CA2350037A1 - Motor control method and relay operation processing device used therein and motor - Google Patents
Motor control method and relay operation processing device used therein and motor Download PDFInfo
- Publication number
- CA2350037A1 CA2350037A1 CA002350037A CA2350037A CA2350037A1 CA 2350037 A1 CA2350037 A1 CA 2350037A1 CA 002350037 A CA002350037 A CA 002350037A CA 2350037 A CA2350037 A CA 2350037A CA 2350037 A1 CA2350037 A1 CA 2350037A1
- Authority
- CA
- Canada
- Prior art keywords
- motor
- processing device
- operation processing
- relay operation
- computer
- 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.)
- Abandoned
Links
- 238000012545 processing Methods 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims description 29
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007429 general method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000004353 relayed correlation spectroscopy Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Control Of Electric Motors In General (AREA)
- Control Of Multiple Motors (AREA)
- Feedback Control In General (AREA)
Abstract
To provide a motor control method and a relay operation processing device used therein which provide a compact signal transmission system for motor control using a computer and allow simple handling, while making possible simultaneous control of a plurality of motors.
Using a personal computer P and a relay operation processing device A, operating commands for a motor M are generated by personal computer P, the operating commands are converted to serial signals and transmitted to the relay operation processing device A at high speed, control signals corresponding to those operating commands are generated by relay operation processing device A, and control of motor M is carried out according to those control signals.
Using a personal computer P and a relay operation processing device A, operating commands for a motor M are generated by personal computer P, the operating commands are converted to serial signals and transmitted to the relay operation processing device A at high speed, control signals corresponding to those operating commands are generated by relay operation processing device A, and control of motor M is carried out according to those control signals.
Description
MOTOR CONTROL METHOD AND RELAY OPERATION PROCESSING DEVICE
USED THEREIN AND MOTOR
FIELD OF THE INVENTION
The present invention relates to a relay operation processing device and a motor. The present invention more particularly relates to a relay operation processing device for relaying various types of signals for controlling the motor from a computer such as a personal computer, and executing a part of the motor control, and a motor having such a relay operation processing 1 o device incorporated.
BACKGROUND OF THE INVENTION
In recent years, processing capacities of relatively inexpensive, general purpose computing devices, so-called personal computers, have improved substantially and, along therewith, these personal computers have become utilized in various different fields. For example, personal computers are being used in the control of different types of finishing machines, of medical equipment and nursing equipment, and for performing measurement control.
2o In the midst of this trend, the application of personal computers in the field of mechatronics such as robotics and factory automation (FA) is also proceeding at a rapid pace.
Personal computers are being frequently used in the control of different types of motors such as servo motors and stepping motors.
When using personal computers for controlling motors or robots in this way, an interface is necessary for connecting the personal computer and motor. This type of interface is normally constituted by an interface board. Specifically, the general method for connecting a personal computer and motor is by inserting various interface boards such as a counter board, DA/AD
conversion boards, or PIO (Parallel Input/output Interface) boards in the expansion slot of the personal computer.
3o However, this type of system for connecting a personal computer and motor using these types of interface boards is problematic in that it does not allow simple handling because it is limited by the number of expansion slots in the personal computer, board installation and replacement are complicated, and complex wiring arrangements are necessary.
SUMMARY OF THE INVENTION
In view of the limitations of the prior art, the present invention seeks to provide a motor control method and a relay operation processing device used therein which provide a compact signal transmission system for motor control using a computer and allow simple handling, while making possible simultaneous control of a plurality of motors.
The present invention further seeks to provide a motor which is connected directly to and controlled by a computer, stores operating commands and operating programs input from a computer, and can operate autonomously.
In accordance with a first embodiment of the invention there is provided a motor control method using a computer and a relay operation processing device, characterized in that motor operating commands are generated with the computer, the operating commands are converted to ~5 serial signals and transmitted to the relay operation processing device at high speed, control signals corresponding to those operating commands are generated in the above-mentioned relay operation processing device, and a motor is controlled according to those control signals.
In the first embodiment of the present invention, control of a plurality of motors may be carried out by the relay operation processing device.
Also, in the first embodiment of the present invention, feedback control may be performed by the relay operation processing device on the basis of controlled variable signals and/or motion variable signals.
