JP3293687B2 - Abnormal connection detection method of servo motor - Google Patents
Abnormal connection detection method of servo motorInfo
- Publication number
- JP3293687B2 JP3293687B2 JP16111593A JP16111593A JP3293687B2 JP 3293687 B2 JP3293687 B2 JP 3293687B2 JP 16111593 A JP16111593 A JP 16111593A JP 16111593 A JP16111593 A JP 16111593A JP 3293687 B2 JP3293687 B2 JP 3293687B2
- Authority
- JP
- Japan
- Prior art keywords
- phase
- current
- motor
- phases
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Testing Of Short-Circuits, Discontinuities, Leakage, Or Incorrect Line Connections (AREA)
- Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明はサーボモータの異常結線
検出方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting abnormal connection of a servomotor.
【０００２】[0002]
【従来の技術】従来、サーボモータの未結線の場合は、
電流が流れないので、過負荷等の異常として未結線を検
出していた。また、従来、モータの誤配線の場合、モー
タが異常トルクとなるので、モータを回わそうとすると
モータロックにより過負荷または暴走状態となり、異常
として誤配線を検出していた。2. Description of the Related Art Conventionally, when a servo motor is not connected,
Since no current flows, an unconnected state is detected as an abnormality such as an overload. Conventionally, in the case of erroneous wiring of the motor, the motor has an abnormal torque, so that if the motor is turned, an overload or runaway occurs due to the motor lock, and the erroneous wiring is detected as abnormal.
【０００３】[0003]
【発明が解決しようとする課題】ところが、従来技術で
は、モータを回わしてからでないと未結線が分からず、
最悪モータが回わされる等の問題があった。また、どの
相が未結線しているか特定もできないし、他のセンサ
（エンコーダ、ポールセンサ）の異常の可能性もあっ
た。同様に、従来技術では、モータを回わしてからでな
いと誤配線が分からないのでモータが最悪暴走するとい
う問題があった。また、どの相が誤配線しているか特定
もできないし、他のセンサ（エンコーダ、ポールセン
サ）の異常の可能性もあった。本発明の目的は、どの相
が未結線になっているかを確実に検出でき、かつどの相
とどの相が誤配線になっているかを確実に検出できる、
サーボモータの異常結線検出方法を提供することにあ
る。However, in the prior art, the unconnected state cannot be known until the motor is turned.
In the worst case, there is a problem that the motor is turned. Further, it is not possible to specify which phase is not connected, and there is a possibility that another sensor (encoder, pole sensor) is abnormal. Similarly, in the related art, there is a problem that the motor runs out of control at the worst because the erroneous wiring cannot be recognized until the motor is turned. Further, it is not possible to specify which phase is incorrectly wired, and there is a possibility that another sensor (encoder, pole sensor) is abnormal. An object of the present invention is to reliably detect which phase is unconnected and to determine which phase
And which phase is miswired can be detected reliably,
An object of the present invention is to provide a method for detecting abnormal connection of a servomotor.
【０００４】[0004]
【課題を解決するための手段】本発明の、サーボモータ
の異常結線検出方法は、主回路を動作させ、サーボモー
タのある二相を閉回路にして該回路に電流が流れている
かどうかを確認する動作を全ての二相の組合せについて
行ない、全ての二相の組合せについて電流が流れている
ことが確認されればモータが全て結線済みであると判定
し、二相のいずれかの組合せについて電流が流れていな
いことが確認されれば、電流が流れていない二相の組合
せからどの相が未結線であるかを判定し、主回路を動作
させ、サーボモータのある二相を閉回路にして該回路に
電流を少なくとも１周期分流し、電流とそのときのサー
ボモータのトルクを比較し、両者の零の位置が一致する
かどうか調べ、一致しなければ該二相のうちいずれか一
相または二相とも誤配線と判定し、一致すればサーボモ
ータの次の二相について同様の動作を行なう。 According to the present invention, there is provided a method for detecting an abnormal connection of a servomotor, comprising the steps of: operating a main circuit, closing a certain phase of the servomotor and checking whether a current is flowing through the circuit. Operation is performed for all two-phase combinations, and if it is confirmed that current is flowing for all two-phase combinations, it is determined that the motors are all connected, and the current is determined for any of the two-phase combinations. If it is confirmed that no current flows, the main circuit operates by determining which phase is unconnected from the combination of the two phases where no current is flowing.
And make the two phases of the servomotor closed circuit
The current is divided for at least one cycle, and the current and the current
Compare the torques of the motors and make sure that both zero positions match.
Check if they do not match, one of the two phases
Wiring is determined to be incorrect for both phases or two phases.
