TWI771796B - Motor driving control device and motor driving control system - Google Patents

Abstract

The present invention relates to a motor driving control device and a motor driving control system having a function for determining break release of motor having break. A motor driving control device and a motor driving control system of this invention includes a friction torque estimation unit for calculating an estimation value of friction torque of motor when motor is driven, and a break release determination unit for determining state of break using an estimation value of friction torque calculated by the friction torque estimation unit and a threshold value of friction torque for determining a state of break for breaking motor.

Description

Motor drive control device and motor drive control system

The present application relates to a motor drive control device and a motor drive control system having a function of judging the release of the brake of a motor equipped with a brake.

In a motor provided with a brake, the motor may be driven in a state where the brake is not released due to a failure of the brake. When the motor is driven in a state where the brake is not released, there are problems such as brake wear, deterioration of the brake, and failure of the motor. Therefore, there is a motor drive control device that determines the state of the brake in order to prevent the motor from being driven in a state where the brake is not released.

For example, in Patent Document 1, before the use of the motor, the load torque of the motor when the motor is driven when the brake is activated and the load torque of the motor when the motor is driven when the brake is released are measured, and obtained in advance Threshold value of load torque when the brake is activated. Furthermore, when the motor is used, if the load torque of the motor being driven by the motor is equal to or greater than the threshold value of the load torque at the time of the brake actuation obtained in advance, it is determined that the brake is being actuated. In addition, the so-called load torque of the motor refers to the friction torque generated by the friction force generated by the actuation of the brake, and the gravitational torque and acceleration/deceleration torque generated by the gravitational force and acceleration other than the friction force of the brake. of the total. [Prior Art Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Application Laid-Open No. 2019-022281

[The problem to be solved by the invention]

However, in the method of Patent Document 1, the load torque of the motor when the brake is actuated and when the brake is released cannot be determined without driving the motor in advance, thereby obtaining the load torque of the motor when the brake is activated and when the brake is released before starting the use of the motor. state. Therefore, it is necessary to drive the motor for this pre-measurement, and there is a problem that time is spent. In addition, in the environment where the motor is actually used, there are still problems such as failure to release the brake due to wiring errors during initial driving, errors in system settings or programs, and omission of brake release.

The present application was developed in order to solve the above-mentioned problems, and an object is to obtain a method that does not need to measure the load torque of the motor in advance, and can perform the failure of the brake release and the neglect of the brake release even in the first drive after wiring. Detected motor drive control device. [means to solve the problem]

The motor drive control device of the present application includes: a friction torque estimating unit that calculates an estimated value of the friction torque of the motor when the motor is driven; and a brake release determination unit that uses the friction torque calculated by the friction torque estimating unit The estimated value of , and the threshold value of the friction torque for judging the state of the brake that brakes the motor, and the state of the brake is judged. [Inventive effect]

According to the present application, it is not necessary to measure the load torque of the motor in advance, and even in the first drive after wiring, it is possible to detect the failure of brake release and the neglect of brake release.

Embodiment 1. Hereinafter, an embodiment of the present application will be described with reference to the drawings. In addition, in description of drawings, the same code|symbol is attached|subjected to the same part or a corresponding part, and the repeated description is abbreviate|omitted. This application is not limited by the embodiment.

First, the configuration of the motor drive control system according to Embodiment 1 of the present application will be described. FIG. 1 is a block diagram showing a motor drive control system 1 according to Embodiment 1 of the present application.

The motor drive control system 1 according to the first embodiment includes a controller 100 , a motor drive control device 200 , and a servo motor 300 . The controller 100 transmits a drive command to the motor drive control device 200 , and the motor drive control device 200 drives the servo motor 300 by driving the servo motor 300 according to the drive command.

Hereinafter, the configuration of each device will be described. First, the controller 100 will be described. The controller 100 includes a communication unit 110 and a display unit 120 .

The communication unit 110 is an interface that can exchange information with the motor drive control device 200 . The communication unit 110 transmits a drive command to the motor drive control device 200 , and receives information about the servo motor 300 from the motor drive control device 200 , for example, a determination result of brake release. The drive command transmitted by the communication unit 110 to the motor drive control device 200 is generated based on a program stored in the controller 100 or a command from a higher-level computer that controls the controller 100 .

