JP2568070B2 - Actuator control system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an operating device control method for externally controlling an operating device such as a motor device having a drive unit and a control unit.

(Prior Art) An actuator is an electromechanical conversion mechanism that electrically and magnetically converts energy by a coil, and is represented by a motor, a plunger magnet, a head, and the like. In recent years, in order to reduce the size and weight of the device, it has been required to integrate the actuator and the device, and the integration of the control unit and the mechanical unit has been promoted. Eighth example of this fusion
Shown in the figure.

In FIG. 8, reference numeral 81 is a motor device, and a motor 82
And a driver unit 83 for driving the motor 82, and a driver unit
It is composed of a control unit 84 for controlling 83. Control unit 84
Is composed of a motor control section 85 for giving an appropriate control signal to the driver section 83, and an interface control section 86 for communicating or exchanging data with a main controller described later.
The main controller 87 gives a command to the motor device 81, and a hard line 88 dedicated to the motor device is provided between the main controller 87 and the interface control section 86 of the motor device 81.

When operating the motor 82, the main controller 87 transmits a command to the motor device 81 via the hard line 88.
When the interface control unit 86 of the control unit 84 receives this command, it decodes it and transmits it to the motor control unit 85. Then, the motor control unit 85 gives an appropriate control signal according to the state of the motor 82 to the driver unit 83, whereby the motor 82 is driven.

Here, for the dedicated hard line 88, the motor device
Depending on the capabilities of the control unit 84 of 81, it is generally conceivable to use the following three methods.

(A) Simple logic control line system (b) I / O bus line system (c) Serial line system First, the simple logic control line system of (a) will be described. FIG. 9 is a diagram showing this logic control line system,
The n motor devices 90 are connected to the main controller 92 via n groups of dedicated lines 91. This method is the simplest and fastest in speed, but lacks flexibility and increases the number of wiring lines. In particular, when there are a large number of motor devices 90, independent dedicated lines 91 are required for each, so that the number of wires in the entire system tends to be very large.

Next, the I / O bus line system of (b) will be described. FIG. 10 is a diagram showing this I / O bus line system.
The individual motor devices 90 are connected to the main controller 92 by a common data bus line 93, a common address bus line 94 and a common control bus line 95. This method is flexible and has a relatively high processing speed, but the number of bus lines is extremely large, and thus wiring costs. In the case of this method, it goes without saying that a dedicated hardware circuit for setting each address is required in the motor device 90. It should be noted that it is possible to decode the address bus line 94 in advance and output that line to each motor device 90 as a select line, but the number of wiring lines does not decrease even in this way.

Next, the serial data bus line system of (c) will be described. FIG. 11 is a diagram showing this serial data bus line system, in which n motor devices 90 are connected to a main controller 92 by a serial data bus line 96.

In this system, the motor device 90 requires a circuit for receiving serial data and a dedicated hardware circuit for setting each address. This method requires a small number of wires and is advantageous in terms of mounting and cost.

(Problems to be Solved by the Invention) However, in any of the above methods (a), (b) and (c), the motor has a small number of hard line wires and does not require hard address setting. No control method can be provided. In other words, the number of wirings equivalent to the serial data bus line is required in terms of price and structure, and in view of commonality, cost performance, and productivity of the motor devices, each motor device does not have its own dedicated address line. Despite the desire to live, it has not been possible in the past to technically satisfy such a demand.

The present invention has been made in order to solve the above-mentioned problems of the prior art, and does not provide a hardware address setting circuit for setting an address of an individual actuator (for example, a motor device) and a line. It is an object of the present invention to provide an operating device control method capable of reducing the number of wires of the actuator.

(Means for Solving Problems) According to the present invention, a plurality of controllers are serially connected to each other via serial data lines, and the value of an address area of input serial data is compared with its own address value. When the two match, the control method of the operating device for performing the command processing instructed from the controller is targeted, and in order to solve the problems of the conventional technology, at the time of power-on reset or initial reset. The contents of the address register of each actuator are initialized to a predetermined initialization value, and at the time of initial address setting after the power-on reset or the initial reset, the controller sets the address area value to the initialization value and data. The area value should be set sequentially for each actuator on the side far from the controller. Output serial data as an address value, while each operating device compares the value of the address area of the input serial data with the contents of the address register, and when both match, the input serial data is input. The value of the data area of the data is set as the address value in the address register to prohibit the input serial data from being sent to the actuator in the subsequent stage, and when the two are different, the input serial data remains unchanged. It is to be sent to the actuating device in the subsequent stage.

