unit (13);
When the absolute value of the fluctuation range of the torque command value is less than the threshold value, the clock signal having a second clock frequency higher than the first clock frequency is supplied to the detection unit (13).
8. The injection molding system (500) of claim 7.

REFERENCE SIGNS LIST 1 servo driver 2 motor 7 power line 8 encoder cable 11 control unit 11A control unit 12 supply unit 13 detection unit 14 signal line 15 signal line 16 clock signal supply line 100 servo system 111 first acquisition unit 112 second acquisition unit 113 clock control unit 114 memory unit 115 instruction unit 116 third acquisition unit 131 resistor 132 detection IC
21: Motor body 22: Output shaft 23: Encoder 500: Injection molding system 1141: Management table

Claims (8)

a supply unit that supplies a drive current to the motor;
a detection unit that detects a current value of the drive current with a resolution corresponding to a clock frequency of a supplied clock signal;
a control unit that supplies the clock signal to the detection unit;
The control unit is capable of changing the clock frequency.
Servo driver. the control unit sets the clock frequency to a higher value as the current value of the drive current becomes lower;
2. The servo driver according to claim 1. The motor stores motor information including information related to a current value of a rated current of the motor,
The control unit is
acquiring the motor information from the motor;
varying the clock frequency in response to the acquired motor information;
2. The servo driver according to claim 1. The control unit sets the clock frequency to a higher value as the current value of the rated current indicated by the motor information becomes lower.
4. The servo driver according to claim 3. The control unit is
receiving information regarding options for said clock frequency;
providing the clock signal having the clock frequency selected from the options to the detector;
2. The servo driver according to claim 1. a storage unit that stores a correspondence relationship between the current value of the drive current and the clock frequency,
The control unit is
acquiring the current value of the driving current detected by the detection unit;
obtaining the clock frequency corresponding to the current value of the obtained driving current from the correspondence relationship;
supplying the clock signal having the clock frequency obtained from the correspondence relationship to the detection unit;
A servo driver according to any one of claims 1 to 5. An injection molding system comprising an injection molding machine and a servo driver,
The injection molding machine includes:
a cylinder having an injection port and filled with a plastic material;
a motor receiving a drive current from the servo driver;
an injection unit driven by the motor to inject the plastic member in the cylinder through the injection port,
The servo driver includes:
a supply unit that supplies the driving current to the motor;
a detection unit that detects a current value of the drive current with a resolution corresponding to a clock frequency of a supplied clock signal;
a control unit that supplies the clock signal to the detection unit;
The control unit is capable of changing the clock frequency.
Injection molding system. The control unit is
supplying the clock signal having a first clock frequency to the detection unit when an absolute value of a fluctuation range per unit time of a torque command value instructed by a host device is equal to or greater than a threshold value while the plastic member is being injected;
When the absolute value of the fluctuation range of the torque command value is less than the threshold value, the clock signal having a second clock frequency higher than the first clock frequency is supplied to the detection unit.
8. The injection molding system of claim 7.

Images