Furthermore, in the first embodiment of the present invention, an operating program may be transmitted from the computer to the relay operation processing device, the relay operation processing device may generate control signals on the basis of the abovementioned operating program, and the motor may be controlled according to those control signals.
Furthermore, in the first embodiment of the present invention, the connection of the communication cable connecting the abovementioned computer and the abovementioned relay operation processing device may be released after completion of transmission from the computer to the relay operation processing device.
The first aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by means of a computer, comprising:
control signal generation means for generating control signals for controlling motors on the basis of operating commands input as serial signals from the computer; and control signal output means for outputting the abovementioned control signals to the motor driver.
The second aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by the use of a computer, comprising: control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; control signal output means for outputting the abovementioned control signals to the motor driver; and controlled variable input means for 1o inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor.
The third aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by the use of a computer, comprising: control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; control signal output means for outputting the abovementioned control signals to the motor driver; controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting motor controlled variables; and motion variable input means for inputting motion variables detected by motion variable detecting means for detecting motion variables of a machine to be controlled.
In the second embodiment of the present invention, the relay operation processing device may further comprise storage means wherein an operating program transmitted from the computer is stored. Also, the relay operation processing device may further comprise a USB
interface.
The third embodiment of the present invention is a motor comprising the abovementioned relay operation processing device. In this case, the relay operation processing device is preferably incorporated in the motor.
In the present invention, an improved motor control speed is achieved because complex operation processing is executed with a computer, while comparatively simple operation processing is executed by a relay operation processing device.
3o Also, according to a preferred embodiment of the present invention, it is possible to separate the relay operation processing device from the computer by transferring an operating program from the computer to the relay operation processing device and generating control signals based on that operating program by the relay operation processing device.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the present invention are explained below with reference to the attached drawings. The present invention is not limited to these embodiments.
Figure 1 A block diagram showing the schematic structure of the first embodiment of the relay operation processing device used in the motor control method relating to the present invention.
1o Figure 2 A diagram showing the schematic structure of an intelligent motor relating to the second embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Figure 1 is a schematic block diagram showing an overview of a first embodiment of the relay operation processing device used in the motor control method relating to the present invention. This relay operation processing device A is connected by a high-speed serial interface such as a USB interface to a personal computer P which is a general purpose computer. The relay operation processing device A connects personal computer P with motor M, or personal 2o computer P with a machine R to be controlled which includes a motor M, such as a robot. In this way, personal computer P controls one or a plurality of motors M.
In other words, relay operation processing device A comprises: controlled variable signal input means 10 for inputting signals showing information relating to controlled variables of the motor such as the position of angular rotation, the number of revolutions, the rotary direction, and acceleration of motor M (if motor M is a linear motor, information relating to the slider position, speed, direction of movement, and acceleration) (hereinafter simply referred to as "controlled variable signals"); motion variable signal input means 20 for inputting signals output from various motion variable detecting means such as sensors for detecting motion variables 3o adjusted by the motion of motor M (hereinafter referred to as "motion variable signals"); a serial interface 30 for inputting operating commands from personal computer P and for communicating between itself and personal computer P controlled variable signals input by controlled variable signal input means 10 and motion variable signals input by motion variable signal input means 20; a controller 40 having a function for generating control signals to control motor M according to operating commands from personal computer P, specifically, a control function for executing relatively simple control such as motion control, a function for processing controlled variable signals from controlled variable signal input means 10, a function for processing motion variable signals from motion variable signal input means 20, a feedback control function, and a sequence control function; a storage portion 50 having a buffer function for temporarily holding data processed by controller 40, and also having a function of RAM for 1o storing and holding operating commands from personal computer P and a function of flash ROM
for storing operating programs and control programs generated by and downloaded from personal computer P; and a motor connecting portion (controlled signal output means) 60 having a plurality (6 in this embodiment) of channels 61 for connecting with and controlling a plurality of motors M, the motor connecting portion 60 outputting to each motor M
control signals generated by controller 40.
Controlled variable signal input means 10 inputs the controlled variable signals indicating the position of angular rotation, the number of revolutions, the rotary direction, and acceleration of angular rotation of motor M, etc. The signals input by controlled variable signal input means 10 are, in the first embodiment, signals output from an encoder E installed on motor M.