(Operation) During normal processing, in each operating device, the address value of the input serial data is compared with the address value set in the address register, and if they match, the command to that operating device is sent. The input command data is processed and the transmission of the input serial data to the subsequent stage is stopped. If they do not match, the input serial data is sent as it is to the operating device in the subsequent stage. Each of the actuating devices can selectively transmit necessary information to the subsequent stage only by having the exact same configuration as described above.

At the time of power-on reset or initial reset, the address register of each actuator is initialized to a predetermined initialization value. At the time of initial address setting after power-on reset or initial reset, the address value that should be set sequentially from the controller to the address area value as the initialization value and the data area value to each actuator from the side closer to the controller To output the serial data. When setting this initial address,
In each operating device, the value of the address area of the input serial data is compared with the content of the address register, and if they match, the value of the data area of the input serial data is set as the address value in the address register. However, the input serial data is prohibited from being sent to the operating device at the subsequent stage. If the two are different, the input serial data is sent as it is to the operating device in the subsequent stage. If the address register is not set to the initialization value, the address value (initialization value) of the input serial data and the address value set in the address register do not match. Is output to the actuator.

Each actuating device can set the address only by having the initial setting means and the address setting means which are simple and have the same structure.

(Examples) Examples of the present invention will be described below.

FIG. 1 is a diagram showing a configuration of a motor device which is a control target of the motor control system of the present embodiment, and FIG. 2 is a configuration diagram of a system to which the method is applied.

First, the entire system will be described. As shown in FIG. 2, this system comprises n motor devices 10 connected in series to a main controller 11 via serial data lines 12. That is, the serial data line 12 is connected to the output of the main controller 11 to the receiving circuit of the motor device (1), the transmitting circuit of the motor device (1) to the receiving circuit of the motor device (2), ....

Next, the configuration of each motor device 10 will be described. As shown in FIG. 1, the motor device 10 includes a motor 1, a driver unit 2 and a control unit 3. The control unit 3 includes a motor control unit 4 and an interface control unit 5. The motor device 10 is characterized in that the interface control unit 5 is composed of an address register 6, an initial setting unit 7 and a command processing / data sending unit 9, and an address setting unit 8 is provided in the command processing / data sending unit 9. That is what is being done.

The address register 6 includes a main controller 11 (second controller).
The address value of each motor device 10 sent from the figure) is stored. That is, the address value can be externally set by software from the address register 6.

The initial setting section 7 resets the address register 6 by a power-on reset or clears it by inputting a reset signal, and sets it to a certain fixed value (for example, "0") by hardware or software.

If the data of the address part of the received serial data matches the value of the address register of the motor device, the command processing / data sending part 9 interprets the received serial data as a command for the motor device and executes the command. Then, if they do not match, the command is interpreted as a command for another motor device, and the received serial data is transmitted as it is to the next motor device.

The address setting unit 8 receives the serial data in which the address value of the motor device 10 to be set is inserted, and sets the address value in the address register 6 at the time of initial setting.

Here, the contents of serial data will be described with reference to FIG. As shown in the figure, the serial data is stored in the address section 21.
And a data section 22. The address section 21 is provided with an address area 23, and the data section 22 is provided with an instruction area 24 and a data area 25.

Next, the control operation of this embodiment will be described with reference to FIG.

FIG. 4 is a flow chart showing the operation sequence of the present embodiment. Step 101 means reset at power-on or clear by reset signal input.
As a result, all the registers and counters in the motor device 10 are returned to the initial state, and in the next step 102, the address register 6 of each motor device is initialized to the same initial value "0". The above is executed by the operation of the initial setting unit 7.

The address setting process is performed by the following steps 103 to 107. As for the main controller 11 (Fig. 2), the connection order is as follows.
Issue an instruction to set the address. That is, as shown in FIG. 3, the address area of the address portion 21 of the serial data is
The initialization value "0" of the address register at the time of reset clear is inserted in 23, the address setting command is set in the command area 24 of the data section 22, and the motor device (1 ) Address value is inserted and the serial data is transmitted.