The same operation is performed for the next two phases of data.
【０００５】[0005]
【作用】電流が流れていない所を未結線として検出する
ので、モータを回す以前に未結線が分かり、運転による
トラブルを防ぐことができる。また、電流とトルクが不
一致な所を誤配線として検出するので、モータを回す以
前に誤配線が分かり、マシン等に衝撃を与えずに済む。Since a portion where no current flows is detected as an unconnected state, the unconnected state can be detected before the motor is turned, and trouble due to operation can be prevented. In addition, since a portion where the current and the torque do not match is detected as an erroneous wiring, the erroneous wiring can be recognized before the motor is turned, and the impact on the machine or the like can be avoided.
【０００６】[0006]
【実施例】次に、本発明の実施例について図面を参照し
て説明する。図１は本発明の一実施例で、モータ未結線
検出部分を示す構成図、図２はモータ未結線検出動作の
フローチャートである。図１のサーボモータ制御装置
は、サイリスタ１と、メインコンデンサ２と、パワート
ランジスタ３U1，３U2，３V1，３V2，３W1，３W2と、Ｃ
ＰＵ４と、ベースドライブ回路５と、電流検出器６で構
成され、サーボモータ７を制御する。次に、モータ未結
線検出動作を図２のフローチャートを用いて説明する。
まず、サーボモータ７に大きなトルクが出ないように、
主回路直流電圧にある低電圧をサイリスタ１にて充電す
る（ステップ１１）。次に、パワートランジスタ３U1と
３V2，３V1と３U2を点弧させ、Ｕ相からＶ相へ、Ｖ相か
らＵ相へ電流が流れるようにして、電流検出器６にて電
流が実際に流れているかどうかを調べる（ステップ１
２）。同様に、Ｖ相からＷ相へ、Ｗ相からＶ相へ、Ｕ相
からＷ相へ、Ｗ相からＵ相へ電流が流れるようにして、
電流が実際に流れているかどうかを電流検出器６で調べ
る（ステップ１３，１４）。次に、ＣＰＵ４はステップ
１２〜１４の結果を入力して判定し、全ての場合につい
て電流が流れていれば全ての相が結線されているので、
処理を終了し、いずれかの場合について電流が流れてい
なければ、未結線相をステップ１２〜１４の結果より以
下のように判別する（ステップ１６）。Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows an embodiment of the present invention, in which a motor is not connected.
FIG. 2 is a configuration diagram showing a detection portion, and FIG. 2 is a flowchart of a motor unconnection detection operation. 1 includes a thyristor 1, a main capacitor 2, power transistors 3U1 , 3U2 , 3V1 , 3V2 , 3W1 , 3W2 , C
The PU 4, the base drive circuit 5, and the current detector 6 control the servo motor 7. Next, the motor non-connection detecting operation will be described with reference to the flowchart of FIG.
First, to prevent a large torque from being output to the servo motor 7,
The thyristor 1 charges a low voltage in the main circuit DC voltage (step 11). Next, the power transistors 3 U1 and 3 V2 , and 3 V1 and 3 U2 are ignited so that current flows from the U phase to the V phase and from the V phase to the U phase. Check if it is flowing to (Step 1
2). Similarly, current flows from the V phase to the W phase, from the W phase to the V phase, from the U phase to the W phase, from the W phase to the U phase,
The current detector 6 checks whether a current is actually flowing (steps 13 and 14). Next, the CPU 4 makes a determination by inputting the results of steps 12 to 14, and if current flows in all cases, all phases are connected.
If the process is terminated and no current is flowing in any case, the unconnected phase is determined as follows from the results of steps 12 to 14 (step 16).
【０００７】 （１）Ｕ相→Ｖ相，Ｖ相→Ｗ相に電流が流れていなけれ
ば、Ｖ相が未結線 （２）Ｕ相→Ｖ相，Ｕ相→Ｗ相に電流が流れていなけれ
ば、Ｕ相が未結線 （３）Ｖ相→Ｗ相，Ｕ相→Ｗ相に電流が流れていなけれ
ば、Ｗ相が未結線 （４）Ｕ相→Ｖ相，Ｖ相→Ｗ相，Ｕ相→Ｗ相に電流が流
れていなければ、いずれか２相または３相とも未結線 図３は本発明の一実施例で、モータ誤配線検出部分を示
す構成図、図４はモータ誤配線検出動作のフローチャー
ト、図５は電流とトルクの波形図である。図３ではＣＰ
Ｕ４の代りに、モータ誤配線検出動作を行なうＣＰＵ８
が設けられ入る。次に、モータ誤配線検出動作を図４の
フローチャートを用いて説明する。(1) If current does not flow from U phase to V phase, V phase to W phase, V phase is not connected. (2) Current must flow from U phase to V phase, U phase to W phase. For example, if the U phase is not connected, (3) if no current flows from the V phase to the W phase and from the U phase to the W phase, the W phase is not connected. (4) The U phase → V phase, V phase → W phase, U phase if no current flows in the phase → W phase, in one embodiment of any two phases or three phases unconnected Figure 3 the present invention, configuration diagram showing a motor miswiring detection portion, 4 is a motor faulty wiring detection FIG. 5 is a waveform chart of the current and the torque. In FIG.