The display unit 120 is a display for displaying information to the user of the motor drive control system 1 . The information displayed to the user is the result of determination by the brake release determination unit 233 of the motor drive control device 200, which will be described later, or a warning when the brake is abnormal.

Next, the motor drive control device 200 will be described. The motor drive control device 200 includes a drive unit 210 , an acquisition unit 220 , a processing unit 230 , a communication unit 240 , and a storage unit 250 .

First, the outline of each configuration of the motor drive control device 200 will be described. The motor drive control device 200 receives a drive command from the communication unit 110 of the controller 100 at the communication unit 240 , and converts the drive command into a signal for instructing the control of the drive unit 210 at the processing unit 230 . Then, the drive unit 210 that has received the control instruction signal drives the motor 302 of the servo motor 300 and the brake 301 , and the acquisition unit 220 acquires from the servo motor 300 information necessary for determining the state of the brake 301 . Furthermore, the processing unit 230 determines the state of the brake 301 using the information from the acquisition unit 220 and the information stored in the storage unit 250 , and transmits the determination result from the communication unit 240 to the communication unit 110 of the controller 100 .

Next, each configuration of the motor drive control device 200 will be described in detail. First, the drive unit 210 includes a motor drive unit 211 and a brake drive unit 212 .

The motor drive unit 211 supplies electric power for driving the motor 302 . The magnitude of this supply power is instructed from the processing unit 230 .

The brake driving unit 212 controls the driving of the brake 301 to bring the brake 301 into a released state or an activated state.

The acquisition unit 220 includes a rotational speed acquisition unit 221 , a current value acquisition unit 222 , and a threshold value acquisition unit 223 .

The rotational speed acquisition unit 221 acquires information on the rotational speed of the drive of the motor 302 from the encoder 303 of the servo motor 300 . Furthermore, the rotational speed acquiring unit 221 may acquire not only the rotational speed of the motor 302 but also the rotational angle, rotational direction, rotational speed, and the like of the motor 302 .

The current value acquisition unit 222 acquires the current value supplied from the motor drive unit 211 to the motor 302 . As this current value, a detection value detected by an actually installed ammeter may be used, or a value obtained by calculation of the electric power supplied from the motor drive unit 211 to the motor 302 may be used.

The threshold value acquisition unit 223 acquires the threshold value of the friction torque of the motor 302 when the brake 301 is actuated. In addition, the threshold value of the friction torque is described in the specification of the motor 302 as an allowable torque, a maximum torque, or a braking torque, for example, or is stored in the encoder 303 or the motor 302 . In Embodiment 1, as shown in FIG. 1 , the threshold value acquisition unit 223 serves as a threshold value for acquiring the friction torque stored in the encoder 303 . As long as the motor 302 holds the friction torque threshold, the threshold acquisition unit 223 can also acquire the friction torque threshold from the motor instead of acquiring the friction torque threshold from the encoder 303 . Since the threshold value obtaining unit 223 obtains the threshold value of the friction torque, the motor drive control device 200 of the present application can determine the state of the brake 301 even if the load torque of the motor 302 when the brake 301 is actuated is not obtained in advance.

The processing unit 230 includes a control instruction generation unit 231 , a friction torque estimation unit 232 , and a brake release determination unit 233 .

The control instruction generation unit 231 converts the drive instruction received from the controller 100 into a power value or the like, and generates a control instruction signal for the drive unit 210 . Furthermore, the control instruction generation unit 231 may generate a control instruction for the motor drive unit 211 using not only the drive instruction received from the controller 100 but also the rotational speed information from the encoder 303 acquired by the rotational speed acquisition unit 221 . signal of.

The friction torque estimation unit 232 calculates an estimated value of the friction torque of the motor 302 when the motor 302 is driven. The friction torque estimation unit 232 of the first embodiment calculates the friction torque estimation value based on the rotational speed information of the motor 302 obtained by the rotational speed obtaining unit 221 and the current value obtained by the current value obtaining unit 222 . Furthermore, as described in Patent Document 1, the method of calculating the estimated value of the friction torque from the rotation speed of the motor 302 and the supplied current value is known in the past, and is not the point of the present application, so the friction torque is not limited. The method of estimating the moment. In addition, as long as the estimated value of the friction torque can be calculated, it may be calculated from the rotational speed of the motor 302 and the load torque, etc., instead of the rotational speed of the motor 302 and the supplied current value.