Motion variable signal input means 20 is constituted by a MOSFET photocoupler, for example, and inputs detection signals of the motion variables adjusted by each motor M, such as signals output from various sensors for detecting state variables such as load (pressure), contact, and slipping in the arm and hand of a robot driven by each motor M. Motion variable signal input means 20 comprises an AD converter 21 for digitizing and outputting the input signals if the input signals are analog signals.
Serial interface 30 comprises a USB (Universal Serial Bus) interface with a high data 3o transmission speed in the first embodiment, so that a plurality of motors M
can be connected by a single relay operation processing device A. Besides a USB interface, the serial interface may also comprise an IEEE 1394 standard interface as the high-speed interface.
Controller 40 comprises a microprocessor having various control functions such as a timer, PWM (Pulse Width Modulation), and interruption (for example, a RISC
type CPU, not shown). Controller 40 generates control signals for controlling the motors according to operating commands provided by personal computer P, specifically control parameters indicating the rotary position and number of rotations of each motor M, and also processes controlled variable signals from controlled variable signal input means 10 and motion variable signals from motion variable signal input means 20. In this case, controller 40 may execute feedback control on the l0 basis of the controlled variable signals and motion variable signals.
An operating program S for providing operating commands to controller 40 is created using a programming language such as Visual Basic or C on personal computer P.
In this case, it is possible to lighten the burden of programming and reduce the programming time by providing a driver software 41 of relay operation processing device A installed in personal computer P with auxiliary functions for creating operating programs. Operating program S
created by personal computer P may be downloaded to storage portion 50 so that each motor M is controlled by controller 40 according to this operating program S.
2o Storage portion 50 is constituted by a buffer portion (not shown) for temporarily storing data processed by controller 40, a RAM for storing and holding operating commands from personal computer P, and an EPROM (Erasable and Programmable ROM) for storing the operating program S created by personal computer P.
Motor connecting portion 60 comprises a D/A converter 61 for converting control signals generated by controller 40 to analog signals as necessary, and outputs the control signals from controller 40 to motor M. The control signals output from motor connecting portion 60 are input for example to a motor driver D.
3o Therefore, in a relay operation processing device A constituted in this manner, all signals input by controlled variable signal input means 10 and motion variable signal input means 20 are communicated to personal computer P via controller 40 and serial interface 30, and all operating commands from personal computer P are also communicated via serial interface 30 and controller 40. As a result, the interface for connecting personal computer P
and motor M can be made compact. Also, all interface functions are concentrated in a single relay operation processing device A, allowing simple handling.
Besides, complex operation processing in motor control is carried out by personal computer P and only simple control under the operating commands received from personal computer P is executed by controller 40. As a result, the structure of controller 40 can be to simplified and the hardware for the entire control system including personal computer P can be configured at low cost.
Furthermore, in the case of using a device having more than a certain level of processing capacity as the controller 40, the control program and control data for effecting motor control are downloaded from personal computer P to relay operation processing device A, and stored and held in storage portion 50. The control program is then executed by relay operation processing device A, thereby allowing direct control of machine R to be controlled.
Second Embodiment 2o Figure 2 shows the overall structure of an intelligent motor relating to a second embodiment of the present invention. This motor M1 is an intelligent motor using unused space that is normally present inside the cover of various types of motors.
Moreover, the same elements as in the first embodiment are explained using the same numerals in the following explanation.
Specifically, motor Ml comprises a stator 71 and rotor 72, and has an encoder E and a relay operation processing device A 1 for motor control having a motor driver (not shown) formed therein built into an unused space 75 on the side opposite to a rotary axis 74 inside a cover 73.
Relay operation processing device A1 comprises controlled variable signal input means 10, motion variable signal input means 20, serial interface 30, controller 40, and storage portion 50. Furthermore, a motor driver connected to controller 40 is formed on the board 80.
In this way, where motor Ml has relay operation processing device Al built into unused space 75 in cover 73, the motor can be connected directly to personal computer P through serial interface 30 and can be controlled thereby. Moreover, relay operation processing device Al may be attached to the outside of the motor casing.
Also, operating commands from personal computer P and/or an operating program to created on personal computer P can be downloaded through serial interface 80 and stored in storage portion 50, and, based thereon, motor M1 can be controlled by controller 40.
