JPH11149308A - Motor control device for automatic machinery - Google Patents

Abstract

(57) [Problem] To reduce the number of NC devices required according to the type and number of motors in an automatic machine motor control device, and reduce the number of wires connecting between the NC device and a driver. To do. An NC unit (3) of a control device (1) adds driver type information (28) of a motor control method and motor driver address information (27) to target command data (30), and sequentially transmits the data as serial data to a plurality of motor drivers. Forward. The plurality of motor drivers receive only data addressed to themselves, and sequentially transfer data not addressed to itself to another motor driver. The motor driver that receives the data addressed to itself controls the motor based on the received type information of the motor control method.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a motor mounted on an automatic machine such as a semiconductor manufacturing apparatus, an electronic component mounting machine, a machine tool, a precision processing machine, and an inspection / measurement device.

[0002]

2. Description of the Related Art In recent years, automatic servo motors, DC servo motors, and the like have been used in automatic machines such as semiconductor manufacturing apparatuses, electronic component mounting machines, machine tools, precision processing machines, and inspection / measurement apparatuses.
Many kinds of plural motors such as a stepping motor, a direct drive (hereinafter, referred to as DD) motor and an ultrasonic motor are mounted on one automatic machine. Furthermore, recently, in order to realize more complicated functions with higher accuracy, the types and number of motors mounted on automatic machines tend to increase. In a general configuration for controlling these motors, a numerical control device (hereinafter, referred to as an NC device) that numerically processes a target movement position per unit time, and a drive control device (hereinafter, a motor) corresponding to the type of the motor. Driver) are formed by independent housings or boards. And a signal for outputting a control command between the NC device and the motor driver, a signal for instructing a rotation direction of the motor,
In order to transmit a plurality of signals such as signals from a position sensor such as an encoder, the two are connected by a transmission cable.

As functions of the NC device and the motor driver, the NC device calculates a position control loop and a speed control loop, converts a speed command into an analog voltage or a clock waveform, and then transmits the converted command to the motor driver. 2. Description of the Related Art In a motor driver, a method is often used in which a current loop is calculated and a motor is driven by an output of an amplifier that performs pulse width modulation (hereinafter referred to as PWM) based on a current command.

As a conventional example in which a plurality of motor controllers are mounted on an automatic machine, there is an electronic component mounting machine for mounting electronic components on a printed circuit board. The electronic component mounter includes an AC motor for moving the electronic component to a predetermined position on the printed circuit board, a voice coil motor (hereinafter referred to as VCM) for mounting the electronic component on the printed circuit board,
A plurality of various types of motors such as a pulse motor for transporting a printed circuit board are mounted.

An example of a conventional motor control device for an automatic machine will be described below with reference to FIG. FIG. 6 is a block diagram showing a configuration of a motor control device in the electronic component mounting machine. 6, this electronic component mounting machine includes an AC motor NC device 45, a pulse motor NC device 46, and a VCM NC device 47 as a control device 43, and further includes an AC motor driver 54, a pulse motor driver 57, , VCM driver 59.

First, when the AC motor 12 is rotated, information such as a moving distance, a moving speed, and a moving acceleration is transferred from the main CPU 44 to the NC unit 49. The NC unit 49 calculates a moving speed pattern indicating the rotation angle of the motor per unit time of, for example, 1 ms to 5 ms, and the speed pattern is converted into a clock signal by the clock generating unit 50. The clock signal is transferred to the AC motor driver 54 connected by the transmission cable 52 together with the rotation direction signal of the AC motor. In the AC servo calculation unit 55,
A signal indicating the current position obtained from the encoder signal 53 of the AC motor 12 is converted into a signal indicating the current speed, and a difference from the speed command value transferred from the NC device 45 is obtained to calculate a current command value. This current command value is amplified by an AC motor driving unit 56 which is a PWM amplifier and
And rotate it. The rotation angle of the rotating AC motor 12 is also detected by the position detector 51 of the NC device 45 as an encoder signal 53, and position feedback is performed.

[0007] Regarding the drive control of the pulse motor 17,
Because of the open loop control method, the command value is converted into a clock signal by the NC device 46 and transferred to the pulse motor driver 57.