The brake release determination unit 233 determines the state of the brake 301 using the estimated value of the friction torque calculated by the friction torque estimation unit 232 and the threshold value of the friction torque. In Embodiment 1, the brake release determination unit 233 determines the state of the brake 301 in three states: the released state, the actuated state, and the unreleased state. In addition, the so-called released state of the brake 301 refers to a state in which the brake 301 does not brake the motor 302 . The actuating state of the brake 301 refers to a state in which the brake driving unit 212 is actuating the brake 301 . The unreleased state of the brake 301 refers to a state in which the brake 301 brakes the motor 302 due to an abnormality of the brake 301 even though the brake drive unit 212 does not actuate the brake 301 .

The brake release determination unit 233 determines that the brake 301 is in the released state when the estimated value of the friction torque is equal to or less than the threshold value of the friction torque. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not actuate the brake 301, it is determined that the brake 301 is in the actuated state. When the estimated value of the friction torque is larger than the threshold value of the friction torque and the brake driving unit 212 does not actuate the brake 301, it is determined that the state is not released. In addition, the state determination method of the brake 301 demonstrated above is an example, and the brake release determination part 233 may only determine whether the brake 301 is in an unreleased state. Conversely, the state of the brake 301 may be determined in more detail by performing a finer status distinction than the above description.

The communication unit 240 is an interface that can exchange information with the controller 100 . The communication unit 240 includes a drive command reception unit 241 and a determination information transmission unit 242 .

The drive command reception unit 241 receives a drive command for the motor drive control device 200 from the communication unit 110 of the controller 100 and transmits it to the control command generation unit 231 .

The determination information transmission unit 242 transmits the determination result of the brake release from the brake release determination unit 233 to the communication unit 110 of the controller 100 .

The memory unit 250 stores values necessary for determining the state of the brake 301 . For example, the current value acquired by the current value acquisition unit 222 or the rotational speed acquired by the rotational speed acquisition unit 221 may be stored. In addition, the storage unit 250 includes a threshold value storage unit 251 and stores the threshold value of the friction torque acquired by the threshold value acquisition unit 223 .

Next, the servo motor 300 will be described. The servo motor 300 includes a brake 301 , a motor 302 , and an encoder 303 .

The brake 301 is not in contact with the motor 302 in the released state. On the other hand, it is in contact with the motor 302 in the unreleased state, and the driving of the motor 302 is braked by the frictional force generated between the brake 301 and the motor 302 .

When electric power is supplied from the motor drive control device 200, the motor 302 is rotationally driven, and the rotational drive is stopped when the power supply from the motor drive control device 200 is stopped or the brake 301 is actuated.

The encoder 303 outputs information on the rotational speed of the rotating shaft driven by the motor 302 . Furthermore, the encoder 303 can also output not only the rotational speed of the motor 302 but also the rotational angle, rotational direction, rotational speed and other information of the motor 302 .

Next, the operation of the motor drive control device 200 according to the first embodiment of the present application will be described with reference to FIG. 2 . FIG. 2 is a flowchart showing the operation of the motor drive control device 200 according to the first embodiment of the present application.

When the motor drive control device 200 starts to operate, the flow of FIG. 2 starts. First, in step S100 , the control instruction generation unit 231 determines whether or not an instruction to start the motor drive has been received from the controller 100 in the drive instruction reception unit 241 . Step S100 is repeatedly performed until an instruction to start the motor drive is received.

When the drive command receiving unit 241 receives an instruction to start the motor drive, the process proceeds to step S101 to start the power supply from the motor drive unit 211 to the motor 302 and start the drive control of the motor 302 .

Following step S101 , the process proceeds to step S102 , and the current value to be supplied to the motor 302 is acquired in the current value acquisition unit 222 . After step S102 , the process proceeds to step S103 , and the rotational speed of the motor 302 is obtained in the rotational speed obtaining unit 221 .

After step S103, the process proceeds to step S104, and the friction torque estimation unit 232 calculates the estimated value of the friction torque.

After step S104, it progresses to step S105, and the threshold value acquisition part 223 acquires the threshold value of a friction torque.

After step S105, the process proceeds to step S106, and the brake release determination unit 233 determines whether or not the estimated value of the friction torque is larger than the threshold value of the friction torque.

In step S106, if the estimated value of the friction torque is equal to or less than the threshold value of the friction torque, the process proceeds to step S107, the brake release determination unit 233 determines that the brake 301 is in the released state, and the process proceeds to step S111.