Accordingly, motor M1 can operate autonomously in a state where the connection by serial interface 30 is released, i.e., where the connection by the communications cable is released.
In this way, motor M1 in the second embodiment is an intelligent motor by incorporating relay operation processing device A1 for controlling the motor in the unused space inside the cover that is normally present in motors, particularly motors with encoders.
This motor has normal external dimensions, but can be connected directly to personal computer P and is provided intelligent functions such that it can be controlled directly by personal computer P.
Also, this motor can operate autonomously by downloading operating programs created on personal computer P and various types of information such as control parameters from personal computer P. As result, it is possible to constitute a simple automated machine for carrying out prescribed operations autonomously only by supplying power thereto.
The present invention has been explained above on the basis of the embodiments, but the present invention is not limited by these embodiments and encompasses various modifications.
For example, these embodiments were explained using a general purpose computer such as a personal computer for the computer, but the computer used is not limited to being a general 3o purpose computer such as a personal computer and can be any type of computer having a high-speed interface such as a USB interface.
s As described in detail above, the following superior effects are attained with the present invention.
( 1 ) The motor control method according to the present invention provides improvements to the motor control speed by transmitting operating commands generated by a computer at high speed to a relay operation processing device and generating control signals for the motor with that relay operation processing device.
1o (2) The relay operation processing device according to the present invention allows simplified wiring between the computer and relay operation processing device and reduced facilities costs because operating commands from the computer are input in the form of serial signals.
(3) The motor according to the present invention includes a relay operation processing device 15 and therefore the structure of the motor control system is simplified.
While the invention has been described in connection with a specific embodiment thereof and in a specific use, various modifications thereof will occur to those skilled in the art without departing from the spirit of the invention.
2o The terms and expressions which have been employed in the specification are used as terms of description and not of limitations, there is no intention in the use of such terms and expressions to exclude any equivalents of the features shown and described or portions thereof, but it is recognized that various modifications are possible within the scope of the invention.
USED THEREIN AND MOTOR
FIELD OF THE INVENTION
The present invention relates to a relay operation processing device and a motor. The present invention more particularly relates to a relay operation processing device for relaying various types of signals for controlling the motor from a computer such as a personal computer, and executing a part of the motor control, and a motor having such a relay operation processing 1 o device incorporated.
BACKGROUND OF THE INVENTION
In recent years, processing capacities of relatively inexpensive, general purpose computing devices, so-called personal computers, have improved substantially and, along therewith, these personal computers have become utilized in various different fields. For example, personal computers are being used in the control of different types of finishing machines, of medical equipment and nursing equipment, and for performing measurement control.
2o In the midst of this trend, the application of personal computers in the field of mechatronics such as robotics and factory automation (FA) is also proceeding at a rapid pace.
Personal computers are being frequently used in the control of different types of motors such as servo motors and stepping motors.
When using personal computers for controlling motors or robots in this way, an interface is necessary for connecting the personal computer and motor. This type of interface is normally constituted by an interface board. Specifically, the general method for connecting a personal computer and motor is by inserting various interface boards such as a counter board, DA/AD
conversion boards, or PIO (Parallel Input/output Interface) boards in the expansion slot of the personal computer.
3o However, this type of system for connecting a personal computer and motor using these types of interface boards is problematic in that it does not allow simple handling because it is limited by the number of expansion slots in the personal computer, board installation and replacement are complicated, and complex wiring arrangements are necessary.
SUMMARY OF THE INVENTION
In view of the limitations of the prior art, the present invention seeks to provide a motor control method and a relay operation processing device used therein which provide a compact signal transmission system for motor control using a computer and allow simple handling, while making possible simultaneous control of a plurality of motors.
The present invention further seeks to provide a motor which is connected directly to and controlled by a computer, stores operating commands and operating programs input from a computer, and can operate autonomously.
In accordance with a first embodiment of the invention there is provided a motor control method using a computer and a relay operation processing device, characterized in that motor operating commands are generated with the computer, the operating commands are converted to ~5 serial signals and transmitted to the relay operation processing device at high speed, control signals corresponding to those operating commands are generated in the above-mentioned relay operation processing device, and a motor is controlled according to those control signals.
In the first embodiment of the present invention, control of a plurality of motors may be carried out by the relay operation processing device.