First, when the command processing / data transmission unit 9 of the motor device (1) receives the serial data in step 103,
In step 104, the value of the address part 21 is changed to the address register 6
It is determined whether it matches the initialization value “0” of. And
If they match, the serial data is interpreted as an instruction to the motor device (1) and the process proceeds to step 105.
Here, it is determined from the value of the instruction area 24 of the data section 21 whether the instruction is an address register set processing instruction, and if it is an address register set processing instruction, the value of the data area 25 is latched in the address register 6 in step 106. The address setting to the motor device (1) is completed, and the process returns to step 103. Since this serial data is determined to be a command to the motor device (1), it is stopped here and is not output to the next-stage motor device (2).
The above is executed by the functions of the address setting unit 8 and the command processing / data transmission unit 9.

Next, the main controller 11 issues an address register set processing command to the second motor device (2) in the connection order. In the command area 24 of the address part 21 and the data part 22 of this serial data, the same value as that set in the motor device (1), that is, "0" is inserted, and in the data area 25 of the data part 22, the motor device ( Insert the address value to be set in 2). First, when the serial data sent from the main controller 11 is input to the motor device (1), it is compared with the address register value of the motor device (1). However, since the original address value other than "0" has already been set in the address register 6 and is different from the value in the address section 21, this serial data is interpreted as not for the motor device (1). That is, the process proceeds from step 104 in FIG. 4 to step 107. Therefore, the serial data is directly input to the motor device (2) output from the command processing / data sending unit 9 of the motor device (1). In the motor device (2), since the address register value remains the data "0" at the time of initial clear, it matches the value of the address part 21 of this serial data, and this serial data is the command for the motor device (2). It can be seen that it is. Thereafter, the address setting of the motor device (2) is performed in the same manner as when the motor device (1) is set.

The address setting is completed by repeating the above address setting operation up to the motor device (n).

Now, when the address setting is completed, the main controller
Reference numeral 11 issues various commands to each motor device 10 to execute them. The format of the serial data at this time is the same as that shown in FIG. 4 when the address is set, and is executed by the procedure shown in steps 103 to 108 except step 106. This is also executed by the function of the command processing / data sending unit 9. The serial data received in step 103 includes the address part 21, the command area 24 and the data area.
It is composed of a data section 22 consisting of 23, and first, at step 104, the value of the address section 21 is compared with the contents of the address register 6 of the motor device. If they are equal, the routine proceeds from step 104 to step 105, where the serial data is interpreted as a command to the motor device, the instruction area 24 of the data section 22 is decoded, and the driving process of the motor 1 is started. That is, in step 105, it is determined whether the address register setting process is performed. If it is determined that the address register setting process is not performed, the command is executed in step 108. When the value of the address section 21 does not match the content of the address register 6, it is determined that this serial data belongs to another motor device, and in step 107, the command processing / data sending unit 9 directly outputs the next motor device. Output to. After that, the next-stage motor device receives this transmission data as reception data, and repeats the same processing as before.

According to the method of the present embodiment described above, unlike the conventional serial data bus line method shown in FIG. 11, by providing the serial data transmitting means and the address register setting means in the motor device, it is possible to realize a hardware configuration. Since the address setting circuit is unnecessary, there is an advantage that the hardware in each motor device can be made common. Another advantage is that since serial data always has one fan-out, there is no concern about an increase in fan-out even if the number of connections increases.

Next, a second embodiment will be described. In the above embodiment, only one direction, that is, a command from the main controller 11 to each magnet device 10 has been discussed. However, as shown in FIG. 5, a line 30 is provided and the transmission terminal of the motor device (n) is connected to the main controller 11. Connecting to the reception data terminal enables bidirectional communication. A control method using this bidirectional communication will be described as a second embodiment.

Note that FIG. 6 is an operation flowchart of the main part of the second embodiment, and FIG. 7 is a diagram showing the structure of transmission serial data. The transmission serial data includes an address part 35 and data 36.

When, for example, a data read request command is received from the main controller 11, the motor device performs the following processing in the command execution process of step 108. That is, first, the instruction area of the data portion of the serial data input in step 201 is decoded. Then, in step 202, it is judged whether it is a read command or a motor control command (write command). If it is a read command, the target read data is set in the data section 36 of the transmission serial data in step 204, and the main controller 11 set in the address section 35 at the time of initial setting.
The address is written as transmission serial data, and serial data transmission is performed in step 205. On the other hand, when the command is a motor control command, this is executed in step 203 and the process ends. The read data sent from the motor device can be passed through each intermediate motor device to be received by the main controller 11. In the above-described embodiment, the initialization value of the address register when the address register 6 is reset and cleared. Although it is set to “0”, it may be set to “1”, and it is clear that any constant may be used.