In step S106, when the brake release determination unit 233 determines that the estimated value of the friction torque is larger than the threshold value of the friction torque, the process proceeds to step S108. In step S108, it is determined whether or not the brake driving unit 212 has actuated the brake 301. When the brake 301 has been activated, the process proceeds to step S109, and the brake release determination unit 233 determines that the brake 301 is in the activated state. After step S109, it progresses to step S111.

When the estimated value of the friction torque is larger than the friction torque threshold and the brake drive unit 212 does not actuate the brake 301, the process proceeds from step S108 to step S110, and the brake release determination unit 233 determines that the brake 301 is not released. After step S110, it progresses to step S111.

After step S107 , step S109 or step S110 , in step S111 , it is determined whether or not an instruction to end the motor drive has been received from the controller 100 .

If the instruction to end the motor drive is not received, the process returns to step S101, and the operation for determining the state of the brake 301 from step S101 to step S111 is repeated. Furthermore, before returning to step S101 , the determination result of the brake release determination unit 233 may be transmitted from the determination information transmission unit 242 to the controller 100 .

In step S111, when it is determined that the drive command receiving unit 241 has received an instruction to end the motor drive from the controller 100, the motor drive control device 200 ends the operation.

With the above operation, the motor drive control device 200 can determine the state of the brake 301 by calculating the estimated value of the friction torque while the motor 302 is being driven, without performing the pre-driving and pre-measurement of the motor 302 .

2 , it is determined in step S108 whether the brake 301 has been actuated by the brake drive unit 212, but step S108 may not be performed, and the brake release determination unit 233 may determine whether the brake is in an unreleased state or an actuated state.

2 , as long as the brake 301 is not released, the power supply from the motor drive unit 211 to the motor 302 may be stopped, or the brake drive unit 212 may move the brake 301 to an appropriate and accurate position.

Next, an example of the operation of the controller 100 according to the first embodiment will be described with reference to FIG. 3 . FIG. 3 is a flowchart showing the operation of the controller 100 according to the first embodiment.

When the controller 100 starts to operate, the flow of FIG. 3 begins. First, in step S200, the controller 100 determines whether or not an operation to start the motor drive has been performed by the user. Step S200 is repeatedly performed until the operation of starting the motor drive starts.

When the operation to start the motor drive has been performed by the user, the process proceeds to step S201 , and an instruction to start the motor drive is transmitted to the motor drive control device 200 .

Following step S201 , the process proceeds to step S202 , and it is determined whether or not the determination result of the state of the brake 301 has been received from the motor drive control device 200 . If the determination result of the state of the brake 301 is not received, it progresses to step S204.

When it is determined in step S202 that the determination result of the state of the brake 301 has been received, it is determined in step S203 whether or not the brake is in an unreleased state. If the brake 301 is not in the unreleased state, since there is no abnormality in the brake 301, the process proceeds to step S204.

In step S204, it is determined whether or not the user has performed an operation to end the motor drive. If the operation to end the motor drive is not performed, the process returns to step S202, and it is repeatedly determined whether or not the brake release determination result has been received.

In step S203, when it is determined that the brake 301 is not released, the process proceeds to step S205, and the display unit 120 notifies the abnormality of the brake 301.

In step S204, when it is determined that the operation to end the motor drive has been performed or after step S205, the process proceeds to step S206, where an instruction to end the motor drive is transmitted to the motor drive control device 200, and the operation of the controller 100 is terminated.

When the motor drive control device 200 determines that the brake 301 is not released by the operation of the controller 100 shown in FIG. 3 above, the display unit 120 notifies the user of the abnormality in step S205. Therefore, it is possible to Let the user discover the abnormality of the brake 301 . In addition, when the controller receives from the motor drive control device 200 the determination information that the brake 301 is not released, it transmits a stop command of the motor to the motor drive control device 200 in step S206 to instruct the motor drive to end. Therefore, it is possible to prevent The motor 302 is driven while the brake 301 is maintained in an unreleased state.

In addition, in the operation of the controller 100 shown in FIG. 3 as an example, when the brake 301 is not released, the driving of the motor 302 is completed and the notification of the brake abnormality on the display unit 120 is not an essential operation, and other operations may be used. action to prevent the drive of the motor 302 when the brake 301 is not released.