CPU 8 that performs a motor miswiring detection operation instead of U4
Is provided and enters. Next, the operation of detecting incorrect motor wiring will be described with reference to the flowchart of FIG.
【０００８】まず、サーボモータ７に大きなトルクが出
ないように、主回路直流電圧にある低電圧をサイリスタ
１にて充電する（ステップ２１）。次に、パワートラン
ジスタ３U1と３V2，３V1と３U2を点弧させ、Ｕ相からＶ
相へ、Ｖ相からＵ相へ少なくとも１周期分電流を流し
て、電流検出器６で検出した電流と、その時のモータ７
のトルクを比較する（ステップ２２）。このとき、Ｕ
相、Ｖ相が正しく結線されていれば、各相の電流波形は
図５（１）の実線に示したようになり（Ｗ相の電流
零）、電流の零点（Ｕ相の電流によるトルクとＶ相の電
流によるトルクが打ち消し合う点）はＰ1 となる。この
ときのモータ７のトルクの波形は図５（２）に示すよう
になり零点Ｐ2 （モータ停止点）は電流の零点はＰ1 と
一致する。もし、Ｕ相とＷ相が誤配線されていれば、電
流の零点はＰ1 点からずれるため、トルクの零点は図５
（３）に示すように、Ｐ3 点となる。このようにして、
電流の零点とトルクの零点を比較することにより、誤配
線かどうか検出できる。なお、図３（１）中の破線はＶ
相、Ｗ相の本来の電流波形である。同様に、Ｕ相からＷ
相、Ｗ相からＵ相へ１周期電流を流し、Ｖ相からＷ相、
Ｗ相からＶ相へ１周期電流を流して、他の相の誤配線を
検出する（ステップ２３，２４）。First, a low voltage in the main circuit DC voltage is charged by the thyristor 1 so that a large torque is not applied to the servomotor 7 (step 21). Next, the power transistors 3 U1 and 3 V2 , 3 V1 and 3 U2 are fired, and V
Current from the V-phase to the U-phase for at least one cycle, the current detected by the current detector 6 and the motor 7
Are compared (step 22). At this time, U
If the phase and the V phase are correctly connected, the current waveform of each phase becomes as shown by the solid line in FIG. 5A (the current of the W phase is zero), and the zero point of the current (the torque due to the current of the U phase) that the torque cancel by V-phase current) is P 1. The waveform of the torque of the motor 7 at this time is as shown in FIG. 5 (2), and the zero point P 2 (motor stop point) coincides with the current zero point P 1 . If, if the wired erroneous U-phase and W-phase, since the zero point of the current is shifted from a point P, the zero point of the torque 5
As shown in (3), the three points P. In this way,
By comparing the zero point of the current with the zero point of the torque, it is possible to detect whether or not the wiring is incorrect. Note that the broken line in FIG.
It is an original current waveform of the phase and the W phase. Similarly, from U phase to W
Phase, a one-cycle current flows from the W phase to the U phase, and the V phase to the W phase,
A one-cycle current is passed from the W phase to the V phase to detect erroneous wiring of other phases (steps 23 and 24).
【０００９】[0009]
【発明の効果】以上説明したように本発明は、モータを
通常運転する前に電流を流してモータの未結線を検出す
るので、モータの未結線によるモータトルクがでない等
のトラブルを未然に防止することができ、また全ての相
に電流を流すのでどの相が未結線かを判別でき、さらに
モータを通常運転する前に電流を流して検出するので、
誤配線によるモータの暴走等を事前に防止することがで
き、また全ての相に電流を流すので、どの相とどの相が
誤配線しているかを判別できる。As described above, the present invention detects an unconnected state of the motor by supplying a current before the motor is normally operated, thereby preventing troubles such as a lack of motor torque due to unconnected state of the motor. Also, since current flows through all phases, it is possible to determine which phase is unconnected, and since current is detected before normal operation of the motor, it is detected.