Also, in the first embodiment of the present invention, feedback control may be performed by the relay operation processing device on the basis of controlled variable signals and/or motion variable signals.
Furthermore, in the first embodiment of the present invention, an operating program may be transmitted from the computer to the relay operation processing device, the relay operation processing device may generate control signals on the basis of the abovementioned operating program, and the motor may be controlled according to those control signals.
Furthermore, in the first embodiment of the present invention, the connection of the communication cable connecting the abovementioned computer and the abovementioned relay operation processing device may be released after completion of transmission from the computer to the relay operation processing device.
The first aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by means of a computer, comprising:
control signal generation means for generating control signals for controlling motors on the basis of operating commands input as serial signals from the computer; and control signal output means for outputting the abovementioned control signals to the motor driver.
The second aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by the use of a computer, comprising: control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; control signal output means for outputting the abovementioned control signals to the motor driver; and controlled variable input means for 1o inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor.
The third aspect of the second embodiment of the present invention is a relay operation processing device for controlling a motor by the use of a computer, comprising: control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; control signal output means for outputting the abovementioned control signals to the motor driver; controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting motor controlled variables; and motion variable input means for inputting motion variables detected by motion variable detecting means for detecting motion variables of a machine to be controlled.
In the second embodiment of the present invention, the relay operation processing device may further comprise storage means wherein an operating program transmitted from the computer is stored. Also, the relay operation processing device may further comprise a USB
interface.
The third embodiment of the present invention is a motor comprising the abovementioned relay operation processing device. In this case, the relay operation processing device is preferably incorporated in the motor.
In the present invention, an improved motor control speed is achieved because complex operation processing is executed with a computer, while comparatively simple operation processing is executed by a relay operation processing device.
3o Also, according to a preferred embodiment of the present invention, it is possible to separate the relay operation processing device from the computer by transferring an operating program from the computer to the relay operation processing device and generating control signals based on that operating program by the relay operation processing device.
BRIEF DESCRIPTION OF THE DRAWINGS
Embodiments of the present invention are explained below with reference to the attached drawings. The present invention is not limited to these embodiments.
Figure 1 A block diagram showing the schematic structure of the first embodiment of the relay operation processing device used in the motor control method relating to the present invention.
1o Figure 2 A diagram showing the schematic structure of an intelligent motor relating to the second embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Figure 1 is a schematic block diagram showing an overview of a first embodiment of the relay operation processing device used in the motor control method relating to the present invention. This relay operation processing device A is connected by a high-speed serial interface such as a USB interface to a personal computer P which is a general purpose computer. The relay operation processing device A connects personal computer P with motor M, or personal 2o computer P with a machine R to be controlled which includes a motor M, such as a robot. In this way, personal computer P controls one or a plurality of motors M.
In other words, relay operation processing device A comprises: controlled variable signal input means 10 for inputting signals showing information relating to controlled variables of the motor such as the position of angular rotation, the number of revolutions, the rotary direction, and acceleration of motor M (if motor M is a linear motor, information relating to the slider position, speed, direction of movement, and acceleration) (hereinafter simply referred to as "controlled variable signals"); motion variable signal input means 20 for inputting signals output from various motion variable detecting means such as sensors for detecting motion variables 3o adjusted by the motion of motor M (hereinafter referred to as "motion variable signals"); a serial interface 30 for inputting operating commands from personal computer P and for communicating between itself and personal computer P controlled variable signals input by controlled variable signal input means 10 and motion variable signals input by motion variable signal input means 20; a controller 40 having a function for generating control signals to control motor M according to operating commands from personal computer P, specifically, a control function for executing relatively simple control such as motion control, a function for processing controlled variable signals from controlled variable signal input means 10, a function for processing motion variable signals from motion variable signal input means 20, a feedback control function, and a sequence control function; a storage portion 50 having a buffer function for temporarily holding data processed by controller 40, and also having a function of RAM for 1o storing and holding operating commands from personal computer P and a function of flash ROM
for storing operating programs and control programs generated by and downloaded from personal computer P; and a motor connecting portion (controlled signal output means) 60 having a plurality (6 in this embodiment) of channels 61 for connecting with and controlling a plurality of motors M, the motor connecting portion 60 outputting to each motor M
control signals generated by controller 40.
