Multiaxial motor control system

Patent metadata

Field	Value
Publication number	US-11329577-B2
Application number	US-201716076007-A
Country	US
Kind code	B2
Filing date	Mar 8, 2017
Priority date	Mar 15, 2016
Publication date	May 10, 2022
Grant date	May 10, 2022

Abstract

Embodiments provide a multiaxial motor control system for controlling motors for a plurality of shafts included in a multiaxial machine, and including a plurality of motor control devices and a controller. The controller is connected with the motor control devices, and transmits a command signal to the motor control devices. Each motor control device includes a communication controller, a rotation controller, and a drive unit, and drives a motor of a corresponding shaft. The communication controller transmits and receives signals including the command signal, and determine whether the command signal is received normally. The rotation controller generates a torque command to operate the corresponding motor. The drive unit generates a drive voltage for electrification to drive the corresponding motor in accordance with the torque command. When a motor control device detects failure in reception, the motor control device outputs a torque command for braking torque to stop the corresponding motor.

First claim

The invention claimed is:

1. A multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, the multiaxial motor control system comprising:
a plurality of motor control devices each configured to drive a corresponding one of the motor, wherein each of the plurality of the motor control devices generates a first torque command based on a first command signal, and stops each of the motors by applying a first braking torque corresponding to the first torque command; and
a controller having network connection with the plurality of motor control devices, the controller being connected with the plurality of motor control devices by a ring network or a line network, wherein the controller is configured to transmit a second command signal when the controller controls the plurality of motor control devices and transmit the first command signal to control the plurality of motor control devices when the controller detects a failure of the plurality of motor control devices or a failure of the ring network or a line network, wherein:
each of the plurality of motor control devices includes:
a communication controller configured to receive the second command signal, transmit the received second command signal to another of the plurality of motor control devices, and determine whether or not the second command signal is received normally,
a rotation controller configured to generate a second torque command for operation of the corresponding one of the motors, and
a drive unit configured to generate a drive voltage for electrification to drive the corresponding one of the motors in accordance with the second torque command,

the plurality of motor control devices include a first motor control device provided at a signal receiving side of a location of a failure in the network,
the first motor control device disconnects electrification to a motor connected to the first motor control device, when the communication controller of the first motor control device detects failure in reception of the second command signal,
the plurality of motor control devices further include a second motor control device provided at the signal receiving side of the location of the failure in the network, the second motor control device being connected to the first motor control device in a series connection in the network so that the first motor control device communicates the second motor control device bypassing the controller, and
the second motor control device generates a third torque command preliminary set by the rotation controller of the second motor control device and stops a motor connected to the second motor control device by applying a second control torque when the communication controller detects the failure of the reception of the second command signal, the second control torque corresponding to the third torque command.

2. The multiaxial motor control system of claim 1 , further including:
a second motor control device at a signal transmitting side of a location of a failure in the network, and
a plurality of first motor control devices including the first motor control device, wherein
each of the plurality of first motor control devices disconnects electrification to the each of the motors connected to the first motor control device, when the communication controller detects failure in reception of the second command signal, and
the second motor control device generates the first torque command when the second motor control device receives the first command signal, the first command signal being output when the controller detects the failure.

3. The multiaxial motor control system of claim 1 , wherein the communication controller transmits a response signal to the controller, and
the controller outputs the first command signal when the controller detects a failure of a reception of the response signal.

4. The multiaxial motor control system of claim 1 , wherein
the plurality of motor control devices includes a second motor control device and a third motor control device, the second motor control device being positioned at a signal transmitting side of a location of a failure in the network, and the third motor control device being positioned at the signal receiving side of a location of a failure in the network,
the second motor control device generates the first torque command and stops the motors connected to the second motor control devices by applying the first braking torque corresponding to the first torque command when the controller receive the first command signal, the first command signal being output when the controller detects the failure,
the third motor control device generates third torque command which is preliminary set by the rotation controller and stops motor connected to the third motor control devices by applying second braking torque corresponding to the third torque command, and
a sum of an amount of the first braking torque and an amount of the second braking torque is equal to or less than allowable maximum braking torque of the multiaxial motor control system.

5. A multiaxial motor control system configured to control motors for a plurality of shafts included in a multiaxial machine, the multiaxial motor control system comprising:
a plurality of motor control devices each configured to drive a corresponding one of the motors, the plurality of motor control devices generate a first torque command based on a first command signal, and stops each of the motors for the plurality of shafts by applying a first braking torque corresponding to the first torque command, and
a controller connected with the plurality of motor control devices by a ring network or a line network, wherein the controller is configured to transmit a second command signal when the controller drives the plurality of motor control devices and transmit the first command signal when the controller detects a failure of the plurality of motor control devices or a failure of the network, wherein:
each of the plurality of motor control devices includes:
a communication controller configured to receive a second command signal, transmit the received second command signal, and determine whether or not the second command signal is received normally,
a rotation controller configured to generate a second torque command for operation of the each of the motors, and
a drive unit configured to generate a drive voltage for electrification to drive the corresponding one of the motors based on the second torque command,

at least one of the plurality of motor control devices is configured to communicate another of the plurality of motor control device bypassing the controller,
the plurality of motor control devices includes a first motor control device at signal receiving side of a location of a failure in the network, and
the first motor control device continues to operate a motor connected with the first motor control device by applying a second driving torque based on the second command signal which is received normally before the detection of the failure, and stops the motor connected with the first motor control device by applying a third braking torque at a predetermined time after a beginning of the operation to continue, when the communication controller detects the failure of a reception of the second command signal.

6. The multiaxial motor control system of claim 5 , wherein the plurality of motor control devices includes a second motor control device at signal transmitting side of a location of a failure in the network, and
the second motor control device generates the first torque command based on the first command signal, when the communication controller receives the first command signal, and stops the motor connected with each of the second motor

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Mishima Masashi
• Tomita Akinobu
• Ikeuchi Yoshiaki
• OKURA Mitsutaka

Classifications

• H02P6/12 Primary

  Monitoring commutation; Providing indication of commutation failure · CPC title

• H02P6/24

  Arrangements for stopping · CPC title

• G05B19/18

  Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form (G05B19/418 takes precedence) · CPC title

• H02P6/17

  and for generating speed information · CPC title

• H04L2012/4026

  Bus for use in automation systems · CPC title