In addition, in the above description, the operation of the controller 100 is used to prevent the driving of the motor 302 when the brake 301 is not released. Then, a signal of a control instruction is transmitted from the control instruction generation unit 231 to the motor drive unit 211 to stop the motor 302 .

As described above, in the motor drive control device 200 according to the first embodiment, the friction torque estimating unit calculates the estimated value of the friction torque of the motor and compares it with the threshold value of the friction torque when the brake is actuated to determine the state of the brake. Therefore, even if the load torque of the motor is not measured in advance, it is possible to detect the brake release failure and the neglected brake release.

In addition, in the motor drive control system 1 of the first embodiment, even if the load torque of the motor is not measured in advance, abnormalities such as brake release failure and neglected brake release can be detected to prevent the motor from driving. It is also possible to prevent the wear of the brake and the failure of the motor when the brake is not released during the initial wiring.

Embodiment 2. Hereinafter, a motor drive control device 200 according to Embodiment 2 of the present application will be described. FIG. 4 is a block diagram showing the motor drive control system 1 of the second embodiment. The difference from the motor drive control device 200 of the first embodiment is that the friction torque estimation unit 232 of the motor drive control device 200 of the second embodiment includes a friction torque estimation value processing unit 234 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

The friction torque estimation unit 232 uses the friction torque estimation value processing unit 234 to calculate the estimated value of the friction torque generated by the brake among the friction torques of the motor 302, and calculates the friction torque with higher accuracy.

The motor drive control device 200 of the present application determines the state of the brake 301 without measuring the motor 302 in advance. However, when the motor 302 is actually used, the motor 302 may be accelerated and rotated. When the motor 302 rotates at acceleration and deceleration, acceleration and deceleration torque is generated in the motor 302 . This acceleration/deceleration torque is independent of the friction torque generated by the brake 301 . Therefore, the friction torque estimated value processing unit 234 calculates the acceleration/deceleration torque based on the rotational speed of the motor 302 acquired by the rotational speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, etc., and then excludes it from the estimated value of the friction torque. Accelerate and decelerate the torque to calculate a more accurate estimated value of the friction torque. Incidentally, the calculation method of the acceleration/deceleration torque is known, for example, in Japanese Patent No. 5591400, and the calculation method of the acceleration/deceleration torque is not limited.

In addition, when the motor 302 is used in the motor drive control system 1 for moving an object up and down, such as a hoist of an elevator, a gravitational torque is generated in the motor 302 . This gravitational torque is independent of the friction torque generated by the brake 301 . Therefore, the friction torque estimated value processing unit 234 calculates the gravitational torque from the rotational speed of the motor 302 acquired by the rotational speed acquisition unit 221 and the current value acquired by the current value acquisition unit 222, etc., and then excludes the gravitational force from the estimated value of the friction torque. torque to calculate a more accurate estimated value of friction torque. In addition, the calculation method of the gravitational torque is known, for example, in Patent Document 1, and the calculation method of the gravitational torque is not limited in the present application.

The friction torque estimated value processing unit 234 can calculate the acceleration/deceleration torque, the gravitational torque, or both, and calculate a more accurate estimated value of the friction torque after removing these torques. Therefore, the brake release determination is performed. The section 233 can more accurately determine the state of the brake.

In the motor drive control device 200 according to the second embodiment described above, the friction torque estimated value processing unit 234 can calculate a more accurate estimated value of friction torque, so that the state of the brake 301 can be determined more accurately.

Embodiment 3. Hereinafter, a motor drive control device 200 according to Embodiment 3 of the present application will be described. FIG. 5 is a block diagram showing the motor drive control system 1 of the third embodiment. The difference from the motor drive control device 200 of the first embodiment is that the communication unit 240 of the motor drive control device 200 of the third embodiment includes a threshold value acquisition unit 223 , and the controller 100 includes an operation unit 130 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

In the motor drive control system 1 of the third embodiment, the user refers to the allowable torque or instantaneous maximum torque described in the specification of the motor, and inputs an arbitrary value as the friction torque threshold using the operation unit 130 of the controller 100 . Furthermore, the operation unit 130 may be a user interface capable of inputting numerical values, and may be a touch panel or a ten-key keypad.