Controlled variable signal input means 10 inputs the controlled variable signals indicating the position of angular rotation, the number of revolutions, the rotary direction, and acceleration of angular rotation of motor M, etc. The signals input by controlled variable signal input means 10 are, in the first embodiment, signals output from an encoder E installed on motor M.
Motion variable signal input means 20 is constituted by a MOSFET photocoupler, for example, and inputs detection signals of the motion variables adjusted by each motor M, such as signals output from various sensors for detecting state variables such as load (pressure), contact, and slipping in the arm and hand of a robot driven by each motor M. Motion variable signal input means 20 comprises an AD converter 21 for digitizing and outputting the input signals if the input signals are analog signals.
Serial interface 30 comprises a USB (Universal Serial Bus) interface with a high data 3o transmission speed in the first embodiment, so that a plurality of motors M
can be connected by a single relay operation processing device A. Besides a USB interface, the serial interface may also comprise an IEEE 1394 standard interface as the high-speed interface.
Controller 40 comprises a microprocessor having various control functions such as a timer, PWM (Pulse Width Modulation), and interruption (for example, a RISC
type CPU, not shown). Controller 40 generates control signals for controlling the motors according to operating commands provided by personal computer P, specifically control parameters indicating the rotary position and number of rotations of each motor M, and also processes controlled variable signals from controlled variable signal input means 10 and motion variable signals from motion variable signal input means 20. In this case, controller 40 may execute feedback control on the l0 basis of the controlled variable signals and motion variable signals.
An operating program S for providing operating commands to controller 40 is created using a programming language such as Visual Basic or C on personal computer P.
In this case, it is possible to lighten the burden of programming and reduce the programming time by providing a driver software 41 of relay operation processing device A installed in personal computer P with auxiliary functions for creating operating programs. Operating program S
created by personal computer P may be downloaded to storage portion 50 so that each motor M is controlled by controller 40 according to this operating program S.
2o Storage portion 50 is constituted by a buffer portion (not shown) for temporarily storing data processed by controller 40, a RAM for storing and holding operating commands from personal computer P, and an EPROM (Erasable and Programmable ROM) for storing the operating program S created by personal computer P.
Motor connecting portion 60 comprises a D/A converter 61 for converting control signals generated by controller 40 to analog signals as necessary, and outputs the control signals from controller 40 to motor M. The control signals output from motor connecting portion 60 are input for example to a motor driver D.
3o Therefore, in a relay operation processing device A constituted in this manner, all signals input by controlled variable signal input means 10 and motion variable signal input means 20 are communicated to personal computer P via controller 40 and serial interface 30, and all operating commands from personal computer P are also communicated via serial interface 30 and controller 40. As a result, the interface for connecting personal computer P
and motor M can be made compact. Also, all interface functions are concentrated in a single relay operation processing device A, allowing simple handling.
Besides, complex operation processing in motor control is carried out by personal computer P and only simple control under the operating commands received from personal computer P is executed by controller 40. As a result, the structure of controller 40 can be to simplified and the hardware for the entire control system including personal computer P can be configured at low cost.
Furthermore, in the case of using a device having more than a certain level of processing capacity as the controller 40, the control program and control data for effecting motor control are downloaded from personal computer P to relay operation processing device A, and stored and held in storage portion 50. The control program is then executed by relay operation processing device A, thereby allowing direct control of machine R to be controlled.
Second Embodiment 2o Figure 2 shows the overall structure of an intelligent motor relating to a second embodiment of the present invention. This motor M1 is an intelligent motor using unused space that is normally present inside the cover of various types of motors.
Moreover, the same elements as in the first embodiment are explained using the same numerals in the following explanation.
Specifically, motor Ml comprises a stator 71 and rotor 72, and has an encoder E and a relay operation processing device A 1 for motor control having a motor driver (not shown) formed therein built into an unused space 75 on the side opposite to a rotary axis 74 inside a cover 73.
Relay operation processing device A1 comprises controlled variable signal input means 10, motion variable signal input means 20, serial interface 30, controller 40, and storage portion 50. Furthermore, a motor driver connected to controller 40 is formed on the board 80.
In this way, where motor Ml has relay operation processing device Al built into unused space 75 in cover 73, the motor can be connected directly to personal computer P through serial interface 30 and can be controlled thereby. Moreover, relay operation processing device Al may be attached to the outside of the motor casing.
