JPH04178190A - motor control device - Google Patents

Abstract

PURPOSE:To contrive to simplify the constitution and control system of an apparatus by enabling a control unit to output any one of DC voltage signal and pulse-train driving signal to a motor actuator in response to a command signal from a main controller. CONSTITUTION:A speed setting signal from a microprocessor 16 is inputted to a D/A converter 17 and changed into a DC voltage signal 18 in the D/A converter 17. The DC voltage signal 18 is outputted as it is and inputted to a V/F converter 19. The V/F converter 19 converts the DC voltage signal 18 into a pulse train 20 and the pulse train 20 is inputted to an output controller 21, which controller 21 outputs a motor-driving pulse-train driving signal 22 according to the inputted pulse train 20. Also, the output controller 21 outputs the pulse-counting signal of the pulse-train driving signal 22 to a first counter 23, which counter 23 counts output pulses from the output controller 21 and inputs the result to the microprocessor 16.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a motor control device used as a drive source for various types of automation equipment, such as semiconductor manufacturing equipment or various types of robots.

[Prior art] Motors for driving and positioning the movable parts of automatic machines are AC motors,
A DC motor, a pulse motor, or an AC servo motor is appropriately selected and used.

Conventional control devices for these various motors will be explained with reference to FIG.

In Figure 3, 1 is a pulse motor, 2 is an AC motor, and 3 is a D
These pulse motors 1, AC motors 2, and DC motors 3 each have a pulse motor drive unit 4.
+ It is designed to be driven by an AC motor drive section 5 and a DC motor drive section 6.

Here, the signal input to the pulse motor drive unit 4 must be a pulse train, and the signal input to the AC motor drive unit 5-D
The signal input to the C motor drive unit 6 must be a DC voltage.

Therefore, different types of pulse motor control units 7, AC
A motor control unit 8 and a DC motor control unit 9 are provided.

Further, 10 is a main controller, and the main controller sends control signals suitable for each of the motor control units 7 and 8.9, that is, a parallel signal for the pulse motor control unit and the V door, and a parallel signal for the AC motor control unit. A serial signal is input to 8, and a bus signal is input to DC motor control unit 9.

[Problems to be Solved by the Invention] In addition to the above-mentioned problem, in the conventional motor control device, different types of motor control units are individually provided for each motor such as one for a pulse motor, one for an AC motor, and one for a DC motor. Each motor is controlled individually via a control unit.

For this reason, there are multiple types of motor control units in the same device, making the configuration complex, and there are multiple command systems from the main #J# unit, three systems in the conventional example mentioned above. The control system was also complicated.

In view of these circumstances, the present invention aims to simplify the configuration and control system by making it possible to drive different types of motors with the same type of motor unit.

[Means for Solving the Problems] The present invention includes a main controller and a control unit having a microprocessor, a D/A converter, and a V/F converter, and the control unit receives command signals from the main controller. However, it is characterized in that either a DC voltage signal or a pulse train drive signal can be output to the motor drive section, and it also includes a main controller, a microprocessor, a D/A converter, and the D/A converter. A V/F converter connected to the A converter, an output control unit connected to the V/F converter,
a first pulse counter that counts the number of output pulses from the output control section and feeds it back to the main controller; a second pulse counter that counts the number of pulses from a rotary encoder provided on the motor and feeds it back to the main controller. a required number of control units, each of which outputs either a DC voltage signal or a pulse train drive signal to a corresponding motor drive unit in response to a command signal from the main controller, and outputs either a DC voltage signal or a pulse train drive signal, and The present invention is characterized in that the positioning of the motor is controlled by a feedback signal from at least one of the counter and the second pulse counter.

[Function] The command signal input from the main controller is input to the D/A converter via the microprocessor and converted into a DC voltage signal, and the DC voltage signal is used when the motor to be controlled is an AC motor, a DC motor, etc. , is output as is as a drive signal. The DC voltage signal is converted by a V/F converter into a pulse train signal equivalent to a voltage, and the pulse train signal is output as a drive signal for a motor to be controlled, a pulse motor, a DC servo motor, or the like.

Furthermore, the number of output pulses when the pulse train signal is actually output is fed back from the output control section to the main controller via the first pulse counter, and the driving amount of the motor, that is, the positioning is controlled.

Further, a rotation amount pulse signal from an encoder provided on the motor is fed back to the main controller via a second counter to control the rotation amount of the motor, that is, the positioning.

The main controller controls the positioning of the motor using one or both of the feedback signals from the first encoder and the second encoder.

[Actual example] Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, the same parts as those shown in FIG. 3 are given the same reference numerals. 12 is a main controller, 13 is a first control unit, 14 is a second control unit, and 15 is a third control unit. 6 The first control unit 13 includes a pulse motor drive section 4 for driving the pulse motor 1. is connected to the second control unit 14, and the second control unit 14 is connected to a
C motor drive unit 5 is connected to the third control unit 15.
A DC motor drive unit 6 for driving the DC motor 3 is connected to the DC motor drive unit 6 .

The first control unit 13, second control unit 14, and third control unit 15 have the same configuration and structure, and the pulse train drive signal is supplied to the pulse motor drive section 4, and the AC motor drive section 5 and the DC A DC voltage drive signal is output to the motor drive unit 6.

The configuration of the first control unit 13 will be explained with reference to FIG.

