Multiaxial motor driving apparatus and multiaxial motor drive device for determining whether or not there is a miswiring

Patent metadata

Field	Value
Publication number	US-9488687-B2
Application number	US-201314103853-A
Country	US
Kind code	B2
Filing date	Dec 12, 2013
Priority date	Jun 14, 2011
Publication date	Nov 8, 2016
Grant date	Nov 8, 2016

Abstract

A multi-axis motor driving apparatus includes: a plurality of drivers individually connected to corresponding ones of the plurality of motors, for supplying electric power to the corresponding ones of the plurality of motors for driving; and an integrated controller for sequentially supplying electric power to the plurality of motors via the plurality of drivers, and based on detection signals of the encoders, determining for each driver whether or not there is miswiring of at least either of a motor wire that connects one of the plurality of drivers to one of the plurality of motors or a detector wire from the encoder.

First claim

What is claimed is:

1. A multi-axis motor driving system, comprising:
a plurality of motors, each comprising a position detector;
a host control device for outputting a motor control command; and
a multi-axis motor driving apparatus for driving the plurality of motors based on the motor control command,
wherein the multi-axis motor driving apparatus comprises:
a plurality of drivers individually connected to ones of the plurality of motors corresponding thereto, for supplying electric power to ones of the plurality of motors corresponding thereto for driving;
a plurality of connectors individually connected to ones of the plurality of position detectors corresponding thereto, for receiving detection signals output from the plurality of position detectors; and
a controller for determining for each of the plurality of drivers, based on the detection signals received by the plurality of connectors while sequentially supplying electric power to the plurality of motors via the plurality of drivers, whether or not there is miswiring, which is a conflict of a correspondence relation between the plurality of drivers and the plurality of connectors, and one or more of the plurality of connectors corresponding to the miswiring.

2. The multi-axis motor driving system according to claim 1 , wherein the controller determines whether or not there is the miswiring of at least either of motor wires that connect the plurality of drivers to the plurality of motors or detector wires that connect the plurality of position detectors to the plurality of connectors, based on the detection signals obtained while a selected driver is set to a first positioning control state in which one of the plurality of motors corresponding thereto is positioned at its position when energization of it is started.

3. The multi-axis motor driving system according to claim 2 , wherein, when the controller detects a drive of the corresponding one of the motors through one of the connectors corresponding to the selected one of the drivers set to the first positioning control state based on the detection signals, the controller determines that there is a miswiring or another miswiring of phase wires included in the motor wire of the corresponding one of the motors.

4. The multi-axis motor driving system according to claim 2 , wherein, when the controller detects a drive of not one of the corresponding one of the motors through one of the connectors not corresponding to the selected one of the drivers set to the first positioning control state based on the detection signals, and the controller determines that there is the miswiring of either of the motor wires or the detector wires.

5. The multi-axis motor driving system according to claim 2 , wherein, when the controller does not detect any of the plurality of motors to drive based on the detection signals, the controller determines that there is no miswiring of the motor wires or the detector wires.

6. The multi-axis motor driving system according to claim 1 , wherein the controller determines whether or not there is the miswiring of at least either of motor wires that connect the plurality of drivers to the plurality of motors or detector wires that connect the plurality of position detectors to the plurality of connectors, based on the detection signals obtained while a selected driver is set to a positioning control state in which one of the plurality of motors corresponding thereto is positioned at a position more advanced by a predetermined drive amount than its position of when its energization is started.

7. The multi-axis motor driving system according to claim 6 , wherein, when the controller detects that a drive amount of the corresponding one of the motors through one of the connectors corresponding to the selected one of the drivers set to the positioning control state is abnormal based on the detection signals, the controller determines that there is the miswiring of the detector wires or there is another miswiring of phase wires included in the motor wire of the corresponding one of the motors.

8. The multi-axis motor driving system according to claim 6 , wherein, when the controller detects a drive of not one of the corresponding one of the motors through one of the connectors not corresponding to the selected one of the drivers set to the positioning control state based on the detection signals, the controller determines that there is the miswiring of either of the motor wires or the detector wires.

9. The multi-axis motor driving system according to claim 6 , wherein, when the controller detects that a drive amount of the corresponding one of the motors through one of the connectors corresponding to the selected one of the drivers set to the positioning control state is normal based on the detection signals, the controller determines that there is no miswiring of the motor wires or the detector wires.

10. The multi-axis motor driving system according to claim 1 , wherein the multi-axis motor driving apparatus further comprises a display unit for displaying a determination result of the controller.

11. A multi-axis motor driving apparatus comprising:
a plurality of drivers individually connected to corresponding ones of the plurality of motors, for supplying electric power to the corresponding ones of the plurality of motors for driving;
a plurality of connectors individually connected to ones of the plurality of position detectors corresponding thereto, for receiving detection signals output from the plurality of position detectors; and
a controller for determining for each of the plurality of drivers, based on the detection signals received by the plurality of connectors while sequentially supplying electric power to the plurality of motors via the plurality of drivers, whether or not there is miswiring, which is a conflict of a correspondence relation between the plurality of drivers and the plurality of connectors, and one or more of the plurality of connectors corresponding to the miswiring.

12. A multi-axis motor driving apparatus comprising:
a plurality of drivers individually connected to corresponding ones of the plurality of motors, for supplying electric power to the corresponding ones of the plurality of motors for driving;
a plurality of connectors individually connected to ones of the plurality of position detectors corresponding thereto, for receiving detection signals output from the plurality of position detectors; and
control means for determining for each of the plurality of drivers, based on the detection signals received by the plurality of connectors while sequentially supplying electric power to the plurality of motors via the plurality of drivers, whether or not there is miswiring, which is a conflict of a correspondence relation between the plurality of drivers and the plurality of connectors, and one or more of the plurality of connectors corresponding to the miswiring.

Assignees

• Yaskawa Electric Corp

Inventors

• Matsumura Isamu
• KIRA Toshinobu

Classifications

• G01R31/67 Primary

  Testing the correctness of wire connections in electric apparatus or circuits · CPC title

• H02P29/0241

  the fault being an overvoltage · CPC title

• G05B2219/42301

  Detect correct connection of servomotor to powersupply · CPC title

• H02P5/74 Primary

  controlling two or more AC dynamo-electric motors (H02P5/46, H02P5/60 take precedence) · CPC title

• G01R31/041 Primary

  Physics · mapped topic