JP7277295B2 - サーボモータの制御装置 - Google Patents
サーボモータの制御装置 Download PDFInfo
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- JP7277295B2 JP7277295B2 JP2019128299A JP2019128299A JP7277295B2 JP 7277295 B2 JP7277295 B2 JP 7277295B2 JP 2019128299 A JP2019128299 A JP 2019128299A JP 2019128299 A JP2019128299 A JP 2019128299A JP 7277295 B2 JP7277295 B2 JP 7277295B2
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- 230000005856 abnormality Effects 0.000 claims description 47
- 238000001514 detection method Methods 0.000 claims description 22
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- 238000000034 method Methods 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 3
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- 230000005284 excitation Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24457—Failure detection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/125—Control of position or direction using feedback using discrete position sensor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Description
但し、本発明に係るサーボモータの制御装置は、工作機械に限らず、ロボット、搬送機、計測器、試験装置、プレス機、圧入器、印刷機、ダイカストマシン、射出成型機、食品機械、包装機、溶接機、洗浄機、塗装機、組立装置、実装機、木工機械、シーリング装置、切断機など、他の産業用機械に用いられるサーボモータの駆動制御に適用しても勿論構わない。
これに対し、速度を一定にし、Z相信号が検出される時間を検出し、複数のZ相信号の検出時間(間隔)によって異常の有無を判定するようにしてもよい。
2 上位制御装置(CNC)
3 サーボモータ
4 サーボモータの制御装置
5 エンコーダ
6 位置検出部
7 信号間隔検出部
8 異常判定部
9 速度変更部
10 異常通知部
Claims (2)
- サーボモータの回転を検出するインクリメンタル形のエンコーダのZ相信号を検出して駆動制御を行うサーボモータの制御装置であって、
前記エンコーダのZ相信号に基づき、前記サーボモータの回転軸の基準位置を検出する位置検出部と、
検出された複数の前記Z相信号の間隔を計測する信号間隔検出部と、
前記信号間隔検出部で計測した間隔が、予め定めた閾値以上となった場合に前記Z相信号が異常であると判定する異常判定部と、
を備え、
前記異常判定部で異常であると判定された場合に、前記サーボモータの速度を変更し、前記信号間隔検出部で再計測を行うように構成されている、サーボモータの制御装置。 - 前記サーボモータの速度を予め定めた速度まで変更した段階で、前記Z相信号の間隔が直近の検出値、もしくは一定期間の検出値の平均値に対し、予め定めた閾値以上となって前記異常判定部が異常であると判定する場合に、上位制御装置に異常を通知する異常通知部を備える、
請求項1に記載のサーボモータの制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019128299A JP7277295B2 (ja) | 2019-07-10 | 2019-07-10 | サーボモータの制御装置 |
CN202010650479.9A CN112217426A (zh) | 2019-07-10 | 2020-07-08 | 伺服电动机的控制装置 |
US16/924,599 US11886205B2 (en) | 2019-07-10 | 2020-07-09 | Servo motor controller |
DE102020208660.5A DE102020208660A1 (de) | 2019-07-10 | 2020-07-10 | Servomotor-Steuereinheit |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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JP2019128299A JP7277295B2 (ja) | 2019-07-10 | 2019-07-10 | サーボモータの制御装置 |
Publications (2)
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JP2021014999A JP2021014999A (ja) | 2021-02-12 |
JP7277295B2 true JP7277295B2 (ja) | 2023-05-18 |
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JP2019128299A Active JP7277295B2 (ja) | 2019-07-10 | 2019-07-10 | サーボモータの制御装置 |
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US (1) | US11886205B2 (ja) |
JP (1) | JP7277295B2 (ja) |
CN (1) | CN112217426A (ja) |
DE (1) | DE102020208660A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4269119A4 (en) | 2020-12-28 | 2024-07-10 | Sanko Co Ltd | COLOUR DEVELOPER, HEAT-SENSITIVE RECORDING MATERIAL AND COATING MATERIAL FOR HEAT-SENSITIVE RECORDING LAYERS |
CN113552843A (zh) * | 2021-07-08 | 2021-10-26 | 武汉雄韬氢雄燃料电池科技有限公司 | 一种用于数控机床的高精度定点输出方法 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02147910A (ja) * | 1988-11-30 | 1990-06-06 | Yokogawa Electric Corp | エンコーダ信号異常検出回路 |
JPH06288791A (ja) * | 1993-04-05 | 1994-10-18 | Sankyo Seiki Mfg Co Ltd | エンコーダ装置 |
JP3047809B2 (ja) * | 1996-04-09 | 2000-06-05 | 松下電器産業株式会社 | ロータリーエンコーダ |
JPH11142448A (ja) * | 1997-11-10 | 1999-05-28 | Shinko Electric Co Ltd | 位相差検出回路 |
JP3423211B2 (ja) * | 1998-03-18 | 2003-07-07 | ブラザー工業株式会社 | エンコーダの位置ずれ量検出装置 |
JP2007113932A (ja) * | 2005-10-18 | 2007-05-10 | Harmonic Drive Syst Ind Co Ltd | ギヤ付きモータの多回転絶対値エンコーダ |
JP5131318B2 (ja) * | 2009-10-29 | 2013-01-30 | トヨタ自動車株式会社 | モータ制御装置 |
KR101551099B1 (ko) * | 2014-06-13 | 2015-09-08 | 현대자동차주식회사 | 모터 시스템의 고장 판정 방법 |
-
2019
- 2019-07-10 JP JP2019128299A patent/JP7277295B2/ja active Active
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2020
- 2020-07-08 CN CN202010650479.9A patent/CN112217426A/zh active Pending
- 2020-07-09 US US16/924,599 patent/US11886205B2/en active Active
- 2020-07-10 DE DE102020208660.5A patent/DE102020208660A1/de active Pending
Also Published As
Publication number | Publication date |
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US11886205B2 (en) | 2024-01-30 |
CN112217426A (zh) | 2021-01-12 |
JP2021014999A (ja) | 2021-02-12 |
DE102020208660A1 (de) | 2021-01-14 |
US20210011498A1 (en) | 2021-01-14 |
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