It should be noted that the second control unit 14 and the third control unit 15 have the same configuration, so a description thereof will be omitted.

Reference numeral 16 in FIG. 2 is a microprocessor for controlling the motor, which performs speed setting and position setting based on control signals from the main controller 12, and issues drive signals to the motor drive section.

The speed setting signal from the microprocessor 16 is D/
input to the A converter 17, and the D/A converter 17
to change to the DC voltage signal 18.

The DC voltage signal 18 is outputted as it is and is inputted to the S/F converter 19. The ν/
[The converter 19 converts the DC voltage signal 18 into a pulse train (rectangular wave) 21, and the pulse train 20 is input to the output control section 21.

The output side m section 21 outputs a pulse train drive signal 22 for driving the motor according to the input pulse train 20. Further, the output control section 21 outputs a pulse count signal of the pulse train drive signal 22 to the first counter 23 . The first counter 23 counts the number of output pulses from the output control section 21 and inputs the result to the microprocessor 16.

Further, a rotary encoder 25 is attached to the pulse motor 1, and a rotation pulse signal of the pulse motor 1 is outputted from a second rotary encoder.
The second counter 24 counts the rotational pulse signals from the rotary encoder 25 and sends the results to the microprocessor 1.
It is a turret that is input to 6.

Incidentally, the pulse train 20 from the V/F converter 19 is as follows:
The signal is also input to the microprocessor 16, and the microprocessor 16 performs a frequency check to see if the conversion frequency is equivalent to a DC voltage.

The DC voltage signal 18 from the D/A converter 17 is
The signal is input to the AC motor drive section 5 + DC motor drive section 6, and both moving sections 5 and 6 actuate the AC motors 2 and D according to the signal.
The C motor 3 is driven at a speed equivalent to the DC voltage signal.

The pulse train drive signal 22 from the output control section 21 is input to the pulse motor drive section 4. The pulse motor drive section 4 drives the pulse motor 1 at a required speed and by a required number of pulses in accordance with the pulse train drive signal 22. or,
The number of output pulses from the output control section 21 is counted by the first counter 23 and fed back to the microprocessor 16, so that the drive amount of the pulse motor 1 is monitored and position control is performed.

Furthermore, the rotary lid of the pulse motor 1 is detected by the rotary encoder 25 and fed back to the microprocessor 16 via the second pulse counter 24 to monitor the amount of movement, control the position, or control the number of output pulses from the output controller 21. This is done in conjunction with feedback.

Note that, unless otherwise shown, the pulse train drive signal is A.
Of course, it is also used as a drive signal for the C servo motor.

Then, the pulse train drive signal 22 is input from the first control unit 13 to the pulse motor drive section 4, and the second 'HIfl
The J unit 14 outputs a DC voltage signal to the AC motor drive unit 5, and the third control unit 15 outputs a DC voltage signal to the DC motor drive unit 6. 1, second, and third control units 13, 14
．． 15 have the same configuration, the control signals from the main controller 12 may be of the IN class and l system.

Note that either one of the first counter 23 and the second counter 24
Needless to say, it is possible to omit both.

[Effect of the Invention 2 As described above, according to the present invention, the following excellent effects are exhibited.

(1) Since various motor controls can be performed by a motor control unit with the same configuration, bulk production can be performed and production costs can be reduced.

(11) When changing the type of motor used, it is possible to immediately respond to the change without changing the motor control unit.

- The control system from the main control device can be reduced to one, and the control system can be simplified.

□□□) The position of the motor can be controlled using either the output pulse or the rotation pulse from the rotary encoder, and reliability can be improved by controlling the position using the pulse signal from the other side.

(V) Reliability is improved by checking the frequency of pulse train signals 4

[Brief explanation of the drawing]

FIG. 1 is a block diagram schematically showing an embodiment of the present invention, FIG. 2 is a block diagram of a motor control unit, and FIG. 3 is a block diagram schematically showing a conventional example. 4 is a pulse motor drive unit, 5 is an AC motor drive unit, 6 is a DC motor drive unit, 12 is a main controller, 13 is the first m11
tXI unit, 14 is the second control unit, 15 is the third
control unit, 16 is micro 1 processor, 17 is D/
A converter, 18 represents a DC voltage signal, 19 represents a V/F converter, 23 represents a first counter, and 24 represents a second counter.

Claims (1)

[Claims] 1) comprising a main controller and a control unit having a microprocessor, a D/A converter, and a V/F converter,
The control unit responds to a command signal from the main controller,
A motor control device characterized in that it is capable of outputting either a DC voltage signal or a pulse train drive signal to a motor drive section. 2) Main controller, microprocessor, D/A converter, V/F converter connected to the D/A converter, output control unit connected to the V/F converter, and number of output pulses of the output control unit a required number of control units each having a first pulse counter that counts the number of pulses and feeds it back to the main controller, and a second pulse counter that counts the number of pulses from a rotary encoder provided on the motor and feeds it back to the main controller. The control unit outputs either a DC voltage signal or a pulse train drive signal to a corresponding motor drive unit in response to a command signal from the main controller, and outputs either a DC voltage signal or a pulse train drive signal to at least one of the first pulse counter and the second pulse counter. A motor control device characterized in that motor positioning control is performed using one feedback signal. 3) The motor control device according to claim 2, wherein the pulse train signal from the V/F converter is fed back to the main controller to check the frequency of the pulse train signal.