As for the drive control of the VCM 21, similarly to the NC device 45 for the AC motor, the NC device 47 for position control is used.
Includes an NC unit, a clock generation unit, and a position detection unit. Further, the VCM 21 is provided with a linear scale 22 for detecting a moving distance. In addition, VCM2
When pressure control is desired to be performed in step 1, the operation up to the current command value is performed by the NC device 47, converted into an analog signal by the D / A converter 58, and output to the VCM driver 59.

In the electronic component mounting machine, it is necessary to control input / output devices such as the sensor 25 and the actuator 26 in synchronization with the operation of various motors. In this case, conventionally, the input / output control is performed while the main CPU 44 monitors the current position during the operation of the motor.

[0010]

In an automatic machine having a large number of motor types and numbers, such as the above-mentioned electronic component mounting machine of the prior art, a plurality of NC devices and motor drivers corresponding to each motor are required. there were. Since a plurality of NC devices are mounted on an automatic machine, the cost of the automatic machine increases, and the size of the automatic machine cannot be reduced.

Further, since the connection from each NC unit to each motor driver is made by a dedicated connection line, the number of wiring cables is large. For this reason, the wiring cost increases, and the work of equipment wiring takes time, and it has been a problem to solve this.

[0012]

A motor control device according to the present invention comprises: a numerical calculation means for calculating a command value per unit time from a target movement position; and data obtained by adding type information of a motor control method to the command value. Communication means for transferring the data to a plurality of motor drivers and driver communication means for receiving the transferred data on the motor driver side. The motor control device further includes decoding means for extracting and decoding the motor type information addressed to itself from the received data, and servo calculation means for outputting a command to the motor based on the motor control method decoded by the decoding means. Thereby, NC
A motor control device that can reduce the type of device and the number of wires between the NC device and the motor driver can be obtained.

According to the first aspect of the present invention, a motor control device for an automatic machine equipped with a plurality of types of motors performs an operation to represent a target movement position by a command value per unit time. Numerical calculation means, communication means for adding type information of a motor control method to a command value obtained as a result of the calculation by the numerical calculation means, and transferring the data to a plurality of motor drivers; Driver communication means received by the driver side, motor type information extracted from data received by the driver communication means, decoding means for decoding, and a command is output to the motor based on the motor control method decoded by the decoding means. And a servo calculating means. This has the effect of reducing the type of NC device and the number of wires between the NC device and the motor driver.

According to the second aspect of the present invention, the communication unit converts data into a serial signal, the photoelectric conversion unit converts the data converted into the serial signal into an optical signal, and converts the optical signal into an optical signal. It is characterized by having means for transmitting by fiber. As a result, a plurality of motor drivers can be connected in a loop connection, and the number of wirings between the NC device and the motor driver can be reduced.

According to a third aspect of the present invention, the motor control device includes address information adding means for adding address information to transmission data transferred to the motor driver by the communication means, and the address information is decoded by the motor driver decoding means. Communication means for receiving reception data only when the address information matches the own address, and transmitting the reception data to the next connected motor driver when the address information does not match the own address. Is what you do. A plurality of motor drivers can be connected by the loop-shaped connection, and the number of wirings between the NC device and the motor driver can be reduced.

According to a fourth aspect of the present invention, the communication means transmits a command value at predetermined equal time intervals, and a time when the data transmitted from the communication means is received on the motor driver side. And a servo calculating means for performing a control calculation of the motor in synchronization with the servo control. This has the effect of reducing the number of wires between the NC device and the motor driver without deteriorating the control performance of the motor.

According to a fifth aspect of the present invention, the communication means receives input / output type information adding means for adding type information of the input / output device and data transferred from the communication means to the input / output device side. Input / output communication means for reading and transmitting sensor information. This has the effect of reducing the number of wires between the NC device and the input / output devices.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 is a block diagram of a motor control device of an electronic component mounting machine which is an automatic machine according to an embodiment of the present invention. The electronic component mounter includes an AC motor 1 for moving the electronic component to a predetermined position on a printed circuit board.
2. VCM for mounting electronic components on printed circuit boards
(Voice coil motor) 21, a plurality of motors of various types such as a pulse motor 17 for transporting a printed circuit board, and the like.