Also, operating commands from personal computer P and/or an operating program to created on personal computer P can be downloaded through serial interface 80 and stored in storage portion 50, and, based thereon, motor M1 can be controlled by controller 40.
Accordingly, motor M1 can operate autonomously in a state where the connection by serial interface 30 is released, i.e., where the connection by the communications cable is released.
In this way, motor M1 in the second embodiment is an intelligent motor by incorporating relay operation processing device A1 for controlling the motor in the unused space inside the cover that is normally present in motors, particularly motors with encoders.
This motor has normal external dimensions, but can be connected directly to personal computer P and is provided intelligent functions such that it can be controlled directly by personal computer P.
Also, this motor can operate autonomously by downloading operating programs created on personal computer P and various types of information such as control parameters from personal computer P. As result, it is possible to constitute a simple automated machine for carrying out prescribed operations autonomously only by supplying power thereto.
The present invention has been explained above on the basis of the embodiments, but the present invention is not limited by these embodiments and encompasses various modifications.
For example, these embodiments were explained using a general purpose computer such as a personal computer for the computer, but the computer used is not limited to being a general 3o purpose computer such as a personal computer and can be any type of computer having a high-speed interface such as a USB interface.
s As described in detail above, the following superior effects are attained with the present invention.
( 1 ) The motor control method according to the present invention provides improvements to the motor control speed by transmitting operating commands generated by a computer at high speed to a relay operation processing device and generating control signals for the motor with that relay operation processing device.
1o (2) The relay operation processing device according to the present invention allows simplified wiring between the computer and relay operation processing device and reduced facilities costs because operating commands from the computer are input in the form of serial signals.
(3) The motor according to the present invention includes a relay operation processing device 15 and therefore the structure of the motor control system is simplified.
While the invention has been described in connection with a specific embodiment thereof and in a specific use, various modifications thereof will occur to those skilled in the art without departing from the spirit of the invention.
2o The terms and expressions which have been employed in the specification are used as terms of description and not of limitations, there is no intention in the use of such terms and expressions to exclude any equivalents of the features shown and described or portions thereof, but it is recognized that various modifications are possible within the scope of the invention.
Claims (13)
1. A motor control method using a computer and a relay operation processing device, characterized in that motor operating commands are generated by the computer, the operating commands are converted to serial signals and transmitted to the relay operation processing device at high speed, control signals corresponding to those operating commands are generated by said relay operation processing device, and a motor is controlled according to those control signals.
2. The motor control method according to claim 1, characterized in that the control of a plurality of motors is carried out by the relay operation processing device.
3. The motor control method according to claim 1, characterized in that feedback control is performed by the relay operation processing device on the basis of controlled variable signals and/or motion variable signals.
4. The motor control method according to claim 1, characterized in that an operating program is transmitted from the computer to the relay operation processing device, said relay operation processing device generates control signals on the basis of said operating program, and the motor is controlled according to those control signals.
5. The motor control method according to claim 1, 2, 3 or 4, characterized in that communication between the computer and the relay operation processing device is effected using a USB interface.
6. The motor control method according to claims 1 through 5, characterized in that after the completion of transmission from the computer to the relay operation processing device, the connection of the communication cable connecting said computer and said relay operation processing device is released.
7. A relay operation processing device for controlling a motor by the use of a computer, comprising:
control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; and control signal output means for outputting said control signals to the motor driver.
control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer; and control signal output means for outputting said control signals to the motor driver.
8. A relay operation processing device for controlling a motor by the use of a computer, comprising:
control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer;
control signal output means for outputting said control signals to the motor driver; and controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor.
control signal generation means for generating control signals for controlling a motor on the basis of operating commands input as serial signals from the computer;
control signal output means for outputting said control signals to the motor driver; and controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor.
9. A relay operation processing device for controlling a motor by the use of a computer, comprising:
control signal generation means for generating control signals for controlling a motor on the basis of operating signals input as serial signals from the computer;
control signal output means for outputting said control signals to the motor driver;
controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor; and motion variable input means for inputting motion variables detected by motion variable detecting means for detecting motion variables of a machine to be controlled.
control signal generation means for generating control signals for controlling a motor on the basis of operating signals input as serial signals from the computer;
control signal output means for outputting said control signals to the motor driver;
controlled variable input means for inputting controlled variables from controlled variable detecting means for detecting controlled variables of the motor; and motion variable input means for inputting motion variables detected by motion variable detecting means for detecting motion variables of a machine to be controlled.