The threshold value of the friction torque input by the user in the operation part 130 is transmitted to the motor drive control device 200 by the communication part 110 , and the threshold value acquisition part 223 acquires the threshold value of the friction torque from the operation information of the user. The threshold value of the friction torque acquired by the threshold value acquisition unit 223 is stored in the threshold value memory unit 251 of the memory unit 250 . Then, the brake release determination unit 233 acquires the value of the threshold value of the friction torque from the threshold value memory unit 251 to determine the state of the brake 301 .

In the motor drive control device 200 according to the third embodiment, the user can set the threshold value of the friction torque by inputting the threshold value of the friction torque in the operation unit 130 . Thereby, even if the threshold value of the friction torque is not stored in the motor 302 or the encoder 303, the state of the brake 301 can be determined without performing the pre-measurement of the motor 302.

Embodiment 4. Hereinafter, a motor drive control device 200 according to Embodiment 4 of the present application will be described. FIG. 6 is a block diagram showing the motor drive control system 1 of the fourth embodiment. The difference from the motor drive control device 200 of the first embodiment is that the motor drive control device 200 of the fourth embodiment is not provided with the memory unit 250 . Since other configurations are the same as those of the first embodiment, descriptions thereof will be omitted.

In the motor drive control system 1 according to the fourth embodiment described above, the brake release determination unit 233 acquires the friction torque threshold from the threshold value acquisition unit 223 every time the state of the brake 301 is determined, and determines the brake release. In the motor drive control device 200 of the fourth embodiment, the memory unit 250 is not required, and the motor drive control device 200 can be constructed at low cost, and the state of the brake 301 can be determined without the need to measure the motor 302 in advance.

Hereinafter, the hardware configuration of the motor drive control device 200 according to Embodiments 1 to 4 will be described with reference to FIG. 7 . FIG. 7 is a hardware configuration diagram of the motor drive control device 200 according to the first to fourth embodiments. The motor drive control device 200 includes an input device 901 , an output device 902 , a memory device 903 , and a processing device 904 .

The input device 901 is an interface including the input information of the acquisition unit 220 and the communication unit 240 of the motor drive control device 200 . For this interface, it can be a wired communication network such as a LAN cable or a coaxial cable, or a wireless communication network using a wireless communication technology.

The output device 902 includes the drive unit 210 and the communication unit 240 . The output device 902 is a control signal or a communication interface. The communication unit 240 has already been described in the input device 901, so it is omitted. The driving part 210 , especially the motor driving part 211 , is an interface capable of supplying power to the motor 302 , such as wires for power supply.

The memory device 903 includes the memory unit 250 . It is equivalent to working memory, etc., and is a device that stores information. For example, non-volatile or volatile semiconductor memories such as RAM, ROM, and flash memory, magnetic disks, floppy disks, optical disks, compact discs, and the like.

The processing device 904 includes the processing unit 230 . The processing device 904 may be a dedicated hardware, or may be a CPU (Central Processing Unit, central processing unit) that executes the program recorded in the memory device 903 .

When the processing device 904 is a dedicated hardware, the processing device 904 is equivalent to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of the above components. .

When the processing device 904 is a CPU, the functions of the processing unit 230 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written in the form of programs and recorded in the memory device 903 . The processing device 904 reads out and executes the program stored in the memory device 903, thereby realizing the functions of each part.

Furthermore, each function of the processing unit 230 can also be implemented by hardware, and partially implemented by software or firmware.

For example, the control instruction generation unit 231 may be provided as dedicated hardware, and the friction torque estimation unit 232 and the brake release determination unit 233 may be written as programs recorded in the memory device 903 to realize their functions.

In this way, the processing device 904 can implement the above functions by means of hardware, software, firmware, or a combination thereof.

As described above, the motor drive control device 200 according to the present invention is not used to measure the motor load torque when the brake is released in advance, and can detect the failure of the brake release and the missed brake release even in the first drive after wiring.