In FIG. 1, the NC device 1 has a main CPU 2, an NC unit 3 and a communication unit 4 connected by a bus line. The output terminal of the communication unit 4 is connected to the input terminal of the communication unit 7 of the AC motor driver 6, and the input terminal of the communication unit 4 is connected to the output terminal of the communication unit 23A of the input / output device 23. AC
In the motor driver 6, one output terminal of the communication unit 7 is connected to the input terminal of the communication unit 14 </ b> A of the pulse motor driver 14, and the other output terminal is connected to the input terminal of the command decoder 9. An output terminal of the command decoder 9 is connected to one input terminal of the servo operation unit 10. Another output terminal of the command decoder 9 is connected to the communication unit 7.
An encoder signal 13 of the AC motor 12 is input to the other input terminal of the servo operation unit 10. Servo operation unit 1
The output terminal of “0” is connected to the input terminal of the AC motor drive unit 11, and the output terminal of the AC motor drive unit 11 is connected to the AC motor 12.

Communication section 14A of pulse motor driver 14
Has one output terminal connected to the input terminal of the communication section 18A of the VCM driver 18, and the other output terminal has the command decode 1
4B is connected to the input terminal. Command decode 14
The output terminal of B is connected to the input terminal of the pulse generator 15. The other output terminal of the command decode 14B is the communication unit 14
A is connected. The output terminal of the pulse generator 15 is connected to the input terminal of the pulse motor drive unit 16, and the output terminal of the pulse motor drive unit 16 is connected to the pulse motor 17.

One output terminal of the communication unit 18A of the VCM driver 18 is connected to the input terminal of the communication unit 23A of the input / output device 23, and the other output terminal is connected to the input terminal of the command decode 18B. The output terminal of the command decoder 18B is connected to one input terminal of the servo operation unit 19, and the other input terminal of the servo operation unit 19 is provided in the VCM 21.
Linear scale 22 for detecting the movement amount of CM 21
Connected to the output end of the Another output terminal of the command decode 18B is connected to the communication unit 18A. An output terminal of the servo operation unit 19 is connected to an input terminal of the VCM driving unit 20, and an output terminal of the VCM driving unit 20 is connected to the VCM 21.

The output terminal of the communication unit 23A of the input / output device 23 is connected to the input terminal of the command decoder 23B. The output terminal of the command decode 23B is connected to one input terminal of the input / output I / F 24, and the sensor 25 is connected to the other input terminal of the input / output I / F. The output end of the input / output I / F is connected to the actuator 26. Input / output I / F
Reference numeral 24 includes an input / output communication unit that transfers the detection output of the sensor 25 to the NC device 1 and that receives the type information of the input / output device of the NC device 1 and transfers the information to the actuator 26. It is desirable that the communication unit 7, the command decode 9 and the servo operation unit 10 are constituted by a CPU which operates by predetermined software. Similarly, the communication unit 14A, the command decode 14B, the pulse generator 15, the communication unit 18
A, command decode 18B, servo operation unit 19, communication unit 23A, command decode 23B, input / output 1 / F
It is desirable that each of the CPUs 24 is also configured by a CPU that operates with predetermined software.

FIG. 2 is a diagram showing a configuration of communication data transferred from the NC unit 1 to the AC motor driver 6 according to the present invention. The communication data is composed of a driver address 27 from the beginning, a driver type 28 capable of decoding a motor type and a motor control method, a command 29, a plurality of command data 30, and a checksum 31 for checking whether there is an error in the communication data. Is done. The command 29 is data for instructing the operation of the driver such as return to origin, movement, stop, and servo lock state. The command data 30 includes a target position command,
This is data indicating a target current command and the like.

Next, the operation of the motor control method of the present invention will be described with reference to FIGS. First, the main CPU
The address information specifying the motor driver added by the main CPU 2, the type information specifying the input / output device, and the information such as the moving distance, the moving speed, and the moving acceleration are transferred to the NC unit 3 from 2. The NC unit 3 calculates a moving speed pattern representing the moving speed of the motor driver per unit time. The above moving speed pattern is converted into a command value,
Motor driver 6, pulse motor driver 14, and V
The address of the motor driver to be operated among the motor drivers such as the CM driver 18 and the control type information of the motor are configured as communication data shown in FIG. The control type information is, for example, information such as positioning control of an AC motor, torque control, and start control of a pulse motor.