10. The relay operation processing device according to claim 7, 8 or 9, characterized by comprising storage means wherein an operating program transmitted from the computer is stored.
11. The relay operation processing device according to claims 7 through 10, characterized by comprising a USB interface.
12. A motor characterized by comprising the relay operation processing device according to claims 7 through 11.
13. The motor according to claim 12, characterized in that a relay operation processing device is incorporated therein.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000370118A JP2002171781A (en) | 2000-12-05 | 2000-12-05 | Control method for motor, repeat operational processor used for the method, and the motor |
| JP2000-370118 | 2000-12-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA2350037A1 true CA2350037A1 (en) | 2002-06-05 |
Family
ID=18840052
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002350037A Abandoned CA2350037A1 (en) | 2000-12-05 | 2001-06-11 | Motor control method and relay operation processing device used therein and motor |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2002171781A (en) |
| CA (1) | CA2350037A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007195350A (en) | 2006-01-20 | 2007-08-02 | Harmonic Drive Syst Ind Co Ltd | Multi-channel pulse train transmitter |
| JP6271903B2 (en) * | 2013-08-06 | 2018-01-31 | キヤノン株式会社 | Servo device and control method of servo device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0438501A (en) * | 1990-06-05 | 1992-02-07 | Fuji Facom Corp | Set value input method using telephone line |
| JPH06141550A (en) * | 1992-10-19 | 1994-05-20 | S G:Kk | Inverter and motor control system |
| JP3346847B2 (en) * | 1993-08-31 | 2002-11-18 | 株式会社日立製作所 | Slave station simultaneous activation method |
| JPH10307656A (en) * | 1997-05-08 | 1998-11-17 | S I I R D Center:Kk | Optical spatial transmission device |
-
2000
- 2000-12-05 JP JP2000370118A patent/JP2002171781A/en active Pending
-
2001
- 2001-06-11 CA CA002350037A patent/CA2350037A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| JP2002171781A (en) | 2002-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0268495A2 (en) | Modular robot control system | |
| US4962338A (en) | Universal robot control board configuration | |
| JPH03502507A (en) | Modular robot device | |
| US10429815B2 (en) | Motor control device, position control system, and motor control method | |
| CN108663993B (en) | Multi-axis servo control system based on real-time controller | |
| KR100362611B1 (en) | Robot and Motor Speed Control Method Thereof | |
| CN107791244B (en) | Controller, work control device, multi-axis operation control device, and drive control device | |
| US20020188381A1 (en) | Control system for robots | |
| CN212421307U (en) | Industrial robot capable of improving safety control performance | |
| US7693604B2 (en) | Multi-axis robot provided with a control system | |
| US6826434B1 (en) | Computerized numerical control for a servomechanism | |
| CA2350037A1 (en) | Motor control method and relay operation processing device used therein and motor | |
| WO2001001209A1 (en) | Computerized numerical control for a servomechanism | |
| RU2189899C2 (en) | Industrial robot | |
| KR101379430B1 (en) | Robot actuator module having an independent function | |
| JP2000287476A (en) | Multiaxis control system and multiaxis control board | |
| EP1837131A1 (en) | Manipulator, for example an industrial robot, and drive device for a manipulator | |
| CN113771026A (en) | Industrial robot capable of improving safety control performance and control method thereof | |
| US11413749B2 (en) | Drive unit of an automation component, in particular a gripping, clamping, and changing or pivoting unit | |
| JP4819515B2 (en) | AC servo system having distributed movement control device providing multi-axis control for movement and control method thereof | |
| CN116125913A (en) | TCP/IP-based numerical control machine tool communication system and working method | |
| JPH01188904A (en) | Robot controller | |
| Caon et al. | Assembly, integration and testing of a robotic facility for the simulation of spacecraft attitude and orbital maneuvers | |
| Bogdan | Using the microcontroller and the PLC in a RPP robot control | |
| JP2002197581A (en) | Sensor device, sensor signal output method and motor device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FZDE | Dead |