1: Motor drive control system 100: Controller 110: Department of Communications 120: Display part 130: Operation Department 200: Motor drive control device 210: Drive Department 211: Motor drive part 212: Brake drive part 220: Acquire Department 221: Speed Acquiring Department 222: Current value acquisition part 223: Threshold Acquisition Section 230: Processing Department 231: Control instruction generation part 232: Friction torque estimation part 233: Brake Release Judgment Section 234: Friction torque estimated value processing unit 240: Department of Communications 241: Drive command receiving part 242: Judgment Information Transmission Department 250: Memory Department 251: Threshold Memory Department 300: Servo motor 301: Brake 302: Motor 303: Encoder 901: Input Device 902: Output device 903: Memory Device 904: Processing Device

FIG. 1 is a block diagram showing a motor drive control system according to the first embodiment. FIG. 2 is a flowchart showing the operation of the motor drive control device according to the first embodiment. FIG. 3 is a flowchart showing the operation of the controller according to the first embodiment. FIG. 4 is a block diagram showing the motor drive control system of the second embodiment. FIG. 5 is a block diagram showing the motor drive control system of the third embodiment. FIG. 6 is a block diagram showing the motor drive control system of the fourth embodiment. FIG. 7 is a diagram showing the hardware configuration of the motor drive control apparatus according to Embodiments 1 to 4. FIG.

Claims (20)

A motor drive control device comprising: a friction torque estimating unit that calculates an estimated value of friction torque of a motor when the motor is driven; and a brake release determination unit that uses the friction torque calculated by the friction torque estimating unit The estimated value of , and the threshold value of the friction torque used to determine the state of the brake for braking the motor to determine the state of the brake; wherein the threshold value of the friction torque is the torque determined by the specification of the motor. The motor drive control device according to claim 1, wherein the torque of the motor determined by the specification is an allowable torque, a maximum torque, or a braking torque of the motor. The motor drive control device according to claim 1, wherein the friction torque estimation unit further includes a friction torque estimation value processing unit that calculates the estimated value of the friction torque generated by the brake. The motor drive control device according to claim 2, wherein the friction torque estimation unit further includes a friction torque estimation value processing unit that calculates the estimated value of the friction torque generated by the brake. The motor drive control device according to claim 3, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the acceleration and deceleration torque of the motor when the motor rotates during acceleration and deceleration. . The motor drive control device according to claim 4, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the acceleration and deceleration torque of the motor when the motor rotates during acceleration and deceleration. . The motor drive control device according to claim 3, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the gravitational torque of the motor. The motor drive control device according to claim 4, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by subtracting the gravitational torque of the motor. The motor drive control device according to claim 5, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the gravitational torque of the motor. The motor drive control device according to claim 6, wherein the friction torque estimated value processing unit calculates the estimated value of the friction torque by removing the gravitational torque of the motor. The motor drive control device according to any one of claims 1 to 10, further comprising: a threshold value acquisition unit for acquiring the threshold value of the friction torque. The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from the motor. The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from an encoder of the motor. The motor drive control device according to claim 11, wherein the threshold value acquisition unit acquires the threshold value of the friction torque from user operation information. The motor drive control device according to any one of claims 1 to 10, further comprising: a brake drive unit for controlling the drive of the brake; and The brake release determination unit determines that the brake is not released when the estimated value of the friction torque is greater than the threshold value of the friction torque and the brake drive unit does not actuate the brake. The motor drive control device according to claim 11, further comprising: a brake drive unit for controlling the drive of the brake; and the brake release determination unit when the estimated value of the friction torque is greater than the threshold value of the friction torque, On the other hand, when the brake driving unit does not actuate the brake, it is determined that the brake is not released. The motor drive control device according to claim 12, further comprising: a brake drive unit for controlling the drive of the brake; and the brake release determination unit when the estimated value of the friction torque is greater than the threshold value of the friction torque, On the other hand, when the brake driving unit does not actuate the brake, it is determined that the brake is not released. The motor drive control device according to any one of claims 1 to 10, further comprising: a motor drive unit for supplying electric power to the motor to drive the motor; and a current value acquisition unit for acquiring a current value during driving of the motor A current value supplied to the motor from the motor driving unit; and a rotational speed acquiring unit for acquiring the rotational speed of the motor during driving of the motor; and the friction torque estimating unit using the current value acquired by the current value acquiring unit The estimated value of the friction torque is calculated based on the rotational speed acquired by the rotational speed acquisition unit. The motor drive control device of claim 18, wherein, The motor drive unit stops the power supply to the motor when the brake release determination unit determines that the brake is not released. A motor drive control system comprising: the motor drive control device according to any one of claims 1 to 19; and a controller for transmitting drive and stop commands of the motor to the motor drive control device; and the controller When the determination information that the brake is not released is received from the motor drive control device, a stop command of the motor is transmitted to the motor drive control device.

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