Next, the communication section 4 transfers the communication data to the AC motor driver 6 at predetermined time intervals. Serial transmission cable 5, 5A, 5B, 5C, 5
The driver addresses are set in advance for the plurality of motor drivers connected by D. Since data is transmitted by serial communication using a serial transmission cable as will be described in detail later, a pair of serial transmission cables is provided between the NC device 1 and a group of motor drivers such as a plurality of motor drivers 6, 14, and 18. It is sufficient to be connected at 5 and 5D.

For example, if the driver address of the communication data matches the driver address set in the AC motor driver 6, the communication unit 7 of the AC motor driver 6 receives the communication data.

The servo operation unit 10 converts the data of the current position indicated by the encoder signal 13 input from the AC motor 12 into the data of the current speed value, and converts the command value and the current speed value transferred from the NC unit 1. The current command value is calculated based on the difference between. This current command value is amplified by the AC motor drive unit 11 and applied to the AC motor 12 to rotate it. Similarly, the NC device 1 generates a motor address, a type of a driver control method, and a command value for the pulse motor 17 and the VCM 21, and transfers them to the respective motor drivers from the communication unit 4.

Next, a communication procedure between the NC unit 1 and each motor driver will be described in detail with reference to FIGS. FIG. 3 is a circuit diagram showing in detail the configuration of the communication unit 7 of the AC motor driver 6 of the present embodiment. The following description is made with respect to the communication unit 7 of the AC motor driver 6, but the communication units 14A, 18A, and 23A of the pulse motor driver 14, the VCM driver 18, and the input / output device 23 also have the same configuration as the communication unit 7. And the same operation.

The serial transmission cable 5 is connected to the input end of the serial communication interface 32. The output terminal is connected to a serial transmission cable 5A connected to the communication unit 14A. The other output terminal of the serial communication interface 32 is connected to an input terminal 33A of a parallel converter 33 for converting serial data into parallel data and a contact B of a transmission / reception switch. The output terminal 33B of the output terminal 33 of the parallel conversion unit 33 is connected to the contact A of the transmission / reception switch 34. The common terminal C of the transmission / reception selector switch is connected to another input terminal of the serial communication interface 32. The transmission / reception switch 34 is controlled by a control output 34A of the command decoder 9 connected to the parallel conversion unit 33. By switching the transmission / reception changeover switch 34, the data received from the communication unit 4 is passed and the next pulse motor driver 1 is turned on.
4 or N from own motor driver.
It is possible to select whether to transmit data to the C device 1.

FIG. 4 is a flowchart showing the operation of the AC motor driver 6 of the present embodiment when receiving data. The operation of this embodiment will be described with reference to FIGS. NC
The serial communication data transmitted from the device 1 passes through the serial communication interface 32 of the communication unit 7 and is converted into parallel data by the serial / parallel conversion unit 33. The command decode 9 of the driver CPU 8 stores the received data in the internal buffer memory (step 71 in the flowchart of FIG. 4). Next, the driver address as the first data is compared with its own preset address (step 72). If they match, immediately after the reception is completed, the command decoder 9 moves the transmission / reception changeover switch 34 to the contact A side, and transmits the status (status) and error information of the AC motor driver 6 to the NC device 1 (step 73). ).

When the transmission from the command decoder 9 to the NC unit 1 is completed, the transmission / reception switch 34 is immediately moved to the contact B side. Since the transmission / reception changeover switch is always set to the contact B side, serial data is transmitted to the next pulse motor driver 14 even when the driver addresses do not match.

Next, the received data is decoded and read out from the driver type 28 and the command data 29 of the communication data shown in FIG. 2 (step 74). Driver type 2
The command 8 stores, for example, a command to execute a position control loop to perform positioning or to execute a current control loop to perform pressure control. This determination is made in step 75. If the command is for a position control loop, step 76 is executed to set the position command flag. Otherwise, step 77 is executed to set the current command flag.

FIG. 5 is a timing chart showing the timing of serial transmission data sent from the NC device of the present invention and serial transmission data from the motor driver. N
The communication data 35 to 38 transmitted from the C device 1 to the motor driver 6 are output every time td. AC
Data 39 to 42 transmitted from the motor driver 6 to the NC device 1 are transmitted after each communication data 35 to 38 within the time td. The communication unit 4 transmits transmission data at equal time intervals. Assuming that the control cycle is T and n motor drivers are connected to the NC device 1, the time td for transmitting from the communication unit 4 to each motor driver is:
The following equation (1) is obtained.