Runaway of the motor or the like due to incorrect wiring can be prevented in advance, and since current flows through all phases, it is possible to determine which phase and which phase are incorrectly wired.
【図１】本発明の一実施例で、モータ未結線検出部分を
示す構成図である。FIG. 1 is a configuration diagram showing a motor non-connection detection portion in one embodiment of the present invention.
【図２】未結線検出動作を示すフローチャートである。FIG. 2 is a flowchart showing an unconnected detection operation.
【図３】本発明の一実施例で、モータ誤配線検出部分を
示す構成図である。FIG. 3 is a configuration diagram showing a motor miswiring detection portion in one embodiment of the present invention.
【図４】誤配線検出動作を示すフローチャートである。FIG. 4 is a flowchart showing an erroneous wiring detection operation.
【図５】電流とトルクの波形図である。FIG. 5 is a waveform diagram of current and torque.
１ サイリスタ ２ メインコンデンサ ３u1〜３W2 パワートランジスタ ４，８ ＣＰＵ ５ ベースドライブ回路 ６ 電流検出器 ７ モータ １１〜１６，２１〜２４ ステップ1 Thyristor 2 main condenser 3 u1 to 3 W2 power transistors 4, 8 CPU 5 base drive circuit 6 current detector 7 motor 11～16,21～24 step
Claims (1)
二相を閉回路にして該回路に電流が流れているかどうか
を確認する動作を全ての二相の組合せについて行ない、
全ての二相の組合せについて電流が流れていることが確
認されればモータが全て結線済みであると判定し、二相
のいずれかの組合せについて電流が流れていないことが
確認されれば、電流が流れていない二相の組合せからど
の相が未結線であるかを判定し、また、主回路を動作させ、サーボモータのある二相を閉
回路にして該回路に電流を少なくとも１周期分流し、電
流とそのときのサーボモータのトルクを比較し、両者の
零の位置が一致するかどうか調べ、一致しなければ該二
相のうちいずれか一相または二相とも該誤配線と判定
し、一致すればサーボモータの次の二相について同様の
動作を行なう、サーボモータの異常結線検出方法。 An operation of operating a main circuit, making a certain phase of a servo motor a closed circuit, and confirming whether or not a current is flowing through the circuit is performed for all combinations of the two phases,
If it is confirmed that current is flowing for all two-phase combinations, it is determined that the motors are all connected.If it is confirmed that current is not flowing for any of the two-phase combinations, the current is determined. From the combination of two phases in which no flow is flowing, determine which phase is unconnected , operate the main circuit, and close the two phases with the servo motor.
A circuit is provided, in which a current is divided for at least one cycle,
Current and the torque of the servomotor at that time are compared.
Check whether the zero positions match, and if they do not match,
Either one or two phases are determined to be the incorrect wiring
If they match, the same applies to the next two phases of the servomotor.
A method for detecting abnormal connection of a servo motor that performs an operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16111593A JP3293687B2 (en) | 1993-06-30 | 1993-06-30 | Abnormal connection detection method of servo motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16111593A JP3293687B2 (en) | 1993-06-30 | 1993-06-30 | Abnormal connection detection method of servo motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0720190A JPH0720190A (en) | 1995-01-24 |
| JP3293687B2 true JP3293687B2 (en) | 2002-06-17 |
Family
ID=15728894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16111593A Expired - Fee Related JP3293687B2 (en) | 1993-06-30 | 1993-06-30 | Abnormal connection detection method of servo motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3293687B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4526612B2 (en) * | 1999-02-25 | 2010-08-18 | 三菱電機株式会社 | Servo device |
| JP5420484B2 (en) * | 2010-07-02 | 2014-02-19 | 株式会社日立製作所 | Gate pulse miswiring detection method for power converter |
| JP5929127B2 (en) | 2011-11-29 | 2016-06-01 | 富士電機株式会社 | Incorrect wiring detection device for parallel inverter device |
| JP6148266B2 (en) | 2015-02-16 | 2017-06-14 | ファナック株式会社 | Motor control device with function to detect miswiring |
| CN109856468B (en) * | 2018-12-25 | 2020-10-09 | 南京埃斯顿自动化股份有限公司 | Detection method for wiring phase sequence error of power line of servo motor |
| US11581839B2 (en) * | 2019-01-23 | 2023-02-14 | Mitsubishi Electric Corporation | Rotary-machine control device, refrigerant compression apparatus, and air conditioner |
-
1993
- 1993-06-30 JP JP16111593A patent/JP3293687B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0720190A (en) | 1995-01-24 |
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