Further, in the above-mentioned embodiment, the control target is the motor device, but according to the present invention, other actuator devices or various actuating devices such as an I / O device having an interface portion can be targeted.

(Effects of the Invention) As described in detail above, in the present invention, at the time of power-on reset or initial reset, the content of the address register of each actuator is initialized to a predetermined initialization value, and the power-on reset or initial reset is performed. At the time of subsequent initial address setting, the controller sets the value of the address area as the initialization value and the value of the data area as the address value to be sequentially set to each operating device from the side closer to the controller. On the other hand, each operating device compares the value of the address area of the input serial data with the content of the address register, and when both match, the value of the data area of the input serial data is compared. Is set as an address value in the address register, and the input serial data is It is prohibited to send the serial data to the latter-stage operating device, and when the two are different, the input serial data is directly sent to the latter-stage operating device.

Due to such a control method, it becomes possible to set the address of each operating device simply by providing a common control unit for each operating device. That is, each operating device can be configured by exactly the same control unit, and as long as it has a control unit with exactly the same configuration, it is easy to set the address no matter how many operating devices are connected. You can

As described above, since it is not necessary to provide a circuit for address setting in hardware for each individual operating device and a common control unit can be used, all circuits in an operating device having the same drive unit are included in the IC chip. You will be able to pay. Therefore, the manufacturing of the actuator is facilitated, the cost can be reduced, and the reliability can be improved.

Furthermore, since any number of actuating devices can be mounted on one serial data line as long as the address length allows, the number of wires of the entire device can be reduced,
Therefore, the economic and packaging effects are very large.

Further, the address numbers of the respective operating devices are not limited to the regular order such as the ascending order or the descending order, and can be set in any number order. For example, it is possible to set discontinuous addresses, and even when regular address settings are made in order, it is possible to suddenly set addresses unrelated to the rules on the way. In addition, the controller allows easy two-way communication to all actuators.

[Brief description of drawings]

1 is a block diagram of a motor device used in the method of the present invention, FIG. 2 is a block diagram of a system to which the method of the present invention is applied, FIG. 3 is a block diagram of serial data, and FIG. 4 is a book. FIG. 5 is an operation flowchart of the method of the first embodiment of the invention, FIG. 5 is a configuration diagram of a system to which the method of another embodiment of the present invention is applied, and FIG. 6 is an operation flowchart of main parts of the method of FIG.
FIG. 7 is a configuration diagram of transmission serial data, and FIG. 8 is an explanatory diagram of a conventional motor control system. 9 to 11 are explanatory views of a conventional hard line realization method. 1 …… Motor 2 …… Driver section 3 …… Control section 4 …… Motor control section 5 …… Interface control section 6 …… Address register 7 …… Initial setting section 8 …… Address setting section 9 …… Command processing / data Sending section 10 …… Motor device 11 …… Main controller 12 …… Serial data line

Claims (2)

(57) [Claims] 1. A plurality of controllers are serially connected to each other via a serial data line, and a value of an address area of input serial data is compared with its own address value. In a control method of an operating device that respectively performs command processing instructed by a controller, at the time of power-on reset or initial reset, the content of the address register of each operating device is initialized to a predetermined initialization value, and the power-on is performed. An address that is to be sequentially set from the controller to the operating device on the side far from the side near the controller while setting the value of the address area to the initialization value at the time of initial address setting after reset or initial reset. It outputs the serial data as a value, while each actuator has The value of the address area of the input serial data is compared with the content of the address register. If they match, the value of the data area of the input serial data is set as the address value in the address register, and the input A method for controlling an operating device, characterized in that the serial data is prohibited from being sent to an operating device at a subsequent stage, and when the two are different, the input serial data is sent to the operating device at a subsequent stage as it is. 2. The controller and the plurality of operating devices are connected in a loop through the serial data line, and the plurality of operating devices are controlled by bidirectional communication. 2. The actuator control method according to item 1.