Td = T / n (1)

As described above, the target command data is transferred to each motor driver at equal time intervals, and each motor driver synchronizes the servo cycle with the received timing without deteriorating the servo control performance by the serial communication system. The motor can be controlled.

The communication section 4 and the driver communication section 7 shown in FIG.
If a photoelectric converter is provided for each of the above and connected using an optical fiber instead of the serial transmission cables 5 to 5D, the reliability of communication can be improved without being affected by noise induced in the wiring.

[0037]

According to the present invention, the type information of the motor control method and the address information of the motor driver are added to the target command value calculated by the NC unit, and are transferred as serial data to a plurality of motor drivers. The plurality of motor drivers receive only data addressed to themselves, and control the motor based on the type information of the motor control method included in the data. As a result, the type of the NC device and the number of wiring cables between the NC device and the motor driver can be reduced, and the cost of the automatic machine can be reduced and the size of the equipment can be reduced.

Also, the motor driver can control the motor without deteriorating the servo control performance by synchronizing the servo cycle with the target command value data sent at equal time intervals from the NC unit. Furthermore, if the NC device and the motor driver are connected by an optical fiber,
The reliability of communication can be improved without being affected by noise in the data transmission of the automatic machine.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a motor control device for an automatic machine according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration of communication data transferred from an NC unit to a motor driver unit of the motor control device according to the present embodiment.

FIG. 3 is a block diagram showing a configuration of a communication unit of the motor driver unit in detail.

FIG. 4 is a flowchart showing an operation of the motor driver unit at the time of reception.

FIG. 5 is a timing chart showing timings of serial transmission data from the NC device and serial transmission data from a driver.

FIG. 6 is a block diagram showing a configuration of a motor control device of a conventional automatic machine.

[Description of Signs] 1 NC device 2 Main CPU 3 NC unit 4 NC communication unit 5 Serial transmission cable 6 AC motor driver 7 Driver communication unit 8 Driver CPU 9 Received data command decoding unit 10 Servo operation unit 11 AC motor operation unit 12 AC Motor 13 Encoder signal cable 14 Pulse motor driver 15 Pulse generator 17 Pulse motor 18 VCM driver 21 Voice coil motor (VCM) 22 Linear scale 23 Input / output device 24 Input / output interface 32 Serial communication interface 33 Serial / parallel converter 34 Transmission / reception switching switch

Claims (5)

[Claims] 1. A motor control device for an automatic machine equipped with a plurality of types of motors, comprising: a numerical calculation means for calculating a command value per unit time from a target movement position; and a result calculated by the numerical calculation means. Communication means for adding the type information of the motor control method to the plurality of motor drivers and transferring the data to the plurality of motor drivers; driver communication means for receiving the data transferred by the communication means on the motor driver side; Decoding means for extracting the type information of the motor control method from the data and decoding the same, and servo calculation means for outputting a command value to the motor based on the motor control method decoded by the decoding means. Motor control device for automatic machinery. 2. The communication means comprises: means for converting an input into serial data; photoelectric conversion means for converting the data converted to serial data into an optical signal; and optical fiber means for transmitting an optical signal. The motor control device for an automatic machine according to claim 1, wherein 3. An address information adding means for adding address information to transmission data to be transferred to a motor driver by said communication means, and said transmission data is transmitted only when said address information matches its own address by a decoding means of the motor driver. 2. The automatic machine according to claim 1, further comprising communication means for receiving and transmitting the transmission data when the address information does not match its own address, and transferring the transmission data to a next connected motor driver. Motor control device. 4. A communication means for transmitting a command value at predetermined equal time intervals in the communication means, and a motor driver which synchronizes the data transmitted from the communication means with the time when the data is received by the motor driver. 4. A servo calculation means for performing a control calculation.
A motor control device for an automatic machine according to claim 1. 5. An input / output type information adding means for adding type information of an input / output device, said input / output device receiving data transferred from said communication means on an input / output device side, reading and transmitting sensor information. 4. The motor control device for an automatic machine according to claim 3, further comprising an input / output communication unit that performs the operation.